CN109331360A - Unmanned plane fire extinguishing system based on unmanned aerial vehicle group group job - Google Patents
Unmanned plane fire extinguishing system based on unmanned aerial vehicle group group job Download PDFInfo
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- CN109331360A CN109331360A CN201811136322.3A CN201811136322A CN109331360A CN 109331360 A CN109331360 A CN 109331360A CN 201811136322 A CN201811136322 A CN 201811136322A CN 109331360 A CN109331360 A CN 109331360A
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- unmanned plane
- cooling
- fire
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- fire extinguishing
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
Abstract
The invention discloses the unmanned plane fire extinguishing systems based on unmanned aerial vehicle group group job.Unmanned fire extinguishing system includes: the main unmanned plane for carrying electronic induction equipment and the secondary unmanned plane that can carry fire extinguisher bomb, power mechanism is installed in the main unmanned plane surrounding, the power mechanism provides flying power for UAV system, promising electronic induction equipment is installed in the main unmanned plane lower part, the cooling device of cooling is provided, wherein, the unmanned plane fire extinguishing system of unmanned aerial vehicle group group job of the invention, pass through the collaborative work of main unmanned plane and secondary unmanned plane, control pc machine is passed through by ground fireman again, in the power supply of cutting of suitable opportunity electromagnetism grapple, to realize the accurate dispensing of fire extinguisher bomb.
Description
Technical field
The present invention relates to a kind of fire extinguishing systems, in particular to based on the unmanned plane fire extinguishing system of unmanned aerial vehicle group group job.
Background technique
With the continuous development of society, various high buildings and large mansions are in a compact mass.Improving the same of our living environments
When also buried more security risks.When fire behavior occurring inside these high buildings and large mansions, since floor is too high, giant is logical
Chang Wufa effectively puts out a fire to it, and fire-fighting equipment is difficult timely to transport region on fire and puts out a fire, for this at present
Situation, common solution are to carry fire extinguisher bomb by unmanned plane to take off, and fire extinguisher bomb is launched to region on fire to reality
Now put out a fire.However due to the complexity of environment and fire behavior, for example, when fire behavior is larger it is single small drone it is lighter due to being self-possessed, and
The blast that the intensity of a fire generates is excessive thus can not be close to the scene of a fire；And large-scale unmanned plane is due to more heavy, mobility it is not strong to
It is unable to satisfy certain fine operations.
Security against fire is always the focus of the people's livelihood, is not only related to the life that huge property loss is also related to the people
Safety, while fire suppression is also the biggish operation of risk, causes very big threat to the personal safety of fire fighter.
Since reform and opening-up, China's skyscraper largely occurs, but the fire fighting truck that urban fire control army is equipped at present is big
All at 50 meters hereinafter, helpless for the skyscraper more than 100 meters or more, simultaneously as private car universal, road
Jam situation is got worse, and causes difficulty to the Quick rescue of fire fighting truck.The situation that other misfortune nearly weighs, such as offshore vessel
Oceangoing ship fire extinguishing, forest extinguishing, arm store and nuclear power station fire extinguishing etc. extreme case, conventional ground rescue means have limitation, and
Huge challenge is proposed to the personal safety of fire fighter.
In addition to routinely fire extinguishing equipment, although various types of fire extinguishing systems have also been invented on the market at present, its principle is studied carefully,
Mostly using ground injection or radiation pattern, put out a fire by ground installation or personnel close to fire source spray fire extinguishing agent, throwing or transmitting
Bullet is put out a fire, but in view of the factors such as personal safety, convenient transportation is quick, space operation is limited, projection precision, existing fire extinguishing
System is inflexible to the fire rescue in the weight situation of misfortune danger and is not necessarily applicable in completely, therefore how to design and research and develop and is a set of
Safety, the problem for quickly, accurately, suitable for the fire extinguishing systems in various misfortune danger weight situations becoming industry.
Summary of the invention
To solve the above-mentioned problems, present inventor has performed sharp studies, as a result, it has been found that: it provides a kind of based on unmanned aerial vehicle group
The unmanned plane fire extinguishing system of group job, unmanned fire extinguishing system include: to carry the main unmanned plane of electronic induction equipment and can carry
The unmanned plane main body of fire extinguisher bomb is equipped with power mechanism in the main unmanned plane surrounding, and the power mechanism is UAV system
Flying power is provided, promising electronic induction equipment is installed in the main unmanned plane lower part, the cooling device of cooling, therefore this is provided
The collaborative work by main unmanned plane and secondary unmanned plane is invented, then by ground fireman by control pc machine, on suitable opportunity
The power supply of electromagnetism grapple is cut off, to realize the accurate dispensing of fire extinguisher bomb, so as to complete the present invention.
