Forest fire extinguishing unmanned aerial vehicle airport system with automatic bomb filling function

Abstract

The invention relates to a forest fire fighting unmanned aerial vehicle airport system with an automatic bomb filling function. The forest fire fighting unmanned aerial vehicle airport system comprises unmanned aerial vehicles, parking aprons and bomb filling devices. The bomb filling device comprises a bomb loading platform, a conveying belt used for conveying the fire extinguishing bombs and an inclined rail, and the lower end of the inclined rail is close to the conveying belt, so that the fire extinguishing bombs can roll into the conveying belt along the inclined rail. A fire extinguishing bomb clamp is arranged on the unmanned aerial vehicle and is used for clamping the fire extinguishing bomb on the conveying belt. According to the system, through the automatic bomb filling process, the bomb filling efficiency is remarkably improved, the operation steps are simplified, operation is stable and reliable, the reforming and updating time of the unmanned aerial vehicle can be effectively shortened, and the system is particularly suitable for forest fire extinguishing task scenes needing quick response and frequent bomb filling.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to an automatic ammunition-loading forest fire-fighting unmanned aerial vehicle airport system. Background Art

[0002] With the rapid development of drone technology and its wide application in military and civilian fields, drones have become one of the important tools to promote social progress and are widely used in disaster relief, agricultural plant protection, logistics and transportation, power inspection and other fields. For example, in forest fire prevention, when the fire is small, drones can quickly reach the fire source, carry out targeted firefighting, quickly extinguish the fire source, and prevent the fire from further expanding.

[0003] Forest firefighting drones use firefighting bombs to extinguish fires, and after the firefighting bombs are dropped, they need to be reloaded. Existing forest firefighting drones need to be reloaded frequently, and the reloading method is mainly manual reloading or manual assisted reloading, which has the problem of low reloading efficiency. Summary of the invention

[0004] In view of the above shortcomings, the present invention provides a forest fire fighting drone airport system with automatic ammunition reloading, which can solve the problem of low drone reloading efficiency in the existing drone airport system.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] An automatic reloading forest fire-fighting drone airport system includes a drone and a helipad for parking the drone, and also includes:

[0007] It also includes a bomb loading device, which includes a bomb loading platform, and a conveyor belt for conveying fire extinguishing bombs is provided on the bomb loading platform;

[0008] The drone is provided with a fire extinguishing bomb clamp for clamping the fire extinguishing bomb conveyed by the conveyor belt;

[0009] The bomb filling device also includes an inclined track, the lower end of which is close to the conveyor belt so that when the fire extinguishing bomb is placed on the inclined track, it can roll into the conveyor belt along the inclined track.

[0010] Furthermore, the fire extinguishing bomb clamp includes a connecting plate, the connecting plate is provided with a connecting piece, the bottom of the connecting piece is provided with a scissor-type mechanism, the scissor-type mechanism is provided with a lifting plate, the connecting piece is provided with a lifting plate driving mechanism for driving the lifting plate to rise and fall, and the free ends of the two rods at the bottom of the scissor-type mechanism are respectively provided with fire extinguishing bomb clamp heads.

[0011] Furthermore, partitions are evenly arranged on the conveyor belt along its extension direction so that a fire extinguisher bomb slot is formed between two adjacent partitions located above the belt.

[0012] Furthermore, the conveyor belt is provided with a fire extinguishing bomb detection sensor at a position corresponding to the position where the fire extinguishing bomb rolls in, and the conveyor belt is provided with a baffle and a baffle driving mechanism for driving the baffle to move, so that when the baffle moves to the lower end position of the inclined track along with the baffle driving mechanism, it can prevent the fire extinguishing bomb from rolling into the conveyor belt.

[0013] Furthermore, the automatic reloading forest fire-fighting drone airport system also includes a power exchange platform, on which a slide rail is provided, on which a sliding platform is provided, and on which a sliding platform driving mechanism is provided to drive the sliding platform to move on the slide rail and move to the bottom of the drone; on the sliding platform, a battery charging compartment for placing and charging batteries is provided, and in the battery charging compartment, a lifting mechanism for lifting the battery upward is provided;

[0014] The drone is provided with a battery clamp, and the battery clamp includes a connecting frame, the connecting frame is provided with a fixed arm, a movable arm and a movable arm driving mechanism that drives the movable arm to slide on the fixed arm, the fixed arm is provided with a fixed clamp, and the movable arm is provided with a movable clamp, the movable clamp is arranged opposite to the fixed clamp and forms a battery slot that can accommodate a battery, and when the movable clamp slides away from the fixed clamp with the movable arm, the battery can be placed in the battery charging compartment, or when the movable clamp slides close to the fixed clamp with the movable arm, the battery in the battery charging compartment can be clamped and accommodated in the battery slot to power the drone.

[0015] Furthermore, there are two battery exchange platforms, which are symmetrically arranged on both sides of the apron;

[0016] There are multiple battery charging compartments on each of the battery exchange platforms, and the multiple battery charging compartments are arranged and distributed along the extension direction of the slide rail;

[0017] The battery exchange platform is provided with a displacement sensor for detecting the moving position of the sliding platform.

