CN111167046A - Fire rescue system and method for high-altitude mooring unmanned aerial vehicle - Google Patents
Fire rescue system and method for high-altitude mooring unmanned aerial vehicle Download PDFInfo
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- CN111167046A CN111167046A CN202010124697.9A CN202010124697A CN111167046A CN 111167046 A CN111167046 A CN 111167046A CN 202010124697 A CN202010124697 A CN 202010124697A CN 111167046 A CN111167046 A CN 111167046A
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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
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B3/00—Devices or single parts for facilitating escape from buildings or the like, e.g. protection shields, protection screens; Portable devices for preventing smoke penetrating into distinct parts of buildings
- A62B3/005—Rescue tools with forcing action
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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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
- A62C3/0214—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for buildings or installations in fire storms
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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
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- 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
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- 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
Abstract
The invention discloses a fire rescue system of an aerial mooring unmanned aerial vehicle, which belongs to the technical field of fire protection and is used for solving the technical problem of difficulty in high-rise fire rescue at present, and the aerial mooring unmanned aerial vehicle fire rescue system comprises an aerial operation subsystem and a ground guarantee subsystem; the aerial work subsystem comprises a mooring unmanned aerial vehicle, and a fire extinguishing unit, an environment monitoring unit and a rescue ejection unit which are positioned on the mooring unmanned aerial vehicle; the ground support subsystem comprises a fire-fighting vehicle, a fire extinguishing agent supply unit, a power supply unit and a pipeline winding and unwinding unit, wherein the fire-fighting agent supply unit, the power supply unit and the pipeline winding and unwinding unit are installed on the fire-fighting vehicle; the fire extinguishing agent supply unit is connected with the fire extinguishing unit through a supply pipe and used for supplying fire extinguishing agent to the fire extinguishing unit; and the pipeline winding and unwinding unit is used for winding and unwinding the mooring cable or/and the supply pipe. The invention has the advantages of long endurance, large load, quick response, safety, reliability, integration of high-rise fire rescue function and the like.
Description
Technical Field
The invention mainly relates to the technical field of fire fighting, in particular to a fire fighting rescue system and method for an aerial mooring unmanned aerial vehicle.
Background
Along with the development of the world economy, the number of urban high-rise and super high-rise buildings is increasing, and once a fire disaster happens to a high-rise building with dozens of meters or even hundreds of meters, the fire-fighting problem can be met. At present traditional fire-fighting equipment such as high-pressure squirt, fire control aerial ladder, high altitude unmanned aerial vehicle all have as follows not enoughly:
(1) the traditional high-pressure water gun at present is difficult to reach more than 80 meters for fire extinguishing and fire rescue due to reasons such as water pressure, fire control aerial ladder, and the like, and the aerial ladder fire truck at present is limited by areas, smooth degree of streets, police-fighting speed and the like, so that the fire truck can not arrive at a fire scene in the first time under many conditions. And fire fighting is mainly carried out by firemen who are directly close to the fire scene, so that high danger is generated and unnecessary casualties are even caused.
(2) In the face of high-rise fire fighting, a plurality of fire trucks are sometimes required to perform combined operation, the preparation time is long, aerial ladders are adopted to perform high-rise rescue, and the aerial ladders are unfolded to have a slow process, so that the rescue response is slow;
(3) for the high-altitude unmanned aerial vehicle, in view of the performance parameters of the current battery, the unmanned aerial vehicle carries the load and the self weight required by fire extinguishment, the operation time length is limited, the load of fire extinguishment is less, the air operation time is short, and the air and the ground need to be reciprocated for many times; if the carried load is more, the air operation time is short, so the fire rescue unmanned aerial vehicle powered by the battery cannot carry out high-rise fire rescue operation for a long time under a large load, and the precious time of fire rescue is delayed;
(4) in the face of complex fire rescue situations, the traditional fire fighting mode is difficult to meet the diversified and configurable fire fighting requirements of window breaking, large-flow water spraying, dry powder spraying, foam spraying and the like;
(5) due to the limitation of the operation height, the traditional fire rescue means is difficult to provide emergency rescue equipment (such as gas masks, fire blankets, strong light flashlights, interphones and the like) for people trapped at high floors and in urgent need of rescue;
(6) the single-machine operation of the existing fire-fighting unmanned aerial vehicle can complete the fire-fighting operations such as dry powder spraying fire extinguishing, water spraying and the like, and the function of a fire-fighting rescue system is not fully established.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a high-altitude mooring unmanned aerial vehicle fire rescue system which has long endurance, large load, quick response, fire protection and rescue functions and good fire rescue effect, and correspondingly provides a fire rescue method which is simple, convenient, flexible and efficient.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a fire rescue system for an aerial mooring unmanned aerial vehicle comprises an aerial operation subsystem and a ground support subsystem;
the aerial operation subsystem comprises a mooring unmanned aerial vehicle, a fire extinguishing unit, an environment monitoring unit and a rescue ejection unit, and the rescue ejection unit is used for ejecting rescue goods to a specified position; the fire extinguishing unit, the environment monitoring unit and the rescue ejection unit are all arranged on the mooring unmanned aerial vehicle;
the ground support subsystem comprises a fire-fighting vehicle, a fire extinguishing agent supply unit, a power supply unit and a pipeline winding and unwinding unit, wherein the fire extinguishing agent supply unit, the power supply unit and the pipeline winding and unwinding unit are all arranged on the fire-fighting vehicle;
the power supply unit is connected with the mooring unmanned aerial vehicle through a mooring cable and used for providing a power supply for the mooring unmanned aerial vehicle;
the fire extinguishing agent supply unit is connected with the fire extinguishing unit through a supply pipe and is used for supplying fire extinguishing agent to the fire extinguishing unit;
and the pipeline reeling and unreeling unit is used for reeling and unreeling the mooring cable or/and the supply pipe.
