CN112843535B - High-rise building fire rescue system and method based on unmanned aerial vehicle - Google Patents
High-rise building fire rescue system and method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a high-rise building fire rescue system and a method based on an unmanned aerial vehicle, wherein the system comprises the following steps: a plurality of unmanned aerial vehicles and a ground vehicle-mounted platform; the unmanned aerial vehicles comprise a first unmanned aerial vehicle, a second unmanned aerial vehicle and a third unmanned aerial vehicle; all unmanned aerial vehicles form two-stage formation, namely first-stage formation and second-stage formation; the device also comprises rescue bins, each rescue bin corresponds to a group of second-level formations, and hanging devices are arranged below the unmanned aerial vehicles in the second-level formations; the ground vehicle-mounted platform is mounted on a movable vehicle, and an unmanned aerial vehicle parking space, the rescue bin placing space and a personnel working space are further arranged in the ground vehicle-mounted platform; the invention has the advantages that the task formation form is adopted, the unmanned aerial vehicles with different functional components are reasonably configured, the task efficiency is improved, and the invention is suitable for rescue tasks with higher intensity; through rationalizing the rescue process, the trapped personnel in danger are guaranteed to be preferentially rescued, and the rescue time is shortened.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle rescue design, in particular to a high-rise building fire rescue system and method based on an unmanned aerial vehicle.
Background
Fire rescue of high-rise buildings is always a world-level problem, and the traditional rescue methods and systems comprise escape cabins, descent control devices, lifesaving slideways, roof descent control devices and the like, but the technology needs to install corresponding systems in or around the buildings in advance, and the systems have the factors of complex installation, high cost, easy damage, inconvenient maintenance and the like; at the present stage, along with the improvement of the performance of the unmanned aerial vehicle, an unmanned aerial vehicle rescue idea gradually appears. The method depends on modern mature unmanned aerial vehicle control theory and method, so that a single unmanned aerial vehicle carries necessary materials for escaping or continuing life to carry out high-rise fire rescue, the traditional ground rescue is abandoned, the rescue and fire extinguishing efficiency is greatly increased, the overall cost is low, and the deployment, the arrangement and the recovery are convenient; meanwhile, the research that a single unmanned aerial vehicle carries trapped personnel to return to the ground is further developed.
Chinese patent CN201910476697.2 discloses a high-rise building rescue device based on unmanned aerial vehicle technology, wherein an adsorption type rescue device carrying a rescue cabin based on a single-multi-axis flight mechanism is provided. Above-mentioned technical scheme provides the design of the direct rescue of unmanned aerial vehicle, but among the prior art, the power that single multiaxis flight mechanism provided often is not enough, has consequently restricted the efficiency of unmanned aerial vehicle rescue, has also reduced the security of rescue. Similar methods and systems are also proposed for a high-altitude rescue unmanned aerial vehicle disclosed in chinese patent CN201910872636.8 and a rescue system based on an unmanned aerial vehicle disclosed in chinese patent CN 201920159370.8.
Disclosure of Invention
In view of the above, the invention provides a rescue system and a rescue method for unmanned aerial vehicles in formation, which can reasonably arrange rescue tasks and flows, effectively improve rescue efficiency and increase stability.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a high-rise building fire rescue system based on unmanned aerial vehicle includes: a plurality of unmanned aerial vehicles and a ground vehicle-mounted platform;
the unmanned aerial vehicles comprise a first unmanned aerial vehicle, a second unmanned aerial vehicle and a third unmanned aerial vehicle; all unmanned aerial vehicles form two-stage formation, namely first-stage formation and second-stage formation; wherein the primary formation comprises at least one first drone and at least one second drone; the first-stage formation is disassembled and then recombined into a second-stage formation, and the second-stage formation comprises at least one second unmanned aerial vehicle and a plurality of third unmanned aerial vehicles; the first unmanned aerial vehicle built-in module is as follows: the system comprises a sensing module, a communication module, a positioning module and a ranging module; the built-in modules of the second unmanned aerial vehicle and the third unmanned aerial vehicle are as follows: the device comprises a communication module, a positioning module and a ranging module;
the rescue cabin is of a multipoint suspension type structure, and the upper part of the rescue cabin is of an open type structure; each rescue cabin corresponds to a group of second-level formations, hanging devices are arranged below the unmanned aerial vehicles in the second-level formations, and the hanging devices of the unmanned aerial vehicles are connected with one hanging position of the rescue cabin through cables;
the control system of the ground vehicle-mounted platform comprises a communication module, an operation processing module, a man-machine interaction module and an information storage module; the ground vehicle-mounted platform is mounted on a movable vehicle, and an unmanned aerial vehicle parking space, a rescue bin placing space and a personnel working space are further arranged inside the ground vehicle-mounted platform.
