Load changing mechanism and unmanned aerial vehicle system

Abstract

The invention provides a load changing mechanism and an unmanned aerial vehicle system. The load changing mechanism is used for the unmanned aerial vehicle. The load changing mechanism comprises a bearing assembly and a lifting assembly. The bearing assembly comprises a bearing component, and the bearing component is used for being located below the unmanned aerial vehicle. The bearing component is configured to be capable of pivoting around a first axis extending in the vertical direction, so that the bearing component can be pivoted to a feeding position corresponding to the position of the unmanned aerial vehicle. The bearing component is used for bearing the hanging load so that the hanging load can pivot to the feeding position along with the bearing component. The lifting assembly comprises a lifting component, and the lifting component is used for being located below the unmanned aerial vehicle. The lifting component can move in the vertical direction, and the lifting component is used for lifting the hanging carrier located at the feeding position to the unmanned aerial vehicle. According to the load changing mechanism, through cooperation of the lifting assembly and the bearing assembly, the unmanned aerial vehicle does not need to be manually changed, the load changing mode is simple and efficient, operation is convenient and fast, and the timeliness of operation of the unmanned aerial vehicle can be met.

Description

Technical Field

[0001] This application generally relates to the technical field of unmanned aerial vehicles, and more particularly to a loading and unloading mechanism and an unmanned aerial vehicle system. Background Art

[0002] During the process of fire fighting and rescue, various fire extinguishing devices are used for accurate fire extinguishing. In areas such as high-rise residential buildings where traditional fire trucks are not convenient for rescue, firefighters also face a greater threat to their personal safety when using traditional fire extinguishing devices for fire fighting. With the upgrade of domestic unmanned aerial vehicle related technologies and the decline in costs, unmanned aerial vehicles have been widely used in civilian fields, and firefighters can remotely control fire-fighting unmanned aerial vehicles to drop bombs for fire extinguishing. Fire-fighting unmanned aerial vehicles can not only quickly reach the fire scene, but also greatly improve the personal safety of firefighters. Therefore, they have been rapidly promoted at home and abroad as new fire-fighting equipment. However, in the actual application at the fire scene, the unmanned aerial vehicle first needs to be transported to near the fire scene and adjusted before it can take off to perform tasks. Moreover, after the fire-fighting unmanned aerial vehicle completes a mission once, manual loading and unloading are required, which is inconvenient and time-consuming, and can no longer meet the timeliness of fire fighting and rescue.

[0003] Therefore, there is a need to provide a loading and unloading mechanism and an unmanned aerial vehicle system to at least partially solve the above problems. Summary of the Invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in detail in the Detailed Description section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0005] To at least partially solve the above problems, a first aspect of this application provides a loading and unloading mechanism for an unmanned aerial vehicle, the loading and unloading mechanism comprising:

[0006] A supporting component, the supporting component includes a supporting member, the supporting member is configured to be located below the unmanned aerial vehicle, the supporting member is configured to be pivotable about a first axis extending in the vertical direction, so that the supporting member can be pivoted to a feeding position corresponding to the position of the unmanned aerial vehicle, the supporting member is used for supporting a load, so that the load can be pivoted to the feeding position along with the supporting member; and

[0007] A lifting component, the lifting component includes a lifting member, the lifting member is configured to be located below the unmanned aerial vehicle, the lifting member is movable in the vertical direction, the lifting member is used for lifting the load located at the feeding position to the unmanned aerial vehicle.

[0008] Optionally,

[0009] The supporting component further includes a first driving member, which is connected to the supporting member and is used to provide a driving force for pivoting the supporting member; and / or

[0010] The supporting member is configured in a disc shape, and the first axis is the axis of the supporting member.

[0011] Optionally, the supporting component further includes:

[0012] A first transmission member, which is connected to the first driving member and operates with the first driving member; and

[0013] A second transmission member, which is arranged on the supporting member, is connected to the first transmission member and operates with the first transmission member, and is used to drive the supporting member to pivot around the first axis.

[0014] Optionally, the first driving member is configured as a motor, both the first transmission member and the second transmission member are configured as gears with axes extending in the vertical direction, and the radial dimension of the gear of the first transmission member is smaller than the radial dimension of the gear of the second transmission member.

[0015] Optionally, the second transmission member is located below the supporting member, and the radial dimension of the second transmission member is smaller than the radial dimension of the supporting member.

