CN112093050A - Modularization unmanned aerial vehicle fire engine - Google Patents
Modularization unmanned aerial vehicle fire engine Download PDFInfo
- Publication number
- CN112093050A CN112093050A CN202010992252.2A CN202010992252A CN112093050A CN 112093050 A CN112093050 A CN 112093050A CN 202010992252 A CN202010992252 A CN 202010992252A CN 112093050 A CN112093050 A CN 112093050A
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned aerial
- aerial vehicle
- fire
- main body
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
-
- 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
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- 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
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention relates to the field of fire rescue, in particular to a modularized unmanned aerial vehicle fire truck. The utility model provides a modularization unmanned aerial vehicle fire engine, includes fire engine main part, unmanned aerial vehicle main part and remote control center, is provided with the skylight that can open and shut at fire engine main part top, is provided with in the fire engine main part and controls platform and automatic parking apron, still be provided with controller, signal transmission receiving module, on-vehicle positioning system module, the all-round complete machine protection module of environmental perception system, remote communication module, 360 monitoring module and power module in the fire engine main part. This kind of on-vehicle unmanned aerial vehicle fire rescue system adopts the modularized design, and the function is various, can fully promote unmanned aerial vehicle's availability factor.
Description
Technical Field
The invention relates to the field of fire rescue, in particular to a modularized unmanned aerial vehicle fire truck.
Background
Along with the continuous development of society high-rise buildings more and more, high-rise building conflagration needs put out in time otherwise the influence is very big, and traditional fire control aerial ladder is the telescopic structure of machinery, and the maximum height of lifting can reach one hundred meters, and the fire fighter can stand on the platform of cloud platform and detect and put out a fire. But the urbanization is rapidly developed, the high-rise buildings are rapidly developed, the urban land is 'earth-sized', and the high-rise buildings are important landmarks of cities. Buildings two to three hundred meters high are not uncommon, and for these buildings, one hundred meters of aerial ladder obviously does not meet the requirements of these high-rise and super-high buildings. And, along with the promotion of height, mechanical structure is also more and more complicated heavy, can not nimble reply traffic jam when police, and the road is narrower after advancing the district, and inconvenient advancing, delay rescue time.
Unmanned aerial vehicle can be accurate, directly perceived, survey comprehensively, and the topography and landform when can dissect the scene of a fire analysis data and the rescue that provide is used more and more extensively in fire control and rescue field. In the prior art, fire fighting mechanisms utilize unmanned aerial vehicles to conduct fire scene investigation and monitoring, and attempt such as throwing rescue goods and materials are very obvious in effect. Fire control unmanned aerial vehicle among the prior art is mostly special plane special use, uses an unmanned aerial vehicle, carries on infrared camera cloud platform on unmanned aerial vehicle, and the ground station carries out the conversion transmission of communication link through the remote controller, and the function is single, and the utilization ratio is lower, causes great wasting of resources.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a modularized unmanned aerial vehicle fire truck.
In order to solve the prior art problem, the invention discloses a modularized unmanned aerial vehicle fire fighting truck which comprises a fire fighting truck main body, an unmanned aerial vehicle main body and a remote control center, wherein an openable skylight and an automatic parking apron are arranged at the top of the fire fighting truck main body, an operation platform is arranged in the fire fighting truck main body, and the fire fighting truck main body is also provided with a controller, a signal transmitting and receiving module, a vehicle-mounted positioning system module, an environment sensing system omnibearing whole machine protection module, a remote communication module, a 360-degree monitoring module and a power supply module;
the unmanned aerial vehicle main body is provided with a carrying frame, and the carrying frame can carry an infrared detection module, a mechanical arm module, a shouting illumination module, a life buoy throwing module, a fire extinguishing bomb throwing module, an individual soldier outdoor 4G image transmission module and a toxic gas detection module;
a plurality of mechanical devices for controlling the flight instructions of the unmanned aerial vehicle and a screen display unit are arranged on an operation platform in the fire truck body, the operation platform is electrically connected with the controller, and an operator sends the instructions to the controller through the operation platform;
the automatic parking apron is electrically connected with the controller, and the automatic parking apron executes lifting, stopping and other operations according to signals sent by the controller;
the power supply module is electrically connected with the controller, the controller monitors the electric quantity of the unmanned aerial vehicle main body, the unmanned aerial vehicle main body automatically returns to the air and lands on the automatic parking apron after the electric quantity of the unmanned aerial vehicle main body is lower than a threshold value, the power supply module comprises a manipulator and a charging box, the manipulator unloads and installs batteries for the unmanned aerial vehicle main body, and the unloaded batteries are placed in the charging box for charging;
the signal transmitting and receiving module in the fire fighting truck main body can realize the receiving and transmitting of signals with the unmanned aerial vehicle main body and the remote control center;
the vehicle-mounted positioning system module in the fire truck main body adopts a GNSS positioning system;
the environment sensing system omnibearing complete machine protection module in the fire fighting truck main body is internally integrated with a miniature six-parameter high-integration meteorological station which can detect six meteorological elements such as wind speed, wind direction, rainfall, temperature, humidity and air pressure, and is electrically connected with the controller, and sends detected meteorological data to the controller and displays the meteorological data on a screen display unit of the control platform;
the remote communication module can realize the remote communication between the fire fighting truck main body and the remote control center;
the 360-degree monitoring module can detect the environment around the fire fighting truck main body by arranging a plurality of cameras on the fire fighting truck main body, and the detected data is sent to the controller and displayed on a screen display unit of the control platform;
infrared investigation module, arm module, the illumination module of propaganda directed towards, the life buoy module of jettisoning, the module is put in to the fire extinguishing bomb, individual soldier's outdoor 4G picture passes the module and toxic gas detection module all is connected with the controller electricity, the controller is to infrared investigation module, arm module, the illumination module of propaganda directed towards, the life buoy module of jettisoning, the module is put in to the fire extinguishing bomb, individual soldier's outdoor 4G picture passes module and toxic gas detection module and sends command signal, infrared investigation module, individual soldier's outdoor 4G picture passes module and toxic gas detection module and obtains the signal to the controller feedback.
