Reconnaissance robot based on unmanned aerial vehicle

Abstract

The invention discloses a reconnaissance robot based on an unmanned aerial vehicle. The reconnaissance robot comprises a ground robot, a recovery unit, the unmanned aerial vehicle and a central control unit. The recycling unit comprises a recycling box and a multi-degree-of-freedom mechanical arm, the recycling box and the multi-degree-of-freedom mechanical arm are both installed on the ground robot, and the multi-degree-of-freedom mechanical arm is arranged on one side of the recycling box. The unmanned aerial vehicle is recycled in the recycling box through the multi-freedom-degree mechanical arm. And the central control unit is in communication connection with the ground robot and the unmanned aerial vehicle, and is used for uniformly receiving and processing sensor data of the ground robot and the unmanned aerial vehicle, generating a cooperative control instruction and commanding the ground robot and the unmanned aerial vehicle to perform cooperative investigation, operation and recovery. The linkage between the unmanned aerial vehicle and the ground robot can be greatly improved, so that the unmanned aerial vehicle and the ground robot can form an intelligent body to complete related tasks, meanwhile, the ground robot can assist in recovery of the unmanned aerial vehicle, and the recovery difficulty of the unmanned aerial vehicle is greatly reduced.

Description

Technical Field

[0001] This invention belongs to the field of reconnaissance robot technology, specifically relating to a reconnaissance robot based on unmanned aerial vehicles (UAVs). Background Technology

[0002] With the rapid development of automation and intelligent technologies, drones and ground robots, as two main types of unmanned mobile platforms, are increasingly widely used in military reconnaissance, public security counter-terrorism, disaster relief, industrial inspection, and agricultural plant protection. Drones have the advantages of high mobility and wide field of vision, but their endurance is limited, their stealth is poor, and they cannot effectively reconnoiter areas with obstructed GNSS signals, such as indoors, caves, and under dense forests. Ground robots, on the other hand, can enter these complex and concealed spaces to perform sustained reconnaissance, but their movement speed is slow, their field of vision is limited, and they are easily hindered by terrain.

[0003] Currently, there are some ideas or simple products regarding the collaboration between drones and ground robots, but most remain at the stage of "physical mounting" and "simple command control." Drones are typically used merely as detachable "sensor pods" for ground robots, lacking deep interaction at the behavioral and decision-making levels. For example, after the drone separates from the ground robot, although the airborne and ground units communicate, their decision-making systems are independent and cannot function as a unified intelligent agent capable of thinking and planning behavior. Secondly, existing drone recovery methods are extremely difficult, usually requiring ground robots to precisely land on flat, open ground, and cannot actively assist drones in recovering them under complex conditions.

[0004] Therefore, in order to address the aforementioned technical problems, it is necessary to provide a reconnaissance robot based on unmanned aerial vehicles (UAVs).

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a reconnaissance robot based on unmanned aerial vehicles (UAVs), which can solve the problems of difficulty in recovering UAVs in complex environments and weak ability to cooperate with ground robots.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution: A drone-based reconnaissance robot includes a ground robot, a recovery unit, a drone, and a central control unit. The recovery unit includes a recovery bin and a multi-degree-of-freedom (DOF) robotic arm, both mounted on the ground robot, with the multi-DOF robotic arm positioned on one side of the recovery bin. The drone is recovered into the recovery bin via the multi-DOF robotic arm. The central control unit is integrated within the ground robot and communicates with both the ground robot and the drone. The central control unit receives and processes reconnaissance data from both the ground robot and the drone, generates collaborative control commands, and directs both to perform collaborative reconnaissance, operations, and recovery.

[0008] In one or more embodiments of the present invention, the recovery bin includes a bin body, a pair of hatches, and a lifting platform. The bin body is hollow inside and has an opening at the top. The pair of hatches can slide synchronously at the opening of the bin body. The lifting platform can be raised and lowered inside the bin body, enabling the drone to move between a protected position inside the bin body and a takeoff position outside the bin body. In the recovery state, the pair of hatches are opened, and the lifting platform rises to the opening of the bin body, level with the hatches, to increase the area for receiving the drone; in the moving state, the lifting platform descends and is stored inside the bin body, and the pair of hatches fold synchronously to ensure the passability and concealment of the ground robot.