[0016] Optionally, the supporting component further includes a receiving component, which is detachably arranged on the supporting member. The number of the receiving components is multiple and they are located outside the first axis. The multiple receiving components are distributed in a circumferential array centered on the first axis. The receiving component is used to store the mount,

[0017] wherein, when the supporting member pivots to the feeding position, the receiving component is located at the feeding position, and the lifting member is used to lift the receiving component located at the feeding position to the unmanned aerial vehicle.

[0018] Optionally,

[0019] The receiving component has a first connection structure, and the supporting member has a second connection structure. One of the first connection structure and the second connection structure is a first pin column extending in the vertical direction, and the other of the first connection structure and the second connection structure is a hole or groove for receiving the first pin column; and / or

[0020] The accommodating component has a third connection structure, and the lifting member has a fourth connection structure. One of the third connection structure and the fourth connection structure is a second pin column extending in the vertical direction, and the other of the third connection structure and the fourth connection structure is a hole or groove for accommodating the second pin column.

[0021] Optionally,

[0022] The lifting member is movable at least between a first position and a second position in the vertical direction, and the first position is below the second position.

[0023] Wherein, the lifting member at the first position is used to obtain the mount at the feeding position, and the lifting member at the second position and supporting the mount is used to supply the mount to the drone.

[0024] Optionally, the lifting member further has a third position.

[0025] Wherein, the third position is below the first position, the lifting member at the third position is separated from the supporting member, and the supporting member has an opening penetrating in the vertical direction for the lifting member to pass through.

[0026] Optionally, the lifting assembly further includes a second driving member, the second driving member is connected to the lifting member, and the second driving member is used to provide a driving force for moving the lifting member in the vertical direction.

[0027] Optionally, the lifting assembly further includes:

[0028] A third transmission member, the third transmission member is connected to the second driving member and rotates with the second driving member; and

[0029] A fourth transmission member, the fourth transmission member is connected to the third transmission member and rotates with the third transmission member, and the fourth transmission member is further connected to the lifting member to drive the lifting member to move in the vertical direction.

[0030] Optionally, the second driving member is configured as a motor, the third transmission member is configured as a lead screw extending in the vertical direction, and the fourth transmission member is configured as a lead screw slider sleeved on the outer peripheral side of the third transmission member.

[0031] Optionally, the lifting assembly further includes:

[0032] A second base frame, the second driving member is arranged on the second base frame; and

[0033] The guiding assembly, which extends in the vertical direction, is provided on the second base frame and connected to the lifting member.

[0034] Optionally, the guiding assembly includes a first guide rail that extends in the vertical direction.

[0035] The lifting member has a first slider that can move along the first guide rail.

[0036] Optionally, the loading and unloading mechanism further includes:

[0037] A detection device for detecting whether the supporting member at the feeding position is loaded with the hanging load; and

[0038] A control device electrically connected at least to the detection device and the lifting assembly;

[0039] The control device is configured such that, when the detection signal of the detection device indicates that the supporting member at the feeding position is loaded with the hanging load, the control device controls the lifting assembly to operate to lift the hanging load at the feeding position to the unmanned aerial vehicle.

[0040] Optionally, the loading and unloading mechanism further includes an alarm device electrically connected to the control device. The control device is further configured such that, when the detection signal of the detection device indicates that the supporting member at the feeding position is not loaded with the hanging load, the control device controls the alarm device to give an alarm.

[0041] Optionally, the control device is further electrically connected to the supporting assembly to control the pivoting of the supporting member.

[0042] Wherein, the loading and unloading mechanism has a first working mode, and the control device is further configured to make the supporting member rotate a preset angle in the first working mode.

[0043] A second aspect of the present application provides an unmanned aerial vehicle system, which includes:

[0044] An unmanned aerial vehicle;

[0045] A landing pad for parking the unmanned aerial vehicle; and

[0046] The loading and unloading mechanism according to the first aspect of the present application, the loading and unloading mechanism is located below the landing pad, and the unmanned aerial vehicle is used to obtain the hanging load from the loading and unloading mechanism.

[0047] Optionally, the landing pad is movable in the vertical direction.

