Police unmanned aerial vehicle with rescue and drop function

Abstract

The application relates to the technical field of unmanned planes, and particularly discloses a police unmanned plane with a rescue and dropping function, which comprises an unmanned plane main body, a rescue mounting rack fixed to the bottom of the unmanned plane main body, and a rescue and dropping rack movably arranged below the rescue mounting rack; magnetic attraction connecting grooves are arranged on the bottom of the rescue mounting rack, and a dropping connecting rack is movably arranged in the magnetic attraction connecting grooves. The quick dismounting and stable locking of the dropping connecting rack are realized through the cooperation of the magnetic attraction connecting grooves, electromagnets and a double limiting structure, the dismounting and mounting problems of the traditional mechanical fixing mode are solved, the connection reliability of the dropping connecting rack can be ensured during rescue operations, the dropping assembly can be quickly switched and adapted according to different rescue scenes, the response efficiency of the emergency rescue task is effectively improved, and meanwhile, the synchronous transmission design of the dropping driving structure can ensure the synchronous operation of the winding roller shaft, and the accuracy of the rescue and dropping is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a police UAV with rescue and deployment capabilities. Background Technology

[0002] With the diversification of police emergency rescue missions, drones have become important equipment for delivering rescue supplies and rescuing trapped people.

[0003] Existing police rescue drone delivery systems still have many limitations: First, traditional delivery connection structures mostly use bolt fastening, making disassembly and assembly cumbersome and time-consuming. In emergency rescue scenarios, it is difficult to quickly replace delivery components adapted to different tasks, thus restricting rescue response efficiency. Second, the winding of the delivery rope loops mostly relies on the rotation of a single roller, which easily leads to rope loop accumulation and jamming. This not only affects the smooth winding and unwinding of the rope loops but may also disrupt the drone's center of gravity, reducing flight stability. Third, the delivery process of the rescue delivery rack lacks controllable speed adjustment methods. Too fast a delivery speed can easily damage supplies or impact the rescued personnel, while too slow a speed may delay the rescue opportunity. In addition, the rigidity of traditional delivery rope loops is fixed, which cannot take into account both obstacle avoidance flexibility in complex environments and structural stability during the traction process, resulting in a relatively limited range of suitable rescue scenarios. Summary of the Invention

[0004] To address the above issues and overcome the shortcomings of existing technologies, this invention provides a police drone with rescue deployment capabilities. Through a magnetic connection slot combined with an electromagnet and a double-limiting structure, it achieves rapid assembly and disassembly of the deployment connection frame and secure locking. This solves the problem of cumbersome assembly and disassembly associated with traditional mechanical fixing methods, while ensuring the reliability of the deployment connection frame during rescue operations. It also facilitates rapid switching of suitable deployment components according to different rescue scenarios, effectively improving response efficiency in emergency rescue missions. Simultaneously, the deployment drive structure adopts a synchronous transmission design, ensuring synchronous operation of the take-up roller shaft, improving the stability of the deployment rope loop's release and take-up process, and contributing to increased accuracy in rescue deployment.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a police drone with rescue deployment function, comprising a drone body, a rescue mounting frame fixed to the bottom of the drone body, and a rescue deployment frame movably disposed below the rescue mounting frame; the rescue mounting frame has magnetic connection grooves on both sides of its bottom, a deployment frame is movably disposed within the magnetic connection grooves, a take-up roller is rotatably disposed within the deployment frame, a deployment rope loop is wound around the surface of the take-up roller, and the deployment rope loop is connected to the rescue deployment frame; the rescue mounting frame has a deployment drive structure for driving the take-up roller to rotate, and a magnetic limiting structure for limiting the deployment frame.

[0006] Furthermore, the magnetic attraction limiting structure includes a limiting mounting groove provided in the rescue mounting frame, a limiting frame slidably provided in the limiting mounting groove, and a limiting servo electric cylinder for driving the limiting frame to slide; the limiting frame is provided with a limiting block extending into the magnetic attraction connecting groove, and the delivery connecting frame is provided with a limiting groove adapted to the limiting block.

[0007] Furthermore, the delivery drive structure includes a drive mounting slot located within the rescue mounting frame, a delivery control servo motor located within the drive mounting slot, and a rotating connecting shaft rotatably located within the drive mounting slot; the output shaft of the delivery control servo motor and the surface of the rotating connecting shaft are both provided with synchronous transmission sprockets, and the synchronous transmission sprockets are driven by synchronous belts; one end of the rotating connecting shaft extends into the magnetic connection slot, and the take-up roller shaft is provided with a rotating shaft connection slot adapted to the rotating connecting shaft.

