CN107158602A - A kind of emission type disaster relief and unmanned plane and fire-extinguishing - Google Patents
A kind of emission type disaster relief and unmanned plane and fire-extinguishing Download PDFInfo
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- CN107158602A CN107158602A CN201710285971.9A CN201710285971A CN107158602A CN 107158602 A CN107158602 A CN 107158602A CN 201710285971 A CN201710285971 A CN 201710285971A CN 107158602 A CN107158602 A CN 107158602A
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- 238000012545 processing Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 7
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- 238000010200 validation analysis Methods 0.000 description 4
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- 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
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Ecology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Remote Sensing (AREA)
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- Health & Medical Sciences (AREA)
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Abstract
The present invention relates to a kind of emission type disaster relief and unmanned plane and fire-extinguishing, it is characterised in that including unmanned plane body, emitter, vision collimation, vision guided navigation and sensing device, broad band wireless transmission device and ground remote operating control device；The emitter, vision collimation, vision guided navigation and sensing device, the coding/decoding module of broad band wireless transmission device and signal transmitting and receiving antenna are arranged on unmanned plane body；Described ground remote operating control device is independently of unmanned plane body, by transmission of wireless signals operational order to aircraft, while receiving and showing the sensor information that unmanned plane is beamed back；The ground signal dual-mode antenna of the broad band wireless transmission device is connected with ground remote operating control device.Emission type disaster relief and unmanned plane and fire-extinguishing that the present invention is provided utilize the advantage of remote operating vertical take-off and landing unmanned aerial vehicle, load disaster relief goods and materials or fire extinguisher bomb flies to disaster field, pass through airborne sighting device and emitter, fire extinguisher bomb is thrown exactly and realizes fire extinguishing, or throws relief goods implements rescue.
Description
Technical field
The present invention relates to a kind of aircraft, and in particular to a kind of emission type disaster relief and unmanned plane and fire-extinguishing.
Background technology
With the hot development of unmanned plane industry, various unmanned vehicle systems are developed, for realizing
Different Mission Operations.Unmanned vehicle is classified according to profile and flight theory, mainly there is three types：Fixed-wing, helicopter,
Many rotors.Wherein fix aerofoil profile unmanned plane can not VTOL and hovering, helicopter and multi-rotor unmanned aerial vehicle can be vertical
Landing and hovering.
Multi-rotor unmanned aerial vehicle, also known as Multi-axis aircraft, including 4 rotor wing unmanned aerial vehicles, 6 rotor wing unmanned aerial vehicles and 8 rotor wing unmanned aerial vehicles
Deng it is characterized in that multiple duplicate rotors, paired opposite direction rotating, produce lift.Meanwhile, the speed between different rotors
Difference, produces the inclination angle of unmanned plane over the ground, so as to produce rotation and fly forward, backward.Therefore, the manipulation of multi-rotor unmanned aerial vehicle is former
Reason is simple, around four rocking bars operation correspondence aircraft of control device, motion up and down with yaw direction.Automatically driving
In terms of sailing instrument, multi-rotor unmanned aerial vehicle autopilot control method is simple, and controller parameter regulation is also very simple.Multi-rotor unmanned aerial vehicle knot
Structure is simple, and control is simple, it is easy to remote operating.
The essential characteristic of depopulated helicopter is that the area of its rotor is much larger than many rotations with the rotor of one or large-scale a pair
The gross area of the rotor of wing unmanned plane, therefore, its load-carrying ability and endurance are much larger than multi-rotor unmanned aerial vehicle, and its efficiency is also high
In many rotor multi-rotor unmanned aerial vehicles.Pure helicopter can relatively conveniently increase rotor size, and diameter is big, efficiency high, can be real
Existing big load and high stability.What currently helicopter load was maximum can reach tens of tons.But, the rotor and axle of helicopter it
Between have the mechanical connecting element of activity, so as to cause the control of helicopter complicated, Flight Control Algorithm is complicated, the difficulty of remote operating
Greatly.
The characteristics of above-mentioned unmanned vehicle all has VTOL, has been widely used in various fields.Yet with nothing
The each side such as the remote operating of people's aircraft is needed from the flight control system of aircraft to wireless telecommunications, remote operating interactive system, interface
Master-plan, and fire or other disaster field situations are complicated, therefore there is presently no existing for fire or other disasters
The disaster relief of field and unmanned plane and fire-extinguishing.
