Fire-fighting unmanned aerial vehicle

Abstract

The firefighting unmanned aerial vehicle comprises an unmanned aerial vehicle body, a firefighting bomb dropping module, a counterweight compensation module and a window breaking module, the firefighting bomb dropping module comprises a box body, a box door, a wavy linear magazine, a baffle and a first driving mechanism, the box body is fixed to the bottom of a vehicle body, a bomb dropping opening is located under the gravity center of the unmanned aerial vehicle, and a fire extinguishing bomb is arranged in the magazine; the first driving mechanism drives the baffle to move to achieve bomb dropping. And the counterweight compensation module is arranged on the upper side of the machine body, comprises a counterweight block and X and Y axis driving mechanisms, can move the counterweight block along the X and Y axes, and is used for adjusting the gravity center after bomb dropping. The window breaking module comprises a second driving mechanism, a hammer rod and a hammer head, the second driving mechanism drives the hammer rod to move, and the window breaking function is achieved. According to the scheme, multiple functions such as fire-fighting bomb dropping, counterweight compensation and window breaking are integrated on one unmanned aerial vehicle, so that the unmanned aerial vehicle has high fire-fighting and fire-extinguishing capacity and can cope with complex fire scene conditions, and the fire-fighting and fire-extinguishing efficiency and effect are improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a fire-fighting UAV. Background Art

[0002] In modern society, fires are a common occurrence, posing a serious threat to life and property. Traditional firefighting methods rely on firefighters carrying firefighting equipment to the scene. However, in complex or dangerous fire scenarios, such as high-rise building fires and chemical fires, firefighters face significant risks and their firefighting efficiency may be limited. Therefore, developing a new type of firefighting equipment that can efficiently and safely extinguish fires is of great practical significance.

[0003] In recent years, drone technology has developed rapidly and has been widely used in various fields. Drones offer advantages such as flexibility and rapid response, enabling them to quickly reach fire scenes and provide powerful support for firefighting. However, existing drone applications in firefighting still have some limitations.

[0004] On the one hand, some firefighting drones use water tanks to spray fires, but due to the drone's payload capacity, this method cannot be equipped with large water tanks, resulting in low firefighting efficiency. A few drones use bomb-dropping to extinguish fires, but these only have simple firefighting bomb-dropping functions and are prone to tilting due to the drone's center of gravity during the bombing process, affecting firefighting effectiveness and flight stability. Furthermore, for scenarios where breaking windows is necessary to enter a room to extinguish a fire, existing drones lack the ability to effectively open firefighting routes. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a firefighting drone.

[0006] The technical solution of the present invention is as follows: A firefighting drone, characterized by comprising:

[0007] The drone body includes a fuselage, arms, rotors, landing gear, and a controller. The fuselage is provided with a plurality of arms spaced circumferentially along the fuselage, each arm being provided with a rotor. The landing gear is provided at the bottom of the fuselage. The controller is provided inside the fuselage and is connected to the rotors.

[0008] A fire-fighting grenade-dropping module, comprising a box, a door, a magazine, a baffle, and a first drive mechanism; the box is fixedly arranged at the bottom of the fuselage, the front side of the box is provided with an openable and closable door, the bottom of the box is provided with a grenade-dropping port, the grenade-dropping port is located directly below the center of gravity of the entire drone, the magazine is fixedly arranged inside the box, the magazine is a vertically extending wavy empty magazine, the upper front side of the magazine is provided with a feeding port, the bottom of the magazine is provided with a discharge port, the discharge port is located directly above the grenade-dropping port with a gap between the two, the baffle is provided in the gap, and the first drive mechanism is connected to the baffle to drive the baffle to move left and right;

[0009] a counterweight compensation module, the counterweight compensation module being disposed on the upper side of the fuselage, the counterweight compensation module comprising a counterweight block, an X-axis drive mechanism, and a Y-axis drive mechanism, the X-axis drive mechanism being connected to the counterweight block to drive the counterweight block to move forward and backward along the X-axis, the Y-axis drive mechanism being connected to the counterweight block to drive the counterweight block to move left and right along the Y-axis, the X-axis drive mechanism and the Y-axis drive mechanism being respectively connected to the controller;

[0010] The window breaking module includes a second driving mechanism, a hammer rod and a hammer head. The hammer rod is provided on the fuselage, and the front end of the hammer rod is provided with a hammer head. The second driving mechanism is connected to the hammer rod to drive the hammer rod to move forward and backward. The second driving mechanism is connected to the main controller.

