CN106628152A - Fire rescue detection aircraft and using method thereof - Google Patents
Fire rescue detection aircraft and using method thereof Download PDFInfo
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- CN106628152A CN106628152A CN201710032590.XA CN201710032590A CN106628152A CN 106628152 A CN106628152 A CN 106628152A CN 201710032590 A CN201710032590 A CN 201710032590A CN 106628152 A CN106628152 A CN 106628152A
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- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 71
- 238000001931 thermography Methods 0.000 claims abstract description 25
- 230000001681 protective effect Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 4
- 238000003672 processing method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000036651 mood Effects 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 241000405414 Rehmannia Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000003331 infrared imaging Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Alarm Systems (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention discloses a fire rescue detection aircraft. The fire rescue detection aircraft comprises an aircraft body and a detection system. The aircraft body comprises a holder, a plurality of supporting arms, a protection cover, a rotor wing motor, a rotor wing, a first rotation shaft, a left undercarriage, a second rotation shaft, a right undercarriage, a first motor, a second motor and a rotatable detector. The rotatable detector comprises a rotatable detector outrigger and a rotatable detector body. The detection system comprises a central processing unit, an infrared thermal imaging lens, visible light camera lens, a laser range finger, a GPS positioner, a horn, a radio frequency antenna base and a radio frequency antenna. The invention further discloses a using method for the fire rescue detection aircraft. The design of the fire rescue detection aircraft is novel and rational, and can be conveniently realized. The service life is long, and the safety, the reliability and the stability of the working are high. The efficiency of rescuing a trapped person is improved, the practicability is strong, the using effect is good, and the promotion and use are convenient.
Description
Technical field
The invention belongs to fire-fighting and rescue Detection Techniques field, and in particular to a kind of fire-fighting and rescue explorer vehicle and its use
Method.
Background technology
In existing conventional fire rescue system, after fire generation message is received, fire-fighting and rescue personnel drive fire fighting truck
Reach fire scene and implement fire extinguishing.But, when fire scene has blind area, such as fire betides skyscraper, answers
When in miscellaneous landform or groups of building, burning things which may cause a fire disaster high temperature dot is difficult to determine.Or, when fire scene has special hazard environment, such as
There is explosive, dust, toxic and harmful etc., directly send fire-fighting and rescue personnel to enter fire scene and implement fire extinguishing,
Often so that the life of fire-fighting and rescue personnel is seriously threatened.When there is such as case above, not only can be because can not find burning things which may cause a fire disaster
Cause fire suppression measures with blindness, and be also a kind of irresponsible performance to the life security of fire-fighting rescue personnel.For example
August in 2015 betides Tanggu explosive incident of Binhai New Area in Tianjin on the 12nd, during cut-off afternoon 3 on the 24th of August in 2015, finds altogether
The people of the people of victim's number 129, wherein fire fighter and people's police 83, the people of the people of lost contact person's number 44, wherein fire fighter and people's police 12,
The people of number of injured people 610.Therefore urgent need is difficult to determine for burning things which may cause a fire disaster or fire occurs scene and has a case that special hazard environment, designs
A kind of fire-fighting and rescue explorer vehicle.
The content of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, there is provided a kind of fire-fighting and rescue
Explorer vehicle, its compact conformation, it is novel in design that rationally it is convenient to realize, long service life, the security of work, reliability and
Stability is high, improves the efficiency of rescue trapped personnel, and practical, using effect is good, is easy to promote the use of.
To solve above-mentioned technical problem, the technical solution used in the present invention is：A kind of fire-fighting and rescue explorer vehicle, it is special
Levy and be：Including aircraft body and detection system, the aircraft body includes centrally positioned head and connection
On head and multiple directions are stretched out to around from head many support arms, the head top is provided with protective cover, described
One end that support arm is not connected with head is connected with rotor motor, and rotor is connected with the output shaft of the rotor motor, described
First rotary shaft that passes on left of head is rotatably connected to left undercarriage, and the right side of the head is rotated by the second rotary shaft and connected
Be connected to right landing gear, be connected with first rotary shaft for drive the first rotary shaft rotation the first motor, described second
The second motor for driving the rotation of the second rotary shaft is connected with rotary shaft, the head bottom is provided with rotatable detection
Device, the rotatable detector includes rotatable detector outrigger and rotatable detector body, outside the rotatable detector
Frame is rotatably connected on head bottom by the 3rd rotary shaft, is connected with the 3rd rotary shaft for driving the rotation of the 3rd rotary shaft
The 3rd motor for turning, the rotatable detector body is rotatably connected on rotatable detector outrigger by the 4th rotary shaft,
The 4th motor for driving the rotation of the 4th rotary shaft is connected with 4th rotary shaft；
The detection system include central processing unit, infrared thermal imaging camera lens, visible image capturing camera lens, laser range finder and
GPS locator, the central processing unit and GPS locator are arranged at head top and in protective cover, the head top
Portion be additionally provided with protective cover and for for rotor motor, the first motor, the second motor, the 3rd motor and the 4th motor with
And for the battery of each electricity consumption module for power supply in the detection system, the infrared thermal imaging camera lens, visible image capturing camera lens and swash
Optar is embedded in and is arranged in rotatable detector body, and on the rotatable detector outrigger loudspeaker are provided with, described
Infrared thermal imaging camera lens, visible image capturing camera lens, laser range finder, GPS locator and loudspeaker are by wire and central authorities' process
Device and battery connect, multiple rotor motors and the first motor, the second motor, the 3rd motor and the 4th motor with central authorities
Processor and battery connect, and the battery top is provided with the wireless radio frequency antenna pedestal in protective cover, described wirelessly to penetrate
It is provided with frequency antenna base and passes wireless radio frequency antenna outside protective cover, the wireless radio frequency antenna is by wire and central authorities
Processor connects.