Preferably, the automatic parking apron comprises a parking platform and an aircraft conveying device, an aircraft conveying belt is arranged on the aircraft conveying device and is in contact with the parking platform, a conveying belt is also arranged on the parking platform, the aircraft conveying belt and the parking platform conveying belt are driven by a motor to rotate, and the motor is controlled by a controller to be started or stopped.
Preferably, the control platform is provided with a mechanical device for controlling the flight direction of the unmanned aerial vehicle, starting and stopping the automatic parking apron, detecting the omnibearing complete machine protection module of the environment sensing system, switching the remote communication module, switching the 360-degree monitoring module and receiving and releasing instructions of all modules carried on the unmanned aerial vehicle main body, and the control platform is provided with 4 bays corresponding to the control of 4 unmanned aerial vehicle main bodies.
Preferably, 4 unmanned aerial vehicle main parts can be carried simultaneously in the fire engine main part.
Preferably, the infrared detection module is an infrared camera.
Preferably, the robot arm module adopts a mechanical gripper.
Preferably, the shouting illumination module comprises a high beam spot lamp and a loudspeaker, the high beam spot lamp and the loudspeaker are integrated together, and the high beam spot lamp can rotate by 360 degrees.
Preferably, the life buoy throwing module adopts a special life buoy for fire protection.
Preferably, the module carried on the unmanned aerial vehicle main part can be selected according to the difference of application occasion.
The using method of the invention comprises the following steps: when the warning phone is received to the fire brigade, can control the unmanned aerial vehicle main part when police, carry on infrared investigation module in the unmanned aerial vehicle main part, through data such as image information that observe the unmanned aerial vehicle body feedback, the better fire rescue scheme of formulating of being convenient for. Before the unmanned aerial vehicle main part takes off, operating personnel presses the button of taking off of a key on controlling the platform, and 360 monitoring module of controller control and the all-round complete machine protection module of environment perception system begin work, detect fire control car main part surrounding environment, detect wind speed, wind direction, rainfall, temperature, humidity, atmospheric pressure in the environment of locating simultaneously, judge whether accord with the condition that the unmanned aerial vehicle main part takes off. When the takeoff condition is met, the openable skylight at the top of the fire-fighting vehicle main body is opened, the aircraft conveying device of the automatic parking apron conveys the unmanned aerial vehicle main body to the parking platform, the automatic lifting system at the bottom of the parking platform rises, the openable skylight at the top of the self-fire-fighting vehicle main body is lifted, and the unmanned aerial vehicle main body flies to an appointed place according to an instruction.
According to different fire fighting application scenes, different modules are carried on the main body of the unmanned aerial vehicle,
1. when the infrared detection module is applied to fire suppression, the infrared detection module can be carried, comprises an infrared night vision camera and an infrared thermal induction camera, can be used for detection at night and can be used for fire scene detection, the image is transmitted back to the whole fire situation by utilizing the infrared detection module, so that fire fighters can more accurately make a fire-fighting scheme, whether trapped people and animals exist or not can be detected, and accurate rescue is facilitated; a toxic gas detection module can be carried, so that whether toxic gas leaks on the site can be detected, and greater harm is avoided; the fire extinguishing bomb putting module can be carried, the fire extinguishing bomb is put at a specified position, and the fire extinguishing efficiency is improved.
2. When using when falling into water the rescue, can carry on the life buoy and throw the module, when receiving the rescue phone, can control the unmanned aerial vehicle main part on the fire engine main part and fly towards the point of falling into water, utilize the image information who feeds back from the camera in area in the unmanned aerial vehicle main part, when reaching the personnel position of falling into water, can throw the life buoy and fall to near it, be convenient for it earlier save oneself. The lifebuoy is a special swim ring for fire fighting and rescue, can be folded, has small volume, is convenient for carrying the theme of the unmanned aerial vehicle, can automatically expand after meeting water, and is convenient for personnel falling into the water to save oneself; after the fire fighter arrives, the fire fighter can rescue.
3. When the intelligent electric heating lamp is applied to searching and rescuing the missing person, the intelligent electric heating lamp can be carried with the speaking illumination module, can speak in the missing range and emit light to scan, is convenient for the missing person to call for help after finding, can be also carried with the infrared detection module to search life signs, and can be carried with the mechanical arm module to put in rescue goods such as food after finding the missing person; in order to cooperate with search and rescue, the outdoor 4G image transmission module for the individual soldier can be carried, so that a command center can better know the scene conveniently.
4. When the device is applied to flood rescue, an infrared detection module can be carried to search trapped people; the robot arm module can be carried to replace a throwing device to deliver a traction rope to a skin raft boat and the like trapped in water, and rescue goods and materials and the like are thrown to trapped people.
