CN115432182A - Fire control unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a fire-fighting unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a fire-fighting assembly, a plurality of telescopic pieces, a main controller and a detection piece. Fire control subassembly and a plurality of extensible member all set up in the below of unmanned aerial vehicle body, and the relative both ends of each extensible member articulate respectively in unmanned aerial vehicle body and fire control subassembly. The main controller is arranged on the unmanned aerial vehicle body. The detection piece is arranged on the fire-fighting assembly and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire-fighting assembly. The main controller is electrically connected with the telescopic piece and used for controlling the length of the telescopic piece according to the position information of the fire fighting assembly in real time so as to adjust the pose of the fire fighting assembly and enable the fire fighting assembly to be in a horizontal state. The unmanned aerial vehicle of this application has that the stationarity is good, safe and reliable, incessant operation, advantage that the load is big.

Description

Fire control unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a fire-fighting unmanned aerial vehicle.

Background

With the wide application of the unmanned aerial vehicle technology in various industries of modern society, the combination of the unmanned aerial vehicle and the traditional technology improves the weakness of the traditional technology and becomes an inevitable trend of industrial development. At present, the unmanned aerial vehicle technology is applied to fire rescue work, and the unmanned aerial vehicle has very important practical significance in the aspects of improving rescue efficiency, rescue safety and the like.

However, the existing fire-fighting unmanned aerial vehicle is difficult to overcome the shaking or the inclination caused by the recoil during the water spraying operation, and the stability is poor.

Disclosure of Invention

Based on this, it is necessary to provide a good, safe and reliable's of stationarity fire control unmanned aerial vehicle to the unstable problem of operation that current fire control unmanned aerial vehicle exists.

A fire fighting drone for high altitude fire fighting, comprising:

an unmanned aerial vehicle body;

the fire fighting assembly and the plurality of telescopic pieces are arranged below the unmanned aerial vehicle body; the two opposite ends of each telescopic piece are respectively hinged to the unmanned aerial vehicle body and the fire-fighting assembly;

the main controller is arranged on the unmanned aerial vehicle body; and

the detection piece is arranged on the fire fighting assembly and is electrically connected with the main controller, and the detection piece is used for detecting the position information of the fire fighting assembly;

the main controller is electrically connected with the telescopic piece and used for controlling the length of the telescopic piece according to the position information of the fire fighting assembly in real time so as to adjust the pose of the fire fighting assembly and enable the fire fighting assembly to be in a horizontal state.

In one embodiment, the unmanned aerial vehicle body comprises a fuselage, a rotor arm assembly connected to the fuselage, and a plurality of first rotor assemblies arranged on the rotor arm assembly and corresponding to the telescopic pieces one by one;

the two opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire-fighting assembly.

In one embodiment, the rotor arm assembly includes two first arms located on opposite sides of the fuselage in a first direction and extending in a second direction, and two second arms extending in the first direction;

the two longitudinal ends of one second arm are respectively connected to one side of the two first arms along the second direction, and the two longitudinal ends of the other second arm are respectively connected to the other side of the two first arms along the second direction; the fire fighting assembly extends along the second direction and is positioned below the fuselage; the first direction and the second direction intersect.

In one embodiment, there are four of the first rotor assembly and the extension member;

the first rotor assembly is arranged at the joint of the first arm and the second arm.

In one embodiment, the first rotor assembly includes a coupling socket provided at a junction of the first arm and the second arm, and at least one first electrically powered blade located outboard of the coupling socket;

one end, far away from the fire-fighting assembly, of each telescopic piece is hinged to the bottom of the connecting seat of the corresponding first rotor wing assembly.

In one embodiment, the connecting seat is provided with a secondary controller;

inferior controller with first rotor subassembly one-to-one, and respectively with main control unit with correspond first rotor subassembly electricity is connected.

In one embodiment, the connecting seat is further provided with a speed adjusting piece, and the speed adjusting piece is used for adjusting the rotating speed of the first electric paddle and is electrically connected with the adjacent secondary controller.

In one embodiment, the rotor arm assembly further comprises two third arms, each first arm is connected with one third arm, and one end of each third arm, which is far away from the corresponding first arm, is provided with a second rotor assembly.

In one embodiment, a plane parallel to the first direction and parallel to the second direction is defined as a first plane;

the third arm and the first plane form a preset included angle.

