CN103253373A - Multifunctional unmanned machine platform capable of feeding water continuously for in-air fire-fighting rescue and rescue method thereof - Google Patents
Multifunctional unmanned machine platform capable of feeding water continuously for in-air fire-fighting rescue and rescue method thereof Download PDFInfo
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Abstract
The invention relates to a multifunctional unmanned machine platform capable of feeding water continuously for in-air fire-fighting rescue. The multifunctional unmanned machine platform comprises a helicopter body, a continuous water feeding device, a detecting device, an automatic pilot and a ground displaying and manipulating device. The helicopter body carries the continuous water feeding device and the automatic pilot, one end of the continuous water feeding device can be connected with a ground water source, the other end of the continuous water feeding device is installed on the helicopter body to be connected with a water tank or a sprayer, and the ground displaying and manipulating device receives signals transmitted by the detecting device through the wireless transmission module. Additionally, the invention further provides a rescue method of the multifunctional unmanned machine platform capable of feeding water continuously for in-air fire-fighting rescue. By means of the multifunctional unmanned machine platform capable of feeding water continuously for in-air fire-fighting rescue and the method thereof, the problem that aerial ladders are not long can be solved, in-air and ground combined fire fighting can be facilitated, the limit of crowded ground traffic can be prevented, the efficiency is high, rescue and safety of firefighters can be facilitated, and the cost is low.
Description
Technical field
The present invention relates to the air rescue field, particularly, relate to a kind of lasting feedwater air attack and rescue multi-purpose unmanned machine platform and the method for suing and labouring thereof.
Background technology
The aviation fire-fighting is the fire-fighting up-to-date technology that occurs in the twentieth century middle and later periods, has obtained the fast speed development in short decades.It applies to the new and high technology of aviation field in fire prevention and the fire-fighting work, not only improved the modern scientific and technological content of fire-fighting greatly, and for fire-fighting business and the fire fighter of countries in the world carrying brand new concept, make modern fire-fighting possess more powerful, more effective technological means.
Fire helicopter generally is to utilize existing ripe military or civil helicopter to convert.Helicopter has special performances such as vertical takeoff and landing, hovering, is more suitable for the needs of fire-fighting task aspect a lot.As in forest extinguishing, helicopter is multiple functional, operation is accurate, employs helicopter than using more economical and effective of fixed-wing air tanker.And in city and building fire were puted out a fire to save life and property, the effect of fire helicopter then was irreplaceable.
But present technical study has just solved the exercise question such as the part that high building is put out a fire, earthquake relief work is such, the present invention then be with the different disasters under the different situations be designed to one multi-functional, the platform of unattended driving, compare with designing and producing of other and to have practicality more, economic benefits are more arranged.
It is a brand-new problem that the air attack that continues to feed water is rescued multi-purpose unmanned machine platform.If platform application in actual life, to solving difficult problems such as high building fire extinguishing, wetland fire extinguishing, nuclear reactor cooling monitoring, set up the fire fighting and rescue system that cooperates with ground in the air, reduce personnel, property damage and radiation damage to greatest extent, have very big realistic meaning.
Summary of the invention
The present invention is on fire for being implemented in high building, and wetland is on fire, and the unmanned plane platform is realized multiple function conversion and corresponding rescue under the different situations such as nuclear reactor cooling, has designed lasting feedwater air attack and has rescued multi-purpose unmanned machine platform.
The lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform, comprise: helicopter body, lasting feed water rigging, detector, autopilot and ground show and operating control that wherein: described helicopter body carries described lasting feed water rigging and described autopilot; Described lasting feed water rigging are installed on described helicopter body, and it can connect the surface pond for water end (W.E.), and the other end is connected with shower nozzle; Described detector has for detection of burning things which may cause a fire disaster and survival personnel's infrared pick-up head and is used for taking the common camera of normal image; Described detector shows to described ground and operating control transmission signal by wireless transport module; Described ground shows the signal that receives described detector emission with operating control by wireless transport module.