[0018] Further, each of the battery charging compartments is provided with the jacking mechanism, and the jacking mechanism includes a supporting member, a charging compartment motor and a charging compartment screw rod, the supporting member is slidably arranged in the battery charging compartment and can only slide close to or away from the top opening of the battery charging compartment, the charging compartment motor is fixedly installed at the bottom of the battery charging compartment and is located below the supporting member, the charging compartment screw rod is connected to the charging compartment motor and is driven to rotate by the charging compartment motor, and the supporting member is provided with an internal thread matching the external thread of the charging compartment screw rod and is threadedly connected to the charging compartment screw rod;

[0019] The supporting member is provided with a first sensor and a charging base;

[0020] A storage battery is arranged on the battery exchange platform, and the storage battery is electrically connected to the charging base so that the battery can be charged through the charging base when the battery enters the battery charging compartment.

[0021] Furthermore, the automatic loading forest fire-fighting drone airport system also includes an airport frame, the airport frame includes a frame surrounding the apron and the power exchange platform, a flip plate is rotatably provided on the top of the frame, one side of the flip plate is rotatably installed on the edge of the frame and the flip plate can flip around the side plate so that the flip plate can cover the top opening of the frame when closed and can leak out of the top opening of the frame when opened and let the inner side of the flip plate face upward;

[0022] A solar panel is arranged on the inner side of the flip plate, and the solar panel is electrically connected to the power exchange platform.

[0023] Furthermore, the automatic reloading forest fire-fighting drone airport system also includes a lifting platform, and the apron is arranged on the top of the lifting platform so as to be able to be vertically lifted and lowered along with the lifting platform;

[0024] The top surface of the helipad is provided with a parking groove, and the UAV is provided with a landing gear, and the bottom of the landing gear can be matched and placed in the parking groove.

[0025] Furthermore, when the lifting platform is raised, the apron can be raised above the airport frame.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The automatic reloading forest fire-fighting drone airport system of the present invention can realize automatic reloading, with a high degree of automation, simple steps, stable operation, high efficiency, and can realize rapid reloading to reduce the reorganization and update time of the fire-fighting drone, and is particularly suitable for mission scenarios that require rapid response and frequent reloading;

[0028] The automatic ammunition-loading forest fire-fighting drone airport system of the present invention can replenish multiple fire-fighting bombs at one time, and the subsequent fire-fighting bombs can be fully automatically loaded into the drone in sequence, which can realize the full automation of the ammunition-loading operation and reduce the number of ammunition replenishment times;

[0029] The automatic reloading forest fire-fighting drone airport system of the present invention can realize automatic battery replacement, with high automation, simple steps, stable operation, high efficiency, and can realize rapid battery replacement to reduce the reorganization and update time of the fire-fighting drone, which is particularly suitable for mission scenarios that require rapid response and frequent battery replacement;

[0030] The automatic reloading forest fire-fighting drone airport system of the present invention has independent and mutually independent automatic battery replacement and reloading operations, which can be performed simultaneously, and can realize efficient battery replacement and reloading operations, with faster battery replacement and reloading speeds, high degree of automation, and stable operation.

[0031] There are two battery exchange platforms, one of which is used as a charging area for old batteries, and the other as a standby area for new batteries, which can realize the recycling of old and new batteries; after the reloading operation is completed, the magazine replacement operation can be fully automated. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0033] Figure 1 It is a structural schematic diagram of the automatic loading forest fire extinguishing drone airport system of the present invention in use state;

[0034] Figure 2 It is a structural schematic diagram of the automatic loading forest fire extinguishing drone airport system of the present invention in use state (front door open);

[0035] Figure 3 This is a schematic diagram of the cooperation between the drone and the lifting platform in the present invention;

[0036] Figure 4 It is a structural schematic diagram of the fire extinguishing bomb clamp of the present invention when clamping the fire extinguishing bomb;

[0037] Figure 5 It is a schematic diagram of the implementation of the drone and the ammunition filling device of the present invention at one viewing angle when filling ammunition;

[0038] Figure 6 It is a schematic diagram of the implementation of the drone and the ammunition filling device of the present invention from another perspective when filling ammunition;

[0039] Figure 7 It is a structural schematic diagram of the baffle and the baffle driving mechanism in the present invention;

[0040] Figure 8 It is a schematic diagram of the implementation of the UAV and the battery exchange platform during battery exchange in the present invention;

[0041] Fig. 9 It is a structural schematic diagram of the battery swap platform in the present invention;

[0042] Fig.10 It is a structural schematic diagram of the sliding table in the present invention;

[0043] Fig.11 It is a structural schematic diagram of the jacking mechanism in the present invention;

[0044] Fig.12 It is a structural schematic diagram of the battery clamp of the present invention from one viewing angle;

[0045] Fig.13 It is a schematic structural diagram of the battery clamp in the present invention from another perspective.

[0046] The marks shown in the figure are:

[0047] 10-UAV; 11-battery fixture; 12-connecting frame; 13-fixed arm; 14-movable arm; 15-fixed fixture; 16-movable fixture; 17-battery slot; 18-landing gear; 19-fire extinguisher fixture; 110-connecting plate; 111-connecting piece; 112-scissor mechanism; 113-lifting plate; 114-fire extinguisher chuck head; 115-battery fixture motor; 116-battery fixture screw; 117-lifting plate motor; 118-lifting plate screw; 119-rubber sleeve;

[0048] 20- parking apron; 21- parking groove;

[0049] 30-battery exchange platform; 31-slide rail; 32-sliding table; 33-battery charging compartment; 34-battery; 35-displacement sensor; 36-storage battery; 37-battery exchange platform support frame; 38-battery exchange platform support frame roller; 39-sliding table drive motor; 310-sliding table pulley; 331-supporting member; 332-charging compartment motor; 333-charging compartment screw rod; 334-first sensor; 335-charging base;

