Fire-fighting unmanned plane multi-directional pipeline launching device and adjusting system

Abstract

The application relates to the technical field of fire-fighting unmanned planes, in particular to a multi-directional pipeline launching device and adjusting system of a fire-fighting unmanned plane, which comprises an unmanned plane, an adjusting assembly, a first launching component and a second launching component, and adjusting pieces are connected to the end portions of the first launching component and the second launching component. The initial directions of the launching pipelines are different, the unmanned plane does not need to accurately aim at a fire source to fly, if a launching pipeline is oriented towards the fire source, the fire extinguishing bomb can be launched first, meanwhile, the directions of other launching components are adjusted, a control module can judge whether the launching components are adjusted alone or simultaneously according to sensor data, and the adjusting angle and direction are determined, the adjusting mode is flexibly changed according to the actual situation, the adjusting assembly can quickly and accurately adjust the launching direction, the accuracy of the fire extinguishing direction adjustment is enhanced, when the air flow direction is unstable and the unmanned plane is difficult to control the direction, the directions of the launching components can be adjusted alone or simultaneously, the launching pipeline is aligned with the fire source, and the adaptability in a complex environment is enhanced.

Description

Technical Field

[0001] This invention relates to the field of firefighting drone technology, and in particular to a multi-directional pipeline launching device and adjustment system for firefighting drones. Background Technology

[0002] In the field of fire protection, with the increasingly widespread application of drone technology, using drones for high-altitude fire fighting has become a research hotspot. The pipeline launching devices of existing fire-fighting drones are mostly unidirectional fixed structures, which cannot achieve multidirectional fire fighting operations. This means that when facing complex and ever-changing fire scenes, drones can only spray fire extinguishing agents in a single direction, limiting the fire fighting range. They are powerless in situations where the fire is at a special angle or where multiple fire sources need to be extinguished simultaneously.

[0003] Moreover, the angle adjustment of the launching device is often not flexible and precise enough, mostly involving simple manual coarse adjustments, which cannot quickly and accurately adjust the spray angle based on real-time fire conditions and wind direction. In addition, the existing adjustment system lacks effective stability assurance.

[0004] Chinese patent application CN109573038B discloses a fire-fighting drone. When extinguishing fires, the drone can rotate the gun turret using a forward and reverse motor, thereby adjusting the direction of the gun barrel. This makes it more flexible in use. When the gun barrel fires fire-fighting projectiles, it moves backward due to recoil, compressing the first and second springs. The first and second telescopic rods retract simultaneously, which can buffer the recoil force on the gun barrel and achieve a shock absorption effect. The combination of these two methods makes the shock absorption effect of the gun barrel more ideal.

[0005] However, the patent still has some problems: although the drone can adjust the direction of the turret, the turret is only a single layer. When the drone flies towards the fire source, attention needs to be paid to the drone's orientation. 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 problems existing in the prior art, the present invention is proposed.

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

[0008] Unmanned aerial vehicle (UAV); an adjustment assembly disposed at the end of the UAV, including a first launching component and a second launching component disposed at the end of the UAV, wherein the ends of the first launching component and the second launching component are connected to an adjustment member, the adjustment member being used to drive the first launching component and the second launching component to adjust the direction at the end of the UAV;

[0009] The first and second launching components have different initial directions. When the location of the fire source is different from the direction of the first or second launching component, the adjusting component is used to adjust the direction of the first or second launching component individually or simultaneously.

[0010] As a preferred embodiment of the launching device for the multi-directional pipeline of the fire-fighting drone of the present invention, the first launching component includes a mounting shell and a launching pipeline fixed on the outer wall of the mounting shell, the launching pipeline being used to load fire extinguishing bombs, a receiving shell being fixed on the inner wall of the mounting shell and a rotating shaft being movably disposed within the receiving shell, and an electric thruster being disposed on the inner wall of the mounting shell and the electric thruster being used to push the rotating shaft to move linearly within the receiving shell.