Above-mentioned fire-fighting and rescue explorer vehicle, it is characterised in that：The support arm, the 3rd rotary shaft and the 4th rotary shaft
It is hollow structure, connection infrared thermal imaging camera lens and visible image capturing camera lens and the wire of central processing unit and is connected infrared
Imaging lens and visible image capturing camera lens both pass through the 3rd rotary shaft and the 4th rotary shaft with the wire of battery, connect Laser Measuring
Distance meter both passes through the 3rd rotary shaft with the wire of central processing unit and battery, connects loudspeaker with central processing unit and the wire of battery
The 3rd rotary shaft is both passed through, is connected GPS locator and is placed in protective cover with the wire of central processing unit and battery, connection is wirelessly penetrated
Frequency antenna is placed in protective cover with the wire of central processing unit, connects the rotor motor with central processing unit and the wire of battery
Through support arm.
Above-mentioned fire-fighting and rescue explorer vehicle, it is characterised in that：The protective cover is shaped as hemispherical.
Above-mentioned fire-fighting and rescue explorer vehicle, it is characterised in that：The quantity of the support arm is eight, two neighboring
Angle between brace is 45°, the identical length of each support arm etc..
Above-mentioned fire-fighting and rescue explorer vehicle, it is characterised in that：The central processing unit include microprocessor module with
And the data storage that connects with microprocessor module and wireless radio-frequency communication module, the wireless radio frequency antenna by wire with
Wireless radio-frequency communication module connects, the infrared thermal imaging camera lens, visible image capturing camera lens, laser range finder and GPS locator
It is connected with the input of microprocessor module, the input of the microprocessor module is further connected with for entering to the electricity of battery
The battery power detection circuit of row real-time detection, the output of the microprocessor module be terminated with rotor motor driver, first
Motor driver, the second motor driver, the 3rd motor driver, the 4th motor driver and voice playing circuit, the rotation
Wing motor is connected by wire with the output end of rotor motor driver, and first motor is by wire and the first Motor drive
The output end connection of device, second motor is connected by wire with the output end of the second motor driver, the 3rd motor
It is connected with the output end of the 3rd motor driver by wire, the 4th motor is defeated with the 4th motor driver by wire
Go out end connection, the loudspeaker are connected by wire with the output end of voice playing circuit.
Present invention also offers a kind of method and step is simple, realize that the high fire-fighting of convenient, functional reliability and stability is rescued
Help the using method of explorer vehicle, it is characterised in that the method is comprised the following steps：
Step one, after fireman carries the fire-fighting and rescue explorer vehicle and reaches fire scene nearby, fire-fighting
Member manipulates the fire-fighting and rescue explorer vehicle and takes off by remote control, to the movement of fire scene, and hovers in fire
Dried rhizome of rehmannia point overhead；
Step 2, the central processing unit control the 3rd motor and the rotation of the 4th motor, and the 3rd motor drives described
3rd rotary shaft rotates, and when the 3rd rotary shaft rotates, drives rotatable detector outrigger in the horizontal direction along the 3rd rotation
Rotating shaft rotates；4th motor drives the 4th rotary shaft rotation, when the 4th rotary shaft rotates, drives rotatable spy
Survey device main body to rotate along the 4th rotary shaft in vertical direction, so that the front alignment fire spot of rotatable detector body
Point；
Step 3, the infrared image of the infrared thermal imaging lens shooting fire scene and by the infrared figure for photographing
As being transferred to central processing unit, meanwhile, the visible image capturing lens shooting same visual angle, same time fire scene
The visible images for photographing simultaneously are transferred to central processing unit, the infrared figure that central processing unit is received by visible images
Picture and visible images are sent by wireless radio frequency antenna, are received by RF transmission system for ground-based computer；
Step 4, the central processing unit by wireless radio frequency antenna receive ground-based computer according to infrared image, can
See that light image and the image processing method of burning things which may cause a fire disaster are obtained and be sent to after its burning things which may cause a fire disaster directional information, control the 3rd motor and the 4th
Motor rotates, and the 3rd motor drives the 3rd rotary shaft rotation, when the 3rd rotary shaft rotates, drives rotatable spy
Survey device outrigger to revolve along the 3rd rotary shaft in the horizontal direction；4th motor drives the 4th rotary shaft rotation, and described the
When four rotary shafts rotate, rotatable detector body is driven to rotate along the 4th rotary shaft in vertical direction, so that laser ranging
Instrument alignment burning things which may cause a fire disaster direction, laser range finder measures burning things which may cause a fire disaster to the distance and angle of the fire-fighting and rescue explorer vehicle, obtains fire
Source relative to the fire-fighting and rescue explorer vehicle position, and by burning things which may cause a fire disaster relative to the fire-fighting and rescue explorer vehicle position
Confidence breath is transferred to central processing unit, central processing unit by burning things which may cause a fire disaster relative to the fire-fighting and rescue explorer vehicle positional information
Sent by wireless radio frequency antenna, received by RF transmission system for ground-based computer；
Step 5, central processing unit control GPS locator are positioned to the position of the fire-fighting and rescue explorer vehicle,
After GPS locator completes positioning, the positional information of the fire-fighting and rescue explorer vehicle is transferred to into central processing unit, central authorities
Processor sends the positional information of the fire-fighting and rescue explorer vehicle by wireless radio frequency antenna, for ground-based computer
Received by RF transmission system.
