CN108820195A - A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle - Google Patents
A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN108820195A CN108820195A CN201810665056.7A CN201810665056A CN108820195A CN 108820195 A CN108820195 A CN 108820195A CN 201810665056 A CN201810665056 A CN 201810665056A CN 108820195 A CN108820195 A CN 108820195A
- Authority
- CN
- China
- Prior art keywords
- detection
- aerial vehicle
- unmanned aerial
- information
- rotor unmanned
- 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
- 238000001514 detection method Methods 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title abstract description 10
- 238000004891 communication Methods 0.000 claims description 8
- 230000000505 pernicious effect Effects 0.000 claims description 8
- 238000010304 firing Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000005357 flat glass Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 4
- 230000001535 kindling effect Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000005341 toughened glass Substances 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle, and fire-fighting detection system includes ground control equipment, multi-rotor unmanned aerial vehicle, camera, detection bullet emitter, detection bullet, information relay device；Detection bullet is carried using multi-rotor unmanned aerial vehicle, is flown to ignition point, then emits detection bullet to hot spot area, detection complete to fire behavior, detailed；To realize the detection of fire behavior to greatest extent, be conducive to formulate and implement most effective fire extinguishing scheme, and ensure the safety of fire fighter.
Description
Technical field
The present invention relates to technical field of fire control, and in particular to one kind is based on multi-rotor unmanned aerial vehicle, disappears to scene of fire
The system and method for anti-detection.
Background technique
With the raising of skyscraper quantity and height, fire-fighting pressure increasingly increases.Especially high-rise building kindling or
Person lays in the storehouse kindling of dangerous material, if that can not understand fire behavior without entering scene, to can not formulate and implement accurately
Fire extinguishing scheme；It carries out investigations if fire fighter braves dangers into the scene of a fire, can seriously jeopardize fire fighter's life security.
Chinese patent notification number CN206847674U discloses a kind of unmanned plane detection fire behavior device, which passes detection
Sensor is attached on unmanned plane, and control unmanned plane enters around the scene of a fire detection for carrying out fire behavior.This method can catch fire in distance
It is detected in point certain distance, but since unmanned plane is limited by flying conditions such as high temperature, wind speed, with cannot be introduced into scene of a fire core
Band, to cannot achieve the detection to most true fire behavior.If fire, this unmanned plane detection fire behavior dress occurs in high-rise building
It sets and carries out interior because glass can not be penetrated, it is even more impossible to achieve the purpose that fire behavior detects.
Summary of the invention
Present invention aims at for the status that can not go deep into inside the scene of a fire carrying out fire behavior detection at present, one kind is provided and is based on
The fire-fighting detection system and method for multi-rotor unmanned aerial vehicle, when solving high-rise building or laying in the storehouse generation fire of dangerous material
Fire behavior detection problem.
To achieve the above object, the fire-fighting detection system based on multi-rotor unmanned aerial vehicle that present invention firstly provides a kind of, it is special
Sign is, including：Ground control equipment, multi-rotor unmanned aerial vehicle, camera, detection play emitter, detect bullet, and information transfer is set
It is standby, wherein：
The ground control equipment, for being remotely controlled multi-rotor unmanned aerial vehicle flight, the shooting of remote control camera, telemeter bullet
Emitter aims at and emission detection bullet, receives and show the image information of camera acquisition, receives detection bullet through relay device
The detection information that forwarding comes；
The multi-rotor unmanned aerial vehicle is flown according to the telecommand that ground control equipment is sent；
The camera, is mounted in multi-rotor unmanned aerial vehicle, is responsible for shooting detection live image, and image information is transmitted
To information relay device；
The detection plays emitter, is mounted on multi-rotor unmanned aerial vehicle bottom, is filled with detection bullet, is set according to ground control
Standby instruction aims at sensing point, and completes the transmitting to detection bullet；
The detection bullet is seated in detection and plays in the launching tube of emitter, is equipped with temperature sensor, pernicious gas senses
Device after being launched into sensing point, completes temperature to ignition point, pernicious gas information collection；
The information relay device, is mounted in multi-rotor unmanned aerial vehicle, is communicated using wireless mode with ground control equipment；
The image information of camera acquisition is received, the information of detection bullet acquisition is received, and the information received is forwarded to ground control
Equipment；Camera shooting instruction, the aiming of detection bullet and firing order that ground control equipment is sent are received, and instruction is turned respectively
It is dealt into camera and detection plays emitter.
