Air-land three-dimensional patrol robot

Abstract

This invention relates to the field of robotics, specifically to an air-ground integrated patrol robot, comprising: a quadruped robot serving as a ground mobility and support platform; an unmanned aerial vehicle (UAV) system integrated on the quadruped robot's back for performing aerial patrol missions; an explosion-proof and emergency response system integrated on the quadruped robot's back for physical control of targets; an environmental perception system mounted on the quadruped robot for sensing external environmental information; an interaction system mounted on the quadruped robot for voice and audio-visual interaction with targets or operators; and a main control system located inside the quadruped robot for coordinating and controlling the UAV system, explosion-proof and emergency response system, environmental perception system, and interaction system. By integrating the UAV system and explosion-proof and emergency response system onto the quadruped robot platform, an integrated air-ground patrol system combining perception, interaction, and response is formed, significantly improving patrol range, response speed, and mission execution capabilities.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to an air-land integrated patrol robot that integrates ground mobility, aerial reconnaissance, environmental perception, human-computer interaction, and emergency response. Background Technology

[0002] Traditional area patrol and security work mainly relies on manpower, which has shortcomings such as high cost, high risk, and limited coverage. With the development of robotics technology, ground patrol robots are gradually being applied to security, inspection and other fields. However, their patrol dimensions are limited, their mobility is poor when facing complex terrain (such as stairs, ruins, and rugged roads), and they lack the ability to observe aerial or high-altitude areas, which can easily create patrol blind spots.

[0003] Existing technologies include simple combinations of drones and ground robots, such as directly attaching the drone to the top of the robot. However, these solutions typically lack effective vibration damping and automatic deployment / retraction mechanisms, making the drone susceptible to damage during robot movement. Furthermore, their release and retrieval efficiency is low, hindering rapid response. In addition, most existing patrol robots are single-function, possessing only monitoring capabilities or basic mobility, lacking comprehensive capabilities integrating perception, interaction, and response. This makes it difficult to handle unexpected situations during patrols and implement effective control measures.

[0004] Therefore, there is an urgent need for an intelligent patrol robot system that can adapt to complex terrain, achieve three-dimensional collaborative patrol between air and ground, and possess environmental perception, human-machine interaction, and proactive response capabilities. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an air-land three-dimensional patrol robot to solve the problems of existing patrol robots having limited functions, limited dimensions, and insufficient ability to respond to emergencies.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An air-land integrated patrol robot, comprising: Quadruped robots serve as ground mobility and load-bearing platforms; The unmanned aerial vehicle (UAV) system is integrated into the back of the quadruped robot and is used to perform aerial patrol missions. An explosion-proof emergency response system, integrated into the back of the quadruped robot, is used to physically control the target; An environmental perception system is installed on the quadruped robot to perceive information about the external environment; An interactive system, mounted on the quadruped robot, is used for voice and audio-visual interaction with the target or operator. The main control system, located inside the quadruped robot, is used to coordinate and control the unmanned aerial vehicle system, explosion-proof and emergency response system, environmental perception system, and interaction system to work together.

[0007] Furthermore, the unmanned aerial vehicle system includes: The bottom support is fixedly attached to the back of the quadruped robot. The take-off and landing platform is used to carry drones; Vibration isolation struts are connected between the bottom support and the lifting platform, so that the lifting platform is in a floating connection state relative to the bottom support; A drone securing mechanism, mounted on the take-off and landing platform, is used to selectively restrain or release the drone.

[0008] Furthermore, the upper surface of the take-off and landing platform is provided with guide grooves corresponding to the landing gear of the UAV, which are used to guide the UAV to a precise position during landing.

[0009] Furthermore, the drone fixing mechanism includes at least one drone fixing plate, which is rotatably connected to the take-off and landing platform via a first hinge shaft, and has a first position for pressing against the upper part of the drone and a second position for releasing the vertical degree of freedom of the drone.