In order to guarantee the cruising ability of the battery, a power supply module is arranged on the fire engine main body and comprises a manipulator and a charging box, and the manipulator disassembles the battery without power on the unmanned aerial vehicle main body and places the battery into the charging box for charging; meanwhile, the battery which is charged in the charging box can be installed on the main body of the unmanned aerial vehicle, so that the requirement of high-frequency, continuous and normalized flying operation of the unmanned aerial vehicle is met.
The invention has the beneficial effects that: 1. the functionality is stronger. The unmanned aerial vehicle has the advantages that various search and rescue occasions which can be applied by fire fighters are considered, various functions such as fire rescue, drowning rescue, flood support, deep mountain search and rescue, emergency material throwing and the like are considered, waste of resources is avoided, and the utilization rate of the unmanned aerial vehicle is improved; 2. the flexibility is stronger, different search and rescue modules can be carried according to different application occasions, and the device is more mobile; 3. the duration is strong, is provided with power module in the fire engine main part, can charge for the unmanned aerial vehicle main part is automatic to can be at built-in UPS uninterrupted power source of unmanned aerial vehicle and surge protector, under the unusual power supply condition, under the circumstances such as on-vehicle generator trouble, commercial power interrupt, surge, under-voltage, excessive pressure, provide the protection of electric power duration more than 30min, guarantee system safety operation. 4. Can carry 4 unmanned aerial vehicle main parts in the fire engine main part to each item function of unmanned aerial vehicle main part can be through the control platform control on the fire engine main part, can many unmanned aerial vehicles of simultaneous control operate, improves the operating efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the main body of the drone of the present invention;
FIG. 3 is a schematic view of the connection structure of the modules of the present invention;
FIG. 4 is a schematic flow diagram of the present invention.
Reference numerals:
1. a fire engine main body; 2. an unmanned aerial vehicle main body; 3. a remote control center; 4. the skylight can be opened and closed; 5. a manipulation platform; 6. an automatic parking apron; 61. an automatic lifting system; 62. a shutdown platform; 63. an aircraft transfer device; 7. a controller; 8. a signal transmitting and receiving module; 9. a vehicle-mounted positioning system module; 10. the environment sensing system omnibearing complete machine protection module; 11. a remote communication module; 12. a 360 degree monitoring module; 13. a power supply module; 14. carrying a frame; 15. an infrared detection module; 151. an infrared night vision camera; 152. an infrared thermal sensing camera; 16. a robotic arm module; 17. a shouting lighting module; 18. a life buoy throwing module; 19. a fire extinguishing bomb throwing module; 20. an individual outdoor 4G image transmission module; 21. and a toxic gas detection module.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are merely intended to more clearly illustrate the structure of the present invention.
As shown in the attached drawings 1 and 2 of the specification, a modularized unmanned aerial vehicle fire fighting truck comprises a fire fighting truck main body 1, an unmanned aerial vehicle main body 2 and a remote control center 3, wherein an openable skylight 4 and an automatic parking apron 6 are arranged at the top of the fire fighting truck main body 1, an operation platform 5 is arranged in the fire fighting truck main body 1, and the fire fighting truck main body 1 is also provided with a controller 7, a signal transmitting and receiving module 8, a vehicle-mounted positioning system module 9, an environment sensing system omnibearing whole machine protection module 10, a remote communication module 11, a 360-degree monitoring module 12 and a power supply module 13;
the unmanned aerial vehicle main body 2 is provided with a carrying frame 14, and the carrying frame 14 can carry an infrared detection module 15, a mechanical arm module 16, a shouting illumination module 17, a life buoy throwing module 18, a fire extinguishing bomb throwing module 19, an individual soldier outdoor 4G image transmission module 20 and a toxic gas detection module 21;
a plurality of mechanical devices for controlling the flight instructions of the unmanned aerial vehicle and a screen display unit are arranged on the control platform 5 in the fire fighting truck main body 1, the control platform 5 is electrically connected with the controller 7, and an operator sends instructions to the controller 7 through the control platform 5;
the automatic parking apron 6 is characterized in that an automatic lifting system 61 is arranged at the bottom of the automatic parking apron 6, the automatic lifting system 61 can lift and fall at an openable skylight 4 at the top of the self-fire-fighting vehicle main body 1, the automatic parking apron 6 is electrically connected with a controller 7, and the automatic parking apron 6 executes lifting, stopping and other operations according to signals sent by the controller 7;
the power supply module 13 is electrically connected with the controller 7, the controller 7 monitors the electric quantity of the main body 2 of the unmanned aerial vehicle, after the electric quantity of the main body 2 of the unmanned aerial vehicle is lower than a threshold value, the main body 2 of the unmanned aerial vehicle lands on the automatic parking apron 6, the power supply module 13 comprises a manipulator 131 and a charging box 132, the manipulator 131 unloads and installs batteries for the main body 2 of the unmanned aerial vehicle, and the unloaded batteries are placed in the charging box 132 for charging;
the signal transmitting and receiving module 8 in the fire fighting truck main body 1 can receive and transmit signals with the unmanned aerial vehicle main body 2 and the remote control center 3;
the vehicle-mounted positioning system module 9 in the fire fighting truck main body 1 adopts a GNSS positioning system;
a miniature six-parameter high-integration meteorological station is integrated in an environment sensing system omnibearing complete machine protection module 10 in the fire fighting truck main body 1, six meteorological elements such as wind speed, wind direction, rainfall, temperature, humidity and air pressure can be detected, the environment sensing system omnibearing complete machine protection module 10 is electrically connected with a controller 7, detected meteorological data are sent to the controller 7, and the detected meteorological data are displayed on a screen display unit of an operation platform 5;
the remote communication module 11 can realize the remote communication between the fire fighting truck main body 1 and the remote control center 3;
the 360-degree monitoring module 12 is provided with a plurality of cameras on the fire fighting truck main body, so that the environment around the fire fighting truck main body 1 can be detected, the detected data is sent to the controller 7, and the data is displayed on the screen display unit of the control platform 5;
the intelligent fire-fighting bomb comprises an infrared detection module 15, a mechanical arm module 16, a propaganda illumination module 17, a life buoy throwing module 18, a fire-fighting bomb throwing module 19, an individual outdoor 4G image transmission module 20 and a toxic gas detection module 21 which are electrically connected with a controller 7, the controller 7 sends instruction signals to the infrared detection module 15, the mechanical arm module 16, the propaganda illumination module 17, the life buoy throwing module 18, the fire-fighting bomb throwing module 19, the individual outdoor 4G image transmission module 20 and the toxic gas detection module 21, and the infrared detection module 15, the individual outdoor 4G image transmission module 20 and the toxic gas detection module 21 feed back the controller 7 to obtain signals.