[0008] Furthermore, the delivery connecting frame is equipped with a fixed frame, the fixed frame is equipped with a servo linear slide, a sliding block is slidably mounted on the servo linear slide, and a delivery pulley is rotatably mounted inside the sliding block; the delivery rope loop passes through the sliding block and slides in contact with the delivery pulley.

[0009] Furthermore, ferromagnetic particles are uniformly embedded inside the delivery rope loop, and several micro electromagnetic coils are spirally distributed inside the delivery rope loop; each micro electromagnetic coil independently controls the stiffness of the corresponding part of the delivery rope loop.

[0010] Furthermore, the rescue delivery rack is provided with an installation slot, and a clamping servo cylinder is provided in the installation slot. The drive end of the clamping servo cylinder is connected to a clamping frame. The clamping frame is provided with an arc-shaped clamping groove, and the inner wall of the arc-shaped clamping groove is provided with an anti-slip rubber strip.

[0011] Furthermore, the rescue mounting frame is provided with an electromagnetic chuck at the bottom center, and the rescue delivery frame is provided with a metal plate adapted to the electromagnetic chuck at the top center.

[0012] Furthermore, the bottom of the throwing rope loop is provided with a throwing lead weight, the bottom of the throwing lead weight is provided with a miniature camera, and the bottom of the throwing lead weight is provided with a transparent acrylic plate to protect the miniature camera.

[0013] Furthermore, the magnetic connection groove is provided with a second limiting servo cylinder, the drive end of the second limiting servo cylinder is connected to a second limiting block, and the delivery connection frame is provided with a second limiting groove adapted to the second limiting block.

[0014] The beneficial effects achieved by the present invention using the above structure are as follows:

[0015] This application achieves rapid assembly and disassembly and secure locking of the deployment connection frame through a magnetic connection slot combined with an electromagnet and a double limiting structure. This solves the problem of cumbersome assembly and disassembly of traditional mechanical fixing methods, and ensures the connection reliability of the deployment connection frame during rescue operations. It also facilitates quick switching of suitable deployment components according to different rescue scenarios, effectively improving the response efficiency of emergency rescue missions. At the same time, the deployment drive structure adopts a synchronous transmission design, which can ensure the synchronous operation of the winding roller shaft, improve the stability of the deployment rope loop during the winding and unwinding process, and help improve the accuracy of rescue deployment.

[0016] The servo linear slide and sliding block inside the delivery frame work together to drive the delivery rope loop to move back and forth during winding, so that the rope loop is evenly wound on the surface of the winding roller shaft, avoiding the accumulation and jamming of the rope loop; at the same time, by adjusting the position of the sliding block, the delivery rope loop can be placed in the center area of ​​the drone body, maintaining the stability of the center of gravity of the drone during flight and reducing the impact of uneven rope loop distribution on flight safety.

[0017] The rescue delivery rack achieves flexible control of the delivery speed through the adjustment of the clamping force of the clamping frame and the adsorption and positioning of the electromagnetic chuck. This avoids the impact of the delivery on rescue materials or rescued personnel, and can adjust the delivery rhythm according to the rescue scenario, ensuring the safety and reliability of the rescue process. The miniature camera at the bottom of the delivery weight can transmit images of the rescue area in real time, assisting operators in accurately locating the target and further improving the accuracy of rescue delivery.

[0018] The deployment loop integrates ferromagnetic particles and segmented micro electromagnetic coils, which can adjust the stiffness of different parts of the loop according to the rescue needs: during the obstacle avoidance phase, the loop can maintain its flexibility to smoothly avoid obstacles, while during the traction phase, the loop's rigidity can be enhanced to improve traction stability. This effectively broadens the adaptability of this UAV in complex terrain and diverse rescue scenarios, and improves its practicality and applicability in rescue operations. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of a police drone structure with rescue deployment function according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the rescue mounting frame and rescue delivery frame structure according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the rescue mounting frame and limiting frame structure according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the bottom structure of the rescue mounting frame according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the rescue delivery rack structure according to an embodiment of the present invention;

[0025] Figure 6 This is an embodiment of the present invention. Figure 5 Enlarged view of the structure at point A in the middle;

[0026] Figure 7 This is a schematic diagram of the rescue mounting frame and deployment connecting frame structure according to an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the internal structure of the delivery connecting frame according to an embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the delivery connecting frame and delivery rope loop structure according to an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the structure for deploying the rope loop and the miniature electromagnetic coil in an embodiment of the present invention.

