Low altitude flying vehicle for rescue and method of use thereof

Abstract

The application belongs to the field of aircraft transportation, and particularly relates to a low-altitude aircraft for rescue and a method for using the same. The low-altitude aircraft comprises an aircraft body, a signal source assembly, a marking assembly and a sensing assembly. The aircraft body comprises a frame body, the signal source assembly is arranged in the frame body, the marking assembly is arranged on the lower side of the frame body, and the marking assembly is connected with the signal source assembly. The signal source assembly is used for delivering a rescue signal marker to the marking assembly, and the marking assembly sprays the rescue signal marker to the ground to form a rescue path mark and / or a rescue mark point on the ground. The low-altitude aircraft can quickly lock a rescue target, and timely guide rescue personnel to carry out rescue operations, so that the overall efficiency, safety and success rate of rescue operations can be significantly improved.

Description

Technical Field

[0001] This invention belongs to the field of aircraft transportation, specifically relating to a low-altitude aircraft for rescue and its method of use. Background Technology

[0002] Low-altitude aircraft (LAA) refers to all types of aircraft that fly in low-altitude airspace, rely on aerodynamic principles, integrate advanced technologies, perform diverse missions, create economic or social value, and meet civil aviation safety standards or airworthiness requirements.

[0003] Low-altitude aircraft, with their flexible deployment, rapid response, and lack of ground traffic restrictions, have demonstrated enormous potential in emergency rescue. Especially in initial reconnaissance, material delivery, and search for signs of life at disaster sites (such as earthquakes, floods, landslides, and forest fires), unmanned aerial vehicles (UAVs) have become indispensable tools. They can quickly enter areas inaccessible or dangerous to humans, providing firsthand on-site information and crucial support for rescue decision-making.

[0004] However, traditional low-altitude aircraft-based rescue models still have significant shortcomings, especially in the "last mile" connection between aerial reconnaissance and the actual rescue operation by ground personnel. Current rescue practices face numerous technical challenges:

[0005] Existing low-altitude rescue aircraft primarily perform aerial reconnaissance, communication relay, or small-batch supply delivery missions. While they can locate stranded personnel (rescue markers) and transmit coordinates back to the command center, they lack an effective means of automatically, clearly, and persistently marking safe and feasible rescue routes on the ground. Rescue personnel typically rely on handheld GPS devices, maps, or imprecise voice commands to approach targets. In complex, unfamiliar, low-visibility, or nighttime environments, they are prone to getting lost, experiencing delays, or even straying into dangerous areas, significantly increasing the risks and uncertainties of rescue operations.

[0006] The few attempts at ground marking rely heavily on traditional methods such as spraying paint, throwing glow sticks, or setting up reflective strips. These markers generally suffer from the following problems: insufficient durability (easily washed away or covered by wind and rain), poor adhesion (easily rolls and shifts on uneven surfaces), weak environmental adaptability (unable to remain effectively on various media such as soil, grass, gravel, and snow), and limited visibility (especially at night or in inclement weather). This results in unreliable marked paths or target points, failing to provide stable and continuous guidance for rescue personnel.

[0007] Furthermore, in existing technologies, environmental information collected by aircraft is mostly used to generate rough maps or target locations, lacking deep integration with real-time, automated rescue route generation and optimization. Rescue route planning often still relies on manual interpretation and experience-based judgment by command personnel at the rear, which is inefficient and difficult to dynamically respond to complex on-site terrain, obstacles, and secondary disaster risks. It is also unable to intelligently plan the optimal route for rescue teams that balances safety, timeliness, and feasibility.

[0008] Secondly, large-scale disaster sites are vast and complex, and relying solely on a single aircraft to conduct extensive reconnaissance and map long-distance routes faces bottlenecks such as short endurance, limited payload capacity, and low operational efficiency. The lack of a mechanism for multi-aircraft collaborative operations restricts the deployment of large-scale, high-efficiency rescue operations. Summary of the Invention

[0009] To address the problems existing in the prior art, the purpose of this invention is to provide a low-altitude aircraft for rescue and its method of use. This low-altitude aircraft can quickly lock onto rescue targets and guide rescue personnel to carry out rescue operations in a timely manner, which can significantly improve the overall efficiency, safety and success rate of rescue operations.