[0010] Furthermore, the drone system also includes a drive assembly for driving the drone mounting plate to rotate between a first position and a second position; the drive assembly includes a motor, a linear module, and a linkage transmission mechanism; the linkage transmission mechanism includes a connecting rod and a transmission seat, one end of the connecting rod is hinged to the transmission seat, and the other end is hinged to the drone mounting plate; the transmission seat is connected to the slider of the linear module.

[0011] Furthermore, the explosion-proof emergency response system includes: Capture mesh, used to launch capture meshes towards the target area; A triggering mechanism is used to trigger the release of the capture grid; A fixed support structure is provided for mounting the capture grid and the triggering mechanism; The triggering mechanism includes a motor, a transmission mechanism, and a trigger shaft; the transmission mechanism is connected between the output end of the motor and the trigger shaft, and the trigger shaft triggers the release of the capture grid when it moves linearly to a preset position under the drive of the transmission mechanism.

[0012] Furthermore, the transmission mechanism includes a motor rocker arm and a nylon roller; one end of the motor rocker arm is connected to the motor output shaft, and the other end is provided with the nylon roller, which contacts and drives the trigger shaft; a linear bearing is sleeved on the outside of the trigger shaft, and a spring for assisting reset is sleeved on the trigger shaft.

[0013] Furthermore, the environmental perception system includes an intelligent visual detection module, a front laser detection module, a visual navigation module, and a lower laser detection module, all electrically connected to the main control system; the interaction system includes a voice interaction module and an audio-visual interaction module, both electrically connected to the main control system.

[0014] Furthermore, the internal battery of the quadruped robot is electrically connected to the internal battery of the drone, forming a bidirectional charging and discharging circuit.

[0015] Furthermore, the main control system is communicatively connected to the environmental perception system, and is used to make autonomous decisions based on environmental perception information to control the release and recovery of the UAV system, the triggering of the explosion-proof and emergency response system, and the start and stop of the interactive system.

[0016] The beneficial effects of this invention are: This invention provides an air-ground integrated patrol robot, comprising: a quadruped robot serving as a ground mobility and support platform; an unmanned aerial vehicle (UAV) system integrated on the back of the quadruped robot for performing aerial patrol missions; an explosion-proof and emergency response system integrated on the back of the quadruped robot for physical control of targets; an environmental perception system mounted on the quadruped robot for sensing external environmental information; an interaction system mounted on the quadruped robot for voice and audio-visual interaction with targets or operators; and a main control system located inside the quadruped robot for coordinating and controlling the UAV system, explosion-proof and emergency response system, environmental perception system, and interaction system to work collaboratively. By integrating the UAV system and explosion-proof and emergency response system onto the quadruped robot platform, an integrated air-ground patrol system combining perception, interaction, and response is formed, significantly improving patrol range, response speed, and mission execution capabilities. Attached Figure Description