[0048] According to the loading and unloading mechanism of the present application, through the cooperation of the lifting assembly and the supporting assembly, there is no need for manual loading and unloading of the drone. The loading and unloading method is simple and efficient, with convenient operation, and can meet the timeliness requirements of drone operations. Brief Description of the Drawings

[0049] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments of the present application shown in the drawings and their descriptions are used to explain the principles of the present application. In the drawings,

[0050] Figure 1 is a front view schematic diagram of a drone system according to a preferred embodiment of the present application;

[0051] Figure 2 is Figure 1 a schematic diagram of the docking and cooperation between the loading and unloading mechanism and the drone in the shown drone system;

[0052] Figure 3 is Figure 1 a schematic diagram of the mounting placed on the supporting member in the shown drone system;

[0053] Figure 4 is Figure 1 a schematic diagram of the mounting placed on the supporting assembly in the shown drone system;

[0054] Figure 5 is Figure 1 a schematic diagram of the structural connection between the first driving member and the supporting member in the shown drone system;

[0055] Figure 6 is Figure 1 a schematic diagram of the lifting assembly in the shown drone system; and

[0056] Figure 7 is Figure 6 a schematic diagram of the connection between the lifting assembly and the guide rail assembly.

[0057] Description of the Reference Numerals:

[0058] 100 Drone System

[0059] 110 Box

[0060] 150 Lifting Platform

[0061] 151 Helipad

[0062] 160 Loading and Unloading Mechanism

[0063] 161 Supporting Assembly

[0064] 162 Supporting Member

[0065] 163 First driving member

[0066] 164 First execution part

[0067] 165 First transmission member

[0068] 166 Second transmission member

[0069] 167 First base frame

[0070] 168 First axis

[0071] 170 Lifting assembly

[0072] 171 Lifting member

[0073] 172 Second driving member

[0074] 173 Third transmission member

[0075] 174 Fourth transmission member

[0076] 175 Second base frame

[0077] 176 Guide assembly

[0078] 177 First guide rail

[0079] 180 UAV

[0080] 200 Mounting

[0081] 201 Fixture

[0082] 202 Accommodating member

[0083] 203 Accommodating assembly

[0084] DH Vertical direction Detailed implementation manners

[0085] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present application, some technical features known to the public are not described.

[0086] In order to thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0087] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. The singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0088] The ordinal numbers such as "first" and "second" cited in the present application are only identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present application are only for the purpose of illustration and are not limitations.

[0089] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0090] The present application provides an unmanned aerial vehicle system and a loading and unloading mechanism for the unmanned aerial vehicle system.

[0091] Please refer to Figure 1 , the unmanned aerial vehicle system 100 includes an unmanned aerial vehicle 180, a landing pad 151 and a loading and unloading mechanism 160. The landing pad 151 is used for parking the unmanned aerial vehicle 180. The loading and unloading mechanism 160 is located below the landing pad 151, and the unmanned aerial vehicle 180 is used to obtain the payload 200 from the loading and unloading mechanism 160. The payload 200 can be items such as fire extinguishing bombs, emergency rescue supplies, logistics express, etc. The following will be described by taking the fire extinguishing bomb as an example. Preferably, the landing pad 151 is configured to be movable in the vertical direction DH. For example, the unmanned aerial vehicle system 100 further includes a lifting platform 150, and the landing pad 151 is disposed on the top surface of the lifting platform 150. It can be understood that when the unmanned aerial vehicle is parked on the landing pad 151, the lifting platform 150 is used to drive the unmanned aerial vehicle 180 to move in the vertical direction DH. The lifting platform 150 enables the position of the unmanned aerial vehicle 180 to be changed up and down, providing more flexibility.

[0092] Now please refer to Figure 1 and Figure 2, the loading and unloading mechanism 160 is for the drone 180, or rather, the loading and unloading mechanism 160 is applied to the loading and unloading of the drone 180. The loading and unloading mechanism 160 includes a supporting component 161 and a lifting component 170. Specifically, the supporting component 161 includes a supporting member 162, and the supporting member 162 is for being located below the drone 180. The supporting member 162 is configured to be pivotable about a first axis 168 extending along the vertical direction DH, so that the supporting member 162 can be pivoted to a feeding position corresponding to the position of the drone 180. The supporting member 162 is for supporting the mount 200, so that the mount 200 pivots to this feeding position along with the supporting member 162. In this embodiment, the mount 200 is configured as a fire extinguishing bomb. Further, the lifting component 170 includes a lifting member 171, and the lifting member 171 is for being located below the drone 180. The lifting member 171 is movable along the vertical direction DH. The lifting member 171 is for lifting the mount 200 located at this feeding position to the drone 180.

[0093] According to the loading and unloading mechanism 160 of this solution, through the cooperation of the lifting component 170 and the supporting component 161, there is no need for manual loading and unloading of the drone 180. The loading and unloading method is simple and efficient, and the operation is convenient, which can meet the timeliness of the operation of the drone 180 (such as fire extinguishing operation).