Above-mentioned method, it is characterised in that：After step 3, fireman can be displayed on ground-based computer by checking
Infrared image and visible images, find trapped personnel, when need propaganda directed to communicate to trapped personnel when, fireman by remote control grasp
The fire-fighting and rescue explorer vehicle is controlled near trapped personnel position, trapped personnel is propagandaed directed to communicate in real time, when propagandaing directed to communicate in real time, disappeared
The microphone that anti-personnel's alignment is connected on ground-based computer is spoken, and ground-based computer passes through RF transmission system by the language for receiving
, to the fire-fighting and rescue explorer vehicle, the central processing unit of the fire-fighting and rescue explorer vehicle is by wireless for sound information transfer
Radio-frequency antenna receives voice messaging, and is sent by loudspeaker.
Above-mentioned method, it is characterised in that：In step one after the fire-fighting and rescue explorer vehicle takes off, central authorities are processed
Device controls the first motor and the rotation of the second motor, and the first motor drives the rotation of the first rotary shaft, the first rotary shaft to drive to fall from left to right
Frame is rotated to the position parallel with support arm place plane；Second motor drives the rotation of the second rotary shaft, the second rotary shaft to drive
Right landing gear is rotated to the position parallel with support arm place plane.
Above-mentioned method, it is characterised in that：To during step 5, the information about power of the battery feeds back to step one
Central processing unit, central processing unit sends battery level information by wireless radio frequency antenna, passes through for ground-based computer
RF transmission system is received, and when battery power threshold of the battery electric quantity less than setting, ground-based computer sends alarm signal, this
When, fire fighter manipulates the fire-fighting and rescue explorer vehicle and makes a return voyage by remote control, it is to avoid the fire-fighting and rescue survey mission
Device occurs to crash or other accidents because being short of power.
The present invention has compared with prior art advantages below：
1st, the compact conformation of fire-fighting and rescue explorer vehicle of the present invention, novel in design reasonable, it is convenient to realize.
2nd, use simple operation of the invention, using the system sky advantage of aircraft, can clear away the blind area of ground observation, excellent
Select eight axle rotary aircraft structures, it is possible to increase the stability of aircraft flight process and floating state, it is ensured that detection process
The definition and the accuracy of relevant information of gained picture.
3rd, infrared thermal imaging camera lens, visible image capturing camera lens, laser are installed on fire-fighting and rescue explorer vehicle of the present invention
Rangefinder and GPS locator, can find burning things which may cause a fire disaster, then obtain burning things which may cause a fire disaster by laser range finder with reference to infrared image, visible images
Relative to the position of aircraft, finally burning things which may cause a fire disaster particular location, complete function are obtained with reference to GPS location.
4th, the present invention can be propagandaed directed to communicate in real time by arranging loudspeaker, can pacify trapped personnel mood, additionally it is possible to inform stranded
Method, escape route that personnel save oneself etc., additionally it is possible to inform trapped personnel wait for rescue and wait for rescue during attention
Item, improves the efficiency of rescue trapped personnel.
5th, fire-fighting and rescue explorer vehicle of the invention, rotatable detector outrigger can in the horizontal direction along the 3rd rotation
360 ° of rotations are done in rotating shaft, rotatable detector body can in the vertical direction do 90 ° of rotations along the 4th rotary shaft, it is ensured that energy
Enough detect aircraft horizontal direction and the burning things which may cause a fire disaster below aircraft horizontal direction.
6th, fire-fighting and rescue explorer vehicle of the invention, by arranging protective cover, and arranges rotatable detector, not only keeps away
Exempt from impact of the poor environment to detection process, it is thus also avoided that each part in protective cover, and it is embedded installed in rotatable detection
Each part in device main body is damaged caused by contacting with the long-time of surrounding poor environment, extends the service life of each part.
7th, fire-fighting and rescue explorer vehicle of the invention, can carry out real-time detection to battery electric quantity, and be counted by ground
Calculation machine is reported to the police, it is to avoid aircraft improves the safety and reliability of work because of generation crash or the other accidents of being short of power.
8th, fire-fighting and rescue explorer vehicle of the invention, left undercarriage and right landing gear can after take off to two sidespins
Rise, it is to avoid stop camera lens in detection process.
9th, the method and step of the using method of fire-fighting and rescue explorer vehicle of the present invention is simple, and it is convenient to realize, reliable operation
Property and stability it is high.
10th, the present invention's is practical, and using effect is good, is easy to promote the use of.
In sum, the present invention is novel in design rationally, and it is convenient to realize, long service life, the security of work, reliability and
Stability is high, improves the efficiency of rescue trapped personnel, and practical, using effect is good, is easy to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Description of the drawings
Fig. 1 is the structural representation of fire-fighting and rescue explorer vehicle of the present invention.
Fig. 2 is protective cover internal structure schematic diagram of the present invention.
Fig. 3 is the structural representation of rotatable detector of the invention.
Fig. 4 is the schematic block circuit diagram of detection system of the present invention.
