CN107651187A - A kind of fire-fighting unmanned plane that fire is made with fire - Google Patents
A kind of fire-fighting unmanned plane that fire is made with fire Download PDFInfo
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- CN107651187A CN107651187A CN201610590499.5A CN201610590499A CN107651187A CN 107651187 A CN107651187 A CN 107651187A CN 201610590499 A CN201610590499 A CN 201610590499A CN 107651187 A CN107651187 A CN 107651187A
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- 238000012545 processing Methods 0.000 claims abstract description 72
- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000002347 injection Methods 0.000 claims abstract description 15
- 239000007924 injection Substances 0.000 claims abstract description 15
- 239000004372 Polyvinyl alcohol Substances 0.000 claims abstract description 9
- 229920002451 polyvinyl alcohol Polymers 0.000 claims abstract description 9
- 239000012286 potassium permanganate Substances 0.000 claims abstract description 4
- 239000000843 powder Substances 0.000 claims abstract description 4
- 238000001931 thermography Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000007812 deficiency Effects 0.000 claims description 6
- 239000000295 fuel oil Substances 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims description 4
- 239000004698 Polyethylene Substances 0.000 claims description 3
- 235000017899 Spathodea campanulata Nutrition 0.000 claims description 3
- -1 polyethylene Polymers 0.000 claims description 3
- 229920000573 polyethylene Polymers 0.000 claims description 3
- 239000011819 refractory material Substances 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 150000002085 enols Chemical class 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 238000012790 confirmation Methods 0.000 abstract description 2
- 239000000575 pesticide Substances 0.000 description 11
- 238000005507 spraying Methods 0.000 description 9
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- OQVYMXCRDHDTTH-UHFFFAOYSA-N 4-(diethoxyphosphorylmethyl)-2-[4-(diethoxyphosphorylmethyl)pyridin-2-yl]pyridine Chemical compound CCOP(=O)(OCC)CC1=CC=NC(C=2N=CC=C(CP(=O)(OCC)OCC)C=2)=C1 OQVYMXCRDHDTTH-UHFFFAOYSA-N 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- IMROMDMJAWUWLK-UHFFFAOYSA-N Ethenol Chemical compound OC=C IMROMDMJAWUWLK-UHFFFAOYSA-N 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000003694 hair properties Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
A kind of fire-fighting unmanned plane with fire fire extinguishing, including communication module, locating module, fly control module, power plant module, processing module, injection module and throwing module 80, after communication module receives instruction, ball of igniting is searched out using locating module and throws place, fly control module control power plant module and fly to appointed place, injection module is by polyvinyl alcohol such as to being thrown after the ball of igniting that encapsulate potassium permanganate powder, the temperature feedback system being made up of infrared camera and processing module, to judging before throwing and after throwing.The present invention replaces fireman to carry out operation of igniting with unmanned plane, plays the characteristics of unmanned plane is flexible and efficient, reduces fireman and is performing risk when igniting task；Specific ball cost of igniting is cheap, using simple and safe, and convenient storage.Temperature feedback system can both prevent the ball area too high by temperature is thrown into of igniting, and can also carry out lighting effect confirmation, it is ensured that the success rate lighted after throwing.
Description
Technical field
The present invention relates to a kind of unmanned plane field, particularly, is related to a kind of method by making fire with fire and is put out a fire
Fire-fighting unmanned plane.
