CN109383806B - Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle - Google Patents
Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle Download PDFInfo
- Publication number
- CN109383806B CN109383806B CN201811074076.3A CN201811074076A CN109383806B CN 109383806 B CN109383806 B CN 109383806B CN 201811074076 A CN201811074076 A CN 201811074076A CN 109383806 B CN109383806 B CN 109383806B
- Authority
- CN
- China
- Prior art keywords
- fire
- fighting
- unmanned aerial
- aerial vehicle
- area
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 15
- 239000000843 powder Substances 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000002366 time-of-flight method Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000004297 night vision Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- 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
- B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
-
- 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
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Pest Control & Pesticides (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Remote Sensing (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to the field of unmanned aerial vehicles, in particular to a method for triggering a fire-fighting unmanned aerial vehicle to launch a fire monitor, which comprises the following steps: controlling the fire-fighting unmanned aerial vehicle to fly to a fire area; hovering the fire-fighting drone near a fire area; transmitting a fire area image back through a pan-tilt camera on the fire-fighting unmanned aerial vehicle; determining the fire distance L from the fire fighting gun barrel launching port to the fire center; transmitting back an aiming picture of the unmanned aerial vehicle through the sighting telescope; adjusting the launching port angle of the fire-fighting gun barrel according to the aiming picture, and aiming the fire-fighting gun barrel at a fire area; the remote control end sends an action signal to the fire-fighting gun barrel to close the trigger switch and fire-fighting bombs are ejected. The fire-fighting bomb aims before being triggered, fire-fighting accuracy and fire-fighting effectiveness are improved, the fire-fighting bomb is triggered to be launched by adopting a one-key circuit signal, response is rapid, and operation is simple and convenient.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a triggering method for launching a fire monitor by a fire-fighting unmanned aerial vehicle.
Background
With the continuous development of urban construction, high-rise buildings are more and more, and the frequent occurrence of high-rise fire disasters follows, because the high-rise buildings are complex in structure and dense in personnel, and the high-rise fires have the characteristics of quick fire spread, difficult evacuation and high difficulty in fighting and rescuing, once the fire is caught, the fire is difficult to control, and the personnel are difficult to escape.
In the prior art, a common fire extinguishing mode is to extinguish fire by a fire-fighting aerial ladder, a fire-fighting lance and the like, but for residential buildings with more than 10 floors and high-rise fires with more than 24 meters, the length of the fire-fighting aerial ladder and the range of the fire-fighting lance and a water cannon are both severely limited along with the increase of the height of a fire occurrence point, which means that the aerial ladder can sway left and right after rising into the air due to wind force, and fire fighting difficulty is increased; secondly, adopt fire-fighting lance, water cannon to put out a fire the mode, need pressurize the operation to water, water pressure also can be to highly producing the restriction.
Unmanned aerial vehicle is as a novel industrial technology, by wide application in various fields, along with the development of unmanned aerial vehicle technique, make unmanned aerial vehicle give the function of fire control and put out a fire, will become a feasible means of high altitude fire control, generally speaking, unmanned aerial vehicle uses oil as power, but the unmanned aerial vehicle who nevertheless is used as the fire control usage, because its operational environment is high temperature, adopt traditional oil to trigger fire control bullet transmission and lead to incident such as explosion easily as power, consequently, need a safe feasible method that triggers fire monitor transmission urgently.
Disclosure of Invention
In view of the above, the present invention provides a method for triggering a fire monitor to fire by a fire-fighting unmanned aerial vehicle, which can safely trigger the fire monitor to fire under a high-temperature operation condition.
The invention has the technical scheme that the fire-fighting unmanned aerial vehicle comprises a body of a box structure, a battery assembly arranged at the top of the body, two groups of support legs arranged at the bottom of the body and four groups of rotor assemblies arranged on the side wall of the body, wherein the battery assembly is arranged at the top of the body; the fire-fighting unmanned aerial vehicle also comprises a plurality of functional components arranged at the bottom of the unmanned aerial vehicle body or on two groups of support legs of the unmanned aerial vehicle;
the functional components comprise a fire-fighting barrel with one or more fire-fighting bombs, a sighting telescope and a pan-tilt camera which are arranged adjacent to the fire-fighting barrel, an infrared height-fixing component for measuring the flying height of the unmanned aerial vehicle and a GPS component which is arranged at the upper part of the body and is used for positioning the current position of the unmanned aerial vehicle; the fire-fighting unmanned aerial vehicle issues an action command through the operation end; the tail part of the fire-fighting bomb is electrically connected with the tail part of the fire-fighting gun barrel through a trigger switch; the aiming method comprises the following steps:
a1, controlling a fire-fighting unmanned aerial vehicle to fly to a fire area;
a2, enabling the fire-fighting unmanned aerial vehicle to hover near a fire area;
a3, transmitting a fire area image back through a cloud deck camera on the fire-fighting unmanned aerial vehicle;
a4, determining a shooting distance L from a fire fighting gun barrel launching port to a fire center;
a5, transmitting back an aiming picture of the unmanned aerial vehicle through an aiming lens;
a6, adjusting the launching port angle of the fire-fighting gun barrel according to the aiming picture, and aiming the fire-fighting gun barrel at a fire area;
and A7, the remote control end sends an action signal to the fire-fighting gun barrel to close the trigger switch and eject the fire-fighting bomb.