The content of the invention
It is an object of the invention to provide a kind of emission type disaster relief and unmanned plane and fire-extinguishing, including unmanned plane body, fire extinguishing
Bullet or relief goods emitter, vision collimation, vision guided navigation and sensing device, broad band wireless transmission device and the distant behaviour in ground
Make the part of control device etc. five, using the advantage of remote operating vertical take-off and landing unmanned aerial vehicle, load disaster relief goods and materials or fire extinguishing
Bullet flies to disaster field, by airborne sighting device and emitter, and fire extinguisher bomb is thrown exactly and realizes that fire extinguishing, or throwing are rescued
Help goods and materials and implement rescue.
Described VUAV body be multi-rotor unmanned aerial vehicle, or depopulated helicopter there is provided remote operating fire extinguishing and
The flying body of rescue flight device, is that emitter, sighting device etc. provide flight carrier body；Airborne power supply flies to be whole
Row system, and provide being capable of the energy for the winged control subsystem of unmanned plane, remote operating subsystem, transmitting subsystem etc..Airborne electricity
Source is generally the higher supply unit of energy density, such as lithium ion battery, hydrogen electric stack engine.Described unmanned plane body
On illumination and signal lamp are installed, wherein signal lamp is with certain frequency scintillation, and illuminating lamp is used for night flying so that distant behaviour
Make the personnel near personnel and aircraft and be easy to observation.
Described vision collimation, vision guided navigation and sensing device at least includes distance measuring sensor, and infrared/photopic vision is passed
Sensor, temperature sensor, the multiple sensors such as air velocity transducer, and install additional according to actual needs for fire or disaster
The sensor that scene is observed and measured.
Described broadband wireless communication device include airborne coding module and signal emission module, and ground decoding mould
Block and receiving module, for by sensor informations such as visions, it is encoded after be sent to the remote operating control subsystem on ground, make
Field condition can be grasped in real time by obtaining ground handling operator, meanwhile, the operation information on ground is also passed through to be sent to after scrambled
Aircraft, for the whole aircraft of operational control and system.
Described ground remote operating control device includes the control stick, various Operation switches, one or more for controlling
Display screen is used to show the live video that vision sensor is sent back, the field conditions that the sensor such as temperature, wind speed is sent back, with
And attitude of flight vehicle, flying speed, course, position, the air craft carried power supply status that aircraft body sensor is sent back
Etc. information.A kind of configuration mode of described ground remote operating control device is mounted on the car of specialty, and its roof can be
Remote operating aircraft provides the place of takeoff and landing, so as to provide vehicle for remote operating aircraft.Described ground
A kind of configuration mode of face remote operating control device is that remote operating device and detachable battery are monolithically integrated in into one together specially
In the suitcase of industry, so that fast transportation is realized, after battery is taken out, the air consignment that the remote operating device can be common.
After the generation of the disasters such as fire, described remote operating disaster relief and fire-fighting aircraft system pass through highway, aircraft
Etc. a comparatively safe place near disaster or scene of fire is transported, after expansion is installed, first control to fill to ground remote operating
Electricity is put, after self-inspection is errorless, then to electric on aircraft, waits aircraft self-inspection to pass through, remote operating device and aircraft establish connection
After system, you can to load the load such as disaster relief goods and materials or fire extinguisher bomb to aircraft, aircraft enters standby for takeoff state, flight
The warning lamp of device starts flicker, if in night flight state, aircraft identification light is also opened simultaneously.
By training qualified remote operating personnel, aircraft takeoff is operated, disaster relief or fire extinguishing task is performed.Aircraft
In takeoff phase, lifting rotor progressively accelerates the lift there is provided aircraft, and flight control system controls the stabilization of aircraft as needed
And posture.With the speed increase of lifting rotor, aircraft vertically rises from ground, flies to disaster scene.Meanwhile, airborne light
The sensors such as, temperature begin through after airborne computer encrypted that earthward remote operating control device passes live feelings back through radio communication
Condition and state of flight information.Task phase is being performed, remote operating personnel are filled after aircraft is reached the spot using airborne aim at
Put, run-home, transmitting relief goods or fire extinguisher bomb.It is therefore, distant because the aircraft is loaded with multiple relief goods or fire extinguisher bomb
Operating personnel can be as needed, the operation of repeat its transmission relief goods or fire extinguisher bomb, realizes the flight of a sortie, and multiple spot is rescued
Help or fire-extinguishing operations.