Preferably, the automatic apron 6 includes a stopping platform 62 and an aircraft conveyer 63, an aircraft conveyor belt is arranged on the aircraft conveyer 63, the aircraft conveyor belt is in contact with the stopping platform 62, a conveyor belt is also arranged on the stopping platform 62, the aircraft conveyor belt and the stopping platform 62 conveyor belt are both driven by a motor to rotate, and the motor is controlled by the controller 7 to start or stop.
Preferably, the control platform 5 is provided with a mechanical device for controlling the flight direction of the unmanned aerial vehicle, starting and stopping the automatic parking apron 6, detecting the omnibearing whole protection module 10 of the environment sensing system, switching the remote communication module 11, switching the 360-degree monitoring module 12 and receiving and releasing instructions of the modules carried on the unmanned aerial vehicle main body 2, and the control platform 5 is provided with 4 bays corresponding to the control of the 4 unmanned aerial vehicle main bodies 2.
Can carry 4 unmanned aerial vehicle main parts 2 simultaneously in the unmanned aerial vehicle main part 2, infrared investigation module 15 is infrared night vision camera 151 and infrared thermal induction camera 152, mechanical arm module 16 adopts mechanical tongs device, shout lighting module 17 includes high beam shot-light and megaphone, high beam shot-light and megaphone are integrated together, the high beam shot-light can 360 rotations. The life buoy throwing module 18 adopts a special life buoy for fire protection, and the modules carried on the unmanned aerial vehicle main body 2 can be selected according to different application occasions.
The using method of the invention comprises the following steps: when the warning phone is received to the fire brigade, can control unmanned aerial vehicle main part 2 when police, carry on infrared investigation module 15 in unmanned aerial vehicle main part 2, through data such as image information that observe the unmanned aerial vehicle body feedback, be convenient for better formulation fire rescue scheme. Before 2 take-offs in unmanned aerial vehicle main part, operating personnel presses the button of taking off of a key on controlling platform 5, and 360 monitoring module 12 of controller 7 control and the all-round complete machine protection module 10 of environment perception system begin work, detect 1 surrounding environment of fire control car main part, detect wind speed, wind direction, rainfall, temperature, humidity, atmospheric pressure in the environment of locating simultaneously, judge whether accord with the condition that 2 take-offs of unmanned aerial vehicle main part. When the takeoff condition is met, the openable skylight 4 at the top of the fire engine main body 1 is opened, the airplane conveying device 63 of the automatic parking apron 6 conveys the unmanned aerial vehicle main body 2 to the parking platform 62, the automatic lifting system 61 at the bottom of the parking platform 62 ascends, the openable skylight 4 at the top of the self-fire-fighting vehicle main body 1 is lifted by the unmanned aerial vehicle main body 2, and the unmanned aerial vehicle main body 2 flies to an appointed place according to an instruction.
According to different fire fighting application scenes, different modules are carried on the unmanned aerial vehicle main body 2,
1. when the infrared detection module 15 is applied to fire fighting, the infrared detection module 15 can be carried, the infrared detection module 15 comprises an infrared night vision camera 151 and an infrared thermal induction camera 152, can be used for detecting at night and detecting in a fire scene, and can be used for returning images to the overall fire situation, so that fire fighters can more accurately formulate fire fighting schemes, whether trapped people and animals exist can be detected, and accurate rescue can be facilitated; a toxic gas detection module 21 can be also mounted, so that whether toxic gas leaks on the site can be detected, and greater harm is avoided; the fire extinguishing bomb throwing module 19 can be carried to throw the fire extinguishing bomb to a specified position, and the fire extinguishing efficiency is improved.
2. When using when falling into water the rescue, can carry on life buoy jettison module 18, when receiving the rescue phone, can control unmanned aerial vehicle main part 2 and fly towards the point of falling into water on fire engine main part 1, utilize the image information that the camera feedback of taking on unmanned aerial vehicle main part 2 returns, when reaching the personnel's position of falling into water, can jettison the life buoy to near it, be convenient for it save oneself earlier. The lifebuoy is a special swim ring for fire fighting and rescue, can be folded, has small volume, is convenient for carrying the theme of the unmanned aerial vehicle, can automatically expand after meeting water, and is convenient for personnel falling into the water to save oneself; after the fire fighter arrives, the fire fighter can rescue.