In the invention, the battery module consists of a plurality of batteries for providing power, and the output electric quantity is controlled by the battery PCB. Each group of support legs comprises two inclined strut support legs fixed on the bottom surface of the case body structure of the machine body and a horizontal support leg vertically connected with the same end of the inclined strut support legs, so that two continuous inverted T-shaped structures are formed, and the included angle beta between the two groups of support legs is 30-80 degrees. Every rotor subassembly all includes tubulose rotor arm, oar driving motor and the oar that revolves that carbon fiber supported, and the oblique lateral wall is inserted to the one end of rotor arm, and the other end is connected with the motor mount, is equipped with oar driving motor on it, and oar driving motor is connected with the oar that revolves, and through battery PCB board control battery to motor function, the drive oar rotates. When outdoor light was not enough when fire control unmanned aerial vehicle operation, need let operating personnel know the state when unmanned aerial vehicle takes off, can set up the signal lamp on the motor mount, through the battery function, when unmanned aerial vehicle flies, the signal lamp is lighted, also can signal ground personnel, unmanned aerial vehicle's direction of flight and flight state.
The unmanned aerial vehicle also comprises a control module for driving each functional component, and the control module is controlled by a remote control end; the control module sets up inside fuselage box structure, including the flight control module that is used for controlling unmanned aerial vehicle flight, be used for controlling the transmission module whether the fire gun launches, a cloud platform switching module for controlling cloud platform shooting, a picture passes the module for controlling the location picture, the cloud platform is shot the picture and is aimed the picture passback, a battery module for controlling battery output, an infrared height-fixing module for determining the height that unmanned aerial vehicle flies, a keep away the barrier module for measuring the barrier distance, a dry powder injection module and mainboard module for controlling the fire-fighting jar in to dry powder injection pipe. The main board module plays a role in comprehensive control and regulation, and the flight control module is used for stabilizing the flight attitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to hover and fly autonomously or semi-autonomously; wherein each module that sets up on box structure bottom plate is connected with the mainboard module electricity respectively, realizes unmanned aerial vehicle's various operations.
The unmanned aerial vehicle is driven by pure electric power, replaces the fuel oil drive or the fuel-electric hybrid drive of the traditional unmanned aerial vehicle, and avoids secondary dangers such as fuel oil explosion caused by operation in a high-temperature environment.
After fire alarm was received to the operation end, according to the conflagration address in the alarm information, can transport near the conflagration place with unmanned aerial vehicle after, control unmanned aerial vehicle take off, confirm the conflagration center, aim, launch fire control bullet and put out a fire, through artificial position and the operation transmission fire control bullet of observing unmanned aerial vehicle, launch the back, observe the condition of putting out a fire on the spot, judge whether need the second time transmission or transfer another fire control unmanned aerial vehicle operation of putting out a fire.
In the step A1, planning a shortest flight route for the unmanned aerial vehicle according to the fire address and the current position of the unmanned aerial vehicle; the operation end assigns the command of taking off to unmanned aerial vehicle, unmanned aerial vehicle flies to the conflagration region, and in this process, the cloud platform camera passes the module through the picture and passes the real-time picture of flight back to the operation end, the real-time altitude data that unmanned aerial vehicle was returned to infrared height fixing module, unmanned aerial vehicle's real-time locating information is returned to the GPS subassembly, and the operation end combines these three kinds of information, knows unmanned aerial vehicle's current state in real time, is convenient for adjust unmanned aerial vehicle's flying height and direction of flight at any time, avoids taking place high altitude collision.
Furthermore, the functional assembly also comprises an obstacle avoidance device for identifying obstacles; in step A1, the fire-fighting unmanned aerial vehicle starts to brake and decelerate when the distance between the barrier and the unmanned aerial vehicle is at least 5 meters in the flight process.
The current map is still based on ground azimuth information, height information of buildings is not displayed, flying of the unmanned aerial vehicle is not enough to bypass all high-rise buildings, other flying objects and the like can also appear in a flying line of the unmanned aerial vehicle, when the flying line of the unmanned aerial vehicle has the situation, the distance of the nearest barrier can be judged according to the obstacle avoidance device, the flying speed of the fire-fighting unmanned aerial vehicle is 10-25 m/s, therefore, a certain reaction time needs to be given to the unmanned aerial vehicle, the distance between the barrier and the unmanned aerial vehicle is set to be not less than 5m, preferably 5-20 m, namely 1/5-2 s of the reaction time of the unmanned aerial vehicle is reserved, when the barrier is encountered, barrier information can be fed back to an operation end, the unmanned aerial vehicle can automatically avoid through manual operation, deceleration is started, and the barrier is waited to leave the flying line or the unmanned aerial vehicle to bypass to pass.
Further, the obstacle avoidance process of the unmanned aerial vehicle is as follows: at the flight in-process, through keeping away the position and the height of the barrier of barrier device discernment distant place, combine the unmanned aerial vehicle current position height of infrared height-fixing module feedback, judge whether unmanned aerial vehicle need rise and cross the barrier or slow down and detour.