Description of reference numerals:
1-remote control；2-ground-based computer；3-visible image capturing camera lens；
4-head；5-support arm；6-rotor motor；
7-rotor；8-wireless radio frequency antenna；9-central processing unit；
9-1-microprocessor module；9-2-data storage；9-3-wireless radio-frequency communication module；
9-4-rotor motor driver；9-5-the first motor driver；9-6-the second motor driver；
The motor drivers of 9-7-the 3rd；9-8-voice playing circuit；The motor drivers of 9-9-the 4th；
9-10-battery power detection circuit；10-RF transmission system；11-battery；
12-laser range finder；13-loudspeaker；14-the three rotary shaft；
15-the four rotary shaft；16-the first rotary shaft；17-the second rotary shaft；
18-the three motor；19-the four motor；20-the first motor；
21-the second motor；22-left undercarriage；23-right landing gear；
24-protective cover；25-GPS locator；26-wireless radio frequency antenna pedestal；
27-rotatable detector；28-rotatable detector outrigger；
29-rotatable detector body；30-infrared thermal imaging camera lens.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, fire-fighting and rescue explorer vehicle of the invention, including aircraft body and spy
Examining system, the aircraft body includes centrally positioned head 4 and is connected on head 4 and from head 4 to surrounding
The many support arms 5 that multiple directions are stretched out, the top of the head 4 is provided with protective cover 24, and the support arm 5 does not connect with head 4
The one end for connecing is connected with rotor motor 6, and rotor 7 is connected with the output shaft of the rotor motor 6, and the left side of the head 4 leads to
Cross the first rotary shaft 16 and be rotatably connected to left undercarriage 22, the right side of the head 4 is rotatably connected to by the second rotary shaft 17
Right landing gear 23, is connected with the first motor 20 for driving the rotation of the first rotary shaft 16 in first rotary shaft 16, described
The second motor 21 for driving the rotation of the second rotary shaft 17 is connected with second rotary shaft 17, the bottom of the head 4 is provided with
Rotatable detector 27, the rotatable detector 27 includes rotatable detector outrigger 28 and rotatable detector body 29,
The rotatable detector outrigger 28 is rotatably connected on the bottom of head 4 by the 3rd rotary shaft 14, in the 3rd rotary shaft 14
The 3rd motor 18 for driving the rotation of the 3rd rotary shaft 14 is connected with, the rotatable detector body 29 is by the 4th rotation
Axle 15 is rotatably connected on rotatable detector outrigger 28, is connected with the 4th rotary shaft 15 for driving the 4th rotary shaft
4th motor 19 of 15 rotations；
The detection system includes central processing unit 9, infrared thermal imaging camera lens 30, visible image capturing camera lens 3, laser ranging
Instrument 12 and GPS locator 25, the central processing unit 9 and GPS locator 25 are arranged at the top of head 4 and positioned at protective cover 24
Interior, the top of the head 4 is additionally provided with protective cover 24 and for for rotor motor 6, the first motor 20, the second motor
21st, the 3rd motor 18 and the 4th motor 19 and the battery 11 for each electricity consumption module for power supply in the detection system, it is described infrared
Imaging lens 30, visible image capturing camera lens 3 and laser range finder 12 are embedded in and are arranged in rotatable detector body 29, institute
State and loudspeaker 13 are installed on rotatable detector outrigger 28, the infrared thermal imaging camera lens 30, visible image capturing camera lens 3, laser
Rangefinder 12, GPS locator 25 and loudspeaker 13 are connected by wire with central processing unit 9 and battery 11, multiple rotors
The motor 20 of motor 6 and first, the second motor 21, the 3rd motor 18 and the 4th motor 19 with central processing unit 9 and battery 11
Connection, the top of the battery 11 is provided with the wireless radio frequency antenna pedestal 26 in protective cover 24, the wireless radio frequency antenna
It is provided with pedestal 26 and passes wireless radio frequency antenna 8 outside protective cover 24, the wireless radio frequency antenna 8 is by wire and central authorities
Processor 9 connects.
In the present embodiment, as shown in figure 1, the support arm 5, the 3rd rotary shaft 14 and the 4th rotary shaft 15 are hollow knot
Structure, connects the wire of infrared thermal imaging camera lens 30 and visible image capturing camera lens 3 and central processing unit 9 and is connected infrared thermal imaging
Camera lens 30 and visible image capturing camera lens 3 both pass through the 3rd rotary shaft 14 and the 4th rotary shaft 15 with the wire of battery 11, and connection swashs
Optar 12 both passes through the 3rd rotary shaft 14, connection loudspeaker 13 and central authorities' process with the wire of central processing unit 9 and battery 11
The wire of device 9 and battery 11 both passes through the 3rd rotary shaft 14, connects leading for GPS locator 25 and central processing unit 9 and battery 11
Line is placed in protective cover 24, is connected wireless radio frequency antenna 8 and is placed in protective cover 24 with the wire of central processing unit 9, and connection is described
Rotor motor 6 passes through support arm 5 with the wire of central processing unit 9 and battery 11.
In the present embodiment, as depicted in figs. 1 and 2, the protective cover 24 is shaped as hemispherical.
In the present embodiment, as shown in figure 1, the quantity of the support arm 5 is eight, the folder between two neighboring support arm 5
Angle is 45 °, identical length of each support arm 5 etc..Such setting so that the aircraft body is eight axle rotors
Formula aircraft, it is possible to increase the stability of the fire-fighting and rescue explorer vehicle flight course and floating state, it is ensured that detected
The accuracy of the definition and relevant information of journey infrared thermal imaging camera lens 30 and the gained picture of visible image capturing camera lens 3.
