Unmanned aerial vehicle for sensing and positioning wounded person

Abstract

The invention relates to the technical field of wounded person searching, in particular to a wounded person sensing and positioning unmanned aerial vehicle which specifically comprises a vehicle body, a damping assembly is arranged at the bottom end of the vehicle body, and a photoelectric pod and a life detection radar are arranged on the damping assembly; the damping assembly comprises a first damping plate, a second damping plate and an elastic damping piece, the bottom end of the machine body is connected with the top face of the first damping plate, the second damping plate is connected with the first damping plate through the elastic damping piece, and the second damping plate is located between the first damping plate and the machine body; the photoelectric pod penetrates through a groove hole in the first damping plate to be connected with the second damping plate, and the life detection radar is connected with the second damping plate. The problems that the quality of data obtained by the searching device is unstable and the searching efficiency is influenced when the searching device faces severe weather such as strong wind, rain and snow and complex airflow and the influence of vibration generated by the unmanned aerial vehicle are solved.

Description

Technical Field

[0001] This invention relates to the field of wounded soldier search and rescue technology, and in particular to a wounded soldier sensing and positioning drone. Background Technology

[0002] Currently, casualty search and rescue faces difficulties such as being hard to find and locate. Traditional contact search techniques require casualties to wear auxiliary devices, which increases physical burden and is easily interfered with. Therefore, future casualty search and rescue technologies will inevitably focus on non-contact search methods and develop towards a highly unmanned and intelligent trend. Drones are playing an increasingly important role in search and rescue operations, and their status can no longer be ignored.

[0003] Currently, most unmanned casualty search technologies both domestically and internationally rely on drones equipped with search devices for low-altitude searches. However, adverse weather conditions such as strong winds, rain, snow, and complex air currents, as well as vibrations generated by the drones themselves, can lead to unstable data quality from the search devices, affecting search efficiency.

[0004] Therefore, how to provide a drone for detecting and locating casualties, and how to ensure the stability of the data quality obtained by the search device under severe weather conditions such as strong winds, rain, snow, and complex air currents, as well as the vibration generated by the drone itself, and improve search efficiency, is an urgent technical problem to be solved. Summary of the Invention

[0005] This invention provides a wounded soldier detection and positioning drone, which solves the problem that the search device's data quality is unstable and affects search efficiency when facing severe weather conditions such as strong winds, rain, snow, and complex air currents, as well as the vibration generated by the drone itself.

[0006] This invention provides a wounded person sensing and positioning drone, comprising: a body, a shock-absorbing component at the bottom of the body, and an optoelectronic pod and a life detection radar mounted on the shock-absorbing component;

[0007] The shock absorption assembly includes a first shock absorption plate, a second shock absorption plate, and an elastic shock absorber. The bottom end of the body is connected to the top surface of the first shock absorption plate. The second shock absorption plate is connected to the first shock absorption plate through the elastic shock absorber, and the second shock absorption plate is located between the first shock absorption plate and the body. The optoelectronic pod passes through a slot in the first shock absorption plate and is connected to the second shock absorption plate. The life detection radar is connected to the second shock absorption plate.

[0008] In one possible implementation, there are multiple elastic damping elements, which are circumferentially disposed between the first damping plate and the second damping plate.

[0009] In one possible implementation, the elastic damping member includes a sphere, an upper limit block, and a lower limit block. The sphere is located between the first damping plate and the second damping plate. The top end of the sphere passes through the second damping plate and is connected to the upper limit block, and the bottom end of the sphere passes through the first damping plate and is connected to the lower limit block.

[0010] In one possible implementation, the casualty sensing and positioning drone also includes a mounting assembly, the top of which is connected to a second shock absorber, and the bottom of which is connected to the life detection radar.

[0011] In one possible implementation, the life detection radar is detachably mounted at the bottom of the mounting assembly.

[0012] In one possible implementation, when the life detection radar is connected to the bottom end of the mounting assembly, the life detection radar can slide on the mounting assembly.

[0013] In one possible implementation, the second damping plate has the same outer contour as the first damping plate, and the size of the second damping plate is smaller than that of the first damping plate.