The obstacle avoidance device is realized by adopting an infrared TOF technology, namely, the distance from the object is calculated by utilizing the flight time of infrared light in the air. Because TOF technique has that the range finding is far away, and the precision is high, and is lower to reflecting object requirement, is applicable to the object that the area is little, compares ultrasonic ranging advantage very big like line, toper object etc. simultaneously, and the TOF chip of multiple spot response can realize founding object 3D model, and the application is very wide, for example scans the room profile, founds the map, discerns the gesture etc..
Furthermore, the fire-fighting barrel in the invention is of a cylindrical structure without an end cover; when the fire-fighting bomb is launched, a considerable part of gas generated in the launching process can overflow from the rear of a fire-fighting barrel without an end cover, so that a reverse momentum close to the forward momentum for pushing the fire-fighting bomb is generated, the fire-fighting bomb hardly generates recoil, and the fire-fighting bomb becomes an ammunition without recoil. The fire monitor without recoil can prevent the fire extinguishing equipment from deviating from a fire area due to reverse impact force, so that the fire extinguishing accuracy is improved; secondly, no recoil fire control bullet makes fire control barrel required recoil buffer when not needing conventional fire control bullet transmission, makes whole fire prevention equipment that disappears become very light and easy to use to reduce fire control unmanned aerial vehicle's load, improve its quantity that bears the fire control bullet, increase unmanned aerial vehicle single flight's the area of putting out a fire.
In the step A2, the operating end sees fire information from the pan-tilt camera, such as dense smoke, fire, and the like, and controls the unmanned aerial vehicle to hover near the high-rise building; for further reducing the influence when fire control bullet launches when suspending unmanned aerial vehicle, furtherly, the initial velocity V0 of fire control bullet transmission is less than or equal to 40m/s, and regional for guaranteeing that the accurate arrival conflagration of fire control bullet ability, furtherly, the position of hovering who sets up fire control unmanned aerial vehicle is: the horizontal distance from the high-rise building is 20 to 50 meters.
Further, the functional components also comprise a heat-sensitive instrument component used for identifying the fire center; in step A4, the fire center is determined through the heat-sensitive image returned by the heat-sensitive instrument assembly. The method for determining the fire center comprises the following steps:
b1, finding a high-temperature area in the image through the thermosensitive image;
b2, judging whether the high-temperature area is positioned at the edge of the thermosensitive image;
b3, if so, the unmanned aerial vehicle ascends or descends to a high-temperature area, the thermosensitive image is shot again, and the step B2 is repeated;
b4, if not, namely the high-temperature area is located in the center of the thermosensitive image, the unmanned aerial vehicle stays at the high-temperature area.
When the drone is hovering at a horizontal distance of 20 to 50 meters from the fire area, the barrel of the drone is not necessarily aimed at the fire floor at this time, and therefore, it is necessary to control the drone to be located at a height near the fire floor. The heat-sensitive appearance subassembly that make full use of unmanned aerial vehicle carried realizes specifically to be: when the fire area is located at a high floor and the unmanned aerial vehicle is located at a low floor, the high-temperature area of the shot heat-sensitive image is inevitably located at the edge above the image, at the moment, the unmanned aerial vehicle is controlled to fly upwards for one to two floors, if the center of the fire is located at one to two floors above the unmanned aerial vehicle, the distribution condition that the center is a high-temperature area and the periphery is a low-temperature area is formed in the returned heat-sensitive image again, and at the moment, the height of the unmanned aerial vehicle is determined to be proper; when the returned thermosensitive image is returned again, the high-temperature zone is still positioned at the edge of the image, at the moment, the unmanned aerial vehicle is controlled to continuously fly upwards for one to two layers until the low-temperature zone is hovered again when the low-temperature zone is distributed around the high-temperature zone in the thermosensitive image.
Further, according to the initial velocity V0 of fire bomb launching and the elevation angle alpha of the fire-fighting gun barrel launching port, the shooting distance L is determined to satisfy the following relational expression:
the fire fighting equipment is launched at a certain elevation angle alpha and then carries out inclined projectile motion, the motion trail of the fire fighting equipment is parabolic motion, and the time velocity V of the fire fighting equipment when the fire fighting equipment falls into a point where the fire fighting equipment is launched 0 And an elevation angle alpha limit, because the range is small and the momentum is large, the influence of air resistance can be ignored, and the distance L is decomposed into: the horizontal displacement Lx and the vertical displacement Ly of the landing point from the emitting opening, therefore L 2 ＝Lx 2 +Ly 2 。
Lx and Ly can be obtained by the following formulas:
L X ＝V 0 ·t·cosα
wherein g is gravity acceleration;
t is the time for the fire fighting equipment to reach the highest point after being obliquely thrown, and the time is obtained through the following formula:
thus, via steps A2 and A4, the drone can be hovered at the most appropriate location from the fire floor. In a similar way, when the ignition area is located the low floor, and unmanned aerial vehicle is located the high floor, also so judge.
Further, the initial speed V0 of fire bomb launching is less than or equal to 40m/s; the elevation angle α =10 ° to 20 °.
