Fire-fighting unmanned aerial vehicle multidirectional pipeline launching device and adjusting system

Abstract

The invention relates to the technical field of fire-fighting unmanned aerial vehicles, in particular to a fire-fighting unmanned aerial vehicle multi-direction pipeline launching device and an adjusting system. The adjusting assembly comprises a first transmitting part and a second transmitting part, and the end parts of the first transmitting part and the second transmitting part are connected with adjusting parts; the initial directions of the launching pipelines are different, the unmanned aerial vehicle does not need to be accurately aligned with a fire source to fly, after the unmanned aerial vehicle reaches a fire place, if the launching pipelines face the fire source, fire extinguishing bombs can be launched firstly, meanwhile, the directions of other launching parts are adjusted, and the control module can judge whether to adjust the launching parts independently or simultaneously and determine the adjustment angle and direction according to sensor data; the adjusting mode is flexibly changed according to the actual situation, the adjusting assembly can rapidly and accurately adjust the launching direction and enhance the fire extinguishing direction adjusting accuracy, when the airflow direction is unstable and the unmanned aerial vehicle is difficult to control the direction, the directions of the launching parts can be independently or simultaneously adjusted, the launching pipeline is aligned with a fire source, and the adaptability in the complex environment is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting unmanned aerial vehicles, in particular to a launching device and an adjusting system for a multi-directional pipeline of a fire-fighting unmanned aerial vehicle. Background Art

[0002] In the field of firefighting, with the increasing application of drone technology, the use of drones for high-altitude firefighting has become a research hotspot. The pipeline launching devices of existing firefighting drones are mostly one-way fixed structures, which cannot realize multi-directional firefighting operations. This results in that when facing complex and changeable fire scenes, drones can only spray fire extinguishing agents in a single direction, and the fire extinguishing range is limited. It is powerless for some situations at special angles or where fire sources in multiple directions need to be extinguished at the same time.

[0003] Moreover, the angle adjustment of the launch device is often not flexible and accurate enough, and most of them are simple manual rough adjustment, which cannot quickly and accurately adjust the spray angle according to real-time fire conditions and wind direction. In addition, the existing adjustment system lacks effective stability guarantee.

[0004] A Chinese patent application with authorization announcement number CN109573038B discloses a firefighting drone. When extinguishing a fire, the drone can drive the turret to rotate through forward and reverse motors, thereby adjusting the direction of the barrel. The drone is relatively flexible to use. When the barrel fires a fire bomb, the barrel moves backward due to the recoil force, squeezing the first spring and the second spring. The first telescopic rod and the second telescopic rod shrink at the same time, which can buffer the recoil force received by the barrel and achieve a shock-absorbing effect. The combination of the two can make the shock-absorbing effect of the barrel more ideal.

[0005] However, this patent still has some problems: although the drone can adjust the direction of the turret, the turret has only a single layer. When the drone flies towards the fire source, it is necessary to pay attention to the direction of the drone. Although the turret can be adjusted to face the fire source, it is time-consuming and the adjustment efficiency is slow. Summary of the invention

[0006] In view of the above problems in the prior art, the present invention is proposed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a launching device and adjustment system for a multi-directional pipeline of a fire-fighting drone, comprising:

[0008] A drone; an adjustment component disposed at the end of the drone, comprising a first launching component and a second launching component disposed at the end of the drone, wherein the ends of the first launching component and the second launching component are connected with an adjustment member, and the adjustment member is used to drive the first launching component and the second launching component to adjust the direction at the end of the drone;

[0009] The first emitting component and the second emitting component have different initial directions. When the fire source orientation is different from the direction of the first emitting component or the second emitting component, the adjusting member is used to adjust the direction of the first emitting component or the second emitting component singly or synchronously.

[0010] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone described in the present invention, wherein: the first launching component includes a mounting shell and a launching pipeline is fixed to the outer wall of the mounting shell, the launching pipeline is used to load fire extinguishing bombs, a containing shell is also fixed to the inner wall of the mounting shell and a rotating shaft is movably arranged in the containing shell, an electric push cylinder is also arranged on the inner wall of the mounting shell and the electric push cylinder is used to push the rotating shaft to move linearly in the containing shell.

[0011] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone described in the present invention, a concave shell is provided at the end of the rotating shaft, the rotating shaft extends away from one end of the concave shell to the outer wall of the accommodating shell and a first bevel gear is provided at the end, a first elastic member is sleeved on the outer wall of the rotating shaft and the first elastic member is located at the end of the concave shell and is used to push the concave shell to make it close to the electric push cylinder.

