Water-air amphibious unmanned search and rescue aircraft

Abstract

A water-air amphibious unmanned search and rescue aircraft comprises a buoyancy hull, a supporting deck, an infrared search camera, a claw hook mechanism and a four-rotor mechanism. The buoyancy ship body is fixedly arranged below the supporting deck; the infrared search camera is installed below the supporting deck, located between the two buoyancy ship bodies and arranged on the forefront portion of the supporting deck. The grabber mechanism is located between the two buoyancy hulls and arranged in the center of the lower portion of the supporting deck. The four-rotor mechanism is mounted above the supporting deck; the supporting deck is of a double-layer plate body structure and is of a hollowed-out structure. A control bin is fixedly arranged between the double-layer plate body of the supporting deck, and a power battery, a controller and a satellite positioning module are installed in the control bin. The controller is electrically connected with the power battery; the satellite positioning module and the infrared search camera are electrically connected with the controller; a solar power generation panel is fixedly arranged on the upper surface of the supporting deck and electrically connected with the controller. And a signal receiving and transmitting antenna is arranged above the supporting deck and is electrically connected with the controller.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicles, in particular to an amphibious unmanned search and rescue aerial vehicle. Background Art

[0002] When a shipwreck occurs at sea and people fall into the water, even if the accident ship sends a distress message, the key location information in the distress message will change in a short period of time while waiting for rescue due to complex factors such as sea conditions and ocean currents, thus bringing great difficulties to maritime rescue.

[0003] At present, when the ground rescue command center receives a distress message, it usually arranges rescue ships or manned rescue aircraft to the accident site to carry out search and rescue work as soon as possible. However, in order to ensure the safety of the personnel on board, manned aircraft require a certain amount of preparation time. If the sea conditions are very bad or the weather is severe, the flight safety of the manned aircraft will also be greatly threatened. Due to the real-time changes in key location information, it is difficult for the manned aircraft to find the person who fell into the water in the first time during the process of reaching the search and rescue area from the ground rescue command center, which will reduce the success rate of the search and rescue of the person who fell into the water.

[0004] Although small unmanned aerial vehicles are also used to assist in maritime search and rescue, traditional small unmanned aerial vehicles can only assist ground rescue command centers in providing search video signals. Even if they find the person who fell into the water first, they cannot provide rescue services for the person. They can only temporarily provide on-site video signals for rescue ships or manned rescue aircraft. In addition, since the flight time of traditional small unmanned aerial vehicles is relatively limited, they must return before the battery of the unmanned aerial vehicle is exhausted. If they fail to return successfully before the battery is exhausted, they will crash into the sea and be damaged. Utility Model Content

[0005] In view of the problems existing in the prior art, the utility model provides an amphibious unmanned search and rescue aircraft, which can take off vertically on the ground or on the deck of a ship, can provide conventional search video signals during the day, and can also provide infrared search video signals at night, can carry a lifebuoy when taking off, and when a person falling into the water is found, the lifebuoy can be dropped for the person to use at the first time, thereby improving the survival rate of the person falling into the water while waiting for rescue; in order to reduce power consumption and increase the endurance time, the aircraft can gradually descend from the air to the sea surface for mooring, and then switch from the flight mode to the water surface mooring mode; during the sea surface mooring process, the position information can be fed back to the ground rescue command center or the sea rescue ship in real time, so as to guide the rescue ship or the manned rescue aircraft to arrive at the accident scene accurately, and in the process of waiting for rescue, in order to overcome the influence of wind and waves or ocean currents and prevent the aircraft from gradually moving away from the person falling into the water, the aircraft can switch from the water surface mooring mode to the water surface sailing mode, so that the distance between the aircraft and the person falling into the water is relatively stable, thereby ensuring the accuracy of the position information of the person falling into the water.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an amphibious unmanned search and rescue aircraft, comprising a buoyant hull, a supporting deck, an infrared search camera, a claw hook mechanism and a four-rotor mechanism; the buoyant hull is fixedly arranged below the supporting deck, and there are two buoyant hulls, which are symmetrically distributed on the left and right; the infrared search camera is installed below the supporting deck, and the infrared search camera is located between the two buoyant hulls and is arranged at the front of the supporting deck; the claw hook mechanism is installed below the supporting deck, and the claw hook mechanism is located between the two buoyant hulls and is arranged at the center of the supporting deck; the four-rotor mechanism is installed above the supporting deck.