Furthermore, the perception module is one or a combination of a plurality of intelligent cameras, laser radars, life detectors and infrared thermal imagers.
Furthermore, the positioning module is one or a combination of a GPS positioning module, an RTK positioning module, a computer vision positioning module, an ultrasonic positioning module, an ultra-wideband positioning module, a Bluetooth positioning module and a network positioning module.
Further, the system also comprises a plurality of help seeking devices; the help seeking device is distributed on the surface of the outer wall of the high-rise building; a help-seeking device is arranged below one or more parallel windows;
the main body of the help-seeking device is an automatic telescopic rod, and a cylindrical sleeve is arranged outside the help-seeking device; the tail end of the automatic telescopic rod is provided with a flash alarm; the help seeking device is electrically connected with a building fire alarm system; the help seeking device is electrically connected with the indoor power supply circuit; and a switch is arranged on the indoor wall body, and the switch is electrically connected with the help-seeking device.
Furthermore, a flexible photovoltaic power generation assembly is arranged on the outer surface of the columnar sleeve; a sealing ring is arranged at the tail end of the columnar sleeve or the mounting end of the flashing alarm, and a sealing structure is formed between the mounting end of the flashing alarm and the tail end of the columnar sleeve in the contraction state of the automatic telescopic rod; a storage battery is further installed in the columnar sleeve and is electrically connected with the flexible photovoltaic power generation assembly; a tweeter is arranged in the help-seeking device;
the outer side of the building on fire is provided with a glass curtain wall, the side of the help-seeking device is also provided with an automatic window breaker, and the working end of the automatic window breaker is in contact with the glass curtain wall; and the end part of the automatic telescopic rod is also provided with an infrared emitter.
Further, the first unmanned machine is provided with at least one folding machine arm, and the folding direction is vertical; the root of the folding machine arm is hinged with the first unmanned machine body, and a steering engine and a positioning mechanism are installed at the hinged position.
Furthermore, a supporting rod is vertically installed at the center of the upper portion of the first unmanned aerial vehicle, and a supporting structure is arranged at the tail end of the supporting rod.
On the other hand, the invention provides a rescue method according to the high-rise building fire rescue system, which comprises the following specific steps:
s1, carrying out flight detection on the unmanned aerial vehicles in the primary formation around the fire building to obtain evaluation parameters and information, and transmitting the evaluation parameters and information back to the ground vehicle-mounted platform;
the parameters comprise the ambient wind speed and the wind direction, the three-dimensional size of a building, and the position and the size of an obstacle; the information comprises physical signs and distribution conditions of trapped people;
s2, the bottom vehicle-mounted platform generates a rescue plan in an automatic or manual mode according to the information and the parameters obtained in the S1, controls the unmanned aerial vehicles to form secondary formation, and distributes rescue tasks to each secondary formation;
s3, keeping the aerial formation of each secondary formation, and flying to the rescue position of the fire building with the rescue cabin according to the task information;
s4, after each secondary formation reaches a designated rescue position, guiding trapped people to enter a rescue bin in order;
s5, after each secondary formation finishes a single rescue task, continuing to keep the aerial formation flying to a ground designated rescue point;
and S6, after the personnel to be trapped are safely evacuated from the rescue cabin, the second-level formation in the S5 continues to execute subsequent rescue tasks, and the steps from S3 to S5 are repeated until all the rescue tasks are completed.
Further, the high-rise building fire rescue system also comprises a plurality of help seeking devices; the help seeking device is distributed on the surface of the outer wall of the high-rise building; a help-seeking device is arranged below one or more parallel windows;
the trapped people can display the trapped position to the outside by triggering the help-seeking device in the initial stage of the fire and the rescue process.