Implement after rescue or fire extinguishing task, aircraft flies back appointed place.In landing phases, lifting rotor gradually reduces speed
Degree, aircraft drops to ground with the reduction of lifting rotor rotary speed from vertical air, is run or by landing without sliding
The equipment such as umbrella.After aircraft landing, by loading fuel or changing battery, load after new relief goods or fire extinguisher bomb, can be with
Task is performed again.
The remote operating disaster relief of the present invention and fire extinguishing vertically taking off and landing flyer system, are calculated by the winged control of integrated intelligent
Method, remote operating algorithm, aircraft body, rescue load, fire extinguishing load, the communication one such as encoding and decoding and ground remote operating device,
Realize rescue and the fire extinguishing system of remote operating.The present invention remote operating aircraft can a variety of load of carry, perform disaster relief, go out
The multiple-tasks such as fire, battlefield support.
In order to solve the above technical problems, the following technical scheme that the present invention is used：
(1) a kind of emission type disaster relief and unmanned plane and fire-extinguishing, including unmanned plane body (energy VTOL), emitter
(being used to launch relief goods or fire extinguisher bomb), vision collimation, vision guided navigation and sensing device, broad band wireless transmission device and ground
Face remote operating control device；The emitter, vision collimation, vision guided navigation and sensing device, broad band wireless transmission device
Coding/decoding module and signal transmitting and receiving antenna are arranged on unmanned plane body；Described ground remote operating control device is independently of nobody
Machine body, by transmission of wireless signals operational order to aircraft, while receiving and showing the sensor information that unmanned plane is beamed back；
The ground signal dual-mode antenna of the broad band wireless transmission device is connected with ground remote operating control device, and its signal is by ground
After signal codec module encoding and decoding in the remote operating control device of face communication contact is carried out with unmanned plane body.
(2) the emission type disaster relief according to (1) and unmanned plane and fire-extinguishing, the unmanned plane body are four axles or six axles
Or eight axle multi-rotor unmanned aerial vehicles, can VTOL, be the emitter, vision collimation, vision guided navigation and sensing device, broadband
Coding/decoding module and signal transmitting and receiving antenna of radio transmitting device etc. provide flight carrier body.
(3) the emission type disaster relief according to (1) or (2) and unmanned plane and fire-extinguishing, the unmanned plane body are by list
The depopulated helicopter that rotor or DCB Specimen and anti-torque rotor are constituted, is described relief goods or fire extinguishing bullet launching device, regards
Feel aim at, vision guided navigation and sensing device, the coding/decoding module of broad band wireless transmission device and signal transmitting and receiving antenna etc. are provided and flown
Row carrier body.
(4) the emission type disaster relief according to any one of (1)-(3) and unmanned plane and fire-extinguishing, the unmanned plane body bag
Containing airborne power supply and undercarriage, airborne power supply is generally the higher supply unit of energy density, such as lithium ion battery, hydrogen electric stack
Engine etc., described airborne power supply is flying body, flies to control the offer energy such as subsystem, remote operating subsystem, transmitting subsystem
The enough energy；Illumination and signal lamp are installed, wherein signal lamp is dodged with certain frequency on described VUAV body
It is bright, and illuminating lamp is used for night flying so that the personnel near remote operating personnel and aircraft are easy to observation.
(5) the emission type disaster relief according to any one of (1)-(4) and unmanned plane and fire-extinguishing, the emitter are water
Flat emitter, is mounted in pairs in below unmanned plane body.
(6) the emission type disaster relief according to any one of (1)-(5) and unmanned plane and fire-extinguishing, the emitter include
The parts such as horizontal emission cylinder, hanged hook, electromagnetic switch and electromagnetic ignition；Described horizontal emission cylinder is hollow and thin-walled structure, two
There is self-closing door at end, for reduce windage and for its internal electromagnetic switch, electromagnetic ignition part, fire extinguisher bomb etc. provide waterproof,
Windproof protection；Described hanged hook, electromagnetic switch, electromagnetic ignition part etc. are placed in horizontal emission cylinder；Described fire extinguisher bomb or
Relief goods are placed in horizontal emission cylinder, and are hung on the hanged hook that electromagnetic switch is controlled；After firing order is received,
Described electromagnetic switch control hanged hook unclamps, while electromagnetic ignition part lights fire extinguisher bomb or the rocket at relief goods rear portion is pushed away
Enter device, relief goods or fire extinguisher bomb are accelerated to release from horizontal emission cylinder, launch the place aimed to remote operating personnel.