[0007] The supporting deck adopts a double-layer plate structure, and the plate body of the supporting deck adopts a hollow structure.

[0008] A control compartment is fixedly arranged between the double-layer plates of the supporting deck, and a power battery, a controller and a satellite positioning module are installed in the control compartment; the controller is electrically connected to the power battery; the satellite positioning module is electrically connected to the controller; and the infrared search camera is electrically connected to the controller.

[0009] A solar panel is fixedly arranged on the upper surface of the supporting deck, and the solar panel is electrically connected to the controller.

[0010] A signal transceiver antenna is arranged above the support deck and is electrically connected to the controller.

[0011] The claw hook mechanism includes a claw hook mechanism support seat, a claw hook execution steering gear, a driving gear arm, a driven gear arm, a first connecting rod, a second connecting rod, a first claw hook and a second claw hook; the claw hook mechanism support seat is fixedly connected to the support deck; the claw hook execution steering gear is fixedly installed on the claw hook mechanism support seat, and the claw hook execution steering gear is electrically connected to the controller; the gear end of the driving gear arm is fixedly connected to the power output shaft of the claw hook execution steering gear; the gear end center wheel shaft of the driven gear arm is rotatably connected to the claw hook mechanism support seat through a bearing On the seat, the gear end of the driven gear arm is meshed with the gear end of the driving gear arm; one end of the first claw hook is hinged to the arm end of the driving gear arm, and the other end of the first claw hook is a degree of freedom; one end of the second claw hook is hinged to the arm end of the driven gear arm, and the other end of the second claw hook is a degree of freedom; one end of the first connecting rod is hinged to the supporting seat of the claw hook mechanism, and the other end of the first connecting rod is hinged to the middle part of the first claw hook; one end of the second connecting rod is hinged to the supporting seat of the claw hook mechanism, and the other end of the second connecting rod is hinged to the middle part of the second claw hook.

[0012] The four-rotor mechanism includes a left front rotor assembly, a right front rotor assembly, a left rear rotor assembly, a right rear rotor assembly, a front support shaft and a rear support shaft; the front support shaft is rotatably connected to the support deck through a bearing seat, and a rotor attitude adjustment actuator is arranged between the front support shaft and the support deck; the left front rotor assembly and the right front rotor assembly are respectively arranged at the left and right ends of the front support shaft; the rear support shaft is fastened to the support deck through a fixing seat; the left rear rotor assembly and the right rear rotor assembly are respectively arranged at the left and right ends of the rear support shaft.

[0013] The rotor attitude adjustment actuator includes a rotor attitude adjustment actuator support seat, a rotor attitude adjustment actuator servo, a rotor attitude adjustment driving gear and a rotor attitude adjustment driven gear; the rotor attitude adjustment actuator support seat is fixedly connected to the support deck; the rotor attitude adjustment actuator servo is fixedly connected to the rotor attitude adjustment actuator support seat, and the rotor attitude adjustment actuator servo is electrically connected to the controller; the rotor attitude adjustment driving gear is fixedly connected to the power output shaft of the rotor attitude adjustment actuator servo; the rotor attitude adjustment driven gear is coaxially fixed on the front support shaft, and the rotor attitude adjustment driven gear is meshed with the rotor attitude adjustment driving gear.

[0014] The left front rotor assembly, the right front rotor assembly, the left rear rotor assembly and the right rear rotor assembly have the same structure, and all include a double-headed motor, an upper rotor blade, a lower rotor blade and a motor support frame; the motor support frame is fixedly connected to the end of the front support shaft / the rear support shaft; the double-headed motor is vertically fixed on the motor support frame, and the double-headed motor is electrically connected to the controller; the upper rotor blade is arranged on the upper motor shaft of the double-headed motor; the lower rotor blade is arranged on the lower motor shaft of the double-headed motor.