[0011] Furthermore, the Z-axis center axis of the magazine coincides with the Z-axis center axis of the drone body, and the addition port and the discharge port are both located on the Z-axis center axis of the magazine.

[0012] Furthermore, the first driving mechanism is an electric telescopic rod, which is fixed in the box body. The electric telescopic rod is horizontally placed in the recess of the wavy magazine adjacent to the discharge port. A vertical connecting plate is provided at one end of the baffle close to the electric telescopic rod, and the connecting plate is fixedly connected to the electric telescopic rod.

[0013] Furthermore, the counterweight block is a high-density tungsten alloy metal block.

[0014] Furthermore, the X-axis drive mechanism includes a first base, a first motor, a first screw rod, a first slider and a first guide rod. The first base is fixedly arranged on the upper side of the fuselage. The first base is provided with a first screw rod and a first guide rod extending in the front and rear directions respectively. The first motor is arranged on the first base and connected to the first screw rod to drive the first screw rod to rotate. The first slider is provided with a first screw hole and a first guide hole. The first screw hole is threadedly engaged with the first screw rod, and the first guide hole is slidingly engaged with the first guide rod.

[0015] Furthermore, the Y-axis drive mechanism includes a second base, a second motor, a second screw rod and a second guide rod. The second base is fixed on the first slider. The second base is provided with a second screw rod and a second guide rod extending in the left and right directions respectively. The second motor is provided on the second base and connected to the second screw rod to drive the second screw rod to rotate. The counterweight block is provided with a second screw hole and a second guide hole. The second screw hole is threadedly engaged with the second screw rod, and the second guide hole is slidingly engaged with the second guide rod.

[0016] Furthermore, the formula for the movement compensation distance of the counterweight block is as follows:

[0017]

[0018] Where: d is the moving compensation distance of the counterweight block, M 剩余 is the total mass of the projectile remaining in the magazine, Δr is the offset of the center of mass of the remaining projectile relative to the center of gravity of the UAV, and M is the mass of the counterweight.

[0019] Furthermore, a protective cover is provided on the fuselage, and the counterweight compensation module is arranged in the protective cover.

[0020] Furthermore, the second driving mechanism includes a sleeve, an electrode sheet and a magnet bar. The sleeve extends in the front-to-back direction and is connected to the fuselage through a connecting rod. The left and right sides of the inner wall of the sleeve are respectively provided with a first groove, and the upper and lower sides of the inner wall of the sleeve are respectively provided with a second groove. The first groove is embedded with an electrode sheet, and the second groove is provided with a magnet bar. A conductive sheet is embedded on the hammer rod, and the hammer rod is inserted into the sleeve. The left and right sides of the conductive sheet are respectively inserted into the first grooves on the left and right sides and are always electrically in contact with the electrode sheet. The conductive sheet is located between the two magnet bars, and the electrode sheet is connected to the main controller.

[0021] Furthermore, the rear end of the hammer rod is provided with an anti-slip ring, and the hammer rod is sleeved with a reset spring, the rear end of the reset spring abuts against the anti-slip ring, and the front end abuts against the sleeve.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. Integrating multiple functions such as firefighting bomb dropping, counterweight compensation, and window breaking into one drone gives it stronger firefighting capabilities, enabling it to cope with complex fire scene situations and improve the efficiency and effectiveness of firefighting;

[0024] 2. The magazine of the fire-fighting bomb module is a vertically extending wavy empty magazine, which has high space utilization and can be loaded with more fire-fighting bombs. In addition, this magazine structure is conducive to the remaining bombs automatically sliding downward to fill the position after the bomb is released. Combined with the first drive mechanism to drive the baffle to move and open the discharge port, automatic bomb release is realized, improving fire-fighting efficiency.