Background technology
With the development of science and technology, unmanned air vehicle technique reaches its maturity, and unmanned plane is with the characteristics of its speed is fast, operation is flexible quilt
Extensive use, and it is introduced in fire-fighting fire extinguishing field.But present fire-fighting with unmanned plane mostly for cities and towns fire rather than
Forest, prairie fire.For example, the B of Chinese patent CN 104267686 disclose a kind of intelligent unmanned plane pesticide spraying device,
The device includes SDRAM memory, unmanned plane power drive device, pesticide sprayer and master controller, in SDRAM memories
Prestored the region amount table of comparisons that local bureau of agriculture's management platform is set, and the region amount table of comparisons includes multiple pesticide sprayings
Region and multiple pesticide spraying amounts, the corresponding pesticide spraying amount in a pesticide spraying region, each pesticide spraying area
Domain includes region GPS location and region height, master controller respectively with SDRAM memory, unmanned plane power drive device and agriculture
Medicine sprinkler connects, and is sprayed for controlling unmanned plane power drive device to fly to each pesticide spraying region, and in each agricultural chemicals
Spill the pesticide spraying that overlying regions control pesticide sprayer according to corresponding pesticide spraying amount.Chinese patent CN 204452939
U discloses a kind of Anti-collision fixed point fire-fighting unmanned plane, the unmanned plane, including unmanned plane body, drop a bomb rifle and anticollision cover, the throwing
Play rifle to be arranged on below unmanned plane body, steering wheel be housed on the rifle that drops a bomb, the servos control rifle that drops a bomb launches fire extinguisher bomb;Simultaneously
Arrange and pointing device is housed on the rifle that drops a bomb set, improve accuracy of dropping a bomb;The anticollision cover is cage structure, the cage structure
Being trapped among unmanned plane body peripheral protects unmanned plane body not collided, and flameproof enclosure is additionally provided with propeller bracket, to resist fire
Seedling spray is attacked.The utility model can not be limited by territorial environment carries out fixed point fire-fighting fire extinguishing, nothing to skyscraper and slype
Man-machine body is not easy to be damaged by collision, and flying speed is fast, is active in one's movements, applied widely.And forest and prairie fire are with prominent
The characteristics of hair property is strong, destructive big, disposal relief is more difficult.And because the place general position that catches fire is more remote, directly
Fire fighting method does not apply to simultaneously, and airline extinguishment method cost is prohibitively expensive also has certain risk.Further, since when fire occurs,
The general dry wind of weather is big, and rain making fire fighting method is not very effective.Therefore, how using unmanned plane forest and grass are applied to
Former fire-fighting fire extinguishing, and carry out fire extinguishing using the method beyond rain making and asked as the technology of prior art urgent need to resolve
Topic.
The content of the invention
It is an object of the invention to propose a kind of fire-fighting unmanned plane that fire is made with fire, the grassland away from city can be applied to
And forest, and reaction speed is very fast, can reach the scene of a fire rapidly and carry out fire-fighting work, and use the method with fire system fire to carry out
Fire extinguishing, ensure that fire-fighting work is not influenceed by water head site.To use following technical scheme up to this purpose, the present invention：It is a kind of
With the fire-fighting unmanned plane of fire fire extinguishing, including communication module, locating module, winged control module, power plant module, processing module and throwing
Module：Wherein described communication module is used to be connected with local fire alarm early warning platform by two-way wireless communication link, described in reception
The control instruction that fire alarm early warning platform is sent, and communicated with local fire alarm early warning platform；The locating module, for basis
What processing module transmission came ignite, and ball throws location information, and the ball that obtains igniting throws the coordinate information in place, such as gps coordinate letter
Breath, and send to and fly control module；The winged control module, for according to the obtained coordinate information, controlling the power plant module
Flight to the ball of igniting throws place, and the adjustment of various flight attitudes is performed according to the order of the processing module；
The power plant module, for carrying out the adjustment of various flight attitudes according to the instruction of the winged control module, and fly to institute
State ball of igniting and throw place；The processing module, is handled various information, and controls various modules.For example, the processing
Module can receive the mission bit stream of communication module transmission, and the mission bit stream calculate analysis or read setting in advance
The setting put determines ball throwing place of igniting, that is, place of putting out a fire.And the ball of igniting will be thrown into location information and be sent to institute
State locating module.It can be used for assigning throwing instruction to throwing module；The throwing module, for arrival ignite ball throw