[0094] Please refer to Figures 1 to 3 , in order to facilitate the placement of the mount 200 at the supporting member 162, the supporting component 161 further includes a receiving component 203. The receiving component 203 is for storing the mount 200. The receiving component 203 is detachably arranged on the supporting member 162. Preferably, the number of the receiving components 203 is multiple, and they are located outside the first axis 168. The multiple receiving components 203 are distributed in a circumferential array with the first axis 168 as the center. For example, the multiple receiving components 203 are equally angularly spaced on a circle with a point on the first axis 168 as the center. When the supporting member 162 pivots to the feeding position, the receiving component 203 is located at this feeding position, and the lifting member 171 is for lifting the receiving component 203 located at the feeding position to the drone 180.

[0095] For example, the receiving component 203 includes a fixture 201 and a receiving member 202. Specifically, the fixture 201 is detachably arranged on the supporting member 162. Preferably, the number of the fixtures 201 is multiple and they are located outside the aforementioned first axis 168. The multiple fixtures 201 are distributed in a circumferential array with the first axis 168 as the center. For example, the multiple fixtures 201 are equally angularly spaced on a circle with a point on the first axis 168 as the center. The number of the receiving members 202 is multiple and they are correspondingly arranged with the fixtures 201. The receiving member 202 is connected to the corresponding fixture 201. The receiving member 202 is for storing the mount 200. For example Figure 2 and Figure 3In this case, a single accommodating member 202 can load two fire extinguishing bombs. It should be noted that when the supporting member 162 pivots to the feeding position, the jig 201 is located at the feeding position, and the lifting member 171 is used to lift the jig 201 located at the feeding position to the UAV 180.

[0096] For example, the UAV 180 has a grasping structure that can grasp the mount 200 lifted to a predetermined height and place it at a fixed position on the UAV 180.

[0097] It can be understood that during the supply process of the mount 200, since the mount 200 is connected to the jig 201 through the accommodating member 202, the overall body formed by the jig 201 and the accommodating member 202 (i.e., the accommodating assembly 203) switches positions between the supporting member 162 and the lifting member 171. Thus, in order to facilitate the lifting member 171 to easily remove the accommodating assembly 203 from the supporting member 162, the accommodating assembly 203 has a first connection structure, and the supporting member 162 has a second connection structure. Specifically, one of the first connection structure and the second connection structure is a first pin column extending along the vertical direction DH, and the other is a hole or groove for accommodating the first pin column. Correspondingly, the accommodating assembly 203 has a third connection structure, and the lifting member 171 has a fourth connection structure. One of the third connection structure and the fourth connection structure is a second pin column extending along the vertical direction DH, and the other of the third connection structure and the fourth connection structure is a hole or groove for accommodating the second pin column.

[0098] Thus, when the lifting member 171 lifts upward, the first connection structure and the second connection structure can be easily separated, and the third connection structure and the fourth connection structure can be easily combined, so that the accommodating assembly is transferred from the supporting member 162 to the lifting member 171.

[0099] Specifically, it can be that the jig 201 has a first connection structure. For example, the jig 201 is provided with a first pin column, and the supporting member 162 is provided with a hole or groove for accommodating the first pin column. It can be that the jig 201 has a third connection structure. For example, the jig 201 is further provided with a second pin column, and the lifting member 171 is provided with a hole or groove for accommodating the second pin column.

[0100] Please continue to refer to Figure 3, preferably, the supporting member 162 is configured as a disc shape, and the center of the disc is on the first axis 168. Alternatively, in an embodiment not shown, the supporting member 162 may also be configured as a plate-like structure with a regular polygon in a top view. For example, the top view is a regular hexagon, a regular octagon, etc., so that the accommodating assembly 203 or the jig 201 is uniformly arranged on the supporting member 162 centered on the first axis 168. Each time the supporting member 162 pivots by a preset angle, there is a jig 201 at the aforementioned feeding position; in other words, the supporting member 162 ensures that there is always a jig 201 at the feeding position to supply the mount 200 to the drone 180.