[0017] Figure 1 The diagram shown is a schematic representation of the overall system composition of an air-land integrated patrol robot according to the present invention. Figure 2 The diagram shown is a structural schematic of an explosion-proof and emergency response system for an air-land integrated patrol robot according to the present invention. Figure 3 The image shown is a front view of an explosion-proof and emergency response system for an air-land integrated patrol robot according to the present invention. Figure 4 The diagram shown is a structural schematic of an unmanned aerial vehicle (UAV) system for an air-land integrated patrol robot according to the present invention. Figure 5 The diagram shown is a schematic diagram of the unmanned aerial vehicle system of an air-land three-dimensional patrol robot of the present invention in the released state; Figure 6The diagram shown is a schematic diagram of the unmanned aerial vehicle system of an air-land three-dimensional patrol robot of the present invention in a storage state; Explanation of icon numbers: 1- Quadruped robot; 2- Interaction system; 3- Environmental perception system; 4- Explosion-proof and emergency response system; 5- Unmanned aerial vehicle system; 201 - Voice interaction module; 202 - Sound and light interaction module; 301 - Intelligent visual inspection module; 302 - Front laser inspection module; 303 - Visual navigation module; 304 - Lower laser inspection module; 401-Capture grid; 402-Grid fixing bracket; 403-Grid fixing cover; 404-Trigger mechanism fixing plate; 405-Linear bearing; 406-Trigger shaft; 407-Spring; 408-Motor; 409-Motor rocker arm; 410-Nylon roller; 411-Control board; 412-Voltage stabilizing module; 413-Control module fixing component; 501-UAV; 502-Take-off and landing platform; 503-Vibration isolation support; 504-Bottom bracket; 505-UAV mounting plate; 506-First hinge shaft; 507-Third hinge shaft; 508-Second hinge shaft; 509-Hinge seat; 510-Connecting rod; 511-Transmission seat; 512-Motor; 513-Linear module; 514-Guide groove. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figures 1-6 As shown, the present invention provides an air-land integrated patrol robot, comprising: Quadruped robots serve as ground mobility and load-bearing platforms; The unmanned aerial vehicle (UAV) system is integrated into the back of the quadruped robot and is used to perform aerial patrol missions. An explosion-proof emergency response system, integrated into the back of the quadruped robot, is used to physically control the target; An environmental perception system is installed on the quadruped robot to perceive information about the external environment; An interactive system, mounted on the quadruped robot, is used for voice and audio-visual interaction with the target or operator. The main control system, located inside the quadruped robot, is used to coordinate and control the unmanned aerial vehicle system, explosion-proof and emergency response system, environmental perception system, and interaction system to work together.

[0019] As can be seen from the above description, the present invention has the following beneficial effects: This invention provides an air-ground integrated patrol robot, comprising: a quadruped robot serving as a ground mobility and support platform; an unmanned aerial vehicle (UAV) system integrated on the back of the quadruped robot for performing aerial patrol missions; an explosion-proof and emergency response system integrated on the back of the quadruped robot for physical control of targets; an environmental perception system mounted on the quadruped robot for sensing external environmental information; an interaction system mounted on the quadruped robot for voice and audio-visual interaction with targets or operators; and a main control system located inside the quadruped robot for coordinating and controlling the UAV system, explosion-proof and emergency response system, environmental perception system, and interaction system to work collaboratively. By integrating the UAV system and explosion-proof and emergency response system onto the quadruped robot platform, an integrated air-ground patrol system combining perception, interaction, and response is formed, significantly improving patrol range, response speed, and mission execution capabilities.

[0020] Furthermore, the unmanned aerial vehicle system includes: The bottom support is fixedly attached to the back of the quadruped robot. The take-off and landing platform is used to carry drones; Vibration isolation struts are connected between the bottom support and the lifting platform, so that the lifting platform is in a floating connection state relative to the bottom support; A drone securing mechanism, mounted on the take-off and landing platform, is used to selectively restrain or release the drone.

[0021] As described above, an airborne integration solution for UAVs with vibration reduction function is provided to ensure the storage safety of UAVs during robot movement and to support rapid and stable automatic release and retrieval.

[0022] Furthermore, the upper surface of the take-off and landing platform is provided with guide grooves corresponding to the landing gear of the UAV, which are used to guide the UAV to a precise position during landing.

[0023] As described above, improving the success rate and stability of automatic drone recovery ensures that drones can accurately land at predetermined locations even in complex environments.

[0024] Furthermore, the drone fixing mechanism includes at least one drone fixing plate, which is rotatably connected to the take-off and landing platform via a first hinge shaft, and has a first position for pressing against the upper part of the drone and a second position for releasing the vertical degree of freedom of the drone.

[0025] As described above, reliable vertical locking and rapid release of the drone ensures stable transport and unobstructed takeoff.

[0026] Furthermore, the drone system also includes a drive assembly for driving the drone mounting plate to rotate between a first position and a second position; the drive assembly includes a motor, a linear module, and a linkage transmission mechanism; the linkage transmission mechanism includes a connecting rod and a transmission seat, one end of the connecting rod is hinged to the transmission seat, and the other end is hinged to the drone mounting plate; the transmission seat is connected to the slider of the linear module.

