An autonomous tracking diesel UAV with a mobile diesel refueling device

Abstract

The present invention relates to the technical field of diesel-powered drones, and in particular to an autonomous tracking diesel-powered drone with a mobile diesel refueling device, which includes a drone mechanism equipped with an autonomous tracking refueling system and a ground-mounted refueling pile. The ground-mounted refueling pile is connected to the autonomous tracking refueling system through a network. The ground-mounted refueling pile is fixed on the ground and provides refueling services for the drone mechanism. When refueling, the top piece that protrudes outward is used as an anti-collision protection structure for the drone mechanism, reducing the external force generated when an external device collides with the drone mechanism that is being refueled, and strengthening the position stability of the drone mechanism during refueling. After refueling, the diesel is filtered twice through the front inner network and the rear inner network, and in cooperation with the flocculant additives loaded inside the inner fuel tank, the purity of the diesel inside the drive fuel tank is ensured, ensuring the stable flight of the drone mechanism and at the same time reducing the probability of inaccurate travel estimation caused by poor diesel quality, and optimizing the autonomous tracking process of the drone.

Description

Technical Field

[0001] The present invention relates to the technical field of diesel drones, and in particular to an autonomous tracking diesel drone with a mobile diesel refueling device. Background Art

[0002] With the development of technology, the role of drones in reconnaissance, cruising, communication relay, information confrontation and other aspects has become increasingly prominent. Due to the limitation of the fuel tank capacity of drones, the endurance time and range of drones are not sufficient to support drones to perform tasks for a long time and over a long distance. In order to ensure the task execution of drones, a diesel refueling device is needed to refuel the drones. Most existing drones are equipped with an autonomous tracking system. Connecting the autonomous tracking system to the positioning system of the diesel refueling device can realize the automatic refueling operation of the drone.

[0003] When the existing autonomous tracking diesel drone with a mobile diesel refueling device performs a refueling operation, the fuel inlet of the drone's fuel tank is directly connected to the oil outlet pipe of the diesel refueling device. The diesel stored in the diesel refueling device flows directly into the drone's fuel tank after being simply filtered by a filter screen. The filtering effect of a simple filter screen is not good, and impurities and flocs in the diesel cannot be effectively reduced. When the impure diesel is supplied to a diesel-driven device for combustion, it is easy to cause unstable driving, resulting in a poor flight stability of the drone's structure. Moreover, during the autonomous tracking process of the drone, it is necessary to estimate the remaining itinerary. The poor-quality diesel reduces the estimation accuracy and the autonomous tracking accuracy of the drone; and during the refueling process of the drone, no protective structure is provided on its outside. When an external device collides with the refueling drone, the external force on the drone is relatively large, which is not conducive to the stable progress of the refueling process. Summary of the Invention

[0004] The object of the present invention is to provide an autonomous tracking diesel drone with a mobile diesel refueling device, which can ensure the purity of the diesel inside the driving fuel tank, ensure the flight stability of the drone mechanism, and at the same time reduce the probability of inaccurate travel estimation caused by poor diesel quality, optimize the autonomous tracking process of the drone, and can reduce the external force generated when an external device collides with the drone mechanism being refueled, strengthening the position stability of the drone mechanism during refueling, so as to solve the problems proposed in the above background technology that the simple filter screen has poor filtering effect, the impurities and flocs in the diesel cannot be effectively reduced, when the diesel with poor purity is supplied to the diesel driving equipment for combustion, it is easy to cause unstable driving, resulting in poor flight stability of the drone structure, and during the autonomous tracking process of the drone, it is necessary to estimate the remaining travel, the poor quality diesel leads to a decrease in estimation accuracy, and the autonomous tracking accuracy of the drone decreases; and during the refueling process of the drone, there is no protective structure on its outside, when an external device collides with the refueling drone, the external force received by the drone is large, which is not conducive to the stable progress of the refueling process.

