A fire-fighting drone equipment with adaptive load regulation

Abstract

The present invention provides a fire-fighting drone equipment with adaptive load adjustment, which relates to the field of fire-fighting drones and comprises a drone, a bomb-carrying device and an image sensing component. The bomb-carrying device comprises a bomb-carrying box, which is in a barrel shape and comprises a top wall and an annular side wall. A connecting column is arranged on the top wall of the bomb-carrying box, a double-output shaft servo motor is arranged in the connecting column, a containing box is arranged on the connecting column, the containing box is in a barrel shape, and an annular bomb-carrying space is formed between the containing box and the annular side wall. The present invention has the following beneficial effects: an annular bomb-carrying space is formed by the annular side wall of the bomb-carrying box and the side wall of the containing box, a fire-extinguishing bomb is located in the bomb-carrying space, the fire-extinguishing bomb can slide in the annular bomb-carrying space, and the fire-extinguishing bomb can slide downward through the annular bomb-carrying space, and the center of gravity is always kept below the bomb-carrying space, so that the left and right sides of the bomb-carrying space are kept in a balanced state.

Description

Technical Field

[0001] The present invention relates to the field of fire-fighting drones, and in particular to fire-fighting drone equipment with adaptive load regulation. Background Art

[0002] At present, fire-fighting drones are used not only in high-rise buildings, but also in the suburbs when land resources are utilized and suburban development is carried out. Once a wildfire occurs in the suburbs, the fire is easy to spread and difficult to control. With the widespread use of drones, the use of drones to extinguish fires is also used by more and more people. A drone fire-fighting device with a publication number of CN111422352A is retrieved, including a drone body, a bottom plate is fixedly installed at the bottom of the drone body, fixed grooves are opened on both sides of the bottom plate, rotating plates are rotatably installed in the two fixed grooves, gears are fixedly installed on one side of the two rotating plates, connecting grooves are opened on the inner wall of one side of the two fixed grooves, racks are slidably installed in the two connecting grooves, and the racks and The corresponding gears are meshed, and a placement plate is fixedly installed on one side of the two rotating plates that are close to each other. A mounting groove is provided on the top of the two placement plates, and multiple partitions are rotatably installed in the mounting groove. Multiple fire extinguishing bombs are placed on the top of the two placement plates, and one side of the partition is in contact with the corresponding fire extinguishing bombs. A first worm gear is fixedly installed on one side of the multiple partitions, and a groove is provided on the inner wall of one side of the mounting groove, and a rotating rod is rotatably installed in the groove. A plurality of first worm gears are fixedly sleeved on the rotating rod, and the first worm gears are meshed with the corresponding first worm gears. A second worm gear is fixedly sleeved on the rotating rod, and a first motor is fixedly installed on the bottom of the placement plate. The second worm gear is fixedly connected to the output shaft of the first motor, and the second worm gear is meshed with the second worm gear.

[0003] However, in the above technology, loading fire-extinguishing bombs by placing plates can easily cause the center of gravity of the drone to be unbalanced, and the number of fire-extinguishing bombs that can be loaded on the placing plates is very small. When the fire is large, there may be a shortage of fire-extinguishing bombs. Summary of the invention

[0004] The problem to be solved by the present invention is to prevent the unbalanced center of gravity of the UAV from occurring due to the reduction in the number of bombs carried after the fire extinguishing bomb is launched.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is a fire-fighting drone equipment with adaptive load adjustment, including a drone, a bomb-carrying device and an image sensing component, the bomb-carrying device includes a bomb-carrying box, the bomb-carrying box is in the shape of a barrel, the bomb-carrying box includes a top wall and an annular side wall, a connecting column is arranged on the top wall of the bomb-carrying box, a double-output shaft servo motor is arranged in the connecting column, a accommodating box is arranged on the connecting column, the accommodating box is in the shape of a barrel, an annular bomb-carrying space is formed between the accommodating box and the annular side wall, and a rotating The rotating disk is connected to the output shaft of one end of the double-output shaft servo motor, and a toggle rod is also provided on the rotating disk. The toggle rod is arranged in a circular array around the rotating disk, and the toggle rod is vertical to the rotating disk. A rectangular opening is also provided on the side wall of the accommodating box, and a shielding piece is connected to the upper axis of the rectangular opening. The shielding piece can rotate, and the upper end of the shielding piece is located in the accommodating box. The toggle rod can push the upper end of the shielding piece to make the lower end of the shielding piece enter the bullet-loading space, and a bullet-discharging magazine is provided below the bullet-loading box, and the bullet-discharging magazine is connected to the bullet-loading space.

[0006] More preferably, an annular groove is provided on the side wall of the storage box, and the lower end of the shielding sheet can be received in the annular groove under normal conditions, and can also extend out of the annular groove into the bullet-carrying space.

[0007] More preferably, a reset push plate is also provided in the annular groove, one end of the inner reset push plate is provided with a compression reset spring, the other end of the reset push plate is tightly attached to the shielding piece, and the reset push plate can apply thrust to the shielding piece by compressing the reset spring.

[0008] More preferably, an arc-shaped slide is provided in the annular side wall, an arc-shaped rack is provided in the arc-shaped slide, an arc-shaped door is provided on the arc-shaped rack, the arc-shaped door can shield the connection between the magazine and the loading space, and a transmission rod is also provided in the top wall, and the transmission rod is connected to the double-output shaft servo motor.

[0009] More preferably, a reset push plate is also provided in the annular groove, one end of the inner reset push plate is provided with a compression reset spring, the other end of the reset push plate is engaged with the shielding piece, and the reset push plate can apply thrust to the shielding piece by compressing the reset spring.

[0010] More preferably, transmission gears are provided at the upper and lower ends of the transmission rod respectively, the transmission gear at the upper end of the transmission rod is connected to the output shaft at the other end of the double-output shaft servo motor, and the transmission gear at the lower end of the transmission rod is meshedly connected to the arc-shaped rack.

[0011] More preferably, the image sensing component includes an infrared radiation receiver and a laser radar, which are also connected to a signal processing module. The infrared radiation receiver and the laser radar can transmit the collected signals to the signal processing module, and the signal processing module can filter, enhance and extract features from the collected signals, and format convert and encode the processed data.

[0012] More preferably, the signal processing module is connected to the data fusion algorithm module through a data synchronizer, and the encoded data is synchronously processed through the data synchronizer so that the information collected by the infrared radiation receiver and the lidar are synchronized in time, and then the synchronized data is combined through the data fusion algorithm module.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: an annular bomb loading space is formed by the annular side wall of the bomb loading box and the side wall of the containing box, the fire extinguishing bomb is located in the bomb loading space, and the fire extinguishing bomb can slide in the annular bomb loading space. When the fire extinguishing bomb slides to the connection between the bomb ejection compartment and the bomb loading space, the double-output shaft servo motor is started to control the transmission rod to drive the door of the apartment to move, so that the arc door is opened, and at the same time, the fire extinguishing bomb is moved by the shielding piece to make the fire extinguishing bomb enter the bomb ejection compartment. Through its annular bomb loading space, the fire extinguishing bomb can slide downward, always keeping the center of gravity below the bomb loading space, so that the left and right sides of the bomb loading space are kept in a balanced state, and through the image sensing component, the drone can accurately find the fire source even in a thick smoke environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the internal structure of the ammunition carrying box of the present invention;

[0016] Figure 3 It is a schematic diagram of a top cross-sectional structure of the present invention;

[0017] Figure 4 It is a right side cross-sectional structural schematic diagram of the present invention;

[0018] Figure 5 It is a schematic diagram of the cross-sectional structure of the containing box of the present invention;

[0019] Figure 6 It is a schematic diagram of the structure of the shielding sheet of the present invention in a flipping state;

[0020] Figure 7 It is a schematic diagram of the enlarged structure of the shielding sheet of the present invention;

[0021] Figure 8 It is a connection diagram of the image sensing component of the present invention;

[0022] Among them, 1-top wall, 2-annular side wall, 3-bullet magazine, 4-locking cover, 5-accommodation box, 6-bullet loading space, 7-connecting column, 8-rotating disk, 9-double-output shaft servo motor, 10-toggle lever, 11-transmission rod, 12-transmission gear, 13-arc slide, 14-arc rack, 15-arc door, 16-annular groove, 17-rectangular mouth, 18-shielding piece, 19-reset push plate, 20-infrared radiation receiver, 21-laser radar, 22-signal processing module, 23-data synchronizer, 24-data fusion algorithm module, 25-wireless communication module, 26-mobile receiving end, 27-fire extinguishing bomb. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "back" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be an electrical connection; it can be a hydraulic oil circuit connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] See also Figures 1 to 8As shown, a fire-fighting drone equipment with adaptive load adjustment includes a drone, a bomb-carrying device and an image sensing component. A control system is provided in the drone, and the control system can control the flight attitude, flight direction and change the angle of attack of the wings of the drone, etc., wherein the bomb-carrying device is arranged below the drone, and the bomb-carrying device is included in a bomb-carrying box, and the internal equipment and fire-extinguishing bombs 27 are protected by the bomb-carrying box. The bomb-carrying box is a cylindrical barrel structure, and the bomb-carrying box includes a top wall 1 and an annular side wall 2. A bomb discharge chamber 3 is provided below the annular side wall 2, and the annular side wall 2 is connected to the bomb discharge chamber 3. The fire-extinguishing bomb 27 can be ejected from the bomb discharge chamber 3. A locking cover 4 is also connected to the annular side wall 2. After opening the locking cover 4, the interior of the bomb-carrying box can be repaired or the fire-extinguishing bomb 27 can be replenished. A connecting column 7 is provided on the top wall 1 in the bomb-carrying box, and a connecting column 7 is also fixedly connected to the connecting column 7 to accommodate The box 5 is cylindrical, the center of the box 5 and the rotating disk 8 are located on the same straight line, and a loading space 6 is formed between the side wall of the box 5 and the annular side wall 2 of the loading box. The fire extinguishing bomb 27 is placed in the loading space 6, and the loading space 6 is connected with the ejection chamber 3. The fire extinguishing bomb 27 can enter the ejection chamber 3 from the loading space 6, so that the ejection chamber 3 ejects the fire extinguishing bomb 27. After the fire extinguishing bomb 27 is ejected through the ejection chamber 3, since the loading space 6 is annular, the fire extinguishing bomb 27 in the loading space 6 will slide downward in the loading space 6 due to the influence of gravity, so that the fire extinguishing bomb 27 continues to fill the ejection chamber 3. In this way, the fire extinguishing bomb 27 in the loading space 6 can always maintain a state close to left-right balance, so that the drone will not lose its center of gravity due to the reduction of the number of fire extinguishing bombs 27 in the loading box after the fire extinguishing bomb 27 is fired.

[0027] The connecting column 7 is connected to a rotating disk 8 on its upper axis, and the rotating disk 8 can rotate around the connecting column 7. A double-output shaft servo motor 9 is arranged in the connecting column 7. The double-output shaft servo motor 9 is connected to the control system in the UAV. The control system of the UAV can control the forward rotation, reverse rotation and stop of the double-output shaft servo motor 9. The output shaft at one end of the double-output shaft servo motor 9 is connected to the center point of the rotating disk 8, so that the double-output shaft servo motor 9 can drive the rotating disk 8 to rotate. A plurality of toggle levers 10 are also arranged on the rotating disk 8. The toggle rod 10 is arranged in a circular array around the rotating disk 8, and the toggle rod 10 is in a vertical state with the rotating disk 8. The rotating disk 8 and the toggle rod 10 are both located inside the accommodating box 5. When the rotating disk 8 rotates, the toggle rod 10 rotates with the rotating disk 8. A transmission rod 11 is connected to the output shaft at the other end of the double-output shaft servo motor 9. The transmission rod 11 is vertically arranged in the top wall 1 of the ammunition loading box. Transmission gears 12 are arranged at the upper and lower ends of the transmission rod 11. The transmission gear 12 at the upper end of the transmission rod 11 is connected to the double-output shaft servo motor 9. The output shaft of the servo motor 9 is meshed and connected, and an arc-shaped slideway 13 is provided on the annular side wall 2, and an arc-shaped rack 14 is provided in the arc-shaped slideway 13. The arc-shaped rack 14 can move in the arc-shaped slideway 13, and an arc-shaped hatch 15 is connected to the arc-shaped rack 14. The connection between the loading space 6 and the magazine 3 can be shielded through the arc-shaped hatch 15. The transmission gear 12 at the lower end of the middle transmission rod 11 is meshed and connected with the arc-shaped rack 14. When the double-output shaft servo motor 9 rotates forward, it will drive the transmission rod 11 When the double-output shaft servo motor 9 rotates in the opposite direction, the transmission rod 11 controls the arc-shaped rack 14 to move in the arc-shaped slideway 13, thereby driving the arc-shaped door 15 to move, so that the ejection magazine 3 is no longer blocked, and the loading space 6 is connected with the ejection magazine 3. When the double-output shaft servo motor 9 rotates in the opposite direction, the transmission rod 11 controls the arc-shaped rack 14 to move in the opposite direction in the arc-shaped slideway 13, thereby driving the arc-shaped door 15 to move, so that the arc-shaped door 15 blocks the ejection magazine 3, so that the fire extinguishing bomb 27 in the loading space 6 cannot enter the ejection magazine 3.

[0028] An annular groove 16 is provided on the side wall of the accommodating box 5, and a rectangular opening 17 is provided on the annular groove 16. The rectangular openings 17 are arranged at equal distances around the side wall of the accommodating box 5, and a shielding piece 18 is inserted into the rectangular opening 17. The middle end of the shielding piece 18 is axially connected to the rectangular opening 17, so that the shielding piece 18 can rotate around the axial connection. The shielding piece 18 is arc-shaped. Under normal conditions, the shielding piece 18 is accommodated in the annular groove 16, the lower end of the shielding piece 18 is located in the annular groove 16, and the upper end of the shielding piece 18 is located inside the accommodating box 5. When the rotating disk 8 rotates, it drives the toggle rod 10 to move, so that the toggle rod 10 moves the shielding piece 18. The middle end of the shielding piece 18 is axially connected to the side wall of the rectangular opening 17. When the double-output shaft servo motor 9 rotates forward, the rotating disk 8 drives the toggle rod 10 to move, which will push the upper end of the shielding piece 18, so that the lower end of the shielding piece 18 moves outward from the annular groove 16 and protrudes from the annular groove 16 into the bomb loading space 6, and the fire extinguishing bomb 27 in the bomb loading space 6 is toggled and limited. Since the shielding piece 18 is arc-shaped, when the shielding piece 18 protrudes into the bomb loading space 6, the fire extinguishing bomb 27 is toggled. At the same time, since the other end of the double-output shaft servo motor 9 rotates forward at the same time, it will pass through the transmission rod 11 The arc-shaped rack 14 is controlled to drive the arc-shaped hatch 15 to move, exposing the magazine 3, so that the shielding piece 18 can assist the fire-extinguishing bomb 27 to fall into the magazine 3 for ammunition filling, and a reset push plate 19 is also provided in the rectangular opening 17, and a compression reset spring is provided on one side of the reset push plate 19. The shielding piece 18 can be pushed by the reset push plate 19. When the upper end of the shielding piece 18 loses thrust, the restoring force of the compression reset spring is used to push the reset push plate 19 to push the shielding piece 18, so that the shielding piece 18 re-enters the annular groove 16 to restore the normal state. In the normal state, the fire-extinguishing bomb 27 slides in the bomb loading space 6. The movement will not be blocked. When the double-output shaft servo motor 9 rotates in the opposite direction, it will drive the rotating disk 8 to control the toggle rod 10 to move in the opposite direction, so that the toggle rod 10 is away from the shielding piece 18 and can no longer apply thrust to the shielding piece 18, so that the shielding piece 18 is reset through the reset push plate 19 and restored to the annular groove 16. At the same time, the output shaft at the other end of the double-output shaft servo motor 9 controls the arc rack 14 to drive the arc door 15 to move through the transmission rod 11, so that the arc door 15 blocks the magazine 3, so that the fire extinguishing bomb 27 in the loading space 6 cannot enter the magazine 3, avoiding affecting the occurrence of the fire extinguishing bomb 27.

[0029] Among them, the drone can transmit the observed images back to the operator's display screen through the image sensing component, so that the operator can observe the fire situation and environmental terrain at the fire scene. The image sensing component includes an infrared radiation receiver 20 and a laser radar 21. The infrared radiation receiver 20 receives the infrared radiation energy emitted by the target object in the thick smoke environment, and then sends the detected signal to the signal processing module 22. At the same time, the laser radar 21 emits a laser beam and measures the time difference and phase difference of the reflected light signal to determine the distance, shape and position of the target object. The laser radar 21 sends the detected information to the signal processing module 22, and then the signal processing module 22 converts the received signals detected by the infrared radiation receiver 20 and the laser radar 21 into electrical signals, and the signal processing module 22 performs amplification, filtering and other processing to improve the signal-to-noise ratio and clarity of the signal, and then the signal processing module 22 The data is transmitted to the data synchronizer 23, and the data synchronizer 23 ensures that the data transmitted by the infrared radiation receiver 20 and the laser radar 21 are calibrated and adjusted, so that the two data are synchronized in time to ensure that the corresponding data points can be correctly matched during the fusion processing, and then the two data are fused through the data fusion algorithm module 24 (such as algebraic method, weighted average method, Kalman filtering, etc.) to generate more comprehensive integrated information, and then the data is transmitted to the operator's mobile receiving terminal 26 through the wireless communication module 25, and the fused data is used to generate an image combining thermal imaging and laser radar 21 information through an image generation module or image generation software. This image can simultaneously display the temperature distribution of the target object and the three-dimensional information of the surrounding environment objects, providing the operator with a more comprehensive observation perspective, so that the operator can still accurately determine the location of the fire source in a thick smoke environment, and accurately extinguish the fire source through the bomb-carrying device on the drone.

[0030] When in use, first open the locking cover 4 of the ammunition loading box, put the fire extinguishing bomb 27 into the ammunition loading space 6, and close the locking cover 4 after the ammunition loading space 6 is filled with the fire extinguishing bomb 27. The operator controls the drone to fly to the fire scene, and the infrared radiation receiver 20 in the image sensing component receives the infrared radiation energy emitted by the objects in the fire scene and transmits it to the signal processing module 22. At the same time, the laser radar 21 will also upload the detected object position, shape, distance and other information to the signal processing module 22, and then the signal processing module 22 will transmit the signal to the data synchronizer 23 after the signal processing is completed. The data synchronizer 23 calibrates and adjusts the data so that the two data are synchronized in time, and through The data fusion algorithm module 24 performs fusion, and finally combines the three-dimensional information graph with the temperature distribution, and transmits the data to the mobile receiving terminal 26 through the wireless communication module 25, so that it is displayed on the operator's display screen, and then the operator controls the drone to adjust the angle, so that the magazine 3 is aimed at the fire source to launch the fire extinguishing bomb 27. After the fire extinguishing bomb 27 of the magazine 3 is launched, the control system controls the double-axis servo motor 9 to rotate forward, and the double-axis servo motor 9 drives the rotating disk 8 and the transmission rod 11 to rotate, wherein the rotating disk 8 rotates and drives the toggle rod 10 to move, so that the toggle rod 10 pushes the upper end of the shielding plate 18, so that the lower end of the shielding plate 18 moves outward from the annular groove 16. In this process, the toggle rod 10 is pushed to move the upper end of the shielding plate 18. The moving rod 10 will toggle and limit the fire extinguishing bomb 27 in the bomb loading space 6, so that the fire extinguishing bomb 27 cannot be easily moved in the bomb loading space 6, and at this time the transmission rod 11 controls the arc rack 14 to drive the arc door 15 to move, so that the arc door 15 no longer blocks the bullet outlet compartment 3, and the fire extinguishing bomb 27 at the original position of the arc door 15 will fall into the bullet outlet compartment 3. After the fire extinguishing bomb 27 falls into the bullet outlet compartment 3, the double-output shaft servo motor 9 rotates in the opposite direction to reset the arc door and block the bullet outlet compartment 3 again, and at the same time, the toggle rod 10 no longer applies thrust to the upper end of the shielding plate 18. At this time, the reset push plate 19 pushes the lower end of the shielding plate 18, so that the shielding plate 18 re-enters the annular groove 16 and no longer blocks the bullet loading space 6. The fire extinguishing bomb 27 is limited so that the fire extinguishing bomb 27 can slide back onto the curved door 15. Through this structural setting, when the number of fire extinguishing bombs 27 in the bomb loading box changes, the center of gravity always remains at the position of the door. The drone does not need to significantly adjust the power of the propeller engine or re-calibrate the center of gravity and other complex procedures. It is simpler and more convenient to use and saves time, thereby improving the fire extinguishing efficiency. Through the setting of the annular bomb loading space 6, more fire extinguishing bombs 27 can be equipped while relatively saving space, thereby reducing the number of times the drone lands to load the fire extinguishing bomb 27 during the fire extinguishing process, reducing the time for take-off and landing and loading, and further improving the use efficiency and fire extinguishing efficiency at the fire scene.

[0031] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fire-fighting drone equipment with adaptive load adjustment, comprising a drone, a bomb-carrying device and an image sensing component, characterized in that: The ammunition loading device includes an ammunition loading box, which is in the shape of a barrel. The ammunition loading box includes a top wall and an annular side wall. A connecting column is arranged on the top wall of the ammunition loading box, and a double-output shaft servo motor is arranged in the connecting column. A accommodating box is arranged on the connecting column. The accommodating box is in the shape of a barrel, and an annular ammunition loading space is formed between the accommodating box and the annular side wall. A rotating disk is also arranged in the accommodating box, and the rotating disk is connected to the output shaft at one end of the double-output shaft servo motor. A toggle rod is also arranged on the rotating disk, and the toggle rod is arranged in an annular array around the rotating disk. The toggle rod and the rotating disk are in a vertical state. A rectangular opening is also arranged on the side wall of the accommodating box, and a shielding plate is connected to the upper axis of the rectangular opening. The shielding plate can rotate, and the upper end of the shielding plate is located in the accommodating box. The toggle rod can push the upper end of the shielding plate to make the lower end of the shielding plate enter the ammunition loading space. A bullet discharge magazine is arranged below the ammunition loading box, and the bullet discharge magazine is connected to the ammunition loading space.

2. The fire-fighting drone equipment with adaptive load adjustment according to claim 1 is characterized by: An annular groove is arranged on the side wall of the accommodating box. Under normal conditions, the lower end of the shielding sheet can be received in the annular groove, and can also extend out of the annular groove into the bullet-carrying space.

3. The fire-fighting drone equipment with adaptive load adjustment according to claim 2 is characterized by: A reset push plate is also arranged in the annular groove, one end of the reset push plate is provided with a compression reset spring, the other end of the reset push plate is in close contact with the shielding piece, and the reset push plate can apply a thrust to the shielding piece by compressing the reset spring.

4. The fire-fighting drone equipment with adaptive load adjustment according to claim 1 is characterized by: An arc-shaped slide is arranged in the annular side wall, an arc-shaped rack is arranged in the arc-shaped slide, an arc-shaped door is arranged on the arc-shaped rack, the arc-shaped door can shield the connection between the magazine and the loading space, and a transmission rod is also arranged in the top wall, and the transmission rod is connected to the double-output shaft servo motor.

5. The fire-fighting drone equipment with adaptive load adjustment according to claim 4 is characterized by: The upper and lower ends of the transmission rod are respectively provided with transmission gears, the transmission gear at the upper end of the transmission rod is connected to the output shaft at the other end of the double-output shaft servo motor, and the transmission gear at the lower end of the transmission rod is meshed and connected with the arc-shaped rack.

6. The fire-fighting drone equipment with adaptive load adjustment according to claim 1, characterized in that: The image sensing component includes an infrared radiation receiver and a laser radar, which are also connected to a signal processing module. The infrared radiation receiver and the laser radar can transmit the collected signals to the signal processing module. The signal processing module can filter, enhance and extract features from the collected signals, and convert and encode the processed data in a format.

7. The fire-fighting drone equipment with adaptive load adjustment according to claim 6, characterized in that: The signal processing module is connected to the data fusion algorithm module through a data synchronizer, and the encoded data is synchronously processed through the data synchronizer so that the information collected by the infrared radiation receiver and the lidar are synchronized in time, and then the synchronized data is combined through the data fusion algorithm module.

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