As a further improvement of the above technical solution:
the rescue ejection unit comprises a first spiral propeller and a first transmitter;
the first spiral propeller is used for placing rescue bullets and spirally conveying the rescue bullets into the first launcher;
and the input port of the first emitter is butted with the output port of the first spiral propeller and is used for receiving rescue bullets and ejecting the rescue bullets to a specified position.
And a rescue loudspeaker or/and a rescue illuminating lamp are/is further mounted on the mooring unmanned aerial vehicle.
The fire extinguishing unit comprises a fire water monitor, and the fire water monitor is connected with the fire extinguishing agent supply unit through a supply pipe.
The fire extinguishing unit further comprises a dry powder fire extinguishing tank or/and a foam fire extinguishing tank, and spray guns are correspondingly arranged on the dry powder fire extinguishing tank and the foam fire extinguishing tank.
The fire extinguishing unit further comprises a fire extinguishing bomb launching device, and the fire extinguishing bomb launching device comprises a second spiral propeller and a second launcher;
the second spiral propeller is used for placing fire extinguishing bombs and spirally conveying the fire extinguishing bombs into the second emitter;
and the input port of the second emitter is butted with the output port of the second spiral propeller and used for receiving fire extinguishing bombs and ejecting the fire extinguishing bombs to a specified position.
The fire extinguishing unit further comprises a window breaking gun or a window breaking bomb.
The environment monitoring unit comprises one or more of a monitoring camera, a laser range finder, an ultrasonic sensor and a positioning module.
The fire extinguishing agent supply unit comprises a fire water tank and a water pump, wherein an input port of the water pump is connected with the fire water tank, and an output port of the water pump is connected with the supply pipe.
The power supply unit comprises a generator or/and a storage battery, and the generator and the storage battery are connected with a mooring cable.
The pipeline deploying and retracting unit comprises a pipeline winch.
The fire-fighting vehicle comprises a vehicle head and a carriage, and the fire-extinguishing agent supply unit, the power supply unit and the pipeline winding and unwinding unit are all arranged in the carriage; the top in carriage forms the unmanned aerial vehicle that moors platform of taking off and land.
The lifting platform is provided with an opening-closing protective cover.
And a storage cabinet unit for storing fire extinguishing materials and rescue materials is also arranged in the carriage.
The carriage is divided into three cavities in the length direction, the cavity close to the vehicle head is a first cavity, the cavity far away from the vehicle head is a third cavity, and a second cavity is arranged between the first cavity and the third cavity; the power supply unit is positioned in the first cavity, the pipeline deploying and retracting unit is positioned in the second cavity, and the fire extinguishing agent supply unit and the storage cabinet unit are both positioned in the third cavity; independent compartment doors are arranged on one side or two sides of the compartment of each cavity; each compartment door is an electric rolling door.
The invention also discloses a fire rescue method based on the high-altitude mooring unmanned aerial vehicle fire rescue system, which comprises the following steps:
s01, the tethered unmanned aerial vehicle is lifted to a fire scene, and the environment monitoring unit acquires image information of the fire scene;
s02, judging whether to carry out fire fighting operation or rescue operation according to the image information;
s03, the tethered unmanned aerial vehicle flies to a preset position to carry out fire fighting operation or rescue operation; when fire fighting operation is carried out, the fire extinguishing agent is sprayed to a fire scene through the fire extinguishing unit; when rescue operation is carried out, rescue goods and materials are ejected to the specified position through the rescue ejection unit.
As a further improvement of the above technical solution:
in step S03, when a fire-fighting operation is performed, the fire-extinguishing unit sprays the fire-extinguishing agent to the fire scene by using the fire-extinguishing agent corresponding to the fire-extinguishing information in the image information.
In step S03, before the fire fighting or rescue work is performed, it is determined whether or not a window breaking work is necessary based on the window information in the image information.
Compared with the prior art, the invention has the advantages that:
(1) according to the high-altitude tethered unmanned aerial vehicle fire-fighting and rescue system and the method, the power supply unit on the fire-fighting vehicle is used for supplying power to the tethered unmanned aerial vehicle, and meanwhile, the fire extinguishing agent supply unit on the fire-fighting vehicle is used for continuously supplying the fire extinguishing agent to the fire extinguishing unit on the tethered unmanned aerial vehicle, so that the fire-fighting and rescue operation of the tethered unmanned aerial vehicle during high-altitude long voyage and heavy load is realized, the problem that the existing fire-fighting lance is insufficient in height is solved, and the system and the method are suitable for being applied; by carrying the functional modules such as the fire extinguishing unit and the rescue ejection unit and the like by the mooring unmanned aerial vehicle, the fire-fighting and rescue operation of a high-rise building can be carried out, and meanwhile, the corresponding functional modules can be flexibly selected according to the field conditions, so that the responsiveness of fire-fighting and rescue is improved, and the fire-fighting and rescue operation can be reliably carried out in time; overall structure is simple, the function is abundant, the fire rescue is effectual, and the fire fighter need not closely to be close to the scene of a fire simultaneously, avoids the casualties, improves the security of fire rescue.
(2) According to the high-altitude tethered unmanned aerial vehicle fire-fighting and rescue system and method, the tethered unmanned aerial vehicle is simultaneously provided with the fire-fighting unit and the rescue ejection unit, so that the tethered unmanned aerial vehicle has high-altitude fire-fighting and high-altitude rescue functions, and under the complex condition of high-rise fire-fighting and rescue, after environment information of the tethered unmanned aerial vehicle is researched and judged according to the environment monitoring unit, fire-fighting or ejection rescue materials are flexibly selected or carried out simultaneously, so that the integration of fire-fighting or/and rescue functions is realized, the timeliness of fire-fighting and rescue is ensured, and the flexibility of fire-fighting and rescue is improved.
