CN107914879A - A kind of unmanned rescue aid in intelligence high-altitude - Google Patents
A kind of unmanned rescue aid in intelligence high-altitude Download PDFInfo
- Publication number
- CN107914879A CN107914879A CN201711435304.0A CN201711435304A CN107914879A CN 107914879 A CN107914879 A CN 107914879A CN 201711435304 A CN201711435304 A CN 201711435304A CN 107914879 A CN107914879 A CN 107914879A
- Authority
- CN
- China
- Prior art keywords
- cabin
- aircraft
- outer cabin
- cable
- rescue aid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
-
- 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
- A62C3/0214—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for buildings or installations in fire storms
-
- 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
- A62C3/0242—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 by spraying extinguishants from the aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The present invention provides a kind of intelligent unmanned rescue aid in high-altitude, including aircraft group, cabin, is tethered at cable, high voltage power supply and control system；Cabin includes outer cabin and the flexible cabin inside outer cabin；Flexible cabin includes at least two removable nacelles being nested；Flexible cabin can be stretched out from the front in outer cabin；The rear in outer cabin is equipped with outer cabin backboard, and outer cabin backboard and the bottom panel in outer cabin are hinged；Aircraft group includes upper strata aircraft and lower floor's aircraft；Control system includes ground controller and on-board controller；One end connection on-board controller of cable is tethered at, is tethered at the other end connection ground controller and high voltage power supply of cable.The unmanned rescue aid in intelligence high-altitude provided by the invention, stable flight performance and hanging ability are provided by two groups of aircraft；Cabin and region to be rescued are connected by flexible cabin, enable to treat that rescue personnel quickly and safely withdraws；At the same time in cabin can a variety of rescue tools of carry, be adapted to a variety of rescue environment.
Description
Technical field
The present invention relates to working at height technical field, the more particularly to a kind of unmanned rescue aid in intelligent high-altitude.
Background technology
Increase in succession with the development and economic progress, each metropolitan skyscraper of society, the high level in many cities
Building is all more than 30 layers.However, during high-rise building with fire disaster, since floor is higher, if passing through during escape
Stair escape needs take a long time, and rescue personnel is also slow into live speed by existing rescue outfit, can prolong
By mistake the valuable lifesaving time, trapped person's is difficult to timely be rescued and treated.Therefore, there is an urgent need to one kind to make high-storey
Trapped person can flee from disaster scene, the quick equipment rescued faster.
The content of the invention
To solve the above-mentioned deficiency mentioned in the prior art, the present invention provides a kind of intelligent high-altitude unmanned rescue aid, bag
Include aircraft group, cabin, be tethered at cable, high voltage power supply and control system；Wherein：
The cabin includes outer cabin and the flexible cabin inside the outer cabin；The flexible cabin passes through with the outer cabin
Guide pipe is connected with guide rail；The flexible cabin includes at least two removable nacelles being nested；Adjacent two are described removable
It is connected between dynamic nacelle by guide pipe with guide rail；The flexible cabin can be stretched out from the front in the outer cabin；Behind the outer cabin
Side is equipped with outer cabin backboard, and the outer cabin backboard and the bottom panel in the outer cabin are hinged；
The aircraft group includes upper strata aircraft and lower floor's aircraft；Lower floor's aircraft is arranged on the upper of the outer cabin
Side, the upper strata aircraft are located at the top of lower floor's aircraft, and the upper strata aircraft passes through with lower floor's aircraft
Ball-screw and slide are connected；Some propellers are respectively provided with the upper strata aircraft and lower floor's aircraft；
The control system includes ground controller and on-board controller；The on-board controller is arranged in the cabin
Portion；Described one end for being tethered at cable connects the on-board controller, and the other end for being tethered at cable connects the ground control
Device and the high voltage power supply.
Further, the removable nacelle is equipped with three, and three removable nacelles are respectively middle deck, inside cabin and outer
Connect cabin；Wherein described middle deck is connected by the first guide pipe and the first guide rail with the outer cabin, and the inside cabin is led by second
It is connected to pipe and the second guide rail with the middle deck；The external cabin passes through the 3rd guide pipe and the 3rd guide rail and the inside cabin
It is connected.