[0027] As described above, the fully automated operation of drone locking improves system response speed and operational continuity, and its compact structure makes it suitable for installation in limited spaces.

[0028] Furthermore, the explosion-proof emergency response system includes: Capture mesh, used to launch capture meshes towards the target area; A triggering mechanism is used to trigger the release of the capture grid; A fixed support structure is provided for mounting the capture grid and the triggering mechanism; The triggering mechanism includes a motor, a transmission mechanism, and a trigger shaft; the transmission mechanism is connected between the output end of the motor and the trigger shaft, and the trigger shaft triggers the release of the capture grid when it moves linearly to a preset position under the drive of the transmission mechanism.

[0029] As described above, a fast, reliable, and mechanized physical intervention method is provided to achieve immediate, non-lethal control of suspicious targets or dangerous sources.

[0030] Furthermore, the transmission mechanism includes a motor rocker arm and a nylon roller; one end of the motor rocker arm is connected to the motor output shaft, and the other end is provided with the nylon roller, which contacts and drives the trigger shaft; a linear bearing is sleeved on the outside of the trigger shaft, and a spring for assisting reset is sleeved on the trigger shaft.

[0031] As can be seen from the above description, the response speed, reliability, and service life of the triggering action are improved by using rolling friction transmission and linear guide structure.

[0032] Furthermore, the environmental perception system includes an intelligent visual detection module, a front laser detection module, a visual navigation module, and a lower laser detection module, all electrically connected to the main control system; the interaction system includes a voice interaction module and an audio-visual interaction module, both electrically connected to the main control system.

[0033] As described above, the robot achieves comprehensive real-time perception and autonomous navigation of the environment, and enhances its patrol warning and communication capabilities through multi-mode interaction.

[0034] Furthermore, the internal battery of the quadruped robot is electrically connected to the internal battery of the drone, forming a bidirectional charging and discharging circuit.

[0035] As can be seen from the above description, realizing energy sharing and intelligent management between robots and drones significantly extends the overall endurance of the air-ground collaborative system.

[0036] Furthermore, the main control system is communicatively connected to the environmental perception system, and is used to make autonomous decisions based on environmental perception information to control the release and recovery of the UAV system, the triggering of the explosion-proof and emergency response system, and the start and stop of the interactive system.

[0037] As described above, the high degree of integration and intelligent collaboration of the various subsystems enables fully autonomous patrol mission planning and execution, thereby improving the overall intelligence level and mission execution efficiency of the system.

[0038] The following are several preferred embodiments or application embodiments to help those skilled in the art better understand the technical content of the present invention and the technical contributions made by the present invention compared with the prior art: Preferred embodiment 1: Please see Figures 1 to 6 This invention provides an air-land integrated patrol robot.

[0039] like Figure 1 As shown, the air-land integrated patrol robot mainly includes a quadruped robot 1, an interaction system 2, an environmental perception system 3, an explosion-proof and emergency response system 4, and an unmanned aerial vehicle system 5. All subsystems are uniformly coordinated and controlled by the robot's internal main control system (not shown in the figure).

[0040] The quadruped robot 1 serves as the mobile chassis of the entire system. It adopts a biomimetic quadruped structure and has the ability to walk, run, overcome obstacles, and even go up and down stairs, providing excellent mobility for patrolling in complex urban or wilderness environments.

[0041] like Figure 1 As shown, the interactive system 2 mainly includes a voice interaction module 201 and an audio-visual interaction module 202. The voice interaction module 201 is installed below the robot's head and has a built-in speaker and microphone, enabling remote voice communication and preset voice broadcasts. The audio-visual interaction module 202 is located on the robot's back and integrates a high-brightness LED light and an alarm, which can issue a strong warning to the target area or personnel through flashing lights and alarm sounds.

