CN113041533B

CN113041533B - Fire extinguishing control method for fire truck

Info

Publication number: CN113041533B
Application number: CN202110430691.9A
Authority: CN
Inventors: 田志坚; 徐小东; 刘爽; 张晓光; 阚四华
Original assignee: Xuzhou Construction Machinery Group Co Ltd XCMG; XCMG Fire Fighting Safety Equipment Co Ltd
Current assignee: Xuzhou Construction Machinery Group Co Ltd XCMG; XCMG Fire Fighting Safety Equipment Co Ltd
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2022-07-29
Anticipated expiration: 2041-04-21
Also published as: CN113041533A

Abstract

The invention discloses a fire extinguishing control method for a fire engine, relates to the technical field of high-altitude fire fighting, and aims to improve the high-rise fire extinguishing capability of the fire engine. The method comprises the following steps: judging whether the fire extinguishing condition of the coupling unmanned aerial vehicle is met; unlocking the unmanned aerial vehicle from a support platform of the fire fighting truck if a condition for coupling the unmanned aerial vehicle to extinguish the fire is met; driving the unmanned aerial vehicle to take off from the supporting platform together with the water belt; and conveying the fire extinguishing agent to the water hose, and enabling the unmanned aerial vehicle to fly to a position to be extinguished with the water hose filled with the fire extinguishing agent so as to realize the extinguishment of the unmanned aerial vehicle. The fire fighting truck fire extinguishing control method provided by the technical scheme realizes high-altitude fire extinguishing with higher height. And, under the same requirement of putting out a fire, the hosepipe length that unmanned aerial vehicle dragged is shorter, and unmanned aerial vehicle's load is littleer, so can adopt large-traffic fire extinguishing agent to put out a fire, and fire extinguishing capacity can obtain improving.

Description

Fire extinguishing control method for fire truck

Technical Field

The invention relates to the technical field of high-altitude fire fighting, in particular to a fire extinguishing control method for a fire fighting truck.

Background

The number of urban high-rise buildings in China is generally listed as the first world. The fire disaster of the high-rise building has the characteristics of high fire spread speed, difficult personnel evacuation and difficult fire disaster remediation. Under the condition that a fire-fighting system of a building has design defects or is not maintained enough, once a fire happens inside the building and cannot be put out in time, or an outer layer fire happens, an unfinished building fires and the like, disaster events are often formed. In the related technology, the number of the chassis of the large fire truck with the height of more than 80 meters for lifting height outside a building, spraying, fire extinguishing and rescuing is more than 5, the length of the fire truck is very large, and the mobility of the fire truck is poor due to the length of the truck. At present, the height of a large-scale elevating fire truck is difficult to break through 120 meters in the world, and the operation space is also limited by the site outside a building with a fire. In addition, the single large-scale elevating fire truck has high selling price, huge use and maintenance cost and limited configuration of urban fire rescue teams. Therefore, fire fighting in high-rise buildings is a worldwide problem.

In recent years, in order to improve the rapid high-rise fire extinguishing reaction capacity and the fire suppression with a larger height, a technology of applying an unmanned aerial vehicle to fire fighting appears, and the technology is specifically divided into the following four types: firstly, an unmanned aerial vehicle is adopted to carry and launch fire extinguishing bombs to realize high-rise fire extinguishing; secondly, the unmanned aerial vehicle is adopted to carry and spray extinguishing agent to realize high-rise fire extinguishing; thirdly, throwing a water belt by using an unmanned aerial vehicle to assist the high-rise fire extinguishing of the urban main-combat fire truck; fourthly, an unmanned plane is adopted to pull the water hose to be combined with a city main fighting fire truck or a ground movable foam preparation system to extinguish fire in a high-rise mode.

The inventor finds that at least the following problems exist in the prior art: however, due to the load capacity of current drones, the above-mentioned methods have great disadvantages either in terms of fire extinguishing efficiency, or in terms of operational flexibility, or in terms of operational height. In order to improve the rapid response capability and realize the fire suppression with larger height, the inventor provides a novel high-rise building fire suppression method and a novel high-rise building fire suppression device with the functions of elevating a fire truck and unmanned aerial vehicle fire suppression and rescue. Accordingly, there is a need to solve the problem of how to control the device.

Disclosure of Invention

The invention provides a fire fighting vehicle fire extinguishing control method which is used for improving the high-rise fire extinguishing capability of a fire fighting vehicle and ensuring the safety of high-altitude operation coupled with an unmanned aerial vehicle.

The embodiment of the invention also provides a fire fighting control method for the fire fighting truck, which comprises the following steps:

judging whether the fire extinguishing condition of the coupling unmanned aerial vehicle is met;

unlocking the unmanned aerial vehicle from a support platform of the fire fighting truck if a condition for coupling the unmanned aerial vehicle to extinguish the fire is met;

driving the unmanned aerial vehicle to take off from the supporting platform together with the water belt;

and conveying the fire extinguishing agent to the water hose, and enabling the unmanned aerial vehicle to fly to a position to be extinguished with the water hose filled with the fire extinguishing agent so as to realize the extinguishment of the unmanned aerial vehicle.

In some embodiments, the driving the unmanned aerial vehicle takes off from the support platform together with the water band, specifically the following steps:

and driving the unmanned aerial vehicle to take off from the supporting platform to a hovering position together with the water belt to wait for supplying and conveying the fire extinguishing agent.

In some embodiments, the fire extinguishing agent is delivered to the water hose, and the unmanned aerial vehicle flies to a position to be extinguished with the water hose filled with the fire extinguishing agent, and the method includes the following steps:

delivering a fire extinguishing agent to the hose;

After the fire extinguishing agent is stably conveyed, the unmanned aerial vehicle drives the water belt filled with the fire extinguishing agent to fly to a position to be extinguished.