Further, the first unmanned machine is provided with at least one folding machine arm, and the folding direction is vertical; the root of the folding machine arm is hinged with the first unmanned machine body, and a steering engine and a positioning mechanism are arranged at the hinged position;
when the outer side of a building in fire surrounds the dense smoke, the first unmanned aerial vehicle puts down the folding machine arm, a plurality of first unmanned aerial vehicles form a space array structure on the outer side of the dense smoke, the array structure is one of a curved surface array, an annular array, a conical surface array and a linear array, and the blades corresponding to the folding machine arm rotate to send outside air into an area to be detected or rescued and blow away the shielded dense smoke;
a support rod is vertically arranged at the center of the upper part of the first unmanned aerial vehicle, and a bearing structure is arranged at the tail end of the support rod;
when the unmanned aerial vehicles in the second-level formation are in fault or the rescue cabin bears overweight, the first unmanned aerial vehicle temporarily flies to the position below the rescue cabin, calculates the bearing position according to the flight power of the unmanned aerial vehicles in the second-level formation, and then flies to the ground together with the second-level formation; and when the second-level formation reaches a specified height away from the ground, the first unmanned machine is evacuated below the rescue cabin to complete a temporary support task.
The invention has the following advantages:
1. the invention adopts a task formation form, and reasonably configures the unmanned aerial vehicles with different functional components, so that the structure of the unmanned aerial vehicle responsible for bearing is simplified, the bearing and endurance capabilities are mainly improved, the unmanned aerial vehicles with various detection and detection functions are reasonably matched to complete early detection and planning, the task efficiency is improved, and the unmanned aerial vehicle is suitable for rescue tasks with higher strength; furthermore, the position of the person can be displayed in a complex environment (surrounded by dense smoke) in an auxiliary manner by combining a help-seeking device arranged on the outer side of the building, so that the rescue efficiency is increased, and the survival capability of the trapped person is improved; furthermore, by combining the folding design of the arms of the unmanned aerial vehicle, dense smoke can be blown away in the detection stage and the rescue stage, and the problem of dense smoke generated when a high-rise building catches fire is effectively solved; and the emergency supporting result can be combined to complete the emergency task, so that the safety is guaranteed.
2. According to the invention, through rationalizing the rescue process, the trapped people in danger are guaranteed to be rescued preferentially, and the rescue time is shortened.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only one or several embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
The location and number of identical structures shown in the drawings are merely for convenience in describing the invention and do not indicate or imply that the structures referred to must have a particular orientation, number of distributions and are therefore not to be considered limiting.
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a diagram of the steps of the method of the present invention;
FIG. 3 is a device for asking for help in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a first drone architecture in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first drone array in an embodiment of the invention.
In the figure:
1-a first unmanned machine; 2-help seeking device; 101-body; 102-a folder arm; 103-a duct; 104-a strut; 105-a support structure; 201-automatic telescopic rod; 202-cylindrical sleeve; 203-a flexible photovoltaic power generation assembly; 204-flashing alarm; 205-rubber seal ring; 206-infrared emitters; 207-automatic window breaker; 208-tweeter.
Detailed Description
Specific embodiments of the present invention are described below with reference to specific figures 1-5.
A high-rise building fire rescue system based on unmanned aerial vehicles is shown in figure 1 and comprises: a plurality of unmanned aerial vehicles and a ground vehicle-mounted platform;
the unmanned aerial vehicle adopts a multi-rotor unmanned aerial vehicle, and specifically comprises a first unmanned aerial vehicle 1, a second unmanned aerial vehicle and a third unmanned aerial vehicle; all unmanned aerial vehicles form two-stage formation, namely first-stage formation and second-stage formation; wherein, the first-level formation comprises at least one first unmanned machine 1 as a long plane of the first-level formation and at least one second unmanned machine as a bureaucratic plane. After the first-level formation finishes the task, performing dispersion and recombination to form a second-level formation; wherein the second formation comprises at least one second drone as a leader of the second formation and a plurality of third drones as bureaucratic planes.
The first unmanned machine 1 built-in module is: the system comprises a sensing module, a communication module, a positioning module and a ranging module; preferably, the perception module is a plurality of combinations of an intelligent camera, a laser radar, a life detector and an infrared thermal imager. The aim is to carry out overall evaluation on high-rise buildings, including the shapes and structures of the buildings, the distribution and the sizes of fire, the positions and the number of trapped people and the like, so that task planning is facilitated.
