Quick-change mounting device and quick-change mounting method for tandem twin-duct unmanned aerial vehicles

Abstract

This invention discloses a quick-change mounting device and method for a tandem dual-duct unmanned aerial vehicle (UAV). The mounting device includes a positioning and fixing component, a swapping component, a transport platform, and a mounting control system. The positioning and fixing component includes a locking mechanism, an infrared sensor, and multiple ultrasonic sensors. The infrared and ultrasonic sensors are used for left-right, forward-backward, and altitude positioning of the mission module. The swapping component includes a positioning strip and a hook-lock groove. The transport platform includes a hydraulic lifting unit, a support platform, and a mobile chassis. The mounting control system includes an airborne control unit and a ground swapping control unit. Under the control of the mounting control system, the positioning and fixing component, the swapping component, and the transport platform work together to complete the three-dimensional positioning and automatic locking of the mission module. This invention significantly reduces swapping time without manual intervention, comprehensively considering the safety, positioning accuracy, locking success rate, and swapping efficiency of the mounting operation.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) supporting equipment technology, specifically relating to a quick-change mounting device and quick-change mounting method adapted to tandem dual-duct UAVs. It can be applied to the rapid change of functional modules in multi-mission scenarios such as fire rescue, emergency material delivery, and special reconnaissance. Background Technology

[0002] As a newly emerging special flight platform in recent years, the tandem ducted unmanned aerial vehicle (UAV) has demonstrated significant application advantages in special mission scenarios such as urban complex space reconnaissance, material delivery in confined areas, and close-range electromagnetic interference, thanks to the inherent high stealth, strong wind resistance, and vertical take-off and landing capabilities of its ducted structure. It is gradually becoming a key development equipment in fields such as emergency rescue, security inspection, and special operations.

[0003] Currently, quick-release mounting technology in the field of general-purpose unmanned aerial vehicles (UAVs) has formed a relatively mature technical path. Most quadcopter platforms can quickly install and replace functional modules such as reconnaissance equipment, cargo containers, and weapons and ammunition through bolt fastening, pin locking, or dedicated interface coupling, which can meet the daily mission switching needs of conventional multi-rotor platforms. However, the fuselage structure and aerodynamic distribution of tandem twin-duct UAVs are fundamentally different from those of conventional multi-rotor platforms: the ducts on both sides of the fuselage form a unique surrounding airflow field, and the installation position and shape of the mounting devices directly affect the intake and exhaust efficiency of the ducts. At the same time, the mission payloads of tandem twin-duct platforms are generally customized and multi-category, requiring frequent switching between different functional units such as reconnaissance modules, communication relay modules, and material delivery modules in different mission scenarios.

[0004] When existing conventional mounting technologies are directly transplanted to the field of tandem twin-duct UAVs, significant shortcomings are exposed: on the one hand, there is a lack of module replacement and adaptation solutions specifically for this type of platform, and conventional quick-release structures are prone to interfering with the duct airflow and damaging the original aerodynamic characteristics of the aircraft; on the other hand, the positioning accuracy of the modules is insufficient, and repeated replacements are prone to interface misalignment and load eccentricity, which not only affects the working accuracy of reconnaissance and sensing modules, but may also cause safety hazards such as flight attitude imbalance; at the same time, traditional replacement operations are cumbersome and require the use of special tools to complete the locking operation, and the efficiency and speed of module replacement are still seriously insufficient, making it difficult to meet the rapid response requirements in emergency mission scenarios, which greatly restricts the mission expansion capabilities and scenario adaptability of tandem twin-duct UAVs. Summary of the Invention

[0005] The purpose of this invention is to provide a quick-change mounting device for a tandem dual-duct unmanned aerial vehicle (UAV) to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides a quick-change mounting device for a tandem dual-duct unmanned aerial vehicle (UAV). The fuselage of the UAV has a receiving space with at least a bottom opening. The quick-change mounting device includes a positioning and fixing component disposed within the receiving space, a replacement component disposed on a mission module, a transport platform for transporting the mission module to the receiving space, and a mounting control system for realizing two-way data interaction. The positioning and fixing component includes a locking mechanism, an infrared sensor, and an ultrasonic sensor disposed within the receiving space. The locking mechanism cooperates with the replacement component to clamp and fix the mission module. The module includes: an infrared sensor for left-right positioning of the task module; an ultrasonic sensor for front-back positioning and height identification of the task module; a transposition assembly including a positioning strip on the top of the task module for cooperation with the infrared sensor; a transport platform including a hydraulic lifting unit, a support platform, and a mobile chassis; and a mounting control system including an airborne control unit and a ground transposition control unit. During the transposition process, under the control of the mounting control system, the positioning and fixing assembly, the transposition assembly, and the transport platform work together to achieve three-dimensional positioning and automatic locking of the task module.

