Air-ground collaborative search rescue system applied to complex environment

Abstract

The utility model discloses an air-ground collaborative search and rescue system applied to a complex environment, which belongs to the technical field of search and rescue, and comprises an air unmanned aerial vehicle system, a ground mobile robot system and a data center, and the air unmanned aerial vehicle system and the ground mobile robot system are interconnected through the data center; the air unmanned aerial vehicle system comprises an air mapping unmanned aerial vehicle subsystem composed of a plurality of first echelon unmanned aerial vehicles and an air navigation unmanned aerial vehicle subsystem composed of a plurality of second echelon unmanned aerial vehicles. Map data collected by the air mapping unmanned aerial vehicle subsystem and position coordinates collected by the air navigation unmanned aerial vehicle subsystem are transmitted to the ground mobile robot system through the data center, and finally the ground mobile robot system executes a search and rescue task according to the map data and the position coordinates. Even in a complex environment, due to the fact that the aerial mapping unmanned aerial vehicle subsystem is additionally arranged, direction guidance can still be provided for the ground mobile robot system through map data.

Description

Technical Field

[0001] The utility model belongs to the technical field of search and rescue, and particularly relates to an air-ground collaborative search and rescue system applied to complex environments. Background Art

[0002] With the rapid development of technology, the current search and rescue field is undergoing unprecedented changes. The wide application of emerging technologies such as unmanned aerial vehicles (UAVs), robots, artificial intelligence, and the Internet of Things has not only greatly improved the response speed and accuracy of rescue operations but also enabled efficient search and rescue and material delivery in complex environments. By adopting the above technological means, rescue operations have become more intelligent and user-friendly, effectively reducing casualties and property losses and providing strong support for the global response to natural disasters, public safety incidents, etc.

[0003] Generally, existing search and rescue measures usually adopt the method of combining UAVs with ground mobile robots. The UAVs provide direction guidance for the ground mobile robots, which not only has high search and rescue efficiency but also ensures rescue accuracy. However, in the face of some extremely complex rescue environments such as earthquakes, fires, and the wild, existing search and rescue measures have certain limitations, which are specifically reflected in the following aspects: First, in complex rescue environments such as mountains and forests, due to the lag in information transmission and synchronization, UAVs cannot provide real-time direction guidance for ground mobile robots. The ground mobile robots may repeatedly explore areas that have already been searched while ignoring other key areas, resulting in low search and rescue efficiency and possibly missing important clues or trapped people, seriously affecting the search and rescue efficiency and effect. Second, in the face of complex rescue environments, once the ground mobile robots lack the real-time direction guidance of UAVs, their environmental perception ability is limited, resulting in a decline in obstacle avoidance ability and an increased risk of collision with obstacles, which may cause damage to both the robots themselves and the search and rescue site.

[0004] It can be seen that for complex rescue environments, since existing search and rescue systems rely only on real-time navigation of UAVs to provide direction guidance for ground mobile robots, once there is a delay or interruption in real-time navigation, the ground mobile robots will lack direction guidance, affecting the search and rescue efficiency and effect. Summary of the Invention

[0005] The utility model provides an air-ground collaborative search and rescue system applied to complex environments to solve the technical problem that in existing search and rescue systems, since only real-time navigation of UAVs is relied on to provide direction guidance for ground mobile robots, once there is a delay or interruption in real-time navigation, the ground mobile robots will lack direction guidance, affecting the search and rescue efficiency and effect.

[0006] To achieve the above object, the utility model adopts the following technical content:

[0007] An air-ground collaborative search and rescue system applied to complex environments, comprising an aerial drone system, a ground mobile robot system, and a data center;

[0008] The aerial drone system and the ground mobile robot system are respectively connected to the data center;

[0009] The aerial drone system includes an aerial mapping drone subsystem composed of multiple first-echelon drones and an aerial navigation drone subsystem composed of multiple second-echelon drones;

[0010] The aerial mapping drone subsystem is used to transmit the collected map data to the ground mobile robot system through the data center;

[0011] The aerial navigation drone subsystem is used to transmit the collected position coordinates to the ground mobile robot system through the data center;

[0012] The ground mobile robot system performs search and rescue tasks according to the received map data and / or position coordinates.