Further, the cabin is made of carbon fibre composite.
Further, the outer cabin backboard is equipped with multiple fire extinguishers.
Further, fire-extinguishing gun and giant are additionally provided with the outer cabin.
Further, described be tethered in cable is equipped with power transmission line and cable.
Further, the driving motor of the propeller is direct current generator.
Further, gyroscope, barometer, magnetic compass, laser range finder and GPS are additionally provided with the on-board controller
Differential positioning direction-finding receiver.
Further, the left side in the outer cabin and right side are equipped with transparent baffle.
The unmanned rescue aid in intelligence high-altitude provided by the invention, provides stable flight performance by two groups of aircraft and hangs
Empty ability；Cabin and region to be rescued are connected by flexible cabin, enable to treat that rescue personnel quickly and safely withdraws；Same opportunity
On cabin can a variety of rescue tools of carry, be adapted to a variety of rescue environment.The unmanned rescue aid in intelligence high-altitude provided by the invention, from
Dynamicization degree is high, highly practical, can effectively improve the efficiency of fire-fighting fire extinguishing and air rescue.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram of the unmanned rescue aid in intelligent high-altitude provided by the invention；
Fig. 2 is the structure diagram of another state of the unmanned rescue aid in intelligent high-altitude provided by the invention.
Reference numeral：
10 aircraft group, 11 upper strata aircraft, 12 lower floor's aircraft
13 propeller, 14 ball-screw, 15 slide
20 cabin, 21 outer cabin 22 is stretched cabin
30 are tethered at 40 fire extinguisher of cable, 50 fire-extinguishing gun
60 giant, 211 outer 221 middle deck of cabin backboard
222 inside cabin, 223 external 231 first guide pipe of cabin
241 first guide rail of the 3rd guide pipe of 232 second guide pipe 233
The 3rd guide rail of 242 second guide rail 243
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, " first " that uses, " second " and similar word be not offered as any order, quantity or
Importance, and simply used the different part of differentiation.
As shown in Figure 1 and Figure 2, the unmanned rescue aid in intelligent high-altitude provided in an embodiment of the present invention, including aircraft group 10,
Cabin 20, be tethered at cable 30, high voltage power supply and control system；Wherein：
The cabin 20 includes outer cabin 21 and the flexible cabin 22 inside the outer cabin 21；The flexible cabin 22 and institute
Outer cabin 21 is stated by guide pipe with guide rail to be connected；The flexible cabin 22 includes at least two removable nacelles being nested；It is adjacent
Two removable nacelles between be connected by guide pipe with guide rail；The flexible cabin 22 can be from the front in the outer cabin 21
Stretch out；
The rear in the outer cabin 21 is equipped with outer cabin backboard 211, the outer cabin backboard 211 and the bottom panel phase in the outer cabin 21
It is hinged；
The aircraft group 10 includes upper strata aircraft 11 and lower floor's aircraft 12；Lower floor's aircraft 12 is arranged on described
The top in outer cabin 21, the upper strata aircraft 11 are located at the top of lower floor's aircraft 12, the upper strata aircraft 11 and institute
Lower floor's aircraft 12 is stated by ball-screw 14 and slide 15 to be connected；The upper strata aircraft 11 and lower floor's aircraft 12
On be respectively provided with some propellers 13；
The control system includes ground controller and on-board controller；The on-board controller is arranged in the cabin 20
Portion；Described one end for being tethered at cable 30 connects the on-board controller, and the other end for being tethered at cable 30 connects the ground
Controller and the high voltage power supply.