If the fire-fighting bomb is arranged in the vertical direction, after the fire-fighting bomb is vertically launched, a lot of energy is consumed when the fire-fighting bomb turns; if set up the fire control bullet into the level, then the vertical height in fire control unmanned aerial vehicle and the conflagration region will increase, just enable the fire control bullet and prolong the parabola orbit and fall into the conflagration region, but vertical height increases, can influence the picture effect that the camera was shot, therefore, in this technical scheme, set up the launch hole of fire control bullet into the slope, make the fire control bullet move to the peak to the slant earlier when the transmission, later extend the parabola motion towards the conflagration region again, reduce energy consumption, increase the range, make fire control unmanned aerial vehicle also can guarantee the accurate directive conflagration region of fire control bullet when keeping away from the conflagration region as far as possible. Because the length of fire gun can be approximate a meter, and it is located fuselage (1) lower part, and the vertical height of stabilizer blade (4) is limited, in order to avoid the fire gun to touch image device or fuselage (1) body of fuselage (1) lower part, is 10 between to 20 with the scope that the angle of elevation is alpha, also guarantees unmanned aerial vehicle's security when improving fire control bullet emission efficiency.
In the step A6, because the launching port of the fire-fighting gun barrel and the sighting telescope are positioned on the same vertical plane, when the sighting telescope is aligned with the fire center, the fire-fighting bomb can be ensured to finally and accurately reach the fire center, and the fire-fighting reliability is improved.
Furthermore, a main control panel for performing comprehensive control and regulation and a launching module for controlling whether the fire monitor launches are arranged in the machine body box body; in step A7, the process of closing the trigger switch is as follows: the operation end transmits a signal to the main control panel, the signal is amplified and then transmitted to the transmitting module, the transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
Because the inside main control panel that is equipped with the effect that plays the integrated control regulation and control of fuselage box and be used for controlling the transmission module whether the fire gun launches, the closed process of trigger switch does: the operation end transmits a signal to the main control panel, the signal is amplified and then transmitted to the transmitting module, the transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed. The signal amplification can be realized by adopting an amplifying circuit. Can adopt a key formula signalling at the remote control end, through pure circuit control fire control bullet transmission, the reaction is rapid, and no deviation, after the fire control bullet transmission, when filling new fire control bullet once more, only need adopt again the electricity connect can, simple convenient.
Furthermore, as the fire scene conditions are variable, in order to reduce the probability of misjudgment of the remote control end, the fire control bomb is set to be emitted in a delayed mode, and after the trigger switch is set to be closed and the interval is 3-10 s, the fire control bomb is emitted.
Compared with the prior art, the fire-fighting bomb is aimed before being triggered, the fire-fighting accuracy and the fire-fighting effectiveness are improved, the fire-fighting bomb is triggered to be launched by adopting a one-key circuit signal, the response is rapid, and the operation is simple and convenient.
Drawings
Fig. 1 is a perspective view of the fire-fighting unmanned aerial vehicle of the present invention.
Fig. 2 is a front view of the fire fighting drone of the present invention.
Fig. 3 is a left side view of the fire fighting drone of the present invention.
Fig. 4 is an enlarged view of fig. 1 at a.
Figure 5 is a block diagram of a rotor assembly according to the present invention.
FIG. 6 is a diagram illustrating a process of determining a fire center in accordance with the present invention.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components, and are only used for illustrative purposes, and are not to be construed as limiting the invention; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; the terms "upper", "lower", "left", "right", and the like in the embodiments of the present invention indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and do not indicate or imply that the indicated device or element must have a specific orientation or be configured in a specific orientation, and specific meanings of the terms may be understood according to specific situations by those skilled in the art.
Structural example
As shown in fig. 1 and 2, a compact fire-fighting unmanned aerial vehicle comprises a vehicle body 1, four rotor assemblies 3, two groups of support legs 4, an image assembly 7 and a fire-fighting assembly 5, wherein the vehicle body 1 is of a box structure, a plurality of control modules are arranged in the vehicle body 1, a battery module 2 is arranged at the upper part of the vehicle body 1, the rotor assemblies 3 are arranged on the side wall of the vehicle body 1, and a plurality of groups of support leg assemblies 4 are respectively positioned at two transverse sides of the lower part of the vehicle body 1 and are respectively provided with a shock-proof device; the rotor assembly 3 comprises a rotor arm 31, a driving motor 32 arranged at the far end of the rotor arm 31, and a propeller 33 driven by the motor to rotate; one end of the support leg 4 is connected with the bottom surface of the box body structure, the other end of the support leg is used for supporting the ground, and the fire fighting assembly 5 and the image assembly 7 are fixed on the support leg 4; the angle β between the two sets of legs 4 is 30 ° to 80 °, preferably the angle β =30 ° or 40 ° or 50 ° or 60 ° or 70 ° or 80 °. Whether battery module 2 is used for driving fire control subassembly 5 and works, and provides power for the driving motor 32 of rotor subassembly 3, realizes unmanned aerial vehicle's energy supply.