(7) according to the emission type disaster relief described in any one of (1)-(6) and unmanned plane and fire-extinguishing, the vision collimation, regard
Feel that navigation and sensing device at least include distance measuring sensor, infrared/photopic vision sensor, temperature sensor or wind speed sensing
Device, and the other sensors for fire or disaster scene to be observed and measured can be installed additional according to actual needs, pacify
Powered on unmanned plane body, and by the airborne power supply of unmanned plane body；The signal hair that described multiple sensors are got
It is sent in the message processing module in unmanned plane body, after overcompression and coding, by airborne wireless communication module, is sent to
In the remote operating device of ground.
(8) the emission type disaster relief according to any one of (1)-(7) and unmanned plane and fire-extinguishing, described broadband wireless lead to
Interrogating device is included in airborne coding/decoding module and signal amplification, transceiver module, airborne antenna, and ground remote operating control device
Coding/decoding module and signal amplification, transceiver module, ground-plane antenna.
(9) according to the emission type disaster relief described in any one of (1)-(8) and unmanned plane and fire-extinguishing, described airborne antenna and
Ground-plane antenna is omnidirectional antenna, is near in hundreds of meters for the distance between unmanned plane body and ground remote operating control device
Apart from broadband communications；Described broadband wireless communication device is used for sensor informations such as visions, it is encoded after be sent to ground
The remote operating control subsystem in face so that ground handling operator can grasp field condition in real time, meanwhile, the operation information on ground
Aircraft is sent to after also passing through coding, for the whole aircraft of operational control and system.
(10) the emission type disaster relief according to any one of (1)-(9) and unmanned plane and fire-extinguishing, described airborne antenna
It is automatic tracing directional aerial with ground-plane antenna, according to the GPS location of ground-plane antenna and the current GPS location of unmanned plane body,
Automatically adjust the direction of directional aerial so that both remain aspectant communication state.Described airborne antenna and ground
Antenna is that automatic tracing directional aerial is tens of kms for the distance between unmanned plane body and ground remote operating control device
Interior remote broadband communications；Described broadband wireless communication device is used for sensor informations such as visions, encoded rear hair
It is sent to the remote operating control subsystem on ground so that ground handling operator can grasp field condition in real time, meanwhile, the behaviour on ground
Also passed through as information and be sent to aircraft after encoding, for the whole aircraft of operational control and system.
(11) the emission type disaster relief according to any one of (1)-(10) and unmanned plane and fire-extinguishing, the ground remote operating
Control device includes control stick, Operation switch and display screen, and the display screen is used to show the scene that vision sensor is sent back
Video, attitude of flight vehicle that aircraft body sensor is sent back, flying speed, course, position, air craft carried power supply shape
The information such as state, and the field conditions that the sensor such as other sensors temperature, the wind speed sent back is sent back.
(12) the emission type disaster relief according to any one of (1)-(11) and unmanned plane and fire-extinguishing, the distant behaviour in described ground
Make control device and detachable battery is monolithically integrated in suitcase together, so that fast transportation is realized, should after battery is taken out
Remote operating device can be common air consignment.
(13) the emission type disaster relief according to any one of (1)-(12) and unmanned plane and fire-extinguishing, the distant behaviour in described ground
Make control device in the compartment of special-purpose vehicle, the roof of the special-purpose vehicle provides takeoff and landing for remote operating aircraft
Place, vehicle power provides power supply for ground remote operating device, and vehicle sheet is carried as emission type disaster relief and unmanned plane and fire-extinguishing
For vehicle.
Emission type disaster relief and unmanned plane and fire-extinguishing that the present invention is provided, for using VUAV delivery, high band
Aerial disaster relief and fire extinguishing system that the parts such as width communication, the control of ground remote operating are constituted, disaster relief is expanded from ground
Open up aerial, can be used for building rescue and fire extinguishing that ground is difficult to reach, forest fire, or sea accident rescue, fire extinguishing
Deng.The remote operating scheme that the present invention is used, its descending sensor information and up operational order using AES and
Broadband transmission, it is ensured that the efficiency and interference free performance of uplink and downlink signals transmission.Relief goods and fire extinguisher bomb that the present invention is provided
Emitter is fexible unit, can launch a variety of rescues such as fire extinguisher bomb, fire extinguishing goods and materials.Rocket-powered horizontal emission device is also
Window breaker can be loaded, glass curtain wall, windowpane etc. are broken up during for building rescue, beneficial to building rescue and escape.