Specifically, as shown in Figure 1, cabin 20 includes outer cabin 21 and flexible cabin 22, flexible cabin 22 is located at the inside in outer cabin 21；
Flexible cabin 22 is made of at least two removable nacelles being nested, and the quantity that nacelle is moved in the embodiment of the present invention is 3,
Middle deck 221, inside cabin 222 and external cabin 223 i.e. as shown in Figure 1 and Figure 2；Wherein, the top of middle deck 221 passes through the first guide pipe
231 are connected with the top in outer cabin 21, and the bottom of middle deck 221 is connected by the first guide rail 241 with the bottom in outer cabin 21, middle deck 221
Can relatively outer cabin 21 move back and forth；The top of inside cabin 222 is connected by the second guide pipe 232 with the top of middle deck 221, inside cabin
222 bottom is connected by the second guide rail 242 with the bottom of middle deck 221, and inside cabin 222 can be moved back and forth with respect to middle deck 221；It is external
The top in cabin 223 is connected by the 3rd guide pipe 233 with the top of inside cabin 222, and the bottom in external cabin 223 passes through the 3rd guide rail
243 are connected with the bottom of inside cabin 222, and external cabin 223 can be moved back and forth with respect to inside cabin 222.
As shown in Figure 1 and Figure 2, outer cabin backboard 211, the lower end of outer cabin backboard 211 and outer cabin 21 are equipped with the rear in outer cabin 21
Bottom panel be hinged, outer cabin backboard 211 can be around the hinge joint back rotation with outer cabin 21；When flexible cabin 22 is before outer cabin 21
When side is stretched out, outer cabin backboard 211 back rotation therewith, to maintain cabin 20 to be in equilibrium state；The angle that outer cabin 21 rotates backward
Degree is as the length that relatively outer 21 front end of cabin in flexible cabin 22 is stretched out increases and increases；The flexible and outer cabin backboard in flexible cabin 22
211 rotation can be driven by motor or be driven by cylinder.
Aircraft group 10 is equipped with the top in outer cabin 21, aircraft group 10 is used to provide lift and control balance for cabin
With the power in direction；Aircraft group 10 includes upper strata aircraft 11 and lower floor's aircraft 12；Upper strata aircraft 11 and lower floor's flight
Device 12 is respectively provided with a pair；Liang Ge lower floors aircraft 12 is symmetrical arranged in the both sides at the outer top of cabin 21；Two upper strata aircraft 11 divide
The top of lower floor's aircraft 12 is not arranged on；Upper strata aircraft 11 passes through ball-screw 14 and slide 15 with lower floor's aircraft 12
It is connected；Upper strata aircraft 11 can be slided along slide 15, as shown in Figure 1, by by upper strata aircraft 11 and 12 weight of lower floor's aircraft
It is folded to reduce the occupied space of equipment, or as shown in Fig. 2, by upper strata aircraft 11 and lower floor's aircraft 12 is staggered with
The lift that increase aircraft group 10 can be provided.Multiple propellers 13 are designed with upper strata aircraft 11 and lower floor's aircraft 12,
The driving motor of propeller 13 is direct current generator.
The unmanned rescue aid in intelligence high-altitude provided in an embodiment of the present invention further includes control system, high voltage power supply and is tethered at
Cable 30；It is tethered in cable 30 and is equipped with cable and power transmission line；High voltage power supply is located at ground, and high voltage power supply exports the direct current of 1kV,
And powered by being tethered at cable 30 for aircraft group 10 and cabin 20；Control system includes ground controller and airborne control
Device；Ground controller is located at ground, and on-board controller is arranged on inside cabin 20；Ground controller passes through the net that is tethered in cable 30
Line, control signal is sent to on-board controller, with control the flying of aircraft group 10, flexible cabin 22 flexible and outer cabin backboard
211 rotation；Gyroscope, barometer, magnetic compass, laser range finder and GPS Differential positionings is additionally provided with on-board controller to determine
To receiver, to gather the information such as direction, air pressure, the degree of balance, position, and by being tethered at the network cable transmission in cable 30 to ground
In the controller of face.Preferably, the cabin 20 is made of carbon fibre composite.Using cabin made of carbon fibre composite
20 have the weight of the intensity of higher and smaller.