Place, receive after throwing instruction, throw ball of igniting.Further, the ball of igniting uses polyethylene material, and its interior sealing height
Potassium manganate powder；And also include injection module, for injecting polyvinyl alcohol by injection module before throwing.Further, it is described to disappear
Anti- unmanned plane also includes infrared camera, for shooting thermal imaging photo before throwing or after throwing, issues the place
Reason module is analyzed and processed；The processing module has graphic images identification and processing function, is shot according to before throwing
Thermal imaging photo come measure throw position temperature and determine the place if appropriate for throwing, or according to throw after shoot
Thermal imaging photo judge whether the place successfully ignites.Further, the control instruction includes taking off instruction, aircraft
Instruction that hovering instructs and aircraft makes a return voyage, the communication module also send request instruction and nobody with the local fire alarm early warning platform
The state of flight information of machine, the request instruction makes a return voyage instruction including take off instruction, request hovering instruction and request of request, described
Aircraft state information includes aircraft Fuel Oil Remaining, aircraft flight speed, aircraft present level, the current GPS data of aircraft, ignited
The prompting of ball deficiency and the prompting of Fuel Oil Remaining deficiency.Further, the fire-fighting unmanned plane also includes fire prevention frame, wherein, institute
State locating module, processing module, winged control module and communication module to be all placed in the flameproof enclosure of fire prevention frame, remaining module
All use refractory material.The invention also discloses a kind of method put out a fire using above-mentioned fire-fighting unmanned plane, including it is as follows
Step：
Reception signal step：Assignment instructions are sent to communication module by fire alarm early warning platform, referred to the task by communication module
Order is delivered to processing module；Fly to ball of igniting and throw place step：The processing module should according to the assignment instructions, i.e. basis
Control instruction, the assignment instructions calculate analysis or read the setting pre-set to determine ball throwing place of igniting,
And the location information is sent to the locating module, coordinate corresponding to location information is sent to by the locating module flies control mould
Block, the power plant module is controlled to fly to throwing place by the winged control module；
Throw step：After fire-fighting unmanned plane reaches the throwing place, it is accurate that the processing module make it that unmanned plane carries out throwing
It is standby, go forward side by side to be responsible for throwing the ball of igniting to the ball of igniting by throwing module and throw place；
Complete step：After completing to throw, make a return voyage.Further, the throwing preparation includes：The processing module refers to throwing
Order is sent to power plant module, carries out fuselage pose adjustment, is prepared for projection；The processing module controls the injection module will
Polyvinyl alcohol, which is expelled to, ignites in ball.Then appointed place is thrown into by jettison device.Further, in the throwing preparation
Before, in addition to judgment step can be thrown：The real-time thermal imaging photo in place is shot by infrared camera, by the thermal imaging photo
Processing module is passed to be analyzed and be judged, if can throw, performs and throws step；If processing module thinks this
Throw place to be not suitable for carrying out operation of igniting, then next throwing place of flying to, if without next throwing place, make a return voyage.Enter
One step, after step is thrown, also there is judgment step of igniting, after the completion of throwing, unmanned plane does not leave unmanned plane immediately,
But can be spiraled certain time in the throwing point, such as the second, then again by infrared pick-up head floor thermal imaging photo
And send and carry out lighting judgement to processing module, if processing module is judged to lighting success, next step is carried out, if place
Reason module judges to light unsuccessfully, then the throwing for ball of igniting will be re-started, so that it is guaranteed that the success rate ignited.Further,
After igniting and judging successfully, also judgment step is completed with task, processing module judges that task is completed then execution and maked a return voyage instruction, such as
Fruit is determined as that task does not complete, then next throwing for throwing point and the ball that ignite of flying to.The present invention replaces fire-fighting with unmanned plane
Member carries out operation of igniting, and has given full play to the characteristics of unmanned plane is flexible and efficient, reduces fireman and is performing when igniting task
Risk；Specific ball of igniting is made, ball cost of igniting is cheap and use is simple and safe, and convenient storage.Cause simultaneously
It is more safe and efficient that unmanned plane carries out igniting operation；There is provided temperature feedback system：It is made up of infrared camera and processing module
Temperature feedback system, can both prevent the ball area too high by temperature is thrown into of igniting, can also be lighted after throwing
Effect confirms, it is ensured that the success rate lighted.