(3) According to the invention, different functional modules (such as the fire extinguishing unit and the rescue ejection unit) are arranged on the mooring unmanned aerial vehicle, so that the mooring unmanned aerial vehicle has the execution capacity of different tasks such as fire-fighting rescue, different functional modules and modularized rescue articles can be configured according to the requirements of the fire-extinguishing and rescue tasks of different fires, and the rapid delivery of rescue goods and materials is realized.
(4) The rescue ejection unit ejects the rescue cartridge to the specified position, so that rescue materials (such as gas masks and the like) which are urgently needed are quickly and accurately thrown to the specified position of the high-rise building, the harm of toxic gas to trapped people is reduced, and the situation of poisoning and suffocation death is avoided; and can make and keep safe distance between mooring unmanned aerial vehicle and the scene of a fire, guarantee mooring unmanned aerial vehicle's flight safety.
(5) The fire extinguishing unit comprises a fire water monitor, a dry powder extinguishing tank, a foam extinguishing tank and the like, can use corresponding types of extinguishing agents according to specific fire situations, and can meet complex fire fighting requirements. In addition, the fire extinguishing unit comprises a fire extinguishing bomb launching device, a window breaking gun and the like, the functions are rich, the window breaking gun can carry out window breaking operation on a closed window, and the subsequent fire fighting and rescue can be carried out smoothly; the fire extinguishing bomb launching device can launch fire extinguishing bombs of different types according to fire conditions, fire fighting capacity is further improved, and fire extinguishing effect is improved.
(6) According to the invention, the fire extinguishing agent supply unit, the power supply unit, the pipeline retraction unit and the storage cabinet unit are arranged in the carriage, and the lifting platform is arranged in the roof of the carriage, so that the rapid movement of each unit and the mooring unmanned aerial vehicle can be realized, the timeliness of fire rescue is ensured, the functions of each unit in the carriage are complete, the storage cabinet unit is stored with fire-fighting materials and rescue materials, and the mooring type fire rescue unmanned aerial vehicle is matched for use, so that the function integration of rescue and fire protection is realized.
(7) The fire fighting vehicle is reasonable in function partition, compact in integral structure and convenient to maintain on the premise of ensuring the driving stability of the vehicle by arranging the spatial positions of the units. In addition, the first cavity, the second cavity and the third cavity are respectively provided with independent compartment doors at two sides of the compartment, so that two sides of each cavity can be independently opened, and the maintenance and the like are facilitated; the electric rolling door is adopted by the compartment door, the opening and closing are simple and convenient, the electric rolling door does not occupy the space on two sides of the compartment, the electric rolling door is suitable for the operation area with narrow space, and meanwhile, the electric rolling door is convenient for operators to carry out fire rescue operation.
(8) Protective covers are rotatably arranged on two sides of the lifting platform and are in a split shape, when the protective covers on two sides of a carriage are opened, the lifting platform is exposed, the tethered unmanned aerial vehicle is parked on the lifting platform, and operations such as lifting operation or installation and maintenance can be performed; when the protection casing of carriage both sides is foldd and is in the closed condition to the centre, mooring unmanned aerial vehicle constitutes a whole with the fire rescue car, is convenient for transport, simple structure and easy and simple to handle.
(9) The storage cabinet unit of the fire fighting truck comprises a first storage cabinet for storing fire extinguishing bombs, rescue bombs and the like, and a second storage cabinet for storing a dry powder fire extinguishing tank and a foam fire extinguishing tank, namely, fire fighting materials and rescue materials are stored, so that the reliability of fire fighting and rescue operation of the tethered unmanned aerial vehicle is ensured.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the system of the present invention.
FIG. 2 is a block diagram of an embodiment of the system of the present invention.
Fig. 3 is a diagram of an embodiment of the system of the present invention in a specific application.
Fig. 4 is one of the block diagrams of an aerial work subsystem in an embodiment of the present invention.
Fig. 5 is a second block diagram of an aerial work subsystem according to an embodiment of the present invention.
FIG. 6 is a block diagram of a ground support subsystem according to an embodiment of the present invention.
Fig. 7 is a second structure diagram of the ground support subsystem according to the embodiment of the present invention.
Fig. 8 is a third block diagram of the ground support subsystem according to the embodiment of the present invention.
Fig. 9 is a fourth structural diagram of the ground support subsystem according to the embodiment of the invention.
FIG. 10 is a method flow diagram of an embodiment of the method of the present invention.
FIG. 11 is a flow chart of the method of the present invention in a particular application.