[0050] 40-loading device; 41-loading platform; 42-conveyor belt; 43-fire extinguishing bomb; 44-partition; 45-fire extinguishing bomb slot; 46-inclined track; 47-fire extinguishing bomb detection sensor; 49-baffle; 410-baffle motor; 411-baffle screw; 412-chute; 413-bombing port;

[0051] 50-lifting platform; 51-lifting platform base; 52-lifting platform roller; 53-telescopic column; 54-lifting platform hydraulic drive device;

[0052] 60-airport frame; 61-frame; 62-flip plate; 63-solar panel; 64-adjustable support; 65-frame roller; 66-bombing door; DETAILED DESCRIPTION

[0053] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] Please refer to Figures 1 to 13 A preferred embodiment of the present invention provides a forest fire-fighting drone airport system with automatic ammunition loading, which mainly includes a drone 10, a helipad 20 for parking the drone 10, a power exchange platform 30, a loading device 40, a lifting platform 50 and an airport frame 60.

[0057] The main body of the drone 10 adopts the main structure of an existing drone, such as a rotor-type drone, etc. In this exemplary embodiment, the drone 10 adopts a six-rotor drone.

[0058] Please refer to Figures 1 to 3, the apron 20 is arranged on the top of the lifting platform 50 so as to be able to be lifted and lowered vertically with the lifting platform 50. In this exemplary embodiment, the lifting platform 50 includes a lifting platform base 51, a lifting platform roller 52 arranged at the bottom of the lifting platform base 51, and a telescopic column 53 arranged on the top surface of the lifting platform base 51. The lifting platform base 51 is also provided with a lifting platform hydraulic drive device 54, specifically a hydraulic cylinder. The lifting platform hydraulic drive device 54 and the telescopic column 53 are respectively connected to the apron 20. The apron 20 is fixedly installed on the top of the lifting platform hydraulic drive device 54 and the telescopic column 53, so that when the lifting platform hydraulic drive device 54 is extended and retracted, the telescopic column 53 is driven to extend and retract at the same time, so as to realize the lifting and lowering of the apron 20. In this exemplary embodiment, the lifting platform 50 adopts the mode of hydraulic lifting and telescopic column cooperation, and the lifting and lowering are stable and accurate. In other embodiments, other lifting modes may also be adopted, such as the form of screw drive.

[0059] A parking groove 21 is provided on the top surface of the helipad 20 , and the UAV 10 is provided with a landing gear 18 , and the bottom of the landing gear 18 can be matched and placed in the parking groove 21 to keep the UAV 10 stably parked at a designated position.

[0060] Please refer to Figures 1 to 7 The loading device 40 includes a loading platform 41, which is located below the apron 20. A conveyor belt 42 for conveying fire extinguishing bombs 43 is provided on the loading platform 41. The unmanned aerial vehicle 10 is provided with a fire extinguishing bomb clamp 19, which includes a connecting plate 110, and the connecting plate 110 is provided with a connecting member 111. The bottom of the connecting member 111 is respectively provided with a scissor-type mechanism 112, and the scissor-type mechanism 112 is provided with a lifting plate 113. The connecting member 111 is provided with a lifting plate driving mechanism for driving the lifting plate 113 to rise and fall, and the free ends of the two rods at the bottom of the scissor-type mechanism 112 are respectively provided with fire extinguishing bomb clamp heads 114. When the lifting plate 113 is driven to rise and fall, the scissor-type mechanism 112 can be driven to extend and retract so that the free ends of the two rods at the bottom of the scissor-type mechanism 112 are close to or away from each other. At this time, the fire extinguishing bullet clamp heads 114 are close to or away from each other. When the fire extinguishing bullet clamp heads 114 are close to each other, the fire extinguishing bullet 43 can be clamped. When the fire extinguishing bullet clamp heads 114 are away from each other, the fire extinguishing bullet 43 can be dropped. When the fire extinguishing bullet clamp heads 114 are away from each other, they are located on both sides of the fire extinguishing bullet 43 on the conveyor belt 42, and do not affect the movement of the fire extinguishing bullet 43 on the conveyor belt 42. During implementation, the fire extinguishing bullet clamp heads 114 will be at the same height as the fire extinguishing bullet 43 on the conveyor belt 42. At this time, when the fire extinguishing bullet 43 is located between the fire extinguishing bullet clamp heads 114 on both sides, the fire extinguishing bullet clamp heads 114 on both sides can clamp the fire extinguishing bullet 43 when they are close to each other, so as to realize the loading of the fire extinguishing bullet 43.

[0061] In a preferred embodiment, both ends of the bottom of the connecting member 111 are provided with scissor-type mechanisms 112, and the lifting plate 113 is connected to the rotation point in the middle of the scissor-type mechanisms 112 at the same time. There are two lifting plate driving mechanisms, corresponding to the two scissor-type mechanisms 112, and the two lifting plate driving mechanisms operate simultaneously to drive the same lifting plate 113 to rise and fall. The lifting plate driving mechanism includes a lifting plate motor 117 and a lifting plate screw rod 118, and the lifting plate motor 117 is fixedly installed on the connecting member 111 in a one-to-one correspondence, and the lifting plate screw rod 118 is connected to the lifting plate motor 117 and driven to rotate by the lifting plate motor 117. The lifting plate 113 is provided with a screw hole matching the lifting plate screw rod 118, and the lifting plate screw rod 118 matches and passes through the screw hole, so that when the lifting plate screw rod 118 rotates, it can drive the lifting plate 113 to rise and fall.