In some embodiments, the following steps are performed in using the drone to extinguish a fire:

detecting the distance of the unmanned aerial vehicle relative to a supporting platform in real time;

if the distance of the unmanned aerial vehicle relative to the supporting platform exceeds a set value, adjusting the position of the unmanned aerial vehicle in the air so that the distance of the unmanned aerial vehicle relative to the supporting platform does not exceed the set value.

In some embodiments, the distance is D, D < (L- Δ ε); wherein, L is the length that the water band is allowed to be effectively pulled, and Delta epsilon is the maximum value of the positioning deviation of the unmanned aerial vehicle in the horizontal direction or the vertical direction based on the self inertia measurement unit and the positioning system.

In some embodiments, prior to unlocking the drone from the support platform of the fire engine, further comprising the steps of:

adjusting the posture of an arm support of the fire fighting truck so that the arm support is in a second posture; the arm support has a first posture and a second posture, and the first posture is used for extinguishing fire by independently using a fire monitor of a fire truck; in the first posture, the arm support of the fire truck freely changes the amplitude, and the arm support is in a limit curve of a safe working range in a lifting fire-extinguishing mode; the second posture is that the unmanned aerial vehicle is used independently for fire extinguishing, and under the second posture, the arm support is kept still and is limited in a range limiting curve under a standard working posture required during coupling operation.

In some embodiments, the fire fighting vehicle fire fighting control method further includes the steps of:

judging whether the unmanned aerial vehicle finishes extinguishing or is abnormal;

and if the unmanned aerial vehicle finishes extinguishing the fire or abnormal conditions occur, releasing the fire extinguishing agent in the water hose, and controlling the unmanned aerial vehicle to fly with the empty water hose.

In some embodiments, the abnormal condition includes at least one of: the electric energy of the unmanned aerial vehicle is insufficient, the load of the unmanned aerial vehicle exceeds a set value, and the wind speed of the environment where the unmanned aerial vehicle is located exceeds the rated loss wind speed.

In some embodiments, the fire fighting vehicle fire fighting control method further comprises the steps of:

operating the unmanned aerial vehicle to land on the ground;

and operating the fire fighting truck to recover from the unfolded state to the running state.

the data transmission module of the unmanned aerial vehicle transmits the state parameters of the unmanned aerial vehicle and the preset parameters of the unmanned aerial vehicle to a data processing module arranged at the tail end of the arm support of the supporting platform or the fire fighting truck;

the unmanned aerial vehicle control platform controls the unmanned aerial vehicle to fly, the conveying capacity of the fire extinguishing agent and/or whether to convey the fire extinguishing agent or not, or whether to unload the fire extinguishing agent in the pipeline or not according to the state parameters of the unmanned aerial vehicle acquired by the data processing module and the preset parameters of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle does not crash due to excessive dragging.

In some embodiments, the preset parameters of the drone include at least one of: the preset load capacity of the unmanned aerial vehicle, the limit value of the unmanned aerial vehicle on the ambient wind speed, and the set distance of the unmanned aerial vehicle allowed to be far away from the flying point.

In some embodiments, after unlocking the drone from the support platform of the fire engine, further comprising the steps of:

the floor of the storage unit below the support platform is opened to lower the hose so that the hose does not fold.

The fire fighting truck fire extinguishing control method provided by the technical scheme is suitable for arm supports, supporting platforms, unmanned aerial vehicles, water hoses and transfer pipelines which can change the amplitude simultaneously, the unmanned aerial vehicles are installed on the supporting platforms, the supporting platforms are driven by the arm supports to rise, and therefore the unmanned aerial vehicles can directly take off from the supporting platforms changing the amplitude to high altitude without taking off from the ground or nearby vehicle bodies. When the unmanned aerial vehicle is used for extinguishing fire, whether the fire extinguishing condition of the coupling unmanned aerial vehicle is met or not is judged, and the unmanned aerial vehicle can be used for extinguishing fire only when the fire extinguishing condition is met; otherwise, the unmanned aerial vehicle is not used for fire extinguishing. If judge that it puts out a fire to need coupling unmanned aerial vehicle, then with unmanned aerial vehicle unblock from supporting platform earlier, after the unblock, unmanned aerial vehicle takes empty hosepipe to take off. The hose receives the fire suppressant from the transfer line. According to the fire fighting vehicle fire extinguishing control method provided by the embodiment of the invention, through reasonably setting each step, high altitude fire extinguishing with higher height is realized. And, under the same requirement of putting out a fire, the hosepipe length that unmanned aerial vehicle dragged is shorter, and unmanned aerial vehicle's load is littleer, so can adopt large-traffic fire extinguishing agent to put out a fire, and fire extinguishing capacity can obtain improving.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic view of a fire truck according to an embodiment of the present invention;

FIG. 2 is a schematic enlarged view of a portion of a fire fighting truck according to an embodiment of the present invention;

FIG. 3 is an enlarged, fragmentary illustration of a fire fighting vehicle according to further embodiments of the present invention;

fig. 4 is a schematic diagram illustrating a relative position of a support platform of a boom of a fire fighting truck according to another embodiment of the present invention in two working modes;

FIG. 5 is an enlarged view of a portion M of FIG. 4;

FIG. 6 is a flow chart illustrating a method for controlling fire fighting of a fire fighting vehicle according to further embodiments of the present invention;

fig. 7 is a schematic flow chart of a fire fighting vehicle fire extinguishing control method according to still other embodiments of the present invention.

Detailed Description

The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 7.

When the fire fighting vehicle fire extinguishing control method provided by the embodiment of the invention is introduced, the specific structure and the implementation mode of the fire fighting vehicle are introduced first, so that the relevant contents of the fire fighting vehicle fire extinguishing control method can be clearly explained.