In one embodiment, each of the second rotor assemblies includes a driving member provided to the corresponding third arm, and two second electric blades spaced apart in a third direction;

the two second electric blades are coaxially arranged at the output end of the driving piece so as to rotate under the driving of the driving piece.

Above-mentioned fire control unmanned aerial vehicle, when the fire control operation, the fire control subassembly sprays water forward, and fire control unmanned aerial vehicle inclines owing to recoil. In order to keep the level stability of fire control subassembly, set up a plurality of extensible members between the fire control subassembly of unmanned aerial vehicle body with be located unmanned aerial vehicle body below, and the relative both ends of extensible member articulate respectively in unmanned aerial vehicle body and fire control subassembly. The main control unit on the unmanned aerial vehicle body receives the detected signal of the detection piece on the fire control subassembly in real time, judges whether the fire control subassembly is in the horizontal stable state, if unstable, then calculates and makes the stable required mathematical model of fire control subassembly to adjust the length of extensible member, make the unmanned aerial vehicle body produce the slope forward and resist the recoil that the fire control subassembly produced because of spraying water forward with the component force that produces the horizontal forward, adjust the position appearance of fire control subassembly makes the fire control subassembly is in the horizontality all the time, avoids because the fire control operation that the slope of fire control subassembly leads to receives the influence.

Drawings

Fig. 1 is a schematic structural diagram of a fire-fighting drone in an embodiment of the present invention;

fig. 2 is a schematic view of a fire-fighting drone in an embodiment of the invention at a front and rear level;

fig. 3 is a schematic view of a fire fighting drone in an embodiment of the present invention tilted forward and backward;

fig. 4 is a schematic view of a fire-fighting drone in an embodiment of the invention at left and right levels;

FIG. 5 is a schematic view of a fire fighting drone in an embodiment of the present invention when tilted left and right;

fig. 6 is a schematic structural view of another perspective of the fire-fighting drone in an embodiment of the invention;

FIG. 7 is a schematic view of a slot at the connection of the first arm to the main controller according to an embodiment of the present invention;

fig. 8 is a schematic control flow diagram of the fire-fighting drone according to an embodiment of the present invention.

In the figure: 100. a fire-fighting unmanned aerial vehicle; 10. an unmanned aerial vehicle body; 20. a fire-fighting component; 21. a water pump; 22. a water pump motor; 23. a water spray tap; 24. a fire hose; 30. a telescoping member; 40. an image component; 50. a secondary controller; 60. a speed adjustment member; 70. mooring the cable; f1, a first direction; f2, a second direction; f3, a third direction; 11. a body; 111. a body; 112. a support leg; 12. a rotor arm assembly; 121. a first arm; 122. a second arm; 123. a third arm; 13. a first rotor assembly; 131. a connecting seat; 132. a first electric blade; 14. a second rotor assembly; m1, a first plane; 141. a drive member; 142. a second electrically powered paddle.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

With the wide application of the unmanned aerial vehicle technology in various industries in modern society, the combination of the unmanned aerial vehicle and the traditional technology improves the weakness of the traditional technology, and the inevitable trend of industry development is formed. At present, the unmanned aerial vehicle technology is applied to fire rescue work, and the unmanned aerial vehicle has very important practical significance in the aspects of improving rescue efficiency, rescue safety and the like. However, the existing fire-fighting unmanned aerial vehicle is difficult to overcome the shaking or the inclination caused by the recoil during the water spraying operation, and the stability is poor.

In addition, following a great deal of problem still exists in current fire control unmanned aerial vehicle.

Some fire control unmanned aerial vehicles are only used for detecting the condition of a fire, and some fire control unmanned aerial vehicles carry some detecting instruments such as infrared, ultrasonic wave, etc. When arriving at a fire scene, the fire-fighting unmanned aerial vehicle is lifted off to detect the scene fire and transmit the scene fire back to the ground to help fire-fighting operators to better master the fire. The fire-fighting unmanned aerial vehicle is small in fire-fighting operation help and only plays a role in auxiliary information collection.

Some fire control unmanned aerial vehicle only carry small-size fire extinguishing apparatus, and fire control unmanned aerial vehicle carries if small-size fire control operation devices such as fire extinguishing tank, fire extinguishing bomb. When arriving at a fire scene, the fire-fighting unmanned aerial vehicle is lifted off to carry out fixed-point operation on the ignition point. Although the fire-fighting unmanned aerial vehicle can carry out fire-fighting operation, the operation range is too small, fire-fighting situation assistance is limited, the duration of the fire-fighting unmanned aerial vehicle is short, the operation time is short, and the problem of high-rise fire fighting is still difficult to overcome.