[0007] Furthermore, the locking mechanism includes a hook lock motor, a first gear set, a second gear set, a first transmission shaft, a second transmission shaft, and a hook lock. The first gear set includes a meshing driving gear and a first driven gear. The driving gear is connected to the output shaft of the hook lock motor, and the first driven gear is disposed on the first transmission shaft. There are two second gear sets and two transmission shafts. Each second gear set includes a meshing bevel gear and a second driven gear. The two bevel gears are respectively disposed at both ends of the first transmission shaft, and the two second driven gears are respectively disposed on the two second transmission shafts. Each end of each second transmission shaft is provided with a hook lock.

[0008] Furthermore, the hook lock motor is fixedly installed at the top center position within the accommodating space; the first drive shaft and the second drive shaft are rotatably installed at the top of the accommodating space via bearings and bearing mounting seats, respectively.

[0009] Furthermore, the ultrasonic sensor includes two first ultrasonic sensors and one second ultrasonic sensor. The two first ultrasonic sensors are respectively fixedly installed on the front and rear walls of the accommodating space, and the detection beams of the two ultrasonic sensors are both used to point vertically downwards towards the front and rear ends of the task module. The second ultrasonic sensor and the infrared sensor are respectively embedded in the top of the accommodating space, and on the left and right sides of the hook lock motor. The emission beam of the infrared sensor is used to point vertically downwards towards the top surface of the task module, and the recognition band of the infrared sensor matches the reflection band of the positioning strip.

[0010] Furthermore, the changing assembly also includes four hook-lock slots disposed on the task module, with the four hook-lock slots respectively disposed at the front and rear ends of the left and right sides of the task module; the positioning strip is a red positioning strip disposed at the center of the top of the task module.

[0011] Furthermore, the airborne control unit is located inside the fuselage and includes a main controller, a sensor interface module, and a flight control interaction module. The main controller is electrically connected to the hook-lock motor and is used to control the forward and reverse rotation and locking action of the hook-lock motor. The sensor interface module is used to connect the infrared sensor and the ultrasonic sensor, and inputs the collected signals into the main controller after conditioning. The flight control interaction module is communicatively connected to the aircraft's flight control system and is used to acquire real-time data on the aircraft's current attitude and landing gear grounding status.

[0012] Furthermore, the task module can be any one of the following: high-pressure fire extinguishing module, casualty transfer cabin module, emergency supplies sealed transportation module, and on-site information real-time broadcasting module, and the docking contour dimensions of the replacement components on the top of all task modules are completely uniform.

[0013] Furthermore, the ground-based transshipment control unit is located inside the transport platform and includes a ground controller. The ground controller is electrically connected to the hydraulic lifting unit and the chassis drive module of the mobile chassis, respectively. The ground controller is used to receive transshipment commands issued by the airborne control unit and control the lifting and lowering actions of the hydraulic lifting unit and the displacement of the mobile chassis according to the transshipment commands.

[0014] This invention also provides a quick-change mounting method for a tandem dual-duct unmanned aerial vehicle, employing the aforementioned quick-change mounting device, and comprising the following steps:

[0015] S1. Replacement Start-up Phase: The airborne control unit obtains the aircraft's current attitude, position, and landing gear status information through the flight control interaction module. After confirming that the aircraft is stationary on the ground and the landing gear is stably on the ground, it sends a replacement preparation command to the ground replacement control unit through the wireless communication link. After receiving the command, the ground replacement control unit drives the transport platform and its onboard mission module to transport the aircraft to the preset coarse positioning area under the fuselage.

[0016] S2, Lifting and Forward / Backward Positioning Stage: The ground-based equipment change control unit controls the hydraulic lifting unit to lift the task module upward; when the task module enters the detection range of the first ultrasonic sensor, the two first ultrasonic sensors measure the distance to the front and rear ends of the task module respectively, and the airborne control unit reads the two sets of distance values ​​in real time and calculates the position deviation of the task module in the forward / backward direction.