[0010] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0011] A low-altitude aircraft for rescue operations includes: an aircraft body, a signal source component, a marking component, and a sensing component; wherein the aircraft body includes a frame body, the sensing component is disposed on the front side of the frame body along the longitudinal direction of the frame body, the signal source component is disposed inside the frame body and is located near the middle of the frame body; the marking component is disposed on the lower side of the frame body along the vertical direction of the frame body, the marking component is located directly below the signal source component and connected to the signal source component; wherein the signal source component is used to transmit rescue signal markers to the marking component, and the marking component scatters the rescue signal markers onto the ground to form rescue path markings and / or rescue marker points on the ground.

[0012] Preferably, the signal source component includes a storage tank and a delivery pipeline. The storage tank is filled with rescue signal markers, and one end of the delivery pipeline is connected to the storage tank, while the other end is connected to the marker component.

[0013] The rescue signal marker is a fluorescent particle, which includes a fluorescent sphere formed inside and made of rare earth aluminate long afterglow material, and a fluorosilicone rubber composite coating covering the outside of the fluorescent sphere, with biomimetic barbs formed on the fluorosilicone rubber composite coating.

[0014] Preferably, the sensing component is used to collect multi-source environmental information at the rescue site, the control system plans a rescue path based on the received multi-source environmental information, and controls the low-altitude aircraft to move along the planned rescue path, while controlling the marking component to form the rescue path marker and / or the rescue marker point on the ground.

[0015] Preferably, the marking component includes a mounting base, a motor is disposed within the mounting base, and an impeller is driven to the output end of the motor, the motor driving the impeller to rotate; a guide channel is disposed within the mounting base, one end of the guide channel is connected to the conveying pipe, and the other end is opposite to the impeller.

[0016] Preferably, the mounting base includes a cylindrical main body, with a mounting groove for mounting the motor inside the main body. A cover is provided at the bottom of the mounting groove, and the output end of the motor extends from the bottom of the cover and is connected to the impeller for transmission. On the upper side of the main body, a mounting part is provided along the radial direction of the main body. The mounting part has a mounting hole that mates with the frame body. When the mounting part is fitted with the bottom of the frame body, the mounting base is connected to the frame body by bolts.

[0017] Preferably, a plurality of guide portions are evenly arranged along the circumference of the main body, the plurality of guide portions extend along the axial direction of the main body and protrude from the mounting portion, and a first channel is opened in each guide portion; a plurality of unit compartments are arranged inside the storage tank, the plurality of unit compartments correspond one-to-one with the plurality of guide portions, and the bottom of the plurality of unit compartments is funnel-shaped, and a second channel is opened at the lowest point of the funnel, the first channel and the second channel are connected through the conveying pipe.

[0018] Preferably, the impeller includes a base plate and a plurality of blades uniformly disposed on the base plate, wherein the blades and the base plate form an inclined angle.

[0019] A method for using a low-altitude aircraft includes the following steps:

[0020] S1: Collect multi-source environmental information; select N low-altitude aircraft to go to the rescue area and collect multi-source environmental information of the rescue site along the way. The multi-source environmental information includes at least one of RGB images, infrared thermal images and laser point cloud data. The control system receives the multi-source environmental information and processes the multi-source environmental information using visual SLAM technology to construct a high-precision three-dimensional scene model.

[0021] S2: Plan preliminary rescue routes; Divide the constructed high-precision 3D scene model into N sub-regions. For each sub-region, the control system generates several system rescue sub-paths. Integrate the system rescue sub-paths of each sub-region to determine several preliminary rescue routes from the starting point to the rescue marker point.