[0030] In the diagram: 1. Drone body; 2. Rescue mounting frame; 3. Rescue delivery frame; 4. Drive mounting slot; 5. Limiting mounting slot; 6. Electromagnetic chuck; 7. Metal sheet; 8. Delivery control servo motor; 9. Synchronous transmission sprocket; 10. Synchronous belt; 11. Rotary connecting shaft; 12. Limiting servo cylinder one; 13. Limiting frame; 14. Limiting block one; 15. Limiting slot one; 16. Magnetic connecting slot; 17. Limiting servo cylinder two; 18. Limiting block two; 19. 20. Limiting groove 2; 21. Feeding connecting frame; 22. Rewinding roller shaft; 23. Rotary shaft connecting groove; 24. Feeding rope loop; 25. Fixing frame; 26. Servo linear slide; 27. Feeding pulley; 28. Sliding block; 29. ​​Feeding plumb bob; 30. Miniature camera; 31. Mounting groove; 32. Rope loop through hole; 33. Guide ball; 34. Clamping frame; 35. Arc-shaped clamping groove; 36. Anti-slip rubber strip; 37. Clamping servo electric cylinder; 38. Miniature electromagnetic coil. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0032] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", 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.

[0033] Example 1

[0034] Please see Figures 1 to 10 As shown, a police drone with rescue delivery function includes a drone body 1 and a rescue mounting frame 2 fixedly installed at the bottom of the drone body 1; a rescue delivery frame 3 is also movably installed below the rescue mounting frame 2. After the rescue materials are assembled through the rescue delivery frame 3, the drone body 1 drives the rescue delivery frame 3 to move above the rescue delivery area. A delivery structure is provided inside the rescue mounting frame 2 to control the rescue delivery frame 3 to accurately deliver the rescue materials in the rescue area.

[0035] As a preferred embodiment of this solution application, such as Figure 4 As shown, rescue deployment mechanisms are provided on both sides of the bottom of the rescue mounting frame 2. The rescue deployment mechanism includes a deployment connecting frame 20 and a deployment rope loop 23. Magnetic connection slots 16 are provided on both sides of the bottom of the rescue mounting frame 2. Deployment connecting frames 20 are movably installed inside the two magnetic connection slots 16. Electromagnets are provided on the top of the inner walls of the two magnetic connection slots 16, and metal parts that attract the electromagnets are provided on the top of the two deployment connecting frames 20. After the two deployment connecting frames 20 are inserted into the two magnetic connection slots 16, the two deployment connecting frames 20 are limited inside the two magnetic connection slots 16. Then, the electromagnets at the top magnetically attract the metal parts at the top of the deployment connecting frames 20, further ensuring the installation stability of the deployment connecting frames 20 inside the magnetic connection slots 16.

[0036] Furthermore, such as Figure 2 , Figure 3 and Figure 8 As shown, a limiting mounting groove 5 is provided on one side of the rescue mounting frame 2, and a limiting frame 13 is slidably installed inside the limiting mounting groove 5. Two limiting servo electric cylinders 12 for driving the limiting frame 13 to slide are also fixedly installed on the other side of the limiting mounting groove 5. Two limiting blocks 14 are fixedly installed on one side of the limiting frame 13, and one side of the two limiting blocks 14 extends into the interior of two magnetic connection grooves 16 respectively. One side of each of the two deployment connection frames 20 is provided with a limiting groove 15 that cooperates with the limiting block 14.

[0037] Specifically, after inserting the two delivery connecting frames 20 into the two magnetic connection slots 16 respectively, the driving end of the limit servo cylinder 12 controls the limit frame 13 to move to one side of the delivery connecting frame 20. The two limit blocks 14 on one side of the limit frame 13 are inserted into the limit slots 15 on one side of the two delivery connecting frames 20 respectively, pushing the two delivery connecting frames 20 to one side inside the two magnetic connection slots 16, so that one side of the two delivery connecting frames 20 contacts one side of the inner wall of the two magnetic connection slots 16 respectively, thus completing the initial limiting of the delivery connecting frames 20 inside the magnetic connection slots 16.

