A narrow space explosive article rapid analysis clamping aerial explosive disposal robot

Abstract

The application discloses a narrow-space explosive article fast analysis clamping aerial explosive disposal robot and relates to the technical field of explosive disposal robots; specifically comprises a UAV main body, four corners of the outer wall of the UAV main body are respectively provided with connecting rods, the end portions of the connecting rods are provided with double-layer propellers, the outer wall of the opposite side of the UAV main body is provided with a support one, the outer wall of the opposite side of the UAV main body is provided with a support two, the support two and one side of the UAV main body are respectively welded with fixing rods, the top and bottom outer walls of each fixing rod are respectively provided with double-layer racks, the bottom outer wall of the UAV main body is fixedly connected with a clamping mechanism, one side of the clamping mechanism is fixedly connected with a limiting plate, and the other side of the clamping mechanism is fixedly connected with a clamping plate one. The application not only overcomes the defects that the traditional land explosive disposal robot is slow in action, large in size and incapable of realizing clamping in a narrow space when transferring explosive devices, but also realizes the transfer of explosive devices rapidly.

Description

Technical Field

[0001] This invention relates to the field of bomb disposal robot technology, and in particular to an aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces. Background Technology

[0002] Aerial bomb disposal robots are robots specifically designed to handle explosive devices. Their primary purpose is to protect bomb disposal personnel and reduce risks to them. Explosive devices in confined spaces are difficult to access and handle, and can easily cause injury to bomb disposal personnel. Therefore, the development of aerial bomb disposal robots has become a necessary option, enabling the rapid disposal of potential explosive devices without exposing personnel. Aerial bomb disposal robots are typically equipped with highly flexible robotic arms, advanced sensor technology, and remote control capabilities, allowing them to accurately identify, grasp, and handle explosive devices in confined spaces. Their emergence has significantly improved the efficiency and safety of bomb disposal operations, making them an indispensable tool in bomb disposal missions.

[0003] A search revealed Chinese patent application CN202110564814.8, which discloses a bomb disposal robot device, comprising: a four-wheeled chassis with two sets of tires arranged front to back on the chassis, each tire set including tires symmetrically arranged left to right; and a drive motor mounted on the lower surface of the four-wheeled chassis between the tires, the drive motor being located between the two symmetrical tires. This represents a further improvement on existing bomb disposal robots, saving significant manpower and resources and adapting to the needs of modern warfare. However, the aforementioned bomb disposal robot device has the following shortcomings:

[0004] While the aforementioned device demonstrates a balance between speed and stability during walking demonstrations, exhibiting high speed and enhanced stability on flat ground and when moving up and down stairs, its novel structure and ease of implementation suggest promising application prospects. However, traditional methods of using tracked or wheeled land-based bomb disposal robots to transfer explosive devices have drawbacks, including slow movement, large size, inability to grasp and transfer explosives in confined spaces, poor obstacle crossing ability (unable to pass through fault lines), and susceptibility to terrain limitations, making it impossible to grasp explosive items at high locations. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing an aerial bomb disposal robot for rapid analysis and retrieval of explosive objects in confined spaces.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A rapid analysis and retrieval aerial bomb disposal robot for explosives in confined spaces includes a drone body. Connecting rods are installed on the four outer corners of the drone body, with double-layered propellers at the ends of the connecting rods. A first bracket is installed on one opposite outer wall of the drone body, and a second bracket is installed on the opposite outer wall. Fixed rods are welded to the second bracket and one side of the drone body. A double-layered frame is installed on the top and bottom outer walls of each fixed rod. A clamping mechanism is fixedly connected to the bottom outer wall of the drone body. A limit plate is fixedly connected to one side of the clamping mechanism, and a clamping plate is fixedly connected to the other side. A clamping plate is movably connected to the middle side of the clamping mechanism.

[0008] Preferably, the clamping mechanism includes a release assembly, an elastic band one, a connecting seat, a fixed seat, an elastic band two, an elastic belt, a retaining ring, a fixing belt, a fixing ring, a mounting seat, and sliding rods. The four sliding rods are disposed on the outer wall of the opposite side of the top between the clamping plate one and the limiting plate. The top of the clamping plate two forms a sliding fit with the sliding rods. The fixed seat is fixedly connected to the circumference of the sliding rods. The elastic band is sleeved on the outer circumference of the clamping plate one and the fixed seat. The elastic band two is sleeved on the outer circumference of the clamping plate two and the limiting plate.

[0009] Furthermore: the fixed base has a guide hole in the middle, the release component is fixedly connected to the outer wall of the opposite side of the clamping plate and the limiting plate, the connecting base is fixedly connected to the top outer wall of the fixed base, and the connecting base is connected to the top of the drone body by bolts.