3. When the intelligent electric heating lamp is applied to searching and rescuing the missing person, the illuminating module 17 can be carried, the missing person can be called and send light to scan in the missing range, the missing person can call for help after finding, the infrared detection module 15 can be carried to search life signs, and the mechanical arm module 16 can be carried to put in rescue goods such as food, medical treatment, communication and the like after finding the missing person; in order to cooperate with search and rescue, the outdoor 4G image transmission module 20 for the individual soldier can be carried, so that the command center can better know the field situation.
4. When the device is applied to flood rescue, the device can be carried with an infrared detection module 15 to search trapped people; the mechanical arm module 16 can also be carried to replace a thrower to deliver a traction rope to a skin raft boat and the like trapped in water, and to release rescue goods and materials and the like to trapped people.
In order to ensure the cruising ability of the battery, a power supply module 13 is arranged on the fire engine main body 1, the power supply module 13 comprises a manipulator 131 and a charging box 132, and the manipulator 131 detaches the dead battery on the unmanned aerial vehicle main body 2 and places the detached dead battery into the charging box 132 for charging; simultaneously can also install the battery that charges and accomplish in the box 132 that charges on unmanned aerial vehicle main part 2, satisfy unmanned aerial vehicle high frequency, continuity, the operation requirement of flying to patrol of normality.
In the invention, the main body 2 of the unmanned aerial vehicle adopts DJI M300 in Xinjiang, which can meet the application of various fields to be searched and rescued, and the main body 1 of the fire fighting truck is formed by modifying IVECO V45.
As shown in the accompanying drawings 3 and 4 of the specification, the controller 7 controls the operation of the whole system, the controller 7 communicates with the remote control center 3, the unmanned aerial vehicle main body 2 and each module carried by the unmanned aerial vehicle main body through the signal transmitting and receiving device 8, and a remote communication module 11 is further arranged between the controller 7 and the remote control center 3, so that the remote communication between the controller 7 and the remote control center can be realized under the support of the signal transmitting and receiving device 8; the controller 7 mainly controls the upper parts of the fire-fighting vehicle main body 1 as follows: (1) comparing the data signal acquired by the omnibearing complete machine protection module 10 of the environment sensing system with a preset data threshold, and when the data signal is above the data threshold, judging that the meteorological environment meets the flight requirement by the controller 7; (2) the 360-degree monitoring module 12 is characterized in that a plurality of cameras are mounted on the fire fighting truck main body 1, whether obstacles, aircrafts and other objects exist around the truck body or not is judged through the image signal controller 7 fed back by the cameras, and when no takeoff limiting condition exists in the feedback image, the controller 7 sends out a takeoff signal of the unmanned aerial vehicle main body 2; (3) the aircraft conveyer 63 of controller 7 control automatic air park 6 conveys unmanned aerial vehicle main part 2 to stopping platform 62 department, when unmanned aerial vehicle main part 2 takes one's place on stopping platform 62, feedback signal is received to controller 7, automatic lifting system 61 that controller 7 control stopped platform 62 below rises, skylight 4 that can open and shut is opened, unmanned aerial vehicle main part 2 rises to skylight 4 upper portion that can open and shut, 2 rotor rotations of unmanned aerial vehicle main part, 2 take off of unmanned aerial vehicle main part. The controller 7 mainly controls the main body 2 of the unmanned aerial vehicle as follows: (1) controlling the flight direction of the unmanned aerial vehicle main body 2, and storing an image signal fed back by the unmanned aerial vehicle main body 2; (2) if the remote communication is required, the image signal is fed back to the remote control center 3; (3) identifying the modules carried by the unmanned aerial vehicle main body 2, and then switching to a corresponding control instruction mode for control, wherein at present, different modules are preset in numbers, for example, the number 1 is an infrared detection module, the number 2 is a mechanical arm module and the like, when different modules are carried by the unmanned aerial vehicle main body 2 and are electrically connected with the unmanned aerial vehicle main body 2, the controller 7 analyzes to determine which module is the different module, and the operation mode is switched to the corresponding module mode; (4) and determining the advancing direction of the unmanned aerial vehicle main body 2 and the specific action of the carrying module thereof by combining the field condition under the 3-dimensional coordinate fed back by the unmanned aerial vehicle main body 2.
The invention has the beneficial effects that: 1. the functionality is stronger. The unmanned aerial vehicle has the advantages that various search and rescue occasions which can be applied by fire fighters are considered, various functions such as fire rescue, drowning rescue, flood support, deep mountain search and rescue, emergency material throwing and the like are considered, waste of resources is avoided, and the utilization rate of the unmanned aerial vehicle is improved; 2. the flexibility is stronger, different search and rescue modules can be carried according to different application occasions, and the device is more mobile; 3. the duration is strong, is provided with power module 13 in the fire engine main part 1, can be for 2 automatic charging of unmanned aerial vehicle main part to can be at built-in UPS uninterrupted power source of unmanned aerial vehicle and surge protector, under the unusual power supply condition, under the circumstances such as on-vehicle generator trouble, commercial power interrupt, surge, under-voltage, excessive pressure, provide the protection of electric power duration more than 30min, guarantee system safety operation. 4. Can carry 4 unmanned aerial vehicle main parts 2 on the fire engine main part 1 to each item function of unmanned aerial vehicle main part 2 can be controlled through control platform 5 in the fire engine main part 1, can many unmanned aerial vehicles of simultaneous control operate, improves the operating efficiency.