Some fire control unmanned aerial vehicles realize the ground power supply for mooring unmanned aerial vehicle through mooring cable 70, and unmanned aerial vehicle carries like fire extinguishing tank, and operating equipment such as fire extinguishing bomb carries out the high altitude and puts out a fire. When arriving at a fire scene, the fire-fighting unmanned aerial vehicle is lifted off to carry out long-time fire-fighting operation on a fire point in a larger range. Although the fire-fighting unmanned aerial vehicle has long endurance time, the fire-fighting unmanned aerial vehicle still cannot perform uninterrupted operation due to the limitation of carrying fire-fighting equipment and needs to fall down at regular time to supplement fire-fighting consumables.

Some fire control unmanned aerial vehicle realize supplying water through the raceway for the unmanned aerial vehicle that moors of carrier pipe, and mooring cable 70 realizes supplying power, locates to spout water at fire control unmanned aerial vehicle. When arriving at a fire scene, the fire-fighting unmanned aerial vehicle is lifted off to carry out uninterrupted time large-scale fire extinguishing operation on a fire point. Although this kind of fire control unmanned aerial vehicle can realize incessant fire extinguishing operation, nevertheless receive the dead weight that the water pipe under the unable satisfied long distance of fire control unmanned aerial vehicle load and water, so the actual work height is limited, only is used for replacing traditional fire engine, still can't satisfy the demand of putting out a fire of high level on a large scale for a long time.

In view of a great deal of problems above the current fire control unmanned aerial vehicle exists, the inventor of this application has designed a fire control unmanned aerial vehicle 100, can solve one of above problems at least.

Referring to fig. 1, fig. 1 shows a schematic structural diagram of a fire-fighting drone 100 according to an embodiment of the present invention, the fire-fighting drone 100 provided according to an embodiment of the present invention is mainly used for high altitude fire fighting, and the fire-fighting drone 100 includes a drone body 10, a fire-fighting module 20, a plurality of expansion members 30, a main controller (not shown), and a detection member (not shown). Fire control subassembly 20 and a plurality of extensible member 30 all set up in the below of unmanned aerial vehicle body 10, and the relative both ends of each extensible member 30 articulate respectively in unmanned aerial vehicle body 10 and fire control subassembly 20. Main control unit locates on unmanned aerial vehicle body 10. The detection piece is arranged on the fire fighting module 20 and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire fighting module 20. The main controller is electrically connected with the telescopic member 30 and is used for controlling the length of the telescopic member 30 according to the position information of the fire fighting assembly 20 in real time so as to adjust the pose of the fire fighting assembly 20 and enable the fire fighting assembly 20 to be in a horizontal state.

Fig. 2 is a schematic view of a fire-fighting drone 100 in an embodiment of the present invention when the fire-fighting drone 100 is at a front and rear level, fig. 3 is a schematic view of the fire-fighting drone 100 in an embodiment of the present invention when the fire-fighting drone 100 is tilted at the front and rear level, fig. 4 is a schematic view of the fire-fighting drone 100 in an embodiment of the present invention when the fire-fighting drone 100 is at a left and right level, and fig. 5 is a schematic view of the fire-fighting drone 100 in an embodiment of the present invention when the fire-fighting drone 100 is tilted at the left and right. Referring to fig. 1 to 5, in an embodiment, as shown in fig. 1, for convenience of description, the first direction F1 is defined as a left-right direction, the second direction F2 is defined as a front-back direction, and the third direction F3 is defined as an up-down direction. Above-mentioned fire control unmanned aerial vehicle 100, when the fire control operation, fire control subassembly 20 sprays water forward, and fire control unmanned aerial vehicle 100 inclines owing to recoil slope. In order to keep the level stability of fire control subassembly 20, set up a plurality of extensible members 30 between unmanned aerial vehicle body 10 and the fire control subassembly 20 that is located unmanned aerial vehicle body 10 below, and the relative both ends of extensible member 30 articulate respectively in unmanned aerial vehicle body 10 and fire control subassembly 20. The main control unit on the unmanned aerial vehicle body 10 receives the detected signal of the detection piece on the fire control subassembly 20 in real time, judge whether the fire control subassembly 20 is in horizontal stable state, if unstable, then calculate the required mathematical model that makes the fire control subassembly 20 stabilize, and adjust the length of extensible member 30, make unmanned aerial vehicle body 10 produce the slope forward and resist the recoil that the fire control subassembly 20 produced because of spraying water forward with the component force that produces horizontal forward, adjust the position appearance of fire control subassembly 20 and make fire control subassembly 20 be in the horizontality all the time, avoid because the fire control operation that the slope of fire control subassembly 20 leads to receives the influence. The detecting member includes a gyroscope, an acceleration sensor, and the like, and is not particularly limited herein.