[0012] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone described in the present invention, wherein: the outer wall of the rotating shaft is sleeved with a cam and the inner wall of the cam is provided with a slide groove, the slide groove is slidably matched with the convex column on the outer wall of the rotating shaft, the outer wall of the cam is sleeved with a moving ring and the end of the moving ring is provided with a first moving plate and a second moving plate, the end of the moving ring is provided with a movable plate and the end of the movable plate is slidably matched with the first moving block provided at the end of the first moving plate, the end of the moving ring is also provided with a fixing ring and the end of the fixing ring is provided with a fixing plate, the end of the fixed plate is slidably matched with the second moving block provided at the end of the second moving plate, the inner wall array of the accommodating shell is provided with grooves, and the first moving block and the second moving block are respectively slid into the inner walls of the grooves under the influence of the rotation of the rotating shaft.

[0013] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone described in the present invention, the adjusting member includes a fixed shell, the fixed shell is sleeved on the outer wall of the accommodating shell, a servo motor is fixed to the inner wall of the fixed shell and a second bevel gear is arranged at the axis of the servo motor, the second bevel gear is meshed with the first bevel gear, a sleeve rod is fixed to the outer wall of the servo motor and the end of the sleeve rod is sleeved on the end of the rotating shaft to limit the movement direction of the rotating shaft.

[0014] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone described in the present invention, wherein: a mounting plate is screwed on the end of the drone and a connecting plate is provided at the end of the mounting plate, a sleeve plate is provided on the outer wall of the connecting plate and the sleeve plate is fixed to the end of the first launching component, a second elastic member is provided in an array on the inner wall of the sleeve plate and a round ball is provided at the end of the second elastic member, and the second elastic member is used to push the round ball so that it engages with the pit opened on the outer wall of the connecting plate.

[0015] As a preferred solution of the multi-directional pipeline launching device of the fire-fighting drone of the present invention, wherein: an electric push cylinder is provided in the accommodating shell for pushing the rotating shaft to move so that the first bevel gear is meshed with the second bevel gear;

[0016] A servo motor is installed on the inner wall of the fixed shell, which drives the rotating shaft to rotate through the meshing of the second bevel gear and the first bevel gear, and the sleeve rod is used to limit the moving direction of the rotating shaft.

[0017] A regulating system, the system is applied to the multi-directional pipeline launching device of the fire-fighting drone, comprising: a sensor module, a control module and an execution module;

[0018] The sensor module is used to detect the direction information of the fire and the current orientation information of the drone, and transmit it to the control module;

[0019] The control module is used to receive the direction information of the fire occurrence and the current orientation information of the UAV and generate a control instruction;

[0020] The execution module adjusts the direction of the emission pipe according to the control instruction.

[0021] As a preferred solution of the regulation system of the present invention, wherein: the sensor module includes a fire direction sensor, which is installed on the drone and is used to detect the direction information of the fire and transmit it to the control module;

[0022] The drone attitude sensor is used to obtain the current orientation information of the drone and transmit it to the control module.

[0023] As a preferred solution of the regulation system of the present invention, wherein: the control module includes a processor, which generates control instructions according to the control strategy;

[0024] The control strategy compares the initial direction of the launch pipe with the fire direction, and combines the current orientation of the UAV to determine whether the direction of the launch pipe needs to be adjusted. If necessary, it determines whether to adjust one launch component alone or two launch components at the same time, and obtains the direction and angle of adjustment of the launch component, wherein the launch component includes a first launch component and a second launch component.

[0025] As a preferred solution of the regulating system of the present invention, the execution module performs the following operations when receiving the control instruction:

[0026] When adjusting one launching component separately, the electric push cylinder pushes the rotating shaft according to the pushing instruction output by the control module to make the first bevel gear mesh with the second bevel gear, and the servo motor drives the rotating shaft to rotate according to the rotation instruction output by the control module, and the launching pipe of the corresponding launching component is turned to the direction of the fire through the linkage of the cam and the motion ring, and at the same time, the other launching component that has been aimed at the fire source launches the fire extinguishing bomb;

[0027] When adjusting the two launching components at the same time, the electric push cylinders of the two launching components push the rotating shafts at the same time, so that the first bevel gear is meshed with the second bevel gear. The servo motor drives the two rotating shafts to rotate towards each other according to the rotation command output by the control module, so that the launching pipes of the two launching components are adjusted toward the fire source together. During the adjustment process, the simultaneous adjustment or individual adjustment can be selected according to the fire source situation. The fire extinguishing bombs are launched after the launching pipes of the two launching components are aimed at the fire source.