In the present embodiment, as shown in figure 4, the central processing unit 9 includes microprocessor module 9-1 and and microprocessor
Data storage 9-2 and wireless radio-frequency communication module 9-3 that module 9-1 connects, the wireless radio frequency antenna 8 is by wire and nothing
Line radio-frequency communication module 9-3 connects, the infrared thermal imaging camera lens 30, visible image capturing camera lens 3, laser range finder 12 and GPS
Locator 25 is connected with the input of microprocessor module 9-1, the input of the microprocessor module 9-1 be further connected with for
The battery power detection circuit 9-10 of real-time detection, the output end of the microprocessor module 9-1 are carried out to the electricity of battery 11
Be connected to rotor motor driver 9-4, the first motor driver 9-5, the second motor driver 9-6, the 3rd motor driver 9-7,
4th motor driver 9-9 and voice playing circuit 9-8, the rotor motor 6 is by wire with rotor motor driver 9-4's
Output end connects, and first motor 20 is connected by wire with the output end of the first motor driver 9-5, second motor
21 are connected by wire with the output end of the second motor driver 9-6, and the 3rd motor 18 is driven by wire and the 3rd motor
The output end connection of dynamic device 9-7, the 4th motor 19 is connected by wire with the output end of the 4th motor driver 9-9, institute
State loudspeaker 13 to be connected with the output end of voice playing circuit 9-8 by wire.
The using method of the fire-fighting and rescue explorer vehicle of the present invention, comprises the following steps：
Step one, after fireman carries the fire-fighting and rescue explorer vehicle and reaches fire scene nearby, fire-fighting
Member manipulates the fire-fighting and rescue explorer vehicle and takes off by remote control 1, to the movement of fire scene, and hovers in fire
Dried rhizome of rehmannia point overhead；Specifically, the action such as take off, move, turning, landing of the fire-fighting and rescue explorer vehicle all passes through
The central processing unit 9 controls eight rotor motors 6, so that eight rotor motors 6 are with different rotating speeds rotation, rotor motor 6 is again
Rotor 7 is driven to rotate what is realized with different rotating speeds；
Step 2, the central processing unit 9 control the 3rd motor 18 and the 4th motor 19 rotates, the band of the 3rd motor 18
Move the 3rd rotary shaft 14 to rotate, when the 3rd rotary shaft 14 rotates, drive rotatable detector outrigger 28 in level side
Rotate along the 3rd rotary shaft 14 upwards；4th motor 19 drives the 4th rotary shaft 15 to rotate, the 4th rotary shaft
During 15 rotation, rotatable detector body 29 is driven to rotate along the 4th rotary shaft 15 in vertical direction, so that rotatable detection
The front alignment fire scene of device main body 29；When being embodied as, the rotatable detector outrigger 28 can be in level side
Do 360 ° of rotations along the 3rd rotary shaft 14 upwards, the rotatable detector body 29 can in the vertical direction along the 4th rotation
Axle 15 does 90 ° of rotations；The front alignment fire scene of the rotatable detector body 29, ensure that the fire-fighting is rescued
Helping explorer vehicle can detect the fire-fighting and rescue explorer vehicle horizontal direction and positioned at fire-fighting and rescue detection
Burning things which may cause a fire disaster below aircraft horizontal direction；By arranging protective cover 24, and rotatable detector 27 is set, be not only avoid bad
Impact of the environment to detection process, it is thus also avoided that each part in protective cover 24, and it is embedded installed in rotatable detector body
Each part in 29 is damaged caused by contacting with the long-time of surrounding poor environment, extends the service life of each part；
Step 3, the infrared thermal imaging camera lens 30 shoot the infrared image of fire scene and infrared by what is photographed
Image transmitting to central processing unit 9, meanwhile, the visible image capturing camera lens 3 shoots same visual angle, same time fire spot
The visible images for photographing simultaneously are transferred to central processing unit 9 by the visible images of point, what central processing unit 9 was received
Infrared image and visible images are sent by wireless radio frequency antenna 8, and for ground-based computer 2 RF transmission system 10 is passed through
Receive；Because burning things which may cause a fire disaster temperature is apparently higher than ambient temperature, therefore fire can be shot using the infrared thermal imaging camera lens 30
The infrared image of scene；
Step 4, the central processing unit 9 by wireless radio frequency antenna 8 receive ground-based computer 2 according to infrared image,
The image processing method of visible images and burning things which may cause a fire disaster is obtained and is sent to after its burning things which may cause a fire disaster directional information, controls the He of the 3rd motor 18
4th motor 19 rotates, and the 3rd motor 18 drives the 3rd rotary shaft 14 to rotate, when the 3rd rotary shaft 14 rotates,
Rotatable detector outrigger 28 is driven to revolve along the 3rd rotary shaft 14 in the horizontal direction；4th motor 19 drives the described 4th
Rotary shaft 15 rotates, and when the 4th rotary shaft 15 rotates, drives rotatable detector body 29 in vertical direction along the 4th rotation
Rotating shaft 15 rotates, so that the alignment burning things which may cause a fire disaster of laser range finder 12 direction, the measurement burning things which may cause a fire disaster of laser range finder 12 is to the fire-fighting and rescue
The distance and angle of explorer vehicle, obtains position of the burning things which may cause a fire disaster relative to the fire-fighting and rescue explorer vehicle, and by burning things which may cause a fire disaster phase
For the positional information of the fire-fighting and rescue explorer vehicle is transferred to central processing unit 9, central processing unit 9 by burning things which may cause a fire disaster relative to
The positional information of the fire-fighting and rescue explorer vehicle is sent by wireless radio frequency antenna 8, for ground-based computer 2 by penetrating
Frequency Transmission system 10 is received；
Step 5, the position of the control of the central processing unit 9 GPS locator 25 pairs fire-fighting and rescue explorer vehicle carry out determining
Position, after GPS locator 25 completes positioning, by the positional information of the fire-fighting and rescue explorer vehicle central processing unit is transferred to
9, central processing unit 9 sends the positional information of the fire-fighting and rescue explorer vehicle by wireless radio frequency antenna 8, for ground
Face computer 2 is received by RF transmission system 10.