[0005] To achieve the above object, the present invention provides the following technical solution: An autonomous tracking diesel drone with a mobile diesel refueling device, comprising a drone mechanism equipped with an autonomous tracking refueling system and a ground-mounted refueling pile. The ground-mounted refueling pile is connected to the autonomous tracking refueling system through a network. The ground-mounted refueling pile is fixed on the ground and provides refueling services for the drone mechanism. The drone mechanism is composed of a driving component and a movable fuel tank component. The movable fuel tank component is arranged inside the driving component. The movable fuel tank component includes an oil inlet pipe interface, side grooves, a fuel tank shell, a top groove, a pressing piece, an oil outlet pipe, a connecting spring, a front inner net, an electric push rod, an inner material box, an inner pipe, a feeding port, a sliding piece, a discharging port, an upper scraping piece, a lower scraping piece, a telescopic rod, a support beam and a pressure ball. The oil inlet pipe interface is fixed on the front outer wall of the fuel tank shell and is communicated with the fuel tank shell. Two groups of side grooves are opened on the oil inlet pipe interface. A top groove is opened on the top surface of the fuel tank shell. The bottom surface of the top groove is connected to the bottom surface of the pressing piece through a spring. The top surface of the pressing piece is set as an inclined surface with the front part higher than the rear part. The front bottom surface of the pressing piece is fixedly installed with an electric push rod. The output end of the electric push rod extends into the interior of the fuel tank shell and is fixedly connected to the top of the inner material box. The inner material box is set as a hollow box body member made of rubber material. The bottom of the inner material box is communicated with one end of the inner pipe. A feeding port is opened at the port of the inner pipe connected to the inner material box. The outer edge of the feeding port is attached to the sliding piece fixed on the inner wall of the inner material box. The other end of the inner pipe is fixed on the upper scraping piece and the inner pipe is communicated with the discharging port opened inside the upper scraping piece. Both the upper scraping piece and the lower scraping piece are attached to the inner wall of the front inner net. The front inner net is a filter structure fixed at the connection of the oil inlet pipe interface and the fuel tank shell. The lower scraping piece is movably installed at one end of the telescopic rod. The middle of the telescopic rod is connected to the top of the support beam through a compression spring and a shaft. The support beam is fixed on the bottom surface of the fuel tank shell. A pressure ball is fixedly installed on the telescopic rod. The inner material box is located on the rotation track of the pressure ball. The rear wall of the fuel tank shell is fixedly installed with an oil outlet pipe. Two groups of connecting springs are symmetrically arranged on the rear wall of the fuel tank shell on both sides of the oil outlet pipe. The connecting springs are connected to the driving component;The drive assembly includes a housing, a wing, an outer frame, a diesel drive device, an output shaft, a main drive gear, an auxiliary drive gear, a transmission rod, a transmission gear, a rack, a wrapping plate, an inner baffle, a rear groove, a top piece, a drive fuel tank, an inner oil inlet pipe, an oil baffle, and a float type liquid level gauge. The wing is installed on the housing through the outer frame. Inside the housing is a diesel drive device for driving the wing. The diesel drive device is connected to an autonomous tracking and oil replenishment system. The output end of the diesel drive device is connected to the output shaft. A main drive gear is fixedly sleeved on the output shaft. The main drive gear meshes with the auxiliary drive gear. The auxiliary drive gear is installed inside the housing. The auxiliary drive gear is fixedly connected to the top of the transmission rod. A transmission gear is fixedly sleeved on the bottom of the auxiliary drive gear. The transmission gear meshes with the rack. The rack slides in a groove structure formed inside the housing. One end of the rack is fixedly connected to the wrapping plate. The inner side of the wrapping plate is fixedly connected to the inner baffle through a coupling shaft. The other end of the rack is fixedly connected to the top piece. The top piece is arranged inside the rear groove. The rear groove is a groove structure formed on the rear side wall of the housing. A drive fuel tank is fixedly installed inside the housing. A float type liquid level gauge is arranged inside the drive fuel tank. An inner oil inlet pipe is installed on the drive fuel tank. An oil baffle is installed on the inner wall of the inner oil inlet pipe at the connection with the drive fuel tank through a hinge.

[0006] Preferably, a limiting disc is fixed on the inner wall of the fuel tank housing at the connection with the oil outlet pipe. A through groove is formed inside the limiting disc. The bottom surface of the through groove is fixedly connected to the bottom of the corrugated plate. The top of the corrugated plate is fixedly connected to the bottom of the rear inner net. The rear inner net is connected to the bottom surface of the pressing piece through a connecting rod.

[0007] Preferably, there are two groups of wrapping plates. The two groups of wrapping plates face each other and are connected. The thickness dimension of the inner baffle is the same as the width dimension of the side groove.

[0008] Preferably, the front outer wall of the drive fuel tank is fixedly connected to a connecting spring.

[0009] Preferably, the autonomous tracking and oil replenishment system consists of an unmanned aerial vehicle (UAV) autonomous tracking and positioning subsystem for autonomous tracking, an oil replenishment pile positioning subsystem, an equipment control subsystem, a communication subsystem, and a data processing system. The UAV autonomous tracking and positioning subsystem adopts a UAV autonomous tracking and positioning system based on network RTK. Positioning devices are installed on each ground-mounted oil replenishment pile. The positioning devices are connected to the oil replenishment pile positioning subsystem through GPS and Beidou dual positioning methods. The UAV autonomous tracking and positioning subsystem and the oil replenishment pile positioning subsystem are connected to the equipment control subsystem through the communication subsystem. The equipment control subsystem is used to control the electronic devices built in the UAV mechanism. The data processing system is used to obtain and update the oil replenishment data.

[0010] Preferably, the data processing system includes a liquid level data input module for setting the threshold diesel liquid level, a data acquisition module for acquiring the distance data between the unmanned aerial vehicle and the ground-mounted oil replenishment pile, a data comparison module for comparing the distance data, and a fuel consumption travel estimation module for estimating the travel distance.

[0011] An autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device proposed by the present invention has the beneficial effects that:

[0012] After the single refueling process of the autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device is completed, the oil inlet pipe interface is separated from the oil outlet port of the ground-mounted oil replenishment pile. The upper scraping blade and the lower scraping blade move towards each other and can also scrape and clean the front inner net, reducing the attachment of impurities. At the same time, the upper scraping blade exerts a downward pressure on the lower scraping blade to drive the telescopic rod to tilt, and the pressure ball tilts towards the side of the oil inlet pipe interface until the bottom of the inner material box deforms. The material in the inner material box can flow out along the inner pipe and the discharge port and mix with the diesel inside the fuel tank shell, enabling the impurities in the diesel in the fuel tank shell to precipitate quickly. And at this time, under the action of the connecting rod, the corrugated plate is in a compressed state of being touched, and only the rear inner net is inside the through groove. The diesel is initially filtered by the front inner net during refueling, and the diesel is secondarily filtered by the rear inner net during oil discharge. Cooperating with the flocculant additives loaded inside the inner material box, the diesel with higher purity in the upper layer can flow out from the oil outlet pipe into the drive fuel tank, ensuring the purity of the diesel inside the drive fuel tank, ensuring the flight stability of the unmanned aerial vehicle mechanism, and at the same time reducing the probability of inaccurate travel estimation caused by poor diesel quality, and optimizing the autonomous tracking process of the unmanned aerial vehicle.