Brief description of the drawings：Fig. 1 is the module map according to the fire-fighting unmanned plane of the specific embodiment of the invention；Fig. 2 is that had according to the present invention
The workflow diagram of the fire-fighting unmanned plane of body embodiment；Fig. 3 is the development according to the fire-fighting unmanned plane of the specific embodiment of the invention
The specific works step of fire extinguishing.The technical characteristic that reference in figure refers to respectively is：10th, processing module；20th, positioning mould
Block；30th, control module is flown；40th, power plant module；50th, communication module；60th, infrared camera；70th, injection module；80th, module is thrown.
Embodiment：The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that
Specific embodiment described herein is used only for explaining the present invention, rather than limitation of the invention.Further need exist for explanation
It is, for the ease of description, part related to the present invention rather than entire infrastructure to be illustrate only in accompanying drawing.Put out a fire with fire, be fire-fighting
A kind of mode of fire extinguishing, its cardinal principle are to put the head that makes a fire by artificial（Live wire）Docked with the opposite forest fires come that burn, make joint portion
Suddenly anoxic and burning condition is lost.The advantages of this method is that fire-fighting efficiency is higher, it is not necessary to special equipment, is the big face of control
Product, the effective measures of high-energy forest fire.Referring to Fig. 1, show according to the fire-fighting unmanned plane of the specific embodiment of the invention
Module map.The invention discloses a kind of fire-fighting unmanned plane, employs and carries out extinguishing operation in a manner of fire is put out a fire, specifically,
Including communication module 10, locating module 20, fly control module 30, power plant module 40, processing module 50 and throwing module 80.Wherein
Communication module 10 is used to be connected with local fire alarm early warning platform by two-way wireless communication link, receives the fire alarm early warning platform
The control instruction of transmission, and communicated with local fire alarm early warning platform.Further, the control instruction includes taking off
Instruction, hang instruction and aircraft are maked a return voyage instruction, and the communication module 10 also sends with the local fire alarm early warning platform and asked
Ask instruction and unmanned plane state of flight information, the request instruction include request take off instruction, request hovering instruct and ask
Make a return voyage instruction, it is current that the aircraft state information includes aircraft Fuel Oil Remaining, aircraft flight speed, aircraft present level, aircraft
GPS data, the ignite prompting of ball deficiency and the prompting of Fuel Oil Remaining deficiency.The locating module 20, for according to processing module 50
What transmission came ignite, and ball throws location information, and the ball that obtains igniting throws the coordinate information in place, such as GPS coordinate information, and passes
Give and fly control module 30.The winged control module 30, for according to the obtained coordinate information, controlling the power plant module 40 to fly
Row to the ball of igniting throws place, and the adjustment of various flight attitudes is performed according to the order of the processing module 50.Institute
Power plant module 40 is stated, for carrying out the adjustment of various flight attitudes according to the instruction of the winged control module 30, and is flown to described
Ball of igniting throws place.The processing module 50, is handled various information, and controls various modules.For example, the processing
Module 50 can receive the mission bit stream of the transmission of communication module 10, and the mission bit stream is carried out calculating analysis or read pre-
The setting first set determines ball throwing place of igniting, that is, place of putting out a fire.And the ball of igniting will be thrown into location information to send
To the locating module.It can be used for assigning throwing instruction to throwing module 80.The throwing module 80, for drawing in arrival
Fireball throws place, receives after throwing instruction, throws ball of igniting.Further, the ball of igniting uses polyethylene material, in it
Encapsulate potassium permanganate powder；And also include injection module 70, for injecting polyvinyl alcohol by injection module before throwing.When described
After ball of igniting is thrown into objective, polyvinyl alcohol and potassium permanganate reaction sends substantial amounts of heat so that ball spontaneous combustion of igniting, from
And the combustible for surrounding of igniting, put out a fire so as to realize with fire.Due to using the special ball of igniting, just gathered before throwing
The injection of vinyl alcohol, while cost is reduced, improve the degree of safety used.Further, the fire-fighting unmanned plane also wraps
Infrared camera 60 is included, for shooting thermal imaging photo before throwing or after throwing, the processing module 50 is issued and enters
Row analyzing and processing；The processing module 50 have graphic images identify and processing function, according to throw shoot before heat into