Obviously, the rescue system related to the invention has numerous contents, and the related mechanical structure, software control and combination of the two are numerous, and in view of space limitation and simplicity of technical characteristics, a plurality of technologies which have mature technical application in the prior art are not detailed. For example, the opening and closing mode of the openable skylight 4 and the technical scheme that the opening and closing of the openable skylight 4 is automatically realized under the control of the keys of the control platform 5 so that the unmanned aerial vehicle main body 2 can enter and exit conveniently are mature and applied in the prior vehicle technology, so that detailed description is omitted. In addition, operations such as dismounting, playback and the like of the manipulator 131 in the power supply module 13 on the battery of the unmanned aerial vehicle main body 2 are realized, and the operations are applied to many fields of electrical automation for many years, so detailed description is omitted; in addition, obviously should have on each module that unmanned aerial vehicle main part 2 carried and carry on the frame with unmanned aerial vehicle main part 2 and cooperate mechanical mounting device and electrical connection device, these techniques all have mature technique in the application of current unmanned aerial vehicle and can refer to, so the applicant does not have the detailed description. Like unmanned aerial vehicle techniques such as the device connection that power module 13, unmanned aerial vehicle main part 2 carried, automatic air park all have ripe technique in compound sub intelligent science and technology ltd in Shanghai, Beijing Yusheng intelligent science and technology ltd, and the product is all ripe application, can direct application. In the description, fig. 2 of the drawings, the infrared detection module 15 is mounted on the mounting rack 14 of the main body 2 of the unmanned aerial vehicle in a screw fixing manner, and obviously, the infrared detection module can be fixed in other manners; mechanical structures of the automatic apron for carrying, positioning, lifting and the like of the airplane also have mature technologies which can be directly applied, so the detailed description is omitted here.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a modularization unmanned aerial vehicle fire engine which characterized in that: comprises a fire engine main body, an unmanned aerial vehicle main body and a remote control center,
the fire fighting truck comprises a fire fighting truck body, and is characterized in that an openable skylight and an automatic parking apron are arranged at the top of the fire fighting truck body, an operating platform is arranged in the fire fighting truck body, and the fire fighting truck body is also provided with a controller, a signal transmitting and receiving module, a vehicle-mounted positioning system module, an environment sensing system omnibearing whole machine protection module, a remote communication module, a 360-degree monitoring module and a power supply module;
the unmanned aerial vehicle main body is provided with a carrying frame, and the carrying frame can carry an infrared detection module, a mechanical arm module, a shouting illumination module, a life buoy throwing module, a fire extinguishing bomb throwing module, an individual soldier outdoor 4G image transmission module and a toxic gas detection module;
a plurality of mechanical devices for controlling the flight instructions of the unmanned aerial vehicle and a screen display unit are arranged on an operation platform in the fire truck body, the operation platform is electrically connected with the controller, and an operator sends the instructions to the controller through the operation platform;
the automatic parking apron is electrically connected with the controller, and the automatic parking apron executes lifting, stopping and other operations according to signals sent by the controller;
the power supply module is electrically connected with the controller, the controller monitors the electric quantity of the main body of the unmanned aerial vehicle, the main body of the unmanned aerial vehicle is landed on the automatic parking apron after the electric quantity of the main body of the unmanned aerial vehicle is lower than a threshold value, the power supply module comprises a manipulator and a charging box, the manipulator is used for dismounting and mounting a battery for the main body of the unmanned aerial vehicle, and the dismounted battery is placed in the charging box for charging;
the signal transmitting and receiving module in the fire fighting truck main body can realize the receiving and transmitting of signals with the unmanned aerial vehicle main body and the remote control center;
the vehicle-mounted positioning system module in the fire truck main body adopts a GNSS positioning system;
the environment sensing system omnibearing complete machine protection module in the fire fighting truck main body is internally integrated with a miniature six-parameter high-integration meteorological station which can detect six meteorological elements such as wind speed, wind direction, rainfall, temperature, humidity and air pressure, and is electrically connected with the controller, and sends detected meteorological data to the controller and displays the meteorological data on a screen display unit of the control platform;
the remote communication module can realize the remote communication between the fire fighting truck main body and the remote control center;
the 360-degree monitoring module can detect the environment around the fire fighting truck main body by arranging a plurality of cameras on the fire fighting truck main body, and the detected data is sent to the controller and displayed on a screen display unit of the control platform;
infrared investigation module, arm module, the illumination module of propaganda directed towards, the life buoy module of jettisoning, the module is put in to the fire extinguishing bomb, individual soldier's outdoor 4G picture passes the module and toxic gas detection module all is connected with the controller electricity, the controller is to infrared investigation module, arm module, the illumination module of propaganda directed towards, the life buoy module of jettisoning, the module is put in to the fire extinguishing bomb, individual soldier's outdoor 4G picture passes module and toxic gas detection module and sends command signal, infrared investigation module, individual soldier's outdoor 4G picture passes module and toxic gas detection module and obtains the signal to the controller feedback.
2. The modular unmanned aerial vehicle fire engine of claim 1, wherein: the automatic parking apron comprises a parking platform and an airplane conveying device, wherein an airplane conveying belt is arranged on the airplane conveying device and is in contact with the parking platform, a conveying belt is also arranged on the parking platform, the airplane conveying belt and the parking platform conveying belt are driven to rotate by a motor, and the motor is controlled by a controller to be started or stopped.
