Air-ground cooperative wounded sensing and evacuation unmanned system

Abstract

This utility model discloses a ground-air collaborative unmanned system for casualty sensing and evacuation. The system includes a casualty sensing and positioning UAV platform, a casualty evacuation unmanned vehicle (UAV), and a vehicle-to-machine (V2M) collaborative control subsystem. The casualty sensing and positioning UAV platform is mounted at the rear of the casualty evacuation UAV. The V2M collaborative control subsystem is mounted at the rear of the casualty evacuation UAV. The V2M collaborative control subsystem is data-connected to the casualty sensing and positioning UAV platform and the casualty evacuation UAV, and is used to control these components. This utility model designs and implements a ground-air collaborative unmanned system for casualty sensing and evacuation, employing UAV / UAV collaborative operation. It integrates intelligent components such as UAVs, UAVs, life detection radar, optoelectronic pods, and robotic arm lifting mechanisms, enabling manned / unmanned collaborative casualty sensing and evacuation operations. This increases the casualty sensing radius and reduces the workload.

Description

Technical Field

[0001] This utility model relates to the field of casualty search and rescue technology, and in particular to a ground-air coordinated casualty perception and evacuation unmanned system. Background Technology

[0002] Currently, casualty search and rescue faces difficulties such as difficulty in finding and locating casualties, obstructed perception, and limited evacuation. Traditional perception-based evacuation methods require a large investment of manpower and resources, are inefficient, and are severely affected by natural conditions. Therefore, future casualty perception-based evacuation technologies will inevitably focus on the collaborative approach of non-contact search and unmanned evacuation, developing towards a highly intelligent trend. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a ground-air collaborative casualty perception and evacuation unmanned system. Based on the practical needs of casualty perception, it uses drones to search for and locate casualties, providing task input for unmanned vehicles, so as to solve the problem of the lack of unmanned means for casualty perception and evacuation at present, and provide technical support for improving the success rate of casualty rescue in the wild.

[0004] To address the aforementioned technical problems, this utility model discloses a ground-air collaborative casualty perception and evacuation unmanned system, which includes a casualty perception and positioning unmanned aerial vehicle platform, a casualty evacuation unmanned vehicle, and a vehicle-machine collaborative control subsystem.

[0005] The casualty sensing and positioning drone platform is mounted on the rear of the casualty evacuation drone vehicle;

[0006] The vehicle-machine collaborative control subsystem is mounted at the rear of the unmanned vehicle used for evacuating the wounded;

[0007] The vehicle-machine collaborative control subsystem is connected to the wounded person perception and positioning UAV platform and the wounded person evacuation UAV, and is used to control the wounded person perception and positioning UAV platform and the wounded person evacuation UAV.

[0008] As an optional implementation, in this embodiment of the present invention, the casualty sensing and positioning UAV platform includes a UAV, a life detection radar, and an optoelectronic pod;

[0009] The drone is a heavy-load multi-rotor drone, used to complete single-unit tasks and multi-unit collaborative tasks.

[0010] The life detection radar is installed in a streamlined cabin on the underside of the UAV and is used to detect vital signs.

[0011] The optoelectronic pod is suspended from the bottom of the UAV fuselage via a universal joint suspension and is used for ground, air, and sea reconnaissance.

[0012] As an optional implementation, in this embodiment of the present invention, the life detection radar includes an ultra-wideband radar module, used to detect vital signs signals through a non-contact vital sign detection method and generate target location coordinates.

[0013] As an optional implementation, in this embodiment of the present invention, the optoelectronic pod includes a three-axis stabilized platform, a high-definition visible light camera, a long-wave uncooled infrared imaging component, and a laser rangefinder;

[0014] The optoelectronic pod is equipped with a frame structure adapted for installation on a three-axis stabilized platform.

[0015] The three-axis stabilization platform is fixed to the frame structure by mechanical connectors;

[0016] The high-definition visible light camera is installed in front of the three-axis stabilization platform and is used to acquire high-definition images of the rescue area under sufficient light conditions.