The reference numbers in the figures denote: 1. an aerial work subsystem; 101. mooring the unmanned aerial vehicle; 1011. a pillar; 1012. mounting a plate; 1013. a mounting frame; 102. an environment monitoring unit; 1021. monitoring a camera; 1022. a laser range finder; 1023. an ultrasonic sensor; 1024. a positioning module; 103. a fire extinguishing unit; 1031. fire water monitor; 1032. a fan; 1033. a fire extinguishing tank; 1034. a spray gun; 1035. a fire extinguishing bomb launching device; 1036. a window breaking gun; 104. a rescue ejection unit; 1041. a first screw propeller; 1042. a first transmitter; 1043. a rescue bomb; 105. a rescue loudspeaker; 106. a rescue lighting lamp; 2. a ground support subsystem; 201. a fire-fighting vehicle; 2011. a headstock; 2012. a carriage; 2013. a first cavity; 2014. a second cavity; 2015. a third cavity; 2016. a compartment door; 202. a fire extinguishing agent supply unit; 2021. a water pump; 203. a power supply unit; 2031. a generator; 204. a pipeline deploying and retracting unit; 2041. a pipeline winch; 205. a storage cabinet unit; 206. a protective cover; 207. a take-off and landing platform; 3. mooring the cable; 4. a supply tube.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1 to 3, the high-altitude mooring unmanned aerial vehicle fire rescue system of the embodiment includes an aerial work subsystem 1 and a ground support subsystem 2;
the aerial work subsystem 1 comprises a mooring unmanned aerial vehicle 101, a fire extinguishing unit 103, an environment monitoring unit 102 and a rescue ejection unit 104; the fire extinguishing unit 103, the environment monitoring unit 102 and the rescue ejection unit 104 are all arranged on the mooring unmanned aerial vehicle 101; the environment monitoring unit 102 is configured to monitor environment information where the tethered unmanned aerial vehicle 101 is located, where the environment information includes objects around the tethered unmanned aerial vehicle 101, fire images, object distances, temperatures, and the like; the rescue ejection unit 104 is used for ejecting rescue goods and materials to a specified position, such as a rescue bomb 1043 loaded with a gas mask; the fire extinguishing unit 103 is used for spraying fire extinguishing agent such as water, dry powder, etc.;
the ground support subsystem 2 comprises a fire-fighting vehicle 201, a fire-extinguishing agent supply unit 202, a power supply unit 203 and a pipeline collecting and releasing unit 204; the fire extinguishing agent supply unit 202, the power supply unit 203 and the pipeline deploying and retracting unit 204 are all installed on the fire fighting vehicle 201;
the power supply unit 203 is connected with the tethered unmanned aerial vehicle 101 through the tethered cable 3 and is used for providing power supply for the tethered unmanned aerial vehicle 101;
the fire extinguishing agent supply unit 202 is connected with the fire extinguishing unit 103 through a supply pipe 4 for supplying the fire extinguishing agent to the fire extinguishing unit 103;
and a line retraction unit 204 for performing retraction work of the mooring cable 3 and/or the supply pipe 4.
According to the high-altitude tethered unmanned aerial vehicle fire-fighting and rescue system and method, the power supply unit 203 on the fire-fighting vehicle 201 is used for supplying power to the tethered unmanned aerial vehicle 101, and meanwhile, the fire extinguishing agent supply unit 202 on the fire-fighting vehicle 201 is used for continuously supplying the fire extinguishing agent to the fire extinguishing unit 103 on the tethered unmanned aerial vehicle 101, so that the fire-fighting and rescue operation of the tethered unmanned aerial vehicle 101 during high-altitude long voyage and heavy load is realized, the problem that the existing fire-fighting lance is insufficient in fire-fighting height is solved, and the system and method are suitable for high-; by carrying the functional modules such as the fire extinguishing unit 103 and the rescue ejection unit 104 by the mooring unmanned aerial vehicle 101, the fire-fighting and rescue operation of a high-rise building can be carried out, and meanwhile, the corresponding functional modules can be flexibly selected according to the field conditions, so that the responsiveness of fire-fighting and rescue is improved, and the fire-fighting and rescue operation can be reliably carried out in time; the fire-fighting rescue device is simple in overall structure, rich in functions and good in fire-fighting rescue effect.
According to the high-altitude tethered unmanned aerial vehicle fire-fighting and rescue system, the fire-fighting unit 103 and the rescue ejection unit 104 are arranged on the tethered unmanned aerial vehicle 101 at the same time, so that the tethered unmanned aerial vehicle 101 has high-altitude fire-fighting and high-altitude rescue functions, and under the complex condition of high-rise fire-fighting and rescue, after environment information of the tethered unmanned aerial vehicle 101 is researched and judged according to the environment monitoring unit 102, fire-fighting or ejection rescue materials are flexibly selected or carried out at the same time, so that the integration of fire-fighting or/and rescue functions is realized, the timeliness of fire-fighting and rescue is guaranteed, and the flexibility of fire-fighting and rescue is improved.
In this embodiment, the rescue ejection unit 104 includes a wire-type first screw 1041 and a first emitter 1042; the first spiral propeller 1041 is used for placing a rescue bomb 1043 and spirally conveying the rescue bomb 1043 into the first ejector 1042; the input port of the first launcher 1042 is butted with the output port of the first screw propeller 1041, and is used for receiving the rescue bomb 1043 and launching the rescue bomb 1043 to the designated position, so that the urgent rescue materials (such as gas masks, fire blankets and the like) can be quickly and accurately thrown to the designated position of the high-rise building, the harm of toxic gas to trapped people is reduced, and the situations of poisoning and suffocation death and the like are avoided. The rescue bomb 1043 is ejected to the designated position by the ejection function of the rescue ejection unit 104, so that the safety distance between the tethered unmanned aerial vehicle 101 and the fire scene can be kept, and the flight safety of the tethered unmanned aerial vehicle 101 is guaranteed.
Specifically, the shell of the rescue bomb 1043 is of a split spherical structure, is easy and convenient to disassemble and assemble, is made of a fire-resistant light material, and can be internally provided with a gas mask, an interphone, a fire blanket and other equipment required for rescue. Specifically, a gas mask with a normal size and vacuum packaging is placed in each rescue bomb 1043, and other rescue articles are placed according to the fire. After the rescue information needed by the fire is determined, the type and the number of the rescue bullets 1043 are determined, the rescue bullets 1043 are taken out from the fire-fighting equipment storage cabinet unit 205 of the ground support subsystem 2, before the tethered unmanned aerial vehicle 101 is lifted off, the rescue bullets 1043 are placed in the spaces of the first spiral propeller 1041, when the tethered unmanned aerial vehicle 101 reaches the designated operation position, the first launcher 1042 is aimed accurately, the corresponding motor on the first spiral propeller 1041 is remotely controlled to rotate, the rescue bullets 1043 are pushed into the launching tube of the first launcher 1042, an operator controls the command control device of the ground support subsystem 2, the rescue bullets 1043 are launched to the designated rescue position through the first launcher 1042, trapped people can quickly open the rescue bullets 1043, emergency rescue articles are taken out, and self rescue and escape are achieved.
In this embodiment, the tethered drone 101 is further provided with a rescue loudspeaker 105 (such as a tweeter) and a rescue light 106. The rescue loudspeaker 105 is convenient for broadcasting or talking to trapped people, and the rescue illuminating lamp 106 is used for providing illumination, so that the subsequent fire rescue operation is facilitated.
In this embodiment, the fire extinguishing unit 103 includes a fire monitor 1031, the fire monitor 1031 is connected to a fire extinguishing agent supply unit 202 (such as a water source and a water pump 2021) of the ground support subsystem 2 via a supply pipe 4, and fire-fighting water is supplied to the fire monitor 1031 via the supply pipe 4 via the water pump 2021. In order to ensure the influence of the reaction force of the fire water monitor 1031 during operation on the flight stability of the tethered unmanned aerial vehicle 101, a fan 1032 with adjustable rotating speed is installed at the rear side of the fire water monitor 1031, and the fan 1032 rotates to generate a force which offsets the reaction force of the fire water monitor 1031. Of course, the fire extinguishing unit 103 further includes a fire extinguishing tank 1033 (such as a dry powder fire extinguishing tank and a foam fire extinguishing tank), and the fire extinguishing tank 1033 is correspondingly provided with spray guns 1034, so that fire extinguishing agents of corresponding types can be used according to specific fire types.
In this embodiment, the fire extinguishing unit 103 further includes a fire extinguishing bomb launching device 1035, a window breaking device (such as a window breaking gun 1036 or a window breaking bomb, etc.), wherein the specific structure of the fire extinguishing bomb launching device 1035 is the same as that of the rescue ejection unit 104, and the fire extinguishing bomb launching device 1035 also includes a steel wire type second screw propeller and a second launcher; the second spiral propeller is used for placing fire extinguishing bombs and spirally conveying the fire extinguishing bombs into the second emitter; the input port of the second transmitter is in butt joint with the output port of the second spiral propeller and used for receiving the fire extinguishing bomb and ejecting the fire extinguishing bomb to a specified position to realize fire extinguishing. In a preferred embodiment, the fire extinguishing bomb launching device 1035 and the rescue ejection unit 104 may be the same structure, or both may use different propellers, but launch the fire extinguishing bomb 1043 or the fire extinguishing bomb with the same launcher, so that the whole structure of the tethered drone 101 is simpler and lighter. The window breaking gun 1036 or window breaking bullet is used for realizing window breaking operation, and the subsequent fire fighting and rescue can be smoothly carried out.
In this embodiment, the environment monitoring unit 102 includes a monitoring camera 1021, a laser range finder 1022, an ultrasonic sensor 1023, and a GPS positioning module 1024; the monitoring camera 1021 is used for monitoring the peripheral side of the tethered unmanned aerial vehicle 101 and sending image information to the control unit of the whole fire rescue system; the laser range finder 1022 and the ultrasonic sensor 1023 are used for measuring the distance of each object; the GPS positioning module 1024 is used to realize positioning of the tethered drone 101. Of course, the environment monitoring unit 102 may also include a temperature sensor or the like for measuring the ambient temperature.
Specifically, mooring unmanned aerial vehicle 101 is multi-rotor high-lift mooring unmanned aerial vehicle 101, like the eight-rotor unmanned aerial vehicle of fig. 4, eight-rotor unmanned aerial vehicle's bottom is connected with mounting panel 1012 through many spinal branchs 1011, forms the space that is used for installing environment monitoring unit 102, fire extinguishing unit 103 and rescue ejection unit 104 between mounting panel 1012 and mooring unmanned aerial vehicle 101's bottom. Wherein the position that each pillar 1011 is close to mooring unmanned aerial vehicle 101 bottom is provided with mounting bracket 1013, mounting bracket 1013 then comprises many horizontal poles, monitoring camera 1021 in environment monitoring unit 102, laser range finder 1022, ultrasonic sensor 1023 and GPS orientation module 1024 then are located the horizontal pole of mooring unmanned aerial vehicle 101 front and back both sides, broken window rifle 1036, light and high pitch loudspeaker then are located the horizontal pole of mooring unmanned aerial vehicle 101 left and right sides, fire water cannon 1031, each transmitter, tank 1033 that goes out fire (including dry powder tank and foam tank that goes out fire) then is located mounting panel 1012. Through set up different functional module (as above put out a fire unit 103 and rescue and launch unit 104 etc.) on mooring unmanned aerial vehicle 101 to possess the executive capability of different tasks such as fire control rescue, can dispose different functional module and modular rescue article according to the fire extinguishing and rescue task demand of different conditions of a fire, realize the quick delivery of rescue goods and materials.
As shown in fig. 6 to 9, the fire fighting vehicle 201 includes a vehicle head 2011 and a vehicle cabin 2012, and the fire extinguishing agent supply unit 202, the power supply unit 203, and the pipeline storage unit 204 are all installed in the vehicle cabin 2012. In addition, a storage cabinet unit 205 for storing fire-fighting materials and rescue materials is arranged in the carriage 2012; the top of the carriage 2012 is provided with a take-off and landing platform 207 for the tethered drone 101 to take off and land. In the ground support subsystem 2, the fire extinguishing agent supply unit 202, the power supply unit 203, the pipeline retraction unit 204 and the storage cabinet unit 205 are installed in the carriage 2012, and the lifting platform 207 is arranged in the roof of the vehicle, so that the units and the tethered unmanned aerial vehicle 101 can move quickly, the timeliness of fire rescue is ensured, and the units in the carriage 2012 have complete functions; the storage cabinet unit 205 stores fire-fighting materials and rescue materials, and is matched with the mooring type fire-fighting rescue unmanned aerial vehicle to realize the integration of rescue and fire-fighting functions.