[0015] An upper duct enclosure is arranged in the circumference of the upper rotor blade; a lower duct enclosure is arranged in the circumference of the lower rotor blade; the upper duct enclosure and the lower duct enclosure are both fixedly connected to the motor support frame through enclosure support rods.

[0016] Beneficial effects of the utility model:

[0017] The water-air amphibious unmanned search and rescue aircraft of the utility model can take off vertically on the ground or on the deck of a ship, can provide conventional search video signals during the day, and can also provide infrared search video signals at night, can carry a life buoy when taking off, and when a person falling into the water is found, the life buoy can be dropped for the person to use at the first time, thereby improving the survival rate of the person falling into the water while waiting for rescue; in order to reduce power consumption and increase the endurance time, the aircraft can gradually descend from the air to the sea surface for mooring, and then change from the flight mode to the water surface mooring mode; during the sea surface mooring process, the position information can be fed back to the ground rescue command center or the sea rescue ship in real time, so as to guide the rescue ship or the manned rescue aircraft to accurately arrive at the accident scene, and in order to overcome the influence of wind and waves or ocean currents and prevent the aircraft from gradually moving away from the person falling into the water during the waiting for rescue, the aircraft can be changed from the water surface mooring mode to the water surface sailing mode, so that the distance between the aircraft and the person falling into the water is relatively stable, thereby ensuring the accuracy of the position information of the person falling into the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of an amphibious unmanned search and rescue aircraft of the utility model (viewing angle 1);

[0019] Figure 2 It is a structural schematic diagram of an amphibious unmanned search and rescue aircraft of the utility model (viewing angle 2);

[0020] Figure 3 It is a structural schematic diagram of an amphibious unmanned search and rescue aircraft of the utility model (viewing angle 3);

[0021] In the figure, 1 is a buoyancy hull, 2 is a support deck, 3 is an infrared search camera, 4 is a control cabin, 5 is a solar panel, 6 is a signal transceiver antenna, 7 is a claw hook mechanism support seat, 8 is a claw hook actuator servo, 9 is a driving gear arm, 10 is a driven gear arm, 11 is a first connecting rod, 12 is a second connecting rod, 13 is a first claw hook, 14 is a second claw hook, 15 is a front support shaft, 16 is a rear support shaft, 17 is a bearing seat, 18 is a fixed seat, 19 is a rotor attitude adjustment actuator support seat, 20 is a rotor attitude adjustment actuator servo, 21 is a rotor attitude adjustment driving gear, 22 is a rotor attitude adjustment driven gear, 23 is a double-headed motor, 24 is an upper rotor blade, 25 is a lower rotor blade, 26 is a motor support frame, 27 is an upper duct enclosure, 28 is a lower duct enclosure, and 29 is an enclosure support rod. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 3As shown, an amphibious unmanned search and rescue aircraft comprises a buoyancy hull 1, a supporting deck 2, an infrared search camera 3, a claw hook mechanism and a quadrotor mechanism; the buoyancy hull 1 is fixedly arranged below the supporting deck 2, there are two buoyancy hulls 1, and the two buoyancy hulls 1 are symmetrically distributed on the left and right; the infrared search camera 3 is installed below the supporting deck 2, the infrared search camera 3 is located between the two buoyancy hulls 1 and is arranged at the front of the supporting deck 2; the claw hook mechanism is installed below the supporting deck 2, the claw hook mechanism is located between the two buoyancy hulls 1 and is arranged at the center of the supporting deck 2; the quadrotor mechanism is installed above the supporting deck 2.

[0024] The support deck 2 adopts a double-layer plate structure, and the plate body of the support deck 2 adopts a hollow structure. By designing the plate body of the support deck 2 as a hollow structure, the deadweight of the support deck 2 can be greatly reduced. When the aircraft is in flight mode, the endurance time can be increased by reducing the deadweight.