Every rotor subassembly 3 all includes tubulose rotor arm 31, oar driving motor 32 and the oar 33 that revolves that carbon fiber supported, and oblique lateral wall 15 is inserted to the one end of rotor arm 31, and the other end is connected with motor mount 34, is equipped with oar driving motor 32 on it, and oar driving motor 32 is connected with oar 33, and battery 21 is controlled to motor function through battery PCB board 25, drives oar 33 and rotates. When outdoor light was not enough when fire control unmanned aerial vehicle operation, need let operating personnel know the state when unmanned aerial vehicle takes off, can set up signal lamp 35 on motor mount 34, through the battery 21 function, when unmanned aerial vehicle flies, signal lamp 35 lights, also can signal ground personnel, unmanned aerial vehicle's direction of flight and flight state.
As shown in fig. 4 and 5, the rotor arm 31 includes a first arm 311 fixed on a sidewall of the fuselage 1, a second arm 312 for supporting the propeller 33, and a wing arm adapter for connecting the first arm 311 and the second arm 312, and the second arm 312 can be folded around the first arm 311 by the wing arm adapter, and the folded rotor assembly 3 does not exceed the range of the fire fighting assembly 5. The switching device comprises a first switching piece 313 sleeved at the far end of a first wing arm 311, a second switching piece 314 sleeved at the near end of a second wing arm 312, a connecting piece locking spring 315 used for connecting the first switching piece 313 and the second switching piece 314, a spring guide rod 316 sleeved in a retraction spring and a sliding shaft 317, wherein one end of the connecting piece locking spring 315 is fixed in the first switching piece 313, the spring guide rod 316 penetrates through the far end of the second switching piece 314 and is fixed with the other end of the connecting piece locking spring 315, the first switching piece 313 and the second switching piece 314 are connected by adopting a rotating shaft, a horizontal sliding groove is formed in the second switching piece 314, the sliding shaft 317 vertically penetrates through the horizontal sliding groove, when the folding is needed, the locking spring extends, and the sliding shaft 317 is fixed behind the near end of the sliding groove, so that the locking spring keeps extending, and the folding of the second wing arm 312 is realized; when it is desired to deploy the second arm 312, the sliding shaft 317 is moved to the far end of the sliding slot and then fixed, keeping the locking spring extended naturally. In addition, a lead for connecting the propeller driving motor 32 passes through the second wing arm 312, the second adapter 314, the first adapter 313 and the first wing arm 311 in sequence, and is electrically connected with the battery 21 assembly, and a certain margin is left on the lead to prevent the lead from blocking the folding of the second wing arm 312.
As shown in fig. 2 and 3, the fire fighting module 5 comprises an integrated cradle and fire fighting barrels 51, each fire fighting barrel 51 having an emitting opening at an angle of elevation a from the horizontal ranging from 10 ° to 20 °; the integrated bracket comprises a first barrel fixing piece 52 and a second barrel fixing piece 53, the front end of the fire-fighting barrel 51 is transversely connected with the support leg 4 on the front side of the machine body 1 through the first barrel fixing piece 52, and the rear end of the fire-fighting barrel 51 is transversely connected with the support leg 4 on the rear side of the machine body 1 through the second barrel fixing piece 53.
Wherein, the fire-fighting gun barrel is of a cylindrical structure without an end cover; when the fire-fighting bomb is launched, a considerable part of gas generated during launching can overflow from the rear part of the fire-fighting barrel without the end cover, so that a reverse momentum close to the momentum for pushing the fire-fighting bomb to advance is generated, the fire-fighting bomb hardly generates recoil, and the fire-fighting bomb becomes an ammunition without recoil. The fire monitor without recoil can prevent the fire extinguishing equipment from deviating from a fire area due to reverse impact force, so that the fire extinguishing accuracy is improved; secondly, no recoil fire control bullet makes fire control barrel required recoil buffer when not needing conventional fire control bullet transmission, makes whole fire prevention equipment that disappears become very light and easy to use to reduce fire control unmanned aerial vehicle's load, improve its quantity that bears the fire control bullet, increase unmanned aerial vehicle single flight's the area of putting out a fire.
The image assembly 7 comprises a sighting telescope 71 and a holder assembly 72, the sighting telescope 71 is arranged above the fire-fighting gun barrel 51, and the axis of the sighting telescope 71 and the axis of the fire-fighting gun barrel 51 are positioned on the same vertical plane; the cradle head assembly 72 is arranged at the adjacent side of the fire-fighting barrel 51 and is fixed at the lower part of the first barrel fixing piece 52 through a cradle head bracket; and a night vision camera 73 arranged behind the sighting telescope 71, wherein the night vision camera 73 and the sighting telescope 71 are longitudinally arranged on the first barrel fixing member 52 and the second barrel fixing member 53 through the sighting telescope fixing member 712.
The fire-fighting unmanned aerial vehicle further comprises an obstacle avoidance assembly 74 arranged on the upper portion of the first gun barrel fixing piece 52, and the obstacle avoidance assembly 74 is used for judging whether the unmanned aerial vehicle needs to detour or not by measuring the distance between the obstacle and an obstacle.
The control module sets up on box structure bottom plate, including the flight control module who is used for controlling unmanned aerial vehicle flight, be used for controlling the transmission module whether the fire gun launches, a cloud platform switching module for controlling cloud platform shooting, be used for controlling the positioning picture, the cloud platform shoots the picture and aims the picture passback and passes the module, a battery module for controlling battery output, an infrared height-fixing module for determining the height that unmanned aerial vehicle flies, a keep away the barrier module for measuring the barrier distance, a dry powder injection module and mainboard module for controlling the fire control jar dry powder spun in to dry powder injection pipe.