It should be noted that, unmanned aerial vehicle body 10 can provide flight power for whole fire control unmanned aerial vehicle 100, and fire control subassembly 20 provides lifting power for the appointed fire extinguishing point of fire water arrival, as shown in fig. 1, in practical application, fire control subassembly 20 includes water pump 21, water pump motor 22, spray tap 23 and fire hose 24. The water pump 21 is connected with the water pump motor 22, the water pump 21 is provided with a water pump outlet and a water pump inlet, the fire hose 24 is communicated with the water pump inlet, and the water spray tap 23 is communicated with the water pump outlet. Thus, the fire extinguishing water is pumped by the water pump 21 and sprayed out through the fire hose 24, the water pump inlet, the water pump 21 and the water pump outlet, so as to be used for fire extinguishing work of a specified fire extinguishing point.

Further, the fire control unmanned aerial vehicle 100 of this application can realize a plurality of fire control unmanned aerial vehicle 100's joint fire extinguishing operation to solve the high-rise operation height restriction problem of putting out a fire. Specifically, link to each other through fire hose 24 between a plurality of fire control unmanned aerial vehicle 100, the water pump export of last one-level fire control unmanned aerial vehicle 100 passes through fire hose 24 and links to each other with the water pump entry of next one-level fire control unmanned aerial vehicle 100 to realize the continuous lifting of fire water. In one embodiment, the water pump 21 is a high pressure water pump 21, the high pressure water pump 21 is used for continuous pressurization in the air, the next high pressure water pump 21 is supplied with water by the previous high pressure water pump 21 and the fire hose 24, and finally the pressurized fire water is sprayed out through the water spray tap 23 for fire extinguishing operation at a specified fire extinguishing point. So, the unmanned aerial vehicle 100 of fire control of this application can realize the stack of a plurality of unmanned aerial vehicle 100 of fire control, no longer receives the high limit of high-rise fire extinguishing operation, and fire control operation personnel need not closely to be close to the scene of a fire again simultaneously, avoids fire control operation casualties, improves fire rescue's security.

In some embodiments, as shown in fig. 1, the drone body 10 includes a fuselage 11, a rotor arm assembly 12 connected to the fuselage 11, and a plurality of first rotor assemblies 13 disposed on the rotor arm assembly 12 and in one-to-one correspondence with the telescoping members 30. Opposite ends of each telescopic member 30 are hinged to the corresponding first rotor assembly 13 and fire fighting assembly 20, respectively.

In one embodiment, as shown in fig. 1, the fuselage 11 includes a fuselage body 111 and four legs 112 disposed outside the fuselage body 111, the four legs 112 being connected to the rotor arm assemblies 12, respectively. The telescopic member 30 includes a cylinder, an oil cylinder, an electric push rod, a telescopic truss, etc., and in this embodiment, the telescopic member 30 is an electric push rod. The electric push rod has high precision and large load, can realize synchronous automatic control, does not need an air source and an oil way, and has lighter weight. Electric putter's both ends link to each other with unmanned aerial vehicle body 10 and fire control subassembly 20 through the universal joint respectively. The length of the electric push rod can be electrically controlled and adjusted by the main controller.

In some embodiments, as shown in fig. 1, the rotor arm assembly 12 includes two first arms 121 located on opposite sides of the fuselage 11 along the first direction F1 and extending along the second direction F2, and two second arms 122 extending along the first direction F1. Two longitudinal ends of one second arm 122 are respectively connected to one side of the two first arms 121 along the second direction F2, and two longitudinal ends of the other second arm 122 are respectively connected to the other side of the two first arms 121 along the second direction F2; the fire fighting module 20 extends in the second direction F2 and is located below the fuselage 11. The first direction F1 and the second direction F2 intersect.