[0025] 3. The bomb drop port is located directly below the center of gravity of the drone. The fire extinguishing bomb is dropped along the Z-axis to avoid the extra torque generated during bombing that may cause the drone to tilt, thus ensuring bombing accuracy.

[0026] 4. The counterweight compensation module is equipped with a counterweight block, an X-axis drive mechanism, and a Y-axis drive mechanism, which can perform counterweight compensation in the X-axis (pitch axis) and Y-axis (roll axis) directions, effectively addressing the problem of residual projectile center of mass offset during the bombing process and preventing the drone from becoming unstable.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. The drawings are only examples and are not drawn strictly to scale. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

[0029] Figure 1 is a schematic diagram of the present invention from a rear perspective;

[0030] Figure 2 is a schematic diagram of the present invention from a front side perspective;

[0031] Figure 3 It is a schematic diagram of the interior of the box of the present invention;

[0032] Figure 4 It is a schematic diagram of the fire-fighting bomb module of the present invention;

[0033] Figure 5 It is a schematic cross-sectional view of the box body of the present invention;

[0034] Figure 6 is a schematic diagram of the interior of the protective cover of the present invention;

[0035] Figure 7 is a schematic diagram of a counterweight compensation module of the present invention;

[0036] Figure 8 is an exploded view of the window breaking module of the present invention;

[0037] Figure 9 It is a cross-sectional view of the sleeve portion of the present invention.

[0038] Reference numerals:

[0039] 1. UAV body; 11. Fuselage; 12. Arms; 13. Rotors; 14. Landing gear;

[0040] 2. Fire bomb module; 21. Box body; 22. Box door; 23. Magazine; 24. Baffle; 25. Bomb port; 26. Adding port; 27. Discharge port; 28. Connecting plate; 29. ​​Electric telescopic rod;

[0041] 3. Counterweight compensation module; 31. Counterweight block; 32. First base; 33. First motor; 34. First screw rod; 35. First slider; 36. First guide rod; 37. Second base; 38. Second motor; 39. Second screw rod; 310. Second guide rod; 311. Protective cover;

[0042] 4. Window breaking module; 41. Hammer rod; 42. Hammer head; 43. Casing; 44. Electrode sheet; 45. Magnet bar; 46. Conductive sheet; 47. Anti-slip ring; 48. Reset spring. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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 orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0046] In the description of the present invention, references to "first feature" and "second feature" may include one or more of these features. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features being described. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of these features.

[0047] like Figures 1-9 The firefighting drone shown includes: a drone body 1, a firefighting bomb dropping module 2, a counterweight compensation module 3 and a window breaking module 4.

[0048] like Figure 1-Figure 3 As shown, the drone body 1 includes a fuselage 11, arms 12, rotors 13, landing gear 14, and a controller. The fuselage 11 is provided with a plurality of arms 12 spaced apart along the circumference of the fuselage 11, each arm 12 being provided with a rotor 13. The landing gear 14 is provided at the bottom of the fuselage 11, and the controller is provided inside the fuselage 11 and connected to the rotors 13. This is a conventional structure of a drone and is well known to those skilled in the art, so it will not be described in detail.

[0049] like Figure 1 、 Figure 3 、 Figure 4 and Figure 5 As shown, the fire-fighting bomb module 2 includes a box body 21, a box door 22, a magazine 23, a baffle 24 and a first driving mechanism; the box body 21 is fixedly arranged at the bottom of the fuselage 11, and the front side of the box body 21 is provided with a box door 22 that can be opened and closed, and the bottom of the box body 21 is provided with a bomb port 25, which is located directly below the center of gravity of the entire drone, and the magazine 23 is fixedly arranged inside the box body 21. The magazine 23 is an empty magazine in a wavy shape extending vertically, and an addition port 26 is provided on the upper front side of the magazine 23. The bottom of the magazine 23 is provided with a discharge port 27, which is located directly above the bomb port 25 and there is a gap between the two. The baffle 24 is arranged in the gap, and the first driving mechanism is connected to the baffle 24 to drive the baffle 24 to move left and right.