[0014] In one possible implementation, multiple support legs are symmetrically arranged at the bottom end of the body.

[0015] In one possible implementation, the outrigger is arc-shaped and bends outward in a direction away from the body.

[0016] In one possible implementation, the casualty sensing and positioning drone also includes a reinforcing rod disposed between multiple outriggers on the same side.

[0017] Beneficial effects of the present invention:

[0018] The aircraft vibrates due to turbulence during flight and external forces from severe weather. These vibrations are transmitted through a first damping plate to a second damping plate. An elastic damping component located between the first and second damping plates is compressed and then returns to its original position. During this compression and return process, the elastic damping component absorbs high-frequency micro-vibrations. This damping assembly counteracts vibrations generated by the internal motors and the effects of severe weather, reducing the impact of vibrations on the electro-optical pod and life detection radar. This solves the problem of unstable data quality from the electro-optical pod and life detection radar, which affects search efficiency, under severe weather conditions such as strong winds, rain, snow, and complex airflow, as well as vibrations generated by the UAV itself. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional view of a wounded soldier detection and positioning drone according to the present invention;

[0021] Figure 2 This is a side view of a wound-sensing and positioning drone according to the present invention;

[0022] Figure 3 This is a perspective view of the shock-absorbing component and the photoelectric pod of a wound-sensing and positioning UAV according to the present invention.

[0023] Figure 4 This is a cross-sectional perspective view of a shock-absorbing component for a wound-sensing and positioning drone according to the present invention.

[0024] Figure 5 This is a front view of the shock absorption component of a wound-sensing and positioning drone according to the present invention;

[0025] Figure 6 This is a perspective view of the mounting component of a wounded soldier detection and positioning drone according to the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Body; 2. Shock Absorption Components; 201. First Shock Absorption Plate; 202. Second Shock Absorption Plate; 203. Third Shock Absorption Plate; 204. Elastic Shock Absorption Component; 2041. Sphere; 2042. Upper Limit Block; 2043. Lower Limit Block; 205. Return Spring; 3. Optoelectronic Pod; 4. Life Detection Radar; 5. Mounting Components; 501. Fixing Rod; 502. Bidirectional Lead Screw; 503. Clamping Head; 504. Limiting Rod; 6. Connecting Rod; 7. Through Hole; 8. Rotary Wheel; 9. Through Groove; 10. Fixing Frame; 11. Sliding Block; 12. Slide Groove; 13. Baffle; 14. Connecting Plate; 15. Fastening Bolt; 16. Support Leg; 17. Reinforcing Rod. Detailed Implementation

[0028] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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 invention.

[0030] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] See Figures 1 to 3 This invention provides a wounded person sensing and positioning drone, comprising: a body 1, a shock-absorbing assembly 2 disposed at the bottom of the body 1, an optoelectronic pod 3 and a life detection radar 4 disposed on the shock-absorbing assembly 2, the shock-absorbing assembly 2 comprising a first shock-absorbing plate 201, a second shock-absorbing plate 202 and an elastic shock-absorbing element 204, the bottom of the body 1 being connected to the top surface of the first shock-absorbing plate 201, the second shock-absorbing plate 202 being connected to the first shock-absorbing plate 201 through the elastic shock-absorbing element 204, and the second shock-absorbing plate 202 being positioned between the first shock-absorbing plate 201 and the body 1, the optoelectronic pod 3 being connected to the second shock-absorbing plate 202 through a slot in the first shock-absorbing plate 201, and the life detection radar 4 being connected to the second shock-absorbing plate 202.

[0032] The airframe 1 is preferably a long-endurance, high-payload multi-rotor UAV, which can be customized with various mounted equipment according to different needs. The electro-optical pod 3 is equipped with a camera, an infrared imager, and a laser rangefinder. The electro-optical pod 3 is detachably connected to the second shock absorber 202 via a three-axis stabilization platform to ensure that the camera, infrared imager, and laser rangefinder can achieve omnidirectional target acquisition and tracking while the airframe 1 is in flight. The diameter of the slot is larger than that of the three-axis stabilization platform to ensure that the three-axis stabilization platform will not interfere with the first shock absorber 201 when the second shock absorber 202 tilts horizontally. Preferably, the second shock absorber 202 has the same outline as the first shock absorber 201, and the size of the second shock absorber 202 is smaller than that of the first shock absorber 201.

[0033] Specifically, the airframe 1 vibrates due to turbulence during flight and external forces caused by severe weather. The force from this vibration is transmitted through the first damping plate 201 to the second damping plate 202. The elastic damping component 204 located between the first and second damping plates 201 is compressed and then returns to its original position. During this compression and return process, the elastic damping component 204 absorbs high-frequency micro-vibrations. The damping assembly 2 effectively counteracts the vibrations generated by the motor rotation within the airframe 1, as well as the effects of severe weather, and reduces the impact of vibrations on the movement of the electro-optical pod 3 and the life detection radar 4.

[0034] It should be noted that the three-axis stabilization platform, the UAV, the life detection radar 4, and the camera, infrared imager, and laser rangefinder in the optoelectronic pod 3 are all known to those skilled in the art. This application does not improve upon the known components themselves, so they will not be described in detail here.

[0035] In some embodiments, there are multiple elastic damping elements 204, which are circumferentially disposed between the first damping plate 201 and the second damping plate 202. The provision of multiple elastic damping elements 204 can improve the damping effect of the damping assembly 2.

[0036] See Figure 4 and Figure 5 In some embodiments, the elastic damping member 204 includes a sphere 2041, an upper limit block 2042, and a lower limit block 2043. The sphere 2041 is located between the first damping plate 201 and the second damping plate 202. The top end of the sphere 2041 passes through the second damping plate 202 and is connected to the upper limit block 2042. The bottom end of the sphere 2041 passes through the first damping plate 201 and is connected to the lower limit block 2043.

[0037] When the aircraft 1 is subjected to turbulence during its flight and external forces caused by severe weather, the sphere 2041 is squeezed by the first damping plate 201 and the second damping plate 202. Along with the stretching of the sphere 2041 by the upper limit block 2042 and the lower limit block 2043, the force generated by the vibration is decomposed by the multi-directional free rotation of the connecting joints at the connection points of the sphere 2041 with the upper limit block 2042 and the lower limit block 2043, thus absorbing high-frequency micro-vibrations.

[0038] Preferably, the shock absorption assembly 2 further includes a third shock absorption plate 203 and a return spring 205. The top surface of the third shock absorption plate 203 is connected to the bottom end of the body 1, and the bottom surface of the third shock absorption plate 203 is connected to the top surface of the first shock absorption plate 201 through the connecting rod 6. The return spring 205 is disposed between the second shock absorption plate 202 and the third shock absorption plate 203. The return spring 205 is coaxially sleeved on the outside of the connecting rod 6, and the return spring 205 does not contact the rod body of the connecting rod 6.

[0039] The third damping plate 203 is connected to the center of the bottom of the fuselage 1 by four studs. When the fuselage 1 vibrates due to turbulence during flight or external forces caused by severe weather, the force generated by the vibration is transmitted through the third damping plate 203 to the first damping plate 201, and then to the second damping plate 202. This causes the second damping plate 202 to shift in the horizontal direction. The elastic damping element 204 initially absorbs the vibration, and the return spring 205 is compressed or stretched, storing some of the kinetic energy as elastic potential energy. After the vibration decays, the return spring 205 returns the stored elastic potential energy to the second damping plate 202 and the first damping plate 201, causing the second damping plate 202 to return to its original position. The return spring 205 increases the damping effect, further improving the vibration protection of the electro-optical pod 3 and the life detection radar 4.

[0040] Furthermore, there are multiple connecting rods 6, which are circumferentially arranged between the first damping plate 201 and the third damping plate 203. The rods of the multiple connecting rods 6 pass through through holes 7 on the second damping plate 202, and the diameter of the through holes 7 is larger than the diameter of the horizontal cross-section of the connecting rod 6. This ensures that the second damping plate 202 will not interfere with the connecting rods 6 when the second damping plate 202 is offset in the horizontal direction.

[0041] See Figure 6 In some embodiments, the casualty detection and positioning UAV also includes a mounting component 5, the top of which is connected to the second shock absorber 202, and the bottom of which is connected to the life detection radar 4. Furthermore, the life detection radar 4 is detachably mounted on the bottom of the mounting component 5.

[0042] Preferably, the mounting assembly 5 includes a fixing rod 501, a bidirectional lead screw 502, and a clamping head 503. There are two fixing rods 501, which are respectively disposed at both ends of the second damping plate 202. The bidirectional lead screw 502 is rotatably disposed between the two fixing rods 501, and one end of the bidirectional lead screw 502 passes through one of the fixing rods 501 and is connected to the rotating wheel 8. There are two clamping heads 503, which are symmetrically disposed on the two threaded areas of the bidirectional lead screw 502.

[0043] Specifically, rotating the wheel 8 causes the bidirectional lead screw 502 to rotate between the two fixed rods 501, driving the two clamping heads 503 to move towards or away from each other, clamping the life detection radar 4 to fix the life detection radar 4, and adapting to life detection radars 4 of different specifications and widths.

[0044] Preferably, the mounting assembly 5 further includes a limiting rod 504, which passes through the top of the clamping head 503 and is positioned between the two fixed rods 501. The clamping head 503 can slide on the limiting rod 504. The limiting rod 504 limits the movement of the clamping head 503 on the bidirectional lead screw 502, preventing the two clamping heads 503 from failing to maintain symmetry when moving towards or away from each other on the bidirectional lead screw 502, thus affecting the clamping effect on the life detection radar 4.

[0045] In some embodiments, when the life detection radar 4 is connected to the bottom end of the mounting assembly 5, the life detection radar 4 can slide on the mounting assembly 5.

[0046] Preferably, the clamping head 503 is provided with a through groove 9, and a fixing frame 10 is slidably disposed within the through groove 9. The clamping position varies depending on the type of life detection radar 4. After the fixing frame 10 clamps the life detection radar 4, adjusting the position of the fixing frame 10 within the through groove 9 changes the position of the life detection radar 4 at the bottom of the body 1, thereby adjusting the center of gravity. It should be noted that, for ease of viewing, in... Figure 6 The fixing frame 10 on one side of the clamping head 503 is omitted. Preferably, the clamping head 503 is provided with a connecting plate 14, and a fastening screw is rotatably provided on the connecting plate 14. Furthermore, the bottom end of the fastening bolt 15 is provided with an anti-slip plate. When the fixing frame 10 clamps the life detection radar 4 and the position of the fixing frame 10 on the clamping head 503 is adjusted, the fastening bolt 15 is rotated, and the anti-slip pad abuts against the life detection radar 4, fixing the fixing frame 10 in the through groove 9 of the clamping head 503.

[0047] Furthermore, sliding blocks 11 are provided on two opposite sidewalls of the fixed frame 10, and sliding grooves 12 are provided on two opposite sidewalls within the through groove 9. The sliding blocks 11 can slide within the sliding grooves 12, and the fixed frame 10 is slidably connected to the clamping head 503 via the sliding blocks 11. The cooperation between the sliding blocks 11 and the sliding grooves 12 makes the sliding of the fixed frame 10 within the through groove 9 more stable, facilitating the adjustment of the fixed frame 10's position within the through groove 9. Preferably, baffles 13 are provided at the two open ends of the fixed frame 10. The baffles 13 are used to prevent the fixed frame 10 from detaching from the through groove 9.

[0048] In some embodiments, a plurality of outriggers 16 are symmetrically arranged at the bottom end of the fuselage 1. Further, the outriggers 16 are arc-shaped and bend outwards away from the fuselage 1, with reinforcing rods 17 arranged between the multiple outriggers 16 on the same side. The outriggers 16 and reinforcing rods 17 support the fuselage 1 during descent, and the multiple outriggers 16 together form a frame structure to house and protect the shock-absorbing assembly 2, the mounting assembly 5, the optoelectronic pod 3, and the life detection radar 4.

[0049] Preferably, the camera is a high-definition visible light camera with 30x optical zoom, and the infrared imager is a high-sensitivity long-wave uncooled infrared imager. The visible light camera, infrared imager, and laser rangefinder are staggered within the optoelectronic pod 3 to ensure they do not interfere with each other when rotating in different orientations, thus maintaining normal equipment operation. Preferably, the life detection radar 4 has an ultra-wideband radar module, making it easy to detect faint life behind obstacles such as buildings, ruins, and bunkers.

[0050] In some embodiments, the casualty detection and positioning drone also includes a backend system, which is configured to:

[0051] The optoelectronic pod 3 and the life detection radar 4 are electrically connected to the back-end system, receiving biometric and image feature data from the target area.

[0052] The backend system is configured such that upon startup, it first loads a configuration module to receive two main data streams: biometric data and biological image data. The backend system then establishes a data receiving port for communication with the life detection radar, camera, and infrared imager on the UAV.

[0053] The drone enters the target area according to a preset route to conduct a wide-area search. Its onboard life detection radar 4 operates continuously, emitting and receiving electromagnetic waves in specific bands to detect minute movements caused by vital signs, thereby collecting raw data of the aforementioned biological characteristics in real time and transmitting it to the data module.

[0054] The drone's built-in data module encapsulates the received raw biometric data into data packets and transmits them to the designated data receiving port of the backend system.

[0055] After receiving the biometric data, the backend system extracts features from the biometric data to obtain key features representing vital signs.

[0056] For example, the biometric vector extraction module is activated. This module uses Fourier transform and statistical analysis methods to process the biometric data, extracting key features that represent vital signs, such as heart rate and the periodicity of respiratory patterns. These features are combined into a multi-dimensional biometric vector. The backend system then obtains a sequence of biometric vectors containing multiple time steps.

[0057] An initial biometric model based on deep learning has been pre-constructed, designed to identify vital signals from biometric vectors. This initial biometric model is trained using massive amounts of historical raw biometric data (from simulated human bodies, real living organisms, and radar data from non-living interference sources) until it converges and reaches a preset recognition accuracy. This yields a target biometric model that can be used for real-time inference. The initial biometric model employs a recurrent neural network algorithm, a conventional algorithm for which this application has not made any modifications.

[0058] Biometric vectors containing multiple time steps are transmitted to the target biometric model. The target biometric model, using a recurrent neural network (RNN) algorithm, integrates the information of the current vector with the information of all previous vectors and updates its "memory" as it processes each vector in the sequence. This process enables the target biometric model to understand the regularity of changes in vital signals over time. After processing the complete sequence, the target biometric model's final "memory unit" will contain complete information about the entire sequence, resulting in the final memory state.

[0059] The fully connected output layer of the target biometric model receives the final "memory state" described above. Based on this memory state, the connected output layer calculates the confidence level. It outputs a value between zero and one, representing the target biometric model's confidence level in the presence of vital signs in the target area, i.e., the target area casualty confidence level. The fully connected output layer transmits this quantified target area casualty confidence level to the decision-making module of the backend system.

[0060] The confidence level of the wounded in the target area is compared with a pre-set confidence threshold.

[0061] If the confidence level of the wounded in the target area is less than the confidence threshold: the background system determines that there are no obvious signs of life in the area, does not issue any command response, and the drone continues to perform the original wide-area search mission.

[0062] If the confidence level of the wounded in the target area is greater than the confidence threshold: the back-end system determines that there are suspected wounded targets in the area and immediately sends a close-range search command to the drone.

[0063] Upon receiving the approach search command, the drone changes its flight mode, descends its altitude, and flies towards the designated area. Its onboard cameras and infrared imagers begin operating, acquiring real-time biological image data (including visible light and thermal images) of the area. The raw biological image data is transmitted to the backend system via a data module.

[0064] Upon receiving biological image data, feature vector extraction is performed. Convolutional neural networks can be used to process the image and extract key information representing the characteristics of the organism, such as the human body's outline, posture, clothing color, and the shape and temperature distribution of heat sources. This information is then combined into an image feature vector.

[0065] Similar to the biometric model, the backend system pre-builds an initial biometric model. This model is trained using massive amounts of historical raw image feature data (including images of injured persons, non-injured persons, and animals under various poses and lighting conditions) to accurately distinguish injured persons from other objects. This is then transformed into a high-precision target biometric model suitable for real-time inference. The initial biometric model employs the YOLO object detection algorithm. Using this target biometric model, confidence prediction is performed on the injured persons in the images.

[0066] Specifically, the backend system sends the preprocessed biometric image data to the target biometric model. The target biometric model then uses the biometric image data to predict the confidence level of the injured person in the approach area.

[0067] If the confidence level of the injured person in the approaching area is less than the set threshold, the backend system determines that the target is not an injured person (e.g., an animal or humanoid object) and sends a "return search command" to the drone, allowing it to return to the original wide-area search mode.

[0068] If the confidence level of the casualty in the approaching area is greater than or equal to a set threshold, the backend system determines the casualty target. At this point, a ranging command is sent to the drone, containing the target's precise location information in the image (such as the center point of the bounding box), so that the laser rangefinder on the drone can accurately aim at the target and measure the distance. The laser rangefinder measures the precise distance between the drone and the identified casualty target. Simultaneously, the drone's GPS positioning provides its own three-dimensional coordinates. The distance data and coordinate data are then transmitted to the backend system.

[0069] The backend system will receive distance and coordinate data and combine them with image location information from cameras and infrared imagers to perform triangulation and coordinate calculations, obtaining an accurate geographic coordinate of the injured person that can be used by the rescue team.

[0070] For example, the formula for calculating the geographical coordinates of the wounded is:

[0071]

[0072] Among them, P t The three-dimensional geographic coordinates of the wounded are represented in meters (m), and are a three-dimensional vector (x, y, z). t ,y t ,z t ), representing the longitude, latitude, and elevation of the wounded in the Earth coordinate system; P u The three-dimensional geographic coordinates of the UAV, in meters (m), are represented by a three-dimensional vector (x). u ,y u ,z u ), from the drone's GPS positioning system; D represents the distance measured by the laser rangefinder, in meters (m), representing the straight-line distance from the drone to the wounded target; The unit direction vector is derived from image position information (such as the center point of the bounding box) and has been normalized (i.e., its magnitude is 1). In the global coordinate system, this vector represents the direction from the UAV to the injured person, and its calculation depends on the camera's intrinsic parameter matrix (including focal length, optical center, etc.) and the UAV's attitude (pitch, roll, yaw).

[0073] Further, Unit direction vector. Derived from the target location in the image (e.g., the pixel coordinates (u,v) of the bounding box center point). The calculation process includes:

[0074] The pixel coordinates are converted into direction vectors in the camera coordinate system using the camera intrinsic parameter matrix K:

[0075] Transform the camera coordinate system to the global coordinate system using the UAV's attitude (rotation matrix R): d = R·d c ;

[0076] Normalization to obtain unit vectors:

[0077] In some embodiments, the backend system also includes a feedback module that responds promptly when abnormalities occur in the biometric data received by the backend system.

[0078] In one embodiment, the casualty sensing and positioning UAV also includes an inertial navigation system for real-time monitoring of the UAV's attitude changes, effectively compensating for the life signal data detected by the life detection radar 4, and reducing phase errors.

[0079] In one embodiment, the casualty detection and positioning UAV also includes a support system. This support system has self-checking and fault diagnosis functions to ensure reliability during high-intensity casualty search and rescue missions. Furthermore, it interfaces with the UAV's network system, using the UDP protocol to transmit visual data and enable real-time control, ensuring data transmission security and accuracy during high-speed flight and in complex environments.

[0080] Work process

[0081] First, place the life detection radar 4 between two fixed frames 10, rotate the rotating wheel 8, and the bidirectional lead screw 502 rotates synchronously between the two fixed rods 501, driving the two clamping heads 503 on the limit rod 504 to move towards each other, and the two fixed frames 10 move synchronously to clamp the life detection radar 4.

[0082] Then, the fixed frame 10 on the moving clamping head 503 is moved, and the sliding block 11 slides in the sliding groove 12. The position of the fixed frame 10 in the through groove 9 on the clamping head 503 is adjusted, thereby changing the position of the life detection radar 4 at the bottom of the body 1 to achieve the purpose of adjusting the center of gravity. The fastening screw on the connecting plate 14 is rotated, and the anti-slip plate abuts against the outer wall of the fixed frame 10 to fix the fixed frame 10 on the clamping head 503.

[0083] Finally, the operator controls the aircraft 1 to initiate flight attitude through the ground station and fly along the preset trajectory to the search area. The camera, infrared imager, and laser rangefinder in the electro-optical pod 3, as well as the life detection radar 4, collect biometric data of the target area in real time. After discovering a suspected target, the aircraft approaches and searches for it.

[0084] When the aircraft 1 or its electro-optical pod 3 and life detection radar 4 are subjected to external forces such as turbulence generated during the flight of the aircraft 1 and the influence of severe weather, the force generated by the vibration is transmitted to the first damping plate 201 through the third damping plate 203 and the connecting rod 6. The sphere 2041 located between the first damping plate 201 and the second damping plate 202 is compressed, accompanied by the stretching of the sphere 2041 by the upper limit block 2042 and the lower limit block 2043. Combined with the multi-directional free rotation of the connecting joints at the connection points of the sphere 2041 with the upper limit block 2042 and the lower limit block 2043, the force generated by the vibration is decomposed and the high-frequency micro-vibration is absorbed.

[0085] Addressing the practical needs of casualty search and rescue in the field, this application designs and develops a casualty sensing and positioning UAV that integrates a UAV, a life detection radar 4, and an electro-optical pod 3, improving casualty search efficiency and achieving unmanned casualty search. Based on multi-source detection, casualty search and positioning avoids the low robustness of single-type sensors in target identification in the field environment, improving casualty sensing efficiency and accuracy. The design incorporating vibration damping components provides an effective operating environment for the life detection radar 4 and the electro-optical pod 3.

[0086] In the above embodiments, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0087] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "method," "specific method," or "some methods," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or method is included in at least one embodiment or method of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or method. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or methods. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or methods described in this specification, as well as the features of different embodiments or methods.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wounded soldier detection and positioning drone, characterized in that, include: The body has a shock-absorbing assembly at its bottom, and the shock-absorbing assembly is equipped with an optoelectronic pod and a life detection radar. The shock absorption assembly includes a first shock absorption plate, a second shock absorption plate, and an elastic shock absorber. The bottom end of the body is connected to the top surface of the first shock absorption plate. The second shock absorption plate is connected to the first shock absorption plate through the elastic shock absorber, and the second shock absorption plate is located between the first shock absorption plate and the body. The optoelectronic pod passes through a slot in the first shock absorption plate and is connected to the second shock absorption plate. The life detection radar is connected to the second shock absorption plate.

2. The wounded soldier detection and positioning UAV according to claim 1, characterized in that, There are multiple elastic damping components, which are circumferentially arranged between the first damping plate and the second damping plate.

3. The casualty sensing and positioning UAV according to claim 2, characterized in that, The elastic damping component includes a sphere, an upper limit block, and a lower limit block. The sphere is located between the first damping plate and the second damping plate. The top end of the sphere passes through the second damping plate and is connected to the upper limit block, and the bottom end of the sphere passes through the first damping plate and is connected to the lower limit block.

4. The casualty sensing and positioning UAV according to claim 1, characterized in that, It also includes a mounting assembly, the top of which is connected to the second shock absorber, and the bottom of which is connected to the life detection radar.

5. The wounded soldier detection and positioning UAV according to claim 4, characterized in that, The life detection radar is detachably mounted at the bottom of the mounting assembly.

6. The wounded soldier sensing and positioning UAV according to claim 5, characterized in that, When the life detection radar is connected to the bottom of the mounting assembly, the life detection radar can slide on the mounting assembly.

7. The wounded soldier sensing and positioning UAV according to claim 1, characterized in that, The second damping plate has the same outline as the first damping plate, and the size of the second damping plate is smaller than that of the first damping plate.

8. The wounded soldier detection and positioning UAV according to claim 1, characterized in that, The bottom of the machine body is symmetrically provided with multiple support legs.

9. The wounded soldier sensing and positioning UAV according to claim 8, characterized in that, The outrigger is arc-shaped and bends outward in a direction away from the body.

10. The wounded soldier sensing and positioning UAV according to claim 9, characterized in that, It also includes a reinforcing rod, which is disposed between the multiple legs on the same side.

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