Further, in the above-mentioned fire-fighting detection system based on multi-rotor unmanned aerial vehicle, the ground control equipment is equipped with remote control
Operation module, wireless messages receiving module, wireless messages sending module, image display, the remote control operation module are equipped with
Control lever operates convenient for ground handling operator；The wireless messages receiving module is used to receive what the forwarding of information relay device came
The image information of camera acquisition, and the scene of fire information of detection bullet acquisition；The wireless messages sending module will be remotely controlled
The operational order that operation module issues is sent to multi-rotor unmanned aerial vehicle, control multi-rotor unmanned aerial vehicle flight；It is sent to detection bullet hair
Injection device, control detection bullet transmitting.
Further, in the above-mentioned fire-fighting detection system based on multi-rotor unmanned aerial vehicle, the camera be mounted on more rotors without
Man-machine front is communicated with the information relay device by the communications cable, the image information of shooting is transmitted to information transfer and is set
It is standby, and ground control equipment is sent to by information relay device.
Further, in the above-mentioned fire-fighting detection system based on multi-rotor unmanned aerial vehicle, the detection plays emitter by leading to
Letter cable communicate with the information relay device, receive information relay device forwarding come ground control equipment sending aiming with
Firing order.
Further, in the above-mentioned fire-fighting detection system based on multi-rotor unmanned aerial vehicle, wireless communication is equipped in the detection bullet
Module, the information forwarding device for sending detection information in multi-rotor unmanned aerial vehicle；Detection plays shell and uses interior high temperature material
Material production, front end is equipped with taper bullet, for penetrating window-glass.
To achieve the purpose of the present invention, the present invention also provides a kind of fire-fighting detection method based on multi-rotor unmanned aerial vehicle,
It is characterized in that, includes the following steps：
(1) ground control equipment control multi-rotor unmanned aerial vehicle is flown near scene of fire, and the multi-rotor unmanned aerial vehicle carries
There is detection to play emitter, detection bullet, and information relay device and camera are installed；
(2) starting camera work, and the image information that camera acquires is transmitted to ground by information relay device
Control equipment；Ground handling operator monitors the image of camera acquisition by ground control equipment, is remotely controlled nothing according to image information
Man-machine to move about in scene of fire, until camera takes optimal detecting location, remote control multi-rotor unmanned aerial vehicle is hovered over
The position；
(3) ground control equipment control detection plays emitter and aims at the detecting location, then issues emission detection bullet
Instruction, will detection bullet be emitted to detecting location；
(4) detection is bound to up to after detecting location, utilizes the relevant information of self-contained sensor detection scene of fire, packet
The information relay device for including temperature, pernicious gas, ignition point information, and being transferred in multi-rotor unmanned aerial vehicle, information relay device
It will forward information to ground control system again.
The present invention carries detection bullet using multi-rotor unmanned aerial vehicle, flies to ignition point, then emits detection bullet to fire
Calamity central area, detection complete to fire behavior, detailed；The case where for indoor kindling, detection bullet of the invention can penetrate glass into
Enter interior, to complete the detection of fire behavior to greatest extent, is conducive to formulate and implement most effective fire extinguishing scheme, and ensure and disappear
The safety of anti-personnel.
Detailed description of the invention
Fig. 1 is detection system structural schematic diagram of the invention.
Specific embodiment
As shown in Figure 1, a kind of fire-fighting detection system based on multi-rotor unmanned aerial vehicle provided by the present invention, including：Ground
Control equipment 1, multi-rotor unmanned aerial vehicle 2, camera 3, detection bullet emitter 4, detection bullet 5, information relay device 6.
The ground control equipment 1, for being remotely controlled multi-rotor unmanned aerial vehicle flight, the shooting of remote control camera, telemeter
Emitter aiming and emission detection bullet are played, receives and show the image information of camera acquisition, detection bullet is received and is set through transfer
The detection information that standby forwarding comes；
The multi-rotor unmanned aerial vehicle 2 is flown according to the telecommand that ground control equipment is sent；
The camera 3, is mounted in multi-rotor unmanned aerial vehicle, is responsible for shooting detection live image, and image information is passed
It is defeated to arrive information relay device；
The detection plays emitter 4, is mounted on multi-rotor unmanned aerial vehicle bottom, is filled with detection bullet, is controlled according to ground
The instruction of equipment aims at sensing point, and completes the transmitting to detection bullet；
The detection bullet 5 is seated in detection and plays in the launching tube of emitter, is equipped with temperature sensor, pernicious gas passes
Sensor after being launched into sensing point, completes temperature to ignition point, pernicious gas information collection；
The information relay device 6, is mounted in multi-rotor unmanned aerial vehicle, logical using wireless mode and ground control equipment
Letter；The image information of camera acquisition is received, receives the information of detection bullet acquisition, and the information received is forwarded to ground control
Control equipment；Camera shooting instruction, the aiming of detection bullet and firing order that ground control equipment is sent are received, and instruction is distinguished
It is forwarded to camera and detection plays emitter.