[0042] The environmental perception system 3 is the robot's "sensors," and its arrangement is as follows: Figure 1 As shown, it includes: Intelligent visual inspection module 301: Typically a high-definition PTZ camera, used to automatically identify and track specific targets (such as people, vehicles, and unusual items) on the patrol path.

[0043] Front laser detection module 302: Installed at the front of the robot, it is used to scan the environment in front, build a 3D point cloud map, realize simultaneous localization and mapping (SLAM), and provide a foundation for autonomous navigation.

[0044] Visual navigation module 303: processes camera images, assists in positioning and path planning, and transmits video back to the operating terminal in real time.

[0045] The lower laser detection module 304 faces the ground and is used to detect obstacles such as steps and potholes under the robot's feet, enabling precise landing and obstacle avoidance.

[0046] like Figures 1 to 3 As shown, the explosion-proof emergency response system 4 is integrated into the front of the robot's back. The explosion-proof emergency response system mainly includes a mechanical structure and an electrical control system. The specific structure is as follows: Mechanical Structure: At its core is a rigid frame consisting of a mesh fixing bracket 402, a mesh fixing cover 403, and a trigger mechanism fixing plate 404. The capture mesh 401 (typically a net projectile with a launching mechanism) is pre-installed within the cavity of the mesh fixing cover 403. The trigger mechanism fixing plate 404 houses a motor 408, a transmission mechanism consisting of a motor rocker arm 409 and a nylon roller 410, and a trigger shaft 406 guided by a linear bearing 405. A spring 407 is fitted onto the trigger shaft 406, its lower end contacting the nylon roller 410, and its upper end aligned with the trigger switch of the capture mesh 401.

[0047] Electrical control section: includes control board 411 and voltage regulator module 412, which are mounted on a fixed bracket structure (such as the back of trigger mechanism mounting plate 404) via control module mounting bracket 413. Control board 411 is connected to the robot main control system and motor 408 via cables.

[0048] Working principle and process: When the robot identifies a target that needs to be dealt with (such as a suspicious person escaping) through the environmental perception system, the main control system or remote control terminal sends a trigger command to the control board 411 of the explosion-proof emergency response system.

[0049] 1. Triggering Stage: The control board 411 drives the motor 408 to rotate. The motor 408 drives the motor rocker arm 409 to swing, and the nylon roller 410 fixed to the end of the rocker arm rotates accordingly and presses upward against the lower end face of the trigger shaft 406. Due to the rolling contact of the nylon roller 410, the friction is small and the transmission is efficient. Under the thrust of the nylon roller 410 and the precise guidance of the linear bearing 405, the trigger shaft 406 overcomes the elastic force of the spring 407 and moves upward in a straight line.

[0050] 2. Release Phase: When the upper end of the trigger shaft 406 moves to the highest preset position, its top end strikes or pushes open the mechanical switch or release latch of the capture grid 401. The launching mechanism inside the capture grid 401 is activated, rapidly ejecting the folded capture net forward to the target area, unfolding in the air and covering the target to achieve physical constraint.

[0051] 3. Reset Phase: After the trigger command ends, the motor 408 stops or reverses. At this time, the upward thrust applied to the trigger shaft 406 disappears, and under the restoring force of the spring 407, the trigger shaft 406 moves downward along the linear bearing 405 until it returns to its initial position, maintaining contact with the nylon roller 410 and waiting for the next trigger. The system completes one working cycle and is ready for the next trigger.

[0052] The voltage regulator module 412 ensures a stable voltage for the control board 411 when the robot's battery voltage fluctuates, guaranteeing the reliability of the logic control. The entire system has a compact structure and is securely mounted on the robot body via a mesh mounting bracket 402, allowing it to withstand vibrations and impacts during robot movement.