When being embodied as, infrared image that fire fighter can receive according to ground-based computer in step 32 and visible
Light image, analysis obtains intensity of a fire size；The burning things which may cause a fire disaster that fire fighter can be received according to ground-based computer in step 42 relative to
The fire-fighting and rescue detection that ground-based computer 2 is received in the positional information and step 5 of the fire-fighting and rescue explorer vehicle
The positional information of aircraft, extrapolates burning things which may cause a fire disaster particular location；Fire fighter can be true according to intensity of a fire size and burning things which may cause a fire disaster particular location
Determine fire-fighting and rescue scheme.
In the present embodiment, after step 3, fireman can be by checking the infrared image being displayed on ground-based computer 2
And visible images, trapped personnel is found, when needing to be propagandaed directed to communicate to trapped personnel, fireman manipulates described disappearing by remote control 1
Anti- rescue explorer vehicle is propagandaed directed to communicate in real time near trapped personnel position to trapped personnel, when propagandaing directed to communicate in real time, fire fighter couple
The microphone that standard is connected on ground-based computer 2 is spoken, and ground-based computer 2 is believed the voice for receiving by RF transmission system 10
Breath is transmitted to the fire-fighting and rescue explorer vehicle, and the central processing unit 9 of the fire-fighting and rescue explorer vehicle is by wirelessly penetrating
Frequency antenna 8 receives voice messaging, and is sent by loudspeaker 13.When trapped personnel has the mood for being unfavorable for rescuing and getting rid of poverty such as flurried
When, by propagandaing directed to communicate in real time, trapped personnel mood can be pacified；In addition, when being embodied as, fire fighter can also be by biography in real time
Defeated infrared image and visible images, judge whether trapped personnel can be implemented at short notice to save oneself, if it can, passing through loudspeaker
13 it is propagandaed directed to communicate, inform method, escape route that trapped personnel is saved oneself etc.；If can not implement to save oneself in the short time, can
It is propagandaed directed to communicate by loudspeaker 13, inform trapped personnel wait for rescue and wait for rescue during points for attention, while immediately
Fire fighter or intelligent rescue robot etc. is sent to implement rescue.
In the present embodiment, in step one after the fire-fighting and rescue explorer vehicle takes off, the control of central processing unit 9 first
The motor 21 of motor 20 and second rotates, and the first motor 20 drives the first rotary shaft 16 to rotate, and the first rotary shaft 16 drives to fall from left to right
Frame 22 is rotated to the position parallel with the place plane of support arm 5；Second motor 21 drives the second rotary shaft 17 to rotate, the second rotation
Axle 17 drives right landing gear 23 to rotate to the position parallel with the place plane of support arm 5.This makes it possible to avoid left undercarriage 22
Stop infrared thermal imaging camera lens 30 and visible image capturing camera lens 3 in detection process with right landing gear 23, it is ensured that image quality.
In the present embodiment, during step one to step 5, the information about power of the battery 11 feeds back to central process
Device 9, central processing unit 9 sends battery level information by wireless radio frequency antenna 8, and for ground-based computer 2 radio frequency is passed through
Transmission system 10 is received, and when battery power threshold of the battery electric quantity less than setting, ground-based computer 2 sends alarm signal, this
When, fire fighter manipulates the fire-fighting and rescue explorer vehicle and makes a return voyage by remote control 1, it is to avoid the fire-fighting and rescue survey mission
Device occurs to crash or other accidents because being short of power.
When being embodied as, the RF transmission system 10 can be transmitted using 5.8G radio frequency signals, it is ensured that signal is passed
Defeated stability and the real-time Transmission of big data.