[0013] Further, the data center is connected to a search and rescue map splicing device; the search and rescue map splicing device includes an embedded map splicing module, and the embedded map splicing module is used to splice the map data collected by the aerial mapping drone subsystem to generate a search and rescue map.

[0014] Further, the first-echelon drones are provided with a first camera module, and the first camera module is connected to the data center;

[0015] The second-echelon drones are provided with a second camera module, and the second camera module is connected to the data center.

[0016] Further, both the first camera module and the second camera module adopt Hasselblad cameras.

[0017] Further, the data center adopts a container data center.

[0018] Further, both the bottoms of the first-echelon drones and the second-echelon drones are provided with UWB ranging modules.

[0019] Further, the UWB ranging module adopts a radar.

[0020] Further, the ground mobile robot system is composed of at least one of a wheeled robot, a wheel-legged robot, a wall-climbing robot, a pipeline robot, and a tracked robot.

[0021] Furthermore, both the aerial drone system and the ground mobile robot system are connected to the data center through WIFI devices.

[0022] Furthermore, all the drones in the aerial drone system and the ground mobile robots in the ground mobile robot system are equipped with voice broadcast modules.

[0023] Compared with the prior art, the utility model has the following beneficial effects:

[0024] The utility model provides an air-ground collaborative search and rescue system applied to complex environments. This system includes an aerial drone system, a ground mobile robot system, and a data center. The aerial drone system and the ground mobile robot system are interconnected through the data center. The aerial drone system includes an aerial mapping drone subsystem composed of multiple first-echelon drones and an aerial navigation drone subsystem composed of multiple second-echelon drones. And the map data collected by the aerial mapping drone subsystem and the position coordinates collected by the aerial navigation drone subsystem are transmitted to the ground mobile robot system through the data center. Finally, the ground mobile robot system executes the search and rescue task according to the map data and the position coordinates. Even in complex environments, due to the addition of the aerial mapping drone subsystem, the ground mobile robot system can still be provided with direction guidance through the map data. The problem that the ground mobile robot lacks direction guidance due to real-time navigation delay or interruption is solved by adopting this system. The structure and principle of this search and rescue system are simple, with high search and rescue efficiency and good search and rescue effect, and have good popularization and application value.

[0025] This search and rescue system can, at the first moment of search and rescue, use the aerial mapping drone subsystem to collect a large amount of map data and transmit the map data to the ground mobile robot system through the data center. In this way, when this system is in a complex rescue environment, during the entire search and rescue process, even if the ground mobile robot lacks the real-time navigation of the drone, it can still execute the search and rescue task efficiently according to the map data, ensuring the search and rescue efficiency and the search and rescue effect.

[0026] In addition, this search and rescue system also includes an aerial navigation drone subsystem, composed of second-echelon drones. As the second echelon of the aerial drone system, it not only provides the position coordinates for real-time navigation but also can provide additional perspectives and information sources to provide more direct navigation support for the ground mobile robot. For example, providing accurate search and rescue coordinates to the ground mobile robot, thereby enhancing the overall coordination ability and search and rescue efficiency of the system.

[0027] Preferably, in the present utility model, the data center is further connected to a search and rescue map splicing device, which includes an embedded map splicing module for splicing the map data collected by the UAVs into a search and rescue map, greatly improving the information processing ability at the search and rescue site, enabling the ground mobile robot to more intuitively understand the terrain and obstacle conditions in the search and rescue area, and thus making more accurate decisions.

[0028] Preferably, in the present utility model, both the first echelon UAVs and the second echelon UAVs are provided with camera modules, and Hasselblad cameras are selected as the camera modules, which have excellent imaging quality and stability, can capture higher-quality images and videos, and provide higher-quality data sources for the establishment of the search and rescue map.