[0017] The long-wave uncooled infrared imaging component is arranged adjacent to the high-definition visible light camera in front of the three-axis stabilization platform, and is used to generate thermal imaging data based on the differences in infrared radiation of objects in low light and smoky environments.

[0018] The laser rangefinder is mounted on the pitch axis of the three-axis stabilization platform, and the direction of the laser beam is controlled by adjusting the pitch angle.

[0019] As an optional implementation, in this embodiment of the present invention, the unmanned vehicle for transporting the wounded includes an unmanned vehicle chassis, a robotic arm lifting mechanism, a stretcher support, and a vibration damping device.

[0020] The chassis of the unmanned vehicle is located at the bottom of the unmanned vehicle and is used to support and carry the unmanned vehicle;

[0021] The robotic arm lifting mechanism is fixedly installed on the upper part of the unmanned vehicle chassis and connected to the chassis frame through the bottom mounting plate, and is used for loading and unloading the stretcher;

[0022] The end of the robotic arm lifting mechanism is provided with an interface adapted for the installation of a stretcher bracket, for connecting with the stretcher bracket;

[0023] The vibration damping device is installed below the stretcher support to reduce the impact of vibration on the injured person on the stretcher support.

[0024] As an optional implementation, in this embodiment of the present invention, the interface for mounting the stretcher bracket on the robotic arm lifting mechanism adopts a quick-plug structure, which is initially positioned using positioning holes and positioning pins, and then tightened with high-strength bolts.

[0025] As an optional implementation, in this embodiment of the present invention, the unmanned vehicle chassis is equipped with a drive wheel set and a guide mechanism at the bottom to ensure the mobility of the unmanned vehicle in complex terrain.

[0026] As an optional implementation, in this embodiment of the present invention, the vehicle-machine collaborative control subsystem includes a wounded person perception and positioning UAV integrated control module, a wounded person evacuation UAV control module, and a communication module;

[0027] The integrated control module for the wounded soldier detection and positioning UAV is connected to the communication module and the wounded soldier detection and positioning UAV platform for data control of the UAV.

[0028] The patient evacuation unmanned vehicle control module is connected to the communication module and the patient evacuation unmanned vehicle data, and is used to control the patient evacuation unmanned vehicle.

[0029] The communication module is used for data communication with the ground station.

[0030] As an optional implementation, in this embodiment of the present invention, the integrated control module for the wounded soldier perception and positioning UAV includes a UAV operation unit and a UAV command and control unit;

[0031] The drone operation unit is used for remote control of the drone;

[0032] The UAV command and control unit is used to manage and monitor UAV missions.

[0033] As an optional implementation, in this embodiment of the present invention, the control module of the unmanned vehicle for evacuating the wounded includes an autonomous navigation unit and a remote control unit;

[0034] The autonomous navigation unit includes a positioning subunit and a planning and control subunit; the positioning subunit is used for unmanned vehicle positioning; the planning and control subunit is used for trajectory planning.

[0035] The remote control unit is used to remotely control the unmanned vehicle for transporting the wounded.

[0036] Compared with the prior art, the embodiments of this utility model have the following beneficial effects:

[0037] To address the practical need for field-based casualty evacuation and repatriation, this utility model designs and implements a ground-air collaborative unmanned casualty evacuation system. Employing a collaborative operation of unmanned aerial vehicles (UAVs) and unmanned vehicles (UAVs), it integrates intelligent components such as UAVs, UAVs, life detection radar, optoelectronic pods, and robotic arm lifting mechanisms, enabling manned / unmanned collaborative operations for casualty evacuation. This increases the casualty detection radius, reduces the workload, and improves the efficiency of casualty treatment. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a ground-air coordinated casualty perception and evacuation unmanned system disclosed in an embodiment of this utility model;

[0040] Figure 2 This is a structural diagram of the wounded soldier perception and positioning UAV platform disclosed in this embodiment of the utility model;

[0041] Figure 3 This is a structural diagram of the unmanned vehicle for evacuating wounded personnel disclosed in an embodiment of this utility model. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0044] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0045] This utility model discloses a ground-air collaborative unmanned system for casualty sensing and evacuation. The system includes a casualty sensing and positioning UAV platform, a casualty evacuation unmanned vehicle (UAV), and a vehicle-to-machine (V2M) collaborative control subsystem. The casualty sensing and positioning UAV platform is mounted at the rear of the casualty evacuation UAV. The V2M collaborative control subsystem is mounted at the rear of the casualty evacuation UAV. The V2M collaborative control subsystem is data-connected to the casualty sensing and positioning UAV platform and the casualty evacuation UAV, and is used to control these components. This utility model designs and implements a ground-air collaborative unmanned system for casualty sensing and evacuation, employing UAV / UAV collaborative operation. It integrates intelligent components such as UAVs, UAVs, life detection radar, optoelectronic pods, and robotic arm lifting mechanisms, enabling manned / unmanned collaborative casualty sensing and evacuation operations. This increases the casualty sensing radius and reduces the workload.

[0046] Example

[0047] like Figure 1 A ground-air collaborative casualty perception and evacuation unmanned system, the system comprising a casualty perception and positioning unmanned aerial vehicle platform, a casualty evacuation unmanned vehicle and a vehicle-machine collaborative control subsystem;

[0048] The casualty sensing and positioning drone platform is mounted on the rear of the casualty evacuation drone vehicle;

[0049] The vehicle-machine collaborative control subsystem is mounted at the rear of the unmanned vehicle used for evacuating the wounded;

[0050] The vehicle-machine collaborative control subsystem is connected to the wounded person perception and positioning UAV platform and the wounded person evacuation UAV, and is used to control the wounded person perception and positioning UAV platform and the wounded person evacuation UAV. Figure 2 This is a structural diagram of the wounded soldier perception and positioning UAV platform disclosed in this embodiment of the utility model; Figure 3 This is a structural diagram of the unmanned vehicle for evacuating wounded personnel disclosed in an embodiment of this utility model. Figure 1 In the middle, 1 is the unmanned vehicle for transporting the wounded, 2 is the unmanned aerial vehicle platform for wounded perception and positioning, and 3 is the vehicle-machine collaborative control module; Figure 2 In the middle, 4 is an electro-optical pod, 5 is a life detection radar, and 6 is a drone; Figure 3 In the diagram, 7 represents the unmanned vehicle chassis, 8 represents the robotic arm lifting mechanism, 9 represents the stretcher support, and 10 represents the vibration damping device.

[0051] Optionally, the casualty detection and positioning UAV platform includes a UAV, a life detection radar, and an optoelectronic pod;

[0052] The drone is a heavy-duty multi-rotor drone used to complete single-unit tasks and multi-unit collaborative tasks; it can flexibly customize various pods and mounted equipment according to various task requirements and can be seamlessly integrated with the back-end system.

[0053] The life detection radar is installed in a streamlined cabin on the underside of the UAV and is used to detect vital signs. The ultra-wideband radar module in the life detection radar has strong penetration and can detect weak vital signs behind obstacles such as buildings, ruins, and bunkers.

[0054] The optoelectronic pod is suspended from the bottom of the UAV fuselage via a universal joint suspension and is used for ground, air, and sea reconnaissance.

[0055] Optionally, the life detection radar includes an ultra-wideband radar module, used to detect vital signs signals through non-contact vital sign detection and generate target location coordinates.

[0056] Optionally, the optoelectronic pod includes a three-axis stabilized platform, a high-definition visible light camera, a long-wave uncooled infrared imaging component, and a laser rangefinder;

[0057] The optoelectronic pod is equipped with a frame structure adapted for installation on a three-axis stabilized platform.