The built-in modules of the second unmanned aerial vehicle and the third unmanned aerial vehicle are as follows: the device comprises a communication module, a positioning module and a ranging module;
preferably, the positioning module is one or more of a GPS positioning module, an RTK positioning module, a computer vision positioning module, an ultrasonic positioning module, an ultra-wideband positioning module, a bluetooth positioning module, and a network positioning module. The communication mode of the communication module includes but is not limited to WIFI, Bluetooth, data transmission, Zigbee, GPRS, 3G, 4G, radio station, ultra wide band and the like.
The system also comprises a rescue cabin which is of a multipoint suspension type structure, and the upper part of the rescue cabin is of an open type structure; each rescue bin corresponds to a group of second-level formation, a hanging device is arranged below the unmanned aerial vehicles in the second-level formation, and the hanging device of each unmanned aerial vehicle is connected with one hanging position of each rescue bin through a cable; the leader (second unmanned aerial vehicle) of the second-level formation determines the formation form according to the characteristics of the rescue cabin such as structure, shape and size, forms a formation with the wing leader (third unmanned aerial vehicle) of the second-level formation, and keeps the aerial formation (namely, the relative positions of all unmanned aerial vehicles in the formation are fixed).
The control system of the ground vehicle-mounted platform comprises a communication module, an operation processing module, a man-machine interaction module and an information storage module; the ground vehicle-mounted platform is installed on the movable vehicle, and an unmanned aerial vehicle parking space, a rescue bin placing space and a personnel working space are further arranged inside the ground vehicle-mounted platform. So that a single rescue vehicle can independently complete the rescue task to the maximum extent, and meanwhile, a plurality of rescue vehicles can move out under necessary conditions and quickly form a network to cooperatively complete the rescue task.
In another embodiment of the present invention, based on the above design, as shown in fig. 4, the first drone 1 is a 6-axis ducted drone, which is equipped with two folding arms 102, and is arranged oppositely, and the folding directions are both vertical directions; the root of the folding machine arm 102 is hinged with the body 101 of the first unmanned machine 1, and a steering engine and a positioning mechanism are installed at the hinged position. Preferably, the ends of the two folder arms 102 are correspondingly provided with a duct 103 in which the blades are located. During specific work, if external dense smoke needs to be blown away, the positioning mechanisms at the roots of the two folding machine arms are opened, the folding machine arms 102 are driven by the large-torque electric steering engine to turn downwards, and the positioning device is positioned again after the folding machine arms are in place to complete fixation. Therefore, two groups of fans are hung under the first unmanned machine 1 to form a back-to-back series design. One of the unmanned aerial vehicles is controlled to rotate forwards and the other one is controlled to rotate backwards, so that the unmanned aerial vehicle can supply air forwards or backwards relative to the unmanned aerial vehicle, the posture of the unmanned aerial vehicle is adjusted, and an aerial balance state is formed.
Preferably, a brace 104 is vertically installed at the center of the upper part of the first unmanned machine 1, and a supporting structure 105 is arranged at the end of the brace 104.
In another embodiment of the invention, on the basis of the design, the rescue system further comprises a plurality of help seeking devices; the help-seeking device is pre-installed on the surface of an outer wall of a high-rise building; one or more windows arranged in parallel are provided with a help-seeking device below, namely a plurality of windows are probably correspondingly arranged in a communicated independent indoor structure, one window is selected during installation, and the help-seeking device is correspondingly arranged on the outer side to avoid repeated arrangement.
As shown in fig. 3, the main body of the distress device 2 is an automatic telescopic rod 201, which can be selected as an electric push rod, and a cylindrical sleeve 202 is externally installed. The tail end of the automatic telescopic rod 201 is provided with a flash alarm 204. The indoor wall body is provided with a switch (not shown in the figure), the switch is electrically connected with the help-seeking device 2, and the help-seeking device 2 is electrically connected with the building fire alarm system to prevent people from being triggered by mistake when the fire is not caught. The help-seeking device 2 is electrically connected with the indoor power supply circuit and supplies power through the indoor circuit; preferably, in order to reduce energy consumption and prevent failure due to power failure caused by fire, a flexible photovoltaic power generation assembly 203 is mounted on the outer surface of the cylindrical sleeve 202 in a covering manner, and a storage battery (not shown) is further mounted in the cylindrical sleeve 202 and electrically connected with the flexible photovoltaic power generation assembly 203. Further, the tail end of the cylindrical sleeve 202 is provided with an annular groove, and a rubber sealing ring 205 is arranged in the groove, so that under the contraction state of the automatic telescopic rod 201, the mounting end of the flash alarm 204 and the tail end of the cylindrical sleeve 202 can form a sealing structure to protect an internal circuit and a storage battery and prevent the internal circuit and the storage battery from being affected with damp and losing efficacy. In order to increase the success probability of the distress call, a tweeter 208 is installed in the distress call device 2, the tweeter is used for sending out a high-pitch warning sound to attract the attention of rescue workers, an infrared emitter 206 is further installed at the end part of the automatic telescopic rod 201, an infrared signal can be generated, and the unmanned aerial vehicle can conveniently detect the position of the distress call.