[0053] like Figure 1 as well as Figures 4 to 6 As shown, the unmanned aerial vehicle (UAV) system 5 is integrated into the rear-middle part of the robot's back. It includes: a bottom support 504, a take-off and landing platform 502, a UAV mounting plate 505, and a drive assembly; the specific structure is as follows: The bottom support 504 is rigidly connected to the robot body structure via bolts or other fasteners. The landing platform 502 is located above the bottom support 504 and is slightly larger than the landing gear outline of the drone 501 it carries. At each of the four corners between the landing platform 502 and the bottom support 504, a vibration-damping support column 503 is connected. These vibration-damping supports 503 can be made of elastic materials such as rubber or silicone, or are composite structures containing internal damping springs. They allow the landing platform 502 to float elastically relative to the bottom support 504, effectively absorbing and attenuating the multidimensional vibrations and impacts generated when the robot runs and overcomes obstacles. The upper surface of the landing platform 502 is machined with four guide grooves 514 that precisely match the shape and position of the drone 501's landing gear legs, used to guide the drone's precise alignment during landing.

[0054] On the rear (or side) edge of the landing platform 502, one or more elongated drone mounting plates 505 are hinged via a first hinge axis 506. In this embodiment, a mounting plate covering the tail area of ​​the drone is used as an example. After the drone 501 lands on the landing platform 502, the drone mounting plate 505 can rotate downwards around the first hinge axis 506 to a horizontal position (i.e., the first position). The soft padding (such as a rubber pad) on its inner side will gently press against the upper surface of the drone fuselage or a specific protruding structure, thereby restricting any upward movement of the drone and achieving vertical locking. At this time, the drone's landing gear feet are constrained within the guide grooves, and the horizontal direction is also restricted. When it is necessary to release the drone, the mounting plate 505 rotates upwards by about 90 degrees to a near-vertical state (i.e., the second position), thereby completely freeing up the space above the drone and releasing its freedom of vertical takeoff.

[0055] To achieve automatic opening and closing of the mounting plate 505, a linkage transmission mechanism driven by a motor 512 is provided. The motor 512 is fixedly installed below the bottom bracket 504 or the landing platform 502. The output shaft of the motor 512 is connected to and drives a linear module 513 (such as a ball screw slide). A transmission seat 511 is fixed on the slider of the linear module 513. The two ends of a connecting rod 510 are respectively hinged to the transmission seat 511 via a second hinge shaft 508, and hinged to the lower middle part of the UAV mounting plate 505 via a third hinge shaft 507.

[0056] When the drone has landed and needs to be locked, motor 512 drives linear module 513, causing the slider to move transmission seat 511 to the right. Transmission seat 511 pulls the lower part of drone mounting plate 505 via connecting rod 510, causing mounting plate 505 to rotate clockwise around first hinge axis 506 until it horizontally presses the drone. When the drone needs to take off, motor 512 drives in the opposite direction, causing transmission seat 511 to move to the left. Connecting rod 510 then pushes the lower part of mounting plate 505, causing mounting plate 505 to rotate counterclockwise and open to a vertical position.

[0057] The main control unit of the quadruped robot is communicatively connected to the UAV flight control system and the drive motor 512 of the system (e.g., via a CAN bus). The main control unit can receive remote commands or judgments from its own environmental perception system (e.g., anomaly detection in image recognition) to plan air-ground collaborative tasks. Furthermore, the quadruped robot's main battery and the UAV 501's battery are connected via cables and a bidirectional DC-DC converter, forming an intelligent energy management system. When the robot is stationary or patrolling at low power, the robot's battery can charge the UAV's battery; when the UAV runs out of power after a long period of operation and returns to base, the UAV's battery can also be used to provide emergency power to the robot if necessary, thereby maximizing the overall mission endurance.

[0058] Workflow example: 1. Standby and Patrol: Drone 501 is securely locked to the take-off and landing platform 502, and the fixing plate 505 is in a horizontally locked position. The quadruped robot conducts ground patrols.

[0059] 2. Release and Takeoff: The main control system issues an aerial patrol command. Motor 512 actuates, driving the mounting plate 505 to rotate and open. Figure 4 As shown in the image, UAV 501 has received takeoff permission, takes off vertically, and will conduct a patrol of the designated area.