In this embodiment, the carriage 2012 is divided into three cavities in the length direction, the cavity close to the vehicle head 2011 is a first cavity 2013, the cavity far away from the vehicle head 2011 is a third cavity 2015, and a second cavity 2014 is arranged between the first cavity 2013 and the third cavity 2015; the power supply unit 203 is located in the first cavity 2013, the pipeline retraction unit 204 is located in the second cavity 2014, and the fire-extinguishing agent supply unit 202 and the storage cabinet unit 205 are both located in the third cavity 2015. Through the spatial position arrangement of each unit, on the premise of ensuring the running stability of the vehicle, the vehicle-mounted intelligent control system has reasonable functional partitions, compact integral structure and convenient maintenance. In addition, the first cavity 2013, the second cavity 2014 and the third cavity 2015 are respectively provided with independent compartment doors 2016 at two sides of the compartment 2012, so that two sides of each cavity can be independently opened, and maintenance and the like are facilitated; wherein the railway carriage or compartment door 2016 adopts electric rolling shutter door, and the switch is simple and convenient, and electric rolling shutter door does not occupy the space in carriage 2012 both sides moreover, is applicable to the narrower operation region in space, and the operating personnel of also being convenient for simultaneously carries out the fire rescue operation. Of course, each adjacent cavity can be separated by a partition plate or not, and the separation can be selected according to actual conditions.
In this embodiment, the storage cabinet unit 205 includes a first storage cabinet for storing fire extinguishing bombs, rescue bombs 1043, and the like, and a second storage cabinet for storing the dry powder fire extinguishing tank 1033 and the foam fire extinguishing tank 1033, the first storage cabinet and the second storage cabinet being arranged in the width direction of the car 2012. Specifically, the first storage cabinet and the second storage cabinet are located at the tail of the carriage 2012, and rescue goods and fire-fighting goods stored inside are prepared according to a high-rise fire condition. The fire extinguishing agent supply unit 202 comprises a fire water tank and a water pump 2021, wherein the input port of the water pump 2021 is connected with the fire water tank (not shown in the figure), and the output port is connected with the supply pipe 4; wherein fire water tank and water pump 2021 are located the third cavity 2015 equally, and are located the both sides of third cavity 2015 equally, and of course, water pump 2021 also can the direct connection carriage 2012 outside fire hydrant's water source etc.. The power supply unit 203 comprises a generator 2031 and a storage battery (not shown in the figure), the generator 2031 and the storage battery are both connected with the mooring cable 3, the generator 2031 and the storage battery are positioned in the first cavity 2013, and power is generated by the generator 2031 and then converted by a power supply to provide a power supply for the mooring unmanned aerial vehicle 101; of course, electrical cabinets such as control cabinets may be located within the first cavity 2013. The pipeline collecting and releasing unit 204 comprises a pipeline winch 2041 and is located in the second cavity 2014, a pipeline on the pipeline winch 2041 is connected with the mooring unmanned aerial vehicle 101 on the roof through a hole on the roof, when the mooring unmanned aerial vehicle 101 flies at high altitude, the pipeline winch 2041 realizes winding and releasing of a water pipe and a cable according to the flying height of the mooring unmanned aerial vehicle 101, the normal length of the water pipe and the cable is ensured, and overlong knotting or winding with other obstacles is avoided. In addition, the control unit of the whole fire rescue system realizes the taking-off and landing operation of the tethered unmanned aerial vehicle 101, and adjusts the posture and the position of the tethered unmanned aerial vehicle 101 and corresponding rescue and fire fighting operations according to the fire situation image information and the like shot by the tethered unmanned aerial vehicle 101; of course, the control unit can be fixed inside the cab, and the control unit can be taken out of the cab for operation and control through an extension line or a wireless communication mode.
As shown in fig. 8 and 9, in the present embodiment, the protection covers 206 are rotatably disposed on both sides of the landing platform 207 and are split. Specifically, when the protective covers 206 on the two sides of the carriage 2012 are opened, the take-off and landing platform 207 is exposed, and the tethered unmanned aerial vehicle 101 is parked on the take-off and landing platform 207, so that operations such as take-off and landing operations or installation and maintenance can be performed; when the protective covers 206 on the two sides of the carriage 2012 are folded towards the middle and are in a closed state, the tethered unmanned aerial vehicle 101 and the fire rescue vehicle form a whole, so that the transportation is facilitated, the structure is simple, and the operation is simple and convenient.
In this embodiment, the mooring cable 3 includes not only the power line but also other auxiliary cables such as various signal lines and control lines, and the mooring cable 3 and the supply pipe 4 are integrated into a single structure, and if the supply pipe 4 is a flexible pipe with a certain compressive strength, the wires in the mooring cable 3 are integrated on the periphery of the flexible pipe to form an integrated structure.
For major fire disasters, the mooring unmanned aerial vehicle 101 is connected with a fire-fighting water pipe from the ground support subsystem 2 and is directly connected with an airborne interface, the multi-rotor layout with high lift force is adopted, the reaction force of water pressure, wind load and water spray is overcome, and the precise positioning of an aerial platform is realized through position control and adjustment; through environmental monitoring unit 102, monitor and regulate and control mooring unmanned aerial vehicle 101 position, carry out the fire control task of putting out a fire in appointed fire extinguishing area.
The invention starts from the fire-fighting and rescue actual combat of high-rise buildings, constructs the fire engine and the mooring unmanned aerial vehicle 101 into a closely-associated integral system, and realizes a high-rise fire-fighting and rescue system with quick response and strong adaptability.
