An aerial battery-replacing firefighting and rescue drone system and its control method

Abstract

This invention discloses an aerial battery-changing fire rescue drone system and its control method. The method includes the following steps: S1, system preset; S2, first drone executes the mission; S3, first drone enters hovering mode when battery is low; S4, second drone flies directly below the first drone, aligning the first battery tray with the main battery slot; S5, the power supply of the first drone switches to the backup battery, and the magnetic lock is deactivated; S6, external battery falls onto the first battery tray, and the second battery tray aligns with the main battery slot; S7, replacement battery is placed into the main battery slot, the magnetic lock is energized, and the replacement battery is attracted into the main battery slot. This invention, through simultaneous improvements to the system and control method, uses a magnetic lock to magnetically connect and fix the battery or to separate it when it loses its magnetism, enabling aerial battery replacement for drones. This effectively improves the drone's endurance and reduces the time spent by the drone traveling back and forth to change batteries.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an aerial battery replacement fire rescue UAV system and its control method. Background Technology

[0002] With the continuous development of drone technology, drones are increasingly being applied in various industries, and their functions are becoming more complete and diversified. In fire rescue, drones play a crucial role. During fire rescue operations, firefighters encounter various dangers, and drones can be used in various emergency rescues, disaster relief, and assistance requests, significantly reducing casualties among both firefighters and those being rescued. For example, a fire rescue method with patent number CN201810339950.5 uses drones to locate trapped individuals, but this requires carrying supplies to the fire scene. Carrying supplies significantly reduces the drone's endurance, and the search process consumes considerable time and power, resulting in less than ideal performance in practical applications. In the field of electric drones, most currently suffer from endurance issues, with significant limitations on flight time, while fire rescue operations often last over an hour. Improving the endurance of drones in practical fire rescue applications is an urgent problem to be solved.

[0003] Prior art, patent application number CN201910602931.1 discloses an in-flight battery replacement system for a drone, which includes a drone and a device for in-flight battery replacement for the drone. The device includes: a flight mechanism, and a battery storage mechanism, a battery replacement mechanism, and a control drive mechanism mounted on the flight mechanism; the drone is provided with a battery receiving slot; the flight mechanism is used to carry the battery storage mechanism, the battery replacement mechanism, and the control drive mechanism for flight; the battery storage mechanism is used to store at least two batteries, and the battery storage mechanism includes a battery gliding unit and a battery propulsion unit. The battery pushing unit is used to define the trajectory of the battery propulsion or ejection of the battery storage mechanism, providing propulsion or ejection force to the battery located in the battery sliding unit; the battery replacement mechanism is used to grasp the battery in the battery storage mechanism and / or the battery in the battery receiving slot when replacing the battery; the control drive mechanism is used to control and drive the battery pushing unit to provide propulsion or ejection force to the battery located in the battery sliding unit, and to control and drive the battery replacement mechanism to grasp the battery in the battery storage mechanism and / or the battery in the battery receiving slot when replacing the battery, the battery replacement mechanism including at least one combination of multi-free robotic arms and robotic grippers.

[0004] Prior art, patent application number CN202110814043.3 discloses an aerial battery-replacing long-endurance drone and its usage method, which includes a second drone, a first drone, a battery replacement mechanism, and an aerial docking mechanism; wherein, the second drone is a multi-rotor drone whose battery is to be replaced, and a battery slot is provided between adjacent arm axes; the first drone and the second drone (4) have the same number of arm axes; the battery replacement mechanism includes a battery storage chamber, a circular turntable, and a multi-degree-of-freedom robotic arm; wherein, the circular turntable is installed at the bottom of the first drone; the battery storage chamber is installed between the circular turntable and the first drone, and is used to store fully charged batteries and old batteries; the multi-degree-of-freedom robotic arm is installed on the circular turntable; the end face of the multi-degree-of-freedom robotic arm is equipped with an electromagnetic chuck for picking up and placing batteries; The aerial docking mechanism includes an approach end, a female power connection interface, and a docking orientation target. The female power connection interface is positioned on the second UAV (at a corresponding position on its arm axis), and the docking orientation target is mounted on the top of the second UAV. The approach end includes a visual-assisted docking system, a telescopic claw, and a male power connection interface. The visual-assisted docking system is installed directly below the circular turntable and is used to identify the docking orientation target in real time. The telescopic claw is mounted on the arm axis of the first UAV and is used to firmly grasp the second UAV. The male power connection interface is located on the telescopic claw, with its upper end connected to the onboard power module of the first UAV and its lower end inserted into the female power connection interface. The onboard power module of the first UAV provides power to the payload of the second UAV.

[0005] Both inventions employ a method of using a robotic arm to grab the battery in mid-air and mechanically align it for battery replacement. However, since both drones are in flight when the batteries are being replaced in mid-air, they are not truly stationary. This presents certain difficulties in using a robotic arm to grab and replace the batteries in mid-air, often making it difficult to complete the battery replacement quickly and accurately. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned shortcomings by providing a novel aerial battery-changing fire rescue drone system and its control method. Through simultaneous improvements to the system and control method, the primary function of the first drone is to assist search and rescue efforts, providing reconnaissance and monitoring of the scene. The primary function of the second drone is to replace the battery of the first drone in mid-air, providing the first drone with longer flight time. The system and control method incorporate a magnetic lock on the first drone, using this lock to magnetically connect and fix the battery or to allow it to fall off and detach, thus enabling in-flight battery replacement. This effectively improves the drone's endurance, reduces the time spent traveling back and forth for battery replacement, avoids redundant reconnaissance, and provides more timely reconnaissance for rescue operations.

[0007] The technical solution is as follows:

[0008] A control method for an aerial battery-replacing firefighting and rescue drone system includes the following steps:

[0009] S1. A pre-set aerial battery-replacing fire rescue drone system is provided. The aerial battery-replacing fire rescue drone system includes a first drone, a second drone, and a remote control unit that are interconnected. The first drone includes a main body, an external battery, a spare battery, a first GPS module, a magnetic lock, and a gesture recognition control mechanism. The gesture recognition control mechanism, the magnetic lock, the first GPS module, and the spare battery are respectively installed on the main body. The bottom of the main body is provided with a main battery slot. The external battery is magnetically attracted to the main battery slot by the magnetic lock.

[0010] The second UAV includes a secondary fuselage, a replacement battery, a second GPS module, an infrared ranging sensor, a first infrared alignment device, and a second infrared alignment device. The second GPS module is installed inside the secondary fuselage. The infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are respectively installed on the top surface of the secondary fuselage. A battery tray is provided on the top of the secondary fuselage. A first battery tray and a second battery tray are provided in the battery tray. The replacement battery is placed on the second battery tray.

[0011] S2. The first UAV is controlled by hand gestures to perform aerial search and rescue, reconnaissance and monitoring work; the first GPS module obtains the host location information of the first UAV in real time, the gesture recognition control mechanism obtains the host battery power information of the external battery in real time, and sends the host location information and host battery power information to the remote control control unit in real time.

[0012] S3. If the battery level of the host device received by the remote control unit is lower than 20%, the remote control unit issues a low battery warning. At the same time, the remote control unit controls the first drone to enter a hovering state and controls the second drone to fly directly below the first drone according to the received host device position information. Meanwhile, the second drone obtains the slave device position information of the second drone's spatial position in real time through the second GPS module and sends the slave device position information to the remote control unit in real time.