[0101] Now please refer to Figure 2 , Figure 4 and Figure 5 , the supporting assembly 161 further includes a first driving member 163. The first driving member 163 is connected to the supporting member 162, and the first driving member 163 is used to provide a driving force for pivoting the supporting member 162. Further, the supporting assembly 161 further includes a first transmission member 165 and a second transmission member 166. The first transmission member 165 is connected to the first driving member 163 and rotates with the first driving member 163. The second transmission member 166 is disposed on the supporting member 162. The second transmission member 166 is connected to the first transmission member 165 and rotates with the first transmission member 165. The second transmission member 166 is used to drive the supporting member 162 to pivot about the first axis 168. Preferably, the first driving member 163 is configured as a motor. Specifically, please refer to Figure 5 , the first driving member 163 has a first execution part 164, that is, the shaft of the motor. The first transmission member 165 is connected to the first execution part 164. Both the first transmission member 165 and the second transmission member 166 are configured as gears with axes extending along the vertical direction DH. The radial dimension of the gear of the first transmission member 165 is smaller than the radial dimension of the second transmission member 166. Driving a large gear with a small gear can make the supporting member 162 have a larger diameter and be able to carry more mounts 200 at the same time.

[0102] The second transmission member 166 is located below the supporting member 162, and the radial dimension of the second transmission member 166 is smaller than the radial dimension of the supporting member 162. Figure 5In this case, both the first transmission member 165 and the second transmission member 166 are located below the supporting member 162, and along the radial direction of the supporting member 162, neither the first transmission member 165 nor the second transmission member 166 protrudes outward from the supporting member 162. It can be understood that the supporting assembly 161 can be placed on the first base 167, or rather, the supporting assembly 161 further includes the first base 167. The first driving member 163 and the supporting member 162 are arranged on the first base 167. After the first driving member 163 operates, the gear of the first transmission member 165 will engage with the gear of the second transmission member 166, so that the second transmission member 166 drives the supporting member 162 to pivot around the first axis 168, so that the jig 201 (or the mount 200) pivots to the feeding position. It should be noted that the gear meshing transmission form has technical advantages such as high transmission efficiency, accurate transmission, strong load-bearing capacity, and long service life, enabling the transfer mechanism 160 to accurately dock with the drone 180, and the transfer mechanism 160 is durable and not easily damaged.

[0103] Now please refer to Figure 2 and Figure 6 , the lifting member 171 is movable at least between a first position and a second position along the vertical direction DH. The first position is below the second position. It should be noted that the lifting member 171 at the first position is used to obtain the mount 200 at the feeding position, and the lifting member 171 at the second position and supporting the mount 200 is used to supply the mount 200 to the drone 180. Further, the lifting member 171 also has a third position. Specifically, the third position is below the first position, and the lifting member 171 at the third position is separated from the supporting member 162. The supporting member 162 has an opening penetrating along the vertical direction DH for the lifting member 171 to pass through.

[0104] Please continue to refer to Figure 2 and Figure 6, in order to realize the movement of the lifting member 171 along the vertical direction DH, the lifting assembly 170 further includes a second driving member 172. The second driving member 172 is connected to the lifting member 171, and the second driving member 172 is used to provide a driving force for the lifting member 171 to move along the vertical direction DH. The lifting assembly 170 further includes a third transmission member 173 and a fourth transmission member 174. Specifically, the third transmission member 173 is connected to the second driving member 172 and operates with the second driving member 172. The fourth transmission member 174 is connected to the third transmission member 173 and operates with the third transmission member 173. The fourth transmission member 174 is also connected to the lifting member 171 to drive the lifting member 171 to move along the vertical direction DH. Preferably, the second driving member 172 is configured as a motor, the third transmission member 173 is configured as a lead screw extending along the vertical direction DH, and the fourth transmission member 174 is configured as a lead screw slider sleeved on the outer periphery of the third transmission member 173. The lead screw is preferably a trapezoidal lead screw, which has the technical characteristic of self-locking; in the absence of a driving force, the lead screw slider can be maintained in the existing position. The second driving member 172 has a second execution part, that is, the shaft of the motor, and this shaft can be connected to the lead screw through a coupling.

[0105] Now please refer to Figure 6 and Figure 7 , the lifting assembly 170 further includes a second base frame 175 and a guiding assembly 176. It can be understood that the guiding assembly 176 is used to improve the accuracy and stability of the movement of the lifting member 171 along the vertical direction DH. The second driving member 172 is arranged on the second base frame 175. The guiding assembly 176 extends along the vertical direction DH. The guiding assembly 176 is arranged on the second base frame 175 and is connected to the lifting member 171. Specifically, the guiding assembly 176 includes a first guide rail 177, and the first guide rail 177 extends along the vertical direction DH. The lifting member 171 has a first slider, and the first slider can move along the first guide rail 177.