In specific implementation process of the present invention, the ground control equipment 1 is equipped with remote control operation module, wireless messages receive mould
Block, wireless messages sending module, image display, the remote control operation module are equipped with control lever, are convenient for ground handling operator
Operation；The wireless messages receiving module is used to receive the image information for the camera acquisition that the forwarding of information relay device comes, with
And the scene of fire information of detection bullet acquisition；The operational order that the wireless messages sending module issues remote control operation module is sent out
It is sent to multi-rotor unmanned aerial vehicle, control multi-rotor unmanned aerial vehicle flight；It is sent to detection and plays emitter, control detection bullet transmitting.
The camera 3 is mounted on 2 front of multi-rotor unmanned aerial vehicle, logical by the communications cable and the information relay device
Letter, is transmitted to information relay device for the image information of shooting, and be sent to ground control equipment by information relay device.
The detection plays emitter 4 and is communicated by the communications cable with the information relay device, receives information transfer and sets
The aiming and firing order that the ground control equipment that standby forwarding comes issues.
Wireless communication module, the letter for sending detection information in multi-rotor unmanned aerial vehicle are equipped in the detection bullet 5
Cease relay device 6；Detection plays shell and is made of interior high-temperature material, and high temperature resistant can work normally in the environment of the scene of a fire；It visits
It surveys and plays front end equipped with taper bullet, for penetrating window-glass.Bullet is detected using shock resistance design, can penetrate tempered glass and
Do not influence normal function.
Under the conditions of the severe scene of a fire, information transmitting will receive limitation, at this moment will rely on information relay device.Detect bullet
The information of measurement is transmitted out by detecting the sender unit of bullet itself, and multi-rotor unmanned aerial vehicle is flown near detection bullet,
The information that detection bullet measurement can accurately be received, is then sent out again by information relay device, is connect for ground control equipment
It receives.
When the present invention is put out a fire using the above-mentioned fire-fighting detection system based on multi-rotor unmanned aerial vehicle, the specific method is as follows：
(1) installation detection plays emitter, filling detection bullet in multi-rotor unmanned aerial vehicle；It Debugging message relay device and takes the photograph
As head；Ground control equipment control multi-rotor unmanned aerial vehicle is flown near scene of fire.
(2) starting camera work, and the image information that camera acquires is transmitted to ground by information relay device
Control equipment；Ground handling operator monitors the image of camera acquisition by ground control equipment, is remotely controlled nothing according to image information
Man-machine to move about in scene of fire, until camera takes optimal detecting location, remote control multi-rotor unmanned aerial vehicle is hovered over
The position；
(3) ground control equipment control detection plays emitter and aims at the detecting location, then issues emission detection bullet
Instruction, will detection bullet be emitted to detecting location；
(4) detection is bound to up to after detecting location, utilizes the relevant information of self-contained sensor detection scene of fire, packet
The information relay device for including temperature, pernicious gas, ignition point information, and being transferred in multi-rotor unmanned aerial vehicle, information relay device
It will forward information to ground control system again.Multi-rotor unmanned aerial vehicle can carry more pieces of detection bullets, detection play in detection process if
It breaks down, it can be again to sensing point emission detection bullet.
Fire fighter can formulate reasonable fire extinguishing scheme and implement to put out a fire according to the fire behavior information detected.
Claims (6)
1. a kind of fire-fighting detection system based on multi-rotor unmanned aerial vehicle, which is characterized in that including：Ground control equipment, more rotors
Unmanned plane, camera, detection bullet emitter, detection bullet, information relay device, wherein：
The ground control equipment, for being remotely controlled multi-rotor unmanned aerial vehicle flight, the shooting of remote control camera, the transmitting of telemeter bullet
Device aims at and emission detection bullet, receives and show the image information of camera acquisition, receives detection bullet and forwards through relay device
The detection information come；
The multi-rotor unmanned aerial vehicle is flown according to the telecommand that ground control equipment is sent；
The camera, is mounted in multi-rotor unmanned aerial vehicle, is responsible for shooting detection live image, and image information is transferred to letter
Cease relay device；
The detection plays emitter, is mounted on multi-rotor unmanned aerial vehicle bottom, detection bullet is filled with, according to ground control equipment
Instruction aims at sensing point, and completes the transmitting to detection bullet；
The detection bullet is seated in detection and plays in the launching tube of emitter, is equipped with temperature sensor, harmful gas sensor,
After being launched into sensing point, temperature to ignition point, pernicious gas information collection are completed；
The information relay device, is mounted in multi-rotor unmanned aerial vehicle, is communicated using wireless mode with ground control equipment；It receives
The image information of camera acquisition, receives the information of detection bullet acquisition, and the information received is forwarded to ground control equipment；
Camera shooting instruction, the aiming of detection bullet and firing order that ground control equipment is sent are received, and instruction is forwarded to respectively
Camera and detection play emitter.