The main board module plays a role in comprehensive control and regulation and mainly aims at the regulation and control of drive, such as a battery, a rotor wing drive motor and the like; the flight control module is used for stabilizing the flight attitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to hover, autonomously or semi-autonomously fly; wherein each module that sets up on box structure bottom plate is connected with the mainboard module electricity respectively, realizes unmanned aerial vehicle's various operations.
The infrared height-fixing module mainly measures the flying height of the unmanned aerial vehicle by using infrared rays so as to control the fire fighting precision; keep away barrier module mainly used unmanned aerial vehicle's range finding, realize unmanned aerial vehicle's the barrier function of keeping away. Cloud platform switching module mainly used realizes the communication between unmanned aerial vehicle and the operation end remote controller and is connected to realize each item operation of user.
Method embodiment
A triggering method for launching a fire monitor by a fire-fighting unmanned aerial vehicle comprises the following steps:
a1, controlling a fire-fighting unmanned aerial vehicle to fly to a fire area;
a2, enabling the fire-fighting unmanned aerial vehicle to hover near a fire area;
a3, transmitting a fire area image back through a pan-tilt camera on the fire-fighting unmanned aerial vehicle;
a4, determining a shooting distance L from a fire fighting gun barrel launching port to a fire center;
a5, transmitting back an aiming picture of the unmanned aerial vehicle through the sighting telescope;
a6, adjusting the launch opening angle of the fire-fighting gun barrel according to the aiming picture, and aiming the fire-fighting gun barrel at a fire area;
and A7, the remote control end sends an action signal to the fire-fighting gun barrel to close the trigger switch and eject the fire-fighting bomb.
In step A1, the fire-fighting unmanned aerial vehicle starts to brake and decelerate when the distance between the barrier and the unmanned aerial vehicle is at least 5 meters in the flight process.
Further, the obstacle avoidance process of the unmanned aerial vehicle is as follows: at the flight in-process, through keeping away the position and the height of barrier device discernment distant place, combine the unmanned aerial vehicle current position height of infrared height module feedback, judge whether unmanned aerial vehicle need rise and cross the barrier or slow down and detour.
In the step A2, the operating end sees fire information such as dense smoke, fire light and the like from the holder camera, and controls the unmanned aerial vehicle to hover near a high-rise building; for further influence when reducing fire control bullet transmission when hanging unmanned aerial vehicle, furtherly, fire control bullet transmission initial velocity V0 is less than or equal to 40m/s, and regional for guaranteeing that fire control bullet can accurate arrival conflagration, further, the position of hovering that sets up fire control unmanned aerial vehicle does: the horizontal distance from the high-rise building is 20 to 50 meters.
As shown in fig. 6, in step A4, the step of determining the fire center through the heat-sensitive image returned by the heat-sensitive instrument assembly is as follows:
b1, finding a high-temperature area in the image through the thermosensitive image;
b2, judging whether the high-temperature area is positioned at the edge of the thermosensitive image;
b3, if so, the unmanned aerial vehicle ascends or descends to a high-temperature area, the thermosensitive image is shot again, and the step B2 is repeated;
b4, if not, namely the high-temperature area is located in the center of the thermosensitive image, the unmanned aerial vehicle stays at the high-temperature area.
Further, according to the initial velocity V0 of fire bomb launching and the elevation angle alpha of the fire-fighting gun barrel launching port, the shooting distance L is determined to satisfy the following relational expression:
further, the initial speed V0 of fire bomb launching is less than or equal to 40m/s; the elevation angle α =10 ° to 20 °.
In the step A6, because the launching port of the fire-fighting gun barrel and the sighting telescope are positioned on the same vertical plane, when the sighting telescope is aligned with the fire center, the fire-fighting bomb can be ensured to finally and accurately reach the fire center, and the fire-fighting reliability is improved.
Furthermore, a main control board playing a role of comprehensive control and regulation and a launching module used for controlling whether the fire monitor launches or not are arranged inside the body box body; in step A7, the process of closing the trigger switch is as follows: the operation end transmits a signal to the main control panel, the signal is amplified and then transmitted to the transmitting module, the transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
Furthermore, as the fire scene conditions are variable, in order to reduce the probability of misjudgment of the remote control end, the fire control bomb is set to be emitted in a delayed mode, and after the trigger switch is set to be closed and the interval is 3-10 s, the fire control bomb is emitted.
It is to be understood that the present invention is not limited to the above embodiments. Variations and modifications as would be obvious to one skilled in the art can be made to the above description without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims of the present invention.