[0011] As a preferred embodiment of the launching device of the multi-directional pipeline of the fire-fighting drone of the present invention, wherein: a concave shell is provided at the end of the rotating shaft, the end of the rotating shaft opposite to the concave shell extends to the outer wall of the receiving shell and a first bevel gear is provided at the end, and a first elastic element is sleeved on the outer wall of the rotating shaft and the first elastic element is located at the end of the concave shell for pushing the concave shell to approach the electric push cylinder.

[0012] As a preferred embodiment of the launching device for the multi-directional pipeline of the fire-fighting drone of the present invention, wherein: a cam is sleeved on the outer wall of the rotating shaft and a sliding groove is formed on the inner wall of the cam, the sliding groove is slidably engaged with the protrusion on the outer wall of the rotating shaft, a moving ring is sleeved on the outer wall of the cam and a first moving plate and a second moving plate are provided at the end of the moving ring, a movable plate is provided at the end of the moving ring and a first moving block is slidably engaged at the end of the first moving plate, a fixed ring is also provided at the end of the moving ring and a fixed plate is provided at the end of the fixed ring, the end of the fixed plate is slidably engaged with a second moving block is slidably engaged at the end of the second moving plate, and grooves are arrayed on the inner wall of the accommodating shell, the first moving block and the second moving block slide into the inner wall of the grooves respectively due to the rotation of the rotating shaft.

[0013] As a preferred embodiment of the launching device for the multi-directional pipeline of the fire-fighting drone of the present invention, the adjusting component includes a fixed shell, the fixed shell being sleeved on the outer wall of the receiving shell, a servo motor being fixed on the inner wall of the fixed shell, and a second bevel gear being provided at the shaft center of the servo motor, the second bevel gear meshing with the first bevel gear, and a sleeve rod being fixed on the outer wall of the servo motor, the end of the sleeve rod being sleeved on the end of the rotating shaft to limit the direction of rotation of the rotating shaft.

[0014] As a preferred embodiment of the launching device for the multi-directional pipeline of the fire-fighting drone of the present invention, wherein: the end of the drone is screwed with a mounting plate and the end of the mounting plate is provided with a connecting plate, the outer wall of the connecting plate is provided with a sleeve plate and the sleeve plate is fixed to the end of the first launching component, the inner wall of the sleeve plate is provided with an array of second elastic members and the end of the second elastic members is provided with a ball, the second elastic member is used to push the ball to engage with the recess opened on the outer wall of the connecting plate.

[0015] As a preferred embodiment of the launching device for the multi-directional pipeline of the fire-fighting drone described in this invention, an electric pusher cylinder is provided inside the housing to drive the rotating shaft to move, so that the first bevel gear meshes with the second bevel gear;

[0016] A servo motor is installed on the inner wall of the fixed housing. The second bevel gear meshes with the first bevel gear to drive the rotating shaft to rotate. The sleeve rod is used to limit the direction of movement of the rotating shaft.

[0017] An adjustment system, the system being applied to the launching device of the aforementioned fire-fighting drone multi-directional pipeline, includes: 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 them to the control module;

[0019] The control module is used to receive the direction information of the fire and the current orientation information of the drone and generate control commands;

[0020] The execution module adjusts the orientation of the launch pipe according to control commands.

[0021] As a preferred embodiment of the adjustment system described in this invention, the sensor module includes a fire orientation sensor, which is installed on the UAV to detect the direction information of the fire and transmit it to the control module.

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

[0023] As a preferred embodiment of the adjustment system described in this invention, the control module includes a processor that generates control commands based on a control strategy.

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

[0025] In a preferred embodiment of the regulating system described in this invention, the execution module performs the following operations when receiving a control command:

[0026] When adjusting a single launching component, the electric pusher cylinder pushes the rotating shaft according to the push command output by the control module, causing the first bevel gear to mesh with the second bevel gear. The servo motor drives the rotating shaft to rotate according to the rotation command output by the control module. Through the linkage of the cam and the motion ring, the launching pipe of the corresponding launching component is turned towards the fire direction. At the same time, another launching component that has been aimed at the fire source launches the fire extinguishing projectile.