[0029] Preferably, in the present utility model, UWB ranging modules are provided at the bottoms of the first echelon and second echelon UAVs, which can accurately measure the distance and height between the UAVs, which is of great significance for avoiding collisions between UAVs and optimizing the formation flight of UAVs, and improving the safety and stability of the system.

[0030] Preferably, in the present utility model, the data center adopts a container data center, which has the advantages of being easy to move and quickly deploy, and can better meet the application requirements in complex environments.

[0031] Further preferably, in the present utility model, a radar is used as the UWB ranging module, and the radar has the advantages of high precision and high stability, which can further improve the accuracy and reliability of ranging between UAVs.

[0032] Preferably, in the present utility model, the ground mobile robot system is composed of various types of robots, which can adapt to the search and rescue needs of different terrains and environments, and improve the flexibility and applicability of the system.

[0033] Preferably, in the present utility model, it is connected to the data center through WIFI devices, ensuring high-speed data transmission and real-time update, making the command and dispatch at the search and rescue site more rapid and accurate.

[0034] Preferably, in the present utility model, voice broadcast modules are provided on all UAVs and ground mobile robots, which can broadcast the search and rescue progress, instructions or search and rescue information in real time, improving the information transmission efficiency and safety during the search and rescue process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic structural diagram of an air-ground collaborative search and rescue system applied to complex environments provided by an embodiment of the present utility model;

[0036] Figure 2Schematic structural diagram of another air-ground collaborative search and rescue system applied to complex environments provided by an embodiment of the present utility model.

[0037] Reference numerals:

[0038] Aerial mapping drone subsystem - 1; Aerial navigation drone subsystem - 2; Data center - 3; Search and rescue map splicing device - 4; Ground mobile robot system - 5;

[0039] First echelon drone - 1 - 1; Second echelon drone - 2 - 1; Ground mobile robot - 5 - 1. Detailed implementation manners

[0040] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer and more understandable, the following specific embodiments are used to further elaborate on the present utility model in detail. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0041] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Generally, the components of the embodiments of the present utility model described and illustrated in the accompanying drawings herein can be arranged and designed in various different configurations.

[0042] Therefore, the detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model claimed, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0043] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0044] In the description of the embodiments of the present utility model, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is usually placed during use. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present utility model. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0045] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0046] In the description of the embodiments of the present utility model, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0047] The following further describes the present utility model in detail with reference to the drawings:

[0048] Embodiment

[0049] Combined with what was mentioned in the background art, in response to some extremely complex rescue environments such as earthquakes, fires, and the wild, the existing search and rescue measures have certain limitations, which are specifically reflected in the following aspects: First, in complex rescue environments such as mountains and forests, due to the lag in information transmission and synchronization, drones cannot provide real-time direction guidance for ground mobile robots. The ground mobile robots may repeatedly explore areas that have already been searched, while ignoring other key areas, resulting in low search and rescue efficiency and possibly missing important clues or trapped people, seriously affecting the search and rescue efficiency and effect; Second, in the face of complex rescue environments, once the ground mobile robot lacks the real-time direction guidance of the drone, its environmental perception ability is limited, resulting in a decline in obstacle avoidance ability, increasing the risk of collision with obstacles, and possibly causing damage to both the robot itself and the search and rescue site.

[0050] Specifically, in existing air-ground cooperation systems, drones are usually used to provide real-time direction guidance for ground mobile robots, which poses high requirements for communication status and data transmission. Information needs to be synchronized in real time to plan the movement path for ground mobile robots. When in complex rescue environments such as mountains and forests, due to the impact of terrain on communication, there is a significant lag in the information transmitted by drones, and there may even be a situation where no information is transmitted at all. In this case, ground mobile robots will face a long-term lack of guidance, resulting in limited environmental perception ability of ground mobile robots, unable to plan search and rescue paths, and even repeating the exploration of areas that have been searched while ignoring other key areas.