The above, is only presently preferred embodiments of the present invention, and not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (9)
1. a kind of fire-fighting and rescue explorer vehicle, it is characterised in that：Including aircraft body and detection system, the aircraft master
Body includes centrally positioned head (4) and is connected on head (4) and stretches out to multiple directions around from head (4)
Many support arms (5), head (4) top is provided with protective cover (24), what the support arm (5) was not connected with head (4)
One end is connected with rotor motor (6), and rotor (7), a left side for the head (4) are connected with the output shaft of the rotor motor (6)
Side is rotatably connected to left undercarriage (22) by the first rotary shaft (16), and the right side of the head (4) passes through the second rotary shaft
(17) right landing gear (23) is rotatably connected to, is connected with first rotary shaft (16) for driving the first rotary shaft (16) rotation
The first motor (20) for turning, is connected with for driving the second electric of the second rotary shaft (17) rotation on second rotary shaft (17)
Machine (21), head (4) bottom is provided with rotatable detector (27), and the rotatable detector (27) is including rotatable spy
Device outrigger (28) and rotatable detector body (29) are surveyed, the rotatable detector outrigger (28) is by the 3rd rotary shaft (14)
Head (4) bottom is rotatably connected on, is connected with the 3rd rotary shaft (14) for driving the rotation of the 3rd rotary shaft (14)
3rd motor (18), the rotatable detector body (29) is rotatably connected on rotatable detector by the 4th rotary shaft (15)
On outrigger (28), the 4th motor for driving the rotation of the 4th rotary shaft (15) is connected with the 4th rotary shaft (15)
(19)；
The detection system includes central processing unit (9), infrared thermal imaging camera lens (30), visible image capturing camera lens (3), Laser Measuring
Distance meter (12) and GPS locator (25), the central processing unit (9) and GPS locator (25) be arranged at head (4) top and
In the protective cover (24), head (4) top be additionally provided with protective cover (24) and for for rotor motor (6),
First motor (20), the second motor (21), the 3rd motor (18) and the 4th motor (19) and respectively to use in the detection system
The battery (11) of electric module for power supply, the infrared thermal imaging camera lens (30), visible image capturing camera lens (3) and laser range finder (12)
It is embedded in and is arranged in rotatable detector body (29), loudspeaker (13) is installed on the rotatable detector outrigger (28),
The infrared thermal imaging camera lens (30), visible image capturing camera lens (3), laser range finder (12), GPS locator (25) and loudspeaker
(13) it is connected with central processing unit (9) and battery (11) by wire, multiple rotor motors (6) and the first motor
(20), the second motor (21), the 3rd motor (18) and the 4th motor (19) are connected with central processing unit (9) and battery (11),
Battery (11) top is provided with the wireless radio frequency antenna pedestal (26) in protective cover (24), the wireless radio frequency antenna
It is provided with pedestal (26) and passes the outside wireless radio frequency antenna (8) of protective cover (24), the wireless radio frequency antenna (8) is by leading
Line is connected with central processing unit (9).
2. according to the fire-fighting and rescue explorer vehicle described in claim 1, it is characterised in that：The support arm (5), the 3rd rotation
Axle (14) and the 4th rotary shaft (15) are hollow structure, connection infrared thermal imaging camera lens (30) and visible image capturing camera lens (3)
With the wire of central processing unit (9) and be connected infrared thermal imaging camera lens (30) and visible image capturing camera lens (3) and battery (11)
Wire both pass through the 3rd rotary shaft (14) and the 4th rotary shaft (15), connection laser range finder (12) and central processing unit (9)
The 3rd rotary shaft (14) is both passed through with the wire of battery (11), connect loudspeaker (13) and central processing unit (9) and battery (11)
Wire both passes through the 3rd rotary shaft (14), and connection GPS locator (25) is placed in the wire of central processing unit (9) and battery (11)
In protective cover (24), connect wireless radio frequency antenna (8) and be placed in protective cover (24) with the wire of central processing unit (9), connect institute
State rotor motor (6) and pass through support arm (5) with the wire of central processing unit (9) and battery (11).
3. according to the fire-fighting and rescue explorer vehicle described in claim 1, it is characterised in that：Protective cover (24) are shaped as
Hemispherical.
4. according to the fire-fighting and rescue explorer vehicle described in claim 1, it is characterised in that：The quantity of the support arm (5) is
Eight, the angle between two neighboring support arm (5) is 45°, the identical length of each support arm (5) etc..
5. according to the fire-fighting and rescue explorer vehicle described in claim 1, it is characterised in that：The central processing unit (9) includes
Microprocessor module (9-1) and the data storage (9-2) connected with microprocessor module (9-1) and twireless radio-frequency communication mould
Block (9-3), the wireless radio frequency antenna (8) is connected by wire with wireless radio-frequency communication module (9-3), the infrared thermal imaging
Camera lens (30), visible image capturing camera lens (3), laser range finder (12) and GPS locator (25) with microprocessor module (9-1)
Input connection, the input of the microprocessor module (9-1) is further connected with for carrying out in real time to the electricity of battery (11)
The battery power detection circuit (9-10) of detection, the output of the microprocessor module (9-1) is terminated with rotor motor driver
(9-4), the first motor driver (9-5), the second motor driver (9-6), the 3rd motor driver (9-7), the 4th motor drive
Dynamic device (9-9) and voice playing circuit (9-8), the rotor motor (6) is defeated with rotor motor driver (9-4) by wire
Go out end connection, first motor (20) is connected by wire with the output end of the first motor driver (9-5), and described second is electric
Machine (21) is connected by wire with the output end of the second motor driver (9-6), and the 3rd motor (18) is by wire and
The output end connection of three motor drivers (9-7), the 4th motor (19) is by wire and the 4th motor driver (9-9)
Output end connects, and the loudspeaker (13) are connected by wire with the output end of voice playing circuit (9-8).