[0017] S3, Left-Right Precision Positioning Stage: After the front-to-back alignment is completed, the airborne control unit activates the infrared sensor; the infrared sensor emits an infrared beam downwards and receives reflected signals. By identifying the position of the positioning bar, the airborne control unit calculates the left-right position deviation of the task module based on the signal strength and scanning angle fed back by the infrared sensor; and determines whether the deviation exceeds the allowable threshold. If so, it sends a left-right fine-tuning command to the transportation platform until the left-right alignment of the task module is completed; if not, it proceeds to step S4.

[0018] S4. Height Positioning and Hook-Lock Triggering Stage: After precise positioning is completed, the ground-based garment control unit continues to control the hydraulic lifting unit to lift the platform. During this process, the second ultrasonic sensor continuously monitors the distance to the top of the task module, and the main controller calculates the lifting height in real time. When the task module is detected to have risen to the preset installation height, the second ultrasonic sensor sends a positioning signal to the main controller. Based on this signal, the main controller determines that the hook lock is aligned with the hook lock slot and then sends a locking command to the hook lock motor, driving the hook lock motor to rotate so that the hook lock engages in the hook lock slot of the task module and sends back a locking signal.

[0019] S5. Reset Phase: After the airborne control unit confirms that the locking is complete, it sends a reset command to the ground replacement control unit through the wireless communication link; the ground controller drives the hydraulic lifting unit to lower the support platform to the initial position and drives the mobile chassis to move out of the area under the aircraft fuselage, and the replacement process ends.

[0020] Furthermore, in step S2, if the deviation exceeds the allowable threshold, the airborne control unit sends a fine-tuning command for the forward and backward movement of the mobile chassis to the ground-based transposition control unit via a wireless communication link until the forward and backward alignment deviation is within the allowable range.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] This invention discloses a quick-change mounting device and method for a tandem dual-duct unmanned aerial vehicle (UAV). The mounting command is executed only when the UAV is stationary on the ground and the landing gear is stably in contact with the ground, thus fundamentally avoiding potential safety hazards caused by dynamic mounting. Simultaneously, relying on the front and rear first ultrasonic external sensors and infrared sensors working together to construct a complete three-dimensional positioning closed loop, and with the second ultrasonic sensor on top simultaneously serving as both altitude monitoring and hook-lock trigger criterion, the reliability of the hook-lock action is ensured while achieving precise alignment of each module. Combined with fully automated control of the entire process from task module transportation, lifting, positioning to locking, the mounting time is significantly reduced without manual intervention, comprehensively considering the safety, positioning accuracy, locking success rate, and mounting efficiency of the mounting operation.

[0023] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a three-dimensional structural diagram of the quick-change mounting device and the tandem double-duct unmanned aerial vehicle in this invention.

[0026] Figure 2 This is a side view schematic diagram of the quick-change mounting device and the longitudinal double-duct unmanned aerial vehicle in this invention.

[0027] Figure 3 This is a schematic diagram of the locking mechanism in this invention;

[0028] Figure 4 This is a schematic diagram of the installation structure of the locking mechanism, infrared sensor and ultrasonic sensor at the top of the accommodating space in this invention.

[0029] Figure 5 This is a schematic diagram of the task module in this invention;

[0030] Figure 6 This is a schematic diagram of the transportation platform in this invention;

[0031] Figure 7 This is a flowchart of the quick-change mounting method of the quick-change mounting device in this invention;

[0032] Figure 8 This is a flowchart of sensor-coordinated positioning and hook-lock triggering in this invention;

[0033] Wherein: 1-Accommodation space; 2-Infrared sensor; 3-Ultrasonic sensor; 4-Hook lock motor; 5-First drive shaft; 6-Second drive shaft; 7-Driving gear; 8-First driven gear; 9-Bevel gear; 10-Second driven gear; 11-Hook lock; 12-Hook lock groove; 13-Hydraulic lifting unit; 14-Bearing platform; 15-Mobile chassis; 16-Positioning bar; A-Body; B-Task module; C-Transportation platform. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent transformations or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0035] Please see Figures 1 to 6 This invention provides a quick-change mounting device for a tandem dual-duct unmanned aerial vehicle (UAV). The fuselage A of the UAV has a receiving space 1 with at least a bottom opening. The fuselage A adopts a tandem dual-duct configuration, which can improve carrying capacity and operational stability. The quick-change mounting device includes positioning and fixing components disposed within the receiving space 1, a swapping component disposed on the mission module B, a transport platform C for transporting the mission module B to the receiving space 1, and a mounting control system for realizing two-way data interaction. The specific structure is as follows:

[0036] The positioning and fixing components include a locking mechanism disposed within the accommodating space 1, an infrared sensor 2 for left-right positioning of the task module B, and an ultrasonic sensor 3 for front-back positioning and height identification of the task module B. The locking mechanism is used to cooperate with the changing components to clamp and fix the task module B. Specifically, the locking mechanism includes a hook-lock motor 4, a first gear set, a second gear set, a first drive shaft 5, a second drive shaft 6, and a hook lock 11. The first gear set includes a meshing drive gear 7 and a first driven gear 8. The drive gear 7 is connected to the output shaft of the hook-lock motor 4, and the first driven gear 8 is disposed on the first drive shaft 5. There are two second gear sets and two second drive shafts 6. Each second gear set includes a meshing bevel gear 9 and a second driven gear 10. The two bevel gears 9 are respectively disposed at both ends of the first drive shaft 5, and the two second driven gears 10 are respectively disposed on the two second drive shafts 6. A hook lock 11 is disposed at each end of each second drive shaft 6. In this structural configuration, the hook-lock motor 4 is fixedly installed at the top center of the receiving space 1. It is controlled by signals fed back to the mounting control system from the infrared sensor 2 and the ultrasonic sensor 3. The hook-lock motor 4 simultaneously drives four hooks 11 to hook or release via the first driven gear 8, the bevel gear 9, and the second driven gear 10. The first drive shaft 5 and the second drive shaft 6 are rotatably mounted on the top of the receiving space 1 via bearings and bearing mounting seats, respectively, and the hooks 11 are driven by the hook-lock motor 4. Furthermore, for safety, a protective device can be installed to protect the locking mechanism.

[0037] The ultrasonic sensor 3 includes two first ultrasonic sensors and one second ultrasonic sensor. The two first ultrasonic sensors are fixedly installed on the front and rear walls of the accommodating space 1, respectively. The detection beams of the two ultrasonic sensors are used to point vertically downwards towards the front and rear ends of the task module B. The second ultrasonic sensor and the infrared sensor 2 are respectively embedded in the top of the accommodating space 1, and on the left and right sides of the hook lock motor 4. The emission beam of the infrared sensor 2 is used to point vertically downwards towards the top surface of the task module B. The recognition band of the infrared sensor 2 matches the reflection band of the positioning strip 16, and the left and right position deviation of the task module B can be calculated by the intensity of the reflected signal.

[0038] The replacement assembly includes a positioning strip 16 located on the top of mission module B for cooperation with infrared sensor 2, and four hook-locking slots 12 located on mission module B. The positioning strip 16 is a red positioning strip located in the middle of the top of mission module B, and the four hook-locking slots 12 are located at the front and rear ends of the left and right sides of mission module B, respectively. Different mission modules B can be installed for different firefighting missions, including high-pressure fire extinguishing modules, casualty transfer cabin modules, emergency material sealed transportation modules, and real-time on-site information broadcasting modules, etc. The docking contour dimensions of the replacement assembly on the top of all mission modules B are completely uniform.

[0039] The transport platform C can transport different task modules B upwards and also serves to transfer different task modules B. The transport platform C includes a hydraulic lifting unit 13, a support platform 14, and a mobile chassis 15, used to transport the task modules B to below the accommodating space 1 and lift them to a preset height. The hydraulic lifting unit 13 is a hydraulic rod, and the mobile chassis 15 has a chassis drive module.

