A dynamic intelligent patrol device and system for nature reserves

Abstract

This invention discloses a dynamic intelligent patrol device and system for nature reserves in the field of ecological protection technology. The device includes a ground monitoring component, a ground patrol component, and a low-altitude patrol component. The invention utilizes the pole of the ground monitoring component as a docking platform, allowing drones to land on the pole unaffected by the forest canopy. This enables the ground patrol component to reach the bottom of the pole after completing its patrol mission, where it is lifted and retrieved by the hoisting unit. A guide component is used as a channel, allowing the hoisting unit to descend along it and dock with the vehicle body. Furthermore, during hoisting, because the docking mechanism is located above the front of the vehicle body, the guide rope no longer runs vertically downwards along the guide component but instead tilts away from the opening slot, facilitating the lifting of the vehicle body along the pole.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ecological protection, and particularly relates to a dynamic intelligent patrol device and system for nature reserves. BACKGROUND

[0002] A nature reserve is a core area for biodiversity protection, and effective management of the nature reserve is of great significance for maintaining ecological balance, and it is necessary to patrol and supervise the nature reserve. The nature reserve is large in range, and some areas have been developed into tourist areas, resulting in a large number of people, which makes supervision difficult. For a nature reserve, it is necessary to dynamically patrol and protect against human activities, illegal behavior, illegal crossing of undeveloped areas, and forest fires. In the prior art, multi-source monitoring is generally performed by a ground monitoring rod, and then an unmanned aerial vehicle is used for aerial patrol, which can greatly improve the patrol efficiency.

[0003] However, the existing patrol system has some drawbacks. For dense jungles, neither the ground monitoring rod nor the unmanned aerial vehicle can detect conditions below the canopy. In particular, when an infrared device detects an anomaly (such as illegal crossing), the unmanned aerial vehicle cannot enter the area below the canopy to take accurate photographs, resulting in a blind area in the patrol and supervision system. SUMMARY

[0004] The purpose of the present application is to provide a dynamic intelligent patrol device and system for nature reserves, which solves the problem that the existing patrol device cannot take accurate photographs of the area below the dense canopy.

[0005] The present application achieves the above-mentioned purpose by the following technical solutions: A dynamic intelligent patrol device for nature reserves, comprising a ground monitoring assembly for continuously monitoring the nature reserve, comprising a vertical rod, a take-off platform and an intelligent sensing unit arranged on the vertical rod; a ground patrol assembly for ground patrol, comprising a vehicle body and a docking mechanism arranged above the front end of the vehicle body; a low-altitude patrol assembly for aerial patrol and carrying the vehicle body to the patrol area for ground patrol, comprising an unmanned aerial vehicle, a hitching unit arranged at the bottom of the unmanned aerial vehicle, and a retractable guide rope for retracting and releasing the hitching unit; a guide member is arranged on the side of the vertical rod to guide the hitching unit to the bottom of the vertical rod and connect the docking mechanism, and the guide member has an open slot on the side to pull the guide rope away from the guide member when the front end of the vehicle body is lifted.

[0006] As a preferred embodiment of the present invention, a first vision component is provided on one side of the bottom of the drone, and a second vision component is provided at the rear of the vehicle body. This embodiment uses vision components for inspection, and the vision components include a high-definition visible light camera and an infrared thermal imager to capture images and temperature information of the target.

[0007] As a preferred embodiment of the present invention, the docking mechanism includes a slider that can slide along the forward direction of the vehicle body. The upper end of the slider is provided with a slot for aligning with the bottom of the guide member. The slot is radially provided with an elastic telescopic pin and a toggle member for pulling back the telescopic pin. The telescopic pin is pushed outward by a first elastic member provided in the vehicle body. This embodiment specifically provides a docking mechanism that is fixed to the lifting unit by means of a slot and a telescopic pin. The lifting unit can automatically lock after entering the slot.