Referring to fig. 1, an embodiment of the invention provides a fire fighting truck, which includes a truck body 1, a boom 2, a supporting platform 3, an unmanned aerial vehicle 4, a transit pipeline 5 and a water hose 6. The vehicle body 1 is configured to be walkable. The boom 2 is mounted to the vehicle body 1, and the boom 2 is configured to be variable-amplitude. The support platform 3 is mounted at the end of the boom 2. Unmanned aerial vehicle 4 installs in supporting platform 3. The transit pipeline 5 is installed on the arm support 2. One end of the water hose 6 is in fluid communication with the transfer pipeline 5, and the other end of the water hose is detachably connected with the unmanned aerial vehicle 4.

The fire engine selects the medium-sized fire engine or the small-sized fire engine with the lifting capacity of 40-50 m, the fire engine of the type has smaller overall dimension, good maneuverability and very short time required by lifting operation, and can quickly realize the fire extinguishing of the coupling unmanned aerial vehicle 4.

The body 1 of the fire engine is divided into an upper vehicle and a lower vehicle by a rotary support 105 at the position of a rotary table 101. The lower deck has a chassis 102, front legs 103, rear legs 104, and a compressed air foam system assembly 106. The system can automatically adjust the supply pressure and flow. The getting-on vehicle comprises an arm support 2, a transit pipeline 5, an unmanned aerial vehicle 4, a supporting platform 3, a storage device 9 and a data processing module 10 which are described later and the like. The arm support 2 is, for example, a combined arm support.

The arm support 2 is a variable-amplitude arm support, or a telescopic arm support, or has both variable-amplitude and telescopic functions. Taking the variable amplitude of the arm support 2 as an example, the tail end of the arm support 2 refers to the top end of the arm support 2 after the amplitude is changed. After the arm support 2 becomes amplitude, the arm support can be lifted together with the supporting platform 3, so that the unmanned aerial vehicle 4 and the fire monitor 7 which are installed on the supporting platform 3 are lifted along with the arm support. Follow-up when using unmanned aerial vehicle 4 to put out a fire, unmanned aerial vehicle 4 does not take off from automobile body 1, does not take off from ground yet, but takes off from the supporting platform 3 that is risen, and this makes 4 required flight distances that lift off of unmanned aerial vehicle short, has shortened flight time, has also reduced the consumption to 4 electric quantities of unmanned aerial vehicle, has prolonged unmanned aerial vehicle 4's operating duration.

On the other hand, the water hose 6 is not directly connected to the compressed air foam system assembly 106 on the vehicle body 1, but is connected to the transfer pipeline 5, the transfer pipeline 5 conveys the fire extinguishing agent foam in the compressed air foam system assembly 106 to a certain height, and in the embodiment described later, the fire extinguishing agent foam can be directly conveyed to the supporting platform 3, so that the water hose 6 directly receives the fire extinguishing agent foam from the transfer pipeline 5, namely, the fire extinguishing agent foam is received from the air, and therefore when the fire extinguishing height is the same, the length of the water hose 6 can be shorter, when the unmanned aerial vehicle 4 drags the water hose 6 to fly, the weight of the water hose 6 is light, the load borne by the unmanned aerial vehicle 4 is small, the defect that the load capacity of the water hose 4 is insufficient in the related technology is well overcome, and the continuous jet of a larger flow or a higher height is realized to extinguish a high-rise fire.

The fire fighting truck provided by the technical scheme can realize the conventional lifting spraying fire extinguishing function, and can supply fire extinguishing agent to the transfer pipeline 5 at the top end of the boom 2 through the switching of the first control valve 18 and the second control valve 19 which are introduced later. The unmanned aerial vehicle 4 is in fluid communication with the transfer pipeline 5 through the water hose 6, so that high-altitude transfer is realized to obtain the fire extinguishing agent, and the fire extinguishing agent can take off to perform high-rise fire extinguishing. The technical scheme can be used for high-altitude fire extinguishing, and the unmanned aerial vehicle 4 pulls the ultra-light water hose 6 to form a coupling system with the elevating fire truck to jointly extinguish the fire of the high-rise building; the high-rise building fire disaster fighting device can efficiently, flexibly and economically fight the high-rise building fire disaster with higher meters. Moreover, the flow rate of the fire extinguishing agent sprayed by the unmanned aerial vehicle 4 is large.

Specific implementations of the various parts are described in detail below.

First, the installation relationship of the drone 4 is described. Referring to fig. 1 and 2, unmanned aerial vehicle 4 is installed in supporting platform 3, when needing unmanned aerial vehicle 4 to carry out the task of putting out a fire, unlocks unmanned aerial vehicle 4 and supporting platform 3. At other times, make unmanned aerial vehicle 4 and supporting platform 3 keep the locking state.

Referring to fig. 2, in some embodiments, the fire engine further comprises a locking mechanism 14, the locking mechanism 14 being mounted to the support platform 3 to secure the drone 4 with the support platform 3.

The locking mechanism 14 has a variety of implementations. Locking mechanism 14 is controlled the platform 12 electricity with unmanned aerial vehicle and is connected, controls locking mechanism 14 and is locked unmanned aerial vehicle 4 and supporting platform 3 or with unmanned aerial vehicle 4 and supporting platform 3 unblock through operating unmanned aerial vehicle and controlling platform 12.

The installation relationship of the transit line 5 will be described below. Referring to fig. 1 and 2, in some embodiments, the top end of the transit pipe 5 extends to the support platform 3, and the bottom end of the transit pipe 5 is located at the vehicle body 1. Make unmanned aerial vehicle 4 can utilize transfer pipeline 5 like this to make under the demand of putting out a fire of same height, 6 lengths of hosepipe of unmanned aerial vehicle 4 traction can be as short as possible.