[0027] When adjusting the two launching components simultaneously, the electric cylinders of the two launching components simultaneously push the rotating shafts, causing the first bevel gear to mesh with the second bevel gear. The servo motor drives the two rotating shafts to rotate in opposite directions according to the rotation command output by the control module, so that the launching pipes of the two launching components are adjusted together towards the fire source. During the adjustment process, depending on the fire source situation, it is selected to continue adjusting simultaneously or adjust individually. After the launching pipes of both launching components are aligned with the fire source, the fire extinguishing projectile is launched.

[0028] The beneficial effects of this invention are as follows: In this invention, the initial directions of the launch pipes of the launching components are different, so the UAV does not need to fly precisely towards the fire source. After arriving at the fire site, if the launch pipe direction is towards the fire source, the fire extinguishing projectile 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 the launching components to be adjusted individually or simultaneously based on sensor data, and determine the adjustment angle and direction. The adjustment method can be flexibly changed according to the actual situation. The adjustment component can quickly and accurately adjust the launch direction, enhancing the accuracy of aiming at the fire extinguishing direction. Furthermore, when the airflow direction is unstable and the UAV is difficult to control, the adjustment component can adjust the direction of the launching components individually or simultaneously, so that the launch pipe direction is aimed at the fire source, enhancing adaptability in complex environments. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0032] Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A;

[0033] Figure 4 This is a side sectional view of the mounting shell in this invention;

[0034] Figure 5 This is a schematic diagram of the internal structure of the mounting shell in this invention;

[0035] Figure 6 For the present invention Figure 4 Enlarged structural diagram at point B;

[0036] Figure 7 This is a schematic diagram showing the connection relationship between the rotating shaft and the cam in this invention;

[0037] Figure 8 This is a flowchart illustrating the operation of the sensor module in this invention.

[0038] Figure 9 This is a flowchart illustrating the operation of the control module in this invention.

[0039] Figure 10 This is a flowchart of the execution module in this invention.

[0040] Attached image label: 100, Unmanned Aerial Vehicle (UAV);

[0041] 200. Adjustment component; 201. Mounting plate; 2011. Connecting plate; 2012. Recess; 2013. Sleeve plate; 2014. Second elastic element; 2015. Ball; 202. First launching component; 2021. Mounting shell; 2022. Launch tube; 2023. Receiving shell; 2024. Groove; 2025. Electric thrust cylinder; 2026. Rotating shaft; 2027. Concave shell; 2028. First bevel gear; 2029. First projectile Components: 203, Adjustment component; 2031, Fixed housing; 2032, Servo motor; 2033, Second bevel gear; 2034, Sleeve rod; 204, Second launching component; 205, Cam; 2051, Slide groove; 2052, Motion ring; 2053, First motion plate; 2054, First motion block; 2055, Second motion plate; 2056, Second motion block; 206, Movable plate; 207, Fixed ring; 2071, Fixed plate. Detailed Implementation

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the 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 phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single 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 launching device for a multi-directional pipeline of a fire-fighting drone.

[0047] Specifically, refer to Figure 1 and Figure 2 A multi-directional pipeline launching device for firefighting drones, comprising: drone 100;

[0048] An adjustment assembly 200 located at the end of the UAV 100 includes a first launching component 202 and a second launching component 204 located at the end of the UAV 100. An adjustment member 203 is connected to the ends of the first launching component 202 and the second launching component 204. The adjustment member 203 is used to drive the first launching component 202 and the second launching component 204 to adjust their direction at the end of the UAV 100.

[0049] The first launching component 202 and the second launching component 204 have different initial directions. When the fire source position is different from the direction of the first launching component 202 or the second launching component 204, the adjusting component 203 is used to adjust the direction of the first launching component 202 or the second launching component 204 individually or simultaneously.

[0050] The adjusting component 203 is located between the first launching component 202 and the second launching component 204, and is fixedly connected to the four support legs of the drone 100 via four auxiliary rods. The first launching component 202 and the second launching component 204 have the same internal structure, the only difference being their installation position. The adjusting component 203 can control the first launching component 202 and the second launching component 204 individually to rotate and adjust their direction, or it can rotate the first launching component 202 and the second launching component 204 simultaneously to adjust their direction together, so that the first launching component 202 and the second launching component 204 are facing the direction of the fire. During this process, the direction of the drone 100 does not need to be deliberately adjusted; the launching path of the fire extinguishing projectile can be adjusted simply by adjusting the adjusting component 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 4-6The first launching component 202 includes a mounting shell 2021 and a launching tube 2022 fixed to the outer wall of the mounting shell 2021. The launching tube 2022 is used to load fire extinguishing bombs. A receiving shell 2023 is also fixed to the inner wall of the mounting shell 2021, and a rotating shaft 2026 is movably arranged inside the receiving shell 2023. An electric thruster 2025 is also provided on the inner wall of the mounting shell 2021, and the electric thruster 2025 is used to push the rotating shaft 2026 to move linearly inside the receiving shell 2023.

[0054] The launch pipes 2022 are symmetrically fixed on both sides of the mounting shell 2021. The initial orientation of the launch pipes 2022 on both sides of the first launch component 202 is opposite to that of the launch pipes 2022 on both sides of the second launch component 204. In the event of a fire, the direction of the drone 100 during flight can be controlled without deliberate control, allowing the drone 100 to reach the fire point more quickly.

[0055] The housing 2023 is installed inside the mounting housing 2021, close to the position of the adjusting component 203. The electric push cylinder 2025 is fixed inside the housing 2023 and is used to push the rotating shaft 2026 to move inside the housing 2023. The electric push cylinder 2025 and the rotating shaft 2026 are not integrated. The rotating shaft 2026 will not affect the electric push cylinder 2025 when it rotates later.

[0056] Preferably, a concave shell 2027 is provided at the end of the rotating shaft 2026, and the end of the rotating shaft 2026 opposite to the concave shell 2027 extends to the outer wall of the accommodating shell 2023 and is provided with a first bevel gear 2028 at the end. A first elastic element 2029 is sleeved on the outer wall of the rotating shaft 2026 and is located at the end of the concave shell 2027 for pushing the concave shell 2027 to approach the electric push cylinder 2025.

[0057] The concave shell 2027 at the end of the rotating shaft 2026 is fitted outside 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, which extends into the adjusting member 203. When the electric push cylinder 2025 pushes, the rotating shaft 2026 moves inside the housing 2023, and the concave shell 2027 will squeeze the first elastic member 2029 outside the rotating shaft 2026. When the electric push cylinder 2025 does not push, the first elastic member 2029 pushes the concave shell 2027 upward, causing the first bevel gear 2028 at the other end of the rotating shaft 2026 to retract inside the adjusting member 203.

[0058] Reference Figure 6 and Figure 7A cam 205 is fitted on the outer wall of the rotating shaft 2026, and a groove 2051 is provided on the inner wall of the cam 205. The groove 2051 slides in cooperation with the protrusion on the outer wall of the rotating shaft 2026. A moving ring 2052 is fitted on the outer wall of the cam 205, and a first moving plate 2053 and a second moving plate 2055 are provided at the end of the moving ring 2052. A movable plate 206 is provided at the end of the rotating shaft 2026, and the end of the movable plate 206 slides in cooperation with the first moving block 2054 provided at the end of the first moving plate 2053. A fixed ring 207 is also provided at the end of the rotating shaft 2026, and a fixed plate 2071 is provided at the end of the fixed ring 207. The end of the fixed plate 2071 slides in cooperation with the second moving block 2056 provided at the end of the second moving plate 2055. Grooves 2024 are arrayed on the inner wall of the housing 2023. The first moving block 2054 and the second moving block 2056 slide into the inner wall of the grooves 2024 respectively due to the rotation of the rotating shaft 2026.