In the prior art, the operation of multi-rotor unmanned aerial vehicle or helicopter is carried out by visual observation, can only be in visual range
Use, the encryption broadband transmission without downstream sensor information and up remote operating information, and the technology of the present invention has this
The difference of matter.In the prior art, the fire engine on ground and aerial rescue helicopters, are that someone operates, and skill of the invention
Art is essentially different.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the six rotor disaster reliefs with four emitters, the overlooking the structure diagram of unmanned plane and fire-extinguishing；
Fig. 2 is the six rotor disaster reliefs with four emitters, the forward sight structural representation of unmanned plane and fire-extinguishing；
Fig. 3 is the six rotor disaster reliefs with four emitters, the side structure schematic view of unmanned plane and fire-extinguishing；
Fig. 4 is the helicopter disaster relief with four emitters, the overlooking the structure diagram of unmanned plane and fire-extinguishing；
Fig. 5 is the helicopter disaster relief with four emitters, the forward sight structural representation of unmanned plane and fire-extinguishing；
Fig. 6 is the helicopter disaster relief with four emitters, the side structure schematic view of unmanned plane and fire-extinguishing；
Fig. 7 is remote-controlled operation platform structural representation.
In figure, 1 is unmanned plane body, and 2 be unmanned plane rotor, and 3 be airborne power supply, and 4 be vision collimation, vision guided navigation and biography
Induction device, 6 be undercarriage, and 7 be emitter, and 8 be the automatically controlled triggering office in emitter, and 10 be vision collimation, vision is led
Navigate sensor, and 11 be communication antenna, and 13 be that figure passes antenna, and 12 and 14 be display screen, and the live video of figure biography is shown respectively and is flown
The flight parameter of row device；15 be flight control button；16 be liftable aircraft operation handle, and 17 be flight control handle；
18 be suitcase.
Embodiment
Embodiment 1：A kind of six rotor emission type remote operating disaster reliefs and fire extinguishing VUAV
As shown in Fig. 1,2,3,7, a kind of six rotors emission type remote operating disaster relief and fire extinguishing VUAV, bag
Include unmanned plane body 1, six unmanned plane rotors 2, and undercarriage 6；Flight, flight of the airborne power supply 3 for whole unmanned plane body
Remote operating, communication of device system etc. provide power supply；Vision collimation, vision guided navigation and sensing device 4, are provided down for remote operating transmitting
Depending on video image and target aim at so that remote operating person can exactly be sent out according to live video and sighting device
Penetrate；Emitter 7 is hung on the horn of unmanned plane body, and can hang has automatically controlled triggering machine altogether in four, described emitter
8 are closed, can be according to the instruction unpack emitter of remote operating, release fire extinguisher bomb or rescue material；Remote-controlled operation platform includes communication
Antenna 11 and figure pass antenna 13, for distinguishing transmitting video image and UAS flight parameter；Returned from scene and unmanned plane
The live video and unmanned plane during flying data of biography are respectively displayed on display screen 12 and 14；Remote-controlled operation platform is integrated in suitcase 18
Interior, internal battery provides power supply, and convenient transport for whole operation platform；There is various fly in described remote-controlled operation platform casing
Row control button 15；Liftable aircraft operation handle 16, and flight control handle 17, for unmanned plane and emitter
Control.
Described six rotor emission type remote operating disaster reliefs and the fire extinguishing specific control method of VUAV are as follows：
(1) system transfer：Due to the uncertainty that disaster occurs, and the flying distance of unmanned plane body and flight time are equal
It is limited.Therefore, it is real to implement before rescue, it is necessary to which six described rotor emission type remote operating disaster reliefs and fire extinguishing are vertical
Landing unmanned plane transports near scene safety to other vehicles and place is open, and aerial barrage thing is few, it is easy to which aircraft rises
The place of drop, expansion deployment, waiting system self-inspection is finished.
(2) rescue flight：Remote operating hand is finished in waiting system self-inspection, after system is all gone well, and is started to described six
Rotor emission type remote operating disaster relief and fire extinguishing VUAV are shot or relief goods, because relief goods are outstanding
Hang device is located on horn, and therefore, relief goods must be hung in pairs, and aircraft is delivered automatically.Remote operating hand is checking errorless
Afterwards, into takeoff operational program.
(3) remote operating flies：Remote operating hand is all gone well in confirmation system, specifies gps coordinate, the rescue on air objective ground
After task, the throttle of aircraft is slowly promoted so that aircraft slowly takes off, the video figure of further check flight device passback
After picture, flight parameter etc. are all gone well, aircraft is flown into specified altitude assignment and not reaches emergency place, according to regarding that aircraft is passed back
Frequency image and aiming place, deliver fire extinguisher bomb or relief goods, while flying away from scene in time after validation.
(4) repeatedly flight：Remote operating hand is after the task of being finished, and confirmation system is all gone well, and is again described nothing
Man-machine loading fire extinguishing or relief goods, update system energy, again after the gps coordinate on clear and definite air objective ground, rescue task, slowly
The throttle of slow promotion aircraft so that aircraft slowly takes off, video image, the flight parameter of further check flight device passback
After all going well, aircraft is flown into specified altitude assignment and not reaches emergency place, the video image passed back according to aircraft and is taken aim at
Quasi- place, delivers fire extinguisher bomb or relief goods, while flying away from scene in time after validation.
Traditional multi-rotor unmanned aerial vehicle, using remote controller operation, and without transmitting and real-time video transmission, remote operating etc.
Function, remote operating flight emission system is not constituted, with six rotors emission type remote operating disaster relief of the present invention and fire extinguishing
It is entirely different in terms of VUAV principle of compositionality and emission principle.
Traditional superficial fire field rescue or firefighting robot, using remote controller operation, and without flight transmitting, reality
When the function such as transmission of video, remote operating, remote operating flight emission system is not constituted, it is distant with six rotors emission type of the present invention
It is entirely different in terms of operation disaster relief and fire extinguishing VUAV principle of compositionality and emission principle.
Embodiment 2：A kind of helicopter emission type remote operating disaster relief and fire extinguishing VUAV
As shown in FIG. 4,5,6, 7, a kind of helicopter emission type remote operating disaster relief and fire extinguishing VUAV, bag
Include unmanned plane body 1, unmanned plane rotor 2, and undercarriage 6；Airborne power supply 3 is the flight of whole unmanned plane body, aircraft system
Remote operating, communication of system etc. provide power supply；Vision collimation, vision guided navigation and sensing device 4, provide down what is regarded for remote operating transmitting
Video image and target are aimed at so that remote operating person can exactly be launched according to live video and sighting device；Hair
Injection device 7 is hung on the horn of unmanned plane body, and can hang altogether in four, described emitter has automatically controlled triggering office 8, can
With the instruction unpack emitter according to remote operating, release fire extinguisher bomb or rescue material；Remote-controlled operation platform include communication antenna and
Figure passes antenna 11 and 13, for distinguishing transmitting video image and UAS flight parameter；Returned from scene and unmanned plane
Live video and unmanned plane during flying data are respectively displayed on display screen 12 and 14；Remote-controlled operation platform is integrated in suitcase 18,
Internal battery, power supply, and convenient transport are provided for whole operation platform；There are various flight controls in described remote-controlled operation platform casing
Button 15 processed；Liftable aircraft operation handle 16, and flight control handle 17, for the control to unmanned plane and emitter
System.
Described helicopter emission type remote operating disaster relief and the fire extinguishing specific control method of VUAV is as follows：
(1) system transfer：Due to the uncertainty that disaster occurs, and the flying distance of unmanned plane body and flight time are equal
It is limited.Therefore, it is real to implement before rescue, it is necessary to which described helicopter type emission type remote operating disaster relief and fire extinguishing are hung down
Straight landing unmanned plane transports near scene safety to other vehicles and place is open, and aerial barrage thing is few, it is easy to aircraft
The place of landing, expansion deployment, waiting system self-inspection is finished；
(2) rescue flight：Remote operating hand is finished in waiting system self-inspection, after system is all gone well, and is started to described straight
Rise type emission type remote operating disaster relief and fire extinguishing VUAV is shot or relief goods, due to relief goods
Suspension arrangement is located on horn, and therefore, relief goods must be hung in pairs, and aircraft is delivered automatically.Remote operating hand is checking nothing
After by mistake, into takeoff operational program.
(3) remote operating flies：Remote operating hand is all gone well in confirmation system, specifies gps coordinate, the rescue on air objective ground
After task, the throttle of aircraft is slowly promoted so that aircraft slowly takes off, the video figure of further check flight device passback
After picture, flight parameter etc. are all gone well, aircraft is flown into specified altitude assignment and not reaches emergency place, according to regarding that aircraft is passed back
Frequency image and aiming place, deliver fire extinguisher bomb or relief goods, while flying away from scene in time after validation.
(4) repeatedly flight：Remote operating hand is after the task of being finished, and confirmation system is all gone well, and is again described nothing
Man-machine loading fire extinguishing or relief goods, update system energy, again after the gps coordinate on clear and definite air objective ground, rescue task, slowly
The throttle of slow promotion aircraft so that aircraft slowly takes off, video image, the flight parameter of further check flight device passback
After all going well, aircraft is flown into specified altitude assignment and not reaches emergency place, the video image passed back according to aircraft and is taken aim at
Quasi- place, delivers fire extinguisher bomb or relief goods, while flying away from scene in time after validation.
Traditional helicopter type unmanned plane, using remote controller operation, and without transmitting and real-time video transmission, remote operating
Etc. function, remote operating flight emission system is not constituted, with helicopter type emission type remote operating disaster relief of the present invention and
It is entirely different in terms of fire extinguishing VUAV principle of compositionality and emission principle.
Traditional superficial fire field rescue or firefighting robot, using remote controller operation, and without flight transmitting, reality
When the function such as transmission of video, remote operating, remote operating flight emission system is not constituted, it is distant with helicopter emission type of the present invention
It is entirely different in terms of operation disaster relief and fire extinguishing VUAV principle of compositionality and emission principle.
The exhaustion of above-described embodiment not embodiment, can also have other embodiments, above-described embodiment purpose exists
In the explanation present invention, the protection domain being not intended to limit the present invention, all applications come by simple change of the present invention are all fallen within
In the protection domain of invention.
Claims (13)
1. a kind of emission type disaster relief and unmanned plane and fire-extinguishing, it is characterised in that including unmanned plane body, emitter, vision
Aiming, vision guided navigation and sensing device, broad band wireless transmission device and ground remote operating control device；The emitter,
Vision collimation, vision guided navigation and sensing device, the coding/decoding module of broad band wireless transmission device and signal transmitting and receiving antenna are arranged on
On unmanned plane body；Described ground remote operating control device is referred to independently of unmanned plane body by transmission of wireless signals operation
Aircraft is made, while receiving and showing the sensor information that unmanned plane is beamed back；The ground letter of the broad band wireless transmission device
Number dual-mode antenna is connected with ground remote operating control device.
2. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that the unmanned plane body
For four axles or six axles or eight axle multi-rotor unmanned aerial vehicles.
3. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that the unmanned plane body
For the depopulated helicopter being made up of single rotor or DCB Specimen and anti-torque rotor.
4. emission type disaster relief according to claim 1 or 2 and unmanned plane and fire-extinguishing, it is characterised in that the unmanned plane
Body includes airborne power supply and undercarriage, and illumination and signal lamp are provided with the unmanned plane body.
5. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that the emitter is
Horizontal emission device, below unmanned plane body.
6. emission type disaster relief according to claim 5 and unmanned plane and fire-extinguishing, it is characterised in that the emitter bag
Include horizontal emission cylinder, hanged hook, electromagnetic switch and electromagnetic ignition；Described horizontal emission cylinder is hollow and thin-walled structure, and two ends have
Self-closing door；Described hanged hook, electromagnetic switch, electromagnetic ignition part are arranged in horizontal emission cylinder；Fire extinguisher bomb or rescue thing
Money is placed in horizontal emission cylinder, and is hung on the hanged hook that electromagnetic switch is controlled.
7. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that the vision collimation,
Vision guided navigation and sensing device at least include distance measuring sensor, infrared/photopic vision sensor, temperature sensor or wind speed and passed
Sensor, powers on unmanned plane body, and by the airborne power supply of unmanned plane body；What described multiple sensors were got
Signal is sent in the message processing module in unmanned plane body, after overcompression and coding, by airborne wireless communication module,
It is sent in the remote operating device of ground.
8. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that described broadband wireless
Communication device includes airborne coding/decoding module and signal amplification, transceiver module, airborne antenna, and ground remote operating control device
Interior coding/decoding module and signal amplification, transceiver module, ground-plane antenna.
9. emission type disaster relief according to claim 8 and unmanned plane and fire-extinguishing, it is characterised in that described airborne antenna
It is omnidirectional antenna with ground-plane antenna.