[0025] A control compartment 4 is fixedly arranged between the double-layer plates of the support deck 2, and a power battery, a controller and a satellite positioning module are installed in the control compartment; the controller is electrically connected to the power battery; the satellite positioning module is electrically connected to the controller; and the infrared search camera 3 is electrically connected to the controller.

[0026] A solar panel 5 is fixedly arranged on the upper surface of the support deck 2, and the solar panel 5 is electrically connected to the controller. Through the arrangement of the solar panel 5, additional electric energy can be provided when there is sufficient sunshine during the day, thereby increasing the cruising range of the aircraft.

[0027] A signal transceiver antenna 6 is provided above the support deck 2, and the signal transceiver antenna 6 is electrically connected to the controller. By providing an external signal transceiver antenna 6, the signal receiving and sending capabilities can be enhanced, the accurate transmission of position information can be ensured, and the accurate transmission of remote command instructions can be ensured.

[0028] The claw hook mechanism includes a claw hook mechanism support seat 7, a claw hook execution steering gear 8, a driving gear arm 9, a driven gear arm 10, a first connecting rod 11, a second connecting rod 12, a first claw hook 13 and a second claw hook 14; the claw hook mechanism support seat 7 is fixedly connected to the support deck 2; the claw hook execution steering gear 8 is fixedly installed on the claw hook mechanism support seat 7, and the claw hook execution steering gear 8 is electrically connected to the controller; the gear end of the driving gear arm 9 is fixedly connected to the power output shaft of the claw hook execution steering gear 8; the gear end center wheel shaft of the driven gear arm 10 is rotatably connected to the claw hook mechanism support seat 7 through a bearing, The gear end of the driven gear arm 10 meshes with the gear end of the driving gear arm 9; one end of the first claw hook 13 is hinged to the arm end of the driving gear arm 9, and the other end of the first claw hook 13 is a degree of freedom; one end of the second claw hook 14 is hinged to the arm end of the driven gear arm 10, and the other end of the second claw hook 14 is a degree of freedom; one end of the first connecting rod 11 is hinged to the claw hook mechanism support seat 7, and the other end of the first connecting rod 11 is hinged to the middle of the first claw hook 13; one end of the second connecting rod 12 is hinged to the claw hook mechanism support seat 7, and the other end of the second connecting rod 12 is hinged to the middle of the second claw hook 14. Through the setting of the claw hook mechanism, it can be used to carry and release a lifebuoy, so that the aircraft can provide help to the drowned before the rescue ship or manned rescue aircraft arrives at the scene, and improve the survival rate of the drowned people while waiting for rescue.

[0029] The four-rotor mechanism includes a left front rotor assembly, a right front rotor assembly, a left rear rotor assembly, a right rear rotor assembly, a front support shaft 15 and a rear support shaft 16; the front support shaft 15 is rotatably connected to the support deck 2 through a bearing seat 17, and a rotor attitude adjustment actuator is arranged between the front support shaft 15 and the support deck 2; the left front rotor assembly and the right front rotor assembly are respectively arranged at the left and right ends of the front support shaft 15; the rear support shaft 16 is fastened to the support deck 2 through a fixing seat 18; the left rear rotor assembly and the right rear rotor assembly are respectively arranged at the left and right ends of the rear support shaft 16.

[0030] The rotor attitude adjustment actuator includes a rotor attitude adjustment actuator support seat 19, a rotor attitude adjustment actuator servo 20, a rotor attitude adjustment driving gear 21 and a rotor attitude adjustment driven gear 22; the rotor attitude adjustment actuator support seat 19 is fixedly connected to the support deck 2; the rotor attitude adjustment actuator servo 20 is fixedly connected to the rotor attitude adjustment actuator support seat 19, and the rotor attitude adjustment actuator servo 20 is electrically connected to the controller; the rotor attitude adjustment driving gear 21 is fixedly connected to the power output shaft of the rotor attitude adjustment actuator servo 20; the rotor attitude adjustment driven gear 22 is coaxially fixed on the front support shaft 15, and the rotor attitude adjustment driven gear 22 is meshed with the rotor attitude adjustment driving gear 21.