Compared with the prior art that the unmanned aerial vehicle pulls the water hose to be combined with the urban main warfare fire truck or the ground movable foam preparation system to extinguish fire in a high-rise mode, the fire extinguishing agent transfer supply of the fire truck provided by the embodiment of the invention is in a high altitude, and only the shorter water hose 6 is needed to achieve the same fire extinguishing height, so that the fire extinguishing agent transfer system has better fire extinguishing agent pipeline conveying capacity. If the carrying capacity of the unmanned aerial vehicle 4 is fully utilized, the working height of the unmanned aerial vehicle can be higher when the water hose 6 with the same length is dragged; it can also drag a larger drift diameter hose 6 when the working height is the same. It make full use of the fire extinguishing agent transfer passage of elevating fire engine, this passageway compares hosepipe 6 can accomplish the latus rectum bigger (generally be greater than or equal to DN80), therefore holistic fire extinguishing agent delivery pressure loss can be littleer, like this under the unchangeable condition (being all being less than or equal to 1.2MPa at present) of compressed air foam system maximum pressure, can support unmanned aerial vehicle 4 in the future more and pull hosepipe 6 and reach higher height and carry out the fire control operation, perhaps under the condition that highly does not increase, can further improve and carry the fire extinguishing agent flow.

Referring to fig. 1 and 2, in some embodiments the fire engine further comprises a storage unit 9, the storage unit 9 being mounted to the bottom of the support platform 3, the storage unit 9 being provided with a storage chamber 91. One end of the water hose 6 is in fluid communication with the conveying pipe 404 of the unmanned aerial vehicle 4, the other end of the water hose 6 is in fluid communication with the transfer pipeline 5 of the fire engine, and the middle part of the water hose 6 is stored in the storage chamber 91. The bottom of the storage unit 9 is configured to be openable and closable. The bottom plate of the storage unit 9 can be arranged to be split, and by turning each half of the bottom plate, a quick opening of the bottom of the storage unit 9 is achieved.

After the bottom plate of the storage device 9 is opened, the superposed part of the water hose 6 can be put down by the self-weight, so that the unmanned aerial vehicle 4 can lift off. The whole operation flow is as follows: the bottom plate of the storage device 9 is opened, so that the water belt 6 falls under the action of the gravity of the water belt 6, namely the water belt 6 is not folded any more; after the unmanned aerial vehicle 4 is unlocked, the unmanned aerial vehicle 4 flies upwards for a certain height to hover; after the fire extinguishing agent is stably conveyed to the unmanned aerial vehicle 4, the unmanned aerial vehicle 4 is controlled to fly to a position to be extinguished, and the fire extinguishing operation is carried out.

Strorage device 9 sets up the head end at the fire engine of lifting high, utilizes the combination cantilever crane or the ladder frame of the fire engine of lifting high to expand as aerial work's transit point, can also avoid hosepipe 6 to entangle and draw the stumbling subaerial, and the horizontal span of combination cantilever crane or ladder frame can also reduce unmanned aerial vehicle 4's horizontal flight distance and improve unmanned aerial vehicle 4 and pull hosepipe 6 and easily appear drawing the condition to one side. The existing unmanned aerial vehicle 4 pulls the water hose 6 to be put out a fire with the urban main battle fire truck or the ground movable foam preparation system in a combined high-rise mode, and a specially-assigned person is required to arrange the water hose 6 on the ground so as to avoid winding and excessive diagonal pulling.

The specific structure of the drone 4 is described below.

Referring to fig. 1 and 2, in some embodiments, drone 4 includes a body 401, a rotor 402, and a fire suppressant spray device 403. Rotor 402 includes a plurality of rotors 402, and each rotor 402 is provided on the top of body 401. The height of the fire extinguishing agent spraying device 403 is lower than the height of the rotor 402 of the drone 4.

Unmanned aerial vehicle 4 is electronic many rotor unmanned aerial vehicle, is equipped with and pulls six-dimensional power detection device, anemoscope, camera, big dipper navigation head, gyroscope stabilizing mean and driving system etc. these structures all are connected with unmanned aerial vehicle 4's flight control system electricity for gather the high altitude construction in-process and pull real-time stress state, instantaneous wind speed, the obstacle condition around, fire extinguishing agent spray pattern and fire extinguishing effect of hosepipe 6, and information such as aerial location coordinate. The information is transmitted to the wireless control device through the flight control system. After the fire extinguishing agent from the transfer pipeline 5 is delivered up through the water hose 6, the fire extinguishing agent is delivered to the fire extinguishing agent spraying device 403 through the unmanned aerial vehicle 4.

The body 401 is a main body part of the drone 4, and conventional integrated components of the drone 4, such as a camera, a navigation device, a gyroscope stabilizing mechanism, a power system, a flight control system, and the like, are integrated in the body 401. A landing gear may be disposed below body 401.

Referring to fig. 3, in other embodiments, the fire suppressant spraying apparatus 403 of the drone is implemented differently than described above. Specifically, the fire extinguishing agent spraying device 403 includes a delivery pipe 404 and a spraying pipe 405, the delivery pipe 404 penetrates from the bottom of the body 401 to the top of the body 401, the spraying pipe 405 is in fluid communication with the delivery pipe 404, and the position of the spraying pipe 405 is higher than that of the rotor 402.

The fire extinguishing agent spraying device 403 is used to spray a fire extinguisher. The drone 4 itself does not have a fire suppressant storage element, the fire suppressant being delivered via a delivery pipe 404 to the injection pipe 405. The delivery pipe 404 is in fluid communication with a fire suppressant storage element located on a fire fighting vehicle, even the ground, other tall structure or stationary object, to deliver fire suppressant to the spray pipes 405 of the fire suppressant spray device 403.