Preferably, in the case that a glass curtain wall is installed on the outer side of a part of high-rise building, the distress call device 2 is laterally provided with an automatic window breaker 207 for better extending out for distress call, and the working end of the automatic window breaker 207 is in contact with the glass curtain wall.
On the other hand, a corresponding rescue control method is provided according to the above embodiment, and as shown in fig. 2, the specific steps are as follows:
s1, carrying out flight detection on the unmanned aerial vehicles in the primary formation around the fire building to obtain evaluation parameters and information, and transmitting the evaluation parameters and information back to the ground vehicle-mounted platform;
the unmanned aerial vehicles in the first-level formation detect the external space and the internal space of the building in fire through the carried modules, and the obtained parameters comprise the ambient wind speed and the wind direction, the three-dimensional size of the building and the position and the size of an obstacle; the information comprises physical signs and distribution conditions of the trapped people;
in the overall scout mission implementation process, a first unmanned aerial vehicle 1 (a first-level formation leader) is mainly used for detecting trapped people in a building and detecting three-dimensional information and obstacle information of the building, and a second unmanned aerial vehicle (a first-level formation leader) plays a role in assisting in detecting external obstacles.
S2, generating a fire building three-dimensional situation map by the bottom vehicle-mounted platform according to the information and parameters obtained in S1, correspondingly marking the number and position of trapped people, the position and size of obstacles, displaying the information such as the environmental temperature, the temperature of each floor and the vital signs of the people by combining colors, feeding the information back to a commander by a human-computer interaction module (a display), automatically generating a rescue plan by software, and manually adjusting the rescue plan by the commander in the software, wherein the constraint rule in the rescue plan generation refers to the following method:
1. position of trapped person and number of trapped persons in same position
And analyzing according to a sensing module. The same floor or the same room or the same window or the same exit may all be considered the same location.
2. Trapped person rescue priority
(1) And analyzing according to a sensing module. Such as: according to the infrared thermal imaging result, the higher the heat of the position, the higher the rescue priority of the personnel; according to the result of the life detection instrument, the weaker the vital sign, the higher the rescue priority of the personnel.
(2) According to the characteristics of high-rise building fire, the higher the floor at which the building is located, the higher the rescue priority of people.
The comprehensive single rescue priority adopts the weighted accumulation mode.
3. Rated manned number for rescue formation
(1) Firstly, calculating the maximum manned weight of the rescue formation according to the maximum load of a single unmanned aerial vehicle, the number of the unmanned aerial vehicles in the rescue formation and the weight of the rescue cabin, namely:
maximum manned weight of second-stage formation is equal to maximum load of single unmanned aerial vehicle multiplied by number of second-stage formation unmanned aerial vehicles-weight of rescue bin
(2) Then calculating the maximum manned number of the rescue formation according to the maximum manned weight of the rescue formation, the weight of a common adult, the bottom area of the rescue cabin and the standing area of the common adult, namely:
second-level formation maximum manned number (MIN) (maximum manned weight of second-level formation/weight of common adult, rescue cabin bottom area/standing area of common adult)
Where MIN is a small function. For safety reasons, 70% of the maximum passenger number is taken as the nominal passenger weight:
rated manned number of second-level formation is 0.7 multiplied by maximum manned number of second-level formation
In the above steps, the concepts of the number of people involved are rounded.
4. Whether the fire permits the rescue formation to pass
And analyzing according to a sensing module. Such as: the temperature of a certain position displayed by the infrared thermal imaging result exceeds the bearing range of the materials and the working temperature of the unmanned aerial vehicle, the module installed by the unmanned aerial vehicle and the equipment, and the rescue formation is not allowed to pass through the position.