[0013] When the oil inlet pipe interface of the autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device is inserted into the oil filling port of the ground-mounted oil replenishment pile, the two groups of racks move backward and squeeze the two top pieces from both sides, causing them to protrude outwards from the rear groove to form a curved surface. The top pieces after outward protrusion are used as the anti-collision protection structure of the unmanned aerial vehicle mechanism, reducing the external force generated when an external device collides with the unmanned aerial vehicle mechanism during refueling and strengthening the position stability of the unmanned aerial vehicle mechanism during refueling. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the system structure of an autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device proposed by the present invention;

[0015] Figure 2 It is a schematic diagram of the external structure of the unmanned aerial vehicle mechanism of an autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device proposed by the present invention;

[0016] Figure 3 It is a schematic diagram of the external structure of the movable fuel tank assembly of an autonomous tracking diesel unmanned aerial vehicle with a mobile diesel replenishment device proposed by the present invention;

[0017] Figure 4 Schematic diagram of the internal structure of the movable fuel tank assembly of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention in the state where the pressing piece is not pressed

[0018] Figure 5 Schematic diagram of the internal structure of the movable fuel tank assembly of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention in the state where the pressing piece is pressed

[0019] Figure 6 For an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention Figure 5 Enlarged schematic diagram of part A structure in the figure

[0020] Figure 7 Front view schematic diagram of the limit disk structure of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention

[0021] Figure 8 Front view schematic diagram of the drive assembly of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention

[0022] Figure 9 Internal structure schematic diagram of the drive assembly of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention

[0023] Figure 10 Rear view schematic diagram of the drive assembly of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention

[0024] Figure 11 Schematic diagram of the composition of the data processing system of an autonomous tracking diesel UAV with a movable diesel refueling device proposed by the present invention

[0025] In the figure: 1. UAV mechanism; 11. Driving component; 111. Housing; 112. Wing; 113. Outer frame; 114. Diesel driving device; 115. Output shaft; 116. Main driving gear; 117. Auxiliary driving gear; 118. Transmission rod; 119. Transmission gear; 1110. Rack; 1111. Wrapping plate; 1112. Inner baffle; 1113. Rear groove; 1114. Top piece; 1115. Driving fuel tank; 1116. Inner oil inlet pipe; 1117. Oil baffle; 1118. Float type liquid level gauge; 12. Movable fuel tank assembly; 121. Oil inlet pipeline interface; 122. Side groove; 123. Fuel tank shell; 1231. Limit disk; 1232. Through groove; 1233. Corrugated plate; 1234. Rear inner net; 1235. Connecting rod; 124. Top groove; 125. Pressing piece; 126. Oil outlet pipeline; 127. Connecting spring; 128. Front inner net; 129. Electric push rod; 1210. Inner material box; 1211. Inner pipe; 1212. Feed inlet; 1213. Slide piece; 1214. Discharge outlet; 1215. Upper scraping piece; 1216. Lower scraping piece; 1217. Telescopic rod; 1218. Support beam; 1219. Pressure ball; 2. Ground-mounted oil replenishing pile; 3. Autonomous tracking oil replenishing system; 31. UAV autonomous tracking and positioning subsystem; 32. Oil replenishing pile positioning subsystem; 33. Equipment control subsystem; 34. Communication subsystem; 35. Data processing system; 351. Liquid level data input module; 352. Data acquisition module; 353. Data comparison module; 354. Fuel consumption and travel estimation module. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figure 1, An autonomous tracking diesel drone with a mobile diesel refueling device, comprising a drone mechanism 1 equipped with an autonomous tracking refueling system 3 and a ground-mounted refueling pile 2. The ground-mounted refueling pile 2 is connected to the autonomous tracking refueling system 3 through a network. The ground-mounted refueling pile 2 is fixed on the ground and provides refueling services for the drone mechanism 1. The autonomous tracking refueling system 3 consists of a drone autonomous tracking positioning subsystem 31 for autonomous tracking, a refueling pile positioning subsystem 32, a device control subsystem 33, a communication subsystem 34, and a data processing system 35. The drone autonomous tracking positioning subsystem 31 adopts a drone autonomous tracking positioning system based on network RTK. A positioning device is installed on each ground-mounted refueling pile 2, and the positioning device is connected to the refueling pile positioning subsystem 32 through GPS and Beidou dual positioning methods. The drone autonomous tracking positioning subsystem 31 and the refueling pile positioning subsystem 32 are connected to the device control subsystem 33 through the communication subsystem 34. The device control subsystem 33 is used to control the built-in electronic devices of the drone mechanism 1. The data processing system 35 is used to obtain and update refueling data. The drone mechanism 1 is controlled by the drone autonomous tracking positioning subsystem 31. The drone mechanism 1 is controlled by the drone autonomous tracking positioning subsystem 31 to move along a set trajectory. The drone mechanism 1 is also connected to the device control subsystem 33. While the drone autonomous tracking positioning subsystem 31 plans the path of the drone mechanism 1, the device control subsystem 33 can also control the devices of the drone mechanism 1. The control results are recorded by the data processing system 35. The device control subsystem 33 and the data processing system 35 are connected bidirectionally to achieve real-time feedback of data and devices, optimize the driving effect. Each ground-mounted refueling pile 2 is connected to the refueling pile positioning subsystem 32. The positioning information of each ground-mounted refueling pile 2 is uploaded to the data processing system 35 through the refueling pile positioning subsystem 32. The ground-mounted refueling pile 2 is used to provide diesel for the drone mechanism 1.

[0028] Please refer to Figure 2 , The drone mechanism 1 consists of a driving component 11 and a movable fuel tank component 12. The movable fuel tank component 12 is arranged inside the driving component 11. The driving component 11 is used to drive the drone mechanism 1 to fly. The movable fuel tank component 12 is used as a transfer device between the ground-mounted refueling pile 2 and the driving fuel tank 1115.