[0022] S3: Determine the final rescue path; rescue personnel select an optimal rescue path from the several preliminary rescue paths planned by the control system, and determine the optimal rescue path as the final rescue path from the starting point to the rescue marker point;

[0023] S4: Forming rescue path markers; The control system controls the N low-altitude aircraft to move along the planned final rescue path on their return journey, and simultaneously controls the marker components to spray the rescue signal markers onto the ground, thereby forming rescue path markers on the ground.

[0024] Preferably, in step S3:

[0025] In determining the optimal rescue route, rescuers select the optimal rescue route based on the multi-source environmental information obtained in step S1 and their own rescue habits.

[0026] Preferably, step S4 includes:

[0027] The final rescue path is divided into N unit rescue paths, each unit rescue path is matched with a low-altitude aircraft, the control system controls each low-altitude aircraft to move along its matched unit rescue path, and at the same time controls the marking component to scatter the rescue signal markers on the ground to form unit rescue path markers, and the N unit rescue path markers are combined to form a rescue path marker.

[0028] Compared with the prior art, the low-altitude aircraft for rescue and its method of use provided by the present invention have the following beneficial technical effects:

[0029] 1. This invention involves placing a signal source component inside the main body of the aircraft and a marking component directly below it. The marking component then disperses fluorescent particles delivered by the signal source component onto the ground, creating rescue path markers and / or rescue points. This allows rescue personnel to conduct rescue operations based on the marked path and / or rescue points. The fluorescent particles are made of rare-earth aluminate long-afterglow material, providing a long afterglow time and wide visibility, meeting the needs of uninterrupted rescue operations. The external fluorosilicone rubber composite coating adapts to various rescue environments and maintains structural integrity even under harsh conditions. The biomimetic barbed structure mimics the seeds of plants such as burdock, firmly anchoring to various interfaces such as soil, grass, sand, gravel, and concrete cracks, resisting rolling and displacement. Therefore, this low-altitude aircraft is suitable for continuous rescue operations in various complex environments, significantly improving the reliability of path marking and the coordination efficiency of rescue operations.

[0030] 2. The marking component of this invention includes a mounting base, within which a motor is installed. The motor's output is connected to an impeller, driving the impeller to rotate. This allows for the simple and convenient application of rescue signal markers to the ground, forming rescue path markings. Secondly, because the rescue signal markers have biomimetic barbs on their exterior, the impeller's action disperses the markers, reducing clumping and facilitating effective formation of rescue path markings. Simultaneously, the mounting base has several guide sections circumferentially arranged, each containing a first channel along the axial direction. The storage tank contains several unit compartments, each with a funnel-shaped bottom. A second channel is located at the lowest point of the funnel, corresponding one-to-one with the first channel. This ensures the storage tank smoothly delivers rescue signal markers to the marking component, facilitating the formation of rescue path markings.

[0031] 3. This invention utilizes multiple low-altitude aircraft to collect multi-source environmental information, determines the rescue path based on the collected multi-source environmental information, and controls the low-altitude aircraft to draw rescue path markers based on the determined rescue path, thereby reducing the uncertainty, blindness and risk of rescue operations.

[0032] When determining rescue routes, the control system first generates several preliminary rescue routes based on collected multi-source environmental information. Rescue personnel then select the optimal route from these preliminary routes based on the pre-acquired multi-source environmental information. This approach improves planning efficiency in terms of timeliness and allows rescue personnel to choose a route suitable for their own rescue habits, based on the system's planned routes and environmental characteristics, while also ensuring the scientific nature of the decision-making process.

[0033] By dividing the rescue path into N segmented unit rescue paths, each low-altitude aircraft moves along its matching unit rescue path to draw unit rescue path markers. Finally, the unit rescue path markers drawn by multiple low-altitude aircraft are combined to form a rescue path marker. This improves the efficiency of drawing rescue path markers in terms of speed; in terms of load, each low-altitude aircraft does not need to carry too many rescue signal markers, improving the operational adaptability of the low-altitude aircraft; in terms of operation mode, the low-altitude aircraft is used to collect multi-source environmental information on the outward trip and to draw unit rescue path markers on the return trip, improving the operational efficiency of the low-altitude aircraft. Attached Figure Description

[0034] Figure 1 This is a front view of the low-altitude aircraft of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the low-altitude aircraft of the present invention;

[0036] Figure 3 This is a cross-sectional view of the marking component of the present invention;

[0037] Figure 4 This is a partial schematic diagram of the marking component of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of the marking component of the present invention;

[0039] Figure 6 This is a schematic diagram of the rescue signal marker of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of the storage tank of the present invention;

[0041] Figure 8 This is a flowchart of the method for using the low-altitude aircraft of the present invention.