Referring to fig. 3, in some embodiments, the delivery tube 404 includes a first tube 404a, a second tube 404b, and a third tube 404 c. First conduit 404a is located below body 401. The second pipeline 404b is located downstream of the first pipeline 404a and is in fluid communication with the first pipeline 404a, the second pipeline 404b includes at least two, and each second pipeline 404b is symmetrically arranged with respect to the central axis of the body 401. The third pipe 404c is located downstream of each second pipe 404b and is in fluid communication with each second pipe 404 b.

The first pipe 404a, the second pipe 404b, and the third pipe 404c may be made of a light material, such as an ultra-light metal, such as an aluminum alloy. The conveyer pipe 404 adopts the symmetry formula structure of closing after earlier dividing, makes things convenient for the installation of conveyer pipe 404 fixed promptly, also can guarantee the better balance of unmanned aerial vehicle.

In some embodiments, the central axis of the first conduit 404a and the central axis of the body 401 coincide. And/or the central axis of the third pipeline 404c coincides with the central axis of the body 401. So that the unmanned aerial vehicle 4 can keep balance more easily when working in the air.

In some embodiments, the drone 4 further comprises a wind speed detection element 8, the wind speed detection element 8 being provided on top of the body 401. The wind speed detecting element 8 is, for example, an anemometer, and monitors the wind speed at the position of the unmanned aerial vehicle 4 in real time through the anemometer.

Referring to fig. 3, in some embodiments, the drone 4 further includes a six-dimensional force sensor 406, one end of the six-dimensional force sensor 406 being mounted to the body 401 of the drone 4, and a fire suppressant injection device 403 being mounted to the other end of the six-dimensional force sensor 406 to detect the six-dimensional force applied to the drone by a tow of the drone 4 during flight operations. The drag is in particular an ultra light water hose 6. The single weight of the ultra-light water band 6 is less than or equal to 150 g/m. In some embodiments, the hose 6 has a length of 90 to 110 meters. The water hose with the length can be matched with the existing middle-sized elevating fire truck to realize high-altitude fire extinguishing with the height of 120 m at most. In some embodiments, the hose 6 is configured to deliver 6-8 times the foam expansion ratio of the foam mixed liquid fire suppressant.

The following description relates to the fire extinguishing agent delivery flow path of a fire monitor.

Referring to fig. 3, in some embodiments, the fire engine further includes a fire monitor 7 and a fire line 17. The fire hose 17 is a hose already existing on the fire engine. The transit line 5 is a branch taken from the middle of the fire fighting line 17. The fire monitor 7 is mounted to the support platform 3, the fire monitor 7 being in fluid communication with the fire conduit 17. In the amplitude variation process of the arm support 2, the fire monitor 7 varies amplitude along with the amplitude variation. The limiting curve S1 for the safe operating range in the fire-fighting mode is shown in fig. 4 and 5. When the unmanned aerial vehicle 4 is used for extinguishing a fire, after the arm support 2 becomes amplitude to the set position, the arm support 2 does not act any more, but keeps the position.

Referring to fig. 3, in some embodiments, the fire engine further includes a first control valve 18 and a second control valve 19. The first control valve 18 is provided to the relay line 5, and is configured to control whether or not the relay line 5 is conducted. The second control valve 19 is provided at an outlet end of the fire-fighting pipeline 17, and is configured to control whether or not the fire-fighting pipeline 17 is conducted. The second control valve 19 is located at the end of the fire fighting pipeline 17, and the end of the transfer pipeline 5 communicating with the fire fighting pipeline 17 is located upstream of the second control valve 19. Wherein the working states of the first control valve 18 and said second control valve 19 are opposite. The first control valve 18 and the second control valve 19 are, for example, solenoid valves. By detecting the state of the fire monitor 7, the state of the unmanned aerial vehicle 4 and the fire extinguishing demand, the valve positions of the first control valve 18 and the second control valve 19 are automatically adjusted, and the required fire extinguishing agent supply state is realized.

The following describes a specific implementation of the control system of the fire fighting truck.

The control system of the fire engine comprises two parts, wherein one part is a conventional control part of the fire engine, and the other part is a control part related to the control of the unmanned aerial vehicle.

Referring to fig. 1, in some embodiments, the fire engine further includes a master console 11, a data processing module 10, and a drone console 12. The main console 11 is a conventional control part of the fire truck, but a part interacting with the unmanned aerial vehicle is added to realize the safety operation protection and control functions of the conventional elevating fire truck and the signal interaction with the unmanned aerial vehicle. The data processing module 10, the drone console 12, and the drone operation monitor 16 described below are important components for implementing drone control.

Data processing module 10 installs in the end of supporting platform 3 or cantilever crane 2, and cantilever crane 2 stretches out the top of state promptly, and unmanned aerial vehicle 4 includes data transmission module, and data processing module 10 passes through wireless mode communication connection with data transmission module. The master console 11 is communicatively connected to the data processing module 10. The unmanned aerial vehicle console 12 is also in communication connection with the data processing module 10, and the unmanned aerial vehicle console 12 is configured to control the delivery amount of the fire extinguishing agent and/or whether to deliver the fire extinguishing agent according to the state parameters of the unmanned aerial vehicle 4 transmitted by the data transmission module acquired by the data processing module 10 and the preset parameters of the unmanned aerial vehicle 4.

The data transmission module and the antenna of the unmanned aerial vehicle 4 can transmit conventional uplink/downlink information and instructions between the flight control system and the data processing module 10, and can also transmit information such as input signals of the six-dimensional force sensor and the anemoscope, and air positioning coordinates to the data processing module 10. The data processing module 10 is also installed in the supporting platform 3, and during operation, the data processing module 10 is deployed in the air along with the arm support 2 and the supporting platform 3, so that the distance between the whole vehicle and the unmanned aerial vehicle 4 is shorter, and the high-altitude communication environment is better. Because the shielding interference of the site building on its reception of the transmission signal is avoided compared to when the data processing module 10 is placed in the lower part. Communication connection is realized between data processing module 10 and unmanned aerial vehicle 4 through wireless mode, and data processing module 10 still controls platform 11, unmanned aerial vehicle through the cable again with the main of elevating the fire engine and controls platform 12 wired connection for interactive control rises to the air and flies and fire extinguishing agent sprays etc.. And, in order to guarantee the security of unmanned aerial vehicle 4 operation, data processing module 10 and unmanned aerial vehicle control platform 12 can also set for according to unmanned aerial vehicle 4's predetermined load capacity, the distance of setting for the limit value of ambient wind speed and unmanned aerial vehicle 4 allowwing to keep away from the departure point, the flow supply control of automatic control ground fire extinguishing agent, unload the stream to and open two automatically controlled locking device 15 that ultralight hosepipe 6 both ends are connected, thereby ensure that unmanned aerial vehicle 4 does not fall down because of being excessively dragged.

In some embodiments, the preset parameters of the drone 4 include at least one of: the predetermined load capacity of the drone 4, the set limit value of the drone 4 to the ambient wind speed, the set distance the drone 4 is allowed to get away from the point of departure. Any one of the four parameters exceeds a threshold value, which indicates that the unmanned aerial vehicle 4 needs to select one of return flight, unloading and load shedding landing operations according to actual conditions.

In some embodiments, the primary console 11 and/or the drone console 12 are mounted to the vehicle body 1. Unmanned aerial vehicle controls platform 12 and is connected through the data processing module 10 of wired mode with the setting of elevating fire engine head end, and operating personnel controls platform 12 through unmanned aerial vehicle and can control locking mechanism 14 and open, opening of strorage device 9 bottom plate, controls opening and closing etc. of unmanned aerial vehicle 4 take off and the operation of putting out a fire, the automatically controlled locking device 15 of control transfer pipeline 5 and hosepipe 6 junction.

The unmanned aerial vehicle operation monitor 16 can be manually pressed to select and receive images displayed on the camera 13 positioned at the head end of the elevated fire-fighting vehicle or images displayed on the camera positioned on the conventional integrated component (camera, navigation device, gyroscope stabilizing mechanism, power system and flight control system) of the unmanned aerial vehicle 4. The unmanned aerial vehicle console 12 at the turntable is connected with the data processing module 10 arranged at the head end of the elevating fire truck through a wire.

The operating personnel controls platform 12 through unmanned aerial vehicle, can control opening of 4 fixed locking mechanism of unmanned aerial vehicle, 9 bottom plates of strorage device, control 4 take off of unmanned aerial vehicle and put out a fire the operation, control the locking mechanism that transfer delivery port department connects 6 knecks of hosepipe and open etc.. Through unmanned aerial vehicle operation monitor, can manual button selection accept to show and be located the image of elevating fire control locomotive end camera 13 or be located the image of unmanned aerial vehicle 4 last camera.

In order to achieve the acquisition of data of the drone, in some embodiments, the fire engine further includes a camera 13, the camera 13 is mounted on the top end of the boom 2 or on the support platform 3, and the camera 13 is configured to detect the takeoff and flight process of the drone 4.

The camera 13 can cooperate with the data processing module 10 described above to jointly monitor the obstacle information during the takeoff of the drone 4. The data processing module 10 is an important component for controlling information transmission, is in signal connection with both a flight control system of the unmanned aerial vehicle 4 and a control system of the elevating fire truck, and is used for controlling the operations of the unmanned aerial vehicle 4 such as lift-off flight and fire extinguishing agent injection.

In addition to the above control, the connection state of the hose 6 needs to be controlled. Referring to fig. 3 and 4, in some embodiments, the fire fighting truck further includes an electrically controlled locking device 15, and the electrically controlled locking device 15 includes two locking devices, one of which is disposed on the transit pipe 5 to lock and unlock one end of the hose 6 and the transit pipe 5; the other is arranged at the other end of the first pipeline 404a to lock and unlock the first pipeline 404a and the top end of the hose 6.

The both ends of hosepipe 6 all are provided with automatically controlled locking device 15, and hosepipe 6 is located between fire engine and unmanned aerial vehicle 4. An electric control locking device 15 is used for being matched with the unmanned aerial vehicle 4 to lock the connection between the lower connector of the conveying pipe 404 and the upper connector of the ultra-light water hose 6; and the other electrically controlled locking device 15 is used for locking the connection between the lower connector of the ultra-light water hose 6 and the ground fire extinguishing agent supply pipeline connector (namely the transit pipeline 5). The switching of the water belt 6 between the fire extinguishing agent conveying and the flow discharging is realized by controlling the electric control locking device 15.

The control section for extinguishing a fire using the fire engine will be described below.

The fire engine has two working modes: the first is a fire fighting truck elevating fire extinguishing mode. The second is a coupled drone fire suppression mode.

Overall, when the elevated fire engine performs only a conventional elevated fire engine fire extinguishing operation, the drone 4 is in the a position shown in fig. 5. The unmanned aerial vehicle 4 is placed on the top of the supporting platform 3 through the locking mechanism 14. The storage device 9 is positioned below the supporting platform 3, and the ultra-light water hoses 6 are stacked and then are loaded into the storage device 9.

Referring to fig. 5, when the elevated fire truck performs fire extinguishing work coupled with the unmanned aerial vehicle 4, the action of the unmanned aerial vehicle 4 mainly includes two processes, the first process is to take off from the B position to the C position to hover for fire extinguishing agent supply delivery; the second process is flying from the C position to the saving working surface. The specific description is as follows: the floor of the storage unit 9 is first opened. Subsequently, the overlapped part of the water hose 6 in the storage device 9 is put down by the gravity of the unmanned aerial vehicle 4, so that the unmanned aerial vehicle 4 is lifted off without being restrained by overlapping the ultra-light water hose 6. The unfolded state of the water band 6 is shown in fig. 4 and 5. Then, the unmanned aerial vehicle 4 takes off the water belt 6 which does not convey the fire extinguishing agent to a certain height and hovers, and then the fire extinguishing agent starts to be conveyed. After the fire extinguishing agent is stably conveyed, the unmanned aerial vehicle 4 flies to a position to be extinguished with the water belt 6 filled with the fire extinguishing agent.