[0029] Please refer to Figures 3 - 6, the movable fuel tank assembly 12 includes an oil inlet pipe interface 121, side grooves 122, a fuel tank shell 123, top grooves 124, pressing pieces 125, an oil outlet pipe 126, connecting springs 127, a front inner net 128, an electric push rod 129, an inner material box 1210, an inner pipe 1211, a feed inlet 1212, a sliding piece 1213, a discharge outlet 1214, an upper scraping piece 1215, a lower scraping piece 1216, a telescopic rod 1217, a support beam 1218, and a pressure ball 1219. The oil inlet pipe interface 121 is fixed on the front outer wall of the fuel tank shell 123 and is connected to the fuel tank shell 123. Two groups of side grooves 122 are provided on the oil inlet pipe interface 121. A top groove 124 is provided on the top surface of the fuel tank shell 123. The bottom surface of the top groove 124 is connected to the bottom surface of the pressing piece 125 through a spring. The top surface of the pressing piece 125 is set as an inclined surface that is higher at the front and lower at the rear. The front bottom surface of the pressing piece 125 is fixedly installed with an electric push rod 129. The output end of the electric push rod 129 extends into the interior of the fuel tank shell 123 and is fixedly connected to the top of the inner material box 1210. The inner material box 1210 is set as a hollow box member made of rubber material. The bottom of the inner material box 1210 is communicated with one end of the inner pipe 1211. A feed inlet 1212 is provided at the port of the inner pipe 1211 connected to the inner material box 1210. The outer edge of the feed inlet 1212 is fitted with the sliding piece 1213 fixed on the inner wall of the inner material box 1210. The other end of the inner pipe 1211 is fixed on the upper scraping piece 1215 and the inner pipe 1211 is communicated with the discharge outlet 1214 provided inside the upper scraping piece 1215. Both the upper scraping piece 1215 and the lower scraping piece 1216 are fitted with the inner wall of the front inner net 128. The front inner net 128 is a filter structure fixed at the connection between the oil inlet pipe interface 121 and the fuel tank shell 123. The lower scraping piece 1216 is movably installed at one end of the telescopic rod 1217. The middle of the telescopic rod 1217 is connected to the top of the support beam 1218 through a compression spring and a shaft. The support beam 1218 is fixed on the bottom surface of the fuel tank shell 123. A pressure ball 1219 is fixedly installed on the telescopic rod 1217. The inner material box 1210 is located on the rotation track of the pressure ball 1219. The rear wall of the fuel tank shell 123 is fixedly installed with an oil outlet pipe 126. Two groups of connecting springs 127 are symmetrically arranged on the rear wall of the fuel tank shell 123 on both sides of the oil outlet pipe 126. The connecting springs 127 are connected to the driving assembly 11. When the drone mechanism 1 is in the state of not being refueled, the fuel tank shell 123 is located inside the machine shell 111. After being pressed, the pressing piece 125 is located inside the top groove 124 and the spring is in a compressed state. At this time, the upper scraping piece 1215 and the lower scraping piece 1216 are fitted and the upper scraping piece 1215 exerts a downward pressure on the lower scraping piece 1216 to drive the telescopic rod 1217 to tilt. The pressure ball 1219 tilts toward the side of the oil inlet pipe interface 121 until the pressure ball 1219 is pressed against the bottom outer wall of the inner material box 1210 to exert pressure on the bottom outer wall of the inner material box 1210, resulting in the deformation of the bottom of the inner material box 1210. The positions of the sliding piece 1213 and the discharge outlet 1214 are offset, causing the discharge outlet 1214 to be exposed.The materials in the inner material box 1210 can flow out along the inner pipe 1211 and the discharge port 1214, and mix with the diesel oil inside the fuel tank shell 123, enabling the impurities in the diesel oil inside the fuel tank shell 123 to precipitate quickly. At this time, under the action of the connecting rod 1235, the corrugated plate 1233 is in a compressed state of being pressed. Only the rear inner net 1234 is inside the through groove 1232. When the diesel oil enters, the front inner net 128 preliminarily filters the diesel oil, and when the diesel oil exits, the rear inner net 1234 performs secondary filtration on the diesel oil. Cooperating with the flocculant additives loaded inside the inner material box 1210, the diesel oil with a higher purity in the upper layer can flow out from the oil outlet pipe 126 into the drive fuel tank 1115, ensuring the purity of the diesel oil inside the drive fuel tank 1115, ensuring the flight stability of the unmanned aircraft mechanism 1, and at the same time reducing the probability of inaccurate travel estimation caused by poor diesel oil quality, and optimizing the autonomous tracking process of the unmanned aircraft.

[0030] Please refer to Figure 7 On the inner wall of the fuel tank shell 123 at the connection between the fuel tank shell 123 and the oil outlet pipe 126, a limit disk 1231 is fixed. A through groove 1232 is opened inside the limit disk 1231. The bottom surface of the through groove 1232 is fixedly connected to the bottom of the corrugated plate 1233. The top of the corrugated plate 1233 is fixedly connected to the bottom of the rear inner net 1234. The rear inner net 1234 is connected to the bottom surface of the pressing piece 125 through the connecting rod 1235. When the oil inlet pipe interface 121 is connected to the oil outlet port of the ground-mounted refueling pile 2, that is, when the unmanned aircraft mechanism 1 is in the refueling state, the top surface of the pressing piece 125 is higher than the top surface of the top groove 124. Under the action of the connecting rod 1235, the rear inner net 1234 is pulled upward into the groove structure of the limit disk 1231, and the corrugated plate 1233 is located in the through groove 1232 to close the through groove 1232. The entire fuel tank shell 123 is in the oil inlet state. After a single refueling process is completed, the oil inlet pipe interface 121 is separated from the oil outlet port of the ground-mounted refueling pile 2. The upper scraping piece 1215 and the lower scraping piece 1216 move towards each other and can also scrape and clean the front inner net 128 to reduce the attachment of impurities and have better functionality. At this time, the pressing piece 125 is re-pressed, the rear inner net 1234 moves down into the through groove 1232, and the diesel oil inside the fuel tank shell 123 begins to transfer to the drive fuel tank 1115.