[0010] Based on the aforementioned scheme: the mounting base is bolted to the outer walls of both sides of the clamp plate two, and a locking hole is opened on one side of the mounting base. The fixing strap is locked into the locking hole, and the fixing ring is fixedly connected to the middle side of the fixing strap.

[0011] A preferred embodiment of the aforementioned scheme is that one end of the elastic belt is sleeved on the inner circumference of the fixed ring, and the retaining ring is sleeved on the outer circumference of one end of the elastic belt, and the retaining ring is engaged with the release end of the release assembly.

[0012] As a further embodiment of the present invention: the release assembly includes a bayonet, a fixing member, a support plate, a first guide rod, a motor, a second guide rod, a battery box, and a plug rod, and the fixing member is bolted to the outer wall of the opposite side of the clamping plate and the limiting plate, and the support plate is welded to the bottom side of the fixing member.

[0013] Meanwhile, the release assembly includes a bayonet, a fixing component, a support plate, a first guide rod, a motor, a second guide rod, a battery box, and a plug rod. The fixing component is bolted to the outer wall of the opposite side of the clamping plate and the limiting plate, and the support plate is welded to the bottom side of the fixing component.

[0014] As a preferred embodiment of the present invention: the motor is fixedly connected to the bottom side of the support plate, and the battery box is fixedly connected to the outer wall of the support plate near the motor by bolts.

[0015] Meanwhile, the output end of the motor is provided with a rotating rod, which passes through one side of the support plate. A guide rod is provided at the top of the rotating rod, and the other end of the guide rod forms a rotational engagement with one end of the guide rod.

[0016] As a preferred embodiment of the present invention, the main body of the UAV is equipped with a radio jamming module and an explosive detector.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces operates by activating the main body of the drone, placing it above the explosive, and then slowly descending so that clamping plates one and two are positioned between the explosive. Subsequently, the release assembly on one side of the limiting plate is activated, causing the retaining ring at one end of the elastic belt to disengage from one side of the limiting plate. The elastic belt tightens, causing clamping plate two to move rapidly towards clamping plate one. Clamping plate two slides along the circumference of the sliding rod, and the bottoms of clamping plates one and two clamp the explosive firmly in place. Then, the main body of the drone rises and carries the explosive to a safe area. It activates the release component on one side of clamping plate one, causing the retaining ring on the release component to disengage. The elastic belt also tightens towards clamping plate two, causing clamping plate two to reset. This allows the explosive located between clamping plate one and clamping plate two to be released and fall to the ground. In this way, it not only overcomes the disadvantages of traditional land-based bomb disposal robots in transferring explosive devices, such as slow movement, large size, and inability to grasp in confined spaces, but also enables the entire device to quickly transfer explosives, improving the efficiency and quality of bomb disposal.

[0019] 2. This aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces utilizes a motor to rotate a guide rod one at a certain angle. The rotation of the guide rod one causes the guide rod two to swing, pushing the insertion rod to one side. This allows the insertion rod to slide against the insertion hole inside the clamp, facilitating the tensioning and loosening of the elastic belt between the clamping ring and the fixing ring. This effectively works with the elastic belt to stably grip and release the explosive, preventing the explosive from falling off during transfer and causing an accidental explosion. It also enables the driving function of the clamping plate two.

[0020] 3. This aerial bomb disposal robot for rapid analysis and retrieval of explosives in narrow spaces has an elastic band 2 between the clamping plate 2 and the limiting plate. This elastic band 2 allows the clamping plate 2 to slide into place when resetting, avoiding the problem of slight rebound due to the release of elastic belt force when it moves towards the limiting plate, thus ensuring the stability of the clamping plate 2's rebound and reset.

[0021] 4. This aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces features a drone body equipped with a radio jamming module and an explosive detector. The overall device is compact in size. The radio jamming module ensures that explosive items cannot be remotely detonated, and the explosive detector can pre-analyze and identify suspected explosive devices. Once confirmed as explosives, the robot can maneuver flexibly and stably retrieve them, unrestricted by terrain, and quickly. The retrieval material is composed of Kevlar fiber, providing a certain degree of blast resistance. In complex electromagnetic environments, the drone body is controlled via at least 50 meters of wired fiber optic communication, while in normal environments, the drone body is wirelessly controlled. Attached Figure Description

[0022] Figure 1 This is a top view schematic diagram of an aerial bomb disposal robot for rapid analysis and retrieval of explosive objects in confined spaces, as proposed in this invention.