[0062] In a preferred embodiment, a flexible material can be provided on the side opposite to the fire extinguishing cartridge head 114 to achieve more reliable clamping, such as a rubber sleeve 119, which can achieve buffering to avoid damage to the fire extinguishing cartridge head 114 or the fire extinguishing bomb 43 on the one hand, and increase the friction between the fire extinguishing bomb 43 and the fire extinguishing cartridge head 114 on the other hand to ensure that it does not accidentally fall off during clamping.

[0063] Partitions 44 are evenly arranged on the conveyor belt 42 along its extension direction so that a fire extinguishing bomb slot 45 is formed between two adjacent partitions 44 located above the belt, so that the fire extinguishing bombs 43 entering the conveyor belt 42 can be transferred to the position of the fire extinguishing bomb clamp 19 one by one according to the position of the fire extinguishing bomb slot 45 to facilitate the fire extinguishing bomb clamp 19 to clamp them.

[0064] The loading device 40 includes an inclined track 46, the lower end of which is close to the conveyor belt 42 so that when the fire extinguishing bomb 43 is placed on the inclined track 46, it can roll into the conveyor belt 42 along the inclined track 46. When loading, the fire extinguishing bomb 43 can be placed on the inclined track 46 and then rolled into the conveyor belt 42. At this time, multiple fire extinguishing bombs 43 can be placed on the inclined track 46 in advance, so that multiple fire extinguishing bombs 43 can be rolled into the conveyor belt 42 in sequence, thereby reducing the operation of manual reloading.

[0065] A fire extinguishing bomb detection sensor 47 is provided on the conveyor belt 42 at the position corresponding to the rolling-in position of the fire extinguishing bomb 43. A baffle 49 and a baffle driving mechanism for driving the baffle 49 to move are provided on the conveyor belt 42, so that when the baffle 49 moves to the lower end position of the inclined track 46 along with the baffle driving mechanism, it can prevent the fire extinguishing bomb 43 from rolling into the conveyor belt 42. In this exemplary embodiment, the baffle driving mechanism includes a baffle motor 410 and a baffle screw 411. The baffle motor 410 is fixedly mounted on the conveyor belt 42. A slide groove 412 is provided on the conveyor belt 42. The baffle 49 is slidably arranged in the slide groove 412. The baffle screw 411 is connected to the baffle motor 410 and is driven to rotate by the baffle motor 410. The extension direction of the baffle screw 411 is consistent with the direction of the slide groove 412. The baffle 49 is provided with a screw hole matching the baffle screw 411. The baffle 49 is matched and connected with the baffle screw 411 through the screw hole, so that when the baffle motor 410 drives the baffle screw 411 to rotate, it can drive the baffle 49 to move, so that it can move to the lower end position of the inclined track 46 to prevent the fire extinguishing bomb 43 from rolling into the conveyor belt 42, or it can move out of the lower end position of the inclined track 46 to allow the fire extinguishing bomb 43 to roll into the conveyor belt 42. The fire extinguishing bomb detection sensor 47 is used to detect whether there is a fire extinguishing bomb 43 at the position where the conveyor belt 42 corresponds to the rolling-in position of the fire extinguishing bomb 43. If it is detected that there is no fire extinguishing bomb 43, when the fire extinguishing bomb slot 45 of the conveyor belt 42 moves to a suitable position (the position just allows the fire extinguishing bomb 43 to roll in), the baffle driving mechanism drives the baffle 49 to leave the lower end position of the inclined track 46, and the fire extinguishing bomb 43 located on the inclined track 46 can roll into the fire extinguishing bomb slot 45 of the conveyor belt 42 along the inclined track 46. After the fire extinguishing bomb 43 rolls in, the baffle driving mechanism immediately drives the baffle 49 back to the lower end position of the inclined track 46 to block the next fire extinguishing bomb 43 from rolling in. If a fire extinguishing bomb 43 is detected, the baffle 49 is kept stationary. In this exemplary embodiment, the fire extinguishing bomb detection sensor 47 uses a pressure sensor. When there is a fire extinguishing bomb 43 at the position where the conveyor belt 42 corresponds to the rolling-in position of the fire extinguishing bomb 43, a pressure will be exerted on the fire extinguishing bomb detection sensor 47, which can be detected by the fire extinguishing bomb detection sensor 47. By setting the baffle 49, in conjunction with the fire extinguishing bomb detection sensor 47, the baffle driving mechanism, etc., on the one hand, multiple fire extinguishing bombs 43 can be placed in the inclined track 46 at one time, and on the other hand, the fire extinguishing bombs 43 can enter the conveyor belt 42 stably and orderly, avoiding the problem of the fire extinguishing bomb 43 getting stuck at the position where the inclined track 46 enters the conveyor belt 42, thereby ensuring that the fire extinguishing bomb 43 enters the conveyor belt 42 smoothly.

[0066] Rollers may be provided on the baffle plate 49 to ensure smooth sliding of the baffle plate 49 .

[0067] Please continue to refer to Figure 1 , Figure 2 and Figures 8 to 13, a slide rail 31 is provided on the battery exchange platform 30, a slide table 32 is slidably provided on the slide rail 31, and a slide table driving mechanism is provided on the slide table 32 to drive the slide table 32 to move on the slide rail 31 and to move under the drone 10. In this exemplary embodiment, the slide table 32 slides in or out from the side under the drone 10. The movement of the slide table 32 to the bottom of the drone 10 means that when the drone 10 is parked on the helipad 20, the slide table 32 can move and be directly below or obliquely below the drone 10 during operation.

[0068] A battery charging compartment 33 for placing and charging the battery 34 is disposed on the sliding platform 32 , and a lifting mechanism for lifting the battery 34 upward is disposed in the battery charging compartment 33 .