[0031] Please refer to Figures 8 - 10, the driving component 11 includes a housing 111, a wing 112, an outer frame 113, a diesel driving device 114, an output shaft 115, a main driving gear 116, an auxiliary driving gear 117, a transmission rod 118, a transmission gear 119, a rack 1110, a wrapper 1111, an inner baffle 1112, a rear groove 1113, a top piece 1114, a driving fuel tank 1115, an inner oil inlet pipe 1116, an oil baffle 1117 and a float type liquid level gauge 1118. The wing 112 is installed on the housing 111 through the outer frame 113. Inside the housing 111, there is a diesel driving device 114 for driving the wing 112. The diesel driving device 114 is connected to the independent tracking and oil replenishing system 3. The output end of the diesel driving device 114 is connected to the output shaft 115. A main driving gear 116 is fixedly sleeved on the output shaft 115. The main driving gear 116 meshes with the auxiliary driving gear 117. The auxiliary driving gear 117 is installed inside the housing 111. The auxiliary driving gear 117 is fixedly connected to the top of the transmission rod 118. A transmission gear 119 is fixedly sleeved on the bottom of the auxiliary driving gear 117. The transmission gear 119 meshes with the rack 1110. The rack 1110 slides in a groove structure formed inside the housing 111. One end of the rack 1110 is fixedly connected to the wrapper 1111. There are two groups of wrappers 1111, and the two groups of wrappers 1111 face each other and are connected. The thickness dimension of the inner baffle 1112 is the same as the width dimension of the side groove 122. The inner side of the wrapper 1111 is fixedly connected to the inner baffle 1112 through a coupling shaft. The other end of the rack 1110 is fixedly connected to the top piece 1114. The top piece 1114 is arranged inside the rear groove 1113. The rear groove 1113 is a groove structure formed on the rear side wall of the housing 111. The driving fuel tank 1115 is fixedly installed inside the housing 111. The front outer wall of the driving fuel tank 1115 is fixedly connected to the connecting spring 127. Inside the driving fuel tank 1115, there is a float type liquid level gauge 1118. An inner oil inlet pipe 1116 is installed on the driving fuel tank 1115. An oil baffle 1117 is installed on the inner wall of the inner oil inlet pipe 1116 at the connection with the driving fuel tank 1115 through a hinge. When the unmanned aerial vehicle mechanism 1 is in a non-oil replenishing state, the position of the fuel tank shell 123 is limited through the rack 1110 and the two groups of wrappers 1111. At this time, the oil outlet pipe 126 is inserted into the inner oil inlet pipe 1116. The length of the oil outlet pipe 126 is greater than the length of the inner oil inlet pipe 1116. Therefore, the oil baffle 1117 is pushed to turn inward. The diesel in the fuel tank shell 123 is transferred to the driving fuel tank 1115. The float type liquid level gauge 1118 arranged inside the driving fuel tank 1115 measures the diesel liquid level in the driving fuel tank 1115 in real time. When the float type liquid level gauge 1118 measures that the remaining diesel liquid level value in the driving fuel tank 1115 reaches a pre-set minimum threshold, it means that the unmanned aerial vehicle mechanism 1 needs to perform an oil replenishing operation. The path planning between the unmanned aerial vehicle mechanism 1 and the nearest ground-mounted oil replenishing pile 2 is realized through the unmanned aerial vehicle independent tracking and positioning subsystem 31 and the oil replenishing pile positioning subsystem 32.When the UAV mechanism 1 moves in front of the fuel filling port of the ground-mounted fuel replenishment pile 2, the output shaft 115 is controlled to rotate through the equipment control subsystem 33. Driven by the main drive gear 116, auxiliary drive gear 117, transmission rod 118 and transmission gear 119, the rack 1110 moves to both sides, and the two sets of wrapping plates 1111 are separated. Under the restoring force of the connecting spring 127, the fuel tank shell 123 is pushed outwards until the oil inlet pipe interface 121 is inserted into the fuel filling port of the ground-mounted fuel replenishment pile 2. After the two sets of racks 1110 move backward, they squeeze the top pieces 1114 from both sides, causing them to protrude outwards from the rear slot 1113 to form a curved surface. The outwardly convex top piece 1114 is used as an anti-collision protection structure for the UAV mechanism 1, reducing the external force generated when an external device collides with the refueling UAV mechanism 1 and strengthening the position stability of the UAV mechanism 1 during refueling. After refueling is completed, the rack 1110 moves in the reverse direction, and the arc-shaped fuel tank shell 123 is driven by the wrapping plate 1111 to be retracted into the machine shell 111.,

[0032] Please refer to Figure 11 , the data processing system 35 includes a liquid level data input module 351 for setting the threshold diesel liquid level, a data acquisition module 352 for acquiring the distance data between the UAV and the ground-mounted fuel replenishment pile 2, a data comparison module 353 for comparing the distance data, and a fuel consumption travel estimation module 354 for estimating the travel distance. The staff sets the minimum threshold of the diesel oil inside the driving fuel tank 1115 through the liquid level data input module 351. After the data acquisition module 352 acquires the position information of the UAV mechanism 1 itself and the position information of each ground-mounted fuel replenishment pile 2, the data comparison module 353 compares the distances between each ground-mounted fuel replenishment pile 2 and the UAV mechanism 1, and estimates the fuel consumption of each trip through the fuel consumption travel estimation module 354, and by default selects the path with the least fuel consumption.