Claims (6)
1. A triggering method for a fire-fighting unmanned aerial vehicle to launch a fire monitor is characterized in that the fire-fighting unmanned aerial vehicle comprises a body with a box structure, a battery assembly arranged at the top of the body, two groups of support legs arranged at the bottom of the body and four groups of rotor assemblies arranged on the side wall of the body; the fire-fighting unmanned aerial vehicle also comprises a plurality of functional components arranged at the bottom of the unmanned aerial vehicle body or on two groups of support legs of the unmanned aerial vehicle;
the functional components comprise a fire-fighting barrel with one or more fire-fighting bombs, a sighting telescope and a pan-tilt camera which are arranged adjacent to the fire-fighting barrel, an infrared height-fixing component for measuring the flying height of the unmanned aerial vehicle and a GPS component which is arranged at the upper part of the body and is used for positioning the current position of the unmanned aerial vehicle; the fire-fighting unmanned aerial vehicle issues an action command through an operation end; the tail part of the fire-fighting bomb is electrically connected with the tail part of the fire-fighting gun barrel through a trigger switch; the triggering method is characterized by comprising the following steps:
a1, controlling a fire-fighting unmanned aerial vehicle to fly to a fire area;
a2, enabling the fire-fighting unmanned aerial vehicle to hover near a fire area;
a3, transmitting a fire area image back through a cloud deck camera on the fire-fighting unmanned aerial vehicle;
a4, determining a shooting distance L from a fire fighting gun barrel launching port to a fire center;
a5, transmitting back an aiming picture of the unmanned aerial vehicle through the sighting telescope;
a6, adjusting the launching port angle of the fire-fighting gun barrel according to the aiming picture, and aiming the fire-fighting gun barrel at a fire area;
a7, the remote control end sends an action signal to the fire-fighting gun barrel to close the trigger switch and eject the fire-fighting bomb;
in step A4, the step of determining the fire center is:
b1, finding a high-temperature area in the image through the thermosensitive image;
b2, judging whether the high-temperature area is positioned at the edge of the thermosensitive image;
b3, if so, the unmanned aerial vehicle ascends or descends to a high-temperature area, the thermosensitive image is shot again, and the step B2 is repeated;
b4, if not, namely the high-temperature area is located in the center of the thermosensitive image, the unmanned aerial vehicle stays at the high-temperature area;
in the step A5, according to the initial velocity V0 of fire-fighting bomb launching and the elevation angle alpha of the fire-fighting gun barrel launching port, the shooting distance L is determined to meet the following relational expression:
after the trigger switch is closed and the interval is 3-10 s, the fire-fighting bomb is launched;
the initial speed V0 of fire bomb launching is less than or equal to 40m/s; the elevation angle α =10 ° to 20 °.
2. The method of claim 1, wherein the functional components further comprise obstacle avoidance devices for identifying obstacles; in step A1, the fire-fighting unmanned aerial vehicle starts to brake and decelerate when the distance between the barrier and the unmanned aerial vehicle is at least 5 meters in the flight process.
3. The method of claim 2, wherein the unmanned aerial vehicle has an obstacle avoidance process comprising: at the flight in-process, through keeping away the position and the height of the barrier of barrier device discernment distant place, combine the unmanned aerial vehicle current position height of infrared height-fixing component feedback, judge whether unmanned aerial vehicle need rise and cross the barrier or slow down and detour.
4. The method as claimed in claim 1, wherein in step A2, the hovering positions of the fire-fighting drone are: the horizontal distance from the fire area is 20 to 50 meters, and the vertical distance from the fire area is 1 to 5 meters.
5. The method of claim 1, wherein the functional components further comprise a thermal sensor component for identifying a fire center; in step A4, the fire center is determined through the heat-sensitive image returned by the heat-sensitive instrument assembly.
6. The triggering method for the fire-fighting unmanned aerial vehicle to launch the fire monitor as recited in claim 1, wherein a main control panel for comprehensive control and regulation and a launching module for controlling whether the fire monitor is launched are arranged inside a box body of the machine body; in step A7, the process of closing the trigger switch is as follows: the operation end transmits a signal to the main control panel, the signal is amplified and then transmitted to the transmitting module, the transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074076.3A CN109383806B (en) | 2018-09-14 | 2018-09-14 | Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle |
| PCT/CN2018/118583 WO2020052100A1 (en) | 2018-09-14 | 2018-11-30 | Method for triggering fire-fighting unmanned aerial vehicle to launch fire-fighting bomb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811074076.3A CN109383806B (en) | 2018-09-14 | 2018-09-14 | Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109383806A CN109383806A (en) | 2019-02-26 |
| CN109383806B true CN109383806B (en) | 2022-12-23 |
Family
ID=65418818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811074076.3A Active CN109383806B (en) | 2018-09-14 | 2018-09-14 | Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109383806B (en) |