3. The modular unmanned aerial vehicle fire engine of claim 2, wherein: control and be provided with the detection of control unmanned aerial vehicle flight direction, automatic air park start-stop, the all-round complete machine protection module of environmental perception system, the switch of remote communication module, the switch of 360 monitoring module and the mechanical device who receive and releases the instruction of each module that carries on in the unmanned aerial vehicle main part on the platform, control and have 4 divisions on the platform respectively, correspond controlling of 4 unmanned aerial vehicle main parts.
4. The modular unmanned aerial vehicle fire engine of claim 3, wherein: 4 unmanned aerial vehicle main parts of delivery simultaneously in the fire engine main part.
5. The modular unmanned aerial vehicle fire engine of claim 4, wherein: the infrared detection module is an infrared night vision camera and an infrared thermal induction camera.
6. The modular unmanned aerial vehicle fire engine of claim 5, wherein: the mechanical arm module adopts a mechanical gripper device.
7. The modular unmanned aerial vehicle fire engine of claim 6, wherein: the shouting lighting module comprises a high-beam spot lamp and a loudspeaker, the high-beam spot lamp and the loudspeaker are integrated together, and the high-beam spot lamp can rotate by 360 degrees.
8. The modular unmanned aerial vehicle fire engine of claim 7, wherein: the life buoy throwing module adopts a fire-fighting water expansion type life buoy.
9. The modular unmanned aerial vehicle fire engine of claim 8, wherein: the module of carrying on in the unmanned aerial vehicle main part can be according to the difference of application scenario, selects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992252.2A CN112093050B (en) | 2020-09-21 | 2020-09-21 | Modularized unmanned aerial vehicle fire engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010992252.2A CN112093050B (en) | 2020-09-21 | 2020-09-21 | Modularized unmanned aerial vehicle fire engine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112093050A true CN112093050A (en) | 2020-12-18 |
| CN112093050B CN112093050B (en) | 2023-07-28 |
Family
ID=73760530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010992252.2A Active CN112093050B (en) | 2020-09-21 | 2020-09-21 | Modularized unmanned aerial vehicle fire engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112093050B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086191A (en) * | 2021-04-07 | 2021-07-09 | 上海志茗航空科技有限公司 | Cluster type fire-fighting mooring unmanned aerial vehicle system |
| CN113176601A (en) * | 2021-04-20 | 2021-07-27 | 深圳市车百路科技有限公司 | Vehicle remote monitoring terminal based on Beidou positioning and 5G video technology |
| CN113310755A (en) * | 2021-07-02 | 2021-08-27 | 兴化市泰龙消防器材有限公司 | Fire prevention type on-spot investigation sampling device of conflagration |
| CN114889517A (en) * | 2022-03-18 | 2022-08-12 | 吉林大学 | Triphibian rescue system based on air-ground cooperation technology |
| WO2022178720A1 (en) * | 2021-02-24 | 2022-09-01 | 华为技术有限公司 | Assisted driving method, stop recess, chip, electronic device, and storage medium |
| IT202100005750A1 (en) * | 2021-03-11 | 2022-09-11 | Domenico Piatti | VEHICLE FOR SPECIAL USE OF EMERGENCY FOR FIGHTING FOREST FIRE OR OF OTHER NATURE THAT CAN BE ATTACKED FROM ABOVE WITH A DRONE THAT RELEASES WATER BOMBS THAT BURST IN THE AIR WITH A SPRINKLERS EFFECT, OR RELEASES FRACTIONAL WATER AT THE SAME TIME OR ALTERNATIVELY WITH THE BOMBS BY PRESSURE FROM A TANK PLACED BELOW IT |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160151653A1 (en) * | 2013-07-16 | 2016-06-02 | Beijing Mechanical Equipment Institute | Control method of a fire truck for high-rise and super high-rise building firefighting |
| KR20170025386A (en) * | 2015-08-28 | 2017-03-08 | 금오공과대학교 산학협력단 | fire fighter drone capable of launching grenade-shaped extinguisher |
| WO2017124830A1 (en) * | 2016-01-22 | 2017-07-27 | 数字鹰科技盐城有限公司 | Police multifunctional unmanned aerial vehicle |
| CN107281667A (en) * | 2017-07-31 | 2017-10-24 | 广东容祺智能科技有限公司 | A kind of emergent jettison system based on ultrasonic wave and unmanned air vehicle technique |
| KR20170133619A (en) * | 2016-05-26 | 2017-12-06 | 자이로캠주식회사 | The drone with fire extinguisher material kamikaze landing at the fire place, and the remote control and monitoring device or the firefighting system |
| CN108521555A (en) * | 2018-03-26 | 2018-09-11 | 润泰救援装备科技河北有限公司 | Fire fighting truck emergency management and rescue visual command system and the visual command methods of emergency management and rescue |
| CN110104193A (en) * | 2019-05-21 | 2019-08-09 | 河南大域航空科技有限公司 | Unmanned plane fire-fighting emergent total system |
| KR20190097618A (en) * | 2018-02-12 | 2019-08-21 | 동명대학교산학협력단 | Drone for firefighting |
| WO2020052103A1 (en) * | 2018-09-14 | 2020-03-19 | 广州市华科尔科技股份有限公司 | Firefighting method using firefighting unmanned aerial vehicle |
-
2020
- 2020-09-21 CN CN202010992252.2A patent/CN112093050B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160151653A1 (en) * | 2013-07-16 | 2016-06-02 | Beijing Mechanical Equipment Institute | Control method of a fire truck for high-rise and super high-rise building firefighting |