5. Obstacles around building
And analyzing according to a sensing module, a distance measuring module and the like. Such as: the computer vision result shows that an obstacle influencing the flight of the rescue formation exists somewhere, and the rescue formation is not allowed to pass through the obstacle.
6. Approach direction of rescue formation
Any surface of the rescue cabin without obstacles such as ropes can be used as the approaching direction.
Combining the constraint rules, and formulating the secondary formation exit quantity, the flight route and the task sequence according to the following logics, specifically:
s21, distributing tasks according to the number of the trapped persons at the same position, the rescue priority level of the trapped persons and the rated number of the second-level formation carriers:
(1) under sufficient conditions for secondary queuing: and a simultaneous rescue strategy is adopted, a second-level formation which can predict all the people to be rescued can be dispatched at one time, and all the trapped people are rescued at the highest speed.
(2) Under the condition of insufficient secondary formation: the strategy of rescuing the trapped people with high priority is adopted, so that the people to be rescued are prevented from being injured or are treated in time.
(3) And the second-level formation required at the same position is dispatched at the same time, so that unnecessary injuries caused by the rescue of the personnel to be saved are avoided.
S22, planning a path according to the position of the rescue point, whether the fire permits the second-level formation to pass through, the surrounding obstacles of the building and the approach direction of the rescue formation:
(1) and adopting a shortest path planning scheme to strive for the fastest arrival at the rescue point.
(2) The rescue points are as close as possible according to the approach direction of the rescue formation, so that trapped people can safely enter the rescue cabin and the second-level formation flight safety is ensured.
After the plan is determined, the system controls the unmanned aerial vehicles to form second-level formations, and then rescue tasks are distributed to each second-level formation;
and S3, keeping the formation in the air by each secondary formation, enabling the formation to form a polygon when overlooking the formation, and enabling each unmanned aerial vehicle to correspond to the suspension point of one rescue cabin and be connected with the suspension point. The integrally carried rescue cabin flies to the rescue position of the building in fire along the planned path according to the task information;
during this period, the second formation maintains the formation in the air by the "leader-follower" law (i.e. the leader acts as leader to follow the predetermined flight path, the follower acts as follower to keep the formation with the leader and the speed is uniform). The leader-follower method is simple to control, the formation retaining capacity is strong, and the safety and the stability of the rescue formation and the rescue cabin can be ensured.
S4, after each secondary formation reaches a designated rescue position, guiding trapped people to enter a rescue cabin in order; if limited by fire or obstacles, the second-level formation can not reach the rescue position, abandoning the rescue position and guiding the trapped people to transfer to the nearest rescue position where rescue can be implemented, and meanwhile, the rescue formation assigned to the rescue position task carries out task allocation and path planning again.
S5, after each secondary formation finishes a single rescue task, continuing to keep the aerial formation flying to a ground designated rescue point;
and S6, after the personnel to be trapped safely evacuate from the rescue cabin, the second-level formation in the S5 continues to execute subsequent rescue tasks, and the steps from S3 to S5 are repeated until all the rescue tasks are completed.
Preferably, the high-rise building fire rescue system further comprises a plurality of help seeking devices 2; the help seeking device 2 is distributed on the surface of the outer wall of the high-rise building; a help-seeking device 2 is arranged below one or more parallel windows;
the trapped people can display the trapped position to the outside by triggering the help-seeking device 2 in the initial stage of the fire and the rescue process. When the help-seeking device 2 works, firstly, the flashing alarm 204 and the tweeter 208 start to emit flashing and treble warnings, and people go down to early warn and break windows; then the automatic window breaker 207 starts and destroys the glass curtain wall, when the destruction is completed, the automatic telescopic rod 201 extends forwards, and the infrared emitter 206 is started to emit a distress signal outwards to combine with the flash and the high-pitched sound to increase the probability of finding.