[0008] As a preferred embodiment of the present invention, the upper end of the vehicle body is provided with a groove corresponding to the slider and a multi-stage telescopic component for driving the slider to slide. The bottom of the groove is also provided with a bottom groove for accommodating a toggle component. The toggle component is a rotating component, one end of which is used to aggle the telescopic pin, and the other end enters the bottom groove to aggle the telescopic pin when in contact with the end wall of the bottom groove. This embodiment drives the slider to move by setting a multi-stage telescopic component, so that when docking, the slider can extend forward to directly below the guide component.

[0009] As a preferred embodiment of the present invention, the lifting unit includes a top cap, a middle rod, and a chamfered locking block. After the lifting unit enters the slot, it is locked into the surface of the middle rod by a telescopic pin for docking. In this embodiment, the structure of the lifting unit is specifically designed such that the middle rod has the smallest diameter and can be locked by the telescopic pin.

[0010] As a preferred embodiment of the present invention, the bottom of the upright is provided with a guide groove, and the bottom of the vehicle body is provided with a protrusion for guiding the vehicle body into the guide groove. This embodiment uses the guide groove to guide the vehicle body to be accurately positioned below the guide member.

[0011] As a preferred embodiment of the present invention, the bottom of the guide is further provided with a telescopic docking assembly for sending the lifting unit into the slot. The docking assembly includes a docking cylinder slidably disposed on the inner side of the lower end of the guide and a transmission mechanism for driving the docking cylinder to descend after the vehicle body enters the guide groove. The docking cylinder has an opening for a docking slot on its side, and a rubber flange is provided on the inner side of the bottom of the docking cylinder. An elastic piece is provided on the inner side near the bottom to allow the lifting unit to descend in one direction. This embodiment provides a docking assembly for pushing the lifting unit into the slot. The lifting unit falls from the guide to the bottom and passes over the elastic piece. The elastic piece is used to restrict the lifting unit from sliding upward, so as to provide thrust when the docking cylinder descends to push the lifting unit into the slot. The rubber flange is used to lock the lifting unit and prevent it from falling off prematurely.

[0012] As a preferred embodiment of the present invention, the bottom of the guide is provided with a narrow neck for introducing the lifting unit into the docking cylinder. This embodiment allows the lifting unit to slide from the guide into the docking cylinder by providing a narrow neck.

[0013] As a preferred embodiment of the present invention, the transmission mechanism includes a first hydraulic cylinder disposed in the guide groove and a second hydraulic cylinder disposed inside the upright. A connecting pipe is provided between the first hydraulic cylinder and the second hydraulic cylinder, and a connecting arm for connecting the docking cylinder is provided at the sliding end of the second hydraulic cylinder. A second elastic element for pushing the connecting arm to retract the docking cylinder is also provided inside the upright. This embodiment drives the docking cylinder to descend by setting a transmission mechanism and resets it by the second elastic element, so that it can automatically descend when the vehicle body enters.

[0014] To apply the above-mentioned patrol device, the present invention also proposes a patrol system, including the dynamic intelligent patrol device for nature reserves as described above, and a data processing center. The data processing center is used to perform spatiotemporal alignment and feature layer fusion of static ground data obtained by the ground monitoring component, aerial data obtained by the low-altitude patrol component, and dynamic ground data obtained by the ground patrol component to generate a real-time situational awareness map of the protected area.