[0042] The meanings of the symbols marked in the figure are as follows:

[0043] 1. Aircraft body; 2. Signal source components; 3. Marking components; 4. Sensing components;

[0044] 11. Main frame; 12. Cantilever; 13. Rotor; 14. Battery unit;

[0045] 21. Storage tank;

[0046] 211. Fluorescent sphere; 212. Fluorosilicone rubber composite coating; 213. Bionic barbs; 214. Unit compartment; 215. Second channel;

[0047] 31. Mounting base; 32. Motor; 33. Impeller;

[0048] 311. Main body; 312. Mounting part; 313. Cover; 314. Guide part; 315. First channel;

[0049] 331. Substrate; 332. Blade. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention.

[0051] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0052] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0053] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0054] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0055] See appendix Figure 1 - Appendix Figure 7 As shown, the present invention provides a low-altitude aircraft for rescue, comprising: an aircraft body 1, a signal source component 2, a marking component 3, and a sensing component 4. The aircraft body 1 includes a frame body 11, and along the longitudinal direction of the frame body 11 (see attached diagram). Figure 2 In the X direction, a sensing component 4 is provided on the front side of the frame body 11, and a signal source component 2 is provided inside the frame body 11, with the signal source component 2 located near the middle of the frame body 11; along the vertical direction of the frame body 11 (see Appendix) Figure 2 In the Z-direction, a marking component 3 is installed on the lower side of the main frame 11. The marking component 3 is located directly below the signal source component 2, and the signal source component 2 and the marking component 3 are connected by a pipe. The signal source component 2 is used to deliver rescue signal markers to the marking component 3, and the marking component 3 scatters the rescue signal markers on the ground to form rescue path markings and / or rescue marker points on the ground. Rescue personnel can carry out rescue operations based on the rescue path markings and / or rescue marker points.

[0056] Several cantilever arms 12 are arranged along the front and rear sides of the main frame 11. Rotors 13 are mounted at the ends of each cantilever arm 12. A battery unit 14 is housed inside the main frame 11 and located behind the signal source assembly 2. The battery unit 14 is electrically connected to the rotors 13 to drive their rotation. A sensing assembly 4 located at the front of the main frame 11 includes several sensors used to collect multi-source environmental information from the rescue site. This multi-source environmental information includes, but is not limited to, RGB images, infrared thermal images, and laser point cloud data. The control system can plan a rescue path based on the received multi-source environmental information and control the low-altitude aircraft to move along the planned rescue path. Simultaneously, it controls the marking assembly 3 to actuate, thereby creating rescue path markers and / or rescue marker points on the ground.

[0057] The signal source component 2 includes a storage tank 21 and a delivery pipeline. The storage tank 21 is filled with rescue signal markers. One end of the delivery pipeline is connected to the storage tank 21, and the other end is connected to the marker component 3. Preferably, a control valve (not shown in the figure) is installed in the delivery pipeline. The control valve is used to control the flow rate of the rescue signal markers delivered to the marker component 3 to meet different rescue needs. For example, when more rescue signal markers are needed for path marking or marking the location of rescue targets, the control valve can be activated to increase the flow rate of the rescue signal markers, and vice versa.

[0058] Preferably, the rescue signal marker is a carrier that provides signal markers for rescuers. For example, fluorescent particles can be used as rescue signal markers. The fluorescent particles include fluorescent spheres 211 formed inside and made of rare earth aluminate long afterglow material, a fluorosilicone rubber composite coating 212 covering the outside of the fluorescent spheres 211, and biomimetic barbs 213 formed on the fluorosilicone rubber composite coating.