10. emission type disaster relief according to claim 8 and unmanned plane and fire-extinguishing, it is characterised in that described airborne day
Line and ground-plane antenna are automatic tracing directional aerial.
11. emission type disaster relief according to claim 1 and unmanned plane and fire-extinguishing, it is characterised in that the distant behaviour in the ground
Making control device includes control stick, Operation switch and display screen.
12. emission type disaster relief according to claim 11 and unmanned plane and fire-extinguishing, it is characterised in that described ground is distant
Operating control device and detachable battery are monolithically integrated in suitcase together.
13. emission type disaster relief according to claim 12 and unmanned plane and fire-extinguishing, it is characterised in that described ground is distant
Operating control device is arranged in the compartment of special-purpose vehicle, and the roof of the special-purpose vehicle provides takeoff and landing for remote operating aircraft
Place, vehicle power provides power supply for ground remote operating device.
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| CN109248390A (en) * | 2018-09-14 | 2019-01-22 | 北京机械设备研究所 | A kind of fire-fighting and rescue integrated system and method based on unmanned aerial vehicle platform |
| CN110193153A (en) * | 2019-06-03 | 2019-09-03 | 河南大域航空科技有限公司 | A kind of outdoor fire disaster rescue auxiliary device based on unmanned plane |
| CN110271669A (en) * | 2019-06-18 | 2019-09-24 | 深圳高度创新技术有限公司 | Fire control and disaster rescue unmanned plane |
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| EP4177173A1 (en) * | 2021-11-08 | 2023-05-10 | Shanghai Autoflight Co., Ltd. | A device for unmanned aerial vehicle to install rainfall catalytic bomb |
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| CN107628235A (en) * | 2017-10-18 | 2018-01-26 | 沈阳旋飞航空技术有限公司 | A kind of load configuration structure for electronic unmanned plane |
| CN108248838A (en) * | 2017-12-20 | 2018-07-06 | 江苏天域航空科技集团股份有限公司 | Fire-fighting fire extinguishing unmanned helicopter system |
| CN108357676A (en) * | 2018-04-09 | 2018-08-03 | 重庆国飞通用航空设备制造有限公司 | A kind of multifunction emergency rescue multi-rotor unmanned aerial vehicle system |
| CN108734914A (en) * | 2018-07-20 | 2018-11-02 | 航天科工仿真技术有限责任公司 | A kind of detection bullet with fire behavior investigation function that unmanned plane carries |
| CN108860608A (en) * | 2018-07-20 | 2018-11-23 | 航天科工仿真技术有限责任公司 | A kind of high-rise building rescue system based on unmanned plane |
| CN108871108A (en) * | 2018-07-20 | 2018-11-23 | 航天科工仿真技术有限责任公司 | A kind of rescue bullet for high-rise building that unmanned plane carries |
| CN109248390A (en) * | 2018-09-14 | 2019-01-22 | 北京机械设备研究所 | A kind of fire-fighting and rescue integrated system and method based on unmanned aerial vehicle platform |
| CN109248390B (en) * | 2018-09-14 | 2021-02-09 | 北京机械设备研究所 | Fire rescue comprehensive system and method based on unmanned aerial vehicle platform |
| CN111792031A (en) * | 2019-04-08 | 2020-10-20 | 大众汽车有限公司 | Autonomous aircraft for providing medical emergencies |
| CN110193153A (en) * | 2019-06-03 | 2019-09-03 | 河南大域航空科技有限公司 | A kind of outdoor fire disaster rescue auxiliary device based on unmanned plane |
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| CN110917527A (en) * | 2019-12-23 | 2020-03-27 | 郑俊跃 | Fire extinguishing system of high-rise building |
| CN112386832A (en) * | 2020-12-01 | 2021-02-23 | 安徽信息工程学院 | Fire rescue unmanned aerial vehicle |
| EP4177173A1 (en) * | 2021-11-08 | 2023-05-10 | Shanghai Autoflight Co., Ltd. | A device for unmanned aerial vehicle to install rainfall catalytic bomb |
| CN114295001A (en) * | 2021-12-30 | 2022-04-08 | 平裕（成都）科技有限公司 | Aiming method of glass breaking equipment |
| US20230308042A1 (en) * | 2022-01-27 | 2023-09-28 | Ameristar Solar, LLC | SOLAR eVTOL DRONE TOWER |
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Application publication date: 20170915 |