[0023] Figure 2 This is a schematic diagram of the front view of an aerial bomb disposal robot for rapid analysis and retrieval of explosive items in a confined space, as proposed in this invention.

[0024] Figure 3 This is a schematic diagram of the gripping mechanism in an aerial bomb disposal robot for rapid analysis and retrieval of explosive items in a confined space, as proposed in this invention.

[0025] Figure 4 This is a top view schematic diagram of the gripping mechanism in an aerial bomb disposal robot for rapid analysis and retrieval of explosive objects in a confined space, as proposed in this invention.

[0026] Figure 5 This is an enlarged structural diagram of the gripping mechanism A in an aerial bomb disposal robot for rapid analysis and retrieval of explosive items in a confined space, as proposed in this invention.

[0027] Figure 6 This is a schematic diagram of the release component in an aerial bomb disposal robot for rapid analysis and retrieval of explosive items in a confined space, as proposed in this invention.

[0028] In the diagram: 1. Clamping plate one; 2. Clamping plate two; 3. Double-layer frame; 4. Fixing rod; 5. Double-layer propeller; 6. Connecting rod; 7. Bracket one; 8. Bracket two; 9. UAV body; 10. Clamping mechanism; 11. Limiting plate; 1001. Release assembly; 1002. Elastic band one; 1003. Connecting seat; 1004. Fixing seat; 1005. Elastic band two; 1006. Elastic belt; 1007. Snap ring; 1008. Fixing strap; 1009. Fixing ring; 1010. Mounting seat; 1011. Slide rod; 10011. Bayonet; 10012. Fixing component; 10013. Support plate; 10014. Guide rod one; 10015. Motor; 10016. Guide rod two; 10017. Battery box; 10018. Insert rod. Detailed Implementation

[0029] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of this patent, it should be understood that the terms “center,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0032] In the description of this patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0033] An aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the device includes a drone body 9. Connecting rods 6 are threaded to the four corners of the outer wall of the drone body 9, and double-layer propellers 5 are bolted to the ends of the connecting rods 6. A bracket 7 is bolted to one opposite outer wall of the drone body 9, and a bracket 8 is bolted to the other opposite outer wall. Fixing rods 4 are welded to one side of the brackets 8 and one side of the drone body 9, and double-layer frames 3 are bolted to the top and bottom outer walls of each fixing rod 4. A clamping mechanism 10 is fixedly connected to the bottom outer wall of the drone body 9. A limit plate 11 is fixedly connected to one side of the clamping mechanism 10, and a clamping plate 1 is fixedly connected to the other side of the clamping mechanism 10. A clamping plate 2 is movably connected to the middle side of the clamping mechanism 10.

[0034] The main body of the drone 9 is equipped with a radio jamming module and an explosive detector. The radio jamming module is model LM386, and the explosive detector is model MD-3003B1. The overall device is small in size. The radio jamming module ensures that explosive materials cannot be remotely detonated. The explosive detector can analyze and identify the authenticity of suspected explosive devices in advance. Once it is confirmed to be an explosive, it can be maneuvered flexibly and stably gripped, regardless of terrain. The gripping material is composed of Kevlar fiber, which has a certain degree of blast resistance. The main body of the drone 9 is controlled by at least 50 meters of wired fiber optic communication in complex electromagnetic environments, and the main body of the drone 9 is wirelessly controlled in normal environments.

[0035] To meet the needs of bomb disposal in confined spaces, explosives are clamped and transferred; such as Figure 2 , Figure 3 , Figure 4 As shown, the clamping mechanism 10 includes a release assembly 1001, an elastic band 1002, a connecting seat 1003, a fixing seat 1004, an elastic band 2 1005, an elastic belt 1006, a retaining ring 1007, a fixing belt 1008, a fixing ring 1009, a mounting seat 1010, and sliding rods 1011. The four sliding rods 1011 are threadedly connected to the outer wall of the top opposite side between the clamping plate 1 and the limiting plate 11. The top of the clamping plate 2 forms a sliding fit with the sliding rods 1011. The fixing seat 1004 is fixedly connected to the circumference of the sliding rods 1011. The elastic band 1002 is sleeved on the outer circumference of the clamping plate 1 and the fixing seat 1004. The elastic band 2 1005 is sleeved on the outer circumference of the clamping plate 2 and the limiting plate 11.