Preferably, the outer cabin backboard 211 is equipped with multiple fire extinguishers 40, and 50 He of fire-extinguishing gun is additionally provided with the outer cabin 21
Giant 60.Specifically, as shown in Figure 1 and Figure 2, multiple fire extinguishers 40 are additionally provided with outer cabin backboard 211, in cabin 20
Fire-extinguishing gun 50 and giant 60 are additionally provided with, for suppressing the sprawling of the intensity of a fire.
It is preferred that it is additionally provided with window breaking hammer and oxygen cylinder in the cabin 20.
Preferably, the left side in the outer cabin 21 and right side are equipped with transparent baffle, observe and are rescued in time easy to ground staff
Help the state of personnel.
During the intelligence unmanned rescue aid specific works in high-altitude provided in an embodiment of the present invention：Flown by ground controller control
Upper strata aircraft 11 in row device group 10 is unfolded to two Slideslips, and starts the spiral shell on upper strata aircraft 11 and lower floor's aircraft 12
Revolve paddle 13；Control aircraft group 10 to drive cabin 20 to fly to specified rescue position by ground controller, and make cabin 20
Stably it is suspended in designated position；After cabin 20 reaches designated position, control middle deck 221, inside cabin 222 and external cabin 223 are successively
Extend forward, while control outer cabin backboard 211 to rotate backward, the angle that outer cabin backboard 211 rotates backward is with flexible 22 phase of cabin
The length that external 21 front end of cabin is stretched out increases and increases；Skyscraper window or balcony are accessed in external cabin 223, treat rescue personnel
Outer cabin 21 can be entered along external cabin 223, inside cabin 222, middle deck 221；After rescue personnel enters outer cabin 21, external cabin is controlled
223rd, inside cabin 222, middle deck 221 are return back in outer cabin 21, while outer cabin backboard 211 rotates to forward start angle；Control afterwards
Cabin 20 is landed back ground, completes rescue work.In whole rescue operations, ground controller is by being tethered at cable in cable 30
Communicated with on-board controller, high voltage power supply is supplied by the power transmission line being tethered in cable 30 for aircraft group 10 and cabin 20
Electricity.
The unmanned rescue aid in intelligence high-altitude provided in an embodiment of the present invention, stable flight energy is provided by two groups of aircraft
Power and hanging ability；Cabin and region to be rescued are connected by flexible cabin, enable to treat that rescue personnel quickly and safely withdraws；
At the same time in cabin can a variety of rescue tools of carry, be adapted to a variety of rescue environment.It is provided in an embodiment of the present invention intelligence high-altitude without
People's rescue aid, the degree of automation is high, highly practical, can effectively improve the efficiency of fire-fighting fire extinguishing and air rescue.
Although more herein used such as aircraft, cabin, outer cabin, middle deck, inside cabin, external cabin, guide pipe, cunning
The terms such as rail, guide rail, high voltage power supply, controller, but it does not preclude the possibility of using other terms.Using these terms only
It is to more easily describe and explain the essence of the present invention；Being construed as any one of the additional limitations is all and this hair
What bright spirit was disagreed.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
- A kind of 1. unmanned rescue aid in intelligence high-altitude, it is characterised in that：Including aircraft group (10), cabin (20), it is tethered at cable (30), high voltage power supply and control system；Wherein：The cabin (20) includes outer cabin (21) and arranged on the internal flexible cabin (22) of the outer cabin (21)；The flexible cabin (22) it is connected with the outer cabin (21) by guide pipe and guide rail；The flexible cabin (22) is nested removable including at least two Dynamic nacelle；It is connected between two adjacent removable nacelles by guide pipe with guide rail；The flexible cabin (22) can be from institute The front for stating outer cabin (21) is stretched out；The rear of the outer cabin (21) is equipped with outer cabin backboard (211), the outer cabin backboard (211) with The bottom panel of the outer cabin (21) is hinged；The aircraft group (10) includes upper strata aircraft (11) and lower floor's aircraft (12)；Lower floor's aircraft (12) is arranged on The top of the outer cabin (21), the upper strata aircraft (11) are arranged on the top of lower floor's aircraft (12), and the upper strata flies Row device (11) is connected with lower floor's aircraft (12) by ball-screw (14) and slide (15)；The upper strata aircraft (11) and on lower floor's aircraft (12) some propellers (13) are respectively provided with；The control system includes ground controller and on-board controller；The on-board controller is arranged in the cabin (20) Portion；Described one end for being tethered at cable (30) connects the on-board controller, described in the other end connection for being tethered at cable (30) Ground controller and the high voltage power supply.