[0015] The beneficial effects of this invention are as follows: By using the pole of the ground monitoring component as a docking platform, the UAV can land on the pole without being affected by the forest canopy, so that the ground patrol component can reach the bottom of the pole after completing the patrol task, be lifted by the hoisting unit, and be recovered. The present invention uses a guide as a channel, so that the lifting unit can descend along the guide and dock with the vehicle body. When lifting, since the docking mechanism is above the front end of the vehicle body, the guide rope no longer runs vertically downward along the guide, but tilts away from the opening slot, so that the vehicle body can be lifted along the upright. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a front sectional view of the present invention; Figure 3 This is a schematic diagram of the ground patrol component of the present invention; Figure 4 For the present invention Figure 2 Enlarged view of the structure of section A in the middle; Figure 5 For the present invention Figure 4 Enlarged view of the structure of section B; Figure 6 For the present invention Figure 4 Enlarged view of the structure of section C; Figure 7 This is a top view of the present invention; Figure 8 This is a schematic cross-sectional view of the upright and guide member of the present invention; Figure 9 This is a schematic diagram of the lifting unit of the present invention; Figure 10 This is a schematic diagram of the lifting process of the present invention; In the diagram: 1. Low-altitude patrol component; 11. UAV; 12. First vision component; 13. Lifting unit; 1301. Top cap; 1302. Intermediate rod; 1303. Chamfered locking block; 14. Bracket; 2. Ground patrol component; 21. Vehicle body; 22. Slide groove; 23. Slider; 24. Telescopic pin; 25. First elastic element; 26. Slot; 27. Actuating element; 28. Multi-stage telescopic element; 29. ​​Bottom groove; 210. Second vision component; 211. Protrusion; 3. Ground monitoring component; 31. Pole; 32. Landing platform; 33. Intelligent sensing unit; 34. Guide groove; 35. Guide element; 36. Opening groove; 4. Docking component; 41. First hydraulic cylinder; 42. Connecting pipe; 43. Second hydraulic cylinder; 44. Connecting arm; 45. Second elastic element; 46. Docking cylinder; 47. Elastic sheet; 48. Rubber flange. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content. Example 1

[0018] like Figures 1-10 As shown, a dynamic intelligent patrol device for nature reserves includes a ground monitoring component 3, a ground patrol component 2, and a low-altitude patrol component 1. The ground monitoring component 3 is used for continuous monitoring of the nature reserve and includes a pole 31, a landing platform 32 and an intelligent sensing unit 33 mounted on the pole 31. The ground patrol component 2 is used for ground patrols and includes a vehicle body 21 and a docking mechanism mounted on the front of the vehicle body 21. The low-altitude patrol component 1 is used for aerial patrols and to carry the vehicle body 21 to the patrol area for ground patrols. It includes a drone 11, a hoisting unit 13 mounted on the bottom of the drone 11, and a retractable guide rope for deploying and retracting the hoisting unit 13. A guide 35 is provided on the side of the upright 31 to guide the lifting unit 13 to the bottom of the upright 31 and connect it with the docking mechanism. The guide 35 has an opening slot 36 on its side to pull the guide rope away from the guide 35 at an angle when the front end of the vehicle body 21 is lifted.

[0019] In this embodiment, the pole 31 of the ground monitoring component 3 serves as a docking platform. The drone 11 can land on the pole 31, unaffected by the forest canopy. This allows the ground patrol component 2 to reach the bottom of the pole 31 after completing its patrol mission, where it can be lifted by the hoisting unit 13 for retrieval. This embodiment uses a guide 35 as a channel, allowing the hoisting unit 13 to descend along the guide 35 and dock with the vehicle body 21. Furthermore, during hoisting, because the docking mechanism is located above the front end of the vehicle body 21, the guide rope no longer runs vertically downwards along the guide 35 after hoisting, but instead tilts away from the opening slot 36 (e.g., ...). Figure 10 (as shown), so that the vehicle body 21 can be lifted along the upright 31.

[0020] During implementation, the intelligent sensing unit 33 acquires multi-source data of the nature reserve in real time and sends it to the data processing center. The intelligent sensing unit 33 includes a visual monitoring unit, a lidar unit, and a sound source monitoring unit. The visual monitoring is used to capture the image and temperature information of the target; the sound source monitoring includes a high-sensitivity microphone array, which is used to collect environmental sounds and identify specific sound patterns; the lidar is used to acquire the distance, speed, orientation, and micro-motion characteristics of the target. The data processing center determines whether there is an abnormal area based on the multi-source data. If an abnormal area is found, the low-altitude patrol component 1 is dispatched to carry the ground patrol component 2 to the abnormal area and the ground patrol component 2 is deployed to the ground to conduct ground-air coordinated inspection. After the inspection is completed, the ground patrol component 2 arrives at the bottom of the nearest pole 31 to wait, and the low-altitude inspection module 3 lands on the top of the pole 31, completes the hoisting, and flies back to the base.