The purpose of the present invention is to provide following aspect:
A kind of unmanned plane fire extinguishing system based on unmanned aerial vehicle group group job include: carry electronic induction equipment master nobody
Machine and the secondary unmanned plane that fire extinguisher bomb can be carried,
Power mechanism is installed in the main unmanned plane surrounding, the power mechanism provides flight for UAV system and moves
Power,
Promising electronic induction equipment is installed in the main unmanned plane lower part, the cooling device of cooling is provided.
Wherein, the electromagnetism grapple for grabbing fire extinguisher bomb is installed in the secondary uav bottom, on the fire extinguisher bomb top
Face is provided with the electromagnetism slot for fastening with electromagnetism grapple, and the electromagnetism grapple external structure is cylindric, and body diameter
Less than the diameter of electromagnetism slot,
Preferably, the electromagnetism grapple of multiple groups pair unmanned plane can cooperate with the large-scale fire extinguisher bomb of drive, and the electromagnetism slot, which is distributed in, to go out
The left and right sides of fiery bullet,
Ground fireman receives main unmanned plane transmission information by pc machine, and cuts off electromagnetism grapple on suitable opportunity
Power supply, to realize the accurate dispensing of fire extinguisher bomb,
Preferably, the power supply line of emergency switching-off is connected between the electromagnetism grapple.
Wherein, the electronic induction equipment carried on the main unmanned plane includes,
Digital radio station module, the pc for receiving the data of various electronic induction equipment transmission and feeding back to ground fireman
On machine, fireman is assisted to assign correct instruction；
Camera can observe the various emergency situations in scene of fire, for surveying before being put out a fire to environment at any time
It surveys and region on fire is positioned, and determine the position dropped a bomb；
Infrared induction module can avoid unmanned plane and be strayed into temperature during flight for incuding extraneous temperature
Excessively high region；
Pneumatic induction module monitors the irregular wind speed near the scene of a fire for incuding disturbance of the different hot-fluids to air, and
On the PC that the data being collected into are transmitted to fireman by digital radio station；
Temperature sensor, for incuding the temperature for the electronic induction equipment installed inside unmanned plane.
Wherein, the cooling device includes the cooling storehouse for being sealed with cooling material, and the cooling storehouse includes several chambers
Body, cooling material are sealed up for safekeeping in the cavity, and preferably cavity number is 2-20, preferably cooling material are as follows: dry ice, ice, water or
Cooling base-material.
Wherein, the main unmanned plane includes unmanned plane main body, and the centre bit of main unmanned plane is arranged in the unmanned plane main body
It sets, the main unmanned plane main body is connect with power mechanism by horn,
The camera is mounted on the front end below drone body, it is preferable to use two cameras, and by simultaneously
Two cameras are arranged to realize binocular vision algorithm in row, it is preferable that the distance of two CCD camera assemblies is 50-150mm.
Wherein, the secondary unmanned plane uses group's operation mode, multiple secondary unmanned planes can synchronous coordination flight, and can
Large-scale fire extinguisher bomb is carried,
Fire behavior it is smaller or fire field environment is complex etc. need unmanned plane to complete the more task of maneuverability when, can be with
Using the single unmanned machine operation of pair；
Preferably, group's operation is used when fire behavior is larger, it is highly preferred that the pair unmanned plane number is 2-12.
Wherein, the power mechanism includes blade, and provides the motor of power for the unmanned plane fire extinguishing decorum.
Wherein, the cooling storehouse surrounding is equipped with cooling tube.
Wherein, the cooling tube extends to blade end from cooling storehouse, and the cooling tube uses high molecular material.