2. the fire-fighting detection system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that：The ground control
Control equipment is equipped with remote control operation module, wireless messages receiving module, wireless messages sending module, image display, described distant
It controls operation module and is equipped with control lever, operated convenient for ground handling operator；The wireless messages receiving module is for receiving in information
Turn the image information for the camera acquisition that device forwards are come, and the scene of fire information of detection bullet acquisition；The wireless messages
The operational order that remote control operation module issues is sent multi-rotor unmanned aerial vehicle, control multi-rotor unmanned aerial vehicle flight by sending module；
It is sent to detection and plays emitter, control detection bullet transmitting.
3. the fire-fighting detection system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that：The camera
It is mounted on multi-rotor unmanned aerial vehicle front, is communicated by the communications cable with the information relay device, the image information of shooting is passed
It is sent to information relay device, and ground control equipment is sent to by information relay device.
4. the fire-fighting detection system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that：The detection bullet
Emitter is communicated by the communications cable with the information relay device, is received the ground control that the forwarding of information relay device comes and is set
The aiming and firing order that preparation goes out.
5. the fire-fighting detection system according to claim 1 based on multi-rotor unmanned aerial vehicle, it is characterised in that：The detection bullet
It is interior to be equipped with wireless communication module, the information forwarding device for sending detection information in multi-rotor unmanned aerial vehicle；It detects outside bullet
Shell is made of interior high-temperature material, and front end is equipped with taper bullet, for penetrating window-glass.
6. a kind of fire-fighting detection method based on multi-rotor unmanned aerial vehicle, which is characterized in that include the following steps：
(1) ground control equipment control multi-rotor unmanned aerial vehicle is flown near scene of fire, and the multi-rotor unmanned aerial vehicle carries spy
It surveys and plays emitter, detection bullet, and information relay device and camera are installed；
(2) starting camera work, and the image information that camera acquires is transmitted to ground control by information relay device
Equipment；Ground handling operator monitors the image of camera acquisition by ground control equipment, according to image information remote controlled drone
It is moved about in scene of fire, until camera takes optimal detecting location, remote control multi-rotor unmanned aerial vehicle hovers over the position
It sets；
(3) ground control equipment control detection plays emitter and aims at the detecting location, then issues the finger of emission detection bullet
It enables, detection bullet is emitted to detecting location；
(4) detection is bound to up to after detecting location, utilizes the relevant information of self-contained sensor detection scene of fire, including temperature
Degree, pernicious gas, ignition point information, and the information relay device being transferred in multi-rotor unmanned aerial vehicle, information relay device again will
Information is forwarded to ground control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665056.7A CN108820195A (en) | 2018-06-26 | 2018-06-26 | A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810665056.7A CN108820195A (en) | 2018-06-26 | 2018-06-26 | A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108820195A true CN108820195A (en) | 2018-11-16 |
Family
ID=64138566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810665056.7A Pending CN108820195A (en) | 2018-06-26 | 2018-06-26 | A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108820195A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808885A (en) * | 2019-04-02 | 2019-05-28 | 厦门历思科技服务有限公司 | A kind of investigation survey meter and the methods of investigation using the investigation survey meter |
| CN110316377A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of full-automatic fire-extinguishing aircraft with water rocket |
| CN114013638A (en) * | 2021-11-30 | 2022-02-08 | 中国久远高新技术装备有限公司 | Upper-emission high-power multi-rotor unmanned laser combat equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183962A (en) * | 2011-03-11 | 2011-09-14 | 中国气象局气象探测中心 | Unmanned aerial vehicle (UAV) dropsonde and method for releasing and controlling same |