[0013] S4. When the second drone flies to the direct below the first drone, the second drone uses an infrared ranging sensor to obtain the vertical distance information between the second drone and the first drone in real time, and sends the vertical distance information to the remote control unit in real time. At the same time, the remote control unit controls the second drone to fly upward and gradually approach the first drone. When the vertical distance between the second drone and the first drone is less than 50cm, the second drone uses a first infrared alignment device to align the first battery tray with the main battery slot, and sends the first alignment information of the first battery tray and the main battery slot to the remote control unit in real time.

[0014] S5. When the remote control unit receives the first alignment information and confirms that the position is aligned, the remote control unit controls the first battery tray of the second drone to rise and simultaneously controls the second drone to fly directly upwards, gradually approaching the first drone; when the vertical distance between the top surface of the first battery tray of the second drone and the bottom surface of the external battery of the first drone is less than 5cm, the remote control unit controls the power supply of the first drone to switch from the external battery to the backup battery, and then turns off the power supply of the magnetic lock of the first drone.

[0015] S6. When the magnetic lock of the first drone is de-energized, the external battery of the first drone will fall into the first battery tray of the second drone. Then, the remote control unit controls the first battery tray of the second drone to descend back to its original position. At the same time, the remote control unit controls the second drone to move horizontally. The second drone uses the second infrared alignment device to align the second battery tray with the main battery slot and sends the second alignment information of the second battery tray and the main battery slot to the remote control unit in real time.

[0016] S7. When the remote control unit receives the second alignment information and confirms that the position is aligned, the remote control unit controls the second battery tray of the second drone to rise and deliver the replacement battery on the second battery tray to the main battery slot of the first drone. At the same time, the remote control unit controls the magnetic lock of the first drone to be energized. After the magnetic lock is energized, it generates a magnetic attraction force to attract and fix the replacement battery in the main battery slot of the first drone.

[0017] S8. The remote control unit controls the power supply of the first drone to switch from the backup battery to the replacement battery. After the power supply of the first drone is switched to the replacement battery, the first drone continues to perform the mission, and the second drone automatically returns to its home location.

[0018] The first drone also includes a high-definition camera and a three-axis self-stabilizing gimbal. The high-definition camera is mounted on the bottom of the main body via the three-axis self-stabilizing gimbal. The gesture recognition control mechanism includes a first radar chip. Step S2 also includes the following steps:

[0019] S21. The gesture recognition control mechanism uses a first radar chip to transmit microwave radar signals to a preset range in real time and receives radar echo signals reflected by the hand, thereby obtaining target gesture 3D point cloud data. The gesture 3D point cloud data includes the three-dimensional coordinates (x, y, z) of each point; the preset range is the monitoring range of the gesture recognition control mechanism.

[0020] S22. Regenerate the target gesture image based on the collected 3D point cloud data of the gesture;

[0021] S23. Perform recognition preprocessing on the target gesture image; and provide feature information of the target gesture image;

[0022] S24. The feature information is identified to obtain the target gesture action, which includes the flight mode action of the first UAV and the shooting mode action of the high-definition camera.

[0023] S25. Compare the obtained target gesture with the gesture samples learned through training to identify new gesture commands.

[0024] S26. Control the flight actions of the first UAV or control the shooting actions of the high-definition camera according to the new gesture commands.

[0025] The first drone also includes a flight controller, through which the flight action control and high-definition camera shooting action control of the first drone are implemented; the gesture sample learning in step S25 includes the following steps:

[0026] S251. Use the first radar chip to collect training data on gestures;

[0027] S252. Perform recognition preprocessing on the collected training data and extract the feature information of the gestures;

[0028] S253. Recognize the feature information of the gesture and perform spatial transformation on the feature information;

[0029] S254. Complete the learning of gesture samples and store them in the host storage chip of the gesture recognition control mechanism; wherein, the gesture samples include flight actions and shooting actions, the flight actions include self-check, take-off, landing, return, hovering, forward, left turn, and right turn, and the shooting actions include taking pictures and shooting videos, and are also used to process and store the captured images or videos.

[0030] An aerial battery-changing fire rescue drone system implementing the above control method includes a first drone, a second drone, and a remote control unit interconnected with each other. The first drone includes a main body, a gesture recognition control mechanism, a first GPS module, an external battery, a backup battery, a high-definition camera, a three-axis self-stabilizing gimbal, and a magnetic lock. The bottom of the main body has a main battery slot, and the external battery is magnetically attracted to the main battery slot via the magnetic lock. The high-definition camera is mounted on one side of the main battery slot via the three-axis self-stabilizing gimbal. The interior of the main body is hollow, forming a first equipment mounting cavity and a second equipment mounting cavity. The first equipment mounting cavity is located above the second equipment mounting cavity. The gesture recognition control mechanism, the first GPS module, and the backup battery are respectively installed in the first equipment mounting cavity, and the magnetic lock is installed in the second equipment mounting cavity. The gesture recognition control mechanism is electrically connected to the external battery, the backup battery, the high-definition camera, the three-axis self-stabilizing gimbal, and the magnetic lock.

[0031] The second UAV includes a secondary fuselage, a replacement battery, a secondary battery, a second GPS module, an infrared ranging sensor, a first infrared alignment device, a second infrared alignment device, and a secondary control mechanism. The top of the secondary fuselage has a battery tray, within which are a first battery tray and a second battery tray. The replacement battery is placed on the second battery tray. The infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are respectively installed on one side of the battery tray. The interior of the secondary fuselage is hollow, forming a third equipment mounting cavity. The secondary control mechanism, the secondary battery, and the second GPS module are respectively installed within the third equipment mounting cavity. The secondary battery, the second GPS module, the infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are electrically connected to the secondary control mechanism.

[0032] The magnetic lock includes a magnetic control module and two magnetic silicon steel sheets. The magnetic control module is installed in the second device mounting cavity. The two magnetic silicon steel sheets are located at both ends of the bottom of the main battery slot and are electrically connected to the magnetic control module. Two battery electrode springs are provided in the middle of the bottom surface of the main battery slot. The two battery electrode springs and the magnetic control module are electrically connected to the gesture recognition control mechanism. Two magnetic iron sheets and two battery electrode contacts are respectively provided on the top surface of the external battery and the replacement battery. The positions of the two magnetic iron sheets on the external battery and the replacement battery correspond to the positions of the two magnetic silicon steel sheets, and the positions of the two battery electrode contacts on the external battery and the replacement battery correspond to the positions of the two battery electrode springs.

[0033] The first battery tray includes a first tray, a first lifting drive motor, a first guide rail, a first slide rod, and a first rack. The first lifting drive motor and the first guide rail are respectively installed in the third equipment mounting cavity. The first tray is installed in the battery slot. The first slide rod is vertically slidably connected to the first guide rail. The first lifting drive motor is driven by the first slide rod through the first rack. The upper end of the first slide rod passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery slot to connect with the bottom of the first tray.

[0034] The second battery tray includes a second tray, a second lifting drive motor, a second guide rail, a second slide rod, and a second rack. The second lifting drive motor and the second guide rail are respectively installed in the third equipment mounting cavity. The second tray is installed in the battery slot. The second slide rod is vertically slidably connected to the second guide rail. The second lifting drive motor is driven by the second slide rod through the second rack. The upper end of the second slide rod passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery slot to connect with the bottom of the second tray. The top surfaces of the first tray and the second tray are respectively provided with sponge pads.

[0035] The first infrared alignment device has two first infrared emitting tubes, which are installed on the top of the sub-machine body and located on both sides of the first tray. The second infrared alignment device has two second infrared emitting tubes, which are installed on the top of the sub-machine body and located on both sides of the second tray. Two infrared receiving tubes are respectively provided on both sides of the main unit battery slot. The positions of the two first infrared emitting tubes or the two second infrared emitting tubes correspond to the positions of the two infrared receiving tubes.