| WO (1) | WO2020052100A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502029A (en) * | 2019-07-02 | 2019-11-26 | 上海鲲哥无人机科技有限公司 | Rope lift control method based on aircraft |
| JP6721098B1 (en) * | 2019-07-23 | 2020-07-08 | 東洋製罐株式会社 | Unmanned aerial vehicle |
| CN112915422B (en) * | 2021-03-04 | 2022-05-31 | 西北工业大学 | Solid fire extinguishing bomb fire-fighting system |
| CN113648569A (en) * | 2021-07-30 | 2021-11-16 | 北斗时空位置服务(北京)有限公司 | One-key launching command control system for guided fire extinguishing bomb launching |
| CN115531767B (en) * | 2022-09-30 | 2023-07-18 | 新兴际华集团有限公司 | Fire extinguishing system based on self-balancing stability-increasing type tethered unmanned aerial vehicle |
| GR1010548B (en) * | 2023-01-18 | 2023-09-25 | Δημητριος Γεωργιου Ραπτοπουλος | Arrangement and method of dispensing gender confusing pheremones or other plant protection products contained into multiple cartridges for use by unmanned aircrafts or ground vehicles |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104027909A (en) * | 2014-06-11 | 2014-09-10 | 江苏数字鹰科技发展有限公司 | Police fire-fighting unmanned aerial vehicle for high-rise building |
| CN104590562A (en) * | 2015-02-12 | 2015-05-06 | 马鞍山市赛迪智能科技有限公司 | Anti-collision fixed-point unmanned aerial vehicle for fire control |
| CN106422115A (en) * | 2016-10-11 | 2017-02-22 | 北京电子工程总体研究所 | Remote control fire extinguishing method for high-rise buildings |
| CN207694102U (en) * | 2017-12-11 | 2018-08-07 | 云南优航无人机科技有限公司 | A kind of high-altitude unmanned plane and fire-extinguishing |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667795B (en) * | 2016-01-18 | 2018-09-07 | 江苏顶飞航空科技有限公司 | Unmanned plane fire extinguisher bomb emission system |
| CN205345332U (en) * | 2016-01-22 | 2016-06-29 | 江苏数字鹰科技发展有限公司 | Police uses multi -functional unmanned aerial vehicle |
| US10501185B2 (en) * | 2017-01-13 | 2019-12-10 | Aerial Enforcement Solutions LLC | UAV-mounted dispersant device with electronic triggering mechanism |
| KR101755199B1 (en) * | 2017-03-24 | 2017-07-11 | 김빛누리 | Dron System for Fishing Nursery on Littoral Sea |
| CN108096748A (en) * | 2017-12-16 | 2018-06-01 | 广东容祺智能科技有限公司 | A kind of fire-fighting multi-rotor unmanned aerial vehicle of portable fire extinguisher |
| CN108408053A (en) * | 2018-04-25 | 2018-08-17 | 天津中德应用技术大学 | Throwing type high-altitude unmanned plane and fire-extinguishing system and its application method |
-
2018
- 2018-09-14 CN CN201811074076.3A patent/CN109383806B/en active Active
- 2018-11-30 WO PCT/CN2018/118583 patent/WO2020052100A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104027909A (en) * | 2014-06-11 | 2014-09-10 | 江苏数字鹰科技发展有限公司 | Police fire-fighting unmanned aerial vehicle for high-rise building |
| CN104590562A (en) * | 2015-02-12 | 2015-05-06 | 马鞍山市赛迪智能科技有限公司 | Anti-collision fixed-point unmanned aerial vehicle for fire control |
| CN106422115A (en) * | 2016-10-11 | 2017-02-22 | 北京电子工程总体研究所 | Remote control fire extinguishing method for high-rise buildings |
| CN207694102U (en) * | 2017-12-11 | 2018-08-07 | 云南优航无人机科技有限公司 | A kind of high-altitude unmanned plane and fire-extinguishing |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020052100A1 (en) | 2020-03-19 |
| CN109383806A (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109383806B (en) | Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle | |
| CN109305364B (en) | Aiming method of fire-fighting unmanned aerial vehicle | |
| WO2020052103A1 (en) | Firefighting method using firefighting unmanned aerial vehicle | |
| CN204452939U (en) | A kind of Anti-collision fixed point fire-fighting unmanned plane | |
| CN105963882B (en) | Air-to-ground rocket fire extinguisher and method | |
| CN104590562B (en) | A kind of Anti-collision fixed point fire-fighting unmanned plane | |
| CN102785778B (en) | A kind of tubular type launches fire extinguishing unmanned plane and fire extinguishing control method | |
| CN110465036B (en) | Controllable fire-extinguishing bomb, fire-extinguishing system and fire-extinguishing method | |
| CN105129091A (en) | Extinguishing device for unmanned aerial vehicle | |
| CN108408053A (en) | Throwing type high-altitude unmanned plane and fire-extinguishing system and its application method | |
| WO2020052105A1 (en) | Fully electric driven fire-fighting unmanned aerial vehicle | |
| CN103112385A (en) | Fire rescue device based on unmanned aerial vehicle | |
| CN109436329B (en) | Device and method for accurately transmitting rescue articles in air by small unmanned aerial vehicle | |
| CN110624189B (en) | Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method | |
| CN108619641B (en) | Fire extinguishing system and method for vertical emission guidance fire extinguishing body | |
| AU2017211238A1 (en) | Vehicles and systems for weather modification | |
| WO2023070787A1 (en) | Airdrop forest fire extinguishing bomb | |
| CN108159601A (en) | It jettisonings Intelligent fire extinguishing bomb unmanned plane | |
| CN110816843A (en) | Fire extinguishing system for high-rise building | |
| US20230106432A1 (en) | Unmanned system maneuver controller systems and methods | |
| CN206007850U (en) | Air-to-surface missile fire extinguisher | |
| CN204956927U (en) | Unmanned aerial vehicle extinguishing device | |
| JP5092169B2 (en) | Bullet guidance device and guidance method | |
| CN207860455U (en) | Unmanned helicopter-mounted fire-fighting fire extinguishing gondola | |
| CN217032193U (en) | Integrated airborne intelligent fire extinguishing system for high-rise building |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |