1. The utility model provides an integrative unmanned aerial vehicle of investigation location lifesaving, its characterized in that: comprises a machine body (1), a main control panel (8), an inflatable life buoy (2), a propulsion device (3) and a photoelectric pod (4);

the main control board (8) is arranged in the machine body (1), a GPS module is arranged on the main control board (8), and the main control board (8) is connected with a ground command center through a wireless network;

the inflatable life buoy (2) is arranged at the top of the machine body (1); the photoelectric pod (4) is arranged on the lower portion of the machine body (1), the propulsion device (3) is arranged on the machine body (1), and the machine body (1), the inflatable life buoy (2), the propulsion device (3) and the photoelectric pod (4) are all of waterproof sealing structures.

2. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 1, which is characterized in that: the propulsion device (3) comprises motors arranged on two sides of the machine body (1) and propellers (5) arranged on output shafts of the motors.

3. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 1, which is characterized in that: the number of the propelling devices (3) is multiple, the multiple groups of propelling devices (3) are arranged in the circumferential direction of the machine body (1), and each propelling device (3) comprises a motor and a rotor wing (6) arranged on an output shaft of the motor;

at least two sets of advancing device (3) are installed through rotary mechanism (7) on fuselage (1), rotary mechanism (7) make the lift of rotor (6) change the horizontal direction into from vertical direction.

4. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 3, which is characterized in that: the rotating mechanism (7) is arranged in the machine body (1), and a rotating shaft of the rotating mechanism (7) extends out of the machine body (1) and is connected with the propelling device (3).

5. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 4, which is characterized in that: the rotating mechanism (7) comprises a steering engine (71), a transmission belt (72), a large belt pulley (73) and a small belt pulley (74);

big belt pulley (73) with belt lace wheel (74) all rotate install in fuselage (1), the output shaft of steering wheel (71) with the pivot of belt lace wheel (74) is connected, big belt pulley (73) with belt lace wheel (74) pass through drive belt (72) are connected, the pivot of big belt pulley (73) is passed through the rotation axis with advancing device (3) are connected, big belt pulley (73) rotate and drive advancing device (3) rotate.

6. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 4, which is characterized in that: still including set up in horizontal limiting plate (9) and perpendicular limiting plate (10) on fuselage (1), when advancing device (3) is rotatory to the vertical direction, the lateral wall of advancing device (3) with perpendicular limiting plate (10) butt, when advancing device (3) is rotatory to the horizontal direction, the lateral wall of advancing device (3) with horizontal limiting plate (9) butt.

7. The investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 1, which is characterized in that: the inflatable life buoy (2) comprises an inflation bottle (21), a water immersion sensor (22), an electromagnetic valve (23), a life buoy (24) and a button switch (25);

the gas outlet of gas cylinder (21) pass through the gas-supply pipe with the air inlet of life buoy (24) is connected, be provided with on the gas-supply pipe solenoid valve (23), water sensor (22) set up in the outer wall of fuselage (1), button switch (25) set up in fuselage (1) top, water sensor (22) solenoid valve (23) with button switch (25) all with main control board (8) electric connection.

8. A rescue method of the investigation, positioning and lifesaving integrated unmanned aerial vehicle is characterized in that the investigation, positioning and lifesaving integrated unmanned aerial vehicle as claimed in any one of claims 1 to 7 is adopted, and the rescue method comprises the following steps:

firstly, the unmanned aerial vehicle flies in the air through the propelling device (3), and the photoelectric pod (4) sends the acquired water area photo to the ground command center through the main control board (8); the ground command center judges whether a person falling into water exists or not according to the water area photo;

step two, if the person falling into the water is found, calculating the coordinates of the person falling into the water through the main control board (8), wherein the coordinate calculation step of the person falling into the water is as follows:

acquiring coordinates (x1, y1, z1) of the unmanned aerial vehicle according to the GPS module, wherein x1 is geographical latitude, y1 is geographical longitude, and z1 is elevation;

acquiring the distance L from the photoelectric pod (4) to the person falling into the water through a laser range finder on the photoelectric pod (4);

acquiring an included angle alpha between a connecting line of the photoelectric pod (4) and the person falling into the water and the vertical direction through an angle sensor on the photoelectric pod (4);

the distance between the unmanned aerial vehicle and the person falling into the water in the vertical direction is h ═ L × cos α, so that the elevation z coordinate of the person falling into the water is z 1-h;

setting the projection of a connecting line of the unmanned aerial vehicle and the person falling into the water in the vertical direction as a projection line, wherein the length of the projection line is L × sina, and acquiring an included angle beta between the projection line and the earth meridian through an angle sensor on the photoelectric pod (4);

therefore, the geographical latitude x coordinate of the man overboard is: x1-L sina sin β; the geographical longitude y coordinate of the man falling into the water is as follows: x1-L sina cos β;

thirdly, the unmanned aerial vehicle is landed to the position near the personnel falling into the water according to the coordinates (x, y, z) of the personnel falling into the water;

step four, automatically inflating the unmanned aerial vehicle after the inflatable life buoy (2) on the unmanned aerial vehicle detects falling into water; the unmanned aerial vehicle floats on the water surface; the propulsion device (3) is switched to run at a low speed, the unmanned aerial vehicle is pushed to run on the water through the propulsion device (3), and the unmanned aerial vehicle is close to a person falling into the water;

and step five, after the unmanned aerial vehicle detects that the personnel falling into the water grasps the inflatable life buoy (2), the unmanned aerial vehicle conveys the personnel falling into the water to the shore.

9. The rescue method of the unmanned aerial vehicle for investigation, positioning and lifesaving of claim 8, wherein in the first step, the specific steps of the ground command center determining whether there are people falling into water according to the photograph of the water area comprise:

when the ground command center judges a person suspected of falling into water, the flight height of the unmanned aerial vehicle is firstly reduced, and the photo of the person suspected to fall into water is obtained through the photoelectric pod (4); and the ground command center judges whether the person falling into water exists or not according to the photo of the suspected person falling into water.

10. The rescue method of the investigation, positioning and lifesaving integrated unmanned aerial vehicle of claim 8, which is characterized in that: when the unmanned aerial vehicle drives the personnel falling into the water to travel to the shore, the unmanned aerial vehicle transmits real-time coordinates of the personnel falling into the water back to the ground command center.

Background

At present, the rescue of people falling into water in a water area has the following detection means: reconnaissance is carried out in a visual mode, and a telescope and the like are usually adopted as auxiliary equipment; patrolling through a navigation airplane, and carrying out visual investigation by people; reconnaissance is carried out through ships, most of the ships are driven by people, and at present, the reconnaissance ships exist or not; carry on the optics nacelle through unmanned aerial vehicle, pass back the image in real time through the data link for the staff investigation, confirm whether have the personnel that fall into water to need the rescue.

The rescue of personnel falling into water in a water area comprises the following rescue measures: the life buoy is thrown manually in the most direct and effective mode, but the rescue range is very small, and people falling into water need to be very close to the bank or have certain swimming capability; the ship is used for rescuing people falling into the water by driving the ship to arrive beside the people falling into the water, but the rescue speed is low, and the rescue time can be missed if the people do not happen to meet the rescue speed; at present, a tool is provided, in which a pneumatic launcher of a self-inflatable life buoy is launched around a person falling into a water by pneumatic power, so that the launching accuracy of an operator is high, and if the operator slightly deviates from the life buoy, the person falling into the water may fail to obtain the life buoy, so that rescue is not successful; recently, a rescue ship is available, which can remotely control the ship to sail to the side of people falling into the water and utilize the power of the ship to pull back the people falling into the water, and the rescue mode is an advanced rescue mode at present, but has some defects, for example, the ship can only work under visual conditions basically; it cannot be provided with sufficient buoyancy and if the person falling into the water cannot float on the surface of the water, rescue may also fail.

Aiming at the water area rescue task, at present, investigation and rescue are mostly carried out respectively, not only late discovery is achieved, but also the rescue efficiency of various rescue means is low, and more rescue time is consumed, so that the existing water area rescue mode can not meet the rescue requirements of people falling into water.

Disclosure of Invention

The embodiment of the application provides a detection, positioning and lifesaving integrated unmanned aerial vehicle and a rescuing method thereof, and solves the problem of low rescuing efficiency of the existing rescuing and rescuing means in the water area.

The embodiment of the invention provides a reconnaissance, positioning and lifesaving integrated unmanned aerial vehicle which comprises a vehicle body, a main control panel, an inflatable life buoy, a propelling device and a photoelectric pod;

the main control board is arranged in the machine body, a GPS module is arranged on the main control board, and the main control board is connected with a ground command center through a wireless network;

the inflatable life buoy is arranged at the top of the machine body; the photoelectric pod is arranged on the lower portion of the machine body, the propulsion device is arranged on the machine body, and the machine body, the inflatable life buoy, the propulsion device and the photoelectric pod all adopt waterproof sealing structures.

In one possible implementation, the propulsion device includes a motor disposed on both sides of the body, and a propeller mounted on an output shaft of the motor.

In one possible implementation manner, the number of the propelling devices is multiple groups, the multiple groups of propelling devices are arranged in the circumferential direction of the fuselage, and each propelling device comprises a motor and a rotor wing arranged on an output shaft of the motor;

at least two groups of the propulsion devices are arranged on the body through a rotating mechanism, and the rotating mechanism enables the lifting force of the rotor wing to be changed from the vertical direction to the horizontal direction.

In a possible implementation manner, the rotating mechanism is arranged in the machine body, and a rotating shaft of the rotating mechanism extends out of the machine body and is connected to the propelling device.

In one possible implementation manner, the rotating mechanism comprises a steering engine, a transmission belt, a large belt pulley and a small belt pulley;

the large belt pulley and the small belt pulley are rotatably installed in the machine body, an output shaft of the steering engine is connected with a rotating shaft of the small belt pulley, the large belt pulley and the small belt pulley are connected through the transmission belt, the rotating shaft of the large belt pulley is connected with the propelling device through the rotating shaft, and the large belt pulley rotates to drive the propelling device to rotate.

In a possible implementation manner, the robot further comprises a horizontal limiting plate and a vertical limiting plate which are arranged on the machine body, when the propelling device rotates to the vertical direction, the side wall of the propelling device is abutted to the vertical limiting plate, and when the propelling device rotates to the horizontal direction, the side wall of the propelling device is abutted to the horizontal limiting plate.

In one possible implementation, the inflatable lifebuoy comprises an inflation bottle, a water sensor, a solenoid valve, a lifebuoy and a button switch;

the gas outlet of gas cylinder pass through the gas-supply pipe with the air inlet of life buoy is connected, be provided with on the gas-supply pipe the solenoid valve, the water logging sensor set up in the outer wall of fuselage, button switch set up in the fuselage top, the water logging sensor the solenoid valve with button switch all with main control board electric connection.

The embodiment of the invention also provides a rescue method of the investigation, positioning and lifesaving integrated unmanned aerial vehicle, and the investigation, positioning and lifesaving integrated unmanned aerial vehicle comprises the following steps:

firstly, the unmanned aerial vehicle flies in the air through the propelling device, and the photoelectric pod sends the acquired water area photos to the ground command center through the main control board; the ground command center judges whether a person falling into water exists or not according to the water area photo;

step two, if the person falling into the water is found, calculating the coordinates of the person falling into the water through the main control board, wherein the coordinate calculation step of the person falling into the water is as follows:

acquiring coordinates (x1, y1, z1) of the unmanned aerial vehicle according to the GPS module, wherein x1 is geographical latitude, y1 is geographical longitude, and z1 is elevation;

acquiring the distance L from the photoelectric pod to the person falling into the water through a laser range finder on the photoelectric pod;

acquiring an included angle alpha between a connecting line of the photoelectric pod and the person falling into the water and the vertical direction through an angle sensor on the photoelectric pod;

the distance between the unmanned aerial vehicle and the person falling into the water in the vertical direction is h ═ L × cos α, so that the elevation z coordinate of the person falling into the water is z 1-h;