As photo come measure throw position temperature and determine the place if appropriate for throwing, or according to throw shoot afterwards heat into
As photo judges whether the place successfully ignites.Specifically, after throwing point is flown to, infrared camera can shoot heat at the scene
It is imaged picture and passes it to processing module and is made whether that delivery point judges.If after judgement, processing module thinks this
Throw place to be not suitable for carrying out operation of igniting, then fly to next throwing point, if without next throwing point, makes a return voyage.If really
Recognize the place and be adapted to operation of igniting, then processing module, which can send instruction, makes injection module that polyvinyl alcohol is injected into ball of igniting
It is interior.Then, appointed place is thrown into by throwing module ball of being responsible for igniting.After the completion of throwing, unmanned plane does not leave immediately,
But can be spiraled 30s in the throwing point, then by infrared pick-up head floor thermal imaging photo and send again to handling
Module carries out lighting judgement.If processing module is judged to lighting success, unmanned plane can leave next throwing point that flies to immediately
Maked a return voyage if without next throwing point.If processing module judges to light unsuccessfully, then the throwing for ball of igniting will be re-started, from
And ensure the success rate ignited.Further, the fire-fighting unmanned plane also includes fire prevention frame, wherein, the locating module, place
Reason module, winged control module and communication module are all placed in the flameproof enclosure of fire prevention frame, and remaining module all uses fire proofed wood
Material.Referring to Fig. 2, the workflow diagram of fire-fighting unmanned plane according to a particular embodiment of the invention is shown.The fire-fighting unmanned plane
It is operated as follows：Reception signal step：Assignment instructions are sent to communication module by fire alarm early warning platform, by communicating
The assignment instructions are delivered to processing module by module；Fly to ball of igniting and throw place step：The processing module is according to
Assignment instructions, i.e., according to the control instruction, it is true that the assignment instructions are carried out with the setting that calculating analysis or reading are pre-set
Surely ball of igniting throws place, and the location information is sent into the locating module, and the locating module is corresponding by location information
Coordinate be sent to and fly control module, control the power plant module to fly to throwing place by the winged control module；Throw step：Disappearing
After anti-unmanned plane reaches the throwing place, the processing module causes unmanned plane to carry out throwing and prepare, and goes forward side by side by throwing module
It is responsible for throwing the ball of igniting to the ball of igniting and throws place；Further, the throwing preparation includes：The processing mould
Block is sent to power plant module by instruction is thrown, and carries out fuselage pose adjustment, is prepared for projection；Described in the processing module control
Polyvinyl alcohol is expelled to and ignited in ball by injection module.Then appointed place is thrown into by jettison device.Complete step：Complete
After throwing, make a return voyage.Further, before the throwing prepares, in addition to judgment step can be thrown：Shot by infrared camera
The real-time thermal imaging photo in place, the thermal imaging photo is passed into processing module to be analyzed and be judged, if can be with
Throw, then perform and throw step；If processing module thinks that the throwing place is not suitable for carrying out operation of igniting, next throwing of flying to
Place is thrown, if without next throwing place, is maked a return voyage.Further, after step is thrown, also there is judgment step of igniting,
After the completion of throwing, unmanned plane does not leave unmanned plane immediately, but can be spiraled certain time in the throwing point, such as 30 seconds,
Then by infrared pick-up head floor thermal imaging photo and send again and carry out to processing module lighting judgements, if handled
Module is judged to lighting success, then carries out next step, if processing module judges to light unsuccessfully, then ignited re-starting
The throwing of ball, so that it is guaranteed that the success rate ignited.Further, after igniting and judging successfully, also complete to judge step with task
Suddenly, processing module judges that task is completed then to perform instruction of making a return voyage, if it is decided that is not completed for task, then flies to next throwing point simultaneously
Ignite the throwing of ball.Referring to Fig. 3, the tool put out a fire according to the development of the fire-fighting unmanned plane of the specific embodiment of the invention is shown
One example of body running step.First, task signal is sent to the communication module of unmanned plane by fire alarm early warning platform, by communicating
Module communicates information to processing module, calculate analysis or read the setting pre-set determining to draw by processing module
Fireball throws place.Location information is sent to d GPS locating module, is sent to destination information after d GPS locating module processing