[0051] To solve the above problems, this embodiment provides an air-ground cooperation search and rescue system applicable to complex environments. This search and rescue system is different from conventional air-ground cooperation search and rescue systems and provides a brand-new system architecture. In the aerial drone system, a dedicated aerial mapping drone subsystem for mapping is divided; it can collect a large amount of map data at the first time of search and rescue and transmit the map data to the ground mobile robot system through the data center; in this way, even in a complex rescue environment and in the absence of real-time drone navigation, the ground mobile robot system can still efficiently execute search and rescue tasks according to the search and rescue map, ensuring the search and rescue efficiency and effect.

[0052] As Figure 1 shown, an air-ground cooperation search and rescue system applicable to complex environments specifically includes an aerial drone system, a ground mobile robot system 5, and a data center 3.

[0053] Specifically, the specific structures of each part are as follows:

[0054] First, the aerial drone system; the aerial drone system is divided into echelons, that is, it is subdivided into two major subsystems: the aerial mapping drone subsystem 1 and the aerial navigation drone subsystem 2.

[0055] The aerial mapping drone subsystem 1: consists of multiple first-echelon drones 1-1. Each first-echelon drone 1-1 is equipped with a Hasselblad camera as the first imaging module. The first imaging module communicates directly with the data center 3 and is responsible for capturing high-precision bird's-eye images and video data as map data.

[0056] The aerial navigation drone subsystem 2: includes multiple second-echelon drones 2-1, which are also equipped with a Hasselblad camera as the second imaging module and also maintain a real-time connection with the data center, mainly responsible for providing real-time navigation and monitoring.

[0057] It can be seen that in the aerial drone system, the aerial drones are divided into two echelons. The first echelon is specifically responsible for capturing map data to provide direction guidance for the ground mobile robot. The second echelon plays a role in real-time navigation and can also temporarily serve the aerial mapping drone subsystem 1 of the first echelon.

[0058] In this embodiment, all drones, namely the first echelon drones 1-1 and the second echelon drones 2-1, are integrated with UWB ranging modules at the bottom (preferably the PulsOn450 UWB radar of Vayyar Technology) to improve the spatial positioning accuracy.

[0059] Second, the ground mobile robot system 5; the ground mobile robot system 5 is the core mechanism for ground search and rescue. It can plan a search and rescue path under the guidance of the aerial drone system to perform search and rescue tasks.

[0060] In this embodiment, in order to meet more search and rescue scenarios, the ground mobile robot system 5 is composed of multiple groups of ground mobile robots 5-1. The specific composition is flexible and changeable, including but not limited to wheeled, wheel-legged, wall-climbing, pipeline, and tracked mobile robots to adapt to different terrains and search and rescue needs. In this embodiment, the ground mobile robot 5-1 is integrated with a path planning function and can automatically plan a path by receiving the search and rescue map or position coordinates. Of course, the ground mobile robot 5-1 can also be connected to a conventional controller to implement path planning according to the received search and rescue map or position coordinates to perform search and rescue tasks.

[0061] Third, the data center 3; the data center 3 is the central nerve of the entire search and rescue system. The data center maintains a close connection with the aerial drone system and the ground mobile robot system 5 through WIFI, receives data from all parties, and realizes communication and interconnection among the aerial drone system, the ground mobile robot system 5, and the search and rescue map splicing device 4.

[0062] In this embodiment, the data center 3 preferably adopts a container data center. The container data center has the advantages of being easy to move and quickly deploy, and can better meet the application requirements in complex environments. The container data center can adopt the IDS1000-C cluster container data center developed by Huawei Technologies Co., Ltd.