[0059] In the above embodiment, a signal source component is installed inside the aircraft body, and a marking component is installed directly below the signal source component. The marking component uses the fluorescent particles delivered by the signal source component to spray onto the ground, forming rescue path markers and / or rescue markers on the ground. This allows rescuers to carry out rescue operations based on the rescue path markers and / or rescue markers. The fluorescent particles are made of rare-earth aluminate long-afterglow material, which has a long afterglow time and a wide visibility range, meeting the needs of uninterrupted rescue. The external fluorosilicone rubber composite coating can adapt to various rescue environments and maintain structural integrity even under harsh conditions. The biomimetic barbed structure mimics the seeds of plants such as burdock, and can firmly anchor itself to various interfaces such as soil, grass, sand, gravel, and concrete cracks, resisting rolling and displacement. Therefore, this low-altitude aircraft is suitable for continuous rescue operations in various complex environments, significantly improving the reliability of path marking and the coordination efficiency of rescue operations.

[0060] Preferably, the marking component 3 includes a mounting base 31, within which a motor 32 is disposed. The output end of the motor 32 is connected to an impeller 33, and the motor 32 can drive the impeller 33 to rotate. A guide channel is provided within the mounting base 31, one end of which is connected to a delivery pipe, and the other end is opposite to the impeller 33. When the rescue signal marker is transmitted to the impeller 33 via the guide channel, the rotating impeller 33 evenly sprinkles the rescue signal marker onto the ground along the radial direction of the impeller 33 to form rescue path markings and / or rescue marker points.

[0061] Preferably, the mounting base 31 includes a cylindrical main body 311, with a mounting groove for mounting the motor 32 inside the main body 311. A cover 313 is provided at the bottom of the mounting groove, and the output end of the motor 32 extends from the bottom of the cover 313 and is connected to the impeller 33 for transmission. On the upper side of the main body 311, a mounting part 312 is provided along the radial direction of the main body 311. The mounting part 312 has a mounting hole that mates with the frame body 11. When the mounting part 312 is fitted with the bottom of the frame body 11, the mounting base 31 is connected to the frame body 11 by bolts.

[0062] Preferably, a plurality of guide portions 314 are evenly arranged along the circumference of the main body 311. The plurality of guide portions 314 extend along the axial direction of the main body 311 and protrude from the mounting portion 312. A first channel 315 is provided in each guide portion 314. A plurality of unit compartments 214 are provided inside the storage tank 21. The plurality of unit compartments 214 correspond one-to-one with the plurality of guide portions 314. The bottom of the plurality of unit compartments 214 is funnel-shaped, and a second channel 215 is provided at the lowest point of the funnel. The first channel 315 and the second channel 215 are connected by a conveying pipe.

[0063] Preferably, the impeller 33 includes a substrate 331 and a plurality of blades 332 uniformly disposed on the substrate 331, wherein the blades 332 and the substrate 331 form an inclined angle.

[0064] In the above embodiment, the marking component includes a mounting base, within which a motor is installed. The motor's output is connected to an impeller, driving the impeller to rotate. This allows for the simple and convenient application of rescue signal markers to the ground, forming rescue path markings. Secondly, because the rescue signal markers have biomimetic barbs on their exterior, the impeller's action disperses the markers, reducing clumping and facilitating effective formation of rescue path markings. Simultaneously, the mounting base has several guide sections circumferentially arranged, each containing a first channel along the axial direction. The storage tank contains several unit compartments, each with a funnel-shaped bottom and a second channel at its lowest point. These second channels correspond one-to-one with the first channels, ensuring the storage tank smoothly delivers rescue signal markers to the marking component for effective rescue path marking.