[0031] The left front rotor assembly, the right front rotor assembly, the left rear rotor assembly and the right rear rotor assembly have the same structure, and all include a double-headed motor 23, an upper rotor blade 24, a lower rotor blade 25 and a motor support frame 26; the motor support frame 26 is fixedly connected to the end of the front support shaft 15 / the rear support shaft 16; the double-headed motor 23 is vertically fixed on the motor support frame 26, and the double-headed motor 23 is electrically connected to the controller; the upper rotor blade 24 is arranged on the upper motor shaft of the double-headed motor 23; the lower rotor blade 25 is arranged on the lower motor shaft of the double-headed motor 23.

[0032] An upper duct enclosure 27 is provided around the upper rotor blade 24; a lower duct enclosure 28 is provided around the lower rotor blade 25; the upper duct enclosure 27 and the lower duct enclosure 28 are both fixedly connected to the motor support frame 26 via enclosure support rods 29. The upper duct enclosure 27 and the lower duct enclosure 28 can prevent the high-speed rotating upper rotor blade 24 and the lower rotor blade 25 from causing harm to the surrounding personnel. If there are hard objects such as reefs in the sea environment, the high-speed rotating upper rotor blade 24 and the lower rotor blade 25 can be prevented from contacting with hard objects such as reefs, thereby preventing the upper rotor blade 24 and the lower rotor blade 25 from being damaged.

[0033] The following is a description of the one-time use process of the utility model in conjunction with the accompanying drawings:

[0034] Taking takeoff from a ship deck as an example, when the ground rescue command center receives a distress message, the water-air amphibious unmanned search and rescue aircraft of the utility model takes off first and rushes to the accident waters. During the flight, the lifebuoy is carried by the claw hook mechanism. After approaching the accident waters, the infrared search camera 3 is used to search for the person who fell into the water.

[0035] When a person is found falling into the water, the aircraft will first fly over the person, then lower the flight altitude and prepare to release the lifebuoy. The purpose of lowering the flight altitude is to reduce the impact force when the lifebuoy is released and to improve the accuracy of the release.

[0036] When the flight altitude is lowered to the target altitude, the claw hook executing steering gear 8 of the claw hook mechanism is first started, and the gear end of the active gear arm 9 is driven to rotate by the claw hook executing steering gear 8. Under the action of the meshing gear transmission, the gear end of the driven gear arm 10 rotates synchronously in the opposite direction, thereby driving the arm ends of the active gear arm 9 and the driven gear arm 10 to swing synchronously, thereby driving the first claw hook 13 and the second claw hook 14 to gradually open, and the first connecting rod 11 and the second connecting rod 12 move with it. As the opening angle of the first claw hook 13 and the second claw hook 14 gradually increases, until the lifebuoy is separated from the first claw hook 13 and the second claw hook 14 and released, the lifebuoy will freely fall to the sea surface. At this time, the person who falls into the water can obtain the lifebuoy, thereby improving the survival rate of the person who falls into the water while waiting for subsequent rescue.

[0037] When the drowning person obtains the lifebuoy, the aircraft can choose to hover above the drowning person, and at the same time send the drowning person's real-time location information to the ground rescue command center and rescue ships or manned rescue aircraft. If the rescue ships or manned rescue aircraft can reach the accident waters in a short time, and the aircraft can wait until the rescue ships or manned rescue aircraft arrive at the scene within the flight time, the aircraft can continue to maintain the hovering mode.

[0038] If the aircraft cannot wait for the rescue ship or manned rescue aircraft to arrive at the scene within the flight time, in order to ensure the stable transmission of the real-time location information of the person who falls into the water, the aircraft must save power, so it needs to land on the sea surface from the air for mooring. When mooring, it completely relies on the buoyancy provided by the buoyancy hull 1. The quadcopter mechanism in the moored state can be suspended and started, so the flight time of the aircraft can be maximized.