Further, the lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform and is also comprised water tank, and wherein, described water tank has shower nozzle, can adorn water or extinguishing medium in the water tank.
Further, the shower nozzle of described lasting feed water rigging and water tank shower nozzle are set to rotatable.
Further, described ground shows the water outlet direction that can control described lasting feed water rigging shower nozzle with operating control.
In addition, the present invention also proposes to utilize and continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform,
Step 1: preestablish target pattern and target location according to the condition of a disaster;
Step 2: described depopulated helicopter hovers along preestablishing airline operation to the sky, target location under the control of described autopilot;
Step 3: if step 2 is then returned in ground demonstration and course line and the target location of operating control according to actual conditions change depopulated helicopter; If not rerouting and target location then enter step 4;
Step 4: utilize water or extinguishing medium in the water tank to put out a fire;
Step 5: after the alarm of controlled or flight time, send the instruction of making a return voyage to depopulated helicopter when the condition of a disaster;
Step 6: depopulated helicopter makes a return voyage under the control of autopilot, and drops to ground.
As a kind of preferred version, step 4 also comprises:
Step 4a: after arriving object point, the aqueduct shower nozzle by described lasting feed water rigging sprays to burning things which may cause a fire disaster or high temp objects with water, to put out a fire and to lower the temperature;
Step 4b: if near have the water source, described lasting feed water rigging are drawn into water from the surface pond in the air.
As a kind of preferred version, step 2 specifically comprises:
Step 2a: throttle at idle;
Step 2b: increase throttle and total distance to the standby for takeoff state;
Step 2c: increase throttle and total distance;
Step 2d: decision height if reach object height, then enters control program, the end of independently taking off; If the miss the mark height then returns step 2c.
As a kind of preferred version, step 6 specifically comprises:
Step 6a: arrive the overhead descent altitude in target location, start autonomous landing procedure;
Step 6b: decision height, if the miss the mark height then continues landing; If reach object height, then enter step 6c;
Step 6c: decision height, if do not reach critical object height, then continue landing; If reach critical object height, then enter step 6d;
Step 6d: reduce throttle and total distance fast;
Step 6e: the unmanned plane safe falling is to ground.
As a kind of preferred version, the actual attitude of described depopulated helicopter to adjust body, makes described depopulated helicopter reach targeted attitude by attitude controller control steering wheel; Control the actual position of described depopulated helicopter by positioner, make described depopulated helicopter arrive the target location; Control the actual course line of described depopulated helicopter by the navigation controller, make described depopulated helicopter arrive target pattern.
The lasting feedwater air attack that the present invention proposes is rescued the length that multi-purpose unmanned machine platform can remedy aerial ladder, so that fire fighting is united on ground, space, can not be subjected to the ground communications congestion limits, efficient is higher, be conducive to rescue, fire fighter's safety, and cost is lower.The present invention is on fire at high building, and wetland is on fire, implements rescue under the situations such as nuclear reactor cooling a good platform is provided.
Description of drawings
Fig. 1 is the scheme drawing that lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform;
Fig. 2 is the principle of work scheme drawing that lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform;
Fig. 3 is that the lasting feedwater air attack that the present invention proposes is rescued autopilot work scheme drawing in the multi-purpose unmanned machine platform;
Fig. 4 is that the lasting feedwater air attack that the present invention proposes is rescued depopulated helicopter landing diagram of circuit in the multi-purpose unmanned machine platform;
Fig. 5 is that lasting feedwater air attack that the present invention proposes is rescued in the multi-purpose unmanned machine platform depopulated helicopter independent diagram of circuit that takes off;
Fig. 6 is that the lasting feedwater air attack that the present invention proposes is rescued attitude controller workflow diagram in the multi-purpose unmanned machine platform;
Fig. 7 is that the lasting feedwater air attack that the present invention proposes is rescued controller workflow diagram in position in the multi-purpose unmanned machine platform;
Fig. 8 is that the lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform Intermediate Course controller workflow diagram.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.At different rescue situations, the present invention can have different embodiment.