[0021] Optionally, a first vision component 12 is provided on one side of the bottom of the drone 11, and a second vision component 210 is provided at the rear of the vehicle body 21. This solution uses vision components for inspection.

[0022] Preferably, the docking mechanism includes a slider 23 that can slide along the forward direction of the vehicle body 21. The upper end of the slider 23 has a slot 26 for aligning with the bottom of the guide 35. The slot 26 is radially provided with a telescopic pin 24 that can be elastically extended and a toggle member 27 for pulling back the telescopic pin 24. The telescopic pin 24 is pushed outward by a first elastic member 25 provided in the vehicle body 21. This solution specifically provides a docking mechanism that is fixed to the lifting unit 13 by means of the slot 26 and the telescopic pin 24. The lifting unit 13 can automatically lock after entering the slot 26.

[0023] Preferably, the upper end of the vehicle body 21 is provided with a groove 22 corresponding to the slider 23 and a multi-stage telescopic member 28 for driving the slider 23 to slide. The bottom of the groove 22 is also provided with a bottom groove 29 for accommodating the actuating member 27. The actuating member 27 is a rotating member, one end of which is used to actuate the telescopic pin 24, and the other end enters the bottom groove 29 to actuate the telescopic pin 24 when it contacts the end wall of the bottom groove 29. This solution drives the slider 23 to move by setting the multi-stage telescopic member 28, so that when docking, the slider 23 can extend forward to directly below the guide member 35.

[0024] Preferably, the lifting unit 13 includes a top cap 1301, a middle rod 1302, and a chamfered locking block 1303. After the lifting unit 13 enters the slot 26, it is locked into the surface of the middle rod 1302 by the telescopic pin 24 for docking. This solution specifically sets the structure of the lifting unit 13, wherein the middle rod 1302 has the smallest diameter and can be locked by the telescopic pin 24.

[0025] Preferably, the bottom of the upright 31 is provided with a guide groove 34, and the bottom of the vehicle body 21 is provided with a protrusion 211 for entering the guide groove 34 to guide the vehicle body 21. In this solution, by providing the guide groove 34, the vehicle body 21 is accurately positioned below the guide member 35.

[0026] Preferably, the bottom of the guide 35 is also telescopically provided with a docking assembly 4 for sending the lifting unit 13 into the slot 26. The docking assembly 4 includes a docking cylinder 46 slidably disposed on the inner side of the lower end of the guide 35 and a transmission mechanism for driving the docking cylinder 46 to descend after the vehicle body 21 enters the guide groove 34. The docking cylinder 46 has an opening of a docking slot 36 on its side, and a rubber flange 48 is provided on the inner side of the bottom of the docking cylinder 46. An elastic piece 47 is provided on the inner side near the bottom to allow the lifting unit 13 to descend in one direction. In this solution, the docking assembly 4 is provided to push the lifting unit 13 into the slot 26. The lifting unit 13 falls from the guide 35 to the bottom and passes over the elastic piece 47. The elastic piece 47 is used to restrict the lifting unit 13 from sliding upward again so as to provide thrust when the docking cylinder 46 descends to push the lifting unit 13 into the slot 26. The rubber flange 48 is used to lock the lifting unit 13 to prevent it from falling off prematurely.

[0027] Preferably, the bottom of the guide 35 is provided with a narrow neck for introducing the lifting unit 13 into the docking cylinder 46. This solution allows the lifting unit 13 to slide from the guide 35 into the docking cylinder 46 by providing a narrow neck.

[0028] Preferably, the transmission mechanism includes a first hydraulic cylinder 41 disposed in the guide groove 34 and a second hydraulic cylinder 43 disposed inside the upright 31. A connecting pipe 42 is disposed between the first hydraulic cylinder 41 and the second hydraulic cylinder 43, and a connecting arm 44 for connecting the docking cylinder 46 is disposed at the sliding end of the second hydraulic cylinder 43. A second elastic element 45 is also disposed inside the upright 31 for pushing the connecting arm 44 to retract the docking cylinder 46. This solution drives the docking cylinder 46 to descend by setting the transmission mechanism and resets it by the second elastic element 45, so that it can automatically descend when the vehicle body 21 enters.