As shown in fig. 10, the invention also discloses a fire rescue method based on the high-altitude tethered unmanned aerial vehicle fire rescue system, which comprises the following steps:
s01, the tethered unmanned aerial vehicle 101 is lifted to a fire scene, and the environment monitoring unit 102 acquires image information of the fire scene;
s02, judging whether to carry out fire fighting operation or rescue operation according to the image information;
s03, the tethered unmanned aerial vehicle 101 flies to a preset position to carry out fire fighting operation or rescue operation; in the fire fighting operation, the fire extinguishing agent is sprayed to the fire scene through the fire extinguishing unit 103; when rescue operation is performed, rescue ejection units 104 eject rescue goods to specified positions.
In this embodiment, in step S03, when a fire-fighting operation is performed, the fire-extinguishing unit 103 uses the corresponding fire-extinguishing agent based on the fire information in the image information and sprays the corresponding fire-extinguishing agent to the fire scene. When fire fighting water is needed, water in the fire water tank or the hydrant is pressurized by the water pump 2021, and then is delivered to the fire monitor 1031 through the supply pipe 4, and is sprayed to the fire scene. If dry powder fire extinguishing or foam fire extinguishing is needed, the dry powder in the dry powder fire extinguishing tank 1033 or the foam in the foam fire extinguishing tank 1033 is sprayed to a designated position through the spray gun 1034 to perform fire extinguishing operation; when needs put out a fire the operation through the fire extinguishing bomb, rotate through the second screw propeller spiral, will put out a fire in the bomb transport to the second transmitter, launch the operation of putting out a fire to the assigned position through the second transmitter again with the fire extinguishing bomb.
In the present embodiment, in step S03, before the fire fighting or rescue work is performed, it is determined whether or not the window breaking work is necessary based on the window information in the image information. If the window breaking operation is required, the window breaking gun 1036 ejects a window breaking bullet to a designated window to perform the window breaking operation.
The process of the invention is further illustrated below with reference to a complete embodiment:
as shown in fig. 11, the fire rescue system receives a fire rescue task issued by a higher level through fire scheduling dedicated line communication, performs fire rescue information transmitted through fire scene rescue investigation, analyzes a dangerous case on the way to the fire rescue, rapidly formulates a scheme and related configuration (for example, whether a window breaking bomb is needed, whether rescue is needed, whether a fire extinguishing bomb is needed, and the like) needed for executing the task, and determines whether to execute the fire extinguishing task or the fire rescue task according to the dangerous case after the fire rescue system reaches a specified position; or after the fire-fighting task is executed, the rescue task is executed, and the corresponding rescue is quickly prepared;
judging to use a fire water monitor 1031 or dry powder or foam to extinguish fire according to the scene fire, and further checking corresponding equipment;
starting the vehicle-mounted generator 2031, and starting the mooring unmanned aerial vehicle 101 to lift off to execute a task; the environment monitoring unit 102 works in the whole process during the task execution process, and whether window breaking is needed or not and whether rescue goods and materials (such as life saving devices like gas masks and the like) need to be launched to trapped people or not are judged according to related image information monitored by the environment monitoring unit 102;
after reaching the designated position, the fire extinguishing and rescue work is started according to the information provided by the environment monitoring unit 102;
after the task is completed, the tethered unmanned aerial vehicle 101 lands on the take-off and landing platform 207 of the fire-fighting vehicle 201, and returns after being sorted.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (18)
1. A fire rescue system for an aerial mooring unmanned aerial vehicle is characterized by comprising an aerial operation subsystem (1) and a ground support subsystem (2);
the aerial work subsystem (1) comprises a mooring unmanned aerial vehicle (101), a fire extinguishing unit (103), an environment monitoring unit (102) and a rescue ejection unit (104), wherein the rescue ejection unit (104) is used for ejecting rescue goods to a specified position; the fire extinguishing unit (103), the environment monitoring unit (102) and the rescue ejection unit (104) are all installed on the mooring unmanned aerial vehicle (101);
the ground support subsystem (2) comprises a fire-fighting vehicle (201), a fire-extinguishing agent supply unit (202), a power supply unit (203) and a pipeline deploying and retracting unit (204), wherein the fire-extinguishing agent supply unit (202), the power supply unit (203) and the pipeline deploying and retracting unit (204) are all installed on the fire-fighting vehicle (201);
the power supply unit (203) is connected with the tethered unmanned aerial vehicle (101) through a tethered cable (3) and is used for providing power supply for the tethered unmanned aerial vehicle (101);
the fire extinguishing agent supply unit (202) is connected with the fire extinguishing unit (103) through a supply pipe (4) and is used for supplying fire extinguishing agent to the fire extinguishing unit (103);
and the pipeline collecting and releasing unit (204) is used for collecting and releasing the mooring cable (3) or/and the supply pipe (4).
2. The high altitude tethered unmanned aerial vehicle fire rescue system of claim 1, wherein the rescue ejection unit (104) comprises a first auger (1041) and a first transmitter (1042);
the first spiral propeller (1041) is used for placing a rescue bomb (1043) and spirally conveying the rescue bomb (1043) into the first ejector (1042);
an input port of the first emitter (1042) is in butt joint with an output port of the first spiral propeller (1041) and is used for receiving a rescue bomb (1043) and ejecting the rescue bomb (1043) to a specified position.
3. A high altitude tethered unmanned aerial vehicle fire rescue system as claimed in claim 1 wherein the tethered unmanned aerial vehicle (101) also has a rescue loudspeaker (105) or/and rescue lights (106) mounted thereon.
4. High altitude mooring unmanned aerial vehicle fire rescue system according to claim 1, 2 or 3, characterized in that the fire extinguishing unit (103) comprises a fire water monitor (1031), the fire water monitor (1031) being connected to the fire extinguishing agent supply unit (202) by a supply pipe (4).
5. A high altitude mooring unmanned aerial vehicle fire rescue system as defined in claim 4, wherein the fire suppression unit (103) further comprises a fire suppression tank (1033), the fire suppression tank (1033) being provided with a spray gun (1034).