[0106] Furthermore, the transfer mechanism 160 further includes a detection device and a control device. The detection device is used to detect whether the supporting member 162 located at the feeding position is loaded with the hanging load 200. The control device is at least electrically connected to the detection device and the lifting assembly 170 (specifically, connected to the second driving member 172). It should be noted that the control device is configured to control the operation of the lifting assembly 170 to lift the hanging load 200 located at the feeding position to the unmanned aerial vehicle 180 when the detection signal of the detection device indicates that the supporting member 162 located at the feeding position is loaded with the hanging load 200.

[0107] The transfer mechanism 160 further includes an alarm device, which is electrically connected to the control device. The control device is further configured to control the alarm device to give an alarm when the detection signal of the detection device indicates that the supporting member 162 at the feeding position is not loaded with the suspension 200, so as to facilitate the operator to replenish the suspension 200 in time. Preferably, the control device takes a PLC controller as the core and controls the actions of the supporting component 161 and the lifting component 170 according to the set logic to realize the normal operation of the entire unmanned aerial vehicle system 100. The control device may further include a power distribution cabinet, and the power distribution cabinet may be provided with a display screen. The operator can view the operating status and parameters of the unmanned aerial vehicle system 100 through touching the display screen and manually control the operation of the unmanned aerial vehicle system 100.

[0108] Some exemplary embodiments of the detection device are briefly described below.

[0109] For example, the detection device can detect the number of suspensions 200 at the supporting member 162 and determine whether the number at the supporting member 162 is lower than a preset numerical value. If it is lower than the preset numerical value, a signal is sent to the control device, and after receiving the signal, the control device immediately sends an alarm instruction to the alarm device so that the alarm device gives an alarm. According to this embodiment, the detection device can remind the user to replenish the suspension 200 in time according to the number of suspensions 200 at the supporting member 162, ensuring the reliable operation of the unmanned aerial vehicle system 100.

[0110] Alternatively, the detection device can acquire the image information at the supporting member 162 and determine the number of suspensions 200 according to the image information. For example, the detection device includes a camera for acquiring image information. According to this embodiment, by collecting the image information at the supporting member 162, the detection device can intuitively determine the number of remaining suspensions 200 at the supporting member 162.

[0111] Alternatively, the detection device can acquire the number of rotations of the supporting member 162 and determine the number of suspensions 200 according to the number of rotations of the supporting member 162. According to this embodiment, based on the number of rotations of the supporting member 162, the number of remaining suspensions 200 on the supporting member 162 can be determined.

[0112] Alternatively, the detection device can also be electrically connected to the unmanned aerial vehicle 180. After the unmanned aerial vehicle 180 completes the grasping action, the detection device can be used to determine whether the unmanned aerial vehicle 180 has loaded the suspension 200. If so, the unmanned aerial vehicle 180 continues to be detected. If not, a signal is sent to the control device, and after receiving the signal, the control device immediately sends an alarm instruction to the alarm device so that the alarm device gives an alarm. According to this embodiment, the detection device can send a reminder signal for replenishing the suspension 200 based on the fact that the unmanned aerial vehicle 180 is not loaded with the suspension 200.

[0113] The control device is also electrically connected to the supporting assembly 161 (specifically, connected to the first driving member 163) to control the pivoting of the supporting member 162. It should be noted that the loading and unloading mechanism 160 has a first working mode, and the control device is further configured to control the supporting member 162 to rotate a preset angle when the loading and unloading mechanism 160 is in the first working mode.

[0114] The following briefly describes the loading and unloading process of the drone 180. Herein, the case where the mounting structure 200 is a fire extinguishing bomb is taken as an example for description below.