[0028] The beneficial effects of the present invention are as follows: the initial directions of the launching pipes of the launching components in the present invention are different, and the UAV does not need to accurately aim at the fire source. After arriving at the fire site, if the launching pipe is directed toward the fire source, the fire extinguishing bomb can be launched first, and the directions of other launching components can be adjusted at the same time, saving time. The control module can determine whether to adjust the launching components individually or simultaneously based on the sensor data, and determine the adjustment angle and direction, and flexibly change the adjustment method according to the actual situation. The adjustment component can quickly and accurately adjust the launching direction, and enhance the accuracy of the fire extinguishing direction. In addition, when the airflow and wind direction are unstable and the UAV is difficult to control the direction, the adjustment component can adjust the direction of the launching component individually or simultaneously, so that the direction of the launching pipe is aimed at the fire source, thereby enhancing the adaptability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0030] Figure 1 This is a schematic diagram of the overall structure of a multi-directional pipeline launching device for a fire-fighting drone of the present invention;

[0031] Figure 2 is a cross-sectional view of the adjustment component of the present invention;

[0032] Figure 3 For the present invention Figure 2 A schematic diagram of the structure enlargement at the center A;

[0033] Figure 4 It is a side sectional view of the installation shell in the present invention;

[0034] Figure 5 It is a schematic diagram of the internal structure of the installation shell in the present invention;

[0035] Figure 6 For the present invention Figure 4 A schematic diagram of the structure enlarged at B in the middle;

[0036] Figure 7 It is a schematic diagram of the connection relationship between the rotating shaft and the cam in the present invention;

[0037] Figure 8 is an operation flow chart of the sensor module in the present invention;

[0038] Fig. 9 is an operation flow chart of the control module in the present invention;

[0039] Fig.10 It is an operation flow chart of the execution module in the present invention.

[0040] Reference numerals: 100, drone;

[0041] 200, adjustment assembly; 201, mounting plate; 2011, connecting plate; 2012, pit; 2013, sleeve plate; 2014, second elastic member; 2015, ball; 202, first launching component; 2021, mounting shell; 2022, launching pipe; 2023, accommodating shell; 2024, groove; 2025, electric push cylinder; 2026, rotating shaft; 2027, concave shell; 2028, first bevel gear; 2029, first launching component; 203, adjusting member; 2031, fixed shell; 2032, servo motor; 2033, second bevel gear; 2034, sleeve rod; 204, second launching component; 205, cam; 2051, slide groove; 2052, moving ring; 2053, first moving plate; 2054, first moving block; 2055, second moving plate; 2056, second moving block; 206, movable plate; 207, fixed ring; 2071, fixed plate. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0044] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0045] Example 1

[0046] This is the first embodiment of the present invention, which provides a multi-directional pipeline launching device for a fire-fighting drone.

[0047] Specifically, refer to Figure 1 and Figure 2 , a multi-directional pipeline launching device of a fire-fighting drone, comprising: a drone 100;

[0048] The adjustment assembly 200 disposed at the end of the drone 100 includes a first launching component 202 and a second launching component 204 disposed at the end of the drone 100. The ends of the first launching component 202 and the second launching component 204 are connected with an adjustment member 203. The adjustment member 203 is used to drive the first launching component 202 and the second launching component 204 to adjust the direction at the end of the drone 100.

[0049] The first emitting component 202 and the second emitting component 204 have different initial directions. When the fire source orientation is different from the direction of the first emitting component 202 or the second emitting component 204, the adjusting member 203 is used to adjust the direction of the first emitting component 202 or the second emitting component 204 singly or synchronously.

[0050] Among them, the adjusting member 203 is in the middle of the first launching component 202 and the second launching component 204, and is fixedly connected to the four supporting feet of the drone 100 through four auxiliary rods. The first launching component 202 and the second launching component 204 have the same internal structure, and the only difference is the installation position. The adjusting member 203 in the middle can control the first launching component 202 and the second launching component 204 separately to rotate and adjust the direction, or rotate the first launching component 202 and the second launching component 204 at the same time to adjust the direction together, and point the first launching component 202 and the second launching component 204 towards the direction of the fire. During this period, there is no need to deliberately adjust the direction of the drone 100, and the launching path of the fire extinguishing bomb can be adjusted only by the adjusting member 203.

[0051] Example 2

[0052] This is the second embodiment of the present invention, which is implemented based on the previous embodiment.

[0053] Specifically, refer to Figures 4 to 6The first launching component 202 includes a mounting shell 2021 and a launching pipe 2022 is fixed on the outer wall of the mounting shell 2021, the launching pipe 2022 is used to load the fire extinguishing bomb, a containing shell 2023 is also fixed on the inner wall of the mounting shell 2021 and a rotating shaft 2026 is movably arranged in the containing shell 2023, an electric push cylinder 2025 is also arranged on the inner wall of the mounting shell 2021 and the electric push cylinder 2025 is used to push the rotating shaft 2026 to move linearly in the containing shell 2023.

[0054] Among them, the launching pipe 2022 is symmetrically fixed on both sides of the mounting shell 2021, and the initial orientations of the launching pipes 2022 on both sides of the first launching component 202 and the launching pipes 2022 on both sides of the second launching component 204 are opposite. When facing a fire, there is no need to deliberately control the direction of the UAV 100 during flight, and the UAV 100 can reach the fire point faster.

[0055] The accommodating shell 2023 is installed inside the mounting shell 2021, close to the position of the adjusting member 203. The electric push cylinder 2025 is fixed inside the accommodating shell 2023, and is used to push the rotating shaft 2026 to move inside the accommodating shell 2023. The electric push cylinder 2025 and the rotating shaft 2026 are not integrated, and the rotating shaft 2026 will not affect the electric push cylinder 2025 during subsequent rotation.

[0056] Preferably, a concave shell 2027 is provided at the end of the rotating shaft 2026, and the rotating shaft 2026 extends to the outer wall of the accommodating shell 2023 at one end away from the concave shell 2027 and a first bevel gear 2028 is provided at the end. A first elastic member 2029 is sleeved on the outer wall of the rotating shaft 2026 and the first elastic member 2029 is located at the end of the concave shell 2027 and is used to push the concave shell 2027 to make it close to the electric push cylinder 2025.

[0057] Among them, the concave shell 2027 at the end of the rotating shaft 2026 is sleeved on the outside of the push rod of the electric push cylinder 2025, and the two are separated. The other end of the rotating shaft 2026 is provided with a first bevel gear 2028, and the first bevel gear 2028 extends into the interior of the adjusting member 203. When the electric push cylinder 2025 pushes, the rotating shaft 2026 moves inside the accommodating shell 2023 and the concave shell 2027 squeezes the first elastic member 2029 on the outside of the rotating shaft 2026. When the electric push cylinder 2025 does not push, the first elastic member 2029 pushes the concave shell 2027 upward, so that the first bevel gear 2028 at the other end of the rotating shaft 2026 retracts in the adjusting member 203.

[0058] Reference Figure 6 and Figure 7A cam 205 is sleeved on the outer wall of the rotating shaft 2026, and a slide groove 2051 is opened on the inner wall of the cam 205. The slide groove 2051 is slidably matched with the convex column on the outer wall of the rotating shaft 2026. A moving ring 2052 is sleeved on the outer wall of the cam 205, and a first moving plate 2053 and a second moving plate 2055 are set at the end of the moving ring 2052. A movable plate 206 is set at the end of the moving ring 2052, and the end of the movable plate 206 is slidably matched with the first moving block 2054 arranged at the end of the first moving plate 2053. A fixing ring 207 is also set at the end of the moving ring 2052, and a fixing plate 2071 is set at the end of the fixing ring 207. The end of the fixing plate 2071 is slidably matched with the second moving block 2056 arranged at the end of the second moving plate 2055. The inner wall array of the accommodating shell 2023 is opened with grooves 2024, and the first moving block 2054 and the second moving block 2056 are respectively slid into the inner wall of the groove 2024 under the influence of the rotation of the rotating shaft 2026.

[0059] Among them, the cam 205 is sleeved on the outer wall of the rotating shaft 2026, and the two are not fixed. The boss on the surface of the rotating shaft 2026 slides in the slide groove 2051 on the surface of the cam 205. When the rotating shaft 2026 rotates, the cam 205 is driven by the boss to rotate along with the rotating shaft 2026. When the rotating shaft 2026 is pushed by the electric push cylinder 2025, the boss slides inside the slide groove 2051, and the cam 205 does not move.

[0060] The moving ring 2052 on the surface of the cam 205 is not fixed to the cam 205. The cam 205 rotates on the inner wall of the moving ring 2052 to drive the moving ring 2052 to move. The first moving plate 2053 and the second moving plate 2055 are respectively arranged on both sides of the moving ring 2052. The end of the first moving plate 2053 is hinged with a first moving block 2054, and the end of the second moving plate 2055 is hinged with a second moving block 2056. The first moving block 2054 slides inside the end of the movable plate 206. The movable plate 206 is sleeved on the outside of the rotating shaft 2026 and is not affected by the rotation of the rotating shaft 2026. The second moving block 2056 slides inside the fixed plate 2071. The fixed ring 207 is sleeved on the inside of the rotating shaft 2026, and the fixed ring 207 and the adjusting member 20 3 is fixed to the fixed shell 2031 and does not move. Therefore, when the cam 205 is driven by the rotation of the rotating shaft 2026, the cam 205 drives the external moving ring 2052 to move. Every time the cam 205 rotates one circle, the first moving block 2054 and the second moving block 2056 slide once in the ends of the movable plate 206 and the fixed plate 2071 respectively. When the first moving block 2054 slides outward in the movable plate 206, the second moving block 2056 slides backward inside the fixed plate 2071. Every time the cam 205 rotates once with the rotating shaft 2026, the first moving block 2054 is inside the accommodating shell 2023, enters from the current groove 2024 into the next groove 2024, and drives the mounting shell 2021 to rotate an angle of a groove 2024.

[0061] Reference Figure 6 The adjusting member 203 includes a fixed shell 2031, which is sleeved on the outer wall of the accommodating shell 2023. A servo motor 2032 is fixed to the inner wall of the fixed shell 2031, and a second bevel gear 2033 is arranged at the axis of the servo motor 2032. The second bevel gear 2033 is meshed with the first bevel gear 2028. A sleeve rod 2034 is fixed to the outer wall of the servo motor 2032, and the end of the sleeve rod 2034 is sleeved on the end of the rotating shaft 2026 to limit the movement direction of the rotating shaft 2026.

[0062] Among them, Figure 6 As shown, the upper and lower ends of the fixed shell 2031 are respectively placed under the first launching component 202 and above the second launching component 204, and the fixed shell 2031 is fixed by the auxiliary rod and remains motionless under the drone 100.

[0063] The servo motor 2032 is installed inside the fixed shell 2031, and the second bevel gear 2033 at the axis center of the servo motor 2032 is meshed with the first bevel gear 2028 at the top of the rotating shaft 2026 in the upper and lower accommodating shells 2023. The rotating shaft 2026 is driven to rotate by the servo motor 2032. At the same time, the sleeve rod 2034 on the outer wall of the servo motor 2032 is sleeved on the outside of the rotating shaft 2026. When the electric push cylinder 2025 pushes the rotating shaft 2026 to move, the rotating shaft 2026 moves inside the sleeve rod 2034.

[0064] The first bevel gear 2028 at the end of the rotating shaft 2026 and the second bevel gear 2033 at the axis of the servo motor 2032 are not engaged in the initial state. Only after the electric push cylinder 2025 pushes and the rotating shaft 2026 moves in the direction of the servo motor 2032, the first bevel gear 2028 and the second bevel gear 2033 will engage, and the rotating shaft 2026 will rotate, thereby driving the corresponding launching component to adjust the direction.

[0065] Better, refer to Figure 2 and Figure 3 A mounting plate 201 is screwed onto the end of the drone 100 and a connecting plate 2011 is disposed at the end of the mounting plate 201. A sleeve plate 2013 is disposed on the outer wall of the connecting plate 2011 and the sleeve plate 2013 is fixed to the end of the first launching component 202. A second elastic member 2014 is disposed in an array on the inner wall of the sleeve plate 2013 and a round ball 2015 is disposed at the end of the second elastic member 2014. The second elastic member 2014 is used to push the round ball 2015 to engage with a recess 2012 provided on the outer wall of the connecting plate 2011.

[0066] The mounting plate 201 is screwed to the lower surface of the drone 100, the connecting plate 2011 on the surface of the mounting plate 201 cooperates with the sleeve plate 2013, the sleeve plate 2013 is sleeved on the top of the connecting plate 2011, and the sleeve plate 2013 is fixed to the upper surface of the first launching component 202, and the second elastic member 2014 inside the sleeve plate 2013 pushes the ball 2015 to fit the pit 2012 on the surface of the connecting plate 2011, so that the sleeve plate 2013 and the connecting plate 2011 are clamped together without being affected by external forces, and the sleeve plate 2013 cannot rotate outside the connecting plate 2011, thereby Figure 6 It can be seen that the fixed shell 2031 and the accommodating shell 2023 are also connected in the same way. Only when the servo motor 2032 drives the rotating shaft 2026 to rotate, affecting the rotation of the entire accommodating shell 2023, the ball 2015 is affected by the inner wall of the pit 2012 to squeeze the second elastic member 2014 inward. At this time, the ball 2015 is separated from the pit 2012, and the accommodating shell 2023 rotates on the inner wall of the fixed shell 2031.

[0067] In summary, during use, since the directions of the launch ports of the launch pipes 2022 in the first launch component 202 and the second launch component 204 are different, when the drone 100 flies to the fire site, assuming that the launch pipe 2022 of the first launch component 202 is facing the direction of the fire, the fire extinguishing bomb in the launch pipe 2022 of the first launch component 202 is controlled to be launched into the fire source. At the same time, the servo motor 2032 below drives the second bevel gear 2033 to rotate, and the electric push cylinder 2025 in the second launch component 204 moves to push the rotating shaft 2026 to move in the direction of the servo motor 2032. At this time, the first bevel gear 2028 at the top of the rotating shaft 2026 inside the second launching component 204 meshes with the second bevel gear 2033 on the axis of the servo motor 2032, and the rotating shaft 2026 starts to rotate. The cam 205 on the outer wall of the rotating shaft 2026 drives the moving ring 2052 to move together, so that the accommodating shell 2023 inside the second launching component 204 rotates slowly, and gradually aligns the direction of the launching pipe 2022 of the second launching component 204 with the launching pipe 2022 of the first launching component 202, and aligns them with the direction of the fire source, and then the fire extinguishing bomb inside the second launching component 204 is launched to carry out the fire extinguishing work.

[0068] The directions of the launch tubes 2022 of the first launch component 202 and the second launch component 204 can be adjusted, so there is no need to consider the direction of the drone 100 when approaching the fire source. It is only necessary to adjust the direction of the launch tubes 2022 after the drone 100 flies to the designated position. When adjusting the direction of one of the launch tubes 2022, the other launch tube 2022 aimed at the fire source can first launch the fire extinguishing bomb, without having to wait until the directions of all the launch tubes 2022 are aligned before launching.

[0069] In addition, due to the unstable airflow and wind direction at the fire scene, it may be difficult for the drone 100 to control the direction of the two launch pipes 2022 at the initial position. At this time, it is only necessary to keep the drone 100 stable. The servo motor 2032 can be used to adjust the direction of one launch component alone or both launch components together. Since the upper and lower first bevel gears 2028 are meshed with the second bevel gear 2033, the two rotating shafts 2026 rotate in opposite directions when rotating, and the launch pipes 2022 outside the upper and lower mounting shells 2021 rotate in the same direction when rotating. Point rotation, therefore, the two launching tubes 2022 can be adjusted to a point together by the servo motor 2032. After one of the launching tubes 2022 is aimed at the fire source, the direction of the other launching tube 2022 can be adjusted separately. At this time, the fire extinguishing bomb in the aimed launching tube 2022 can be launched first, or the other launching tube 2022 can be launched after it is adjusted. No matter where the drone 100 is facing after hovering, the first launching component 202 and the second launching component 204 can be adjusted by the adjusting part 203.

[0070] Example 3

[0071] Reference Figure 8 to Figure 10 , which is the third embodiment of the present invention, provides a regulation system, including a sensor module, a control module and an execution module.

[0072] Specifically, the sensor module includes: a fire direction sensor, which is installed on the drone 100 and is used to detect the direction information of the fire and transmit it to the control module;

[0073] The drone attitude sensor is used to obtain the current orientation information of the drone 100 and transmit it to the control module;

[0074] The control module comprises:

[0075] A processor, configured to receive the direction information of the fire occurrence and the current orientation information of the UAV 100 transmitted by the sensor, and generate a control instruction according to the control strategy;

[0076] The control strategy is used to determine whether it is necessary to adjust the orientation of the launch pipe 2022 according to the direction information of the fire occurrence and the current orientation information of the drone 100, and to determine whether to adjust one launch component alone or two launch components at the same time, and to calculate the angle and direction of adjusting the launch components, wherein the launch components include the first launch component 202 and the second launch component 204;

[0077] The processor in the control module performs the following operations during the analysis and judgment stage: receiving data transmitted by the fire direction sensor and the drone attitude sensor; comparing the initial direction of the launch pipe 2022 with the fire direction, and combining the current orientation of the drone 100 to determine whether the direction of the launch pipe 2022 needs to be adjusted, and if necessary, further determining whether to adjust one launch component alone or both at the same time, as well as the approximate direction and angle of the adjustment.

[0078] The execution module performs the following operations in the instruction execution stage: when adjusting a launch component individually, the electric push cylinder 2025 pushes the rotating shaft 2026 according to the push instruction of the control module to make the first bevel gear 2028 mesh with the second bevel gear 2033, and the servo motor 2032 drives the rotating shaft 2026 to rotate according to the rotation instruction, and the launch pipe 2022 of the corresponding launch component is turned to the direction of the fire through the linkage of the cam 205, the motion ring 2052 and other components, and at the same time, another launch component that has been aimed at the fire source can launch a fire extinguishing bomb;

[0079] When adjusting the two launching components at the same time, the electric push cylinders 2025 of the two launching components simultaneously push the rotating shaft 2026 to make the first bevel gear 2028 mesh with the second bevel gear 2033, and the servo motor 2032 drives the two rotating shafts 2026 to rotate towards each other according to the rotation command, so that the launching pipes 2022 of the two launching components are adjusted toward the fire source together. During the adjustment process, you can choose to continue to adjust simultaneously or separately according to the actual situation to ensure that the two launching pipes 2022 are aimed at the fire source before launching the fire extinguishing bomb, and the adjustment system continues to adjust the control instructions in time according to the changes in data transmitted by the fire direction sensor and the drone attitude sensor.

[0080] The fire location sensor detects the fire location by using thermal imaging, smoke detection or a combination of multiple technologies.

[0081] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-directional pipeline launching device for a fire-fighting drone, characterized in that: include: Drones (100); An adjustment component (200) provided at the end of the drone (100), comprising a first launching component (202) and a second launching component (204) provided at the end of the drone (100), wherein the ends of the first launching component (202) and the second launching component (204) are connected with an adjustment member (203), and the adjustment member (203) is used to drive the first launching component (202) and the second launching component (204) to adjust the direction at the end of the drone (100); The first emitting component (202) and the second emitting component (204) have different initial directions. When the orientation of the fire source is different from the direction of the first emitting component (202) or the second emitting component (204), the adjusting member (203) is used to adjust the direction of the first emitting component (202) or the second emitting component (204) singly or synchronously.

2. The multi-directional pipeline launching device of the fire-fighting drone according to claim 1, characterized in that: The first launching component (202) comprises a mounting shell (2021) and a launching pipe (2022) is fixed on the outer wall of the mounting shell (2021), and the launching pipe (2022) is used to load a fire extinguishing bomb; a containing shell (2023) is also fixed on the inner wall of the mounting shell (2021), and a rotating shaft (2026) is movably arranged in the containing shell (2023); an electric push cylinder (2025) is also arranged on the inner wall of the mounting shell (2021), and the electric push cylinder (2025) is used to push the rotating shaft (2026) to move linearly in the containing shell (2023).

3. The multi-directional pipeline launching device of the fire-fighting drone according to claim 2, characterized in that: A concave shell (2027) is provided at the end of the rotating shaft (2026); one end of the rotating shaft (2026) is away from the concave shell (2027) and extends to the outer wall of the accommodating shell (2023) and a first bevel gear (2028) is provided at the end; a first elastic member (2029) is sleeved on the outer wall of the rotating shaft (2026) and the first elastic member (2029) is located at the end of the concave shell (2027) and is used to push the concave shell (2027) to make it close to the electric push cylinder (2025).

4. The multi-directional pipeline launching device of the fire-fighting drone as claimed in claim 3, characterized in that: The outer wall of the rotating shaft (2026) is provided with a cam (205) and the inner wall of the cam (205) is provided with a slide groove (2051), the slide groove (2051) is slidably matched with the convex column on the outer wall of the rotating shaft (2026), the outer wall of the cam (205) is provided with a movement ring (2052), and the end of the movement ring (2052) is provided with a first movement plate (2053) and a second movement plate (2055), the end of the movement ring (2052) is provided with a movable plate (206), and the end of the movable plate (206) is connected to the end of the first movement plate (2053). A moving block (2054) is slidably matched, a fixing ring (207) is also provided at the end of the moving ring (2052), and a fixing plate (2071) is provided at the end of the fixing ring (207), the end of the fixing plate (2071) is slidably matched with a second moving block (2056) provided at the end of the second moving plate (2055), and an array of grooves (2024) are provided on the inner wall of the accommodating shell (2023), and the first moving block (2054) and the second moving block (2056) are respectively slid into the inner wall of the groove (2024) under the influence of the rotation of the rotating shaft (2026).

5. The multi-directional pipeline launching device of the fire-fighting drone according to claim 4, characterized in that: The adjusting member (203) comprises a fixed shell (2031), the fixed shell (2031) is sleeved on the outer wall of the accommodating shell (2023), a servo motor (2032) is fixed on the inner wall of the fixed shell (2031), and a second bevel gear (2033) is arranged at the axis of the servo motor (2032), the second bevel gear (2033) is meshed with the first bevel gear (2028), and a sleeve rod (2034) is fixed on the outer wall of the servo motor (2032), and the end of the sleeve rod (2034) is sleeved on the end of the rotating shaft (2026) to limit the movement direction of the rotating shaft (2026).

6. The multi-directional pipeline launching device of the fire-fighting drone according to claim 5, characterized in that: The end of the drone (100) is screwed with a mounting plate (201) and the end of the mounting plate (201) is provided with a connecting plate (2011); the outer wall of the connecting plate (2011) is provided with a sleeve plate (2013) and the sleeve plate (2013) is fixed to the end of the first emitting component (202); the inner wall of the sleeve plate (2013) is provided with a second elastic member (2014) in an array and the end of the second elastic member (2014) is provided with a round ball (2015); the second elastic member (2014) is used to push the round ball (2015) to engage with a recess (2012) provided on the outer wall of the connecting plate (2011).

7. The multi-directional pipeline launching device of the fire-fighting drone according to claim 6, characterized in that: An electric push cylinder (2025) is provided in the accommodating shell (2023) for pushing the rotating shaft (2026) to move so that the first bevel gear (2028) and the second bevel gear (2033) are meshed; A servo motor (2032) is installed on the inner wall of the fixed shell (2031), and drives the rotating shaft (2026) to rotate through the meshing of the second bevel gear (2033) and the first bevel gear (2028), and the sleeve rod (2034) is used to limit the movement direction of the rotating shaft (2026).

8. A regulating system, applied to the multi-directional pipeline launching device of a fire-fighting drone as claimed in any one of claims 1 to 7, characterized in that: include: Sensor module, control module and execution module; The sensor module is used to detect the direction information of the fire occurrence and the current orientation information of the drone (100), and transmit the information to the control module; The control module is used to receive information on the direction of fire occurrence and current orientation information of the drone (100) and generate control instructions; The execution module adjusts the direction of the emission pipe (2022) according to the control instruction.

9. A regulating system according to claim 8, characterized in that: The sensor module comprises a fire direction sensor, which is installed on the drone (100) and is used to detect the direction information of the fire occurrence and transmit it to the control module; The drone attitude sensor is used to obtain current orientation information of the drone (100) and transmit it to the control module.

10. A regulating system according to claim 9, characterized in that: The control module includes a processor that generates control instructions according to the control strategy; The control strategy compares the initial direction of the launch pipe (222) with the direction of the fire, and in combination with the current orientation of the drone (100), determines whether the direction of the launch pipe (2022) needs to be adjusted, and if necessary, determines whether to adjust one launch component alone or both launch components simultaneously, and obtains the direction and angle of adjustment of the launch components, wherein the launch components include a first launch component (202) and a second launch component (204).

11. A regulating system according to claim 10, characterized in that: When the execution module receives the control instruction, it performs the following operations: When adjusting a launch component individually, the electric push cylinder (2025) pushes the rotating shaft (2026) according to the pushing instruction output by the control module to make the first bevel gear (2028) mesh with the second bevel gear (2033), and the servo motor (2032) drives the rotating shaft (2026) to rotate according to the rotation instruction output by the control module, and the launch pipe (222) of the corresponding launch component is turned to the direction of the fire through the linkage of the cam (205) and the motion ring (2052), and at the same time, another launch component that has been aimed at the fire source launches the fire extinguishing bomb; When the two launching components are adjusted simultaneously, the electric push cylinders (2025) of the two launching components simultaneously push the rotating shaft (2026), so that the first bevel gear (2028) is meshed with the second bevel gear (2033), and the servo motor (2032) drives the two rotating shafts (2026) to rotate in opposite directions according to the rotation command output by the control module, so that the launching pipes (2022) of the two launching components are adjusted together in the direction of the fire source. During the adjustment process, the simultaneous adjustment or the individual adjustment is selected according to the fire source situation, and the fire extinguishing bombs are launched after the launching pipes (2022) of the two launching components are both aligned with the fire source.

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