[0033] Working principle: The drone mechanism 1 is controlled by the drone autonomous path-tracking and positioning subsystem 31. The drone autonomous path-tracking and positioning subsystem 31 controls the drone mechanism 1 to move along a set trajectory. The drone mechanism 1 is also connected to the equipment control subsystem 33. While the drone autonomous path-tracking and positioning subsystem 31 plans the path for the drone mechanism 1, the equipment control subsystem 33 can also control the equipment of the drone mechanism 1. The control results are recorded by the data processing system 35. The equipment control subsystem 33 and the data processing system 35 are connected bidirectionally to achieve real-time feedback of data and equipment. Each ground-mounted fuel filling pile 2 is connected to the fuel filling pile positioning subsystem 32. The positioning information of each ground-mounted fuel filling pile 2 is uploaded to the data processing system 35 through the fuel filling pile positioning subsystem 32. The ground-mounted fuel filling pile 2 is used to provide diesel for the drone mechanism 1. The driving component 11 is used to drive the drone mechanism 1 to fly. The movable fuel tank assembly 12 is used as a transfer device between the ground-mounted fuel filling pile 2 and the driving fuel tank 1115. The staff sets the minimum threshold of the diesel in the driving fuel tank 1115 through the liquid level data input module 351. After the data acquisition module 352 obtains the position information of the drone mechanism 1 itself and the position information of each ground-mounted fuel filling pile 2, the data comparison module 353 compares the distances between each ground-mounted fuel filling pile 2 and the drone mechanism 1, and estimates the fuel consumption of each journey through the fuel consumption journey estimation module 354, and defaults to select the path with the least fuel consumption. When the drone mechanism 1 is in a non-fuel-filling state, the position of the fuel tank shell 123 is limited by the rack 1110 and two sets of wrapping plates 1111. At this time, the oil outlet pipe 126 is inserted into the oil inlet inner pipe 1116. The length of the oil outlet pipe 126 is greater than the length of the oil inlet inner pipe 1116, so the oil baffle 1117 is pushed to turn inward, and the diesel in the fuel tank shell 123 is transferred to the driving fuel tank 1115. The float type liquid level gauge 1118 installed inside the driving fuel tank 1115 measures the diesel liquid level in the driving fuel tank 1115 in real time. When the float type liquid level gauge 1118 measures that the remaining diesel liquid level value in the driving fuel tank 1115 reaches the pre-set minimum threshold, it means that the drone mechanism 1 needs to perform a fuel-filling operation. The path planning between the drone mechanism 1 and the nearest ground-mounted fuel filling pile 2 is realized through the drone autonomous path-tracking and positioning subsystem 31 and the fuel filling pile positioning subsystem 32. When the drone mechanism 1 moves to the front of the fuel filling port of the ground-mounted fuel filling pile 2, the equipment control subsystem 33 controls the output shaft 115 to rotate. Through the transmission of the main driving gear 116, the auxiliary driving gear 117, the transmission rod 118 and the transmission gear 119, the rack 1110 moves to both sides, and the two sets of wrapping plates 1111 separate. Under the restoring force of the connecting spring 127, the fuel tank shell 123 is pushed outwards until the oil inlet pipe interface 121 is inserted into the fuel filling port of the ground-mounted fuel filling pile 2. After the two sets of racks 1110 move backward, they squeeze the top piece 1114 from both sides, causing it to protrude outwards from the rear slot 1113 to form a curved surface.The convex top piece 1114 is used as an anti-collision protection structure for the UAV mechanism 1. After the oil replenishment is completed, the rack 1110 moves in the reverse direction, and drives the arc-shaped fuel tank shell 123 to be retracted into the housing 111 through the wrapping plate 1111. When the oil inlet pipe interface 121 is connected to the oil outlet port of the ground-mounted oil replenishment pile 2, that is, when the UAV mechanism 1 is in the oil replenishment state, the top surface of the pressing piece 125 is higher than the top surface of the top groove 124. Under the action of the connecting rod 1235, the rear inner net 1234 is pulled upward into the groove structure of the limiting disk 1231, and the corrugated plate 1233 is located in the through groove 1232 to seal the through groove 1232. The entire fuel tank shell 123 is in the oil inlet state. After a single oil replenishment process is completed, the oil inlet pipe interface 121 is separated from the oil outlet port of the ground-mounted oil replenishment pile 2. The upper scraping piece 1215 and the lower scraping piece 1216 move towards each other and can also scrape and clean the front inner net 128. At this time, the pressing piece 125 is re-pressed, and the rear inner net 1234 moves down into the through groove 1232. The diesel oil inside the fuel tank shell 123 begins to transfer to the driving fuel tank 1115. When the UAV mechanism 1 is in the non-oil replenishment state, the fuel tank shell 123 is located inside the housing 111. After being pressed, the pressing piece 125 is located inside the top groove 124, and the spring is in a compressed state. At this time, the upper scraping piece 1215 is attached to the lower scraping piece 1216 and the upper scraping piece 1215 applies a downward pressure to the lower scraping piece 1216 to drive the telescopic rod 1217 to tilt. The pressure ball 1219 tilts towards the side of the oil inlet pipe interface 121 until the pressure ball 1219 is pressed against the bottom outer wall of the inner material box 1210 to exert pressure on the bottom outer wall of the inner material box 1210, resulting in deformation of the bottom of the inner material box 1210. The position of the sliding piece 1213 and the discharge port 1214 is offset, causing the discharge port 1214 to be exposed. The material in the inner material box 1210 can flow out along the inner pipe 1211 and the discharge port 1214 and mix with the diesel oil inside the fuel tank shell 123, so that the diesel impurities in the fuel tank shell 123 can precipitate quickly. And at this time, under the action of the connecting rod 1235, the corrugated plate 1233 is pressed in the compressed state. Only the rear inner net 1234 is inside the through groove 1232. When discharging oil, the rear inner net 1234 filters the diesel oil for the second time.,