| KR20170025386A (en) * | 2015-08-28 | 2017-03-08 | 금오공과대학교 산학협력단 | fire fighter drone capable of launching grenade-shaped extinguisher |
| WO2017124830A1 (en) * | 2016-01-22 | 2017-07-27 | 数字鹰科技盐城有限公司 | Police multifunctional unmanned aerial vehicle |
| KR20170133619A (en) * | 2016-05-26 | 2017-12-06 | 자이로캠주식회사 | The drone with fire extinguisher material kamikaze landing at the fire place, and the remote control and monitoring device or the firefighting system |
| CN107281667A (en) * | 2017-07-31 | 2017-10-24 | 广东容祺智能科技有限公司 | A kind of emergent jettison system based on ultrasonic wave and unmanned air vehicle technique |
| KR20190097618A (en) * | 2018-02-12 | 2019-08-21 | 동명대학교산학협력단 | Drone for firefighting |
| CN108521555A (en) * | 2018-03-26 | 2018-09-11 | 润泰救援装备科技河北有限公司 | Fire fighting truck emergency management and rescue visual command system and the visual command methods of emergency management and rescue |
| WO2020052103A1 (en) * | 2018-09-14 | 2020-03-19 | 广州市华科尔科技股份有限公司 | Firefighting method using firefighting unmanned aerial vehicle |
| CN110104193A (en) * | 2019-05-21 | 2019-08-09 | 河南大域航空科技有限公司 | Unmanned plane fire-fighting emergent total system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022178720A1 (en) * | 2021-02-24 | 2022-09-01 | 华为技术有限公司 | Assisted driving method, stop recess, chip, electronic device, and storage medium |
| IT202100005750A1 (en) * | 2021-03-11 | 2022-09-11 | Domenico Piatti | VEHICLE FOR SPECIAL USE OF EMERGENCY FOR FIGHTING FOREST FIRE OR OF OTHER NATURE THAT CAN BE ATTACKED FROM ABOVE WITH A DRONE THAT RELEASES WATER BOMBS THAT BURST IN THE AIR WITH A SPRINKLERS EFFECT, OR RELEASES FRACTIONAL WATER AT THE SAME TIME OR ALTERNATIVELY WITH THE BOMBS BY PRESSURE FROM A TANK PLACED BELOW IT |
| CN113086191A (en) * | 2021-04-07 | 2021-07-09 | 上海志茗航空科技有限公司 | Cluster type fire-fighting mooring unmanned aerial vehicle system |
| CN113176601A (en) * | 2021-04-20 | 2021-07-27 | 深圳市车百路科技有限公司 | Vehicle remote monitoring terminal based on Beidou positioning and 5G video technology |
| CN113310755A (en) * | 2021-07-02 | 2021-08-27 | 兴化市泰龙消防器材有限公司 | Fire prevention type on-spot investigation sampling device of conflagration |
| CN113310755B (en) * | 2021-07-02 | 2022-01-18 | 兴化市泰龙消防器材有限公司 | Fire prevention type on-spot investigation sampling device of conflagration |
| CN114889517A (en) * | 2022-03-18 | 2022-08-12 | 吉林大学 | Triphibian rescue system based on air-ground cooperation technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112093050B (en) | 2023-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112093050B (en) | Modularized unmanned aerial vehicle fire engine | |
| CN109248390B (en) | Fire rescue comprehensive system and method based on unmanned aerial vehicle platform | |
| US11814173B2 (en) | Systems and methods for unmanned aerial vehicles | |
| CN105056457B (en) | A kind of mobile fire-fighting fire extinguishing method for electric power tunnel | |
| CN106828899B (en) | Rescue unmanned aerial vehicle and regulation and control fire control system thereof | |
| CN204415734U (en) | The delivery device of wrecking equipment | |
| CN202929383U (en) | Unmanned plane and automatic charging system thereof | |
| CN110354426B (en) | Design method and system for fire-fighting system of multi-rotor unmanned aerial vehicle | |
| CN203753400U (en) | Unmanned scouting and rescuing aircraft for fire fighting | |
| CN206345001U (en) | Rescue unmanned plane, rescue unmanned aerial vehicle group and its regulation and control fire-fighting system | |
| KR102067358B1 (en) | Drone attachable mission apparatus and system thereof | |
| CN111167046A (en) | Fire rescue system and method for high-altitude mooring unmanned aerial vehicle | |
| CN104554657A (en) | Method for dispensing rescue equipment by utilizing unmanned plane | |
| WO2017147188A1 (en) | Systems and methods for unmanned aerial vehicles | |
| CN111991732A (en) | Fire-fighting reconnaissance fire-extinguishing robot based on visual SLAM and using method | |
| CN106628142A (en) | Unmanned aerial vehicle for air sampling detection and combustible and explosive gas pre-warning and monitoring | |
| CN212935938U (en) | Water area emergency rescue command system | |
| CN211885036U (en) | High altitude unmanned aerial vehicle fire rescue system that moors | |
| CN109466759B (en) | Anti-falling unmanned flying platform for air and water environment parameter acquisition | |
| CN111422124B (en) | Police command car for electric unmanned aerial vehicle | |
| CN109263883A (en) | A kind of manned unmanned plane of composite material | |
| CN210494977U (en) | Many rotor unmanned aerial vehicle fire extinguishing system | |
| CN112843535B (en) | High-rise building fire rescue system and method based on unmanned aerial vehicle | |
| CN112618992B (en) | Low-cost suicide networking fire extinguishing method and unmanned aerial vehicle system | |
| CN206606351U (en) | A kind of unmanned plane monitored for atmospheric sampling and flammable explosive gas |
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 |