setting the projection of a connecting line of the unmanned aerial vehicle and the person falling into the water in the vertical direction as a projection line, wherein the length of the projection line is L × sina, and acquiring the included angle beta between the projection line and the earth meridian through an angle sensor on the photoelectric pod;

therefore, the geographical latitude x coordinate of the man overboard is: x1-L sina sin β; the geographical longitude y coordinate of the man falling into the water is as follows: x1-L sina cos β;

thirdly, the unmanned aerial vehicle is landed to the position near the personnel falling into the water according to the coordinates (x, y, z) of the personnel falling into the water;

step four, automatically inflating the inflatable life buoy on the unmanned aerial vehicle after the inflatable life buoy detects falling into water; the unmanned aerial vehicle floats on the water surface; the propulsion device is switched to operate at a low speed, the unmanned aerial vehicle is pushed to run on the water through the propulsion device, and the unmanned aerial vehicle is close to a person falling into the water;

and fifthly, after the unmanned aerial vehicle detects that the personnel falling into the water grasps the inflatable life buoy, the unmanned aerial vehicle conveys the personnel falling into the water to the shore.

In a possible implementation manner, in the first step, the concrete step of the ground command center determining whether there is a person falling into water according to the water area photo includes:

when the ground command center judges a person suspected of falling into the water, the flight height of the unmanned aerial vehicle is firstly reduced, and the photo of the person suspected of falling into the water is obtained through the photoelectric pod; and the ground command center judges whether the person falling into water exists or not according to the photo of the suspected person falling into water.

In a possible implementation manner, when the unmanned aerial vehicle drives the person falling into water to travel to the shore, the unmanned aerial vehicle transmits its real-time coordinates back to the ground command center.

One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

the embodiment of the invention provides a detection, positioning and lifesaving integrated unmanned aerial vehicle and a rescue method thereof, wherein an optoelectronic pod of the unmanned aerial vehicle transmits acquired image information, distance information and angle information back to a ground command center through a main control board; the staff of the ground command center analyzes the received data; the flying height of the unmanned aerial vehicle is controllable, so that the unmanned aerial vehicle can realize large-range investigation at higher height and fine search at lower height; the aerial visual angle of the unmanned aerial vehicle is visual, and beyond-the-horizon investigation can be realized; thereby people falling into water can be detected in time. The fuselage, the inflatable life buoy, the propulsion device and the photoelectric pod all adopt waterproof sealing structures, so that when the unmanned aerial vehicle lands on water, electronic equipment on the unmanned aerial vehicle cannot be short-circuited due to water; unmanned aerial vehicle can float on the surface of water under the assistance of inflatable life buoy, and then unmanned aerial vehicle accessible advancing device is close to the personnel that fall into water to in time carry out the rescue. The unmanned aerial vehicle can find and position the personnel falling into the water in the shortest time and convey the personnel falling into the water to the shore, thereby realizing efficient and timely rescue and saving the life of the personnel falling into the water to the maximum extent.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a detection, positioning and lifesaving integrated unmanned aerial vehicle provided in an embodiment of the present invention.

Fig. 2 is a schematic structural view of a detection, positioning and lifesaving integrated unmanned aerial vehicle provided by the second embodiment of the invention.

Fig. 3 is a schematic state diagram of the detection, positioning and lifesaving integrated unmanned aerial vehicle according to the second embodiment of the present invention after the propulsion device is changed.

Fig. 4 is a schematic diagram of spatial positions of the unmanned aerial vehicle and the man overboard provided in the embodiment of the present invention.

Fig. 5 is a flowchart of a rescue method of the investigation, positioning and lifesaving integrated unmanned aerial vehicle provided by the embodiment of the invention.

Reference numerals: 1-a fuselage; 2-inflatable lifebuoy; 21-inflating bottle; 22-water immersion sensor; 23-a solenoid valve; 24-a lifebuoy; 25-a push button switch; 3-a propulsion device; 4-a photovoltaic pod; 5, a propeller; 6-a rotor wing; 7-a rotating mechanism; 71-a steering engine; 72-a drive belt; 73-big belt pulley; 74-small pulley; 8, a main control board; 9-horizontal limiting plate; 10-vertical limit plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

As shown in fig. 1 to 3, the investigation, positioning and lifesaving integrated unmanned aerial vehicle provided by the embodiment of the invention comprises a body 1, a main control panel 8, an inflatable life buoy 2, a propulsion device 3 and a photoelectric pod 4.