Before describing the various modes of fire suppression in detail, a specific implementation of the fire fighting vehicle will be described. The fire engine adopts a lifting fire engine with the lifting capacity of 45 meters, the fire engine is provided with a three-axle chassis, and the overall dimension is less than or equal to 12.5 meters when the whole vehicle is in a running state. The fire engine is loaded with two fire extinguishing agents, namely water and foam concentrate. The drift diameter of the fire extinguishing agent conveying pipeline of the elevating fire truck is more than or equal to 80 mm. On-vehicle unmanned aerial vehicle 4 is many rotor electric unmanned aerial vehicle, has 50 Kg's carrying capacity. When the fire monitor 7 is independently used for fire extinguishing, the parameters are as follows: foaming expansion N1, foam pressure P1 and foam mixed liquid flow Q1. When using the drone 4 to extinguish a fire, the various parameters are as follows: foaming expansion N2, foam pressure P2 and foam mixed liquid flow Q2.

Wherein the foam expansion ratio N1 is set to be in the same range as that of N2, and is 6-8 times. The variation range of the flow Q1 of the foam mixed liquid is less than or equal to 20 liters/second, and the variation range of Q2 is less than or equal to 3 liters/second; the foam pressure P1 is less than or equal to 0.8MPa, and the foam pressure P2 is less than or equal to 1.2 MPa. The unmanned aerial vehicle 4 tows the ultra-light water hose 6 of 100 meters, the drift diameter of the water hose 6 is 45-55 mm, for example 50mm (the single weight of the water hose 6 is 150g/m), and high-rise building fire fighting of 120-meter height and 30-meter span can be realized.

The compressed air foam system assembly 106 may automatically adjust the pressure and flow rate of the supplied compressed air foam. In order to meet the spraying requirement (the flow of the foam mixed liquid is more than or equal to 8 liters/second) of the fire monitor 7 in the fire truck lifting fire-extinguishing mode and meet the fire-extinguishing spraying requirement (the flow of the foam mixed liquid is more than or equal to 1 liter/second) of the high-altitude unmanned aerial vehicle 4 in the coupling unmanned aerial vehicle 4 operation mode, the following control methods can be adopted in the aspects of fire-extinguishing agent preparation, fire-extinguishing agent supply state and the like.

Overall, the elevating fire truck has different control strategies and control requirements on the compressed air foam system assembly, the valve control module and the safe operation attitude control module under two different fire extinguishing operation modes. Wherein the foam expansion ratio N1 is 5-15 times, and the N2 is 6-8 times; the flow rate Q1 of the foam mixed liquid is in a range of 8-20L/s, and the flow rate Q2 is in a range of 1-5L/s; the foam pressure P2 is more than P1. The first control valve 18 and the second control valve 19 are switched in opposite states.

The main console 11 is provided with a fire truck elevating fire extinguishing/coupling drone fire extinguishing mode switching button, which is also used to simultaneously control the open and closed states of the first control valve 18 and the second control valve 19, the open and closed states of the first control valve 18 and the second control valve 19 being designed to be opposite. When the switching button is in a fire truck elevating fire extinguishing mode, the fire extinguishing capacity in the mode depends on the fire extinguishing operation capacity of the fire monitor 7 at the using head end of the elevating fire truck, and the fire extinguishing capacity is the same as that of a conventional elevating fire truck, and large-flow water or foam fire extinguishing is realized by utilizing a vehicle-mounted booster pump, water, foam stock solution, a foam proportion mixer, an air compressor system and the like. The compressed air foam system is operated according to the requirements of a conventional elevating fire truck, and the detailed description is omitted here.

In addition, the limiting curve of the safe working range in the elevating fire-extinguishing mode is S1, and the combined arm support can only be operated in the safe range, so that the requirement that the fire monitor 7 is close to a fire-fighting object is met. The vehicle operation method in this mode is the same as that of a conventional elevating fire truck, and relevant accessories such as an unmanned aerial vehicle 4 and an ultra-light water hose 6 are additionally arranged at the head end of the vehicle and do not move relative to the arm head. When the locking mechanism 14 of the unmanned aerial vehicle 4 is unlocked, the switching button cannot make the vehicle in the fire truck elevating fire extinguishing mode.

Under the coupled unmanned aerial vehicle fire extinguishing mode, the combined arm support operation posture is located within the safe working range under the fire truck lifting fire extinguishing mode, and is limited within a small-range limiting curve S2 requiring standard working posture during coupled operation. Only in the curve range, the unmanned aerial vehicle 4 can be lifted off to carry out fire extinguishing operation, and once the fire extinguishing mode is determined after the unmanned aerial vehicle enters the area, the arm support is limited from not allowing actions. When the combined arm support is not in the small-range limit curve S2, the switching key cannot enable the vehicle to be in the coupled unmanned aerial vehicle fire extinguishing mode. Therefore, once the vehicle is in the coupled unmanned aerial vehicle fire extinguishing mode, high-rise fire extinguishing only depends on the unmanned aerial vehicle 4 to fly high to approach the extinguishing object.

When locking mechanism 14 is opened, only control transfer pipeline 5 department first control valve 18 and automatically controlled locking device 15 and open, accomplish unmanned aerial vehicle 4 and pull the hosepipe 6 of ultralight and break away from the back with the vehicle, switch the button and just enable the vehicle and heavily return the fire engine mode of putting out a fire that lifts, the combination cantilever crane of the fire engine of lifting can be operated once more in the safety range under the fire engine mode of putting out a fire that lifts.