Specifically, in the embodiment shown in fig. 1, the first direction F1 and the second direction F2 are perpendicular to each other, the fuselage body 111 is located in the middle of the drone body 10, the rotor arm assembly 12 is disposed around the outer side of the fuselage 11, the rotor arm assembly 12 includes two first arms 121 and two second arms 122, the two first arms 121 and the two second arms 122 form a square frame, in practical applications, the length of the first arm 121 is greater than that of the second arm 122, the two first arms 121 and the two second arms 122 form a rectangular frame, the plurality of legs 112 extend out from the fuselage body 111 and are connected to the first arms 121 and/or the second arms 122, in this embodiment, the number of the legs 112 is four, and two-by-two sets of four legs 112 are connected to the corresponding first arms 121 respectively. The fire fighting module 20 extends in a second direction F2 and is located below the fuselage 11, wherein the water pump 21 and the water pump motor 22 are coaxial and extend in the second direction F2. Compare in current unmanned aerial vehicle body 10 of fire control unmanned aerial vehicle 100 to be circular shape layout mode, the unmanned aerial vehicle body 10 of this application is the mode of square overall arrangement, so, the overall arrangement of the unmanned aerial vehicle body 10 of this application and the overall arrangement of fire control subassembly 20 adaptation more, and the unmanned aerial vehicle body 10 occupation space of this application is littleer, is convenient for wear the lane in a flexible way or implement the fire control operation in old district.

In some embodiments, referring to fig. 6, fig. 6 is a schematic structural view of another perspective of the fire fighting drone 100 in an embodiment of the present invention. First rotor assembly 13 and telescoping member 30 are each provided in four, with a first rotor assembly 13 being provided at the junction of first arm 121 and second arm 122.

It is understood that the first rotor assembly 13 provides the power for the fire fighting drone 100 to ascend and descend and to move horizontally. In one embodiment, first rotor assembly 13 includes four small rotors of relatively small size, in this embodiment 5 inches in diameter, located at the junction of first arm 121 and second arm 122, and specifically, fixedly attached to first arm 121 and second arm 122 by mounts, respectively.

In some embodiments, as shown in fig. 1, the first rotor assembly 13 includes a connecting socket 131 provided at the junction of the first arm 121 and the second arm 122, and at least one first electrically powered blade 132 located outside of the connecting socket 131. The end of each extension member 30 remote from the fire fighting module 20 is hinged to the bottom of the corresponding attachment seat 131 of the first rotor assembly 13.

It should be noted that the first arm 121 and the second arm 122 are fixedly connected to the connecting seat 131, the ends of the first arm 121 and the second arm 122 are crossed, and the connecting seat 131 is located at the crossing of the first arm 121 and the second arm 122. The four small rotors are disposed around the connecting base 131 and fixedly connected to the first arm 121 and the second arm 122 through the mounting base, respectively, wherein the small rotors include a first electric blade 132 and a motor, and the motor is used for driving the first electric blade 132 to rotate. One end of each telescopic member 30 far from the fire fighting module 20 is hinged to the bottom of the corresponding connecting seat 131 of the first rotor assembly 13, and one end of each telescopic member 30 near the fire fighting module 20 is hinged to the water pump 21 or the water pump motor 22 through a universal joint. In practical application, as shown in fig. 1, from fire control unmanned aerial vehicle 100's side look, first arm 121, second arm 122, four telescopic links, eight universal joints, water pump 21 and water pump motor 22 have constituteed down trapezoidal structure jointly, so, can guarantee that fire control unmanned aerial vehicle 100's overall arrangement is more reasonable, and the focus distributes rationally, and stability and reliability are better.

In some embodiments, as shown in fig. 1, the connection seat 131 is provided with a secondary controller 50, and the secondary controllers 50 are in one-to-one correspondence with the first rotor assemblies 13 and are electrically connected to the main controller and the corresponding first rotor assemblies 13, respectively.

In some embodiments, as shown in fig. 1, the connecting base 131 is further provided with a speed adjuster 60, and the speed adjuster 60 is used for adjusting the rotation speed of the first electric blade 132 and is electrically connected with the adjacent secondary controller 50.

In one embodiment, the speed adjusting member 60 includes a small rotor electric adjuster, and the small rotor electric adjuster and the secondary controller 50 are disposed in the connecting seat 131 to complete the control and adjustment of each group of small rotors. Be equipped with mainboard circuit, super capacitor, big rotor electricity and transfer, cooling system, flight control system etc. in the main control unit and accomplish the removal of unmanned aerial vehicle body 10. It will be appreciated that the secondary controller 50 is controlled by a primary controller, which is controlled by ground firefighters.