[0059] In this configuration, the cam 205 is fitted onto the outer wall of the rotating shaft 2026, but the two are not fixed together. The protrusion on the surface of the rotating shaft 2026 slides in the groove 2051 on the surface of the cam 205. When the rotating shaft 2026 rotates, the cam 205 is driven to rotate together with the rotating shaft 2026 through the protrusion. When the rotating shaft 2026 is pushed by the electric push cylinder 2025, the protrusion slides inside the groove 2051, and the cam 205 does not move.

[0060] The motion 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 motion ring 2052, driving the motion ring 2052 to move. A first motion plate 2053 and a second motion plate 2055 are respectively provided on both sides of the motion ring 2052. A first motion block 2054 is hinged to the end of the first motion plate 2053, and a second motion block 2056 is hinged to the end of the second motion plate 2055. The first motion 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 motion block 2056 slides inside the fixed plate 2071. The fixed ring 207 is sleeved inside the rotating shaft 2026, and the fixed ring 207 is connected to the adjusting member 20. The fixed housing 2031 of 3 is fixed and does not move. Therefore, when the cam 205 is driven by the rotation of the shaft 2026, the cam 205 drives the external moving ring 2052 to move. For each rotation of the cam 205, the first moving block 2054 and the second moving block 2056 slide once in the end 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 in the fixed plate 2071. For each rotation of the cam 205 with the shaft 2026, the first moving block 2054 moves from the current groove 2024 into the next groove 2024 inside the housing 2023, causing the mounting housing 2021 to rotate by the angle of one groove 2024.

[0061] Reference Figure 6 The adjusting component 203 includes a fixed shell 2031, which 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 provided at the shaft of the servo motor 2032. The second bevel gear 2033 meshes with the first bevel gear 2028. 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.

[0062] Among them, such as Figure 6 As shown, the upper and lower ends of the fixed shell 2031 are respectively fitted below the first launching component 202 and above the second launching component 204. The fixed shell 2031 is fixed by the auxiliary rod and remains stationary below the UAV 100.

[0063] The servo motor 2032 is installed inside the fixed housing 2031. The second bevel gear 2033 at the shaft of the servo motor 2032 meshes with the first bevel gear 2028 at the top of the rotating shaft 2026 inside the upper and lower housings 2023. The servo motor 2032 drives the rotating shaft 2026 to rotate. At the same time, the sleeve 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 2034.

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

[0065] Better, refer to Figure 2 and Figure 3 The UAV 100 is screwed to an end with a mounting plate 201 and a connecting plate 2011 is provided at the end of the mounting plate 201. A sleeve plate 2013 is provided 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 arrayed on the inner wall of the sleeve plate 2013 and a ball 2015 is provided at the end of the second elastic member 2014. The second elastic member 2014 is used to push the ball 2015 so that it engages with the recess 2012 opened on the outer wall of the connecting plate 2011.

[0066] The mounting plate 201 is screwed onto the lower surface of the UAV 100. A connecting plate 2011 and a sleeve plate 2013 on the surface of the mounting plate 201 cooperate with each other. The sleeve plate 2013 is fitted over the connecting plate 2011 and is fixed to the upper surface of the first launching component 202. A second elastic element 2014 inside the sleeve plate 2013 pushes a ball 2015 to fit against a recess 2012 on the surface of the connecting plate 2011. This ensures that, without external force, the sleeve plate 2013 and the connecting plate 2011 are locked together, preventing the sleeve plate 2013 from rotating outside the connecting plate 2011. Figure 6 As can be seen, the fixed shell 2031 and the accommodating shell 2023 are also snapped together 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 recess 2012 and squeezes the second elastic element 2014 inward. At this time, the ball 2015 disengages from the recess 2012, and the accommodating shell 2023 rotates on the inner wall of the fixed shell 2031.

[0067] In summary, during use, because the launch ports of the launch pipes 2022 in the first launching component 202 and the second launching component 204 are oriented differently, when the drone 100 flies to the fire site, assuming that the launch pipe 2022 of the first launching component 202 is facing the direction of the fire, the fire extinguishing projectile inside the launch pipe 2022 of the first launching component 202 is launched into the fire source. Simultaneously, the servo motor 2032 below drives the second bevel gear 2033 to rotate, and the electric pusher cylinder 2025 inside the second launching component 204 moves, pushing the rotating shaft 2026 to move in the direction of the servo motor 2032. When 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 shaft of the servo motor 2032, the rotating shaft 2026 starts to rotate. The cam 205 on the outer wall of the rotating shaft 2026 drives the motion ring 2052 to move together, causing the housing 2023 inside the second launching component 204 to rotate slowly and gradually align the launching tube 2022 of the second launching component 204 with the launching tube 2022 of the first launching component 202, so that they are both aimed at the fire source. Then, the fire extinguishing bomb inside the second launching component 204 is launched to carry out fire extinguishing work.

[0068] The directions of the launch pipes 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 it approaches the fire source. The drone 100 only needs to adjust the direction of the launch pipe 2022 after it flies to the designated position. Furthermore, while adjusting the direction of one launch pipe 2022, the other launch pipe 2022, which is aimed at the fire source, can start firing fire extinguishing projectiles first, without having to wait for all the launch pipes 2022 to be aligned before firing.

[0069] Furthermore, due to the unstable airflow at the fire scene, it may be difficult to control the direction of the two launch tubes 2022 at the initial position of the drone 100. In this case, 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 individually or both launch components can be adjusted together. Since the upper and lower first bevel gears 2028 and the second bevel gear 2033 are meshed, the two rotating shafts 2026 rotate in opposite directions. When the launch tubes 2022 outside the upper and lower mounting shells 2021 rotate, they are in the same direction. Since the point of rotation is small, the two launch tubes 2022 can be adjusted together to a point by the servo motor 2032. After one launch tube 2022 is aligned with the fire source, the direction of the other launch tube 2022 can be adjusted separately. At this time, the fire extinguishing bullet in the aligned launch tube 2022 can be launched first, or the launch can be launched after the other launch tube 2022 is adjusted. No matter where the UAV 100 is facing after hovering, the first launch component 202 and the second launch component 204 can be adjusted by the adjustment component 203.

[0070] Example 3

[0071] Reference Figures 8-10 This is the third embodiment of the present invention, which provides an adjustment system including a sensor module, a control module, and an execution module.

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

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

[0074] The control module includes:

[0075] The processor is used to receive the direction information of the fire occurrence and the current orientation information of the UAV 100 transmitted by the sensor, and to generate control commands according to the control strategy.

[0076] The control strategy is used to determine whether the orientation of the launch pipe 2022 needs to be adjusted based on the direction information of the fire and the current orientation information of the UAV 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 the launch component to be adjusted. The launch component includes 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 phase: receiving data transmitted from the fire orientation sensor and the UAV attitude sensor; comparing the initial direction of the launch pipe 2022 with the fire direction, and combining this with the current orientation of the UAV 100, determining whether the direction of the launch pipe 2022 needs to be adjusted; if so, further determining whether to adjust one launch component alone or both at the same time, and the approximate direction and angle of adjustment.

[0078] The execution module performs the following operations during the instruction execution phase: When a single launching component is adjusted, the electric pusher cylinder 2025 pushes the rotating shaft 2026 according to the push command of the control module, causing the first bevel gear 2028 to mesh with the second bevel gear 2033. The servo motor 2032 drives the rotating shaft 2026 to rotate according to the rotation command. Through the linkage of components such as the cam 205 and the motion ring 2052, the launching pipe 2022 of the corresponding launching component is turned towards the fire direction. At the same time, another launching component that has been aimed at the fire source can launch fire extinguishing projectiles.

[0079] When adjusting the two launching components simultaneously, the electric thrusters 2025 of the two launching components simultaneously push the rotating shafts 2026 to mesh the first bevel gear 2028 with the second bevel gear 2033. The servo motor 2032 drives the two rotating shafts 2026 to rotate in opposite directions according to the rotation command, so that the launching pipes 2022 of the two launching components are adjusted together towards the fire source. During the adjustment process, it is possible to continue to adjust simultaneously or adjust individually according to the actual situation to ensure that the two launching pipes 2022 are aligned with the fire source before launching the fire extinguishing projectile. The adjustment system continuously adjusts the control commands in a timely manner according to the data changes transmitted by the fire location sensor and the UAV attitude sensor.

[0080] The fire location sensor uses thermal imaging, smoke detection, or a combination of technologies to detect the location of a fire.

[0081] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A launching device for a multi-directional pipeline for firefighting drones, characterized in that, include: Unmanned aerial vehicles (100); An adjustment assembly (200) located at the end of the UAV (100) includes a first launching component (202) and a second launching component (204) located at the end of the UAV (100). An adjustment member (203) is connected to the ends of the first launching component (202) and the second launching component (204). The adjustment member (203) is used to drive the first launching component (202) and the second launching component (204) to adjust their orientation at the end of the UAV (100). The first launching component (202) and the second launching component (204) have different initial directions. When the fire source position is different from the direction of the first launching component (202) or the second launching component (204), the adjusting component (203) is used to adjust the direction of the first launching component (202) or the second launching component (204) individually or simultaneously. The first launching component (202) includes a mounting shell (2021) and a launching pipe (2022) is fixed to the outer wall of the mounting shell (2021). The launching pipe (2022) is used to load fire extinguishing bombs. A receiving shell (2023) is also fixed to the inner wall of the mounting shell (2021). A rotating shaft (2026) is movably arranged in the receiving shell (2023). An electric thruster (2025) is also provided on the inner wall of the mounting shell (2021). The electric thruster (2025) is used to push the rotating shaft (2026) to move linearly in the receiving shell (2023). The shaft (2026) has a concave shell (2027) at one end. The shaft (2026) extends away from the concave shell (2027) to the outer wall of the accommodating shell (2023) and has a first bevel gear (2028) at one end. The outer wall of the shaft (2026) is fitted with a first elastic element (2029) and the first elastic element (2029) is located at the end of the concave shell (2027) to push the concave shell (2027) to approach the electric push cylinder (2025). The outer wall of the rotating shaft (2026) is fitted with a cam (205), and the inner wall of the cam (205) is provided with a groove (2051). The groove (2051) slides in cooperation with the protrusion on the outer wall of the rotating shaft (2026). The outer wall of the cam (205) is fitted with a moving ring (2052), and the end of the moving ring (2052) is provided with a first moving plate (2053) and a second moving plate (2055). The end of the moving ring (2052) is provided with a movable plate (206), and the end of the movable plate (206) is connected to the first moving plate (2053) at the end of the first moving plate (2053). A sliding engagement is formed between a moving block (2054) and a fixed ring (207) is provided at the end of the moving ring (2052), and a fixed plate (2071) is provided at the end of the fixed ring (207). The end of the fixed plate (2071) is slidably engaged with the second moving block (2056) provided at the end of the second moving plate (2055). The inner wall of the accommodating shell (2023) is provided with grooves (2024). The first moving block (2054) and the second moving block (2056) slide into the inner wall of the grooves (2024) respectively under the influence of the rotation of the rotating shaft (2026). The adjusting component (203) includes a fixed shell (2031), which is sleeved on the outer wall of the receiving shell (2023). A servo motor (2032) is fixed on the inner wall of the fixed shell (2031), and a second bevel gear (2033) is provided at the shaft of the servo motor (2032). The second bevel gear (2033) meshes with the first bevel gear (2028). 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). The first launching component (202) and the second launching component (204) have the same internal structure. The only difference is the installation position. The adjusting component (203) in the middle can control the first launching component (202) and the second launching component (204) to rotate and adjust their direction. It can also rotate the first launching component (202) and the second launching component (204) at the same time to adjust their direction together, so that the first launching component (202) and the second launching component (204) face the direction of the fire.

2. The launching device for the multi-directional pipeline of the fire-fighting drone as described in claim 1, characterized in that: The UAV (100) is screwed to an end 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 launching component (202). The inner wall of the sleeve plate (2013) is provided with an array of second elastic elements (2014) and the end of the second elastic element (2014) is provided with a ball (2015). The second elastic element (2014) is used to push the ball (2015) to engage with the recess (2012) opened on the outer wall of the connecting plate (2011).

3. The launching device for the multi-directional pipeline of the fire-fighting drone as described in claim 2, characterized in that: An electric push cylinder (2025) is provided inside the housing (2023) to drive the rotating shaft (2026) to move, so that the first bevel gear (2028) meshes with the second bevel gear (2033); A servo motor (2032) is installed on the inner wall of the fixed housing (2031). The rotating shaft (2026) is driven to rotate through the meshing of the second bevel gear (2033) and the first bevel gear (2028). The sleeve rod (2034) is used to limit the movement direction of the rotating shaft (2026).

4. A regulating system applied to the launching device of the multi-directional pipeline for fire-fighting drones as described in any one of claims 1 to 3, characterized in that, include: Sensor module, control module, and execution module; The sensor module is used to detect the direction information of the fire and the current orientation information of the UAV (100), and transmit them to the control module; The control module is used to receive the direction information of the fire and the current orientation information of the drone (100) and generate control commands; The execution module adjusts the orientation of the launch pipe (2022) according to the control command.

5. The regulating system as described in claim 4, characterized in that: The sensor module includes a fire location sensor, which is installed on the UAV (100) to detect the direction information of the fire and transmit it to the control module; The drone attitude sensor is used to acquire the current orientation information of the drone (100) and transmit it to the control module.

6. The regulating system as described in claim 5, characterized in that: The control module includes a processor that generates control instructions based on the control strategy. The control strategy compares the initial direction of the launch pipe (2022) with the fire direction and combines it with the current orientation of the UAV (100) to determine whether the direction of the launch pipe (2022) needs to be adjusted. If so, it determines whether to adjust one launch component alone or both launch components at the same time, and obtains the direction and angle of the launch component adjustment. The launch component includes the first launch component (202) and the second launch component (204).

7. The regulating system as described in claim 6, characterized in that: When the execution module receives a control command, it performs the following operations: When a single launching component is adjusted, the electric pusher cylinder (2025) pushes the rotating shaft (2026) according to the push command output by the control module, so that the first bevel gear (2028) and the second bevel gear (2033) mesh. The servo motor (2032) drives the rotating shaft (2026) to rotate according to the rotation command output by the control module. Through the linkage of the cam (205) and the motion ring (2052), the launching pipe (2022) of the corresponding launching component is turned towards the fire direction. At the same time, another launching component that has been aimed at the fire source launches the fire extinguishing projectile. When the two launching components are adjusted simultaneously, the electric cylinders (2025) of the two launching components simultaneously push the rotating shaft (2026), so that the first bevel gear (2028) and the second bevel gear (2033) mesh. 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 towards the fire source. During the adjustment process, depending on the fire source situation, it is selected to continue to adjust simultaneously or adjust individually. After the launching pipes (2022) of the two launching components are aligned with the fire source, the fire extinguishing bullet is launched.

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