- 2. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：The removable nacelle is equipped with three A, three removable nacelles are respectively middle deck (221), inside cabin (222) and external cabin (223)；Wherein described middle deck (221) It is connected by the first guide pipe (231) and the first guide rail (241) with the outer cabin (21), the inside cabin (222) passes through second Guide pipe (232) and the second guide rail (242) are connected with the middle deck (221)；The external cabin (223) passes through the 3rd guide pipe (233) and the 3rd guide rail (243) is connected with the inside cabin (222).
- 3. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：The cabin (20) is answered by carbon fiber Condensation material is made.
- 4. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：Set on the outer cabin backboard (211) There are multiple fire extinguishers (40).
- 5. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：It is additionally provided with and goes out on the outer cabin (21) Cannon (50) and giant (60).
- 6. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：Described be tethered in cable (30) is equipped with Power transmission line and cable.
- 7. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：The driving electricity of the propeller (13) Machine is direct current generator.
- 8. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：It is additionally provided with the on-board controller Gyroscope, barometer, magnetic compass, laser range finder and GPS Differential positioning direction-finding receivers.
- 9. the unmanned rescue aid in intelligent high-altitude according to claim 1, it is characterised in that：The left side and the right side of the outer cabin (21) Side is equipped with transparent baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711435304.0A CN107914879A (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned rescue aid in intelligence high-altitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711435304.0A CN107914879A (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned rescue aid in intelligence high-altitude |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107914879A true CN107914879A (en) | 2018-04-17 |
Family
ID=61894422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711435304.0A Pending CN107914879A (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned rescue aid in intelligence high-altitude |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107914879A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108939350A (en) * | 2018-09-19 | 2018-12-07 | 蒋道莲 | High building fire extinguisher |
| CN109131856A (en) * | 2018-07-20 | 2019-01-04 | 南京航空航天大学 | Deformable rotor fire-fighting and rescue unmanned plane |
| CN109513124A (en) * | 2018-11-29 | 2019-03-26 | 燕山大学 | One kind transfinites high aerial fire-fighting and rescue apparatus |
| CN110667846A (en) * | 2019-10-10 | 2020-01-10 | 闫连民 | Vehicle-mounted unmanned aerial vehicle fire rescue system |
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| CN105173108A (en) * | 2015-09-20 | 2015-12-23 | 孙正鼐 | High-rise fire rescue flight cabin |
| CN107380400A (en) * | 2017-08-29 | 2017-11-24 | 深圳爱易瑞科技有限公司 | A kind of aircraft for carrying fire plant, rescuing people's facility |
| CN207631493U (en) * | 2017-12-26 | 2018-07-20 | 新华金侨（厦门）装备科技集团有限公司 | A kind of unmanned rescue aid in intelligence high-altitude |
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| DE102008044812A1 (en) * | 2007-11-13 | 2009-05-14 | Türr, Peter | Aircraft, particularly for rescuing persons, animals or articles from inaccessible abodes, particularly in form of high flyer, has tilting rotor, which is repeatedly adjusted between high flyer position and forward flight position |
| CN105173108A (en) * | 2015-09-20 | 2015-12-23 | 孙正鼐 | High-rise fire rescue flight cabin |
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| CN110667846A (en) * | 2019-10-10 | 2020-01-10 | 闫连民 | Vehicle-mounted unmanned aerial vehicle fire rescue system |
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