[0040] The mounting control system includes an airborne control unit and a ground-based transposition control unit. The airborne control unit, located inside fuselage A, comprises a main controller, a sensor interface module, and a flight control interaction module. The main controller uses an embedded processor to receive sensor signals, execute positioning algorithms, and generate control commands. The main controller is electrically connected to the hook-lock motor 4, driving its forward and reverse rotation and locking actions. The sensor interface module connects to the first ultrasonic sensor, the second ultrasonic sensor, and an infrared sensor, and inputs the conditioned signals into the main controller. The flight control interaction module communicates with the aircraft's flight control system, sending status confirmation commands during the transposition process and acquiring the aircraft's current attitude, position, and landing gear status information. The ground-based transposition control unit, located inside the transport platform, includes a ground controller. The ground controller is connected to the hydraulic lifting unit and the chassis drive module of the mobile chassis. It receives transposition commands from the airborne control unit and controls the lifting and lowering actions of the hydraulic lifting unit and the displacement of the mobile chassis according to these commands. When the transport platform C transports different task modules B to the area below the storage space 1, it uses two second ultrasonic sensors at the front and rear to perform front-to-back positioning, and uses an infrared sensor at the top to identify the positioning strip 16 on the task module to achieve left-to-right positioning. At the same time, when the transport platform C transports the task module B upward to a certain height, it can identify the position through the second ultrasonic sensor at the top. When the height reaches the predetermined position, the airborne control unit can control the hook to lock the task module, completing the three-dimensional positioning and automatic locking of the task module B.

[0041] In a quick-change mounting device for a tandem twin-ducted ducted aircraft of the present invention, the positioning and fixing components realize three-layer positioning functions for the mission module: (1) Front-rear positioning: completed by the first ultrasonic sensors set at both ends of the receiving space, the mission module is aligned in the front-rear direction by measuring the distance to the front and rear end faces of the mission module; (2) Left-right positioning: completed by the infrared sensor, the mission module is aligned in the left-right direction by recognizing the red positioning strip on the top of the mission module; (3) Altitude positioning and hook lock triggering: the second ultrasonic sensor continuously monitors the altitude during the lifting process, and when the preset installation height is reached, it serves as the trigger signal for the hook lock action, ensuring that the hook lock and hook lock slot are locked at the correct altitude position. The above three-layer positioning functions are executed sequentially. After the front-rear positioning is completed, the left-right positioning is performed. After the left-right positioning is completed, the altitude positioning is performed and the hook lock is triggered, forming a complete three-dimensional positioning closed loop of "front-rear-left-right-altitude".

[0042] like Figure 7 and Figure 8 As shown, the present invention also provides a quick-change mounting method for a tandem dual-duct unmanned aerial vehicle, employing the aforementioned quick-change mounting device; the quick-change mounting method includes the following steps:

[0043] S1. Replacement Start-up Phase: The airborne control unit obtains the current attitude, position, and landing gear status information of the aircraft through the flight control interaction module. After confirming that the aircraft is stationary on the ground and the landing gear is stably on the ground, it sends a replacement preparation command to the ground replacement control unit through the wireless communication link. After receiving the command, the ground replacement control unit drives the mobile chassis 15 to transport the carrier platform 14 carrying the mission module B to the preset coarse positioning area under the fuselage A of the aircraft.

[0044] S2, Lifting and Forward / Backward Positioning Stage: The ground-based transposition control unit controls the hydraulic lifting unit 13, lifting the platform 14 and mission module B upwards. Once mission module B enters the detection range of the first ultrasonic sensors, the two sensors measure the distances to the front and rear ends of the mission module. The main controller reads the two sets of distance values ​​in real time and calculates the forward / backward position deviation of the mission module. If the deviation exceeds the allowable threshold, the airborne control unit sends a forward / backward fine-tuning command to the ground-based transposition control unit via a wireless communication link until the forward / backward alignment deviation is within the allowable range. During this stage, the two first ultrasonic sensors work together to achieve precise forward / backward positioning of the mission module.

[0045] S3. Left-Right Precision Positioning Stage: After front-back alignment is completed, the airborne control unit activates infrared sensor 2. This infrared sensor emits an infrared beam downwards and receives reflected signals. By identifying the position of the preset positioning strip 16 on the top of the task module, the main controller calculates the positional deviation of the task module in the left-right direction B based on the signal strength and scanning angle fed back by infrared sensor 2. It then determines whether the deviation exceeds the allowable threshold. If so, it sends a left-right fine-tuning command to the transport platform C until the left-right alignment of task module B is completed. In this stage, the infrared sensor utilizes the principle of color recognition to achieve high-precision positioning of the task module in the left-right direction.

[0046] S4. Height Positioning and Hook-Lock Triggering Stage: After precise positioning is completed, the ground-based equipment control unit continues to control the hydraulic lifting unit 13 to lift the platform 14. During this process, the second ultrasonic sensor continuously monitors the distance to the top of the task module B, and the main controller calculates the lifting height in real time. When the task module is detected to have risen to the preset installation height, the second ultrasonic sensor sends a positioning signal to the main controller. Based on this, the main controller determines that the hook-lock 11 is aligned with the hook-lock slot 12, and then sends a locking command to the hook-lock motor 4, driving the hook-lock motor to rotate, so that the hook-lock is engaged in the hook-lock slot of the task module, and sends back a locking signal. In this stage, the second ultrasonic sensor performs the dual functions of height detection and hook-lock trigger determination, ensuring that the hook-lock performs the locking action at the correct height position.