[0036] The fixed base 1004 has a guide hole in the middle. The release component 1001 is fixedly connected to the outer wall of the opposite side of the clamping plate 1 and the limiting plate 11. The connecting base 1003 is fixedly connected to the top outer wall of the fixed base 1004 and is connected to the top of the UAV body 9 by bolts. The mounting base 1010 is connected to the outer walls of both sides of the clamping plate 2 by bolts. The mounting base 1010 has a locking hole on one side. The fixing belt 1008 is locked in the locking hole. The fixing ring 1009 is fixedly connected to the middle side of the fixing belt 1008. One end of the elastic belt 1006 is sleeved on the inner circumference of the fixing ring 1009, and the retaining ring 1007 is sleeved on the outer circumference of one end of the elastic belt 1006. The retaining ring 1007 is locked to the release end of the release component 1001.

[0037] During operation, the main body of the drone 9 is activated, allowing it to enter a confined space and hover above the explosive. It is then slowly lowered, positioning clamp 1 and clamp 2 between the explosive. Subsequently, the release assembly 1001 on one side of the limiting plate 11 is activated, causing the retaining ring 1009 at one end of the elastic belt 1006 to disengage from one side of the limiting plate 11. The elastic belt 1006 tightens, causing clamp 2 to move rapidly towards clamp 1. Clamp 2 slides along the circumference of the slide bar 1011, and the bottoms of clamp 1 and clamp 2 clamp the explosive in place. Then, the drone main body 9... The explosive device is brought to a safe area. The release component 1001 on one side of clamp 1 is activated, causing the retaining ring 1007 on one side of the release component 1001 to disengage. The elastic belt 1006 also tightens towards clamp 2, causing clamp 2 to reset. This causes the explosive device located between clamp 1 and clamp 2 to be released and fall to the ground. In this way, not only are the disadvantages of traditional land-based bomb disposal robots in transferring explosive devices, such as slow movement, large size, and inability to grasp in narrow spaces, to be overcome, but the whole device can also quickly transfer explosive devices, improving the efficiency and quality of bomb disposal.

[0038] Meanwhile, the elastic band 1005 set between the clamping plate 2 and the limiting plate 11 can make the clamping plate 2 slide into place when resetting, avoiding the problem of slight rebound when it moves towards the limiting plate 11 due to the release of the force of the elastic belt 1006, thus ensuring the stability of the clamping plate 2's rebound and reset.

[0039] To effectively coordinate with the elastic belt 1006 for stable gripping and releasing of explosives, and to prevent the explosives from detaching during transfer and causing an accidental explosion; such as Figure 6 As shown, the release assembly 1001 includes a bayonet 10011, a fixing member 10012, a support plate 10013, a first guide rod 10014, a motor 10015, a second guide rod 10016, a battery box 10017, and an insertion rod 10018. The fixing member 10012 is bolted to the outer wall of the clamping plate 11 and the limiting plate 11 on opposite sides. The support plate 10013 is welded to the bottom side of the fixing member 10012. The bayonet 10011 is formed on one outer wall of the support plate 10013, and insertion holes are formed on both sides of the inner side of the bayonet 10011. The insertion rod 10018 slides. Connected to the socket, guide rod 10016 is rotatably connected to the end of plug rod 10018 away from bayonet 10011. Motor 10015 is fixedly connected to the bottom side of support plate 10013. Battery box 10017 is fixedly connected to the outer wall of support plate 10013 near motor 10015 by bolts. The output end of motor 10015 is connected to rotating rod by thread, and rotating rod passes through one side of support plate 10013. Guide rod 10014 is connected to the top of rotating rod by thread, and the other end of guide rod 10014 is rotatably engaged with one end of guide rod 10016.

[0040] In use, the start motor 10015 drives the guide rod 10014 to rotate at a certain angle. The rotating guide rod 10014 causes the guide rod 2 10016 to swing, pushing the insertion rod 10018 to one side. This allows the insertion rod 10018 to slide and move into the insertion hole inside the bayonet 10011. This facilitates the bending and tightening of the elastic belt 1006 between the retaining ring 1007 and the fixing ring 1009. The elastic belt 1006 effectively works with the elastic belt 1006 to stably grip and release the explosive, preventing the explosive from falling off during the transfer process and causing an accidental explosion. It also enables the driving function of the clamping plate 2.

[0041] Working principle: During operation, the main body 9 of the drone is activated, allowing it to enter a confined space and hover above the explosive. It then slowly descends, positioning clamp 1 and clamp 2 between the explosive. Subsequently, motor 10015 is activated, causing guide rod 10014 to rotate at a certain angle. The rotating guide rod 10014 causes guide rod 2 10016 to swing, pushing the insertion rod 10018 to one side. This allows the insertion rod 10018 to slide against the insertion hole inside the latch 10011, causing the fixing ring 1009 at one end of the elastic belt 1006 to disengage from the limiting plate 11. On one side, the elastic belt 1006 tightens, causing the clamping plate 2 to move rapidly towards the side of the clamping plate 1. The clamping plate 2 slides on the circumference of the slide bar 1011. The bottoms of the clamping plates 1 and 2 clamp the explosive. Then, the main body of the drone 9 rises and takes the explosive to a safe area. The release component 1001 on the side of the clamping plate 1 is activated, causing the retaining ring 1007 on the side of the release component 1001 to disengage. The elastic belt 1006 also tightens towards the clamping plate 2, causing the clamping plate 2 to reset, thereby causing the explosive located between the clamping plates 1 and 2 clamp to fall to the ground.