[0050] like Figure 6 and Figure 7As shown, the counterweight compensation module 3 is arranged on the upper side of the fuselage 11. The counterweight compensation module 3 includes a counterweight block 31, an X-axis drive mechanism and a Y-axis drive mechanism. The X-axis drive mechanism is connected to the counterweight block 31 to drive the counterweight block 31 to move forward and backward along the X-axis. The Y-axis drive mechanism is connected to the counterweight block 31 to drive the counterweight block 31 to move left and right along the Y-axis. The X-axis drive mechanism and the Y-axis drive mechanism are respectively connected to the controller.

[0051] like Figure 8 and Figure 9 As shown, the window breaking module 4 includes a second driving mechanism, a hammer rod 41 and a hammer head 42. The hammer rod 41 is provided on the fuselage 11, and the front end of the hammer rod 41 is provided with a hammer head 42. The second driving mechanism is connected to the hammer rod 41 to drive the hammer rod 41 to move forward and backward. The second driving mechanism is connected to the main controller.

[0052] Specifically, the drone in this solution uses the method of dropping fire extinguishing bombs to extinguish fires. The fire extinguishing bombs need to be pre-loaded in the magazine 23. When the drone flies to the fire scene, the first driving mechanism drives the baffle 24 to move and open the discharge port 27. The fire extinguishing bomb can fall into the bomb dropping port 25 and then be dropped to extinguish the fire.

[0053] like Figure 3-Figure 5 As shown, in the fire-fighting grenade module 2, the magazine 23 and the first drive mechanism are both enclosed within the housing 21, preventing them from being exposed and susceptible to damage. After opening the door 22, the magazine 23 can be loaded with ammunition or the first drive mechanism can be maintained. The magazine 23 is a vertically extending, wavy, empty box, making it more compact and allowing for more fire-fighting grenade loading within a limited space. Furthermore, during delivery, the fire-fighting grenade is delivered from below, allowing the remaining grenade in the magazine 23 to automatically slide downward to fill its position, facilitating automatic delivery.

[0054] like Figure 5 As shown, the launch port 25 at the bottom of the housing 21 is located directly below the drone's center of gravity. This means the fire extinguisher is released along the Z-axis. This allows the fire extinguisher to exit directly below the drone's center of gravity at the moment of release, generating no additional torque and minimizing the risk of the drone tilting. However, as the remaining projectiles in the magazine 23 automatically slide downward to fill their positions, their center of mass will shift relative to the drone's center of gravity. This requires counterweighting to compensate for this, as it can lead to drone instability.

[0055] Based on this, this solution also includes a counterweight compensation module 3 on the upper side of the fuselage 11. Because the Z-axis center of mass moves downward during bombing, but this does not affect the drone's balance (because the Z-axis torque is directly regulated by the thrust of the rotor 13), the counterweight compensation module 3 is equipped with a counterweight block 31, an X-axis drive mechanism, and a Y-axis drive mechanism to perform counterweight compensation in the X-axis (pitch) and Y-axis (roll) directions. By moving the counterweight block 31, a compensation torque equal in magnitude and opposite in direction to the offset torque during bombing is generated, maintaining total torque balance and preventing drone instability.

[0056] In addition, the UAV is also integrated with a window breaking module 4, which drives the hammer rod 41 to move and drives the hammer head 42 to break the window, making fire fighting easier.