[0069] There are two battery swap platforms 30, which are symmetrically arranged on both sides of the apron 20. In a preferred embodiment, the battery swap platform 30 is supported by a battery swap platform support frame 37. The bottom of the battery swap platform support frame 37 is provided with a battery swap platform support frame roller 38 to facilitate the movement of the battery swap platform support frame 37. When there are two battery swap platforms 30, the two battery swap platforms 30 can share one battery swap platform support frame 37, or they can use one battery swap platform support frame 37 respectively. In this exemplary embodiment, the two battery swap platforms 30 use one battery platform support frame 37 respectively, but the two battery platform support frames 37 can be locked with each other when installed in place to keep the positions of the two battery swap platform support frames 37 unchanged.

[0070] There are multiple battery charging compartments 33 on each battery exchange platform 30. For example, in this exemplary embodiment, there are six battery charging compartments 33 on each battery exchange platform 30, and the multiple battery charging compartments 33 are arranged and distributed along the extension direction of the slide rail 31. Each battery charging compartment 33 can hold a battery 34 and is used to charge the battery 34.

[0071] The battery exchange platform 30 is provided with a displacement sensor 35 for detecting the moving position of the sliding platform 32. The displacement sensor 35 can be any conventional displacement sensor to detect the moving position of the sliding platform 32. By detecting the moving position of the sliding platform 32, the position detection of each battery charging compartment 33 on the sliding platform 32 can be realized.

[0072] In this exemplary embodiment, the sliding table driving mechanism includes a sliding table pulley 310 installed on the sliding table 32 and a sliding table driving motor 39. There are four sliding table pulleys 310, which are arranged in groups of two and are slidably installed on the slide rail 31. The output shaft of the sliding table driving motor 39 is connected to at least one sliding table pulley 310 so that the sliding table pulley 310 can be driven to rotate by the sliding table driving motor 39 to realize the movement of the sliding table 32 on the slide rail 31.

[0073] Each battery charging compartment 33 is provided with a lifting mechanism, which includes a supporting member 331, a charging compartment motor 332 and a charging compartment screw 333. The supporting member 331 is slidably arranged in the battery charging compartment 33 and can only slide close to or away from the top opening of the battery charging compartment 33, that is, it can slide up and down in normal use. The charging compartment motor 332 is fixedly installed at the bottom of the battery charging compartment 33 and is located below the supporting member 331. The charging compartment screw 333 is connected to the charging compartment motor 332 and driven to rotate by the charging compartment motor 332. The supporting member 331 is provided with an internal thread matching the external thread of the charging compartment screw 333 and is threadedly connected to the charging compartment screw 333. When the charging compartment motor 332 is started, it can drive the charging compartment screw 333 to rotate, thereby driving the supporting member 331 to slide up or down in the battery charging compartment 33, that is, to achieve lifting. The top surface of the supporting member 331 is provided with a first sensor 334 and a charging base 335. The first sensor 334 is used to detect the position of the support member 331 when it is lifted or lowered. The first sensor 334 can select various conventional displacement sensors to detect the moving position of the sliding platform 32. For example, in this exemplary embodiment, the first sensor 334 adopts a pull-wire displacement sensor. The charging base 335 is used to charge the battery 34. When the battery 34 enters the battery charging compartment 33, the contacts of the battery are connected to the charging base 335, thereby conducting the charging circuit to charge the battery 34 entering the battery charging compartment 33. A battery 36 is provided on the power exchange platform 30. In this exemplary embodiment, the battery 36 is located on the sliding platform 32. The battery 36 is electrically connected to the charging base 335 so that the battery 34 can be charged through the charging base 335 when it enters the battery charging compartment 33. It can be understood that the battery 36 is also electrically connected to the first sensor 334 and the displacement sensor 35 to realize power supply to the first sensor 334 and the displacement sensor 35.

[0074] The drone 10 is provided with a battery fixture 11, which includes a connecting frame 12, a fixed arm 13, a movable arm 14, and a movable arm driving mechanism for driving the movable arm 14 to slide on the fixed arm 13, a fixed fixture 15 is provided on the fixed arm 13, and a movable fixture 16 is provided on the movable arm 14. The movable fixture 16 is arranged opposite to the fixed fixture 15 and forms a battery card slot 17 capable of accommodating a battery 34, and when the movable fixture 16 slides away from the fixed fixture 15 with the movable arm 14, the battery 34 can be placed in the battery charging compartment 33, or when the movable fixture 16 slides close to the fixed fixture 15 with the movable arm 14, the battery 34 in the battery charging compartment 33 can be clamped and accommodated in the battery card slot 17 to power the drone 10. The movable arm driving mechanism includes a battery fixture motor 115 and a battery fixture screw 116. The fixed arm 13 is fixedly mounted on the connecting frame 12, the movable arm 14 is slidably mounted on the connecting frame 12, the battery clamp motor 115 is fixedly mounted on the movable arm 14, the connecting frame 12 is provided with a screw hole matching the battery clamp screw 116, the battery clamp screw 116 is connected to the battery clamp motor 115 and driven to rotate by the battery clamp motor 115, and matches and passes through the screw hole on the connecting frame 12, so that when the battery clamp screw 116 rotates, it can drive the movable arm 14 to slide on the connecting frame 12, so that the fixed clamp 15 and the movable clamp 16 can be moved closer to or farther away from each other, and when the fixed clamp 15 and the movable clamp 16 are moved closer to each other, they can clamp the battery 34, and when the fixed clamp 15 and the movable clamp 16 are moved away from each other, they can contact and clamp the battery 34. An electric contact is provided in the battery card slot 17, so that when the battery 34 enters the battery card slot 17, it can abut against the electric contact to achieve circuit conduction to achieve power supply. The battery clamp 11 on the drone 10 may be one or more. For example, in this exemplary embodiment, there are two battery clamps 11 arranged side by side on the drone 10. The two battery clamps 11 may correspond to two battery charging compartments 33, thereby realizing the battery replacement operation of two batteries 34 at a time.