In some embodiments, as shown in fig. 1 and 4, the rotor arm assembly 12 further includes two third arms 123, one third arm 123 is connected to each first arm 121, and the end of the third arm 123 remote from the corresponding first arm 121 is provided with the second rotor assembly 14.

In some embodiments, as shown in fig. 1 and 4, a plane parallel to the first direction F1 and parallel to the second direction F2 is defined as a first plane M1. The third arm 123 forms a predetermined included angle with the first plane M1.

In one embodiment, the third arm 123 is vertically connected to the first arm 121 by a connection seat 131, and the connection seat 131 of the third arm 123 is located between the two legs 112 and is deflected downward by a predetermined angle. So, second rotor subassembly 14 has certain difference in height with first rotor, can guarantee that the bigger while of unmanned aerial vehicle body 10 bearing reduces its occupation space, is convenient for wear the lane or implement the fire control operation in a flexible way in old district.

In some embodiments, as shown in fig. 1, each second rotor assembly 14 includes a driving member 141 provided on the corresponding third arm 123, and two second electric blades 142 spaced apart in the third direction F3. The two second electric blades 142 are coaxially disposed at the output end of the driving member 141 to rotate under the driving of the driving member 141.

In one embodiment, the second rotor assembly 14 includes two large rotors coaxially disposed, the large rotors including a second motorized blade 142 and a motor for driving the second motorized blade 142 to rotate, the large rotors having a diameter of 10 inches. The utility model provides a fire control unmanned aerial vehicle 100 has adopted the combination of big rotor and little rotor, and there is the mode of difference in height big rotor and little rotor, makes unmanned aerial vehicle body 10's load bigger through reasonable spatial layout, can bear the bigger water pump 21 of quality, water pump motor 22 and the longer fire hose 24 and the fire water that are located unmanned aerial vehicle body 10 below.

In some embodiments, as shown in fig. 1, a transformer is disposed on the water pump motor 22, and the transformer can be automatically adjusted to meet the requirement that the water pump motor 22 requires a voltage different from that of the main controller.

In some embodiments, as shown in fig. 1, a mooring cable 70 is further disposed on the fire-fighting unmanned aerial vehicle 100, the main controller and the transformer of the fire-fighting unmanned aerial vehicle 100 are electrically connected to the mooring cable 70, respectively, and the mooring cable 70 of the next-stage fire-fighting unmanned aerial vehicle 100 is electrically connected to the main controller of the previous-stage unmanned aerial vehicle. The tethered cable 70 includes not only power cords, but also other necessary cables for transmitting signals and performing control functions. Thus, continuous power supply and information transfer of the fire fighting drone 100 can be achieved through the tethered cable 70.

It should be noted that, when a plurality of fire control unmanned aerial vehicle 100 of this application unites the fire extinguishing operation, can solve the high-rise operation height restriction problem of putting out a fire. The current fire hose or fire engine in ground provides fire water for the lowest first order fire control unmanned aerial vehicle 100's of vertical height water pump entry, and ground power connects first order fire control unmanned aerial vehicle 100's mooring cable 70 to the transformer that provides first order fire control unmanned aerial vehicle 100's water pump motor 22 and the power demand of unmanned aerial vehicle body 10. The utility model provides a fire control unmanned aerial vehicle 100 uses the ground water supply power supply, can realize incessant long-time continuous operation, no longer need descend the supply of the consumptive material of putting out a fire.

In one embodiment, as shown in fig. 7, the first arm 121 is a hollow tube, and the connection between the first arm 121 and the leg 112 is provided with an opening to meet the cable routing requirement from the primary controller to the secondary controller 50. Therefore, the wiring is more attractive and tidy.

In some embodiments, as shown in fig. 1, the fuselage body 111, the landing legs 112, the first arm 121, the second arm 122, the third arm 123, the connecting seat 131, the first rotor assembly 13, the second rotor assembly 14, and the like are made of carbon fiber, so that the unmanned aerial vehicle body 10 is light in self weight while being heavy in load, and is convenient for loading the fire fighting assembly 20 with larger mass and carrying the longer fire fighting hose 24 and the mooring cable 70.