[0060] 3. Return and Recovery: The drone mission is complete. The main control system guides the drone back to the robot and executes the automatic landing procedure. The drone's landing gear lands precisely under the guidance of the guide grooves. After landing is confirmed, motor 512 reverses its direction, rotating the fixing plate 505 to a horizontal position via the linkage mechanism and pressing it against the drone, completing the automatic locking.

[0061] 4. Energy Management: During drone storage, the system can automatically initiate a charging process from a robot to the drone based on the battery status, preparing it for the next mission.

[0062] The main control system, acting as the "brain," connects to all subsystems via communication methods such as CAN bus and Ethernet. It receives data from the environmental perception system 3, performs fusion analysis, and achieves autonomous path planning and target identification. Based on task logic or remote commands, the main control system can control the interactive system 2 to broadcast messages, control the UAV system 5 to complete automatic take-off and landing and patrol, or, when deemed necessary, command the explosion-proof emergency response system 4 to be triggered.

[0063] Workflow example: 1. Ground patrol: The robot starts autonomous patrol mode, relies on the environmental perception system 3 for navigation and obstacle avoidance, and conducts ground patrol in the designated area. The interaction system 2 can intermittently play warning voice messages.

[0064] 2. Anomaly Detection: The intelligent vision detection module 301 identifies suspicious personnel gathering or unusual items in a certain location.

[0065] 3. Aerial Reconnaissance: The main control system decides to dispatch a drone. Motor 512 is activated to open the drone mounting plate 505. The drone 501 takes off vertically, flies to the target area for close-range observation and filming, and transmits the images back in real time.

[0066] 4. Situation Escalation and Handling: If aerial reconnaissance confirms that the target is attempting to escape or attack, the main control system can control the robot to approach within effective firing range and trigger the explosion-proof emergency response system 4 to launch a capture net for control.

[0067] 5. Mission Completion and Recovery: After disposal, the main control system guides the UAV 501 back to base and controls its precise landing within the guide groove 514 of the takeoff and landing platform 502. Subsequently, the system controls the UAV mounting plate 505 to lock. The system can initiate bidirectional charging based on battery level.

[0068] The beneficial effects of this preferred embodiment are as follows: 1. Three-dimensional air-ground patrol: By using quadruped robots equipped with drones, the patrol dimension is extended from the ground to the air, achieving coverage of complex terrain and high-altitude areas and eliminating patrol blind spots.

[0069] 2. High mobility and adaptability: The quadruped robot has a strong ability to traverse terrain and can adapt to complex environments such as stairs, ruins, and rugged mountains, providing a stable ground movement platform for the system.

[0070] 3. Intelligent perception and decision-making: Integrating multiple types of sensors, it enables real-time environmental modeling, navigation, obstacle avoidance, and target recognition, providing information support for fully autonomous patrols and intelligent response.

[0071] 4. Proactive response capability: Equipped with an explosion-proof emergency response system, it can quickly launch a capture net to implement non-lethal control when a threat or escape behavior is detected, extending the patrol function from "detection" to "response".

[0072] 5. Efficient human-computer interaction: Equipped with voice intercom and sound and light alarm functions, it can warn patrol areas or communicate with target personnel, thereby improving security effectiveness.

[0073] 6. Safe and reliable drone integration: The drone system adopts a vibration-damping floating design and has an automatic locking and releasing mechanism, which ensures the safe storage and rapid and reliable deployment of drones during movement.

[0074] 7. Energy Collaborative Management: The batteries of the robot and the drone are interconnected and serve as backups for each other, significantly improving the overall endurance of the composite system and making it suitable for long-duration, large-scale tasks.

[0075] 8. High integration and automation: Each subsystem is deeply integrated through the main control system, which can realize full-process automation from perception and decision-making to execution, reduce manual intervention and respond quickly.

[0076] The present invention has been described with reference to the foregoing embodiments and accompanying drawings; however, the foregoing embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments do not limit the scope of the present invention. Conversely, modifications and equivalents included within the spirit and scope of the claims are all included within the scope of the present invention.