[0063] Such as Figure 2As shown in the figure, this embodiment also provides another air-ground collaborative search and rescue system applied to complex environments, and a search and rescue map splicing device 4 connected to the data center 3 is added; this search and rescue map splicing device 4 can use terminal devices, such as devices like PCs, PADs, and smartphones; an embedded map splicing module is stored in the above terminal devices. When the program of this embedded map splicing module is executed, it can splice map data such as received images and videos, and finally generate a search and rescue map and output it for storage in the data center 3.

[0064] In this embodiment, the embedded map splicing module can adopt PTGui developed by New House Company, AgiSoft Metashape developed by AgiSoft Company, Open Drone Map developed by the open source community, or SVS-RTMosaic developed by Wuhan Zhijue Space Information Technology Co., Ltd.; this search and rescue map splicing device 4 can execute any of the above software programs to realize the splicing of the search and rescue map, but is not limited to the above software products.

[0065] Alternatively, a method for generating an electronic navigation guidance map based on spatial positioning provided by Chinese Patent No. CN117760408B is stored in the search and rescue map splicing device 4, so as to realize the image splicing function and generate a search and rescue map.

[0066] In this embodiment, the ground mobile robot 5-1 can execute search and rescue tasks according to the map data transmitted by the aerial mapping drone subsystem 1; it can also clearly observe that there are several obstacles randomly distributed in the environment according to the search and rescue map transmitted by the data center 3, realizing efficient and accurate perception of the environment.

[0067] In this embodiment, in order to facilitate instant communication and instruction transmission during the search and rescue process, voice broadcast modules are equipped on both the aerial drones and the ground mobile robot 5-1, which can ensure the instant transmission of information; the voice broadcast module of this embodiment can adopt the Beidou search and rescue device R01 / R03.

[0068] It should be noted that this embodiment not only provides a collaborative search and rescue solution between air and ground, but also provides a collaborative search and rescue solution between air and air, that is, the aerial navigation drone subsystem 2 can also achieve precise navigation through map data or the search and rescue map, realizing high-speed positioning, greatly improving the search and rescue efficiency. The search and rescue map is generated by the data provided by the aerial mapping drone subsystem 1 through the search and rescue map splicing device 4, realizing collaborative operation between air and air, that is, between drones.

[0069] The utility model provides an air-ground collaborative search and rescue system applied to complex environments, and the specific working principle is as follows:

[0070] The aerial mapping drone subsystem 1 starts first, uses a Hasselblad camera to capture on-site image and video data as map data, and during the dynamic acquisition process, can ensure precise positioning through the UWB ranging module. The aerial mapping drone subsystem 1 transmits the map data to the data center 3, and the ground mobile robot 5-1 of the ground mobile robot system 5 performs search and rescue tasks according to the map data; moreover, the search and rescue map splicing device 4 uses the embedded map splicing module to process this map data and splices it into a search and rescue map, and the ground mobile robot system 5 can also perform search and rescue operations on the ground according to the search and rescue map; meanwhile, the aerial navigation drone subsystem 2 provides real-time navigation for the ground mobile robot 5-1 and simultaneously provides real-time position coordinates guidance for the ground mobile robot 5-1; with this search and rescue system, even if there is a real-time navigation delay or interruption, the ground mobile robot 5-1 can still continue to perform search and rescue tasks using the map data; during the entire search and rescue process, the voice broadcast module maintains instant communication and instruction transmission to ensure the efficiency and coordination of the search and rescue operations.

[0071] In summary, the present utility model provides an air-ground collaborative search and rescue system applied to complex environments, which has the following advantages compared with existing search and rescue measures:

[0072] First, efficient collaborative operation: Through the air-ground collaborative method, combining the wide-area reconnaissance and map construction capabilities of the aerial drone system and the precise search and rescue and ground adaptation capabilities of the ground mobile robot system, significantly improves the search and rescue efficiency and accuracy in complex environments.

[0073] Second, real-time data transmission and processing: All subsystems perform efficient data transmission and processing through the data center to ensure the real-time sharing and update of key information such as map data and position coordinates, providing strong information support for search and rescue tasks.