Preferably, each secondary formation is accompanied by at least one first drone 1 while it performs the rescue task; further, the first unmanned machine 1 is provided with two folder arms 102, and the folding direction is vertical; the root of the folding machine arm 102 is hinged with the body of the first unmanned machine 1, and a steering engine and a positioning mechanism are arranged at the hinged position;
when the outer side of a building in fire surrounds thick smoke, the first unmanned machine 1 puts down a folding machine arm, a plurality of first unmanned machines 1 form a space array structure on the outer side of the thick smoke, and the array structure is one of a curved surface array, an annular array, a conical surface array and a linear array; taking linearity as an example, as shown in fig. 5, a plurality of first unmanned machines 1 are arranged in the air as oblique lines to form a series-connected queue, and air around the dense smoke is blown to an area to be detected or rescued (as shown by an arrow direction) through blades folded to the lower part in sequence so as to blow away the shielded dense smoke; although the structure of the series arrangement can not effectively increase the air volume, the structure can play a better role under the condition of larger external impedance, and is favorable for quickly blowing off the outside dense smoke.
A support rod 104 is vertically arranged at the center of the upper part of the first unmanned machine 1, and a supporting structure 105 is arranged at the tail end of the support rod;
when the unmanned aerial vehicles in the second-level formation are in fault or the rescue cabin bears overweight, the first unmanned aerial vehicle 1 flies below the rescue cabin temporarily, calculates the bearing position according to the flight power of the unmanned aerial vehicles in the second-level formation, and then flies to the ground together with the second-level formation; when the second-level formation reaches a specified height from the ground, the first unmanned machine 1 is evacuated below the rescue bin to complete the temporary support task.
Although the present invention has been described in detail with reference to examples, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A high-rise building fire rescue system based on unmanned aerial vehicle includes: a plurality of unmanned aerial vehicles and a ground vehicle-mounted platform;
the unmanned aerial vehicle is characterized by comprising a first unmanned aerial vehicle, a second unmanned aerial vehicle and a third unmanned aerial vehicle; all unmanned aerial vehicles form two-stage formation, namely first-stage formation and second-stage formation; wherein the primary formation comprises at least one first drone and at least one second drone; the first-stage formation is disassembled and then recombined into a second-stage formation, and the second-stage formation comprises at least one second unmanned aerial vehicle and a plurality of third unmanned aerial vehicles; the first unmanned aerial vehicle built-in module is as follows: the system comprises a sensing module, a communication module, a positioning module and a ranging module; the built-in modules of the second unmanned aerial vehicle and the third unmanned aerial vehicle are as follows: the device comprises a communication module, a positioning module and a ranging module;
the rescue cabin is of a multipoint suspension type structure, and the upper part of the rescue cabin is of an open type structure; each rescue cabin corresponds to a group of second-level formations, hanging devices are arranged below the unmanned aerial vehicles in the second-level formations, and the hanging devices of the unmanned aerial vehicles are connected with one hanging position of the rescue cabin through cables;
the control system of the ground vehicle-mounted platform comprises a communication module, an operation processing module, a man-machine interaction module and an information storage module; the ground vehicle-mounted platform is mounted on a movable vehicle, and an unmanned aerial vehicle parking space, the rescue bin placing space and a personnel working space are further arranged in the ground vehicle-mounted platform;
the system also comprises a plurality of help seeking devices; the help seeking device is distributed on the surface of the outer wall of the high-rise building; a help-seeking device is arranged below one or more parallel windows;
the main body of the help-seeking device is an automatic telescopic rod, and a cylindrical sleeve is arranged outside the help-seeking device; the tail end of the automatic telescopic rod is provided with a flash alarm; the help seeking device is electrically connected with a building fire alarm system; the help seeking device is electrically connected with the indoor power supply circuit; the indoor wall body is provided with a switch which is electrically connected with the help-seeking device;
the outer surface of the columnar sleeve is provided with a flexible photovoltaic power generation assembly; a sealing ring is arranged at the tail end of the columnar sleeve or the mounting end of the flashing alarm, and a sealing structure is formed between the mounting end of the flashing alarm and the tail end of the columnar sleeve in the contraction state of the automatic telescopic rod; a storage battery is further installed in the columnar sleeve and is electrically connected with the flexible photovoltaic power generation assembly; a tweeter is arranged in the help-seeking device;
the outer side of the building on fire is provided with a glass curtain wall, the side of the help-seeking device is also provided with an automatic window breaker, and the working end of the automatic window breaker is in contact with the glass curtain wall; the end part of the automatic telescopic rod is also provided with an infrared emitter;
the first unmanned machine is provided with at least one folding machine arm, and the folding direction is vertical; the root of the folding machine arm is hinged with the first unmanned machine body, and a steering engine and a positioning mechanism are arranged at the hinged position; when the outer side of a building in fire surrounds the dense smoke, the first unmanned aerial vehicle puts down the folding machine arm, a plurality of first unmanned aerial vehicles form a space array structure on the outer side of the dense smoke, the array structure is one of a curved surface array, an annular array, a conical surface array and a linear array, and the blades corresponding to the folding machine arm rotate to send outside air into an area to be detected or rescued and blow away the shielded dense smoke;
a support rod is vertically arranged at the center of the upper part of the first unmanned aerial vehicle, and a bearing structure is arranged at the tail end of the support rod; when the unmanned aerial vehicles in the second-level formation are in fault or the rescue cabin bears overweight, the first unmanned aerial vehicle temporarily flies to the position below the rescue cabin, calculates the bearing position according to the flight power of the unmanned aerial vehicles in the second-level formation, and then flies to the ground together with the second-level formation; and when the second-level formation reaches a specified height away from the ground, the first unmanned machine is evacuated below the rescue cabin to complete a temporary support task.