The main control board 8 is arranged in the machine body 1, a GPS module is arranged on the main control board 8, and the main control board 8 is connected with the ground command center through a wireless network.

The inflatable life buoy 2 is arranged on the top of the machine body 1. The photoelectric pod 4 is arranged at the lower part of the machine body 1, the propulsion device 3 is arranged on the machine body 1, and the machine body 1, the inflatable life buoy 2, the propulsion device 3 and the photoelectric pod 4 all adopt waterproof sealing structures.

It should be noted that the GPS module is used to acquire current GPS information of the unmanned aerial vehicle, where the GPS information specifically includes geographic latitude data, geographic longitude data, and elevation data. The photoelectric pod 4 may be of the type penetrometer 90-A3. And the photoelectric pod 4 is provided with a data acquisition end such as a high-definition camera, a laser range finder and an angle sensor. The photoelectric pod 4 transmits the acquired image information, distance information and angle information back to the ground command center through the main control board 8. And the staff of the ground command center analyzes the received data.

Because the height of the flight of the unmanned aerial vehicle is controllable, the unmanned aerial vehicle can realize large-range investigation at a higher height and can also realize fine search at a lower height. The aerial visual angle of the unmanned aerial vehicle is visual, and beyond-the-horizon investigation can be realized. Thereby people falling into water can be detected in time.

The inflatable life buoy 2 is inflated and deflated through a compressed gas cylinder, and an electromagnetic valve 23 on the compressed gas cylinder is controlled through a main control panel 8.

Fuselage 1, inflatable life buoy 2, advancing device 3 and photoelectric pod 4 all adopt waterproof sealing structure to when unmanned aerial vehicle descends to on water, the last electronic equipment of unmanned aerial vehicle can not lead to the problem of its short circuit because of water. The framework of the unmanned aerial vehicle is made of light materials, such as polyether-ether-ketone materials, the polyether-ether-ketone is a special engineering plastic with excellent performances such as wear resistance, high temperature resistance, good impact resistance, easy processing, high mechanical strength and the like, and the density is low. Consequently, unmanned aerial vehicle can float on the surface of water under the assistance of inflatable life buoy 2, and then unmanned aerial vehicle accessible advancing device 3 is close to the personnel that fall into water to in time carry out rescue.

In this embodiment, the propulsion device 3 includes a motor disposed on both sides of the body 1, and a propeller 5 mounted on an output shaft of the motor.

It should be noted that the unmanned aerial vehicle in this embodiment is a fixed-wing aircraft, when the unmanned aerial vehicle flies in the air, the motor of the propulsion device 3 operates at a high speed, the rotating propeller 5 provides forward thrust for the aircraft, and the wings of the fixed-wing aircraft generate lift force so that the unmanned aerial vehicle flies in the air.

When unmanned aerial vehicle descends to on water, unmanned aerial vehicle floats on the surface of water, and at this moment, advancing device 3's motor truns into the low-speed operation, and rotatory screw 5 provides forward thrust for unmanned aerial vehicle, and unmanned aerial vehicle traveles forward in aqueous.

In this embodiment, the number of the propulsion devices 3 is multiple, the multiple propulsion devices 3 are arranged in the circumferential direction of the fuselage 1, and each propulsion device 3 includes a motor and a rotor 6 mounted on an output shaft of the motor.

At least two groups of propelling devices 3 are arranged on the fuselage 1 through a rotating mechanism 7, and the rotating mechanism 7 enables the lifting force of the rotor wing 6 to be changed from the vertical direction to the horizontal direction.

It should be noted that the drone in this embodiment is a rotor 6 drone. When the drone is flying in the air, the propulsion means 3 provide forward and upward thrust for the drone, which flies in the air.