[0038] Furthermore, such as Figure 2 , Figure 3 and Figure 8 As shown, another drive mounting slot 4 is provided on the other side of the rescue mounting frame 2. A delivery control servo motor 8 is fixedly installed on one side of the drive mounting slot 4, and a rotating connecting shaft 11 is rotatably installed on both sides of the drive mounting slot 4. Synchronous transmission sprockets 9 are fixedly installed on the surfaces of the two rotating connecting shafts 11 and the output shaft of the delivery control servo motor 8. The surfaces of the three synchronous transmission sprockets 9 are connected by a synchronous belt 10. One end of each of the two rotating connecting shafts 11 is shaped as a regular octagonal prism, and one end of each of the two rotating connecting shafts 11 extends into the interior of two magnetic connection slots 16. A take-up roller shaft 21 is rotatably installed inside each of the two magnetic connection slots 16, and one end of each of the two take-up roller shafts 21 is provided with a rotating shaft connecting slot 22 that cooperates with one end of the rotating connecting shaft 11.

[0039] Furthermore, such as Figure 7 As shown, two limit servo cylinders 17 are fixedly installed on one side inside the magnetic connection groove 16. The driving end of the two limit servo cylinders 17 is provided with a limit block 18. One side of the delivery connection frame 20 is provided with a limit groove 19 that cooperates with the limit block 18. The limit block 18 is controlled by the driving end of the limit block 18 to slide from one side inside the magnetic connection groove 16 into the limit groove 19, thereby further clamping and limiting the other side of the delivery connection frame 20 to ensure the installation stability of the delivery connection frame 20.

[0040] Specifically, each of the two deployment connecting frames 20 has a connecting through hole on one side and at one end of the take-up roller shaft 21. One end of each of the two rotating connecting shafts 11 is located inside the rescue mounting frame 2 and rotates. After the two deployment connecting frames 20 are inserted into the magnetic connecting groove 16, the two deployment connecting frames 20 are pushed to the side close to the rotating connecting shaft 11 by the limiting block 14, so that one end of each of the two rotating connecting shafts 11 is inserted into the rotating shaft connecting groove 22 at one end of each of the two take-up roller shafts 21, thereby realizing the rotation drive connection of the two take-up roller shafts 21. The output shaft of the deployment control servo motor 8, together with three synchronous transmission sprockets 9 and synchronous belt 10, synchronously drives the two rotating connecting shafts 11 to rotate, thereby making the two take-up roller shafts 21 rotate synchronously and realizing the stable deployment of the rescue deployment frame 3.

[0041] Example 2

[0042] Specifically, such as Figure 4 as well as Figures 7 to 10 As shown, a fixed frame 24 is fixedly installed at the bottom inside the delivery connecting frame 20. Servo linear slides 25 are fixedly installed on both sides inside the fixed frame 24. A sliding block 27 is slidably installed between the two servo linear slides 25. Two delivery pulleys 26 are symmetrically rotated inside the sliding block 27. A delivery rope loop 23 is wound around the surface of the take-up roller shaft 21. One end of the delivery rope loop 23 passes through the inside of the sliding block 27. The surface of the delivery rope loop 23 slides in contact with the two delivery pulleys 26. A delivery sinker 28 is threadedly fixed at the bottom end of the delivery rope loop 23.

[0043] Furthermore, a miniature camera 29 is fixedly installed at the bottom of the lead weight 28, and a transparent acrylic plate is sealed at the bottom of the lead weight 28 to protect the miniature camera 29; real-time image transmission is achieved through the miniature camera 29 to accurately locate the target and assist the operator in judgment. Ferromagnetic particles are uniformly embedded inside the release rope loop 23, the matrix is ​​an elastomer, and miniature electromagnetic coils 37 are spirally distributed inside the release rope loop 23. Several miniature electromagnetic coils 37 are distributed inside the release rope loop 23, and the stiffness of different parts of the release rope loop 23 is controlled by the segmented magnetic field of the several miniature electromagnetic coils 37.