[0039] When the aircraft is moored on the sea, if the aircraft gradually moves away from the person who falls into the water due to wind, waves or ocean currents, the position of the aircraft needs to be adjusted to ensure that the position between the aircraft and the person who falls into the water is relatively fixed so as to follow the person who falls into the water.

[0040] When it is necessary to adjust the position of the aircraft in the sea-moored state, first start the rotor attitude adjustment execution servo 20, which drives the rotor attitude adjustment active gear 21 to rotate, and then drives the rotor attitude adjustment driven gear 22 engaged therewith to rotate. Through the rotation of the rotor attitude adjustment driven gear 22, the front support shaft 15 is further driven to rotate synchronously until the left front rotor assembly and the right front rotor assembly at the left and right ends of the front support shaft 15 change from a horizontal attitude to a vertical attitude.

[0041] After the left front rotor assembly and the right front rotor assembly are adjusted to the vertical posture, if the aircraft needs to move forward, the double-headed motor 23 of the left front rotor assembly and the right front rotor assembly has the same speed and direction of rotation and the thrust generated is backward, and the aircraft parked on the sea surface can be driven to sail forward under the backward thrust. If the aircraft needs to move backward, the double-headed motor 23 of the left front rotor assembly and the right front rotor assembly has the same speed and direction of rotation and the thrust generated is forward, and the aircraft parked on the sea surface can be driven to sail backward under the forward thrust. If the aircraft needs to turn left, the double-headed motor 23 of the right front rotor assembly has a speed greater than the double-headed motor 23 of the left front rotor assembly, and a turning torque to the left will be generated under the action of the speed difference, thereby driving the aircraft to turn left. If the aircraft needs to turn right, the speed of the double-headed motor 23 of the left front rotor assembly is greater than the speed of the double-headed motor 23 of the right front rotor assembly. Under the action of the speed difference, a right turning torque will be generated, thereby driving the aircraft to turn right.

[0042] In addition, when the aircraft is moored on the sea surface, if it is exposed to sunlight during the day, the solar panel 5 can provide additional power to the aircraft, which can further increase the flight time of the aircraft.

[0043] When the rescue ship or manned rescue aircraft arrives at the scene, the unmanned search and rescue mission of the aircraft is completed. At this time, the left front rotor assembly and the right front rotor assembly are first restored from a vertical attitude to a horizontal attitude, and then they can be vertically lifted off and returned while moored on the sea to prepare for the next search and rescue.

[0044] The solutions in the embodiments are not intended to limit the protection scope of the present utility model. All equivalent implementations or changes that do not deviate from the protection scope of the present utility model are included in the protection scope of the present utility model.

Claims

1. An amphibious unmanned search and rescue aircraft, characterized in that: It includes a buoyant hull, a supporting deck, an infrared search camera, a claw hook mechanism and a four-rotor mechanism; the buoyant hull is fixedly arranged below the supporting deck, there are two buoyant hulls, and the two buoyant hulls are symmetrically distributed on the left and right; the infrared search camera is installed below the supporting deck, the infrared search camera is located between the two buoyant hulls and is arranged at the front of the supporting deck; the claw hook mechanism is installed below the supporting deck, the claw hook mechanism is located between the two buoyant hulls and is arranged at the center of the supporting deck; the four-rotor mechanism is installed above the supporting deck.

2. The water-air amphibious unmanned search and rescue aircraft according to claim 1, characterized in that: The supporting deck adopts a double-layer plate structure, and the plate body of the supporting deck adopts a hollow structure.

3. The water-air amphibious unmanned search and rescue aircraft according to claim 2, characterized in that: A control compartment is fixedly arranged between the double-layer plates of the supporting deck, and a power battery, a controller and a satellite positioning module are installed in the control compartment; the controller is electrically connected to the power battery; the satellite positioning module is electrically connected to the controller; and the infrared search camera is electrically connected to the controller.

4. The water-air amphibious unmanned search and rescue aircraft according to claim 3, characterized in that: A solar panel is fixedly arranged on the upper surface of the supporting deck, and the solar panel is electrically connected to the controller.