Fly control module, appointed place is flown to by flying control module control power plant module.After reaching appointed place, unmanned plane needs to carry out the ground
Point whether the judgement that can be thrown.Prevent from throwing ball of igniting in the too high place of temperature.The judgement shoots field by infrared camera
The real-time thermal imaging photo in ground, photo is passed into processing module to be analyzed and be judged.It is determined that after can throwing, processing will
Throw instruction and be sent to power plant module, carry out fuselage pose adjustment, prepared for projection.After the completion of pose adjustment, by injection mold
Polyvinyl alcohol is expelled to and ignited in ball by block.Then appointed place is thrown into by jettison device.After the completion of projection, unmanned plane is simultaneously
Next throwing of not flying to directly or is maked a return voyage at place, but is selected in the place, carries out judgement of igniting.Specifically, by infrared
Video camera shoots the thermal imaging picture in the place after projection at 30 seconds, and passes processing module back and analyzed, to determine the ground
Whether point successfully ignites.Complete to judge if it is determined that successfully igniting and then carrying out task, if it is decided that firing failure then adjusts flight
Posture is ignited ball to continue throwing.After igniting successfully, processing module will carry out task judgement, if it is decided that task is completed then to hold
Row makes a return voyage instruction, if it is decided that is not completed for task, then next throwing for throwing ball of putting and ignite of flying to.Therefore, this hair
It is bright that there is following three advantage：1. fireman is replaced to carry out operation of igniting with unmanned plane：It is flexible and efficient unmanned plane has been given full play to
The characteristics of, reduce fireman and perform risk when igniting task.2. specific ball of igniting is made：The ball cost of igniting is low
Honest and clean and use is simple and safe, and convenient storage.It is more safe and efficient to cause that unmanned plane carries out igniting operation simultaneously.3. set
Temperature feedback system：The temperature feedback system being made up of infrared camera and processing module, the ball that can both prevent from igniting are thrown
The area too high to temperature, it can also carry out lighting effect confirmation, it is ensured that the success rate lighted after throwing.Above content
It is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert the specific implementation of the present invention
Mode is only limitted to this, for general technical staff of the technical field of the invention, before present inventive concept is not departed from
Put, some simple deduction or replace can also be made, should all be considered as belonging to claims of the invention by being submitted
Determine protection domain.
Claims (10)
1. a kind of fire-fighting unmanned plane that fire is made with fire, including communication module（10）, locating module（20）, fly control module（30）, it is dynamic
Power module（40）, processing module（50）And throw module（80）：Wherein described communication module（10）For being led to by double-direction radio
Letter link is connected with local fire alarm early warning platform, receives the control instruction of fire alarm early warning platform transmission, and with local fire alarm
Early warning platform is communicated；The locating module（20）, for according to processing module（50）The next ball of igniting of transmission throws place
Information, the ball that obtains igniting throw the coordinate information in place, such as GPS coordinate information, and send to and fly control module（30）；It is described to fly
Control module（30）, for according to the obtained coordinate information, controlling the power plant module（40）Flight to the ball of igniting is thrown
Place is thrown, and according to the processing module（50）Order perform the adjustment of various flight attitudes；The power plant module（40）,
For according to the winged control module（30）Instruction carry out the adjustment of various flight attitudes, and fly and throw ground to the ball of igniting
Point；The processing module（50）, various information is handled, and control various modules；The throwing module（80）, for
Arrival ball of igniting throws place, receives after throwing instruction, throwing is ignited ball.
2. the fire-fighting unmanned plane according to claim 1 with fire fire extinguishing, it is characterised in that：The ball of igniting uses polyethylene
Material, its interior sealing potassium permanganate powder；And also include injection module（70）, for injecting poly- second by injection module before throwing
Enol.
3. the fire-fighting unmanned plane according to claim 2 with fire fire extinguishing, it is characterised in that：The fire-fighting unmanned plane also includes
Infrared camera（60）, for shooting thermal imaging photo before throwing or after throwing, issue the processing module（50）
Analyzed and processed；The processing module（50）With graphic images identification and processing function, shot before according to throwing
Thermal imaging photo throws the temperature of position and determines the place if appropriate for throwing to measure, or is shot afterwards according to throwing
Thermal imaging photo judges whether the place successfully ignites.