[0057] In further settings, such as Figure 4 and Figure 5 As shown, the first drive mechanism is an electric telescopic rod 29, which is fixedly mounted within the housing 21. The electric telescopic rod 29 is positioned horizontally within the recess of the wavy magazine 23, adjacent to the discharge port 27. This allows full utilization of the interior space of the housing 21 for the electric telescopic rod 29. A vertical connecting plate 28 is provided at the end of the baffle 24, adjacent to the electric telescopic rod 29. The connecting plate 28 is fixedly connected to the electric telescopic rod 29. Thus, the electric telescopic rod 29 drives the baffle 24 by its own extension and contraction. This drive mechanism is simple and easy to implement.

[0058] In a further configuration, the Z-axis centerline of the magazine 23 coincides with the Z-axis centerline of the drone body 1, and the addition port 26 and the discharge port 27 are both located on the Z-axis centerline of the magazine 23. By standardizing the structure of the magazine 23, it helps to simplify the counterweight compensation process of the counterweight block 31.

[0059] In a further configuration, the counterweight block 31 used is a high-density tungsten alloy metal block, which is small in size and heavy in weight, and is convenient for movement compensation.

[0060] The X-axis drive mechanism includes a first base 32, a first motor 33, a first screw rod 34, a first slider 35 and a first guide rod 36. The first base 32 is fixedly arranged on the upper side of the fuselage 11. The first base 32 is provided with a first screw rod 34 and a first guide rod 36 extending in the front and rear directions respectively. The first motor 33 is arranged on the first base 32 and is connected to the first screw rod 34 to drive the first screw rod 34 to rotate. The first slider 35 is provided with a first screw hole and a first guide hole. The first screw hole is threadedly engaged with the first screw rod 34, and the first guide hole is slidably engaged with the first guide rod 36.

[0061] The Y-axis drive mechanism includes a second base 37, a second motor 38, a second screw rod 39 and a second guide rod 310. The second base 37 is fixed on the first slider 35. The second base 37 is provided with a second screw rod 39 and a second guide rod 310 extending in the left and right directions respectively. The second motor 38 is provided on the second base 37 and is connected to the second screw rod 39 to drive the second screw rod 39 to rotate. The counterweight block 31 is provided with a second screw hole and a second guide hole. The second screw hole is threadedly engaged with the second screw rod 39, and the second guide hole is slidingly engaged with the second guide rod 310.

[0062] That is, the X-axis drive mechanism and the Y-axis drive mechanism are both motor-screw mechanisms, which can achieve high-precision displacement control and move quickly and smoothly, meeting the requirements of this solution.

[0063] The formula for the movement compensation distance of the counterweight 31 is as follows:

[0064]

[0065] Where: d is the moving compensation distance of the counterweight 31, M 剩余 is the total mass of the projectiles remaining in the magazine 23 , Δr is the offset of the center of mass of the remaining projectiles relative to the center of gravity of the drone, and M is the mass of the counterweight 31 .

[0066] In actual applications, the mass and size of each projectile are fixed, and the size of the magazine 23 and the total number of projectiles that can be loaded are also fixed. Therefore, each time a bomb is dropped, the offset of the center of mass of the remaining projectiles relative to the center of gravity of the drone can be simulated and calculated in advance, and then d can be adjusted based on this value.

[0067] In addition, an infrared sensing counter connected to the main controller can be set at the discharge port to automatically count the number of projectiles that have been released, so that the main controller can automatically calculate the number and total mass of the remaining projectiles in the magazine 23, and then adjust the position of the counterweight block 31 according to the above formula.

[0068] In a further configuration, a protective cover 311 is provided on the fuselage 11 , and the counterweight compensation module 3 is provided in the protective cover 311 , thereby protecting the counterweight compensation module 3 .