[0075] In a preferred embodiment, the drone 10 may be equipped with a backup battery, which is mainly used to power its flight control system, so as to ensure that the battery 34 has enough power to power the flight control system after it is removed from the battery slot 17 of the battery fixture 11. It is understandable that the backup battery can also be electrically connected to the movable arm drive mechanism and the lifting plate drive mechanism to provide power, so as to ensure that the battery 34 has enough power to power the movable arm drive mechanism and the lifting plate drive mechanism after it is removed from the battery slot 17 of the battery fixture 11. At this time, the battery 34 is mainly used to provide power for the flight of the drone 10 (such as the drive motor of the rotor). It is understandable that in some embodiments, the battery 34 can also provide power to all electrical components of the drone 10.

[0076] The airport frame 60 includes a frame 61 surrounding the apron 20, the battery exchange platform 30, the ammunition loading device 40, and the lifting platform 50. A flip plate 62 is rotatably arranged on the top of the frame 61. One side of the flip plate 62 is rotatably installed at the edge of the frame 61 and the flip plate 62 can flip around the side plate so that the flip plate 62 can cover the top opening of the frame 61 when closed. At this time, the lifting platform 50 can rise and let the apron 20 extend out of the frame 61, and can leak out the top opening of the frame 61 when opened and let the inside of the flip plate 62 face up. A solar panel 63 is arranged on the inside of the flip plate 62. At this time, the solar panel 63 generates solar energy when there is sunlight. The solar panel 63 is electrically connected to the battery exchange platform 30, specifically to the battery 36, so as to charge the battery 36. The flip plate 62 covers the top opening of the frame 61 when closed. Adjustable supports 64 are provided at the four corners of the bottom of the airport frame 60. By adjusting the extension height of the adjustable supports 64, it can be adapted to be used on an uneven bottom surface, thereby ensuring the stability of the airport frame 60. A bottom plate is also provided at the bottom of the airport frame 60, and the power exchange platform 30, the bullet-filling device 40, the lifting platform 50, etc. are placed or installed on the bottom plate. Frame rollers 65 are also provided at the bottom of the airport frame 60. When the adjustable supports 64 are retracted to a certain position, the frame rollers 65 are in contact with the ground, thereby enabling walking, or the frame rollers 65 are folding rollers, and when unfolded, the frame rollers 65 are in contact with the ground, thereby enabling walking. A frame door is provided on the front of the frame 61, so that when the frame is opened, it is convenient for the entry and exit or maintenance of the components in the frame 61. The frame 61 cooperates with the bottom plate and the flip plate 62 to enclose the apron 20, the battery exchange platform 30, the loading device 40, the lifting platform 50, etc., and can provide sunshade, rainproof, waterproof and dustproof, and protect the internal components.

[0077] The frame 61 is provided with an openable bomb door 66 at a position near the higher end of the inclined track 46, and a bomb opening 413 is provided at a position of the higher end of the inclined track 46 directly opposite to the bomb door 66. When the bomb door 66 is opened, a fire extinguishing bomb can be placed into the inclined track 46 through the bomb door 66 and the bomb opening 413 to realize bombing on the inclined track 46.

[0078] It can be understood that, in a preferred embodiment, a controller is also included, and the controller is electrically connected to the sliding table drive mechanism, the displacement sensor 35, the lifting mechanism, the first sensor 334, the lifting platform 50, the movable arm drive mechanism, the lifting plate drive mechanism, the baffle drive mechanism, the fire extinguishing bomb detection sensor 47, etc., so as to realize information interaction with the above-mentioned components and control the sliding table drive mechanism, the lifting mechanism, the lifting platform, the movable arm drive mechanism, the lifting plate drive mechanism, the baffle drive mechanism, etc.