[0074] Third, intelligent map splicing: The introduction of the search and rescue map splicing device uses the embedded map splicing module to realize the automatic splicing of the map data collected by the drone, generating a complete search and rescue map, which greatly facilitates the decision-making and actions of the ground mobile robot.

[0075] Fourth, high-quality image acquisition: The first echelon and second echelon drones are both equipped with high-precision camera modules, such as Hasselblad cameras, ensuring that the collected image data is clear and accurate, providing a reliable basis for map construction and search and rescue positioning.

[0076] Fifth, flexible adaptation to different environments: The ground mobile robot system consists of multiple types of robots and can be flexibly configured according to different terrains and search and rescue requirements to effectively cope with complex and changeable search and rescue environments.

[0077] Sixth, precise positioning and ranging: The UWB ranging module (such as radar) installed at the bottom of the drone improves the accuracy of position coordinates, which helps to achieve more precise search and rescue navigation and obstacle avoidance.

[0078] Seventh, portable and powerful data center: The container data center is adopted, which not only ensures the data processing ability, but also facilitates rapid deployment and movement, adapting to various emergency rescue scenarios.

[0079] Eighth, convenient communication and interaction: Connected to the data center through WIFI devices, seamless communication between subsystems is achieved. At the same time, all drones and ground mobile robots are equipped with voice broadcast modules, enhancing the convenience and real-time nature of human-machine interaction.

[0080] The above embodiments are only one of the implementation manners capable of realizing the technical solution of the present utility model. The scope of protection required by the present utility model is not only limited by this embodiment, but also includes any changes, substitutions and other implementation manners that are easily conceivable by those skilled in the art within the technical scope disclosed by the present utility model.

Claims

1. An air-ground collaborative search and rescue system for complex environments, characterized in that: Includes aerial drone systems, ground mobile robotic systems (5), and data centers (3); The aerial drone system and the ground mobile robot system (5) are respectively connected to the data center (3); The aerial drone system comprises an aerial mapping drone subsystem (1) composed of a plurality of first-echelon drones (1-1) and an aerial navigation drone subsystem (2) composed of a plurality of second-echelon drones (2-1); The aerial mapping drone subsystem (1) is used to transmit the collected map data to the ground mobile robot system (5) through the data center (3); The aerial navigation drone subsystem (2) is used to transmit the collected position coordinates to the ground mobile robot system (5) through the data center (3); The ground mobile robot system (5) performs a search and rescue mission according to the received map data and / or position coordinates.

2. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The data center is connected to a search and rescue map stitching device (4); the search and rescue map stitching device (4) comprises an embedded map stitching module, and the embedded map stitching module is used to stitch the map data collected by the aerial mapping drone subsystem (1) to generate a search and rescue map.

3. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The first echelon drone (1-1) is provided with a first camera module, and the first camera module is connected to the data center (3); The second echelon drone (2-1) is provided with a second camera module, and the second camera module is connected to the data center (3).

4. The air-ground collaborative search and rescue system for complex environments according to claim 3, characterized in that: The first camera module and the second camera module both adopt Hasselblad cameras.

5. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The data center (3) is a container data center.

6. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The first echelon drones (1-1) and the second echelon drones (2-1) are both provided with UWB ranging modules at the bottom.

7. The air-ground collaborative search and rescue system for complex environments according to claim 6, characterized in that: The UWB ranging module adopts radar.

8. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The ground mobile robot system (5) is composed of at least one of a wheeled robot, a wheel-legged robot, a wall-climbing robot, a pipeline robot and a crawler robot.

9. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: The aerial drone system and the ground mobile robot system (5) are both connected to the data center (3) via WIFI equipment.

10. The air-ground collaborative search and rescue system for complex environments according to claim 1, characterized in that: All drones of the aerial drone system and the ground mobile robot (5-1) of the ground mobile robot system (5) are provided with a voice broadcast module.

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