[0044] Specifically, a BLE transmitter module is integrated into the flight control system of the UAV body 1, which is responsible for sending segmented stiffness adjustment commands. The operator can directly select the preset stiffness mode through the UAV remote controller / ground station interface. The command is processed by the flight control system and then sent through the BLE transmitter module. At the same time, a micro control unit is built into the module at the top of the release rope loop 23, which integrates a BLE receiver chip and a low-power MCU, and works with a multi-channel micro electromagnetic coil 37 drive circuit. The MCU receives commands from the UAV end through BLE. According to the command, the MCU outputs PWM signals to the corresponding segmented micro electromagnetic coil 37 drive circuit to adjust the current of the micro electromagnetic coil 37. A micro MOS transistor drive circuit is used to independently control each segment of the micro electromagnetic coil 37 that is spirally distributed along the release rope loop 23, so as to realize segmented magnetic field control of the release rope loop 23. The release rope loop 23 is connected to the built-in battery of the release connection frame 20 through the power contact set at the top, so as to realize the autonomous power supply of the micro electromagnetic coil 37 inside the release rope loop 23.

[0045] It should be noted that when deploying the rescue launcher 3, the sliding block 27 is positioned in the middle of both sides of the rescue mounting frame 2, so that the deployment rope loop 23 is located in the middle of both sides of the rescue mounting frame 2, ensuring that the rescue launcher 3 is in the central area below the drone body 1, thereby ensuring the flight stability of the drone body 1; when winding up the deployment rope loop 23, the sliding block 27 is moved back and forth left and right inside the fixed frame 24 using the servo linear slide 25, so that the deployment rope loop 23 is evenly wound on the surface of the winding roller shaft 21, avoiding the deployment rope loop 23 from accumulating and winding up in one place on the surface of the winding roller shaft 21.

[0046] Example 3

[0047] Specifically, such as Figures 4 to 6 As shown, the rescue delivery rack 3 has U-shaped frames on both the left and right sides of its bottom, and hanging rings are fixed on both the front and back sides of its bottom. The U-shaped frames and hanging rings facilitate the assembly of rescue supplies at the bottom of the rescue delivery rack 3, and also make it easy for rescued personnel to hold them, thus achieving an effective rescue effect.

[0048] Furthermore, the rescue delivery rack 3 has mounting grooves 30 on both sides inside, and rope loop through holes 31 are provided at the top and bottom of the mounting grooves 30. One end of the delivery rope loops 23 on both sides passes through the rope loop through holes 31 on both sides inside the rescue delivery rack 3. Several guide balls 32 are also rotatably provided inside the rope loop through holes 31. The several guide balls 32 ensure the smooth sliding of the delivery rope loops 23 inside the rope loop through holes 31.

[0049] Furthermore, an electromagnetic chuck 6 is fixedly installed at the center of the bottom of the rescue mounting frame 2, and a metal plate 7 is fixedly installed at the center of the top of the rescue delivery frame 3. When assembling the rescue mounting frame 2 and the rescue delivery frame 3, the electromagnetic chuck 6 is used to attract and position the metal plate 7 on the top of the rescue delivery frame 3, ensuring the stability of the assembly between the rescue mounting frame 2 and the rescue delivery frame 3. When the rescue delivery frame 3 is delivered, the magnetic attraction between the electromagnetic chuck 6 and the metal plate 7 is released, and the delivery rope loops 23 on both sides are used to assist the rescue delivery frame 3 in accurate delivery.

[0050] As a preferred embodiment of this application, two clamping servo cylinders 36 are fixedly provided on both sides inside the mounting groove 30, and two clamping frames 33 are symmetrically slidably provided inside the mounting groove 30. An arc-shaped clamping groove 34 is provided on the opposite side of the two clamping frames 33, and an anti-slip rubber strip 35 is fixedly provided on the inner wall of the two arc-shaped clamping grooves 34.

[0051] It should be noted that during the rescue deployment of the rescue launcher 3, the deployment rope loops 23 on both sides are first deployed into the rescue area. At this time, the deployment rope loops 23 pass through the rope loop through holes 31 on both sides inside the rescue launcher 3. Then, the deployment rope loops 23 are magnetically controlled to maximize their overall rigidity, changing them from a soft state to a hard state, improving traction stability and enhancing wind resistance. This, combined with the miniature camera 29 at the bottom of the lead sinker 28, precisely locates the rescue deployment area. At this time, the clamping servo cylinder 36 inside the mounting slot 30 controls the two clamping frames 33 to clamp the surface of the deployment rope loops 23. The surface of the deployment rope loops 23 contacts the anti-slip rubber strips 35 inside the two arc-shaped clamping grooves 34. Then, the magnetic adsorption between the electromagnetic chuck 6 and the metal sheet 7 is released. By adjusting the clamping force of the two clamping frames 33 on the surface of the deployment rope loops 23, the descent speed of the rescue launcher 3 is controlled to ensure the stability of the rescue deployment.