[0079] The following is an exemplary implementation of the present invention, specifically an implementation of a fire-fighting drone. After performing a bombing mission, the drone 10 returns, opens the flip plate 62 (or the flip plate 62 is already in the open state), and the lifting platform 50 drives the apron 20 to rise to a certain height. At this time, the apron 20 is higher than the airport frame 60, and the drone 10 stops in the parking groove 21 of the apron 20. At this time, the position of the drone 10 is determined, and the apron 20 is higher than the airport frame 60. When the drone 10 lands, it interferes with the airport frame 60, which is convenient for the drone 10 to dock; after the drone 10 stops steadily, the lifting platform 50 drives the apron 20 to descend to a certain height, and the drone 10 descends with the apron 20. At this time, after the drone 10 drops the bomb, the fire extinguishing cartridge head 114 is in an open state and is located on both sides of the fire extinguishing bomb 43 on the conveyor belt 42 after the lifting platform 50 descends. The lifting plate motor 117 of the lifting plate driving mechanism drives the lifting plate 113 to descend, and the fire extinguishing cartridge heads 114 on both sides clamp the fire extinguishing bomb 43 to complete the loading. The man-machine 10 takes off with the fire extinguishing bomb 43 (or the lifting platform 50 drives the helipad 20 to rise to a certain height before the drone takes off); the conveyor belt 42 conveys the distance of a fire extinguishing bomb slot 45 forward, and the fire extinguishing bomb detection sensor 47 detects that there is no fire extinguishing bomb 43 at the position where the conveyor belt 42 corresponds to the rolling-in position of the fire extinguishing bomb 43, and the baffle driving mechanism drives the baffle 49 to leave the lower end position of the inclined track 46, and the fire extinguishing bomb 43 located on the inclined track 46 can roll into the fire extinguishing bomb slot 45 of the conveyor belt 42 along the inclined track 46. After the fire extinguishing bomb 43 rolls in, the baffle driving mechanism immediately drives the baffle 49 back to the lower end position of the inclined track 46 to block the next fire extinguishing bomb 43 from rolling in; when there is no or insufficient fire extinguishing bomb 43 on the inclined track 46, the bomb throwing door 66 can be opened, and the fire extinguishing bomb 43 can be put in through the bomb throwing port 413 to achieve bomb replenishment, and multiple fire extinguishing bombs 43 can be replenished at one time without frequent operation.If the battery 34 on the drone 10 happens to need to be replaced, it is defaulted (or set) that when the drone 10 replaces the battery for the first time, the battery charging compartment 33 on the battery replacement platform 30 on the left side is filled with batteries 34 and the batteries 34 are all fully charged, and the battery charging compartment 33 on the battery replacement platform 30 on the right side is empty of batteries 34; after the drone 10 stops, the sliding platform 32 of the battery replacement platform 30 on the right side enters under the drone 10 under the drive of the sliding platform driving mechanism and, under the position detection of the displacement sensor 35, the empty battery charging compartment 33 is aligned with the battery fixture 11 of the drone 10 The battery 34 on the battery holder 11 is replaced with two batteries 34 at a time. For example, in this exemplary embodiment, the battery 34 on the battery holder 11 of the two drones 10 is aligned with the two empty battery charging compartments 33, and then the corresponding charging compartment motor 332 is started to drive the supporting member 331 to rise to a certain position. The first sensor 334 detects the lifting height, and basically allows the charging base 335 to abut against the battery 34. Then, the battery holder motor 115 on the battery holder 11 drives the fixed fixture 15 and the movable fixture 16 to move away from each other, and then the battery 34 is released and falls into the battery charging compartment 33 and is received by the supporting member 331. , the charging compartment motor 332 starts to drive the supporting member 331 to descend and reset, and the battery 34 is charged under the action of the charging base 335, and the battery 34 is removed; after the battery 34 on the battery clamp 11 is removed, the sliding table 32 of the battery exchange platform 30 on the right is driven to move outward under the drive of the sliding table driving mechanism, and the sliding table 32 of the battery exchange platform 30 on the left is driven by the sliding table driving mechanism to enter under the drone 10 and under the position detection of the displacement sensor 35, the two battery charging compartments 33 loaded with batteries 34 are aligned with the battery clamp 11 of the drone 10, and then the corresponding charging The compartment motor 332 starts to drive the supporting member 331 to rise to a certain position, and the first sensor 334 detects the lifting height, allowing the battery 34 to enter the battery slot 17 and contact the electric contact inside it, and then the battery clamp motor 115 on the battery clamp 11 drives the fixed clamp 15 and the movable clamp 16 to approach each other and clamp the battery 34. At this time, the battery 34 is loaded into the battery clamp 11, and the charging compartment motor 332 starts to drive the supporting member 331 to descend and reset, completing the battery replacement of the two batteries 34; after the battery 34 is installed, the sliding table 32 of the battery replacement platform 30 on the left side is driven by the sliding table drive mechanism to retreat to the outside. It can be understood that in some embodiments, the battery can be replaced after the drone 10 has descended to a certain height together with the helipad 20. At this time, the battery replacement and reloading can be carried out simultaneously without interfering with each other, which helps to improve the overall efficiency.

[0080] The automatic reloading forest fire-fighting drone airport system of the present invention can realize automatic battery replacement and reloading operations. The automatic battery replacement and reloading operations are independent of each other and do not affect each other. They can be performed simultaneously to achieve efficient battery replacement and reloading operations. The battery replacement and reloading speeds are faster, the degree of automation is high, the steps are simple, and the operation is stable, which solves the problem of long reorganization and update time of current fire-fighting drones. The reloading operation can replenish multiple fire-fighting bombs at one time, and subsequent fire-fighting bombs can be fully automatically loaded into the drone in sequence, which can realize the full automation of the reloading operation. Two battery replacement platforms, one of which is used as a charging area for old batteries, and the other as a standby area for new batteries, can realize the recycling of old and new batteries.

[0081] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic reloading forest fire-fighting drone airport system, comprising a drone (10) and a helipad (20) for parking the drone (10), characterized in that: Also included are: It also includes a bomb loading device (40), the bomb loading device (40) includes a bomb loading platform (41), and the bomb loading platform (41) is provided with a conveyor belt (42) for conveying fire extinguishing bombs (43); The drone (10) is provided with a fire extinguishing bomb clamp (19) for clamping the fire extinguishing bomb (43) transported by the conveyor belt (42); The bomb loading device (40) further comprises an inclined track (46), wherein the lower end of the inclined track (46) is close to the conveyor belt (42) so that when the fire extinguishing bomb (43) is placed on the inclined track (46), it can roll into the conveyor belt (42) along the inclined track (46).