[0036] The gesture recognition control mechanism includes a host PCB board, a first radar chip, a host main control chip, a gyroscope sensor, a barometric pressure sensor, an accelerometer sensor, a first wireless communication unit, and a host storage chip. The first radar chip, the host main control chip, the gyroscope sensor, the barometric pressure sensor, the accelerometer sensor, the first wireless communication unit, and the host storage chip are respectively mounted on the host PCB board and electrically connected to the host PCB board.

[0037] The first drone also includes a flight controller, which is installed in the mounting cavity of the first device and electrically connected to the gesture recognition control mechanism. The flight controller selects the flight action control of the drone body and the shooting action control of the high-definition camera according to the control commands sent by the gesture recognition control mechanism.

[0038] The first drone also includes an infrared camera, a thermal imaging camera, and two searchlights. The infrared camera, thermal imaging camera, and two searchlights are respectively mounted on the side of the main body and are electrically connected to the gesture recognition control mechanism.

[0039] The first drone also includes four tripods, four connecting arms, four propellers, and four flight drive motors.

[0040] It should be noted that:

[0041] The aforementioned "first, second..." does not represent a specific quantity or order, but is merely used to distinguish the names.

[0042] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] The advantages and working principle of this invention are explained below:

[0044] 1. The present invention provides an aerial battery-replacing fire rescue drone system and control method. The aerial battery-replacing fire rescue drone system includes a first drone, a second drone, and a remote control unit. The first drone includes a main fuselage, an external battery, a backup battery, a first GPS module, a magnetic lock, and a gesture recognition control mechanism. The gesture recognition control mechanism is equipped with a radar chip. The radar chip actively emits microwave radar signals and receives radar echo signals reflected by a human hand, thereby collecting 3D point cloud data of the gesture. Based on the collected 3D point cloud data, a target gesture image is regenerated. The newly generated target gesture image is then processed for recognition, and feature information of the target gesture image is provided to obtain the target gesture action. The obtained target gesture action is then compared with a gesture sample. The system compares and identifies new gesture commands, then controls the drone's flight or camera movements based on these new commands. A main battery slot is located at the bottom of the drone's main body, containing a magnetic lock. The external battery, which powers the drone, is magnetically attached to the slot. To remove the external battery, the magnetic lock is closed, causing the battery to fall out. When a replacement battery is needed, it is pushed into the slot, and the magnetic lock is activated, attracting the battery and ensuring it remains electrically connected to the drone.In operation, this system first uses gestures to control a first drone to perform aerial search and rescue, reconnaissance, and monitoring tasks, enabling aerial collaborative fire rescue operations. During these operations, when the first drone's external battery level drops below 20%, the remote control unit issues a low battery warning. Simultaneously, the remote control unit controls the first drone to enter a hovering state and, based on the received host drone position information, controls a second drone to fly directly below the first drone. Once the second drone reaches directly below the first drone, it ascends, gradually approaching it. Simultaneously, infrared ranging sensors are used to acquire real-time vertical distance information between the second and first drones. Preferably, multiple infrared ranging sensors are located on the top of the second drone's fuselage. When the vertical distance between the second and first drones is less than 50cm, the second drone uses a first infrared alignment device to align its first battery tray with the host drone's battery compartment. When the first battery tray and the host drone are aligned, the remote control unit controls the second drone's first battery tray to rise, while simultaneously controlling the second drone to continue... Flying straight upwards, the second drone gradually approaches the first drone. When the vertical distance between the top surface of the first battery tray and the bottom surface of the first drone's external battery is less than 5cm, the remote control unit switches the power supply of the first drone from the external battery to the backup battery. Then, it shuts off the power supply of the first drone's magnetic lock, causing the external battery to lose its magnetic attraction and fall out of the main battery slot, then into the first battery tray. Next, the remote control unit controls the first battery tray to descend back to its original position. Simultaneously, the remote control unit controls the second drone to fly horizontally and activates its second infrared alignment device to align the second battery tray with the main battery slot. When the second battery tray and the main battery slot are aligned, the remote control unit controls the second drone's second battery tray to rise, delivering the replacement battery into the main battery slot. At the same time, the magnetic lock is activated, generating magnetic attraction to attach and fix the replacement battery in the main battery slot. Then, the remote control unit switches the power supply of the first drone from the backup battery to the replacement battery. The power supply switch for the first drone to the replacement battery is complete, the first drone continues to perform its mission, and the second drone automatically returns to base. This system and control method, through synchronous improvement of the system and control method, equips the first UAV with a magnetic lock, which magnetically connects and fixes the battery or causes it to fall off due to demagnetization, thus realizing the replacement of the battery in the air. This can effectively improve the UAV's endurance, reduce the time spent by the UAV going back and forth to replace the battery, avoid leaving the scene and interrupting reconnaissance by repeated flights, and provide more timely and continuous real-time field data for on-site rescue work.

[0045] 2. The gesture recognition control mechanism of the first UAV of the present invention includes a first radar chip; the radar chip is a miniature sensor based on radar frequency application, using wide-beam radar to identify motion, speed and distance, operating at a radar frequency of 60 GHz (gigahertz, i.e., 10 to the power of 9 hertz), and can scan actions at a rate of 10,000 frames per second; thereby capturing hand movements at high speed, and generating 3D point cloud data of the gesture from the start coordinates to the end coordinates, realizing gesture action recognition. The radar chip actively emits microwave radar signals and receives radar echo signals reflected by the human hand, thereby collecting 3D point cloud data of the gesture, and then regenerates the target based on the collected 3D point cloud data of the gesture. The method first generates a gesture image, then processes the newly generated target gesture image for recognition, and provides feature information of the target gesture image to obtain the target gesture action. The obtained target gesture action is then compared with a gesture sample to identify new gesture commands. Finally, the method controls the flight actions of the UAV or the shooting actions of the high-definition camera based on the new gesture control commands. Radar signals can penetrate obstacles to avoid interference, making gesture recognition more accurate. Compared with existing gesture visual recognition, this method improves the gesture recognition distance, speed, and accuracy. Therefore, the UAV control method of this invention has a longer control range and stronger obstacle avoidance capabilities, making it suitable for long-distance flight control and shooting.

[0046] 3. The first UAV of the present invention also includes a flight controller. The flight controller selects the flight action control of the first UAV and the shooting action control of the high-definition camera according to the control instructions sent by the gesture recognition control mechanism. The flight controller drives the UAV body and the high-definition camera to move according to the real-time control instructions. The flight actions include self-check, take-off, landing, return, hovering, forward, left turn, and right turn. The shooting actions include taking pictures and shooting videos. It is also used to process and store the captured images or videos.

[0047] 4. The magnetic lock of the present invention includes a magnetic control module, two magnetic silicon steel sheets, two battery electrode springs in the middle of the bottom surface of the main battery slot, and two magnetic iron sheets and two battery electrode contacts on the top surface of the external battery and the replacement battery, respectively. The magnetic lock utilizes the principle of electromagnetism. When current passes through the two magnetic silicon steel sheets, the two magnetic silicon steel sheets generate a strong attraction force to tightly hold the two magnetic iron sheets on the battery. When the magnetic control module is de-energized, the two magnetic silicon steel sheets lose their magnetic attraction force and separate from the two magnetic iron sheets, thereby causing the external battery or the replacement battery to fall out of the main battery slot. The two battery electrode springs are elastic, making the power conduction between the battery electrode springs and the battery electrode contacts more stable.

[0048] 5. The first battery tray of the present invention includes a first tray, a first lifting drive motor, a first guide rail, a first slide rod, and a first rack. The second battery tray includes a second tray, a second lifting drive motor, a second guide rail, a second slide rod, and a second rack. The lifting drive motor drives the rack, thereby causing the slide rod to slide up and down along the vertical direction of the guide rail, thereby controlling the lifting and lowering of the tray.

[0049] 6. The first infrared alignment device of the present invention has two first infrared emitting tubes, and the second infrared alignment device has two second infrared emitting tubes. Two infrared receiving tubes are respectively provided on both sides of the main unit battery slot. When the first infrared alignment device is used to align the first tray with the main unit battery slot, the two first infrared emitting tubes emit infrared rays. When the two infrared receiving tubes on both sides of the main unit battery slot simultaneously receive the infrared ray signals emitted by the two first infrared emitting tubes, the first tray is aligned with the main unit battery slot. Similarly, when the second infrared alignment device is used to align the second tray with the main unit battery slot, the two second infrared emitting tubes emit infrared rays. When the two infrared receiving tubes on both sides of the main unit battery slot simultaneously receive the infrared ray signals emitted by the two second infrared emitting tubes, the second tray is aligned with the main unit battery slot.

[0050] 7. The gesture recognition control mechanism of the first UAV of the present invention includes a host PCB board, a first radar chip, a host main control chip, a gyroscope sensor, a barometric pressure sensor, an accelerometer sensor, a first wireless communication unit, and a host storage chip. The gyroscope is an angular motion detection device, the barometric pressure sensor is an instrument used to measure the absolute pressure of gas, the accelerometer sensor is a sensor that can measure acceleration, and the first wireless communication unit is used for wireless communication transmission.

[0051] 8. The first UAV of the present invention also includes an infrared camera, a thermal imaging camera and two searchlights. The infrared camera, thermal imaging camera and two searchlights provide clear images for mission execution at night and in low visibility environments, reducing potential safety hazards. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the control method of the battery replacement fire rescue drone system according to an embodiment of the present invention.

[0053] Figure 2 This is a schematic diagram of a scenario in which an external battery is removed from a drone in mid-air, according to the first embodiment of the present invention.

[0054] Figure 3 This is a schematic diagram of a scenario in which a first UAV is replaced with a replacement battery in mid-air, according to an embodiment of the present invention.

[0055] Figure 4 This is a bottom view of the first UAV in this embodiment of the invention after the external battery has been removed.

[0056] Figure 5 yes Figure 4 Sectional view of AA.

[0057] Figure 6 yes Figure 5 BB section view.

[0058] Figure 7 This is a front view of the first UAV in an embodiment of the present invention.

[0059] Figure 8 This is a three-dimensional schematic diagram of the external battery of the first UAV according to an embodiment of the present invention.

[0060] Figure 9 This is a top view of the second UAV according to an embodiment of the present invention.

[0061] Figure 10 yes Figure 9 CC section view.

[0062] Figure 11 yes Figure 10 DD section view.

[0063] Explanation of reference numerals in the attached figures:

[0064] 10. First UAV; 11. Main unit fuselage; 111. Main unit battery slot; 112. Battery electrode spring; 113. Infrared receiver; 12. Gesture recognition control mechanism; 121. Main unit PCB board; 122. First radar chip; 123. Main unit main control chip; 124. Gyroscope sensor; 125. Barometric pressure sensor; 126. Accelerometer sensor; 127. First wireless communication unit; 128. Main unit storage chip; 13. First GPS module; 14. External battery; 141. Magnetic iron sheet; 142. Battery electrode contact; 15. Backup battery; 16. High-definition camera; 17. Three-axis self-stabilizing gimbal; 18. Magnetic lock; 181. Magnetic control module; 182. Magnetic silicon steel sheet; 191. Flight controller; 192. 193 Infrared camera, 194 Thermal imaging camera, 20 Searchlight, 21 Second UAV, 21 Sub-unit fuselage, 211 Battery tray, 22 Replacement battery, 23 Sub-unit battery, 24 Second GPS module, 25 Infrared ranging sensor, 26 First infrared emitter, 27 Second infrared emitter, 28 Sub-unit control mechanism, 30 First battery tray, 31 First tray, 32 First lifting drive motor, 33 First guide rail, 34 First slide bar, 35 First rack, 40 Second battery tray, 41 Second tray, 42 Second lifting drive motor, 43 Second guide rail, 44 Second slide bar, 45 Second rack, 51 Landing frame, 52 Propeller, 53 Flight drive motor. Detailed Implementation

[0065] The embodiments of the present invention will be described in detail below.

[0066] Example 1:

[0067] See Figures 1 to 11 As shown, the control method for the aerial battery replacement fire rescue drone system provided by the present invention includes the following steps:

[0068] Step S1: A pre-set aerial battery replacement fire rescue drone system is set up. The aerial battery replacement fire rescue drone system includes a first drone 10, a second drone 20, and a remote control unit that are interconnected. The first drone 10 includes a main body 11, an external battery 14, a spare battery 15, a first GPS module 13, a magnetic lock 18, and a gesture recognition control mechanism 12. The gesture recognition control mechanism 12, the magnetic lock 18, the first GPS module 13, and the spare battery 15 are respectively installed on the main body 11. The bottom of the main body 11 is provided with a main battery slot 111. The external battery 14 is magnetically attracted to the main battery slot 111 by the magnetic lock 18.

[0069] The second UAV 20 includes a secondary fuselage 21, a replacement battery 22, a second GPS module 24, an infrared ranging sensor 25, a first infrared alignment device, and a second infrared alignment device. The second GPS module 24 is installed inside the secondary fuselage 21. The infrared ranging sensor 25, the first infrared alignment device, and the second infrared alignment device are respectively installed on the top surface of the secondary fuselage 21. A battery tray 211 is provided on the top of the secondary fuselage 21. A first battery tray 30 and a second battery tray 40 are provided in the battery tray 211. The replacement battery 22 is placed on the second battery tray 40.

[0070] Step S2: Use gestures to control the first UAV 10 to perform aerial search and rescue, reconnaissance and monitoring work; the first GPS module 13 obtains the host position information of the spatial position of the first UAV 10 in real time, the gesture recognition control mechanism 12 obtains the host battery power information of the external battery 14 in real time, and sends the host position information and host battery power information to the remote control control unit in real time.

[0071] Step S3: If the battery level of the host device received by the remote control unit is lower than 20%, the remote control unit issues a low battery warning; at the same time, the remote control unit controls the first drone 10 to enter a hovering state, and controls the second drone 20 to fly directly below the first drone 10 according to the received host device position information; at the same time, the second drone 20 obtains the slave position information of the second drone 20 in real time through the second GPS module 24, and sends the slave position information to the remote control unit in real time.

[0072] Step S4: When the second drone 20 flies to the direct below the first drone 10, the second drone 20 uses the infrared ranging sensor 25 to obtain the vertical distance information between the second drone 20 and the first drone 10 in real time, and sends the vertical distance information to the remote control unit in real time. At the same time, the remote control unit controls the second drone 20 to fly upward and gradually approach the first drone 10. When the vertical distance between the second drone 20 and the first drone 10 is less than 50cm, the second drone 20 uses the first infrared alignment device to align the first battery tray 30 with the main battery slot 111, and sends the first alignment information of the first battery tray 30 and the main battery slot 111 to the remote control unit in real time.

[0073] Step S5: When the remote control unit receives the first alignment information indicating that the position is aligned, see... Figure 2 As shown, the remote control unit controls the first battery tray 30 of the second drone 20 to rise, and at the same time controls the second drone 20 to fly directly upward, gradually approaching the first drone 10; when the vertical distance between the top surface of the first battery tray 30 of the second drone 20 and the bottom surface of the external battery 14 of the first drone 10 is less than 5cm, the remote control unit controls the power supply of the first drone 10 to switch from the external battery 14 to the backup battery 15, and then turns off the power supply of the magnetic lock 18 of the first drone 10.

[0074] Step S6: When the magnetic lock 18 of the first drone 10 is de-energized, the external battery 14 of the first drone 10 will fall into the first battery tray 30 of the second drone 20. Then, the remote control unit controls the first battery tray 30 of the second drone 20 to descend back to its original position. At the same time, the remote control unit controls the second drone 20 to move horizontally. The second drone 20 uses the second infrared alignment device to align the second battery tray 40 with the main battery slot 111, and sends the second alignment information of the second battery tray 40 and the main battery slot 111 to the remote control unit in real time.

[0075] Step S7: When the remote control unit receives the second alignment information indicating that the position is aligned, see... Figure 3 As shown, the remote control unit controls the second battery tray 40 of the second drone 20 to rise, and sends the replacement battery 22 on the second battery tray 40 to the main battery slot 111 of the first drone 10. At the same time, the remote control unit controls the magnetic lock 18 of the first drone 10 to be energized. After the magnetic lock 18 is energized, it generates a magnetic attraction force to attract and fix the replacement battery 22 into the main battery slot 111 of the first drone 10.

[0076] Step S8: The remote control unit controls the power supply of the first drone 10 to switch from the backup battery 15 to the replacement battery 22. The power supply of the first drone 10 is switched to the replacement battery 22. The first drone 10 continues to perform the mission, and the second drone 20 automatically returns to home.

[0077] See Figures 4 to 11 As shown, an aerial battery-changing fire rescue drone system implementing the above control method includes a first drone 10, a second drone 20, and a remote control unit that are interconnected. The first drone 10 includes a main body 11, a gesture recognition control mechanism 12, a first GPS module 13, an external battery 14, a backup battery 15, a high-definition camera 16, a three-axis self-stabilizing gimbal 17, and a magnetic lock 18. The bottom of the main body 11 has a main battery slot 111, and the external battery 14 is magnetically attracted to the main battery slot 111 by the magnetic lock 18. The high-definition camera 16... The three-axis self-stabilizing gimbal 17 is installed on one side of the main unit's battery compartment 111. The interior of the main unit body 11 is hollow, forming a first device mounting cavity and a second device mounting cavity. The first device mounting cavity is located above the second device mounting cavity. The gesture recognition control mechanism 12, the first GPS module 13, and the backup battery 15 are respectively installed in the first device mounting cavity. The magnetic lock 18 is installed in the second device mounting cavity. The gesture recognition control mechanism 12 is electrically connected to the external battery 14, the backup battery 15, the high-definition camera 16, the three-axis self-stabilizing gimbal 17, and the magnetic lock 18.

[0078] The second UAV 20 includes a secondary fuselage 21, a replacement battery 22, a secondary battery 23, a second GPS module 24, an infrared ranging sensor 25, a first infrared alignment device, a second infrared alignment device, and a secondary control mechanism 28. The top of the secondary fuselage 21 is provided with a battery tray 211, and the battery tray 211 is provided with a first battery tray 30 and a second battery tray 40. The replacement battery 22 is placed on the second battery tray 40. The infrared ranging sensor 25, the first infrared alignment device, and the second infrared alignment device are respectively installed on one side of the battery tray 211. The interior of the secondary fuselage 21 is hollow to form a third equipment mounting cavity. The secondary control mechanism 28, the secondary battery 23, and the second GPS module 24 are respectively installed in the third equipment mounting cavity. The secondary battery 23, the second GPS module 24, the infrared ranging sensor 25, the first infrared alignment device, and the second infrared alignment device are electrically connected to the secondary control mechanism 28.

[0079] The present invention provides an aerial battery-replacing fire rescue drone system and control method. The aerial battery-replacing fire rescue drone system includes a first drone 10, a second drone 20, and a remote control unit. The first drone 10 includes a main body 11, an external battery 14, a backup battery 15, a first GPS module 13, a magnetic lock 18, and a gesture recognition control mechanism 12. The gesture recognition control mechanism 12 is equipped with a radar chip. The radar chip actively emits microwave radar signals and receives radar echo signals reflected by a human hand, thereby collecting 3D point cloud data of the gesture. Based on the collected 3D point cloud data, a target gesture image is regenerated. The newly generated target gesture image is then processed for recognition, and feature information is provided to obtain the target gesture action. The obtained target gesture action is then compared with a gesture sample to identify new gesture commands. Finally, the drone body is controlled to perform flight actions or the camera is controlled to perform shooting actions according to the new gesture control commands. A main battery slot 111 is provided at the bottom of the main body 11 of the first drone 10. A magnetic lock 18 is provided inside the main body 11. The external battery 14, which serves as the flight power of the first drone 10, is magnetically attracted to the main battery slot 111 by the magnetic force generated by the magnetic lock 18. When it is necessary to replace the external battery 14, the magnetic lock 18 can be closed to make the external battery 14 lose its magnetic attraction and fall out of the main battery slot 111. When it is necessary to replace the replacement battery 22 in the first drone 10, the replacement battery 22 can be pushed into the main battery slot 111, and then the magnetic lock 18 can be opened. The magnetic lock 18 generates a magnetic attraction force to attract and fix the replacement battery 22 in the main battery slot 111 and make it electrically connected to the first drone 10.In operation, this system first uses hand gestures to control the first drone 10 to perform aerial search and rescue, reconnaissance, and monitoring tasks, enabling aerial collaborative fire rescue operations. During these operations, when the external battery 14 of the first drone 10 drops below 20%, the remote control unit issues a low battery warning. Simultaneously, the remote control unit controls the first drone 10 to enter a hovering state and, based on the received host location information, controls the second drone 20 to fly directly below the first drone 10. Once the second drone 20 reaches directly below the first drone 10, it flies upwards, gradually approaching the first drone 10, while simultaneously using infrared ranging. Sensor 25 acquires the vertical distance information between the second UAV 20 and the first UAV 10 in real time. Preferably, there are multiple infrared ranging sensors 25, which are respectively installed on the top of the auxiliary aircraft fuselage 21. When the vertical distance between the second UAV 20 and the first UAV 10 is less than 50cm, the second UAV 20 uses the first infrared alignment device to align the first battery tray 30 with the main battery slot 111. When the positions of the first battery tray 30 and the main battery slot 111 are aligned, the remote control unit controls the first battery tray 30 of the second UAV 20 to rise, and at the same time controls the second UAV 20 to continue flying directly upward, gradually approaching the ground. When the vertical distance between the top surface of the first battery tray 30 and the bottom surface of the external battery 14 of the first drone 10 is less than 5cm, the remote control unit controls the power supply of the first drone 10 to switch from the external battery 14 to the backup battery 15. Then, the power supply of the magnetic lock 18 of the first drone 10 is turned off, causing the external battery 14 to lose its magnetic attraction and fall out of the main battery slot 111, and then into the first battery tray 30. Next, the remote control unit controls the first battery tray 30 to descend back to its original position. At the same time, the remote control unit controls the second drone 20 to fly horizontally and activates the second infrared alignment device of the second drone 20 to place the second battery tray... The second battery tray 40 is aligned with the main battery slot 111. When the second battery tray 40 is aligned with the main battery slot 111, the remote control unit controls the second battery tray 40 of the second drone 20 to rise, sending the replacement battery 22 into the main battery slot 111. At the same time, the magnetic lock 18 is energized. After the magnetic lock 18 is energized, it generates a magnetic attraction force, which attracts and fixes the replacement battery 22 into the main battery slot 111. Then, the remote control unit controls the power supply of the first drone 10 to switch from the backup battery 15 to the replacement battery 22. The power supply of the first drone 10 is changed to the replacement battery 22. The first drone 10 continues to perform the mission, and the second drone 20 automatically returns to home.The system and control method, through synchronous improvement of the system and control method, equips the first UAV 10 with a magnetic lock 18, and uses the magnetic lock 18 to magnetically connect and fix the battery or to separate it when it is demagnetized, so as to realize the replacement of the battery in the air. This can effectively improve the UAV's endurance, reduce the time spent by the UAV to go back and forth to replace the battery, avoid repeated reconnaissance, and provide more timely reconnaissance information for rescue work.

[0080] The magnetic lock 18 includes a magnetic control module 181 and two magnetic silicon steel sheets 182. The magnetic control module 181 is installed in the second device mounting cavity. The two magnetic silicon steel sheets 182 are located at both ends of the bottom of the main battery slot 111 and are electrically connected to the magnetic control module 181. Two battery electrode springs 112 are provided in the middle of the bottom surface of the main battery slot 111. The two battery electrode springs 112 and the magnetic control module 181 are electrically connected to the gesture recognition control mechanism 12. The top surfaces of the external battery 14 and the replacement battery 22 are respectively provided with two magnetic iron sheets 141 and two battery electrode contacts 142. The positions of the two magnetic iron sheets 141 on the external battery 14 and the replacement battery 22 correspond to the positions of the two magnetic silicon steel sheets 182. The positions of the two battery electrode contacts 142 on the external battery 14 and the replacement battery 22 correspond to the positions of the two battery electrode springs 112. The magnetic lock 18 utilizes the principle of electromagnetism. When current passes through the two magnetic silicon steel sheets 182, they generate a strong attraction that tightly holds the two magnetic iron sheets 141 on the battery. When the magnetic control module 181 is de-energized, the two magnetic silicon steel sheets 182 lose their magnetic attraction and separate from the two magnetic iron sheets 141, thereby allowing the external battery 14 or the replacement battery 22 to fall out of the main unit's battery slot 111. The two battery electrode springs 112 are elastic, making the electrical conduction between the battery electrode springs 112 and the battery electrode contacts 142 more stable.

[0081] The first battery tray 30 includes a first tray 31, a first lifting drive motor 32, a first guide rail 33, a first slide rod 34, and a first rack 35. The first lifting drive motor 32 and the first guide rail 33 are respectively installed in the third equipment mounting cavity. The first tray 31 is installed in the battery tray 211. The first slide rod 34 is vertically slidably connected to the first guide rail 33. The first lifting drive motor 32 is driven by the first slide rod 34 through the first rack 35. The upper end of the first slide rod 34 passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery tray 211 to connect with the bottom of the first tray 31. The second battery tray 40 includes a second tray 41, a second lifting drive motor 42, a second guide rail 43, a second slide rod 44, and a second rack 45. The second lifting drive motor 42... The second guide rails 43 are respectively installed in the third equipment mounting cavity, the second tray 41 is installed in the battery tray 211, the second slide rod 44 is vertically slidably connected to the second guide rails 43, the second lifting drive motor 42 is driven and connected to the second slide rod 44 through the second rack 45, the upper end of the second slide rod 44 passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery tray 211 to connect with the bottom of the second tray 41, the lifting drive motor drives the rack, so that the slide rod slides up and down along the vertical direction of the guide rail, thereby controlling the lifting and lowering of the tray. The top surfaces of the first tray 31 and the second tray 41 are respectively provided with sponge pads, so that the top surfaces of the first tray 31 and the second tray 41 are elastic, and the elastic first tray 31 and the second tray 41 can reduce the impact force when the battery falls into the tray.

[0082] The first infrared alignment device has two first infrared emitting tubes 26, which are installed on the top of the sub-unit body 21 and located on both sides of the first tray 31. The second infrared alignment device has two second infrared emitting tubes 27, which are installed on the top of the sub-unit body 21 and located on both sides of the second tray 41. Two infrared receiving tubes 113 are respectively provided on both sides of the main unit battery slot 111. The positions of the two first infrared emitting tubes 26 or the two second infrared emitting tubes 27 correspond to the positions of the two infrared receiving tubes 113. Two infrared receivers 113 are respectively provided on both sides of the main battery slot 111. When the first infrared alignment device is used to align the first tray 31 with the main battery slot 111, the two first infrared emitters 26 emit infrared rays. When the two infrared receivers 113 on both sides of the main battery slot 111 simultaneously receive the infrared signals emitted by the two first infrared emitters 26, the first tray 31 is aligned with the main battery slot 111. Similarly, when the second infrared alignment device is used to align the second tray 41 with the main battery slot 111, the two second infrared emitters 27 emit infrared rays. When the two infrared receivers 113 on both sides of the main battery slot 111 simultaneously receive the infrared signals emitted by the two second infrared emitters 27, the second tray 41 is aligned with the main battery slot 111. This allows for quick, accurate, and stable battery replacement.

[0083] Example 2:

[0084] The aerial battery-changing fire rescue drone system and its control method provided in Embodiment 2 of the present invention are basically the same as those in Embodiment 1, except that: the first drone 10 further includes a high-definition camera 16 and a three-axis self-stabilizing gimbal 17. The high-definition camera 16 is mounted on the bottom of the main body 11 via the three-axis self-stabilizing gimbal 17, and the gesture recognition control mechanism 12 includes a first radar chip 122. The control method of the aerial battery-changing fire rescue drone system provided in this embodiment, based on Embodiment 1, further includes the following steps in step S2:

[0085] Step S21: The gesture recognition control mechanism 12 uses the first radar chip 122 to transmit microwave radar signals to a preset range in real time and receive radar echo signals reflected by the hand, thereby obtaining target gesture 3D point cloud data. The gesture 3D point cloud data includes the three-dimensional coordinates (x, y, z) of each point; the preset range is the monitoring range of the gesture recognition control mechanism 12.

[0086] Step S22: Regenerate the target gesture image based on the collected 3D point cloud data of the gesture;

[0087] Step S23: Perform recognition preprocessing on the target gesture image; and provide feature information of the target gesture image;

[0088] Step S24: Recognize the feature information to obtain the target gesture action, which includes the flight mode action of the first UAV 10 and the shooting mode action of the high-definition camera 16.

[0089] Step S25: Compare the obtained target gesture with the gesture samples learned through training to identify new gesture commands.

[0090] Step S26: Control the flight of the first drone 10 or control the shooting of the high-definition camera 16 according to the new gesture commands.

[0091] The gesture recognition control mechanism 12 of the first UAV 10 of the present invention includes a first radar chip 122. The radar chip is a miniature sensor based on radar frequency application, using wide-beam radar to identify motion, speed and distance. It operates at a radar frequency of 60 GHz (gigahertz, i.e., 10 to the power of 9 hertz) and can scan actions at a rate of 10,000 frames per second. This allows for high-speed capture of hand movements, and the generation of 3D point cloud data of the gesture from the start coordinates to the end coordinates, thus realizing gesture action recognition. The radar chip actively emits microwave radar signals and receives radar echo signals reflected by the human hand, thereby collecting 3D point cloud data of the gesture, and then regenerates the gesture based on the collected 3D point cloud data. The target gesture image is generated, and then the newly generated target gesture image is processed for recognition, and the feature information of the target gesture image is provided to obtain the target gesture action. The obtained target gesture action is then compared with the gesture sample to identify the new gesture command. Finally, the flight action control of the UAV body or the shooting action control of the high-definition camera 16 is performed according to the new gesture control command. The radar signal can penetrate obstacles to avoid interference, which makes the gesture recognition more accurate. Compared with the existing gesture visual recognition, the gesture recognition distance, speed and accuracy are improved. Therefore, the UAV control method of the present invention has a longer control range and a relatively stronger obstacle avoidance function, and is suitable for long-distance flight control and shooting.

[0092] The aerial battery replacement fire rescue drone system provided by the present invention, which implements the aforementioned control method, includes a gesture recognition control mechanism 12 comprising a main unit PCB board 121, a first radar chip 122, a main unit control chip 123, a gyroscope sensor 124, a barometric pressure sensor 125, an accelerometer sensor 126, a first wireless communication unit 127, and a main unit storage chip 128. The first radar chip 122, the main unit control chip 123, the gyroscope sensor 124, the barometric pressure sensor 125, the accelerometer sensor 126, the first wireless communication unit 127, and the main unit storage chip 128 are respectively mounted on the main unit PCB board 121 and electrically connected to it. The gyroscope is an angular motion detection device, the barometric pressure sensor 125 is an instrument for measuring the absolute pressure of gas, the accelerometer sensor 126 is a sensor capable of measuring acceleration, and the first wireless communication unit 127 is used for wireless communication transmission.

[0093] The first UAV 10 also includes an infrared camera 192, a thermal imaging camera 193, two searchlights 194, four tripods 51, four connecting arms, four propellers 52, and four flight drive motors 53. The infrared camera 192, thermal imaging camera 193, and two searchlights 194 are respectively mounted on the sides of the main fuselage 11 and are electrically connected to the gesture recognition control mechanism 12. The placement of the infrared camera 192, thermal imaging camera 193, and two searchlights 194 provides clear images for mission execution at night and in low-visibility environments, reducing potential safety hazards.

[0094] Example 3:

[0095] The aerial battery-changing fire rescue drone system and its control method provided in Embodiment 3 of the present invention are basically the same as those in Embodiment 2, except that: the first drone 10 further includes a flight controller 191, which is installed in the first equipment mounting cavity and electrically connected to the gesture recognition control mechanism 12. The flight controller 191 selects the flight action control of the drone body and the shooting action control of the high-definition camera 16 according to the control commands sent by the gesture recognition control mechanism 12; the control method of the aerial battery-changing fire rescue drone system provided in this embodiment, based on Embodiment 2, includes the following steps in the gesture sample learning step S25:

[0096] Step S251: Use the first radar chip 122 to collect training data on gestures;

[0097] Step S252: Perform recognition preprocessing on the collected training data and extract the feature information of the gestures;

[0098] Step S253: Recognize the feature information of the gesture and perform spatial transformation on the feature information;

[0099] Step S254: Complete the learning of gesture samples and store them in the host storage chip 128 of the gesture recognition control mechanism 12; wherein, the gesture samples include flight actions and shooting actions, the flight actions include self-check, take-off, landing, return, hovering, forward, left turn, right turn, and shooting actions include taking pictures and shooting videos, and are also used to process and store the images or videos acquired by shooting.

[0100] The flight controller 191 selects the flight action control of the first UAV 10 and the shooting action control of the high-definition camera 16 according to the control commands sent by the gesture recognition control mechanism 12. The flight controller 191 drives the UAV body and the high-definition camera 16 to move according to the real-time control commands. The flight actions include self-check, take-off, landing, return, hovering, forward, left turn, and right turn. The shooting actions include taking pictures and shooting videos. It is also used to process and store the captured images or videos.

[0101] The above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention; any substitutions and improvements made without departing from the concept of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A control method for an aerial battery-changing firefighting and rescue drone system, characterized in that, Includes the following steps: S1. A pre-set aerial battery-replacing fire rescue drone system is provided. The aerial battery-replacing fire rescue drone system includes a first drone, a second drone, and a remote control unit that are interconnected. The first drone includes a main body, an external battery, a spare battery, a first GPS module, a magnetic lock, and a gesture recognition control mechanism. The gesture recognition control mechanism, the magnetic lock, the first GPS module, and the spare battery are respectively installed on the main body. The bottom of the main body is provided with a main battery slot. The external battery is magnetically attached to the main battery slot. The second UAV includes a secondary fuselage, a replacement battery, a second GPS module, an infrared ranging sensor, a first infrared alignment device, and a second infrared alignment device. The second GPS module is installed inside the secondary fuselage. The infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are respectively installed on the top surface of the secondary fuselage. A battery tray is provided on the top of the secondary fuselage. A first battery tray and a second battery tray are provided in the battery tray. The replacement battery is placed on the second battery tray. S2. The first UAV is controlled by hand gestures to perform aerial search and rescue, reconnaissance and monitoring work; the first GPS module obtains the host location information of the first UAV in real time, the gesture recognition control mechanism obtains the host battery power information of the external battery in real time, and sends the host location information and host battery power information to the remote control control unit in real time. S3. If the battery level of the host device received by the remote control unit is lower than 20%, the remote control unit issues a low battery warning. At the same time, the remote control unit controls the first drone to enter a hovering state and controls the second drone to fly directly below the first drone according to the received host device position information. Meanwhile, the second drone obtains the slave device position information of the second drone's spatial position in real time through the second GPS module and sends the slave device position information to the remote control unit in real time. S4. When the second drone flies to the direct below the first drone, the second drone uses an infrared ranging sensor to obtain the vertical distance information between the second drone and the first drone in real time, and sends the vertical distance information to the remote control unit in real time. At the same time, the remote control unit controls the second drone to fly upward and gradually approach the first drone. When the vertical distance between the second drone and the first drone is less than 50cm, the second drone uses a first infrared alignment device to align the first battery tray with the main battery slot, and sends the first alignment information of the first battery tray and the main battery slot to the remote control unit in real time. S5. When the remote control unit receives the first alignment information and confirms that the position is aligned, the remote control unit controls the first battery tray of the second drone to rise and simultaneously controls the second drone to fly directly upwards, gradually approaching the first drone; when the vertical distance between the top surface of the first battery tray of the second drone and the bottom surface of the external battery of the first drone is less than 5cm, the remote control unit controls the power supply of the first drone to switch from the external battery to the backup battery, and then turns off the power supply of the magnetic lock of the first drone. S6. When the magnetic lock of the first drone is de-energized, the external battery of the first drone will fall into the first battery tray of the second drone. Then, the remote control unit controls the first battery tray of the second drone to descend back to its original position. At the same time, the remote control unit controls the second drone to move horizontally. The second drone uses the second infrared alignment device to align the second battery tray with the main battery slot and sends the second alignment information of the second battery tray and the main battery slot to the remote control unit in real time. S7. When the remote control unit receives the second alignment information and confirms that the position is aligned, the remote control unit controls the second battery tray of the second drone to rise and deliver the replacement battery on the second battery tray to the main battery slot of the first drone. At the same time, the remote control unit controls the magnetic lock of the first drone to be energized. After the magnetic lock is energized, it generates a magnetic attraction force to attract and fix the replacement battery in the main battery slot of the first drone. S8. The remote control unit controls the power supply of the first drone to switch from the backup battery to the replacement battery. After the power supply of the first drone is switched to the replacement battery, the first drone continues to perform the mission, and the second drone automatically returns to home. The gesture recognition control mechanism includes a first radar chip operating in the 60GHz frequency band. The first radar chip actively transmits microwave radar signals and receives radar echo signals reflected by a human hand, thereby collecting 3D point cloud data of the target gesture and realizing action recognition of the target gesture.

2. The control method for the aerial battery replacement fire rescue drone system as described in claim 1, characterized in that, The first drone also includes a high-definition camera and a three-axis self-stabilizing gimbal. The high-definition camera is mounted on the bottom of the main body via the three-axis self-stabilizing gimbal. The gesture recognition control mechanism includes a first radar chip. Step S2 also includes the following steps: S21. The gesture recognition control mechanism uses the first radar chip to transmit microwave radar signals to a preset range in real time and receives radar echo signals reflected by the hand, thereby obtaining target gesture 3D point cloud data. The target gesture 3D point cloud data includes the three-dimensional coordinates (x, y, z) of each point; the preset range is the monitoring range of the gesture recognition control mechanism. S22. Regenerate the target gesture image based on the collected target gesture 3D point cloud data; S23. Perform recognition preprocessing on the target gesture image; and provide feature information of the target gesture image; S24. The feature information is identified to obtain the target gesture action, which includes the flight mode action of the first UAV and the shooting mode action of the high-definition camera. S25. Compare the obtained target gesture with the gesture samples learned through training to identify new gesture commands. S26. Control the flight actions of the first UAV or control the shooting actions of the high-definition camera according to the new gesture commands.

3. The control method for the aerial battery replacement fire rescue drone system as described in claim 2, characterized in that, The first drone also includes a flight controller, through which the flight action control and high-definition camera shooting action control of the first drone are implemented; the gesture sample learning in step S25 includes the following steps: S251. Use the first radar chip to collect training data on gestures; S252. Perform recognition preprocessing on the collected training data and extract the feature information of the gestures; S253. Recognize the feature information of the gesture and perform spatial transformation on the feature information; S254. Complete the learning of gesture samples and store them in the host storage chip of the gesture recognition control mechanism; wherein, the gesture samples include flight actions and shooting actions, the flight actions include self-check, take-off, landing, return, hovering, forward, left turn, and right turn, and the shooting actions include taking pictures and shooting videos, and are also used to process and store the captured images or videos.

4. An aerial battery-changing firefighting and rescue drone system implementing the control method according to any one of claims 1 to 3, characterized in that, The system includes a first drone, a second drone, and a remote control unit that are interconnected. The first drone includes a main body, a gesture recognition control mechanism, a first GPS module, an external battery, a backup battery, a high-definition camera, a three-axis self-stabilizing gimbal, and a magnetic lock. The bottom of the main body is provided with a main battery slot, and the external battery is magnetically attracted to the main battery slot by the magnetic lock. The high-definition camera is mounted on one side of the main unit's battery compartment via the three-axis self-stabilizing gimbal. The interior of the main unit is hollow, forming a first device mounting cavity and a second device mounting cavity. The first device mounting cavity is located above the second device mounting cavity. The gesture recognition control mechanism, the first GPS module, and the backup battery are respectively installed in the first device mounting cavity. The magnetic lock is installed in the second device mounting cavity. The gesture recognition control mechanism is electrically connected to the external battery, the backup battery, the high-definition camera, the three-axis self-stabilizing gimbal, and the magnetic lock. The second UAV includes a secondary fuselage, a replacement battery, a secondary battery, a second GPS module, an infrared ranging sensor, a first infrared alignment device, a second infrared alignment device, and a secondary control mechanism. The top of the secondary fuselage has a battery tray, within which are a first battery pallet and a second battery pallet. The replacement battery is placed on the second battery pallet. The infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are respectively installed on one side of the battery tray. The interior of the secondary fuselage is hollow, forming a third equipment mounting cavity. The secondary control mechanism, the secondary battery, and the second GPS module are respectively installed within the third equipment mounting cavity. The secondary battery, the second GPS module, the infrared ranging sensor, the first infrared alignment device, and the second infrared alignment device are electrically connected to the secondary control mechanism.

5. The aerial battery replacement firefighting and rescue drone system as described in claim 4, characterized in that, The magnetic lock includes a magnetic control module and two magnetic silicon steel sheets. The magnetic control module is installed in the second device mounting cavity. The two magnetic silicon steel sheets are located at both ends of the bottom of the main battery slot and are electrically connected to the magnetic control module. Two battery electrode springs are provided in the middle of the bottom surface of the main battery slot. The two battery electrode springs and the magnetic control module are electrically connected to the gesture recognition control mechanism. Two magnetic iron sheets and two battery electrode contacts are respectively provided on the top surface of the external battery and the replacement battery. The positions of the two magnetic iron sheets on the external battery and the replacement battery correspond to the positions of the two magnetic silicon steel sheets, and the positions of the two battery electrode contacts on the external battery and the replacement battery correspond to the positions of the two battery electrode springs.

6. The aerial battery replacement firefighting and rescue drone system as described in claim 4, characterized in that, The first battery tray includes a first tray, a first lifting drive motor, a first guide rail, a first slide rod, and a first rack. The first lifting drive motor and the first guide rail are respectively installed in the third equipment mounting cavity. The first tray is installed in the battery slot. The first slide rod is vertically slidably connected to the first guide rail. The first lifting drive motor is driven by the first slide rod through the first rack. The upper end of the first slide rod passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery slot to connect with the bottom of the first tray. The second battery tray includes a second tray, a second lifting drive motor, a second guide rail, a second slide rod, and a second rack. The second lifting drive motor and the second guide rail are respectively installed in the third equipment mounting cavity. The second tray is installed in the battery slot. The second slide rod is vertically slidably connected to the second guide rail. The second lifting drive motor is driven by the second slide rod through the second rack. The upper end of the second slide rod passes through the top plate of the third equipment mounting cavity from bottom to top and enters the battery slot to connect with the bottom of the second tray. The top surfaces of the first tray and the second tray are respectively provided with sponge pads.

7. The aerial battery replacement firefighting and rescue drone system as described in claim 6, characterized in that, The first infrared alignment device has two first infrared emitting tubes, which are installed on the top of the sub-machine body and located on both sides of the first tray. The second infrared alignment device has two second infrared emitting tubes, which are installed on the top of the sub-machine body and located on both sides of the second tray. Two infrared receiving tubes are respectively provided on both sides of the main unit battery slot. The positions of the two first infrared emitting tubes or the two second infrared emitting tubes correspond to the positions of the two infrared receiving tubes.

8. The aerial battery replacement firefighting and rescue drone system as described in any one of claims 4 to 7, characterized in that, The gesture recognition control mechanism includes a host PCB board, a first radar chip, a host main control chip, a gyroscope sensor, a barometric pressure sensor, an accelerometer sensor, a first wireless communication unit, and a host storage chip. The first radar chip, the host main control chip, the gyroscope sensor, the barometric pressure sensor, the accelerometer sensor, the first wireless communication unit, and the host storage chip are respectively mounted on the host PCB board and electrically connected to the host PCB board.

9. The aerial battery replacement firefighting and rescue drone system as described in claim 8, characterized in that, The first drone also includes a flight controller, which is installed in the mounting cavity of the first device and electrically connected to the gesture recognition control mechanism. The flight controller selects the flight action control of the drone body and the shooting action control of the high-definition camera according to the control commands sent by the gesture recognition control mechanism.

10. The aerial battery replacement firefighting and rescue drone system as described in claim 8, characterized in that, The first drone also includes an infrared camera, a thermal imaging camera, and two searchlights. The infrared camera, thermal imaging camera, and two searchlights are respectively mounted on the side of the main body and are electrically connected to the gesture recognition control mechanism.

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