6. a kind of using method of fire-fighting and rescue explorer vehicle as claimed in claim 1, it is characterised in that the method includes
Following steps：
Step one, after fireman carries the fire-fighting and rescue explorer vehicle and reaches fire scene nearby, fireman is led to
Cross remote control (1) the manipulation fire-fighting and rescue explorer vehicle to take off, to the movement of fire scene, and hover in fire generation
Place overhead；
Step 2, the central processing unit (9) control the 3rd motor (18) and the rotation of the 4th motor (19), the 3rd motor
(18) the 3rd rotary shaft (14) rotation is driven, when the 3rd rotary shaft (14) rotates, rotatable detector outrigger is driven
(28) in the horizontal direction along the rotation of the 3rd rotary shaft (14)；4th motor (19) drives the 4th rotary shaft (15) rotation
Turn, when the 4th rotary shaft (15) rotates, drive rotatable detector body (29) in vertical direction along the 4th rotary shaft
(15) rotate, so that the front alignment fire scene of rotatable detector body (29)；
Step 3, the infrared thermal imaging camera lens (30) shoot the infrared image of fire scene and by the infrared figure for photographing
As being transferred to central processing unit (9), meanwhile, the visible image capturing camera lens (3) shoots same visual angle, same time fire to be occurred
The visible images for photographing simultaneously are transferred to central processing unit (9) by the visible images in place, and central processing unit (9) is connect
The infrared image for receiving and visible images are sent by wireless radio frequency antenna (8), for ground-based computer (2) by radio frequency
Transmission system (10) is received；
Step 4, the central processing unit (9) receive ground-based computer (2) according to infrared figure by wireless radio frequency antenna (8)
The image processing method of picture, visible images and burning things which may cause a fire disaster is obtained and is sent to after its burning things which may cause a fire disaster directional information, controls the 3rd motor
(18) rotate with the 4th motor (19), the 3rd motor (18) drives the 3rd rotary shaft (14) rotation, the 3rd rotation
When rotating shaft (14) rotates, rotatable detector outrigger (28) is driven to revolve along the 3rd rotary shaft (14) in the horizontal direction；Described
Four motors (19) drive the 4th rotary shaft (15) rotation, when the 4th rotary shaft (15) rotates, drive rotatable detection
Device main body (29) rotates in vertical direction along the 4th rotary shaft (15), so that laser range finder (12) alignment burning things which may cause a fire disaster direction, swashs
Optar (12) measures burning things which may cause a fire disaster to the distance and angle of the fire-fighting and rescue explorer vehicle, obtains burning things which may cause a fire disaster and disappears relative to described
The position of anti-rescue explorer vehicle, and during burning things which may cause a fire disaster is transferred to relative to the positional information of the fire-fighting and rescue explorer vehicle
Burning things which may cause a fire disaster is passed through wireless by central processor (9), central processing unit (9) relative to the positional information of the fire-fighting and rescue explorer vehicle
Radio-frequency antenna (8) sends, and is received by RF transmission system (10) for ground-based computer (2)；
It is fixed that step 5, central processing unit (9) control GPS locator (25) are carried out to the position of the fire-fighting and rescue explorer vehicle
Position, after GPS locator (25) completes positioning, by the positional information of the fire-fighting and rescue explorer vehicle central process is transferred to
Device (9), central processing unit (9) sends the positional information of the fire-fighting and rescue explorer vehicle by wireless radio frequency antenna (8)
Go out, received by RF transmission system (10) for ground-based computer (2).
7. according to the using method described in claim 6, it is characterised in that：After step 3, fireman can be aobvious by checking
Show infrared image and visible images on ground-based computer (2), find trapped personnel, when needs are propagandaed directed to communicate to trapped personnel
When, fireman manipulates the fire-fighting and rescue explorer vehicle near trapped personnel position by remote control (1), to oppressive
Member propagandas directed to communicate in real time, and when propagandaing directed to communicate in real time, the microphone that fire fighter's alignment is connected on ground-based computer (2) is spoken, ground-based computer
(2) by RF transmission system (10) by the transmission of speech information for receiving to the fire-fighting and rescue explorer vehicle, it is described to disappear
The central processing unit (9) of anti-rescue explorer vehicle receives voice messaging by wireless radio frequency antenna (8), and by loudspeaker
(13) send.
8. according to the using method described in claim 6, it is characterised in that：When the fire-fighting and rescue explorer vehicle in step one
After taking off, central processing unit (9) controls the first motor (20) and the second motor (21) rotation, and the first motor (20) drives first to revolve
Rotating shaft (16) rotates, and the first rotary shaft (16) drives left undercarriage (22) to rotate to the position parallel with support arm (5) place plane
Put；Second motor (21) drive the second rotary shaft (17) rotation, the second rotary shaft (17) drive right landing gear (23) rotate to
The parallel position of support arm (5) place plane.
9. according to the using method described in claim 6, it is characterised in that：Step one to during step 5, the battery
(11) information about power feeds back to central processing unit (9), and battery level information is passed through wireless radio frequency antenna by central processing unit (9)
(8) send, received by RF transmission system (10) for ground-based computer (2), when battery electric quantity is less than the battery of setting
During power threshold, ground-based computer (2) sends alarm signal, and now, fire fighter manipulates the fire-fighting and rescues by remote control (1)
Help explorer vehicle to make a return voyage, it is to avoid the fire-fighting and rescue explorer vehicle occurs to crash or other accidents because being short of power.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710032590.XA CN106628152B (en) | 2017-01-16 | 2017-01-16 | Fire rescue detection aircraft and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710032590.XA CN106628152B (en) | 2017-01-16 | 2017-01-16 | Fire rescue detection aircraft and using method thereof |
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