[0115] When the drone system 100 receives the bomb-changing instruction of the drone 180, if the detection device detects that the accommodating member 202 located at the feeding position is loaded with a fire extinguishing bomb. The control device controls the lifting assembly 170 to operate. Specifically, the second driving member 172 drives the third transmission member 173 to rotate around the axis of the third transmission member 173, so that the fourth transmission member 174 moves along the third transmission member 173. The fourth transmission member 174 drives the lifting member 171 to move in the vertical direction DH. For example, the lifting member 171 is initially located at the third position. When moving in the vertical direction DH through the opening of the supporting member 162 to the first position, the hole or slot at the lifting member 171 is docked with the second pin at the jig 201. After the lifting member 171 continues to move upward in the vertical direction DH, the first pin at the jig 201 will be separated from the hole or slot at the supporting member 162. After the lifting member 171 moves to the second position, it will remain at the second position for a certain period of time, and the drone 180 will obtain the fire extinguishing bomb at the lifting member 171. For example, the drone 180 is provided with a grasping structure suitable for the fire extinguishing bomb to grasp the fire extinguishing bomb at the lifting member 171 located at the second position. After the drone 180 completes the grasping of the fire extinguishing bomb, the control device controls the lifting assembly 170 to operate again. It can be understood that by rotating the third transmission member 173 in the reverse direction, the lifting member 171 can be moved downward along with the fourth transmission member 174. It should be noted that during the process of the lifting member 171 moving from the second position to the first position in the vertical direction DH, the first pin at the jig 201 will be engaged with the hole or slot at the supporting member 162. Then the lifting member 171 continues to move downward in the vertical direction DH. During this process, the second pin at the jig 201 will be separated from the hole or slot at the lifting member 171 until the lifting member 171 moves through the opening of the supporting member 162 to the third position. Then the supporting assembly 161 operates to make the supporting member 162 rotate a preset angle, that is, to pivot another accommodating member 202 to the feeding position to supply the mounting to the drone 180.

[0116] If the detection device detects that the receiving member 202 at the feeding position is not loaded with fire extinguishing bombs, the control device controls the alarm device to give an alarm to remind the operator to replenish the mount 200. The control device can control the supporting member 162 to rotate by a preset angle, and the preset angle is the angle between two adjacent jigs 201, so that another receiving member 202 reaches the feeding position to be detected by the detection device. When all the fire extinguishing bombs at the receiving members 202 at the supporting member 162 are used up, the loading and unloading mechanism 160 will be in the first working mode. The first working mode is, for example, the manual loading mode, and the operator replenishes the fire extinguishing bombs to the receiving member 202. For example, the user can operate the jog button, and press the button once, and the control device controls the supporting member 162 to rotate by a preset angle. When the supporting member 162 rotates once, an empty receiving member 202 comes close to the user, and the user can load it manually. After completing the replenishment operation of one receiving member 202, press the button again, and operate the control device to make the supporting member 162 rotate by a preset angle to replenish the next receiving member 202, and repeat the operation until all the receiving members 202 are replenished.

[0117] According to the drone system of the present application, the supporting member is configured in a disc shape, can store a plurality of mounts, and through the rotation of the supporting member, the mounts can be effectively and continuously supplied to the drone. Moreover, the lifting assembly can realize the lifting of the mounts, which is convenient for the drone to obtain the mounts, reduces the height that the drone needs to descend, increases the storage space of the mounts, and improves the space utilization rate. In addition, the structures of the supporting assembly and the lifting assembly are simple and easy to manufacture, reducing the manufacturing cost of the drone system.

[0118] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. Terms such as "arranged" as used herein can mean that one component is directly attached to another component or that one component is attached to another component through an intermediate member. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0119] The present application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit the present application to the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A loading mechanism for a drone, characterized in that: The load-changing mechanism comprises: A supporting assembly, the supporting assembly comprising a supporting member, the supporting member being used to be located below the drone, the supporting member being configured to be pivotable about a first axis extending in a vertical direction so that the supporting member can be pivoted to a feeding position corresponding to the position of the drone, the supporting member being used to support a mount so that the mount pivots to the feeding position along with the supporting member; and A lifting assembly, wherein the lifting assembly comprises a lifting member, wherein the lifting member is used to be located below the drone, wherein the lifting member is movable in a vertical direction, and wherein the lifting member is used to lift the mount located at the feeding position to the drone.

2. The load-changing mechanism according to claim 1, characterized in that: The supporting assembly further comprises a first driving member, the first driving member being connected to the supporting member, the first driving member being used to provide a driving force to pivot the supporting member; and / or The supporting member is disc-shaped, and the first axis is the axis of the supporting member.

3. The load-changing mechanism according to claim 2, characterized in that: The supporting assembly further comprises: a first transmission member connected to the first drive member and operating with the first drive member; and A second transmission member, wherein the second transmission member is disposed on the supporting component, the second transmission member is connected to the first transmission member and operates with the first transmission member, and the second transmission member is used for driving the supporting component to pivot around the first axis.

4. The load-changing mechanism according to claim 3, characterized in that: The first driving member is configured as a motor, the first transmission member and the second transmission member are both configured as gears with axes extending in a vertical direction, and a radial dimension of the gear of the first transmission member is smaller than a radial dimension of the gear of the second transmission member.