Wherein, the cooling tube is wrapped on the fuselage of main unmanned plane, it is preferred that cooling tube is wrapped in main unmanned plane and carries
Electronic induction equipment on, and high-temperature protective cover is covered with outside the cooling tube, the high temperature protection is covered on close to blade
One section is provided with thermovent,
Preferably, the tail distribution of the cooling tube is provided with equally distributed cooling in the downside of blade, the cooling tube
Hole, the cooling hole is sprayable to be gone out to reduce the misty cooling gas of blade surface temperature,
Preferably, the cooling tube extends from main uav bottom cooling storehouse Yangjing row horizontal plane, the cooling tube terminal
Electronic inductor is corresponded to, the terminal location of the cooling tube is in flat beak shape,
After the temperature of temperature sensor senses electronic induction equipment is excessively high, cooling hole discharges cooling gas and/or cooling
Base-material, and then electronic induction equipment is protected,
The main unmanned plane further includes,
Air outlet, air outlet setting perforation before and after blade side, the air outlet in main unmanned plane horn；
Air inlet, the air inlet are arranged in the high-temperature protective cover and unmanned plane main body joining place,
The diameter and air inlet diameter ratio of the air outlet are 1:1.5~3, and the length of blade and horn length ratio are 1:
1-2。
The unmanned plane fire extinguishing system based on unmanned aerial vehicle group group job provided according to the present invention, has the advantages that
(1) main unmanned plane lower part installs promising electronic induction equipment and provides the cooling device of cooling, to avoid leading nobody
Machine enters in the excessively high environment of temperature, causes the damage of electronic induction equipment；
(2) group's operation is used when fire behavior is larger, the pair unmanned plane realizes synchronous behaviour under the control of fireman
To make, secondary unmanned plane top is equipped with protective cover, avoids being burnt in secondary unmanned plane by high temperature, and the protective cover uses high temperature resistant, every
Hot material protects secondary unmanned plane；
(3) large-scale fire extinguisher bomb is by least 4 frame unmanned plane combined traffics, by main nothing after unmanned plane group is close to point of origin
The three-dimensional coordinate of man-machine calibration unmanned plane group sets nothing by the three-dimensional coordinate of unmanned plane group and the three-dimensional coordinate of ignition point
Man-machine next flight path, the influence for needing to consider wind direction, wind speed to flight path at this time and use show from fire
The offset correction that obtains is modified the state of flight of unmanned plane single in unmanned plane group in；To ensure nobody
Group of planes group can precisely reach air-drop position.
Detailed description of the invention
Fig. 1 shows a kind of middle secondary unmanned plane monomer operation structure schematic diagram of preferred embodiment according to the present invention；
Fig. 2 shows a kind of unmanned plane fire extinguishing systems based on unmanned aerial vehicle group group job of preferred embodiment according to the present invention
Schematic diagram；
Fig. 3 shows cooling tube schematic diagram in a kind of unmanned plane fire extinguishing system of preferred embodiment according to the present invention；
Fig. 4 shows the signal of the electromagnetism grapple part in a kind of unmanned plane fire extinguishing system of preferred embodiment according to the present invention
Figure；
Fig. 5 shows the portion of cooling tube and blade in a kind of unmanned plane fire extinguishing system of preferred embodiment according to the present invention
Divide schematic diagram；
Fig. 6 shows the part of cooling tube and blade in a kind of unmanned plane fire extinguishing system of preferred embodiment according to the present invention
Cross-sectional view；
Fig. 7 shows a kind of middle secondary unmanned plane work compound structural schematic diagram of preferred embodiment according to the present invention；
Fig. 8 shows another cooling tube and leaf in a kind of unmanned plane fire extinguishing system of preferred embodiment according to the present invention
The partial schematic diagram of piece；
Drawing reference numeral explanation:
1- unmanned plane main body；
2- blade；
3- cooling storehouse；
4- fire extinguisher bomb；
5- cavity；
6- electromagnetism grapple；
7- cooling tube；
8- motor；
9- cooling hole；
10- electromagnetism slot；
11- power supply line；
12- high-temperature protective cover；
13- air inlet；
14- air outlet；
15- horn；
001- camera；
002- infrared induction module；
The pneumatic induction module of 003-；
004- digital radio station module；
005- electromagnet I；
006- fire extinguisher bomb；
007- electromagnet II；
008- digital radio station module；
009- fireman's pc machine.