When unmanned aerial vehicle descends to on water, change advancing device 3's direction through rotary mechanism 7, make the axis of 6 pivots of rotor of this advancing device 3 change into the horizontal direction by vertical direction to drive unmanned aerial vehicle and go forward in aqueous.

In this embodiment, the rotating mechanism 7 is disposed in the body 1, and the rotating shaft of the rotating mechanism 7 extends out of the body 1 and is connected to the propulsion device 3.

In this embodiment, the rotating mechanism 7 includes a steering engine 71, a transmission belt 72, a large belt pulley 73, and a small belt pulley 74.

Big belt pulley 73 and belt pulley 74 are all rotated and are installed in fuselage 1, and the output shaft of steering wheel 71 is connected with the pivot of belt pulley 74, and big belt pulley 73 and belt pulley 74 pass through driving belt 72 and connect, and big belt pulley 73's pivot is connected with advancing device 3 through the rotation axis, and big belt pulley 73 rotates and drives advancing device 3 and rotate.

It should be noted that the steering engine 71 drives the small belt pulley 74 to rotate, the small belt pulley 74 drives the large belt pulley 73 to rotate through the transmission belt 72, and the large belt pulley 73 drives the propulsion device 3 to rotate, so that the thrust of the propulsion device 3 is switched between the vertical direction and the horizontal direction.

In this embodiment, still including setting up horizontal limiting plate 9 and the perpendicular limiting plate 10 on fuselage 1, when advancing device 3 rotated to the vertical direction, advancing device 3's lateral wall and perpendicular limiting plate 10 butt, when advancing device 3 rotated to the horizontal direction, advancing device 3's lateral wall and horizontal limiting plate 9 butt.

It should be noted that, as shown in fig. 2, the rotation range of the propulsion device 3 is the area between the horizontal limit plate 9 and the vertical limit plate 10, and the horizontal limit plate 9 and the vertical limit plate 10 can ensure that the propulsion device 3 rotates in place, and the arrangement is simple and effective.

In this embodiment, the inflatable lifebuoy 2 comprises an inflation bottle 21, a water level sensor 22, a solenoid valve 23, a lifebuoy 24 and a push button switch 25.

The gas outlet of gas cylinder 21 passes through the gas-supply pipe to be connected with life buoy 24's air inlet, is provided with solenoid valve 23 on the gas-supply pipe, and water sensor 22 sets up in the outer wall of fuselage 1, and button switch 25 sets up in fuselage 1 top, and water sensor 22, solenoid valve 23 and button switch 25 all with main control board 8 electric connection.

Note that the air bottle 21 is provided inside the body 1. When the water sensor 22 detects water, it indicates that the unmanned aerial vehicle has landed on water, and then the main control board 8 controls the electromagnetic valve 23 to open, so that the air in the air inflation bottle 21 is input into the life buoy 24 through the air delivery pipe, and the life buoy 24 is full of air. In order to make the life buoy 24 sufficiently inflated, the electromagnetic valve 23 can be a flow electromagnetic valve 23, and a pressure gauge can be arranged on a gas transmission pipe to ensure the volume of input air.

After the personnel in the water seize the life buoy 24, the unmanned aerial vehicle navigates back to carry the personnel in the water to the ground by pressing the button switch 25.

As shown in fig. 1 to 5, an embodiment of the present invention further provides a rescue method for the investigation, positioning and lifesaving integrated unmanned aerial vehicle, where the investigation, positioning and lifesaving integrated unmanned aerial vehicle includes the following steps:

firstly, the unmanned aerial vehicle flies in the air through the propelling device 3, and the photoelectric pod 4 sends the acquired water area photos to a ground command center through the main control board 8. And the ground command center judges whether the person falling into water exists or not according to the water area photo.

In this embodiment, in the first step, the concrete steps of the ground command center determining whether there is a person falling into water according to the photograph of the water area include: when the ground command center judges the suspected person falling into the water, the flight height of the unmanned aerial vehicle is firstly reduced, and the photo of the suspected person falling into the water is obtained through the photoelectric pod 4. And the ground command center judges whether the person falling into water exists or not according to the photo of the suspected person falling into water.