In some embodiments, as shown in fig. 1, an image component 40 is further disposed on the unmanned aerial vehicle body 10, and the image component 40 includes a laser detector, an ultrasonic detector, a high-definition camera, an infrared detector, and the like. In one embodiment, a laser detector, an ultrasonic detector, a high-definition camera, an infrared detector, and the like are disposed on the body 111. Fig. 8 is a signal processing flow chart of the fire-fighting drone 100 in an embodiment of the invention. With reference to fig. 8, the main controller located in the main body 111 receives and processes fire data signals recorded in real time by the laser detector, the ultrasonic detector, the high-definition camera and the infrared detector, and transmits the fire data signals back to the ground fire-fighting personnel through the mooring cable 70. After the ground fire-fighting operators master the fire, more suitable operation modes are flexibly selected according to the field conditions, and operation instructions are given. The responsiveness of fire rescue is improved, the fire-fighting or rescue operation is reliably carried out in time, and more accurate, more efficient and more flexible high-rise fire-fighting operation is realized. Fire control unmanned aerial vehicle 100 is real-time incessant to last fire control operation, and after receiving the end operation instruction on ground, fire control unmanned aerial vehicle 100 stops to spray water, and unmanned aerial vehicle body 10 adjusts to the horizontality and carries fire control subassembly 20 and descend to ground.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. The utility model provides a fire control unmanned aerial vehicle for high altitude is put out a fire, a serial communication port, include:

an unmanned aerial vehicle body;

the fire-fighting assembly and the plurality of telescopic pieces are arranged below the unmanned aerial vehicle body; the two opposite ends of each telescopic piece are respectively hinged to the unmanned aerial vehicle body and the fire-fighting assembly;

the main controller is arranged on the unmanned aerial vehicle body; and

the detection piece is arranged on the fire fighting assembly and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire fighting assembly;

the main controller is electrically connected with the telescopic piece and used for controlling the length of the telescopic piece according to the position information of the fire fighting assembly in real time so as to adjust the pose of the fire fighting assembly and enable the fire fighting assembly to be in a horizontal state.

2. The fire-fighting unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle body comprises a fuselage, a rotor arm assembly connected to the fuselage, and a plurality of first rotor assemblies disposed on the rotor arm assembly and in one-to-one correspondence with the telescoping members;

the two opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire-fighting assembly.

3. A fire fighting drone according to claim 2, wherein the rotor arm assembly includes two first arms located on opposite sides of the fuselage in the first direction and extending in the second direction, and two second arms extending in the first direction;

the two longitudinal ends of one second arm are respectively connected to one side of the two first arms along the second direction, and the two longitudinal ends of the other second arm are respectively connected to the other side of the two first arms along the second direction; the fire fighting assembly extends along the second direction and is positioned below the fuselage; the first direction and the second direction intersect.

4. A fire fighting drone according to claim 3, wherein there are four of the first rotor assembly and the telescoping member;

the first rotor assembly is arranged at the joint of the first arm and the second arm.

5. A fire fighting drone according to claim 4, wherein the first rotor assembly includes a connection socket at the junction of the first and second arms and at least a first motorized blade located outside the connection socket;

one end, far away from the fire-fighting assembly, of each telescopic piece is hinged to the bottom of the connecting seat of the corresponding first rotor wing assembly.

6. A fire fighting unmanned aerial vehicle as defined in claim 5, wherein a secondary controller is provided on the connecting seat;

inferior controller with first rotor subassembly one-to-one, and respectively with main control unit and the first rotor subassembly electricity that corresponds is connected.

7. The fire fighting unmanned aerial vehicle of claim 6, wherein the connecting base is further provided with a speed adjusting member, the speed adjusting member is used for adjusting the rotating speed of the first electric paddle and is electrically connected with the adjacent secondary controller.

8. A fire fighting drone according to claim 3, wherein the rotor arm assembly further includes two third arms, one third arm being connected to each first arm, a second rotor assembly being provided at an end of the third arm remote from the corresponding first arm.

9. A fire fighting drone according to claim 8, wherein a plane parallel to the first direction and parallel to the second direction is defined as a first plane;

the third arm and the first plane form a preset included angle.

10. A fire fighting drone according to claim 9, wherein each of the second rotor assemblies includes a drive member provided to the corresponding third arm, and two second motorized blades spaced apart in a third direction;

the two second electric blades are coaxially arranged at the output end of the driving piece so as to rotate under the driving of the driving piece.

Images