[0065] See appendix Figure 8 As shown, the present invention also provides a method for using a low-altitude aircraft for rescue, the method comprising the following steps:

[0066] S1: Collect multi-source environmental information; Select N low-altitude aircraft to travel to the rescue area (outbound journey), and collect multi-source environmental information en route. This multi-source environmental information includes at least one of RGB images, infrared thermal images, and laser point cloud data. The control system receives the multi-source environmental information and processes it using visual SLAM technology to construct a high-precision 3D scene model. It should be noted that the N low-altitude aircraft can share the collected multi-source environmental information to quickly and accurately construct a high-precision 3D scene model.

[0067] S2: Plan preliminary rescue routes; Divide the constructed high-precision 3D scene model into N sub-regions. For each sub-region, the control system generates several system rescue sub-paths based on objectives such as time efficiency and risk avoidance. Integrate the system rescue sub-paths of each sub-region to determine several preliminary rescue routes from the starting point to the rescue marker point.

[0068] S3: Determine the final rescue path; rescuers select the optimal rescue path from several preliminary rescue paths planned by the control system, and determine the optimal rescue path as the final rescue path from the starting point to the rescue marker point.

[0069] Preferably, in determining the optimal rescue route, rescuers can select the optimal rescue route based on multi-source environmental information such as climbing height and slope obtained in step S1 and in combination with their own rescue habits.

[0070] S4: Forming rescue path markers; the control system controls N low-altitude aircraft to move along the planned final rescue path on the return trip, and at the same time controls the marker components to spray rescue signal markers on the ground, thereby forming rescue path markers on the ground.

[0071] Preferably, step S4 specifically includes:

[0072] The final rescue path is divided into N unit rescue paths, each unit rescue path is matched with a low-altitude aircraft. The control system controls each low-altitude aircraft to move along its matched unit rescue path, and at the same time controls the marking component to scatter rescue signal markers on the ground to form unit rescue path markers. The N unit rescue path markers are combined to form a rescue path marker.

[0073] In the above implementation, multiple low-altitude aircraft are used to collect multi-source environmental information, and a rescue path is determined based on the collected multi-source environmental information. The low-altitude aircraft are then controlled to draw rescue path markers based on the determined rescue path, thereby reducing the uncertainty, blindness, and risk of rescue operations.

[0074] When determining rescue routes, the control system first generates several preliminary rescue routes based on collected multi-source environmental information. Rescue personnel then select the optimal route from these preliminary routes based on the pre-acquired multi-source environmental information. This approach improves planning efficiency in terms of timeliness and allows rescue personnel to choose a route suitable for their own rescue habits, based on the system's planned routes and environmental characteristics, while also ensuring the scientific nature of the decision-making process.

[0075] By dividing the rescue path into N segmented unit rescue paths, each low-altitude aircraft moves along its matching unit rescue path to draw unit rescue path markers. Finally, the unit rescue path markers drawn by multiple low-altitude aircraft are combined to form a rescue path marker. This improves the efficiency of drawing rescue path markers in terms of speed; in terms of load, each low-altitude aircraft does not need to carry too many rescue signal markers, improving the operational adaptability of the low-altitude aircraft; in terms of operation mode, the low-altitude aircraft is used to collect multi-source environmental information on the outward trip and to draw unit rescue path markers on the return trip, improving the operational efficiency of the low-altitude aircraft.

[0076] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. A low-altitude aircraft for rescue operations, characterized in that, The low-altitude aircraft includes: an aircraft body, a signal source component, a marking component, and a sensing component; wherein, the aircraft body includes a frame body, the sensing component is disposed on the front side of the frame body along the longitudinal direction of the frame body, the signal source component is disposed inside the frame body and is located near the middle of the frame body; the marking component is disposed on the lower side of the frame body along the vertical direction of the frame body, the marking component is located directly below the signal source component and is connected to the signal source component; wherein, the signal source component is used to transmit rescue signal markers to the marking component, and the marking component scatters the rescue signal markers onto the ground to form rescue path markings and / or rescue marker points on the ground.