[0034] In summary, for the autonomous tracking diesel drone with a mobile diesel refueling device, while the drone autonomous tracking and positioning subsystem 31 plans the path for the drone mechanism 1, the device control subsystem 33 can also control and manage the devices of the drone mechanism 1. The management results are recorded by the data processing system 35. The device control subsystem 33 and the data processing system 35 are connected bidirectionally to achieve real-time feedback of data and devices, optimize the driving effect. Each ground-mounted refueling pile 2 is connected to the refueling pile positioning subsystem 32, and the positioning information of each ground-mounted refueling pile 2 is uploaded to the data processing system 35 through the refueling pile positioning subsystem 32. The ground-mounted refueling pile 2 provides diesel for the drone mechanism 1. After a single refueling process is completed, the fuel inlet pipe interface 121 is separated from the oil outlet port of the ground-mounted refueling pile 2. The upper scraping blade 1215 and the lower scraping blade 1216 move towards each other and can also scrape and clean the front inner net 128 to reduce impurity adhesion and have better functionality. At the same time, the upper scraping blade 1215 exerts a downward pressure on the lower scraping blade 1216 to drive the telescopic rod 1217 to tilt, and the pressure ball 1219 tilts towards the side of the fuel inlet pipe interface 121 until the bottom of the inner material box 1210 deforms. The material in the inner material box 1210 can flow out along the inner pipe 1211 and the discharge port 1214 and mix with the diesel inside the fuel tank shell 123, enabling the impurities in the diesel in the fuel tank shell 123 to precipitate quickly. At this time, under the action of the connecting rod 1235, the corrugated plate 1233 is in a compressed state of being pressed, and only the rear inner net 1234 is inside the through groove 1232. The front inner net 128 preliminarily filters the diesel during fuel inlet, and the rear inner net 1234 secondary filters the diesel during fuel outlet. Cooperating with the flocculant additives loaded inside the inner material box 1210, the higher-purity diesel in the upper layer can flow out from the fuel outlet pipe 126 into the driving fuel tank 1115, ensuring the purity of the diesel inside the driving fuel tank 1115, ensuring the flight stability of the drone mechanism 1, and at the same time reducing the probability of inaccurate travel estimation caused by poor diesel quality, optimizing the autonomous tracking process of the drone. When the fuel inlet pipe interface 121 is inserted into the fuel filling port of the ground-mounted refueling pile 2, the two groups of racks 1110 move backward and squeeze the opposing pieces 1114 from both sides, causing them to protrude outward from the rear groove 1113 to form a curved surface. The protruding opposing pieces 1114 are used as an anti-collision protection structure for the drone mechanism 1 to reduce the external force generated when an external device collides with the drone mechanism 1 during refueling and strengthen the position stability of the drone mechanism 1 during refueling.