[0029] Working principle: During the inspection, the drone 11 lifts the vehicle body 21 and moves it to the inspection area. At this time, the slider 23 is located at the center of the vehicle body 21. When releasing the vehicle body 21, the drone 11 remains in the air and releases the lifting unit 13 and the ground patrol component 2 to the ground via the guide rope. Then, the multi-stage telescopic component 28 retracts to its outermost position. Figures 4-5 As shown, this causes the actuating element 27 to contact the leftmost end of the bottom groove 29. Figures 4-5 (view), and when the toggle component 27 is activated, the telescopic pin 24 retracts, releasing the lifting unit 13; After the inspection, the drone 11 lands on the landing platform 32. The landing platform 32 is hollow in the middle and has guide plates on both sides. The bottom of the drone 11 is equipped with a bracket 14. The bracket 14 rests on the guide plate. The landing position can be accurately determined by the photoelectric unit, so that the hoisting unit 13 is aligned with the guide 35. The guide rope is released so that the hoisting unit 13 enters the guide 25 and falls into the docking cylinder 46. The hoisting unit 13 can directly pass over the 7-shaped elastic sheet 47 and get stuck on the rubber flange 48. The vehicle body 21 reaches below the upright 31, and the protrusion 211 presses against the first hydraulic cylinder 41, causing the second hydraulic cylinder 42 to extend. The connecting arm 44 drives the docking cylinder 46 to descend, and the elastic element 47 locks the tail of the lifting unit 13, thus allowing the lifting unit 13 to be pushed into the slot 26. Then, the vehicle body 21 retracts, and the second elastic element 45 causes the docking cylinder 46 to rise, and the lifting unit 13 leaves the rubber flange 48 (during the retraction of the vehicle body 21, the control slider 23 moves slightly forward, waiting for the docking cylinder 46 to rise and leave the lifting unit 13). Then, the lifting unit 13 rises, and during the lifting process... Figure 10 The guide rope shown exits from the opening slot 36, and the guide wheels of the vehicle body 21 are distributed on both sides of the guide member 35, which does not affect the lifting; After being lifted, the guide wheel of the vehicle body 21 rests under the drone 11. The lifting continues, causing the vertically upward vehicle body 21 to rotate around the upper guide wheel as an axis until the vehicle body 21 is horizontal. Then, the slider 23 returns to the center of the vehicle body 21 along the slide 22. During this process, the drone 11 is pulled and moves slightly laterally along the landing platform 32. Finally, the center of the drone 11 is aligned with the center of the vehicle body 21, and the guide rope is completely retracted, meaning that the center of gravity of the drone 11 is stable, and it takes off and returns.

[0030] In order to apply the above-mentioned patrol device, the present invention also proposes a patrol system, including the dynamic intelligent patrol device for nature reserves as described above, and also including a data processing center. The data processing center is used to perform spatiotemporal alignment and feature layer fusion of static ground data obtained by ground monitoring component 3, aerial data obtained by low-altitude patrol component 1 and dynamic ground data obtained by ground patrol component 2 to generate a real-time situational awareness map of the reserve.

[0031] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A dynamic intelligent patrol device for nature reserves, characterized in that, include Ground monitoring component (3), which is used for continuous monitoring of nature reserves, includes poles (31) and lifting platforms (32) and intelligent sensing units (33) set on poles (31). Ground patrol component (2), which is used for ground patrol, includes vehicle body (21) and docking mechanism located above the front end of vehicle body (21); The low-altitude patrol component (1), which is used for aerial patrol and to carry the vehicle body (21) to the patrol area for ground patrol, includes a drone (11), a hoisting unit (13) set at the bottom of the drone (11), and a retractable guide rope for retracting and extending the hoisting unit (13). The upright (31) is provided with a guide (35) on its side to guide the hoisting unit (13) to the bottom of the upright (31) and connect it with the docking mechanism. The guide (35) has an opening slot (36) on its side to pull the guide rope away from the guide (35) when the front end of the vehicle body (21) is hoisted.