4. the fire-fighting unmanned plane according to claim 3 with fire fire extinguishing, it is characterised in that：The control instruction includes aircraft
Take off instruction, hang instruction and aircraft makes a return voyage instruction, the communication module（10）Also with the local fire alarm early warning platform
Send the state of flight information of request instruction and unmanned plane, the request instruction includes take off instruction, request of request and hovers and instruct
Maked a return voyage instruction with request, the aircraft state information includes aircraft Fuel Oil Remaining, aircraft flight speed, aircraft present level, flown
The current GPS data of machine, the ignite prompting of ball deficiency and the prompting of Fuel Oil Remaining deficiency.
5. the fire-fighting unmanned plane according to claim 4 with fire fire extinguishing, it is characterised in that：The fire-fighting unmanned plane also includes
Fire prevention frame, wherein, the locating module, processing module, winged control module and communication module are all placed on the anti-of fire prevention frame
In fire cover, remaining module all uses refractory material.
6. a kind of method that fire-fighting unmanned plane using described in claim 4 or 5 is put out a fire, comprises the following steps：Receive letter
Number step：Assignment instructions are sent to communication module by fire alarm early warning platform, transmitted the assignment instructions everywhere by communication module
Manage module；Fly to ball of igniting and throw place step：The processing module is according to the assignment instructions, i.e., according to the control instruction,
The assignment instructions are carried out calculating analysis or read the setting that the pre-sets ball that determines to ignite and throw place, and by the place
Information is sent to the locating module, and coordinate corresponding to location information is sent to by the locating module flies control module, by described
Flying control module controls the power plant module to fly to throwing place；Throw step：After fire-fighting unmanned plane reaches the throwing place,
The processing module causes unmanned plane to carry out throwing and prepare, and goes forward side by side to be responsible for throwing the ball of igniting to described by throwing module and draws
Fireball throws place；Complete step：After completing to throw, make a return voyage.
7. extinguishing method according to claim 6, it is characterised in that：The throwing preparation includes：The processing module will
Throw instruction and be sent to power plant module, carry out fuselage pose adjustment, prepared for projection；The processing module controls the injection
Polyvinyl alcohol is expelled to and ignited in ball by module, is then thrown into appointed place by jettison device.
8. the extinguishing method according to claim 6 or 7, it is characterised in that：Before the throwing prepares, in addition to it can throw
Throw judgment step：The real-time thermal imaging photo in place is shot by infrared camera, the thermal imaging photo is passed into processing mould
Block is analyzed and judged, if can throw, is performed and is thrown step；If processing module thinks throwing place discomfort
Conjunction carries out operation of igniting, then next throwing place of flying to, if without next throwing place, makes a return voyage.
9. extinguishing method according to claim 8, it is characterised in that：After step is thrown, also there is judgment step of igniting,
After the completion of throwing, unmanned plane does not leave unmanned plane immediately, but can be spiraled certain time in the throwing point, such as（30）
Second, then by infrared pick-up head floor thermal imaging photo and send again and carry out to processing module lighting judgement, if
Processing module is judged to lighting success, then carries out next step, if processing module judges to light unsuccessfully, then will re-start
Ignite the throwing of ball, so that it is guaranteed that the success rate ignited.
10. extinguishing method according to claim 9, it is characterised in that：After igniting and judging successfully, also completed with task
Judgment step, processing module judge that task is completed then to perform instruction of making a return voyage, if it is decided that are not completed for task, then next throwing of flying to
Throwing point and carrying out is ignited the throwing of ball.
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| CN201610590499.5A CN107651187A (en) | 2016-07-26 | 2016-07-26 | A kind of fire-fighting unmanned plane that fire is made with fire |
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| CN113856098A (en) * | 2021-10-25 | 2021-12-31 | 中航通飞华南飞机工业有限公司 | Water drawing fire extinguishing system and method for large fire extinguishing amphibious aircraft |
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