[0058] The three-axis stabilization platform is fixed to the frame structure by mechanical connectors;

[0059] The high-definition visible light camera is installed in front of the three-axis stabilization platform and is used to acquire high-definition images of the rescue area under sufficient light conditions.

[0060] The long-wave uncooled infrared imaging component is arranged adjacent to the high-definition visible light camera in front of the three-axis stabilization platform, and is used to generate thermal imaging data based on the differences in infrared radiation of objects in low light and smoky environments.

[0061] The laser rangefinder is mounted on the pitch axis of the three-axis stabilization platform, and the direction of the laser beam is controlled by adjusting the pitch angle.

[0062] Optionally, the unmanned vehicle for transporting the wounded includes an unmanned vehicle chassis, a robotic arm lifting mechanism, a stretcher support, and a vibration damping device;

[0063] The chassis of the unmanned vehicle is located at the bottom of the vehicle and is used to support and carry it. As the basic load-bearing structure of the entire unmanned vehicle, the chassis is made of a high-strength alloy frame, providing a stable mounting base for other components. Its bottom is equipped with drive wheels and a guiding mechanism to ensure good mobility of the unmanned vehicle in complex terrain.

[0064] The robotic arm lifting mechanism is fixedly installed on the upper part of the unmanned vehicle chassis and connected to the chassis frame through the bottom mounting plate, and is used for loading and unloading the stretcher;

[0065] The end of the robotic arm lifting mechanism is provided with an interface adapted for the installation of a stretcher bracket, for connecting with the stretcher bracket;

[0066] The vibration damping device is installed below the stretcher support to reduce the impact of vibration on the injured person on the stretcher support.

[0067] The vibration damping devices are symmetrically distributed and are fastened to the pre-set mounting holes of the stretcher support with high-strength bolts to reduce the impact of vibration on the overall structure of the unmanned vehicle and the injured person on board.

[0068] The stretcher support is the mechanism for carrying the wounded and can be autonomously leveled; the vibration damping device and the unmanned vehicle chassis are the carrying units of the unmanned vehicle for transporting the wounded, and are responsible for providing a stable carrying and moving platform for the robotic arm lifting mechanism, stretcher support and vibration damping device.

[0069] Optionally, the interface for mounting the stretcher bracket on the robotic arm lifting mechanism adopts a quick-plug structure, using positioning holes and positioning pins for initial positioning, and then tightening with high-strength bolts. This ensures stability during lifting, rotating, and other movements, allowing for flexible adjustment of height and angle to meet the loading and unloading needs of stretchers in different scenarios.

[0070] Optionally, the unmanned vehicle chassis is equipped with a drive wheel set and a guiding mechanism at the bottom to ensure the mobility of the unmanned vehicle in complex terrain.

[0071] Optionally, the vehicle-machine collaborative control subsystem includes a wounded person perception and positioning UAV integrated control module, a wounded person evacuation UAV control module, and a communication module;

[0072] The integrated control module for the wounded soldier detection and positioning UAV is connected to the communication module and the wounded soldier detection and positioning UAV platform for data control of the UAV.

[0073] The patient evacuation unmanned vehicle control module is connected to the communication module and the patient evacuation unmanned vehicle data, and is used to control the patient evacuation unmanned vehicle.

[0074] The communication module is used for data communication with the ground station.

[0075] Optionally, the integrated control module for the wounded soldier perception and positioning UAV includes a UAV operation unit and a UAV command and control unit;

[0076] The drone operation unit is used for remote control of the drone;

[0077] The UAV command and control unit is used to manage and monitor UAV missions.

[0078] The main functions of the UAV operation unit include one-key takeoff, one-key return, pausing / resuming flight missions, resuming flights from one point to another, and remote control of the UAV. The UAV command and control unit is responsible for managing and monitoring UAV missions and related information, including mission management, record viewing, equipment management, and system settings.