As shown in Figure 1, the lasting feedwater air attack that the present invention proposes is rescued multi-purpose unmanned machine platform, comprise: helicopter body, lasting feed water rigging, detector, autopilot and ground show and operating control that wherein: described helicopter body carries described lasting feed water rigging and described autopilot; Described lasting feed water rigging are installed on described helicopter body, and it can connect the surface pond for water end (W.E.), and the other end is connected with shower nozzle; Described detector has for detection of burning things which may cause a fire disaster and survival personnel's infrared pick-up head and is used for taking the common camera of normal image, can make the ground staff observe overall condition when detecting burning things which may cause a fire disaster and survival personnel; Described detector shows to described ground and operating control transmission signal by wireless transport module; Described ground shows the signal that receives described detector emission with operating control by wireless transport module.
As shown in Figure 2, helicopter body 1 is an aerial carrier, is used for carrying detector etc.; Continuing feed water rigging 2 is used for water is drawn into from ground in the air burning things which may cause a fire disaster and High Temperature object is put out a fire and lowered the temperature; Detector 3 is made up of common and the first-class equipment of infrared photography, is used for the condition of a disaster and the personnel of being injured are observed, and passes ground demonstration and operating control back; Ground shows with operating control 4 for receiving the condition of a disaster and the disaster affected people image that detector transmits; As shown in Figure 3, autopilot 5 is used for substituting has the people to drive or remote control, and control platform autonomous flight is executed the task to the condition of a disaster sky, and the control platform independently returns after task finishes.
In a preferred embodiment of the present invention, the aerial ladder height distance fire point that is used for fire fighting that arranges on the fire extinguishing tanker is far away, in utilizing the process of suing and labouring of the present invention, can utilize on the fire extinguishing tanker or the water-storing device of skyscraper top layer etc. as the water source, described lasting feed water rigging are drawn into this water source from ground in the air.
In another preferred embodiment of the present invention, as shown in Figure 2, described lasting feedwater air attack is rescued multi-purpose unmanned machine platform and is also comprised water tank 6.Described water tank has shower nozzle, can adorn water or extinguishing medium in the water tank.Under near the situation at the no water source fire point, described water tank is filled water or extinguishing medium before depopulated helicopter takes off, and behind the arrival sky, target location target fire point is sprayed.
In this embodiment, the shower nozzle of described lasting feed water rigging is set to rotatable, is used for satisfying the needs of fire extinguishing and cooling.
Described ground shows the water outlet direction that can control described lasting feed water rigging shower nozzle with operating control, and the ground control personnel can better grasp the condition of a disaster situation by this device, thereby more effectively rescue.
In addition, the present invention also proposes a kind of the utilization and continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform, adopts following steps:
Step 1: preestablish target pattern and target location according to the condition of a disaster;
Step 2: described depopulated helicopter hovers along preestablishing airline operation to the sky, target location under the control of described autopilot;
Step 3: if step 2 is then returned in ground demonstration and course line and the target location of operating control according to actual conditions change depopulated helicopter; If not rerouting and target location then enter step 4;
Step 4: utilize water or extinguishing medium in the water tank to put out a fire;
Step 5: after the alarm of controlled or flight time, send the instruction of making a return voyage to depopulated helicopter when the condition of a disaster;
Step 6: depopulated helicopter makes a return voyage under the control of autopilot, and drops to ground.
In embodiment of the present invention, step 4 is specially:
Step 4a: after arriving object point, the aqueduct shower nozzle by described lasting feed water rigging sprays to burning things which may cause a fire disaster or high temp objects with water, to put out a fire and to lower the temperature;
Step 4b: if near have the water source, described lasting feed water rigging are drawn into water from the surface pond in the air.