| CN104345737A (en) * | 2013-07-29 | 2015-02-11 | 中科宇图天下科技有限公司 | Monitoring unmanned plane system using thrown sensing device |
| CN105282517A (en) * | 2015-11-11 | 2016-01-27 | 程涛 | Multi-rotor-wing-unmanned-aerial-vehicle-based fire disaster situation investigation method and system of high building |
| CN106581906A (en) * | 2016-12-13 | 2017-04-26 | 北京电子工程总体研究所 | High-rise building fire extinguishing apparatus based on unmanned aerial vehicle |
| CN108039011A (en) * | 2018-01-08 | 2018-05-15 | 南京森林警察学院 | A kind of mist detecting device for being used to prevent forest fire |
-
2018
- 2018-06-26 CN CN201810665056.7A patent/CN108820195A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183962A (en) * | 2011-03-11 | 2011-09-14 | 中国气象局气象探测中心 | Unmanned aerial vehicle (UAV) dropsonde and method for releasing and controlling same |
| CN104345737A (en) * | 2013-07-29 | 2015-02-11 | 中科宇图天下科技有限公司 | Monitoring unmanned plane system using thrown sensing device |
| CN105282517A (en) * | 2015-11-11 | 2016-01-27 | 程涛 | Multi-rotor-wing-unmanned-aerial-vehicle-based fire disaster situation investigation method and system of high building |
| CN106581906A (en) * | 2016-12-13 | 2017-04-26 | 北京电子工程总体研究所 | High-rise building fire extinguishing apparatus based on unmanned aerial vehicle |
| CN108039011A (en) * | 2018-01-08 | 2018-05-15 | 南京森林警察学院 | A kind of mist detecting device for being used to prevent forest fire |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808885A (en) * | 2019-04-02 | 2019-05-28 | 厦门历思科技服务有限公司 | A kind of investigation survey meter and the methods of investigation using the investigation survey meter |
| CN110316377A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of full-automatic fire-extinguishing aircraft with water rocket |
| CN110316377B (en) * | 2019-07-04 | 2020-06-05 | 中原工学院 | Take full-automatic fire extinguishing aircraft of water rocket |
| CN114013638A (en) * | 2021-11-30 | 2022-02-08 | 中国久远高新技术装备有限公司 | Upper-emission high-power multi-rotor unmanned laser combat equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104027909B (en) | The police fire extinguishing unmanned plane of high building | |
| CN108820195A (en) | A kind of fire-fighting detection system and method based on multi-rotor unmanned aerial vehicle | |
| CN106581906B (en) | A kind of high-rise building extinguishing device based on unmanned plane | |
| CN106422115A (en) | Remote control fire extinguishing method for high-rise buildings | |
| CN109248390A (en) | A kind of fire-fighting and rescue integrated system and method based on unmanned aerial vehicle platform | |
| CN105963882B (en) | Air-to-ground rocket fire extinguisher and method | |
| US20180257780A1 (en) | Kinetic unmanned aerial vehicle flight disruption and disabling device, system and associated methods | |
| CN105730698B (en) | Small-sized fire extinguishing depopulated helicopter | |
| CN206950485U (en) | A kind of skyscraper extinguishment fire suppression unmanned plane based on real scene navigation | |
| CN203944052U (en) | The police fire extinguishing unmanned plane of high building | |
| CN107161328B (en) | Projectile type disaster rescue and fire extinguishing unmanned aerial vehicle | |
| CN108771803A (en) | Control system and fire extinguishing system for the fire extinguishing of skyscraper rotor wing unmanned aerial vehicle | |
| CN207694102U (en) | A kind of high-altitude unmanned plane and fire-extinguishing | |
| CN106390331A (en) | High-rise building fire extinguishing system based on multi-rotor-wing unmanned aerial vehicle (UAV) | |
| CN107158602A (en) | A kind of emission type disaster relief and unmanned plane and fire-extinguishing | |
| CN110465036B (en) | Controllable fire-extinguishing bomb, fire-extinguishing system and fire-extinguishing method | |
| CN107670201A (en) | UAV system type fire extinguishing system | |
| CN107380451A (en) | A kind of rotor armed drones | |
| JP2644700B2 (en) | How to guide fire bombs | |
| CN107684677A (en) | A kind of winged jaw arrangement for high-rise fire extinguishing system | |
| CN107008010B (en) | A kind of games system of simulating actual combat | |
| CN203827813U (en) | Novel artificial weather influencing system | |
| CN108619641A (en) | A kind of fire extinguishing system and method for Vertical Launch guidance firefighting cartridge | |
| CN210437388U (en) | Forest fire-fighting fixed wing unmanned aerial vehicle | |
| CN206007850U (en) | Air-to-surface missile fire extinguisher |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181116 |