[0042] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces, comprising a drone body (9), characterized in that, The four corners of the drone body (9) are respectively provided with connecting rods (6), and the ends of the connecting rods (6) are provided with double-layer propellers (5). The outer wall of the opposite side of the drone body (9) is provided with bracket one (7), and the outer wall of the opposite side of the drone body (9) is provided with bracket two (8). The bracket two (8) and one side of the drone body (9) are respectively welded with fixing rods (4), and the top and bottom outer walls of each fixing rod (4) are respectively provided with double-layer frames (3). The bottom outer wall of the drone body (9) is fixedly connected with a clamping mechanism (10). One side of the clamping mechanism (10) is fixedly connected with a limit plate (11), and the other side of the clamping mechanism (10) is fixedly connected with a clamping plate one (1). The middle side of the clamping mechanism (10) is movably connected with a clamping plate two (2). The clamping mechanism (10) includes a release assembly (1001), an elastic band one (1002), a connecting seat (1003), a fixing seat (1004), an elastic band two (1005), an elastic belt (1006), a retaining ring (1007), a fixing belt (1008), a fixing ring (1009), a mounting seat (1010), and sliding rods (1011). Four sliding rods (1011) are located on opposite sides of the top outer wall between clamping plate one (1) and the limiting plate (11). Clamping plate two (1004) 2) The top is in sliding fit with the slide rod (1011), the fixed seat (1004) is fixedly connected to the circumference of the slide rod (1011), the elastic band one (1002) is sleeved on the outer circumference of the clamping plate one (1) and the fixed seat (1004), the elastic band two (1005) is sleeved on the outer circumference of the clamping plate two (2) and the limiting plate (11), the fixed seat (1004) has a guide hole in the middle, and the release component (1001) is fixedly connected to the outer wall of the opposite side of the clamping plate one (1) and the limiting plate (11); The mounting base (1010) is bolted to the outer walls of both sides of the clamp plate (2). A locking hole is provided on one side of the mounting base (1010). The fixing belt (1008) is locked in the locking hole. The fixing ring (1009) is fixedly connected to the middle side of the fixing belt (1008). One end of the elastic belt (1006) is sleeved on the inner circumference of the fixing ring (1009), and the locking ring (1007) is sleeved on the outer circumference of one end of the elastic belt (1006). The locking ring (1007) is locked to the release end of the release assembly (1001).

2. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 1, characterized in that, The connecting seat (1003) is fixedly connected to the top outer wall of the fixed seat (1004), and the connecting seat (1003) is connected to the top of the drone body (9) by bolts.

3. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 1, characterized in that, The release assembly (1001) includes a bayonet (10011), a fixing member (10012), a support plate (10013), a guide rod one (10014), a motor (10015), a guide rod two (10016), a battery box (10017), and a plug rod (10018). The fixing member (10012) is bolted to the outer wall of the opposite side of the clamping plate one (1) and the limiting plate (11). The support plate (10013) is welded to the bottom side of the fixing member (10012).

4. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 3, characterized in that, The bayonet (10011) is located on one side of the outer wall of the support plate (10013), and the bayonet (10011) has two insertion holes on its inner side. The insertion rod (10018) is slidably connected in the insertion hole, and the guide rod (10016) is rotatably connected to the end of the insertion rod (10018) away from the bayonet (10011).

5. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 4, characterized in that, The motor (10015) is fixedly connected to the bottom side of the support plate (10013), and the battery box (10017) is fixedly connected to the outer wall of the support plate (10013) near the motor (10015) by bolts.

6. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 5, characterized in that, The output end of the motor (10015) is provided with a rotating rod, which passes through one side of the support plate (10013). The first guide rod (10014) is located at the top of the rotating rod, and the other end of the first guide rod (10014) is in rotational engagement with one end of the second guide rod (10016).

7. The aerial bomb disposal robot for rapid analysis and retrieval of explosives in confined spaces according to claim 1, characterized in that, The main body (9) of the UAV is equipped with a radio jamming module and an explosive detector.

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