As shown in Figure 5, step 2 specifically comprises:
Step 2a: throttle at idle;
Step 2b: increase throttle and total distance to the standby for takeoff state;
Step 2c: increase throttle and total distance;
Step 2d: decision height if reach object height, then enters control program, the end of independently taking off; If the miss the mark height then returns step 2c.
As shown in Figure 4, step 6 specifically comprises:
Step 6a: arrive the overhead descent altitude in target location, start autonomous landing procedure;
Step 6b: decision height, if the miss the mark height then continues landing; If reach object height, then enter step 6c;
Step 6c: decision height, if do not reach critical object height, then continue landing; If reach critical object height, then enter step 6d;
Step 6d: reduce throttle and total distance fast;
Step 6e: the unmanned plane safe falling is to ground.
In a preferred embodiment of the present invention, in order to reach the more stable purpose of unmanned helicopter flight, as shown in Figure 6, the actual attitude of described depopulated helicopter to adjust body, makes described depopulated helicopter reach targeted attitude by attitude controller control steering wheel; As shown in Figure 7, control the actual position of described depopulated helicopter by positioner, make described depopulated helicopter arrive the target location; As shown in Figure 8, control the actual course line of described depopulated helicopter by the navigation controller, make described depopulated helicopter arrive target pattern.
The lasting feedwater air attack that the present invention proposes is rescued the length that multi-purpose unmanned machine platform can remedy aerial ladder, so that fire fighting is united on ground, space, can not be subjected to the ground communications congestion limits, efficient is higher, be conducive to rescue, fire fighter's safety, and cost is lower.
In sum, be preferred embodiment of the present invention more than, be not to limit protection scope of the present invention.Under the situation that does not deviate from spirit of the present invention and essence thereof, the person of ordinary skill in the field works as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of claim of the present invention.
Claims (9)
1. the air attack that continues to feed water is rescued multi-purpose unmanned machine platform, it is characterized in that, comprising: helicopter body, lasting feed water rigging, detector, autopilot and ground demonstration and operating control, wherein:
Described helicopter body carries described lasting feed water rigging and described autopilot;
Described lasting feed water rigging are installed on described helicopter body, and it can connect the surface pond for water end (W.E.), and the other end is connected with shower nozzle;
Described detector has for detection of burning things which may cause a fire disaster and survival personnel's infrared pick-up head and is used for taking the common camera of normal image; Described detector shows to described ground and operating control transmission signal by wireless transport module;
Described ground shows the signal that receives described detector emission with operating control by wireless transport module.
2. lasting feedwater air attack according to claim 1 is rescued multi-purpose unmanned machine platform, it is characterized in that, also comprises water tank, wherein,
Described water tank has shower nozzle, can adorn water or extinguishing medium in the water tank.
3. lasting feedwater air attack according to claim 1 is rescued multi-purpose unmanned machine platform, it is characterized in that, the shower nozzle of described lasting feed water rigging and water tank shower nozzle are set to rotatable.
4. lasting feedwater air attack according to claim 4 is rescued multi-purpose unmanned machine platform, it is characterized in that, described ground shows the water outlet direction that can control described lasting feed water rigging shower nozzle with operating control.
5. the method for suing and labouring of utilizing lasting feedwater air attack to rescue multi-purpose unmanned machine platform is characterized in that,
Step 1: preestablish target pattern and target location according to the condition of a disaster;
Step 2: described depopulated helicopter hovers along preestablishing airline operation to the sky, target location under the control of described autopilot;
Step 3: if step 2 is then returned in ground demonstration and course line and the target location of operating control according to actual conditions change depopulated helicopter; If not rerouting and target location then enter step 4;
Step 4: utilize water or extinguishing medium in the water tank to put out a fire;
Step 5: after the alarm of controlled or flight time, send the instruction of making a return voyage to depopulated helicopter when the condition of a disaster;
Step 6: depopulated helicopter makes a return voyage under the control of autopilot, and drops to ground.