2. The automatic loading forest fire-fighting drone airport system according to claim 1 is characterized in that: The fire extinguishing bomb clamp (19) comprises a connecting plate (110), the connecting plate (110) is provided with a connecting piece (111), the bottom of the connecting piece (111) is respectively provided with a scissor-type mechanism (112), the scissor-type mechanism (112) is provided with a lifting plate (113), the connecting piece (111) is provided with a lifting plate driving mechanism for driving the lifting plate (113) to rise and fall, and the free ends of two rods at the bottom of the scissor-type mechanism (112) are respectively provided with fire extinguishing bomb clamp heads (114).

3. The automatic loading forest fire-fighting drone airport system according to claim 1 is characterized in that: The conveyor belt (42) is evenly provided with partitions (44) along its extension direction so that a fire extinguishing bomb slot (45) is formed between two adjacent partitions (44) located above the belt.

4. The automatic loading forest fire-fighting drone airport system according to any one of claim 3, characterized in that: The conveyor belt (42) is provided with a fire extinguishing bomb detection sensor (47) at a position corresponding to the rolling position of the fire extinguishing bomb (43), and the conveyor belt (42) is provided with a baffle (49) and a baffle driving mechanism for driving the baffle (49) to move, so that when the baffle (49) moves to a lower end position of the inclined track (46) along with the baffle driving mechanism, it can prevent the fire extinguishing bomb (43) from rolling into the conveyor belt (42).

5. The automatic loading forest fire fighting drone airport system according to any one of claims 1 to 4, characterized in that: The invention also comprises a battery exchange platform (30), wherein a slide rail (31) is arranged on the battery exchange platform (30), a slide platform (32) is arranged on the slide rail (31), and a slide platform driving mechanism is arranged on the slide platform (32) to drive the slide platform (32) to move on the slide rail (31) and to be able to move to the bottom of the drone (10); a battery charging compartment (33) for placing a battery (34) and charging the battery (34) is arranged on the slide platform (32), and a lifting mechanism for lifting the battery (34) upward is arranged in the battery charging compartment (33); The drone (10) is provided with a battery fixture (11), the battery fixture (11) comprising a connecting frame (12), the connecting frame (12) being provided with a fixed arm (13), a movable arm (14) and a movable arm driving mechanism for driving the movable arm (14) to slide on the fixed arm (13), the fixed arm (13) being provided with a fixed fixture (15), the movable arm (14) being provided with a movable fixture (16), the movable fixture (16) being arranged opposite to the fixed fixture (15) and A battery slot (17) capable of accommodating a battery (34) is formed, and when the movable clamp (16) slides away from the fixed clamp (15) along with the movable arm (14), the battery (34) can be placed in the battery charging compartment (33); or when the movable clamp (16) slides close to the fixed clamp (15) along with the movable arm (14), the battery (34) in the battery charging compartment (33) can be clamped and accommodated in the battery slot (17) so as to supply power to the drone (10).

6. The automatic loading forest fire-fighting drone airport system according to claim 5 is characterized in that: There are two battery exchange platforms (30), which are symmetrically arranged on both sides of the apron (20); There are a plurality of battery charging compartments (33) on each of the battery exchange platforms (30), and the plurality of battery charging compartments (33) are arranged and distributed along the extension direction of the slide rail (31); The battery exchange platform (30) is provided with a displacement sensor (35) for detecting the moving position of the sliding platform (32).

7. The automatic loading forest fire-fighting drone airport system according to claim 6 is characterized in that: Each of the battery charging compartments (33) is provided with the lifting mechanism, and the lifting mechanism includes a supporting member (331), a charging compartment motor (332) and a charging compartment screw rod (333). The supporting member (331) is slidably arranged in the battery charging compartment (33) and can only slide close to or away from the top opening of the battery charging compartment (33). The charging compartment motor (332) is fixedly installed at the bottom of the battery charging compartment (33) and is located below the supporting member (331). The charging compartment screw rod (333) is connected to the charging compartment motor (332) and is driven to rotate by the charging compartment motor (332). The supporting member (331) is provided with an internal thread matching the external thread of the charging compartment screw rod (333) and is threadedly connected to the charging compartment screw rod (333); The supporting member (331) is provided with a first sensor (334) and a charging base (335); The battery replacement platform (30) is provided with a storage battery (36), and the storage battery (36) is electrically connected to the charging base (335) so that when the battery (34) enters the battery charging compartment (33), it can be charged through the charging base (335).

8. The automatic loading forest fire-fighting drone airport system according to claim 1 is characterized in that: It also includes an airport frame (60), the airport frame (60) includes a frame (61) surrounding the apron (20) and the power exchange platform (30), a flip plate (62) is rotatably arranged on the top of the frame (61), one side of the flip plate (62) is rotatably installed at the edge of the frame (61) and the flip plate (62) can flip around the side plate so that the flip plate (62) can cover the top opening of the frame (61) when closed and can leak out of the top opening of the frame (61) when opened and let the inner side of the flip plate (62) face upwards; A solar panel (63) is arranged on the inner side of the flip plate (62), and the solar panel (63) is electrically connected to the power exchange platform (30).

9. The automatic loading forest fire-fighting drone airport system according to claim 8 is characterized in that: It also includes a lifting platform (50), and the apron (20) is arranged on the top of the lifting platform (50) so as to be able to be vertically lifted and lowered along with the lifting platform (50); The top surface of the apron (20) is provided with a parking groove (21), and the UAV (10) is provided with a landing gear (18), and the bottom of the landing gear (18) can be matched and placed in the parking groove (21).

10. The automatic loading forest fire-fighting drone airport system according to claim 9 is characterized in that: When the lifting platform (50) is raised, the apron (20) can be raised above the airport frame (60).

Images