2. The low-altitude aircraft as described in claim 1, characterized in that: The signal source component includes a storage tank and a delivery pipeline. The storage tank is filled with rescue signal markers, and one end of the delivery pipeline is connected to the storage tank, while the other end is connected to the marker component. The rescue signal marker is a fluorescent particle, which includes a fluorescent sphere formed inside and made of rare earth aluminate long afterglow material, and a fluorosilicone rubber composite coating covering the outside of the fluorescent sphere, with biomimetic barbs formed on the fluorosilicone rubber composite coating.

3. The low-altitude aircraft as described in claim 2, characterized in that: The sensing components are used to collect multi-source environmental information at the rescue site. The control system plans a rescue path based on the received multi-source environmental information and controls the low-altitude aircraft to move along the planned rescue path. At the same time, it controls the marking components to form the rescue path markers and / or the rescue marker points on the ground.

4. The low-altitude aircraft as described in claim 3, characterized in that: The marking component includes a mounting base, in which a motor is disposed, and an impeller is connected to the output end of the motor, thereby driving the impeller to rotate. The mounting base is provided with a guide channel, one end of which is connected to the conveying pipe and the other end is opposite to the impeller.

5. The low-altitude aircraft as described in claim 4, characterized in that: The mounting base includes a cylindrical main body with a mounting groove for mounting the motor inside. A cover is provided at the bottom of the mounting groove, and the output end of the motor extends from the bottom of the cover and is connected to the impeller for transmission. On the upper side of the main body, a mounting part is provided along the radial direction of the main body. The mounting part has a mounting hole that mates with the frame body. When the mounting part is fitted with the bottom of the frame body, the mounting base is connected to the frame body by bolts.

6. The low-altitude aircraft as described in claim 5, characterized in that: A plurality of guide portions are evenly arranged along the circumference of the main body, the plurality of guide portions extend along the axial direction of the main body and protrude from the mounting portion, and a first channel is opened in each guide portion; a plurality of unit compartments are arranged inside the storage tank, the plurality of unit compartments correspond one-to-one with the plurality of guide portions, and the bottom of the plurality of unit compartments is funnel-shaped, and a second channel is opened at the lowest point of the funnel, the first channel and the second channel are connected through the conveying pipe.

7. The low-altitude aircraft as described in claim 6, characterized in that: The impeller includes a base plate and a plurality of blades uniformly disposed on the base plate, wherein the blades and the base plate form an inclined angle.

8. A method of using the low-altitude aircraft as described in claim 7, characterized in that, Includes the following steps: S1: Collect multi-source environmental information; select N low-altitude aircraft to go to the rescue area and collect multi-source environmental information of the rescue site along the way. The multi-source environmental information includes at least one of RGB images, infrared thermal images and laser point cloud data. The control system receives the multi-source environmental information and processes the multi-source environmental information using visual SLAM technology to construct a high-precision three-dimensional scene model. S2: Plan preliminary rescue routes; Divide the constructed high-precision 3D scene model into N sub-regions. For each sub-region, the control system generates several system rescue sub-paths. Integrate the system rescue sub-paths of each sub-region to determine several preliminary rescue routes from the starting point to the rescue marker point. S3: Determine the final rescue route; Rescuers select an optimal rescue path from the several preliminary rescue paths planned by the control system, and determine the optimal rescue path as the final rescue path from the starting point to the rescue marker point; S4: Forming rescue path markers; The control system controls the N low-altitude aircraft to move along the planned final rescue path on their return journey, and simultaneously controls the marker components to spray the rescue signal markers onto the ground, thereby forming rescue path markers on the ground.

9. The method of use as described in claim 8, characterized in that: In step S3: In determining the optimal rescue route, rescuers select the optimal rescue route based on the multi-source environmental information obtained in step S1 and their own rescue habits.

10. The method of use as described in claim 9, characterized in that: Step S4 includes: The final rescue path is divided into N unit rescue paths, each unit rescue path is matched with a low-altitude aircraft, the control system controls each low-altitude aircraft to move along its matched unit rescue path, and at the same time controls the marking component to scatter the rescue signal markers on the ground to form unit rescue path markers, and the N unit rescue path markers are combined to form a rescue path marker.

Images