6. utilization according to claim 5 continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform, it is characterized in that step 4 also comprises:
Step 4a: after arriving object point, the aqueduct shower nozzle by described lasting feed water rigging sprays to burning things which may cause a fire disaster or high temp objects with water, to put out a fire and to lower the temperature;
Step 4b: if near have the water source, described lasting feed water rigging are drawn into water from the surface pond in the air.
7. utilization according to claim 5 continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform, it is characterized in that step 2 specifically comprises:
Step 2a: throttle at idle;
Step 2b: increase throttle and total distance to the standby for takeoff state;
Step 2c: increase throttle and total distance;
Step 2d: decision height if reach object height, then enters control program, the end of independently taking off; If the miss the mark height then returns step 2c.
8. utilization according to claim 5 continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform, it is characterized in that step 6 specifically comprises:
Step 6a: arrive the overhead descent altitude in target location, start autonomous landing procedure;
Step 6b: decision height, if the miss the mark height then continues landing; If reach object height, then enter step 6c;
Step 6c: decision height, if do not reach critical object height, then continue landing; If reach critical object height, then enter step 6d;
Step 6d: reduce throttle and total distance fast;
Step 6e: the unmanned plane safe falling is to ground.
9. utilization according to claim 5 continues the method for suing and labouring that the feedwater air attack is rescued multi-purpose unmanned machine platform, it is characterized in that,
The actual attitude of described depopulated helicopter to adjust body, makes described depopulated helicopter reach targeted attitude by attitude controller control steering wheel;
Control the actual position of described depopulated helicopter by positioner, make described depopulated helicopter arrive the target location;
Control the actual course line of described depopulated helicopter by the navigation controller, make described depopulated helicopter arrive target pattern.
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| CN105667797A (en) * | 2016-03-16 | 2016-06-15 | 钟满仓 | High-rise fire fighting unmanned aerial vehicle |
| CN106114865A (en) * | 2016-08-08 | 2016-11-16 | 国网湖南省电力公司 | Transmission line forest fire based on unmanned plane fire extinguishing platform |
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| CN108295401B (en) * | 2018-01-03 | 2020-07-21 | 陈贵文 | Unmanned aerial vehicle, remote control fire crane, couple rings combine high building rescue device that puts out a fire |
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| CN110812732A (en) * | 2019-10-12 | 2020-02-21 | 中航通飞研究院有限公司 | Fire extinguishing method and system based on airplane platform |
| CN112370690A (en) * | 2019-10-28 | 2021-02-19 | 周丽娟 | Novel communication wire and cable fire extinguishing unmanned aerial vehicle |
| CN112370689A (en) * | 2019-10-28 | 2021-02-19 | 周丽娟 | Novel communication wire and cable fire extinguishing unmanned aerial vehicle |
| CN112370690B (en) * | 2019-10-28 | 2021-07-30 | 苏州维斯勒姆智能科技有限公司 | Communication wire and cable fire extinguishing unmanned aerial vehicle |
| CN112370689B (en) * | 2019-10-28 | 2021-08-03 | 苏州维斯勒姆智能科技有限公司 | Communication wire and cable fire extinguishing unmanned aerial vehicle |
| CN112357087A (en) * | 2020-09-28 | 2021-02-12 | 国网湖南省电力有限公司 | Water-based fire-extinguishing mooring unmanned aerial vehicle |
| CN113697113A (en) * | 2021-09-10 | 2021-11-26 | 陕西蓝悦无人机技术有限公司 | Unmanned aerial vehicle for directly extinguishing fire by using flowing water and fire extinguishing method |
| CN113697113B (en) * | 2021-09-10 | 2023-11-24 | 陕西蓝悦无人机技术有限公司 | Unmanned aerial vehicle for carrying out direct fire source extinguishment by using flowing water and extinguishment method |
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Application publication date: 20130821 |