6. The high altitude tethered unmanned aerial vehicle fire rescue system of claim 4, wherein the fire suppression unit (103) further comprises a fire suppression bomb launching device (1035), the fire suppression bomb launching device (1035) comprising a second auger and a second launcher;
the second spiral propeller is used for placing fire extinguishing bombs and spirally conveying the fire extinguishing bombs into the second emitter;
and the input port of the second emitter is butted with the output port of the second spiral propeller and used for receiving fire extinguishing bombs and ejecting the fire extinguishing bombs to a specified position.
7. The high altitude mooring unmanned aerial vehicle fire rescue system of claim 4, wherein the fire extinguishing unit (103) further comprises a window breaking gun (1036) or a window breaking bomb.
8. A high altitude mooring unmanned aerial vehicle fire rescue system as claimed in claim 1, 2 or 3, wherein the environment monitoring unit (102) comprises one or more of a monitoring camera (1021), a laser range finder (1022), an ultrasonic sensor (1023), and a positioning module (1024).
9. The high altitude mooring unmanned aerial vehicle fire rescue system of claim 1, 2 or 3, wherein the fire extinguishing agent supply unit (202) comprises a fire water tank and a water pump (2021), an input port of the water pump (2021) is connected with the fire water tank, and an output port is connected with the supply pipe (4).
10. High altitude mooring unmanned aerial vehicle fire rescue system according to claim 1, 2 or 3, characterized in that the power supply unit (203) comprises a generator (2031) or/and a battery, both the generator (2031) and the battery being connected to the mooring cable (3).
11. High altitude mooring unmanned aerial vehicle fire rescue system according to claim 1, 2 or 3, wherein the pipeline retraction unit (204) comprises a pipeline winch (2041).
12. The high-altitude tethered unmanned aerial vehicle fire rescue system of claim 1 or 2 or 3, wherein the fire fighting vehicle (201) comprises a nose (2011) and a carriage (2012), the fire suppressant supply unit (202), the power supply unit (203) and the pipeline reeling and unreeling unit (204) all being mounted within the carriage (2012); the top of the carriage (2012) forms a take-off and landing platform (207) for the tethered drone (101).
13. A high altitude mooring unmanned aerial vehicle fire rescue system as defined in claim 12, wherein the take-off and landing platform (207) is provided with a protective cover (206) in an open-close shape.
14. The high-altitude mooring unmanned aerial vehicle fire rescue system according to claim 12, wherein a storage cabinet unit (205) for storing fire extinguishing materials and rescue materials is further arranged in the carriage (2012).
15. A high altitude mooring unmanned aerial vehicle fire rescue system as defined in claim 14, wherein the carriage (2012) is divided into three cavities in the length direction, the cavity near the vehicle head (2011) is a first cavity (2013), the cavity far away from the vehicle head (2011) is a third cavity (2015), and a second cavity (2014) is arranged between the first cavity (2013) and the third cavity (2015); the power supply unit (203) is located in the first cavity (2013), the pipeline deploying and retracting unit (204) is located in the second cavity (2014), and the fire extinguishing agent supply unit (202) and the storage cabinet unit (205) are both located in the third cavity (2015); each cavity is provided with an independent compartment door (2016) at one side or two sides of the compartment (2012); each compartment door (2016) is an electric rolling door.
16. A fire rescue method based on the high-altitude mooring unmanned aerial vehicle fire rescue system of any one of claims 1-15, characterized by comprising the steps of:
s01, the tethered unmanned aerial vehicle (101) is lifted to a fire scene, and the environment monitoring unit (102) acquires image information of the fire scene;
s02, judging whether to carry out fire fighting operation or rescue operation according to the image information;
s03, the mooring unmanned aerial vehicle (101) flies to a preset position to carry out fire fighting operation or rescue operation; when fire fighting work is performed, a fire extinguishing agent is sprayed to a fire scene through a fire extinguishing unit (103); when rescue operation is carried out, rescue goods and materials are ejected to a specified position through a rescue ejection unit (104).
17. A fire rescue method as defined in claim 16, wherein in step S03, when performing fire fighting, the fire extinguishing unit (103) sprays the fire extinguishing agent to the fire scene using the fire extinguishing agent according to the fire information in the image information.
18. A fire rescue method as defined in claim 16, wherein in step S03, before the fire rescue operation or the rescue operation is performed, it is determined whether or not a window breaking operation is necessary based on the image information.
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| CN111840857B (en) * | 2020-07-21 | 2021-10-08 | 长沙市云智航科技有限公司 | Container type mooring fire-fighting and fire-extinguishing rescue equipment and method |
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| CN112516485A (en) * | 2020-12-04 | 2021-03-19 | 山东科技大学 | Complex environment high-mobility mooring type high-rise fire rescue robot |
| CN114949699A (en) * | 2021-10-21 | 2022-08-30 | 新余博迅汽车有限公司 | Vehicle-mounted fire-fighting system and method and fire-fighting vehicle |
| CN114949699B (en) * | 2021-10-21 | 2023-01-31 | 新余博迅汽车有限公司 | Vehicle-mounted fire-fighting system and method and fire-fighting vehicle |
| CN115177899A (en) * | 2022-05-30 | 2022-10-14 | 湖南山河科技股份有限公司 | Mobile fire fighting system for high-rise building |
| CN115430084A (en) * | 2022-09-13 | 2022-12-06 | 邓秋波 | High-rise building indoor rescue system and use method thereof |
| CN115430084B (en) * | 2022-09-13 | 2023-04-14 | 邓秋波 | High-rise building indoor rescue system and use method thereof |
| CN115414612A (en) * | 2022-09-30 | 2022-12-02 | 新兴际华集团有限公司 | Fire extinguishing system and method for high-rise building |
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