[0009] When the drone needs to be recovered, a pair of hatches open simultaneously, and the lifting platform rises to be level with the hatches, forming a landing platform much larger than the drone's size. This reduces the difficulty of landing the drone in turbulent or windy conditions, improving the success rate and efficiency of drone recovery. After the drone lands on the lifting platform, the platform descends, and then the hatches close, using the enclosure and hatches to provide all-around armor protection for the drone.

[0010] In one or more embodiments of the present invention, a first screw and a first guide rod are installed at the opening of the housing. The first screw is rotatable on the inner wall of the housing opening. A pair of fixing blocks are connected to each side wall of the hatch. One of the fixing blocks is threadedly connected to the first screw, and the other fixing block is slidably connected to the first guide rod. When the first screw rotates, one of the fixing blocks, under the action of the thread, can move the hatch along the first guide rod. In one or more embodiments of the present invention, a first pulley is connected to one end of the first screw located outside the housing, a drive motor is installed on the outer wall of the housing, a second pulley is installed at the output end of the drive motor, and a drive belt is connected between the first pulley and the second pulley. When the drive motor is running, the drive motor drives the second pulley to rotate, and the second pulley drives the first pulley and the first screw to rotate via the drive belt, thereby controlling the movement of the hatch.

[0011] In one or more embodiments of the present invention, a lifting motor is installed inside the housing, the output end of the lifting motor is connected to a second screw, and a second guide rod is also connected to the inner wall of the housing. One end of the lifting platform is threadedly connected to the second screw, and the other end of the lifting platform is slidably mounted on the second guide rod. When the lifting motor is running, it causes the second screw to rotate, and the lifting platform, under the action of the screw, can move up and down along the second guide rod inside the housing.

[0012] In one or more embodiments of the present invention, the lifting platform is provided with a locking groove and a docking plate, and the drone is equipped with a contact rod that can be inserted into the docking plate. When the drone stops on the lifting platform, the drone's bracket will be placed in the locking groove, and at the same time, the contact rod on the drone will be inserted into the docking plate to lock the drone on the lifting platform.

[0013] In one or more embodiments of the present invention, the end of the multi-degree-of-freedom robotic arm is connected to a gripper, the gripper having a cavity adapted to the drone fuselage and a locking mechanism, enabling the multi-degree-of-freedom robotic arm to actively grasp, move and release the drone.

[0014] In one or more embodiments of the present invention, the central control unit has the following built-in collaborative operation modes: controlling the multi-degree-of-freedom robotic arm to grab the landed drone and accurately position it to a preset location, and then instructing the drone to start reconnaissance without starting flight, or adjusting the drone to be placed on the lifting platform for easy drone recovery.

[0015] In one or more embodiments of the present invention, the central control unit has the following master-slave collaborative reconnaissance mode: instructing the UAV to move forward to conduct aerial path reconnaissance, and based on the real-time environmental data transmitted back by the UAV, planning a concealed or safe route for the ground robot in real time, and controlling the ground robot to automatically move along the route.

[0016] In one or more embodiments of the present invention, the ground robot employs a tracked chassis.

[0017] Compared with existing technologies, the reconnaissance robot based on drones of the present invention can significantly increase the linkage between drones and ground robots, enabling drones and ground robots to form an interconnected intelligent agent to complete related tasks. At the same time, ground robots can also assist in the recovery of drones, greatly reducing the difficulty of drone recovery. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a first-angle perspective view of a drone-based reconnaissance robot according to an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure at point A in the middle; Figure 3 This is a second-angle perspective view of a drone-based reconnaissance robot according to an embodiment of the present invention; Figure 4 This is a perspective view of a recycling bin according to one embodiment of the present invention; Figure 5 This is a top cross-sectional view of the recycling bin in one embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the structure at point B; Figure 7 This is a side cross-sectional view of the recycling bin in one embodiment of the present invention; Figure 8 for Figure 7 Schematic diagram of the structure at point C; Figure 9 for Figure 7 Schematic diagram of the structure at point D.

[0020] Explanation of key figure labels: 1-Ground robot, 2-Recovery unit, 201-Recovery box, 2011-Box body, 2012-Door, 2013-First screw, 2014-First guide rod, 2015-Drive motor, 2016-Drive belt, 2017-Fixing block, 2018-Lifting platform, 20181-Matching slot, 20182-Dating plate, 2019-Lifting motor, 20191-Second screw, 202-Multi-degree-of-freedom robotic arm, 3-UAV, 301-Touch rod. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0022] like Figures 1 to 9 As shown, an embodiment of the present invention discloses a drone-based reconnaissance robot, comprising a ground robot 1, a recovery unit 2, a drone 3, and a central control unit. The recovery unit 2 includes a recovery bin 201 and a multi-degree-of-freedom robotic arm 202, both mounted on the ground robot 1, with the multi-degree-of-freedom robotic arm 202 positioned on one side of the recovery bin 201. The drone 3 is recovered into the recovery bin 201 via the multi-degree-of-freedom robotic arm 202. The central control unit is integrated within the ground robot 1 and communicates with both the ground robot 1 and the drone 3. The central control unit is used to uniformly receive and process reconnaissance data from the ground robot 1 and the drone 3, and to generate collaborative control commands to direct both to perform collaborative reconnaissance, operations, and recovery.

[0023] The ground robot 1 in this application features a chassis with an all-terrain dual-flow track structure, providing strong obstacle-crossing and hill-climbing capabilities. The ground robot 1 is powered by a high-energy-density lithium-ion battery pack.

[0024] Furthermore, UAV 3 is a quadcopter with quick-release arms for easy transport and maintenance. Its power system consists of brushless motors paired with large, low-speed propellers to balance load, noise, and efficiency. UAV 3's payload includes a three-axis stabilized high-definition electro-optical pod, a solid-state LiDAR for short-range 3D environmental awareness, and an integrated image / data transmission radio. The high-definition electro-optical pod features 30x optical zoom and infrared thermal imaging capabilities. UAV 3's flight control system adopts a Pixhawk-like open-source architecture and has undergone secondary development to integrate cooperative control commands.

[0025] Specifically, the central control unit, as the core decision-making and command center of the entire system, is not simply an information relay station. It is responsible for integrating and processing all sensor information from UAV 3, ground robot 1, and even external systems. Based on preset algorithms and artificial intelligence models, it can generate globally optimal collaborative task strategies and dynamically and in real time allocate the roles and specific tasks of ground robot 1 and UAV 3.

[0026] For example, the central control unit can command UAV 3 to conduct reconnaissance and synchronize real-time images and location data to ground robot 1. Ground robot 1 then automatically plans a concealed path or avoids danger zones in advance based on the information sent back by UAV 3, thereby realizing a master-slave collaborative mode in which UAV 3 explores the path and ground robot 1 follows the track.

[0027] For example, the central control unit controls the multi-degree-of-freedom robotic arm 202 to grab the landed drone 3 and precisely position it in a preset location. Then, it instructs the drone 3 to start reconnaissance without starting flight, or adjusts the drone 3 to be placed on the lifting platform 2018 for easy recovery. This enables the drone 3 to work collaboratively with the ground robot 1.

[0028] In this embodiment, the central control unit consists of a ruggedized industrial-grade main control computer. Its core processor adopts a multi-core ARM architecture or a low-power x86 architecture, running a ROS2-based collaborative control software framework. This framework integrates algorithm modules such as real-time localization and mapping, 3D path planning, and multi-agent task allocation. For communication, in addition to the internal high-speed CAN bus, it also integrates a high-power radio data transmission module and a 4G / 5G communication module to maintain a low-latency, high-bandwidth data link with the UAV 3 and the remote command center.

[0029] Of course, the central control unit can also integrate a machine learning module, which can continuously optimize the collaborative strategy based on historical task data, thereby improving the overall level of intelligence.

[0030] Based on the above, this application can significantly increase the linkage between the ground robot 1 and the drone 3, so that the ground robot 1 and the drone 3 can form an interconnected intelligent entity, and thus can cooperate or jointly complete relevant reconnaissance tasks. At the same time, the ground robot 1 can also assist the drone 3 in recovery, greatly reducing the difficulty of recovering the drone 3.

[0031] like Figures 1 to 9 As shown, the recovery container 201 includes a container body 2011, a pair of hatches 2012, and a lifting platform 2018. The container body 2011 is hollow inside and has an opening at the top. The pair of hatches 2012 can slide synchronously at the opening of the container body 2011. The lifting platform 2018 can be raised and lowered inside the container body 2011. By raising and lowering the lifting platform 2018, the drone 3 can move between its protected position inside the container body 2011 and its takeoff position outside the container body 2011. In the recovery state, the pair of hatches 2012 unfold, and the lifting platform 2018 rises to the opening of the container body 2011, becoming flush with the hatches 2012, to expand the area for receiving the drone 3 and improve the success rate and efficiency of drone 3 recovery. In the moving state, the lifting platform 2018 descends and retracts into the container body 2011, and the pair of hatches 2012 fold synchronously, ensuring the passability and concealment of the ground robot 1.

[0032] Preferably, the housing 2011 is made of carbon fiber composite material, which is lightweight and high-strength. The hatch 2012 is made of aluminum alloy. Through the cooperation of the housing 2011 and the hatch 2012, the UAV 3 can be protected.

[0033] When the drone 3 needs to be recovered, a pair of hatches 2012 open simultaneously, and the lifting platform 2018 rises to be flush with the hatches 2012, forming a landing platform much larger than the drone 3. Figure 1 As shown, this design reduces the difficulty of landing the UAV 3 in turbulent or windy conditions, thereby improving the success rate and efficiency of its recovery. After the UAV 3 comes to rest on the elevator platform 2018, the elevator platform 2018 descends, and then the hatch 2012 closes, using the housing 2011 and the hatch 2012 to provide all-around armor protection for the UAV 3.

[0034] like Figures 4 to 9 As shown, a first screw 2013 and a first guide rod 2014 are installed at the opening of the housing 2011. The first screw 2013 is rotatable on the inner wall of the opening of the housing 2011. A pair of fixing blocks 2017 are connected to each side wall of the hatch 2012. One fixing block 2017 is threadedly connected to the first screw 2013, and the other fixing block 2017 is slidably connected to the first guide rod 2014. When the first screw 2013 rotates, one of the fixing blocks 2017, under the action of the thread, can drive the hatch 2012 to move along the first guide rod 2014.

[0035] Preferably, the first screw 2013 is a bidirectional screw. When the first screw 2013 rotates, a pair of hatches 2012 can move in opposite directions, thereby synchronously controlling the opening or closing of the pair of hatches 2012.

[0036] The first screw 2013 is connected to a first pulley at one end outside the housing 2011. A drive motor 2015 is installed on the outer wall of the housing 2011, and a second pulley is installed at the output end of the drive motor 2015. A drive belt 2016 connects the first pulley and the second pulley. When the drive motor 2015 is running, it drives the second pulley to rotate. The second pulley, through the drive belt 2016, drives the first pulley and the first screw 2013 to rotate, thereby controlling the movement of the hatch 2012.

[0037] like Figures 1 to 9 As shown, a lifting motor 2019 is installed inside the housing 2011. The output end of the lifting motor 2019 is connected to a second screw 20191. A second guide rod is also connected to the inner wall of the housing 2011. One end of the lifting platform 2018 is threadedly connected to the second screw 20191, and the other end of the lifting platform 2018 is slidably mounted on the second guide rod. When the lifting motor 2019 is running, it causes the second screw 20191 to rotate. The lifting platform 2018, under the action of the screw, can move up and down along the second guide rod within the housing 2011 to control the recovery and release of the UAV 3.

[0038] Preferably, the lifting motor 2019 is a DC servo motor.

[0039] The lifting platform 2018 is equipped with a locking groove 20181 and a docking plate 20182. The drone 3 is equipped with a contact rod 301, which can be inserted into the docking plate 20182. When the drone 3 stops on the lifting platform 2018, the bracket of the drone 3 will be placed in the locking groove 20181, and at the same time, the contact rod 301 on the drone 3 will be inserted into the docking plate 20182 to lock the drone 3 on the lifting platform 2018.

[0040] In this embodiment, an electromagnetic lock and charging contacts are installed in the docking plate 20182. When the contact rod 301 is inserted into the docking plate 20182, the electromagnetic lock is used to fix the drone 3 on the lifting platform 2018. At the same time, the contact rod 301 can contact the charging contacts so that the drone 3 can be charged later.

[0041] Specifically, the end effector of the multi-degree-of-freedom robotic arm 202 is connected to a gripper via a quick-connect interface. Under the command of the central control unit, the multi-degree-of-freedom robotic arm 202 can actively grasp the landed drone 3 and precisely place it as a mobile sensing tool in a specific location, such as a windowsill or pipe opening, for fixed-point reconnaissance, or "rescue" the drone 3 from a trapped location such as bushes. It can also correct the parking posture of the drone 3 on the hatch 2012 or the lifting platform 2018, so that the drone 3 can be parked neatly, facilitating subsequent recovery of the drone 3.

[0042] Of course, the end effector of the multi-degree-of-freedom robotic arm 202 is also equipped with demolition tools, sample collectors, etc. via quick-connect interfaces, enabling the ground robot 1 to have diversified operational capabilities to meet the different operational needs of the ground robot 1.

[0043] In another embodiment of this application, a safety control unit is integrated inside the enclosure 2011. The safety control unit includes, but is not limited to, a temperature control module, a dehumidification module, and a fire protection module.

[0044] The temperature control module includes a cooling mechanism and a heating mechanism. The cooling mechanism mainly consists of a micro-vortex tube cooler, used to cool the UAV 3 inside the housing 2011. The heating mechanism employs a staged heating system. The primary heating mechanism is a flexible silicone rubber heating film attached to the side wall of the housing 2011. Upon receiving a mission command and before the UAV 3 is deployed, it quickly preheats the air inside the UAV 3 and the housing 2011, preventing condensation on the UAV 3's reconnaissance lens and ensuring the UAV 3's battery operates within its optimal temperature range. The secondary heating mechanism is a PTC ceramic heater, serving as the main heat source to maintain a constant temperature within the housing 2011 in extremely cold environments. For example, when the ground robot 1 enters an extremely cold region, it will activate the primary and / or secondary heating mechanisms in advance to keep the housing 2011 in a warm state.

[0045] In addition, the dehumidification module consists of a desiccant dehumidification wheel driven by a fan. Humid air inside the housing 2011 passes through the adsorption zone of the desiccant wheel under the action of the fan, whereupon the moisture in the air is captured by the desiccant, and the dry air is then returned to the housing 2011. This setup enables continuous and efficient dehumidification, ensuring that the humidity environment inside the housing 2011 is consistently controlled within a preset range over the long term, effectively preventing mold and corrosion of precision electronic equipment and / or optical components. For example, when the ground robot 1 recovers the drone 3 from a high-temperature and high-humidity external environment, it immediately activates the dehumidification mode to remove condensation from the surface of the drone 3.

[0046] Specifically, the fire suppression module includes a smoke sensor, a small high-pressure nitrogen cylinder, and a release valve. When the smoke sensor detects a large amount of smoke inside the enclosure 2011, the release valve opens, and the small high-pressure nitrogen cylinder quickly releases high-purity nitrogen into the enclosure 2011 to replace the oxygen, rapidly reducing the oxygen concentration and thus suppressing or extinguishing potential fires, achieving non-destructive fire suppression.

[0047] In addition, to enable the central control unit to better control the safety management unit, temperature and humidity sensors, air pressure sensors, VOC gas sensors, and condensation sensors are also installed inside the enclosure 2011. These sensors work together to form a sensing network, providing a basis for the central control unit to make accurate decisions.

[0048] Application Example 1 Used for reconnaissance of unknown urban areas. The remote command center issues mission instructions, which are received by the central control unit, which then decides to adopt a "master-slave collaborative reconnaissance mode." The central control unit then controls the opening of a pair of hatches 2012, raising the elevator platform 2018 to be level with the hatches 2012. The UAV 3 takes off from the elevator platform 2018 and performs a wide-area scan of the target area according to a path preset by the central control unit. The scanned data from the UAV 3 is then transmitted back to the central control unit.

[0049] Based on data provided by UAV 3, the central control unit automatically identifies roads, buildings, open areas, and potential threats. Simultaneously, it calculates a concealed route for ground robot 1, utilizing walls and bushes for cover as much as possible. This route is not fixed but dynamically updated based on the latest information transmitted back by UAV 3. Under the control of the central control unit, ground robot 1 automatically travels along this dynamically updated route.