Specific embodiment
Present invention will now be described in detail, and the features and advantages of the invention will become more with these explanations
It is clear, clear.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the attached drawings
In terms of kind, but unless otherwise indicated, it is not necessary to attached drawing drawn to scale.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2, the unmanned fire extinguishing system packet
It includes: carrying the main unmanned plane of electronic induction equipment and the secondary man-machine of fire extinguisher bomb 4 can be carried,
Power mechanism is installed in the main unmanned plane surrounding, the power mechanism provides flight for UAV system and moves
Power,
Promising electronic induction equipment is installed in the main unmanned plane lower part, the cooling device of cooling is provided, to avoid main nothing
It is man-machine to enter in the excessively high environment of temperature, cause the damage of electronic induction equipment.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2,
The electromagnetism grapple 6 for grabbing fire extinguisher bomb 4 is installed in the secondary uav bottom, in 4 top surface of fire extinguisher bomb
It is provided with the electromagnetism slot 10 for fastening with electromagnetism grapple 6,6 external structure of electromagnetism grapple is cylindric, and cylinder is straight
Diameter is less than the diameter of electromagnetism slot 10,
Preferably, the electromagnetism grapple 6 of multiple groups pair unmanned plane can cooperate with the large-scale fire extinguisher bomb 4 of drive, and the electromagnetism slot 10 is distributed
In the left and right sides of fire extinguisher bomb 4,
Ground fireman receives main unmanned plane transmission information by pc machine, and cuts off electromagnetism grapple 6 on suitable opportunity
Power supply, to realize the accurate dispensing of fire extinguisher bomb 4,
Preferably, the power supply line 11 of emergency switching-off is connected between the electromagnetism grapple 6, this mode is applied in a group list
Body pair unmanned plane carries the case where single fire extinguisher bomb 4, and every two pair unmanned plane is linked together by a connecting line, the company
Wiring connects on the power line, can solve the situation that electromagnetism grapple 6 can not work.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2, installed on the main unmanned plane
Electronic induction equipment includes,
Digital radio station module 004, for receiving the data of various electronic induction equipment transmission and feeding back to ground fireman
Pc machine on, fireman is to assigning correct instruction；
Camera 001 can observe the various emergency situations in scene of fire at any time, survey for carrying out environment before being put out a fire
Survey and the positioning for region on fire, and by the determination of bomb-release point；
Infrared induction module 002 can avoid unmanned plane and be strayed into temperature excessively high region during flight, (not high
In 60 DEG C)；
Pneumatic induction module 003 is disturbed under airspace, the wind speed near the scene of a fire for incuding different hot-fluids, and will be sensed
Data pass through digital radio station transmit fireman PC；
Temperature sensor, for incuding the temperature for the electronic induction equipment installed on unmanned plane.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2, the cooling device includes close
Envelope has the cooling storehouse 3 of cooling material, and the cooling storehouse 3 includes several cavitys 5, and preferably cavity number is 2-20, preferably
Ground cooling material are as follows: dry ice, ice, water or cooling base-material (such as ammonium salt of sodium bicarbonate, ammonium carbonate, phosphoric acid) and moderate lubrication agent
Fine particle made of co-ground after the mixing of (magnesium stearate, mica powder, talcum powder etc.), a small amount of anti-blushing agent (silica gel), with two
Carbonoxide makees injection power, and the powder ejected, concentration is intensive, fine particles, and resistance can be constituted on solid burning article by covering
Hinder the separation layer of burning, while non-combustible gas is precipitated, reduces the oxygen concentration in air, fray-out of flame.
In a preferred embodiment according to the present invention, as shown in figures 1-5, the main unmanned plane includes unmanned plane
The center of main unmanned plane is arranged in main body 1, the unmanned plane main body 1, and the main unmanned plane main body 1 passes through with power mechanism
Horn 15 connects.
In a preferred embodiment according to the present invention, as shown in figures 1-5, the camera 001 is mounted on master
Front end below drone body, the camera 001 select 2 and pass through realization binocular vision algorithm placed side by side, it is preferable that
The distance of two CCD camera assemblies is 50-150mm.
Heretofore described binocular vision algorithm is the mature technology of this field, passes through a left side for different location in the algorithm
Right two cameras obtain two width views of Same Scene, by calculating parallax of the spatial point in two width views, obtain the point
D coordinates value.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2, the pair unmanned plane uses group
Group job mode, and large-scale fire extinguisher bomb can be carried,
Fire behavior it is smaller or fire field environment is complex etc. need unmanned plane to complete the more task of maneuverability when, can be with
Using the single unmanned machine operation of pair；
Group's operation is used when fire behavior is larger, the pair unmanned plane realizes simultaneously operating under the control of fireman, excellent
Selection of land, the pair unmanned plane number is 2-12；
Secondary unmanned plane top is equipped with protective cover, avoids being burnt in secondary unmanned plane by high temperature, and the protective cover uses resistance to height
Temperature, heat-barrier material protect secondary unmanned plane,
But in a special case, the practicable suicide fire-fighting mode of secondary unmanned plane.