[0079] Optionally, the unmanned vehicle control module for evacuating the wounded includes an autonomous navigation unit and a remote control unit;

[0080] The autonomous navigation unit includes a positioning subunit and a planning and control subunit; the positioning subunit is used for unmanned vehicle positioning; the planning and control subunit is used for trajectory planning.

[0081] The remote control unit is used to remotely control the unmanned vehicle for transporting the wounded.

[0082] The autonomous navigation unit mainly includes a positioning subunit and a planning and control subunit, which can realize integrated navigation positioning and autonomous positioning of unmanned vehicles under satellite rejection conditions; the planning and control subunit includes trajectory planning and vehicle control.

[0083] The working principle of this utility model's ground-air coordinated casualty sensing and evacuation unmanned system is as follows:

[0084] 1. After receiving the search and rescue mission information, the ground station uses the communication module to send instructions to the integrated control module of the wounded person perception and positioning UAV, start the UAV's flight attitude, and fly to the search area along the preset trajectory;

[0085] 2. The life detection radar collects biometric data of the target area in real time and sends the data to the ground station via the communication module. After a suspected target is detected, the ground station sends an instruction to the integrated control module of the wounded person perception and positioning UAV via the communication module, and the UAV approaches to search.

[0086] 3. The optoelectronic pod acquires high-resolution images in real time and transmits them to the streaming media server via the RTMP streaming media protocol using a communication module. The streaming media server then analyzes the image data to identify the characteristics of the wounded.

[0087] 4. The streaming media server fuses image recognition and radar positioning data to generate comprehensive casualty location data.

[0088] 5. The ground station processes the information perceived by the wounded, generates the preceding task, establishes a global coordinate system to realize the preceding path planning, and sends it to the control module of the wounded evacuation unmanned vehicle through the communication module of the ground station.

[0089] 6. During the operation of the unmanned vehicle for casualty evacuation, it can avoid obstacles and adjust its path in real time based on environmental perception and navigation positioning, and transmit video images and status information back to the ground station in a synchronized manner;

[0090] 7. Upon reaching the location of the injured person, the robotic arm lifting mechanism is activated, the stretcher support is deployed, and teammates near the injured person are waiting to assist in the boarding process.

[0091] 8. After the wounded are placed in the evacuation vehicle, the ground station's unmanned transport platform generates a evacuation mission, establishes a global coordinate system to plan the evacuation route, and transports the wounded to the designated location for treatment.

[0092] As can be seen, in response to the practical needs of field-based wounded patient evacuation, this utility model designs and realizes a ground-air coordinated unmanned wounded patient evacuation system. It employs a drone / unmanned vehicle collaborative operation, integrating intelligent components such as drones, unmanned vehicles, life detection radar, optoelectronic pods, and robotic arm lifting mechanisms, enabling manned / unmanned collaborative operation for wounded patient evacuation. This increases the wounded patient detection radius, reduces operational workload, and improves the efficiency of wounded patient treatment.

[0093] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0094] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0095] Finally, it should be noted that the ground-air coordinated casualty perception and evacuation unmanned system disclosed in this utility model embodiment is only a preferred embodiment of this utility model and is only used to illustrate the technical solution of this utility model, not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of this utility model.

Claims

1. A ground-air coordinated casualty sensing and evacuation unmanned system, characterized in that, The system includes a wounded soldier perception and positioning drone platform, a wounded soldier evacuation drone vehicle, and a vehicle-machine collaborative control subsystem. The casualty sensing and positioning drone platform is mounted on the rear of the casualty evacuation drone vehicle; The vehicle-machine collaborative control subsystem is mounted at the rear of the unmanned vehicle used for evacuating the wounded; The vehicle-machine collaborative control subsystem is connected to the wounded person perception and positioning UAV platform and the wounded person evacuation UAV, and is used to control the wounded person perception and positioning UAV platform and the wounded person evacuation UAV.

2. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 1, characterized in that, The casualty detection and positioning UAV platform includes a UAV, a life detection radar, and an optoelectronic pod. The drone is a heavy-load multi-rotor drone, used to complete single-unit tasks and multi-unit collaborative tasks. The life detection radar is installed in a streamlined cabin on the underside of the UAV and is used to detect vital signs. The optoelectronic pod is suspended from the bottom of the UAV fuselage via a universal joint suspension and is used for ground, air, and sea reconnaissance.

3. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 2, characterized in that, The life detection radar includes an ultra-wideband radar module, which is used to detect vital signs signals through non-contact vital sign detection and generate target location coordinates.

4. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 2, characterized in that, The optoelectronic pod includes a three-axis stabilized platform, a high-definition visible light camera, a long-wave uncooled infrared imaging component, and a laser rangefinder. The optoelectronic pod is equipped with a frame structure adapted for installation on a three-axis stabilized platform. The three-axis stabilization platform is fixed to the frame structure by mechanical connectors; The high-definition visible light camera is installed in front of the three-axis stabilization platform to capture high-definition images of the rescue area under sufficient light conditions. The long-wave uncooled infrared imaging component is arranged adjacent to the high-definition visible light camera in front of the three-axis stabilization platform, and is used to generate thermal imaging data based on the differences in infrared radiation of objects in low light and smoky environments. The laser rangefinder is mounted on the pitch axis of the three-axis stabilization platform, and the direction of the laser beam is controlled by adjusting the pitch angle.

5. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 1, characterized in that, The unmanned vehicle for transporting the wounded includes an unmanned vehicle chassis, a robotic arm lifting mechanism, a stretcher support, and a vibration damping device. The chassis of the unmanned vehicle is located at the bottom of the unmanned vehicle and is used to support and carry the unmanned vehicle; The robotic arm lifting mechanism is fixedly installed on the upper part of the unmanned vehicle chassis and connected to the chassis frame through the bottom mounting plate, and is used for loading and unloading the stretcher; The end of the robotic arm lifting mechanism is provided with an interface adapted for the installation of a stretcher bracket, for connection with the stretcher bracket; The vibration damping device is installed below the stretcher support to reduce the impact of vibration on the injured person on the stretcher support.

6. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 5, characterized in that, The interface for mounting the stretcher bracket on the robotic arm lifting mechanism adopts a quick-plug structure, which uses positioning holes and positioning pins for initial positioning, and then uses high-strength bolts for fastening.

7. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 5, characterized in that, The unmanned vehicle chassis is equipped with a drive wheel set and a guiding mechanism at the bottom to ensure the unmanned vehicle's mobility in complex terrain.

8. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 1, characterized in that, The vehicle-machine collaborative control subsystem includes a wounded person perception and positioning UAV integrated control module, a wounded person evacuation UAV control module, and a communication module. The integrated control module for the wounded soldier detection and positioning UAV is connected to the communication module and the wounded soldier detection and positioning UAV platform for data control of the UAV. The patient evacuation unmanned vehicle control module is connected to the communication module and the patient evacuation unmanned vehicle data, and is used to control the patient evacuation unmanned vehicle. The communication module is used for data communication with the ground station.

9. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 8, characterized in that, The wounded soldier perception and positioning UAV integrated control module includes a UAV operation unit and a UAV command and control unit; The drone operation unit is used for remote control of the drone; The UAV command and control unit is used to manage and monitor UAV missions.

10. The ground-air coordinated casualty sensing and evacuation unmanned system according to claim 8, characterized in that, The control module of the unmanned vehicle for evacuating the wounded includes an autonomous navigation unit and a remote control unit; The autonomous navigation unit includes a positioning subunit and a planning and control subunit; the positioning subunit is used for unmanned vehicle positioning; the planning and control subunit is used for trajectory planning. The remote control unit is used to remotely control the unmanned vehicle for transporting the wounded.

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