[0052] Example 4

[0053] Specifically, this embodiment discloses a working method of a police drone with rescue deployment function, as follows: Step 1: Insert the deployment connecting frame 20 into the magnetic connection slots 16 on both sides of the bottom of the rescue mounting frame 2;

[0054] Start the limit servo electric cylinder 12 in the limit mounting groove 5 inside the rescue mounting frame 2, drive the limit frame 13 to slide towards the delivery connecting frame 20, so that the limit block 14 on the limit frame 13 is embedded into the limit groove 15 of the delivery connecting frame 20, and push the delivery connecting frame 20 towards the inner wall of the magnetic connection groove 16 to complete the initial limit.

[0055] Start the second limit servo electric cylinder 17 in the magnetic connection slot 16 to drive the second limit block 18 to embed into the second limit slot 19 of the delivery connection frame 20, and clamp and limit the other side of the delivery connection frame 20.

[0056] The electromagnet on top of the rescue mounting frame 2 is activated simultaneously to magnetically fix the metal parts on top of the delivery connecting frame 20; at the same time, the rotating shaft connecting groove 22 of the take-up roller shaft 21 inside the delivery connecting frame 20 is connected to the octagonal prism end of the rotating connecting shaft 11 inside the rescue mounting frame 2 to complete the drive connection.

[0057] Step 2: Align the metal plate 7 on the top of the rescue delivery rack 3 with the electromagnetic chuck 6 at the bottom center of the rescue mounting rack 2, activate the electromagnetic chuck 6 to attract the metal plate 7, and complete the assembly of the rescue delivery rack 3 and the rescue mounting rack 2.

[0058] The relief supplies are mounted and secured using the U-shaped frame and hanging rings at the bottom of the relief delivery rack 3;

[0059] One end of the delivery rope loop 23, pre-wound on the surface of the take-up roller shaft 21, passes through the rope loop through hole 31 of the installation groove 30 inside the rescue delivery frame 3, and slides with the assistance of the guide ball 32, ensuring that the delivery rope loop 23 contacts the delivery pulley 26 in the sliding block 27.

[0060] Step 3: Start the main body of the drone 1, which will drive the rescue mounting frame 2 and the rescue delivery frame 3 to fly above the rescue delivery area;

[0061] The servo linear slide 25 on the inner fixed frame 24 of the launch connection frame 20 is activated, and the sliding block 27 is driven to move to the middle position on both sides of the rescue mounting frame 2, so that the launch rope loop 23 is in the center area below the main body of the drone 1, and the flight stability is maintained.

[0062] The miniature camera 29 at the bottom of the sinker 28 is activated to transmit images of the rescue area in real time.

[0063] Step 4: Start the delivery control servo motor 8 in the drive mounting slot 4 inside the rescue mounting frame 2. It drives the two rotating connecting shafts 11 to rotate synchronously through three synchronous transmission sprockets 9 and synchronous belts 10, which in turn drives the take-up roller shaft 21 to rotate and release the delivery rope loop 23.

[0064] The BLE transmitter module in the flight control system of the UAV body 1 sends segment stiffness adjustment commands. After receiving the commands, the micro control unit at the top module of the release rope loop 23 outputs PWM signals to the micro electromagnetic coil 37 of the corresponding segment to adjust the coil current and realize stiffness control of different parts of the release rope loop 23.

[0065] Step 5: Activate the clamping servo cylinder 36 in the mounting slot 30 of the rescue delivery rack 3 to drive the two clamping frames 33 to slide towards the delivery rope ring 23, and clamp the delivery rope ring 23 through the anti-slip rubber strip 35 in the arc-shaped clamping groove 34;

[0066] The magnetic connection between the electromagnetic chuck 6 and the metal plate 7 is released. By adjusting the clamping force of the clamping servo cylinder 36, the descent speed of the rescue delivery rack 3 is controlled. Combined with the image positioning of the miniature camera 29, the rescue delivery rack 3 is accurately delivered to the target area.