2. The dynamic intelligent patrol device for nature reserves according to claim 1, characterized in that, The drone (11) has a first vision component (12) on one side of its bottom, and the vehicle body (21) has a second vision component (210) at its rear end.

3. The dynamic intelligent patrol device for nature reserves according to claim 1, characterized in that, The docking mechanism includes a slider (23) that can slide along the forward direction of the vehicle body (21). The upper end of the slider (23) is provided with a slot (26). The slot (26) is used to align with the bottom of the guide (35). The slot (26) is radially provided with an elastic telescopic pin (24) and an actuating element (27) for pulling back the telescopic pin (24). The telescopic pin (24) is pushed to extend by a first elastic element (25) provided in the vehicle body (21).

4. A dynamic intelligent patrol device for nature reserves according to claim 3, characterized in that, The upper end of the vehicle body (21) is provided with a groove (22) corresponding to the slider (23) and a multi-stage telescopic component (28) for driving the slider (23) to slide. The bottom of the groove (22) is also provided with a bottom groove (29) for accommodating the actuating component (27). The actuating component (27) is a rotating component, one end of which is used to actuate the telescopic pin (24), and the other end enters the bottom groove (29) to actuate the telescopic pin (24) when it contacts the end wall of the bottom groove (29).

5. A dynamic intelligent patrol device for nature reserves according to claim 3, characterized in that, The lifting unit (13) includes a top cap (1301), a middle rod (1302) and a chamfered locking block (1303). After the lifting unit (13) enters the slot (26), it is locked into the surface of the middle rod (1302) by the telescopic pin (24) for docking.

6. A dynamic intelligent patrol device for nature reserves according to claim 3, characterized in that, The bottom of the upright (31) is provided with a guide groove (34), and the bottom of the vehicle body (21) is provided with a protrusion (211) for entering the guide groove (34) to guide the vehicle body (21).

7. A dynamic intelligent patrol device for nature reserves according to claim 6, characterized in that, The bottom of the guide (35) is also provided with a telescopic docking assembly (4) for sending the lifting unit (13) into the slot (26). The docking assembly (4) includes a docking cylinder (46) slidably disposed on the inner side of the lower end of the guide (35) and a transmission mechanism for driving the docking cylinder (46) to descend after the vehicle body (21) enters the guide groove (34). The docking cylinder (46) has an opening of docking opening slot (36) on its side, and a rubber flange (48) is provided on the inner side of the bottom of the docking cylinder (46). An elastic sheet (47) is provided on the inner side near the bottom to make the lifting unit (13) descend in one direction.

8. A dynamic intelligent patrol device for nature reserves according to claim 7, characterized in that, The guide (35) has a narrow neck at the bottom for guiding the lifting unit (13) into the docking cylinder (46).

9. A dynamic intelligent patrol device for nature reserves according to claim 7, characterized in that, The transmission mechanism includes a first oil cylinder (41) disposed in the guide groove (34) and a second oil cylinder (43) disposed inside the upright (31). A connecting pipe (42) is provided between the first oil cylinder (41) and the second oil cylinder (43). A connecting arm (44) for connecting the docking cylinder (46) is provided at the sliding end of the second oil cylinder (43). A second elastic element (45) for pushing the connecting arm (44) to retract the docking cylinder (46) is also provided inside the upright (31).

10. A patrol system, characterized in that, The device includes a dynamic intelligent patrol device for nature reserves as described in any one of claims 1-9, and also includes a data processing center, which is used to perform spatiotemporal alignment and feature layer fusion of static ground data obtained by ground monitoring component (3), aerial data obtained by low-altitude patrol component (1) and dynamic ground data obtained by ground patrol component (2) to generate a real-time situational awareness map of the nature reserve.

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