2. The high-rise building fire rescue system of claim 1, wherein the sensing module is one or more of a smart camera, a laser radar, a life detector, and an infrared thermal imager.
3. The high-rise building fire rescue system of claim 1, wherein the positioning module is one or more of a GPS positioning module, an RTK positioning module, a computer vision positioning module, an ultrasonic positioning module, an ultra-wideband positioning module, a bluetooth positioning module, and a network positioning module.
4. The method for rescuing the high-rise building fire rescue system according to any one of claims 1 to 3, comprising the following specific steps:
s1, carrying out flight detection on the unmanned aerial vehicles in the primary formation around the fire building to obtain evaluation parameters and information, and transmitting the evaluation parameters and information back to the ground vehicle-mounted platform;
the parameters comprise the ambient wind speed and the wind direction, the three-dimensional size of a building, and the position and the size of an obstacle; the information comprises physical signs and distribution conditions of trapped people;
s2, the ground vehicle-mounted platform generates a rescue plan in an automatic or manual mode according to the information and the parameters obtained in the S1, controls the unmanned aerial vehicles to form secondary formation, and distributes rescue tasks to each secondary formation;
s3, keeping the aerial formation of each secondary formation, and flying to the rescue position of the fire building with the rescue cabin according to the task information;
s4, after each secondary formation reaches a designated rescue position, guiding trapped people to enter a rescue bin in order;
s5, after each secondary formation finishes a single rescue task, continuing to keep the aerial formation flying to a ground designated rescue point;
s6, after the personnel to be trapped are safely evacuated from the rescue cabin, the second-level formation in the S5 continues to execute subsequent rescue tasks, and the S3-S5 are repeated until all the rescue tasks are completed;
the high-rise building fire rescue system also comprises a plurality of help seeking devices; the help seeking device is distributed on the surface of the outer wall of the high-rise building; a help-seeking device is arranged below one or more parallel windows;
the trapped people display the trapped position to the outside by triggering the help-seeking device in the initial stage of the fire and the rescue process;
the first unmanned machine is provided with at least one folding machine arm, and the folding direction is vertical; the root of the folding machine arm is hinged with the first unmanned machine body, and a steering engine and a positioning mechanism are arranged at the hinged position;
when the outer side of a building in fire surrounds the dense smoke, the first unmanned aerial vehicle puts down the folding machine arm, a plurality of first unmanned aerial vehicles form a space array structure on the outer side of the dense smoke, the array structure is one of a curved surface array, an annular array, a conical surface array and a linear array, and the blades corresponding to the folding machine arm rotate to send outside air into an area to be detected or rescued and blow away the shielded dense smoke;
a support rod is vertically arranged at the center of the upper part of the first unmanned aerial vehicle, and a bearing structure is arranged at the tail end of the support rod;
when the unmanned aerial vehicles in the second-level formation are in fault or the rescue cabin bears overweight, the first unmanned aerial vehicle temporarily flies to the position below the rescue cabin, calculates the bearing position according to the flight power of the unmanned aerial vehicles in the second-level formation, and then flies to the ground together with the second-level formation; and when the second-level formation reaches a specified height away from the ground, the first unmanned machine is evacuated below the rescue cabin to complete a temporary support task.
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