[0050] When Drone 3 detects a suspicious second-floor window of a building, the central control unit instructs it to fly back and land on the lift platform 2018. The central control unit plans the motion trajectory of the multi-degree-of-freedom robotic arm 202 and controls the gripper to accurately grasp Drone 3. Then, following a pre-calculated collision-free trajectory, Drone 3 is smoothly and slowly lifted, navigating through the complex bushes below, ultimately precisely positioning its camera approximately 2 meters from the suspicious window. Throughout this process, Drone 3's flight control system and rotors remain stationary. Remote personnel control Drone 3's optoelectronic pod to perform zoom observation and thermal imaging scans of the window's interior.

[0051] After reconnaissance, the central control unit instructs the multi-degree-of-freedom robotic arm 202 to return the drone 3 to the lifting platform 2018, and secures the drone 3 using the contact rod 301 and the docking plate 20182. Subsequently, the lifting platform 2018 descends, bringing the drone 3 into the housing 2011, and the hatch 2012 closes and locks. The housing 2011 can charge the drone 3's battery. The ground robot 1 can then move to the next mission location or withdraw.

[0052] Application Example 2 Used for the inspection of bridges, dams, or high-voltage transmission lines. In this application example, UAV 3 is equipped with a high-definition visible light camera and an infrared thermal imager to detect defects such as structural cracks, loose bolts, and insulator overheating. Ground robot 1 is equipped with higher-precision sensors, such as an ultrasonic flaw detector and a corrosion detector, to perform close-range quantitative and accurate detection of suspected defects detected in the air.

[0053] The drone 3 takes aerial photographs and performs infrared scans of the entire bridge along a preset flight path, generating a macroscopic 3D model and thermal distribution map of the bridge. The central control unit automatically marks suspected defects, such as cracks and seepage, in the model using image recognition algorithms.

[0054] The central control unit plans an inspection path for ground robot 1 based on the location of suspected defects. Ground robot 1 travels to the area below the first suspected defect. If the defect is located under the bridge pier, the multi-degree-of-freedom robotic arm 202 can directly carry an ultrasonic flaw detector for contact inspection. If the defect is located below the bridge deck in a suspended position that is difficult for personnel to reach, the multi-degree-of-freedom robotic arm 202 grabs drone 3, lifts it, and precisely positions it to a location only 10 centimeters away from the suspected crack. At this point, drone 3, as an extremely stable high-precision sensor platform, can take high-definition photos at ultra-close range using its onboard camera, which is far more stable and clearer than when hovering in the air.

[0055] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0056] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0057] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0058] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0059] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0060] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A reconnaissance robot based on unmanned aerial vehicles (UAVs), characterized in that, The application relates to a ground robot, a recovery unit, a UAV, a central control unit and a recovery box. The application relates to a ground robot, a recovery unit, a UAV, a central control unit and a recovery box. The recovery box comprises a box body, a pair of cabin doors and a lifting platform. In the recovery state, the pair of cabin doors are unfolded, the lifting platform is lifted to the opening of the box body and is flush with the cabin doors to expand the area for receiving the UAV; in the running state, the lifting platform is lowered into the box body and the pair of cabin doors are synchronously folded to ensure the passability and concealment of the ground robot. The first screw rod is rotatably arranged on the inner wall of the opening of the box body, one of the fixed blocks is threadedly connected to the first screw rod and the other fixed block is slidably connected to the first guide rod.

2. The UAV-based reconnaissance robot of claim 1, wherein, The first screw rod is rotatably arranged on the inner wall of the opening of the box body, one of the fixed blocks is threadedly connected to the first screw rod and the other fixed block is slidably connected to the first guide rod. The lifting motor is arranged in the box body, the output end of the lifting motor is connected to the second screw rod, the inner wall of the box body is further connected to the second guide rod, one end of the lifting platform is threadedly connected to the second screw rod and the other end of the lifting platform is slidably arranged on the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

3. The UAV-based reconnaissance robot of claim 2, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

4. The UAV-based reconnaissance robot of claim 3, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

5. The UAV-based reconnaissance robot of claim 2, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

6. The UAV-based reconnaissance robot of claim 2, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

7. The UAV-based reconnaissance robot of claim 1, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

8. The drone-based reconnaissance robot of claim 1, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

9. The drone-based reconnaissance robot of claim 1, wherein, The UAV is connected to the lifting platform through the second screw rod and the second guide rod.

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The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The UAV is connected to the lifting platform through the second screw rod and the second guide rod. The

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