5. The amphibious unmanned search and rescue aircraft according to claim 3, characterized in that: A signal transceiver antenna is arranged above the support deck and is electrically connected to the controller.

6. The water-air amphibious unmanned search and rescue aircraft according to claim 3, characterized in that: The claw hook mechanism includes a claw hook mechanism support seat, a claw hook execution steering gear, a driving gear arm, a driven gear arm, a first connecting rod, a second connecting rod, a first claw hook and a second claw hook; the claw hook mechanism support seat is fixedly connected to the support deck; the claw hook execution steering gear is fixedly installed on the claw hook mechanism support seat, and the claw hook execution steering gear is electrically connected to the controller; the gear end of the driving gear arm is fixedly connected to the power output shaft of the claw hook execution steering gear; the gear end center wheel shaft of the driven gear arm is rotatably connected to the claw hook mechanism support seat through a bearing On the seat, the gear end of the driven gear arm is meshed with the gear end of the driving gear arm; one end of the first claw hook is hinged to the arm end of the driving gear arm, and the other end of the first claw hook is a degree of freedom; one end of the second claw hook is hinged to the arm end of the driven gear arm, and the other end of the second claw hook is a degree of freedom; one end of the first connecting rod is hinged to the supporting seat of the claw hook mechanism, and the other end of the first connecting rod is hinged to the middle part of the first claw hook; one end of the second connecting rod is hinged to the supporting seat of the claw hook mechanism, and the other end of the second connecting rod is hinged to the middle part of the second claw hook.

7. The water-air amphibious unmanned search and rescue aircraft according to claim 3, characterized in that: The four-rotor mechanism includes a left front rotor assembly, a right front rotor assembly, a left rear rotor assembly, a right rear rotor assembly, a front support shaft and a rear support shaft; the front support shaft is rotatably connected to the support deck through a bearing seat, and a rotor attitude adjustment actuator is arranged between the front support shaft and the support deck; the left front rotor assembly and the right front rotor assembly are respectively arranged at the left and right ends of the front support shaft; the rear support shaft is fastened to the support deck through a fixing seat; the left rear rotor assembly and the right rear rotor assembly are respectively arranged at the left and right ends of the rear support shaft.

8. The water-air amphibious unmanned search and rescue aircraft according to claim 7, characterized in that: The rotor attitude adjustment actuator includes a rotor attitude adjustment actuator support seat, a rotor attitude adjustment actuator servo, a rotor attitude adjustment driving gear and a rotor attitude adjustment driven gear; the rotor attitude adjustment actuator support seat is fixedly connected to the support deck; the rotor attitude adjustment actuator servo is fixedly connected to the rotor attitude adjustment actuator support seat, and the rotor attitude adjustment actuator servo is electrically connected to the controller; the rotor attitude adjustment driving gear is fixedly connected to the power output shaft of the rotor attitude adjustment actuator servo; the rotor attitude adjustment driven gear is coaxially fixed on the front support shaft, and the rotor attitude adjustment driven gear is meshed with the rotor attitude adjustment driving gear.

9. The water-air amphibious unmanned search and rescue aircraft according to claim 7, characterized in that: The left front rotor assembly, the right front rotor assembly, the left rear rotor assembly and the right rear rotor assembly have the same structure, and all include a double-headed motor, an upper rotor blade, a lower rotor blade and a motor support frame; the motor support frame is fixedly connected to the end of the front support shaft / the rear support shaft; the double-headed motor is vertically fixed on the motor support frame, and the double-headed motor is electrically connected to the controller; the upper rotor blade is arranged on the upper motor shaft of the double-headed motor; the lower rotor blade is arranged on the lower motor shaft of the double-headed motor.

10. The water-air amphibious unmanned search and rescue aircraft according to claim 9, characterized in that: An upper duct enclosure is arranged in the circumference of the upper rotor blade; a lower duct enclosure is arranged in the circumference of the lower rotor blade; the upper duct enclosure and the lower duct enclosure are both fixedly connected to the motor support frame through enclosure support rods.

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