[0069] In further settings, such as Figure 8 and Figure 9As shown, the second drive mechanism includes a sleeve 43, an electrode plate 44, and a magnet bar 45. The sleeve 43 extends in the front-to-back direction and is connected to the body 11 via a connecting rod. The sleeve 43 has a first groove on each side of its inner wall, and a second groove on each side of its inner wall. The electrode plate 44 is embedded in the first groove, and the magnet bar 45 is embedded in the second groove. A conductive plate 46 is embedded in the hammer rod 41. The hammer rod 41 is inserted into the sleeve 43. The left and right sides of the conductive plate 46 are respectively inserted into the first grooves on the left and right sides and are always in electrical contact with the electrode plate 44. The conductive plate 46 is located between the two magnet bars 45. The electrode plate 44 is connected to the main controller. Therefore, when the electrode plate 44 is energized, current flows through the conductive plate 46. The charged conductive plate 46, under the influence of the magnetic field of the two magnet bars 45, can drive the hammer rod 41 to move rapidly, thereby breaking the window. This electromagnetic drive method has a fast response time and strong impact force, which can effectively break windows and create favorable conditions for fire fighting.

[0070] In addition, the rear end of the hammer rod 41 is equipped with an anti-slip ring 47, and the hammer rod 41 is sleeved with a return spring 48. The rear end of the return spring 48 abuts against the anti-slip ring 47, and the front end abuts against the sleeve 43. When the window is broken, the electrode 44 is de-energized, and the return spring 48 pushes the hammer rod 41 back to its original position, preventing the hammer rod 41 from affecting the normal flight of the drone.

[0071] In summary, this solution has the following features:

[0072] 1. Integrating multiple functions such as firefighting bomb dropping, counterweight compensation, and window breaking into one drone gives it stronger firefighting capabilities, enabling it to cope with complex fire scene situations and improve the efficiency and effectiveness of firefighting;

[0073] 2. The magazine 23 of the fire-fighting bomb module 2 is a vertically extending wavy empty magazine, which has high space utilization and can be loaded with more fire-fighting bombs. In addition, this magazine 23 structure is conducive to the remaining bombs automatically sliding downward to fill the gap after bombing. Combined with the first driving mechanism, the baffle 24 is driven to move and open the discharge port 27, realizing automatic bombing and improving fire extinguishing efficiency.

[0074] 3. The bomb release port 25 is located directly below the center of gravity of the drone. The fire extinguishing bomb is released along the Z-axis to avoid the extra torque generated during bomb release that may cause the drone to tilt, thereby ensuring bomb release accuracy.

[0075] 4. The counterweight compensation module 3 is provided with a counterweight block 31, an X-axis drive mechanism, and a Y-axis drive mechanism, which can perform counterweight compensation in the X-axis (pitch axis) and Y-axis (roll axis) directions, effectively addressing the problem of residual projectile center of mass offset during the bombing process and preventing the drone from becoming unstable. Although some embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations to these embodiments without departing from the principles and purpose of the present invention are within the scope of protection of the claims of the present invention.

Claims

1. A firefighting drone, characterized in that: include: The drone body includes a fuselage, arms, rotors, landing gear, and a controller. The fuselage is provided with a plurality of arms spaced circumferentially along the fuselage, each arm being provided with a rotor. The landing gear is provided at the bottom of the fuselage. The controller is provided inside the fuselage and is connected to the rotors. A fire-fighting grenade-dropping module, comprising a box, a door, a magazine, a baffle, and a first drive mechanism; the box is fixedly arranged at the bottom of the fuselage, the front side of the box is provided with an openable and closable door, the bottom of the box is provided with a grenade-dropping port, the grenade-dropping port is located directly below the center of gravity of the entire drone, the magazine is fixedly arranged inside the box, the magazine is a vertically extending wavy empty magazine, the upper front side of the magazine is provided with a feeding port, the bottom of the magazine is provided with a discharge port, the discharge port is located directly above the grenade-dropping port with a gap between the two, the baffle is provided in the gap, and the first drive mechanism is connected to the baffle to drive the baffle to move left and right; a counterweight compensation module, the counterweight compensation module being disposed on the upper side of the fuselage, the counterweight compensation module comprising a counterweight block, an X-axis drive mechanism, and a Y-axis drive mechanism, the X-axis drive mechanism being connected to the counterweight block to drive the counterweight block to move forward and backward along the X-axis, the Y-axis drive mechanism being connected to the counterweight block to drive the counterweight block to move left and right along the Y-axis, the X-axis drive mechanism and the Y-axis drive mechanism being respectively connected to the controller; The window breaking module includes a second driving mechanism, a hammer rod and a hammer head. The hammer rod is provided on the fuselage, and the front end of the hammer rod is provided with a hammer head. The second driving mechanism is connected to the hammer rod to drive the hammer rod to move forward and backward. The second driving mechanism is connected to the main controller.

2. The firefighting drone according to claim 1, characterized in that: The Z-axis center axis of the magazine coincides with the Z-axis center axis of the drone body, and the addition port and the discharge port are both located on the Z-axis center axis of the magazine.

3. The firefighting drone according to claim 1, characterized in that: The first driving mechanism is an electric telescopic rod, which is fixed in the box body. The electric telescopic rod is horizontally placed in the recess of the wavy magazine adjacent to the discharge port. A vertical connecting plate is provided at one end of the baffle close to the electric telescopic rod, and the connecting plate is fixedly connected to the electric telescopic rod.

4. The firefighting drone according to claim 1, characterized in that: The counterweight block is a high-density tungsten alloy metal block.

5. The firefighting drone according to claim 1, characterized in that: The X-axis drive mechanism includes a first base, a first motor, a first screw rod, a first slider and a first guide rod. The first base is fixedly arranged on the upper side of the fuselage. The first base is provided with a first screw rod and a first guide rod extending in the front and rear directions respectively. The first motor is arranged on the first base and connected to the first screw rod to drive the first screw rod to rotate. The first slider is provided with a first screw hole and a first guide hole. The first screw hole is threadedly engaged with the first screw rod, and the first guide hole is slidingly engaged with the first guide rod.

6. The firefighting drone according to claim 5, characterized in that: The Y-axis drive mechanism includes a second base, a second motor, a second screw rod and a second guide rod. The second base is fixed on the first slider. The second base is provided with a second screw rod and a second guide rod extending in the left and right directions respectively. The second motor is provided on the second base and connected to the second screw rod to drive the second screw rod to rotate. The counterweight block is provided with a second screw hole and a second guide hole. The second screw hole is threadedly engaged with the second screw rod, and the second guide hole is slidingly engaged with the second guide rod.

7. The firefighting drone according to claim 1, characterized in that: The formula for the movement compensation distance of the counterweight block is as follows: Where: d is the moving compensation distance of the counterweight block, M 剩余 is the total mass of the projectile remaining in the magazine, Δr is the offset of the center of mass of the remaining projectile relative to the center of gravity of the UAV, and M is the mass of the counterweight.

8. The firefighting drone according to claim 1, characterized in that: A protective cover is provided on the fuselage, and the counterweight compensation module is arranged in the protective cover.

9. The firefighting drone according to claim 1, characterized in that: The second driving mechanism includes a sleeve, an electrode sheet and a magnet bar. The sleeve extends in the front-to-back direction and is connected to the fuselage through a connecting rod. A first groove is respectively provided on the left and right sides of the inner wall of the sleeve, and a second groove is respectively provided on the upper and lower sides of the inner wall of the sleeve. The electrode sheet is embedded in the first groove, and the magnet bar is provided in the second groove. A conductive sheet is embedded in the hammer rod, and the hammer rod is inserted into the sleeve. The left and right sides of the conductive sheet are respectively inserted into the first grooves on the left and right sides and are always electrically in contact with the electrode sheet. The conductive sheet is located between the two magnet bars, and the electrode sheet is connected to the main controller.

10. The firefighting drone according to claim 9, characterized in that: The rear end of the hammer rod is provided with an anti-slip ring, and the hammer rod is sleeved with a reset spring. The rear end of the reset spring abuts against the anti-slip ring, and the front end abuts against the sleeve.

Images