[0035] As described above, the above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An autonomous tracking diesel drone with a mobile diesel refueling device, characterized in that, It includes a drone mechanism (1) equipped with an autonomous tracking and oil replenishment system (3) and a ground-mounted oil replenishment pile (2). The ground-mounted oil replenishment pile (2) is connected to the autonomous tracking and oil replenishment system (3) through a network. The ground-mounted oil replenishment pile (2) is fixed on the ground and provides oil filling services for the drone mechanism (1). The drone mechanism (1) consists of a driving component (11) and a movable fuel tank component (12). The movable fuel tank component (12) is arranged inside the driving component (11). The movable fuel tank component (12) includes an oil inlet pipe interface (121), side grooves (122), a fuel tank shell (123), a top groove (124), a pressing piece (125), an oil outlet pipe (126), a connecting spring (127), a front inner net (128), an electric push rod (129), an inner material box (1210), an inner pipe (1211), a feeding port (1212), a sliding piece (1213), a discharging port (1214), an upper scraping piece (1215), a lower scraping piece (1216), a telescopic rod (1217), a support beam (1218), and a pressure ball (1219). The oil inlet pipe interface (121) is fixed on the front outer wall of the fuel tank shell (123) and is connected to the fuel tank shell (123). Two groups of side grooves (122) are opened on the oil inlet pipe interface (121). A top groove (124) is opened on the top surface of the fuel tank shell (123). The bottom surface of the top groove (124) is connected to the bottom surface of the pressing piece (125) through a spring. The top surface of the pressing piece (125) is set as an inclined surface with the front end higher than the rear end. An electric push rod (129) is fixedly installed on the bottom surface of the front end of the pressing piece (125). The output end of the electric push rod (129) extends into the interior of the fuel tank shell (123) and is fixedly connected to the top of the inner material box (1210). The inner material box (1210) is set as a hollow box member made of rubber material. Flocculant additives are loaded inside the inner material box (1210). The bottom of the inner material box (1210) is communicated with one end of the inner pipe (1211). A feeding port (1212) is opened at the port of the inner pipe (1211) connected to the inner material box (1210). The outer edge of the feeding port (1212) fits with the sliding piece (1213) fixed on the inner wall of the inner material box (1210). The other end of the inner pipe (1211) is fixed on the upper scraping piece (1215) and the inner pipe (1211) is communicated with the discharging port (1214) opened inside the upper scraping piece (1215). Both the upper scraping piece (1215) and the lower scraping piece (1216) fit with the inner wall of the front inner net (128). The front inner net (128) is a filter structure fixed at the connection of the oil inlet pipe interface (121) and the fuel tank shell (123). The lower scraping piece (1216) is movably installed at one end of the telescopic rod (1217). The middle of the telescopic rod (1217) is connected to the top of the support beam (1218) through a compression spring and a shaft. The support beam (1218) is fixed on the bottom surface of the fuel tank shell (123). A pressure ball (1219) is fixedly installed on the telescopic rod (1217). The inner material box (1210) is located on the rotation track of the pressure ball (1219).The rear wall of the fuel tank shell (123) is fixedly installed with an oil outlet pipe (126). On the rear wall of the fuel tank shell (123) on both sides of the oil outlet pipe (126), two groups of connecting springs (127) are symmetrically arranged, and the connecting springs (127) are connected to the driving assembly (11); the driving assembly (11) includes a machine shell (111), a wing (112), an outer frame (113), a diesel driving device (114), an output shaft (115), a main driving gear (116), an auxiliary driving gear (117), a transmission rod (118), a transmission gear (119), a rack (1110), a wrapping plate (1111), an inner baffle (1112), a rear groove (1113), a top piece (1114), a driving fuel tank (1115), an oil inlet inner pipe (1116), an oil baffle (1117) and a float type liquid level gauge (1118). The wing (112) is installed on the machine shell (111) through the outer frame (113). Inside the machine shell (111), there is a diesel driving device (114) for driving the wing (112). The diesel driving device (114) is connected to the autonomous tracking and oil replenishing system (3). The output end of the diesel driving device (114) is connected to the output shaft (115). A main driving gear (116) is fixedly sleeved on the output shaft (115). The main driving gear (116) meshes with the auxiliary driving gear (117). The auxiliary driving gear (117) is installed inside the machine shell (111). The auxiliary driving gear (117) is fixedly connected to the top of the transmission rod (118). A transmission gear (119) is fixedly sleeved on the bottom of the auxiliary driving gear (117). The transmission gear (119) meshes with the rack (1110). The rack (1110) slides in a groove structure opened inside the machine shell (111). One end of the rack (1110) is fixedly connected to the wrapping plate (1111). The inner side of the wrapping plate (1111) is fixedly connected to the inner baffle (1112) through a coupling shaft. The other end of the rack (1110) is fixedly connected to the top piece (1114). The top piece (1114) is arranged inside the rear groove (1113). The rear groove (1113) is a groove structure opened on the rear side wall of the machine shell (111). A driving fuel tank (1115) is fixedly installed inside the machine shell (111). A float type liquid level gauge (1118) is arranged inside the driving fuel tank (1115). An oil inlet inner pipe (1116) is installed on the driving fuel tank (1115). An oil baffle (1117) is installed on the inner wall of the oil inlet inner pipe (1116) at the connection with the driving fuel tank (1115) through a hinge.

2. The autonomous tracking diesel-powered drone with a mobile diesel refueling device according to claim 1, characterized in that: On the inner wall of the fuel tank shell (123) at the connection of the fuel tank shell (123) and the oil outlet pipe (126), a limit disk (1231) is fixed. A through groove (1232) is formed inside the limit disk (1231). The bottom surface of the through groove (1232) is fixedly connected to the bottom of the corrugated plate (1233). The top of the corrugated plate (1233) is fixedly connected to the bottom of the rear inner net (1234). The rear inner net (1234) is connected to the bottom surface of the pressing piece (125) through a connecting rod (1235).

3. The autonomous tracking diesel-powered drone with a mobile diesel refueling device according to claim 1, characterized in that: There are two groups of the wrapper plates (1111). The two groups of wrapper plates (1111) are oppositely connected. The thickness dimension of the inner baffle (1112) is the same as the width dimension of the side groove (122).

4. The autonomous tracking diesel-powered unmanned aerial vehicle with a mobile diesel refueling device according to claim 1, characterized in that: The outer wall on the front side of the driving fuel tank (1115) is fixedly connected to a connecting spring (127).

5. The autonomous tracking diesel-powered unmanned aerial vehicle with a mobile diesel refueling device according to claim 1, characterized in that: The autonomous tracing and oil replenishing system (3) consists of an unmanned aerial vehicle autonomous tracing and positioning subsystem (31) for autonomous tracing, an oil replenishing pile positioning subsystem (32), an equipment control subsystem (33), a communication subsystem (34), and a data processing system (35). The unmanned aerial vehicle autonomous tracing and positioning subsystem (31) adopts an unmanned aerial vehicle autonomous tracing and positioning system based on network RTK. Positioning equipment is installed on each ground-mounted oil replenishing pile (2). The positioning equipment accesses the oil replenishing pile positioning subsystem (32) through GPS and Beidou dual positioning methods. The unmanned aerial vehicle autonomous tracing and positioning subsystem (31) and the oil replenishing pile positioning subsystem (32) are connected to the equipment control subsystem (33) through the communication subsystem (34). The equipment control subsystem (33) is used to control the built-in electronic equipment of the unmanned aerial vehicle mechanism (1). The data processing system (35) is used to obtain and update the oil replenishing data.

6. The autonomous tracking diesel-powered unmanned aerial vehicle with a mobile diesel refueling device according to claim 5, characterized in that: The data processing system (35) includes a liquid level data input module (351) for setting the threshold diesel liquid level, a data acquisition module (352) for acquiring the distance data between the unmanned aerial vehicle and the ground-mounted oil replenishing pile (2), a data comparison module (353) for comparing the distance data, and a fuel consumption travel estimation module (354) for estimating the travel distance.

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