[0067] Step 6: Control the delivery control servo motor 8 to reverse, drive the take-up roller shaft 21 to rotate and retract the delivery rope ring 23; at the same time, start the servo linear slide 25 to drive the sliding block 27 to slide back and forth, so that the delivery rope ring 23 is evenly wound on the surface of the take-up roller shaft 21.

[0068] Release the limits of limit servo cylinder 2 17 and limit servo cylinder 12 in sequence, disconnect the power supply to the electromagnet, take out the delivery connection frame 20, replace the delivery connection frame 20 with one suitable for different scenarios, and repeat steps one to five.

[0069] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0070] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0071] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention 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 the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0072] 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 police drone with rescue deployment function, comprising a drone body (1), a rescue mounting frame (2) fixed to the bottom of the drone body (1), and a rescue deployment frame (3) movably disposed below the rescue mounting frame (2); characterized in that, The rescue mounting frame (2) has magnetic connection slots (16) on both sides of its bottom. A delivery connecting frame (20) is movably mounted in the magnetic connection slots (16). A take-up roller (21) is rotatably mounted in the delivery connecting frame (20). A delivery rope loop (23) is wound around the surface of the take-up roller (21). The delivery rope loop (23) is connected to the rescue delivery frame (3). The rescue mounting frame (2) has a delivery drive structure for driving the take-up roller (21) to rotate, and a magnetic limiting structure for limiting the delivery connecting frame (20). The magnetic attraction limiting structure includes a limiting mounting groove (5) located in the rescue mounting frame (2), a limiting frame (13) slidably located in the limiting mounting groove (5), and a limiting servo electric cylinder (12) for driving the limiting frame (13) to slide; the limiting frame (13) is provided with a limiting block (14) extending into the magnetic connection groove (16), and the delivery connecting frame (20) is provided with a limiting groove (15) adapted to the limiting block (14); the delivery driving structure includes a driving mounting groove (4) located in the rescue mounting frame (2), and a limiting servo electric cylinder (12) for driving the limiting frame (13) to slide. The mounting slot (4) contains a dispensing control servo motor (8), and a rotating connecting shaft (11) is rotatably mounted in the drive mounting slot (4). Both the output shaft of the dispensing control servo motor (8) and the surface of the rotating connecting shaft (11) are provided with synchronous transmission sprockets (9), which are driven by a synchronous belt (10). One end of the rotating connecting shaft (11) extends into the magnetic connection slot (16), and the take-up roller shaft (21) is provided with a rotating shaft connection slot (22) adapted to the rotating connecting shaft (11). The frame (20) is equipped with a fixed frame (24), and a servo linear slide (25) is provided on the fixed frame (24). A sliding block (27) is slidably provided on the servo linear slide (25). A delivery pulley (26) is rotatably provided inside the sliding block (27). The delivery rope loop (23) passes through the sliding block (27) and slides in contact with the delivery pulley (26). An electromagnetic chuck (6) is provided at the bottom center of the rescue mounting frame (2), and a metal plate (7) adapted to the electromagnetic chuck (6) is provided at the top center of the rescue delivery frame (3).

2. A police drone with rescue deployment function according to claim 1, characterized in that, Ferromagnetic particles are uniformly embedded inside the release rope loop (23), and several micro electromagnetic coils (37) are spirally distributed inside the release rope loop (23); each micro electromagnetic coil (37) independently controls the stiffness of the corresponding part of the release rope loop (23).

3. A police drone with rescue deployment function according to claim 1, characterized in that, The rescue delivery rack (3) is provided with an installation slot (30), and a clamping servo cylinder (36) is provided in the installation slot (30). The drive end of the clamping servo cylinder (36) is connected to a clamping frame (33). The clamping frame (33) is provided with an arc-shaped clamping groove (34), and the inner wall of the arc-shaped clamping groove (34) is provided with an anti-slip rubber strip (35).

4. A police drone with rescue deployment function according to claim 1, characterized in that, The bottom of the throwing rope loop (23) is provided with a throwing lead weight (28), the bottom of the throwing lead weight (28) is provided with a miniature camera (29), and the bottom of the throwing lead weight (28) is provided with a transparent acrylic plate to protect the miniature camera (29).

5. A police drone with rescue deployment function according to claim 1, characterized in that, The magnetic connection slot (16) is provided with a limit servo cylinder two (17), the drive end of the limit servo cylinder two (17) is connected to a limit block two (18), and the delivery connection frame (20) is provided with a limit slot two (19) adapted to the limit block two (18).

Images