5. The load-changing mechanism according to claim 4, characterized in that: The second transmission member is located below the supporting component, and a radial dimension of the second transmission member is smaller than a radial dimension of the supporting component.

6. The load-changing mechanism according to claim 1, characterized in that: The supporting assembly further includes a receiving assembly, which is detachably disposed on the supporting member. The receiving assembly is multiple and located on the periphery of the first axis. The multiple receiving assemblies are distributed in a circular array with the first axis as the center. The receiving assembly is used to store the mount. Wherein, when the supporting member is pivoted to the feeding position, the containing assembly is located at the feeding position, and the lifting member is used to lift the containing assembly located at the feeding position to the drone.

7. The load-changing mechanism according to claim 6, characterized in that: The receiving assembly has a first connection structure, and the supporting member has a second connection structure, one of the first connection structure and the second connection structure is a first pin extending in a vertical direction, and the other of the first connection structure and the second connection structure is a hole or a groove for accommodating the first pin; and / or The accommodating assembly has a third connecting structure, and the lifting member has a fourth connecting structure. One of the third connecting structure and the fourth connecting structure is a second pin extending in the vertical direction, and the other of the third connecting structure and the fourth connecting structure is a hole or groove for accommodating the second pin.

8. The load-changing mechanism according to claim 1, characterized in that: The lifting member is movable in a vertical direction at least between a first position and a second position, wherein the first position is located below the second position. The lifting member located at the first position is used to obtain the mount located at the feeding position, and the lifting member located at the second position and supporting the mount is used to supply the mount to the drone.

9. The load-changing mechanism according to claim 8, characterized in that: The lifting member also has a third position, The third position is located below the first position, the lifting member located at the third position is separated from the supporting member, and the supporting member has an opening penetrating in a vertical direction, and the opening is used for the lifting member to pass through.

10. The load-changing mechanism according to claim 1, characterized in that: The lifting assembly further includes a second driving member connected to the lifting member, the second driving member being configured to provide a driving force for moving the lifting member in a vertical direction.

11. The load changing mechanism according to claim 10, characterized in that: The lifting assembly also includes: a third transmission member connected to the second drive member and operating with the second drive member; and A fourth transmission member is connected to the third transmission member and operates with the third transmission member. The fourth transmission member is also connected to the lifting component to drive the lifting component to move in a vertical direction.

12. The load changing mechanism according to claim 11, characterized in that: The second driving member is configured as a motor, the third transmission member is configured as a screw extending in a vertical direction, and the fourth transmission member is configured as a screw slider sleeved on an outer peripheral side of the third transmission member.

13. The load changing mechanism according to claim 10, characterized in that: The lifting assembly also includes: a second base frame, the second driving member being disposed on the second base frame; and A guide assembly extends in a vertical direction, is disposed on the second base frame, and is connected to the lifting member.

14. The load changing mechanism according to claim 13, characterized in that: The guide assembly comprises a first guide rail, wherein the first guide rail extends in a vertical direction. The lifting member has a first slider movable along the first guide rail.

15. The load changing mechanism according to any one of claims 1 to 14, characterized in that: The load-changing mechanism further comprises: a detection device, the detection device being used to detect whether the supporting member located at the feeding position is loaded with the mount; and a control device, the control device being electrically connected to at least the detection device and the lifting assembly; The control device is configured to control the lifting assembly to operate so as to lift the mount at the feeding position to the drone when the detection signal from the detection device indicates that the supporting member at the feeding position is loaded with the mount.

16. The load changing mechanism according to claim 15, characterized in that: The load changing mechanism also includes an alarm device, which is electrically connected to the control device. The control device is also configured to control the alarm device to alarm when the detection signal of the detection device indicates that the supporting member located at the feeding position is not loaded with the mount.

17. The load-changing mechanism according to claim 15, characterized in that: The control device is also electrically connected to the supporting assembly to control the pivoting of the supporting member. Wherein, the load-changing mechanism has a first working mode, and the control device is further configured to rotate the supporting member by a preset angle in the first working mode.

18. An unmanned aerial vehicle system, characterized in that: The drone system comprises: Drones; a parking apron, the parking apron being used to park the drone; and According to any one of claims 1 to 17, the loading mechanism is located below the apron, and the UAV is used to obtain the mount from the loading mechanism.

19. The drone system according to claim 18, characterized in that: The apron is movable in a vertical direction.

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