[0047] S5. Reset Phase: After the airborne control unit confirms that the locking is complete, it sends a reset command to the ground replacement control unit through the wireless communication link; the ground controller drives the hydraulic lifting unit to lower the platform to the initial position and drives the mobile chassis to move out of the area under the aircraft fuselage, and the replacement process ends.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A quick-change mounting device for a tandem twin-duct unmanned aerial vehicle, wherein the fuselage (A) of the vehicle has a receiving space (1) with at least a bottom opening, characterized in that, The quick-change mounting device includes a positioning and fixing component disposed in the accommodating space (1), a changing component disposed on the task module (B), a transport platform (C) for transporting the task module (B) to the accommodating space (1), and a mounting control system for realizing two-way data interaction; the positioning and fixing component includes a locking mechanism, an infrared sensor (2), and an ultrasonic sensor (3) disposed in the accommodating space (1), the locking mechanism being used to cooperate with the changing component to clamp and fix the task module (B); the infrared sensor (2) being used to position the task module (B) left and right; the ultrasonic sensor (3) being used to position the task module (B) left and right; the ultrasonic sensor (3) being used to position the task module (B) right and left; the infrared sensor (2) being used to position the task module (B) left and right; the ultrasonic sensor (3) being used to position the task module (B) right and left; the infrared sensor (2) being used to position the task module (B) left and right; the ultrasonic sensor (3) being used to position the task module (B) right and left; the ultrasonic sensor (3 ... The sensor (3) is used to perform front-to-back positioning and height position identification of the task module (B); the changing component includes a positioning strip (16) set on the top of the task module (B) for cooperation with the infrared sensor (2); the transport platform (C) includes a hydraulic lifting unit (13), a carrying platform (14) and a mobile chassis (15); the mounting control system includes an airborne control unit and a ground changing control unit; during the changing process, under the control of the mounting control system, the positioning and fixing component, the changing component and the transport platform (C) work together to realize the three-dimensional positioning and automatic locking of the task module (B).

2. The quick-change mounting device according to claim 1, characterized in that, The locking mechanism includes a hook lock motor (4), a first gear set, a second gear set, a first transmission shaft (5), a second transmission shaft (6), and a hook lock (11). The first gear set includes a driving gear (7) and a driven gear (8) that mesh with each other. The driving gear (7) is connected to the output shaft of the hook lock motor (4). The driven gear (8) is disposed on the first transmission shaft (5). There are two second gear sets and two transmission shafts (6). Each second gear set includes a bevel gear (9) and a driven gear (10) that mesh with each other. The two bevel gears (9) are disposed at both ends of the first transmission shaft (5). The two driven gears (10) are disposed on the two second transmission shafts (6). Each second transmission shaft (6) is provided with a hook lock (11) at both ends.

3. The quick-change mounting device according to claim 2, characterized in that, The hook lock motor (4) is fixedly installed at the top center position inside the accommodating space (1); the first drive shaft (5) and the second drive shaft (6) are rotatably installed at the top inside the accommodating space (1) through bearings and bearing mounting seats, respectively.

4. The quick-change mounting device according to claim 2, characterized in that, The ultrasonic sensor (3) includes two first ultrasonic sensors and one second ultrasonic sensor. The two first ultrasonic sensors are fixedly installed on the front and rear walls of the accommodating space (1), and the detection beams of the two ultrasonic sensors are used to point vertically downwards to the front and rear ends of the task module (B). The second ultrasonic sensor and the infrared sensor (2) are respectively embedded in the top of the accommodating space (1) and on the left and right sides of the hook lock motor (4). The emission beam of the infrared sensor (2) is used to point vertically downwards to the top surface of the task module (B), and the recognition band of the infrared sensor (2) matches the reflection band of the positioning strip (16).

5. The quick-change mounting device according to claim 4, characterized in that, The changing assembly also includes four hook and lock slots (12) disposed on the task module (B), and the four hook and lock slots (12) are respectively disposed at the front and rear ends of the left and right sides of the task module (B); the positioning strip (16) is a red positioning strip disposed at the middle position of the top of the task module (B).

6. The quick-change mounting device according to claim 2, characterized in that, The airborne control unit is located inside the fuselage (A) and includes a main controller, a sensor interface module and a flight control interaction module. The main controller is electrically connected to the hook-lock motor (4) and is used to control the forward and reverse rotation and locking action of the hook-lock motor (4). The sensor interface module is used to connect the infrared sensor (2) and the ultrasonic sensor (3) and input the collected signals into the main controller after conditioning. The flight control interaction module is communicatively connected to the aircraft flight control system and is used to obtain the current attitude and landing gear grounding status data of the aircraft in real time.

7. The quick-change mounting device according to claim 1, characterized in that, The task module (B) can be any one of the following: high-pressure fire extinguishing module, casualty transfer cabin module, emergency material sealed transportation module, and on-site information real-time broadcasting module. The docking contour dimensions of the replacement components on the top of all task modules (B) are completely uniform.

8. The quick-change mounting device according to any one of claims 1-7, characterized in that, The ground-based garment change control unit is located inside the transport platform and includes a ground controller. The ground controller is electrically connected to the hydraulic lifting unit (13) and the chassis drive module of the mobile chassis (15). The ground controller is used to receive the garment change command issued by the airborne control unit and control the lifting and lowering action of the hydraulic lifting unit (13) and the displacement of the mobile chassis (15) according to the garment change command.

9. A quick-load mounting method for a tandem twin-duct unmanned aerial vehicle, characterized in that, The quick-change mounting device as described in claim 8 includes the following steps: S1. Replacement Start-up Phase: The airborne control unit obtains the current attitude, position and landing gear status information of the aircraft through the flight control interaction module. After confirming that the aircraft is stationary on the ground and the landing gear is stably on the ground, it sends a replacement preparation command to the ground replacement control unit through the wireless communication link. After receiving the command, the ground replacement control unit drives the transport platform (C) and its onboard mission module (B) to the preset coarse positioning area under the fuselage (A). S2, Lifting and Forward / Backward Positioning Stage: The ground-based equipment change control unit controls the hydraulic lifting unit (13) to lift the task module (B) upward; when the task module (B) enters the detection range of the first ultrasonic sensor, the two first ultrasonic sensors measure the distance to the front and rear ends of the task module respectively, and the airborne control unit reads the two sets of distance values ​​in real time and calculates the position deviation of the task module in the forward / backward direction; S3, Left and Right Precision Positioning Stage: After the front and rear alignment is completed, the airborne control unit activates the infrared sensor (2); the infrared sensor (2) emits an infrared beam downwards and receives the reflected signal. By identifying the position of the positioning bar (16), the airborne control unit calculates the position deviation of the task module (B) in the left and right directions based on the signal strength and scanning angle fed back by the infrared sensor (2); and determines whether the deviation exceeds the allowable threshold. If so, it sends a left and right fine adjustment command to the transportation platform (C) until the left and right alignment of the task module (B) is completed; if not, it executes step S4. S4. Height positioning and hook lock triggering stage: After the precision positioning is completed, the ground changing control unit continues to control the hydraulic lifting unit (13) to lift the support platform (14); during this process, the second ultrasonic sensor continuously monitors the distance to the top of the task module, and the main controller calculates the lifting height in real time; when the task module (B) is detected to rise to the preset installation height, the second ultrasonic sensor sends a position signal to the main controller, and the main controller judges that the hook lock (11) has been aligned with the hook lock groove (12) position, and then sends a locking command to the hook lock motor (4), drives the hook lock motor (4) to rotate, so that the hook lock (11) is inserted into the hook lock groove (12) of the task module (B), and feeds back the locking position signal; S5. Reset Phase: After the airborne control unit confirms that the locking is completed, it sends a reset command to the ground replacement control unit through the wireless communication link; the ground controller drives the hydraulic lifting unit (13) to lower the support platform (14) to the initial position, and drives the mobile chassis (15) to move out of the area under the aircraft fuselage, and the replacement process ends.

10. The quick-change mounting method according to claim 9, characterized in that, In step S2, if the deviation exceeds the allowable threshold, the airborne control unit sends a fine-tuning command for the forward and backward movement of the mobile chassis to the ground-based replacement control unit via a wireless communication link until the forward and backward alignment deviation is within the allowable range.

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