It should be noted that, initially, the unmanned aerial vehicle performs a large-scale investigation with a high altitude, and then continuously sends the acquired water area photos to the ground command center through the main control board 8 by the photoelectric pod 4. The method can improve the investigation efficiency, and avoid the problem that the investigation efficiency is lower due to the fact that the height is consistent during investigation, the water area photos are too large in acquisition amount or the resolution ratio of the water area photos is limited, and the investigation efficiency is low

Step two, if the person falling into the water is found, calculating the coordinates of the person falling into the water through the main control board 8, wherein the coordinate calculation steps of the person falling into the water are as follows:

as shown in fig. 4, coordinates (x1, y1, z1) of the drone are obtained from the GPS module, where x1 is geographical latitude, y1 is geographical longitude, and z1 is elevation.

The distance L from the photoelectric gondola 4 to the person falling into the water is obtained by a laser range finder on the photoelectric gondola 4.

And acquiring an included angle alpha between a connecting line of the photoelectric pod 4 and a person falling into the water and the vertical direction through an angle sensor on the photoelectric pod 4.

The distance between the unmanned aerial vehicle and the person falling into the water in the vertical direction is h ═ L × cos α, so that the elevation z coordinate of the person falling into the water is z 1-h.

And (3) setting the projection of a connecting line of the unmanned aerial vehicle and the person falling into the water in the vertical direction as a projection line, wherein the length of the projection line is L × sina, and acquiring the included angle beta between the projection line and the meridian of the earth through an angle sensor on the photoelectric pod 4.

The distance between the unmanned aerial vehicle and the person falling into the water in the geographic latitudinal direction is L x sina x sin beta. The distance between the unmanned aerial vehicle and the person overboard is L plus sina plus cos beta in the geographic longitude direction.

Thus, the geographical latitude x coordinate of the man overboard is: x1-L sina sin beta. The geographical longitude y coordinate of the man overboard is: x1-L sina cos β.

And step three, the unmanned aerial vehicle is landed to the position near the personnel falling into the water according to the coordinates (x, y, z) of the personnel falling into the water. Falling to the vicinity of the man who falls into the water can prevent the propeller 5 from easily hitting the man who falls into the water.

And step four, automatically inflating after the inflatable life buoy 2 on the unmanned aerial vehicle detects falling into water. Unmanned aerial vehicle floats on the surface of water. Propulsion unit 3 truns into the low-speed operation, promotes unmanned aerial vehicle through propulsion unit 3 and goes on water to make unmanned aerial vehicle be close to the personnel of falling into water.

The water sensor 22 on the inflatable lifebuoy 2 can detect whether the unmanned aerial vehicle is floating on the water surface, at which point the fuselage 1 of the unmanned aerial vehicle is already fully located in the water. When the unmanned aerial vehicle is close to the person falling into the water, the high-definition camera on the photoelectric pod 4 can be used for navigation, the thrust difference can be achieved by controlling the rotating speed of the two propellers 5 or the rotor wings 6, and the unmanned aerial vehicle can be driven to the side of the person falling into the water under the correction of the staff.

And step five, after the unmanned aerial vehicle detects that the personnel falling into the water grasps the inflatable life buoy 2, the unmanned aerial vehicle conveys the personnel falling into the water to the shore.

The drone is triggered to know and return by the man falling into the water manually pressing the button switch 25. Still can send through long-range staff and control the instruction and make unmanned aerial vehicle return voyage.

In this embodiment, when unmanned aerial vehicle drove the personnel of falling into water and travel to the bank, unmanned aerial vehicle passed its real-time coordinate back ground command center.

The GPS module on the unmanned aerial vehicle transmits the real-time coordinate of the unmanned aerial vehicle back to the ground command center, so that the workers can acquire the positions of the unmanned aerial vehicle and the personnel falling into the water, and the rescue can be organized in time.

The unmanned aerial vehicle can focus detection, positioning and rescue on one unmanned aerial vehicle, and can find and position people falling into water in the shortest time. The high-efficiency and timely rescue is realized, and the lives of people are saved to the greatest extent.

The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.