Claims

1. A three-dimensional air-land patrol robot, characterized in that, include: Quadruped robots serve as ground mobility and load-bearing platforms; The unmanned aerial vehicle (UAV) system is integrated into the back of the quadruped robot and is used to perform aerial patrol missions. An explosion-proof emergency response system, integrated into the back of the quadruped robot, is used to physically control the target; An environmental perception system is installed on the quadruped robot to perceive information about the external environment; An interactive system, mounted on the quadruped robot, is used for voice and audio-visual interaction with the target or operator. The main control system, located inside the quadruped robot, is used to coordinate and control the unmanned aerial vehicle system, explosion-proof and emergency response system, environmental perception system, and interaction system to work together.

2. The air-land integrated patrol robot according to claim 1, characterized in that, The unmanned aerial vehicle system includes: The bottom support is fixedly attached to the back of the quadruped robot. The take-off and landing platform is used to carry drones; Vibration isolation struts are connected between the bottom support and the lifting platform, so that the lifting platform is in a floating connection state relative to the bottom support; A drone securing mechanism, mounted on the take-off and landing platform, is used to selectively restrain or release the drone.

3. The air-land integrated patrol robot according to claim 2, characterized in that, The upper surface of the take-off and landing platform is provided with guide grooves corresponding to the landing gear of the UAV, which are used to guide the UAV to a precise position when landing.

4. The air-land integrated patrol robot according to claim 2, characterized in that, The drone fixing mechanism includes at least one drone fixing plate, which is rotatably connected to the take-off and landing platform via a first hinge shaft, and has a first position for pressing against the upper part of the drone and a second position for releasing the drone's vertical degree of freedom.

5. The air-land integrated patrol robot according to claim 4, characterized in that, The drone system also includes a drive assembly for driving the drone mounting plate to rotate between a first position and a second position; the drive assembly includes a motor, a linear module, and a linkage transmission mechanism; the linkage transmission mechanism includes a connecting rod and a transmission seat, one end of the connecting rod is hinged to the transmission seat, and the other end is hinged to the drone mounting plate; the transmission seat is connected to the slider of the linear module.

6. The air-land integrated patrol robot according to claim 1, characterized in that, The explosion-proof emergency response system includes: Capture mesh, used to launch capture meshes towards the target area; A triggering mechanism is used to trigger the release of the capture grid; A fixed support structure is provided for mounting the capture grid and the triggering mechanism; The triggering mechanism includes a motor, a transmission mechanism, and a trigger shaft; the transmission mechanism is connected between the output end of the motor and the trigger shaft, and the trigger shaft triggers the release of the capture grid when it moves linearly to a preset position under the drive of the transmission mechanism.

7. The air-land integrated patrol robot according to claim 6, characterized in that, The transmission mechanism includes a motor rocker arm and a nylon roller; one end of the motor rocker arm is connected to the motor output shaft, and the other end is provided with the nylon roller, which is in contact with the trigger shaft for transmission; a linear bearing is sleeved on the outside of the trigger shaft, and a spring for assisting reset is sleeved on the trigger shaft.

8. The air-land integrated patrol robot according to claim 1, characterized in that, The environmental perception system includes an intelligent visual detection module, a front laser detection module, a visual navigation module, and a lower laser detection module, all electrically connected to the main control system. The interaction system includes a voice interaction module and an audio-visual interaction module, both electrically connected to the main control system.

9. The air-land integrated patrol robot according to claim 1, characterized in that, The internal battery of the quadruped robot is electrically connected to the internal battery of the drone, forming a bidirectional charging and discharging circuit.

10. The air-land integrated patrol robot according to claim 1, characterized in that, The main control system is communicatively connected to the environmental perception system and is used to make autonomous decisions based on environmental perception information to control the release and recovery of the UAV system, the triggering of the explosion-proof and emergency response system, and the start and stop of the interactive system.

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