In a preferred embodiment according to the present invention, as shown in Figures 1 and 2, the power mechanism includes leaf
Piece 2, and the motor 8 of power is provided for the unmanned plane fire extinguishing decorum.
In a preferred embodiment according to the present invention, as shown in figures 1-6,3 surrounding of cooling storehouse is equipped with
Cooling tube 7.
In a preferred embodiment according to the present invention, as shown in figures 1-5, the cooling tube 7 prolongs from cooling storehouse 3
2 end of blade is reached, several cooling holes 9 are dispersed on the cooling tube 7, the cooling tube 7 uses high molecular material, macromolecule
Material based on compound, including rubber, plastics, fiber, coating, adhesive and polymer-based composite.
In a preferred embodiment according to the present invention, as shown in figs.1-8,
The cooling tube 7 is wrapped on the fuselage of main unmanned plane, it is preferred that cooling tube 7 is wrapped in what main unmanned plane carried
In electronic induction equipment, and high-temperature protective cover 12 is covered with outside the cooling tube 7, the high-temperature protective cover 12 is close to leaf
One section of piece is provided with thermovent, and high temperature is avoided to cause the damage of whole electronic induction equipment to the direct heat radiation of main unmanned plane
Evil,
Cooling hole 9 is provided on the cooling tube 7, the cooling hole 9 is provided with close to the side of induction electronic equipment, thus
Avoid electronic equipment because of failure or damage caused by high temperature,
After the temperature of temperature sensor senses electronic induction equipment is excessively high, cooling hole 9 discharges cooling gas and/or cooling
Base-material, and then protect electronic induction equipment, discharges cooling gas and/or cooling base-material from cooling hole 9, cooling gas and/or
Cooling base-material can be gone directly electronic induction equipment by cooling hole 9, and cold air is avoided not to reach the position that accurate needs cool down.
The main unmanned plane further includes,
Air outlet 14, the air outlet 14 are arranged in main unmanned plane horn 15 before 2 side of blade, the air outlet 14
After penetrate through；
Air inlet 15, the setting of air inlet 15 is in the high-temperature protective cover 12 and 1 joining place of unmanned plane main body, motor 8
Band movable vane piece 2 rotates, and drives air flowing, forms negative pressure region, air can be made to flow to air outlet 15, Wen Shixiao from air inlet 15
It should thus generate, generate the negative pressure of similar vacuum at air outlet 15 at this time, air-flow will be driven to pass through the high-temperature protective cover 12
Air duct and outside air carry out ventilation flowing, thus the heat that electronic induction equipment is generated at moment and the high temperature air of surrounding
It is taken away by the air of flowing, while being not take up space, also consumes additional energy source.
The diameter and 14 diameter ratio of air inlet of the air outlet 15 are 1:1.5~3, and the function and effect that venturi effect generates are most
It is good.
Venturi effect, also referred to as venturi effect: this phenomenon is with its finder, Italian physicist's venturi
(Giovanni Battista Venturi) name.The effect shows that restricted flow in the flow section by reducing, flows
There is the phenomenon that flow velocity increase in body, and flow velocity is inversely proportional with flow section.And know the increase of flow velocity with stream by Bernoulli's theorem
The reduction of body pressure, i.e., common venturi phenomenon.Generally, this effect refers to and can produce near swiftly flowing fluid
Raw low pressure, to generate suction-operated.
The temperature sensor uses platinum RTD, and sensitivity: thermistor can become with very small temperature change
Change.
Precision: thermistor can provide very high absolute precision and error, cost: for the high-performance of thermistor, it
Cost performance it is very high.Robustness: the construction of thermistor is so that it is very sturdy and durable.
Flexibility: thermistor can be configured to a variety of physical forms, including minimum packaging.
Sealing: glass-encapsulated is provided for the packaging of sealing, to avoid causing sensor to break down because of dampness.
Surface installation: providing various sizes and resistance tolerance, and in the disadvantage of thermistor, usually only automatic heating is
One design consideration, it is necessary to take appropriate measures and induced current is limited in a sufficiently low value, to make to add automatically
Hot mistake is reduced to an acceptable value.
Nonlinear problem can be solved by software or circuit, can cause failure moisture problem can by glass-encapsulated come
It solves.
All the sensors have specific Pros and Cons, it is to be ensured that project is succeeded, it is important to allow sensor function
Match with application.
Perfect temperature sensor: not influencing measured medium, and very accurately, response is immediately (in most cases
Under), output can easily be accommodated.
The infrared sensor selects the infrared sensor that can bear certain high temperature, such as OTP-539U high-temperature infrared
Temperature sensor,
The pneumatic induction module, which is selected, matches general LC013-NC,
MMT-2, the working frequency 902-928MHz of U.S. Free Wave, transmission speed can be selected in the digital radio station module
Rate 115.2k/153.6k, 90 kilometers of transmission range, operating ambient temperature requires -40 DEG C to+85 DEG C, can satisfy fire-fighting operation
Demand.
7 cooling hole 9 of cooling tube is distributed on the fuselage for being wrapped in main unmanned plane, it is preferred that cooling tube 7 is wrapped in master
In the electronic induction equipment that unmanned plane carries, and high-temperature protective cover 12, the high temperature protection are covered with outside the cooling tube 7
Cover 12 is being provided with thermovent close to one section of airfoil vanes,
Preferably, the tail distribution of the cooling tube 7 is provided with equally distributed cold in the downside of blade 2, the cooling tube 7
But hole 9, the cooling hole is sprayable to be gone out to reduce the misty cooling gas of 2 surface temperature of blade, so that the temperature of blade 2 is reduced,
And the temperature of engine,
Preferably, the cooling tube 7 extends from main 3 Yangjing row horizontal plane of uav bottom cooling storehouse, and the cooling tube 7 is eventually
End corresponds to electronic inductor, and the terminal location of the cooling tube 7 is in flat beak shape, in temperature sensor senses to when the temperature is excessively high
Cooling storehouse 3 is opened, ejects in cooling storehouse 3, is directly injected under the action of portion's pressure including cooling gas or cooling liquid
The position for needing to cool down, it is preferable that cooling tube 7 uses linear distribution, so that the impact force of injection is improved, to improve cooling
Efficiency.
The main unmanned plane further includes,
Air outlet 14, the air outlet 14 are arranged in main unmanned plane horn 15 close to 2 side of airfoil vanes, the air outlet
14 front and back perforations；
Air inlet 15, the air inlet 15 are arranged in the high-temperature protective cover 12 and 1 joining place of unmanned plane main body,
The diameter and 14 diameter ratio of air inlet of the air outlet 15 are 1:1.5~3, and 2 length of blade and horn 15 are long
Degree is than being 1:1-2.
The electronic induction equipment of various precisions is carried on nobody machine of master, it is at high price, it is therefore desirable to separately to lead nobody
On the other hand machine and secondary unmanned plane will also provide main unmanned plane preferably protection simultaneously, existing unmanned plane fire extinguishing system is simultaneously
It is not separated by, the cost often once put out a fire is high.
Embodiment 1
After fireman reaches the scene of a fire, sends the main unmanned plane of a frame to reconnoitre live fire hazard environment in advance, pass through binocular vision
Technology obtains the three-dimensional map of skyscraper, is then based on three-dimensional map and the point of origin of skyscraper is positioned and prejudged,
Obtain the three-dimensional coordinate of fire floor,
Wherein camera is mounted on main drone body lower front end, and camera need to select 2 and be emitted into double to realize
Mesh vision algorithm, such as Vimicro ZC0301P camera, resolution ratio are that 320 × 240 single weight are 20g, two cameras
The distance of component is to be placed in parallel forward with 100mm；For carrying out environment survey before being put out a fire and for region on fire
Positioning, and by the determination of bomb-release point；
By the point of origin coordinate that obtains close to the scene of a fire, while the heat flux distribution characteristic in the pneumatic induction module acquisition scene of a fire,
And collected information is sent to the pc machine of fireman by digital radio station module；Fireman has been based on building under fire environment
The temperature in high-rise region and the distribution character of wind speed realize that hot-fluid disturbs the simulation for unmanned plane by CFD software, substantially
Quantitative estimation go out the influence to the pitch angle of unmanned plane during flying, roll angle, course angle of intensity, frequency and direction of hot-fluid disturbance
Situation, and obtain offset correction；The CFD software full name is Computational Fluid Dynamics, that is, calculates stream
Body dynamics, CFD are modern age hydrodynamics, and the product that numerical mathematics and computer science combine, being one has powerful life
The frontier science of power.It is using electronic computer as tool, and using the mathematical method of various discretizations, all kinds of of Fluid Mechanics are asked
Topic carries out numerical experiment, computer mould fits analysis and research, to solve various practical problems.
By main unmanned plane be transmitted back to come image and environmental data judge fire behavior size, according to fire behavior judge need to launch
Large-scale fire extinguisher bomb or small-sized fire extinguisher bomb；
Small-sized fire extinguisher bomb is transported by the main unmanned plane of a frame, and unmanned plane main first demarcates the three of unmanned plane after point of origin
Coordinate is tieed up, the next flight path of secondary unmanned plane is set by the three-dimensional coordinate of unmanned plane and the three-dimensional coordinate of ignition point,
Need to consider that wind direction, wind speed influence and using the offset correction obtained among the above to flight path come to unmanned plane at this time
State of flight be modified；To ensure that secondary unmanned function precisely reaches air-drop position；
Large-scale fire extinguisher bomb is by least 4 frame pair unmanned plane combined traffics, 4 frame pair unmanned plane work compounds, 4 frame pair unmanned planes
Group reaches by the three-dimensional coordinate of main unmanned plane calibration unmanned plane group, and check unmanned plane group after point of origin
The three-dimensional coordinate of three-dimensional coordinate and ignition point determines the next flight path of pair unmanned plane group, needs to consider wind at this time
Influence to, wind speed to flight path and using the above-mentioned offset correction obtained come to individually nobody in unmanned plane group
The state of flight of machine is modified；To ensure that unmanned plane group can precisely reach air-drop position；
The influence of track, the final air-drop ginseng that determines unmanned plane are thrown using the estimation hot-fluid disturbance of CDF software fire extinguisher bomb
Number；
Finally in unmanned aerial vehicle group group job, fireman pc receives to be transmitted back to the information come from main unmanned plane, and will obtain
Information assigns instruction after the end pc is handled, from the end pc, and all instructions passes through digital radio station module to secondary nothing from main unmanned plane again
Man-machine group's transmission, to realize the shared of information；
For secondary unmanned aerial vehicle group after receiving the instruction issued by main unmanned plane, judgement reaches fire source point, passes through breaker device
Whether control to accurately carry out cooling fire extinguishing to fire source, while can be made according to the situation at scene and want to discharge fire extinguisher bomb
The decision of suicide fire extinguishing, return after the return instruction that secondary unmanned aerial vehicle group is issued by main unmanned plane again after fire behavior is stablized, according to
The secondary running to move in circles, until fire source is extinguished.
It is described the invention in detail above in conjunction with detailed description and exemplary example, but these explanations are simultaneously
It is not considered as limiting the invention.It will be appreciated by those skilled in the art that without departing from the spirit and scope of the invention,
Can be with various equivalent substitutions, modifications or improvements are made to the technical scheme of the invention and its embodiments, these each fall within the present invention
In the range of.Scope of protection of the present invention is subject to the appended claims.
Claims (10)
1. a kind of unmanned plane fire extinguishing system based on unmanned aerial vehicle group group job, which is characterized in that the unmanned fire extinguishing system includes:
It carries the main unmanned plane of electronic induction equipment and the secondary unmanned plane of fire extinguisher bomb (4) can be carried,
Power mechanism is installed in the main unmanned plane surrounding, the power mechanism provides flying power for UAV system,
Promising electronic induction equipment is installed in the main unmanned plane lower part, the cooling device of cooling is provided.
2. unmanned plane fire extinguishing system according to claim 1, which is characterized in that useful in the secondary uav bottom installation
In the electromagnetism grapple (6) of crawl fire extinguisher bomb (4), it is provided in the fire extinguisher bomb (4) top surface for fastening with electromagnetism grapple (6)
Electromagnetism slot (10), electromagnetism grapple (6) external structure is cylindric, and body diameter is less than the diameter of electromagnetism slot (10),
Preferably, the electromagnetism grapple (6) of multiple groups pair unmanned plane can cooperate with the large-scale fire extinguisher bomb (4) of drive, the electromagnetism slot (10) point
Cloth in the left and right sides of fire extinguisher bomb (4),
Ground fireman receives main unmanned plane transmission information by pc machine, and in cutting of suitable opportunity electromagnetism grapple (6)
Power supply, to realize the accurate dispensing of fire extinguisher bomb (4),
Preferably, the power supply line (11) of emergency switching-off is connected between the electromagnetism grapple (6).
3. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the sense electronics carried on the main unmanned plane
The equipment is answered to include,
Digital radio station module (004), for receiving the data of various electronic induction equipment transmission and feeding back to ground fireman's
On pc machine, fireman is assisted to assign correct instruction；
Camera (001) can observe the various emergency situations in scene of fire, for surveying before being put out a fire to environment at any time
It surveys and region on fire is positioned, and determine the position dropped a bomb；
Infrared induction module (002) can avoid unmanned plane and be strayed into temperature during flight for incuding extraneous temperature
Excessively high region；
Pneumatic induction module (003) monitors the irregular wind speed near the scene of a fire for incuding disturbance of the different hot-fluids to air,
And it will be on PC of the data that be collected by digital radio station (004) transmission fireman；
Temperature sensor, for incuding the temperature for the electronic induction equipment installed inside unmanned plane.
4. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the cooling device include be sealed with it is cold
But the cooling storehouse (3) of substance, the cooling storehouse (3) include several cavitys (5), and cooling material is sealed up for safekeeping in cavity (5), preferably
Ground cavity number is 2-20, preferably cooling material are as follows: dry ice, ice, water or cooling base-material.
5. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the main unmanned plane includes unmanned plane main body
(1), the center of main unmanned plane is arranged in the unmanned plane main body (1), and the main unmanned plane main body (1) and power mechanism are logical
Horn (15) connection is crossed,
The camera (001) is mounted on the front end below drone body (1), it is preferable to use two cameras (001),
And binocular vision algorithm is realized by the way that two cameras are arranged side by side, it is preferable that the distance of two CCD camera assemblies is 50-
150mm。
6. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the pair unmanned plane uses group operator
Formula, multiple secondary unmanned planes can synchronous coordination flight, and large-scale fire extinguisher bomb can be carried,
Fire behavior it is smaller or fire field environment is complex etc. need unmanned plane to complete the more task of maneuverability when, can use
Single secondary unmanned machine operation；
Preferably, group's operation is used when fire behavior is larger, it is highly preferred that the pair unmanned plane number is 2-12.
7. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the power mechanism includes blade (2), with
And the motor (8) of power is provided for the unmanned plane fire extinguishing decorum.
8. unmanned plane fire extinguishing system according to claim 1, which is characterized in that cooling storehouse (3) surrounding is equipped with cold
But (7) are managed.
9. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the cooling tube (7) is prolonged from cooling storehouse (3)
Blade (2) end is reached, the cooling tube (7) uses high molecular material.
10. unmanned plane fire extinguishing system according to claim 1, which is characterized in that the cooling tube (7), which is wrapped in, leads nobody
On the fuselage of machine, it is preferred that cooling tube (7) is wrapped in the electronic induction equipment that main unmanned plane carries, and in the cooling tube
(7) external to be covered with high-temperature protective cover (12), the high-temperature protective cover (12) is being provided with thermovent close to one section of blade,
Preferably, the tail distribution of the cooling tube (7) is provided with equally distributed in the downside of blade (2), the cooling tube (7)
Cooling hole (9), the cooling hole is sprayable to be gone out to reduce the misty cooling gas of blade (2) surface temperature,
Preferably, the cooling tube (7) extends from main uav bottom cooling storehouse (3) Yangjing row horizontal plane, the cooling tube (7)
Terminal corresponds to electronic inductor, and the terminal location of the cooling tube (7) is in flat beak shape,
After the temperature of temperature sensor senses electronic induction equipment is excessively high, cooling hole (9) discharges cooling gas and/or cooling base
Material, and then electronic induction equipment is protected,
The main unmanned plane further includes,
Air outlet (14), air outlet (14) setting is in main unmanned plane horn (15) close to blade (2) side, the air outlet
(14) front and back perforation；
Air inlet (15), the air inlet (15) are arranged in the high-temperature protective cover (12) and unmanned plane main body (1) joining place,
The diameter and air inlet (14) diameter ratio of the air outlet (15) are 1:1.5~3, blade (2) length and horn
(15) length ratio is 1:1-2.
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