Two modes of fire suppression are described in detail below.

A first operating mode: fire truck lifts high mode of putting out a fire.

Aiming at high-rise fire of below 60 meters, the fire truck is operated in a lifting fire-extinguishing mode, and fire is extinguished mainly through the water-foam dual-purpose fire monitor 7 at the head end of the lifting fire truck. The fire monitor 7 sprays a large-flow fire extinguishing agent with the volume of more than or equal to 60 liters per second (water) or more than or equal to 120 liters per second (compressed air foam, the foaming ratio is 6-8 times) to extinguish fire.

In this state, the boom 2 can normally change its amplitude, and the limit curve S1 of the safe working range in the elevating fire-extinguishing mode of the fire monitor 7 is shown in fig. 4 and 5. In fig. 4, the working height refers to the height of the fire monitor 7 relative to the ground. The working amplitude refers to the distance between the fire monitor 7 and the arm support rotating point in the horizontal direction. Under the conditions of the prior art, the known four-bridge 40-50 meter-level elevating fire truck can carry about 3 tons of fire extinguishing agent and about 20 meters of operation amplitude, and can well realize the fire fighting of high-rise fire below 60 meters.

Under the fire truck elevating fire extinguishing mode, the extension and amplitude angle of the combined arm support or the ladder frame depend on the calculation control of the stability of the whole machine, the strength and the rigidity of main structural components, the difference with the conventional elevating fire truck is that the weight of the unmanned aerial vehicle 4 and related accessories are additionally arranged at the head end of the combined arm support or the ladder frame only needs to be considered in the calculation, and the posture of the combined arm support or the ladder frame can be operated in a safety range so as to meet the requirement that the fire monitor 7 is close to a fire fighting object. The vehicle operation method in this mode is the same as that of a conventional elevating fire truck, and movable parts such as an unmanned aerial vehicle 4 and a water hose 6 are additionally arranged at the head end of the vehicle and are installed in place under the condition of readiness. In order to simplify and reliably realize the safe operation control that the fire engine lifted and put out a fire, it is further set for, only when unmanned aerial vehicle 4 fixed locking mechanism 14 locking, switch the button and just enable the vehicle and be in the fire engine mode of putting out a fire that lifts.

The operation of the vehicle in the fire fighting truck elevating fire extinguishing mode is basically similar to that of the conventional elevating fire fighting truck, and details are not repeated here. The following description focuses on the operation method in the fire extinguishing mode of the coupling unmanned aerial vehicle.

The second working mode is a coupled unmanned aerial vehicle fire extinguishing mode.

Aiming at high-rise fire of more than 60 meters, the fire fighting vehicle is operated in a fire fighting mode by coupling the fire fighting vehicle with the unmanned aerial vehicle. Under this mode, mainly drag hosepipe 6 through unmanned aerial vehicle 4, with the help of the fire extinguishing agent preparation and the conveying system supply of elevating the fire engine, through unmanned aerial vehicle 4's fire extinguishing agent injection apparatus 403 to the low discharge fire extinguishing agent rises to empty and is close to putting out a fire. The fire extinguishing agent spraying device 403 of the unmanned aerial vehicle 4 sprays a small flow of fire extinguishing agent with the volume not less than 18 liters/second (compressed air foam, the foaming ratio is 6-8 times) to lift off so as to extinguish fire by approaching a fire source. In this case, the boom 2 is no longer in motion, and the position of the fire monitor 7 is within the range of the small-range limit curve S2 in fig. 4 and 5, which are both considered to satisfy the position condition required for the aerial takeoff of the unmanned aerial vehicle.

Before controlling the drone 4 to extinguish a fire, the state of the drone 4 is monitored.

Various operations of control unmanned aerial vehicle 4 are controlled platform 11 and unmanned aerial vehicle through the main of operating the high fire engine and are controlled platform 12 and realize jointly, and the main platform 11 of controlling sets up the fire engine and lifts high two kinds of mode switch buttons of putting out a fire/coupling unmanned aerial vehicle and putting out a fire for switch the fire rescue of two kinds of modes. Under different operation modes, the novel elevating fire truck has different ranges of safe operation postures of the combined arm support or the ladder frame and different maneuverability of the combined arm support or the ladder frame.

Under the fire extinguishing mode of the coupling unmanned aerial vehicle, the extension and amplitude angles of a combined arm support or a ladder frame of the coupling unmanned aerial vehicle still depend on the calculation control of the stability of the whole machine, the strength and the rigidity of main structural components, and the difference lies in that the weight of the fire extinguishing agent filled in the ultra-light water hose 6 and the related influence given by the dragging of the water hose 6 under the action of external wind load are considered in the calculation besides the weight of the newly added unmanned aerial vehicle 4 and related accessories, so the operation posture of the coupling unmanned aerial vehicle is within the safe working range under the fire extinguishing mode of lifting the fire truck. In order to simplify and reliably realize the safe operation control of coupling unmanned aerial vehicle 4 putting out a fire, further set for, only when combination cantilever crane or ladder frame are in a certain small range standard operating posture, switch the button and just can make the vehicle be in coupling unmanned aerial vehicle mode of putting out a fire, unmanned aerial vehicle 4 also can only be in the implementation operation of putting out a fire of going to the air under the coupling unmanned aerial vehicle mode of putting out a fire. And once the vehicle is in the coupled unmanned aerial vehicle mode of putting out a fire, the combination arm support or the ladder rack of the elevating fire truck is locked in the small-range standard working attitude, and high-rise fire extinguishing only depends on 4 flying heights of the unmanned aerial vehicle to approach to the rescue object.

When the switch button is in the coupling unmanned aerial vehicle mode of putting out a fire, on-vehicle controller is according to unmanned aerial vehicle 4's flying height and six-dimensional power detection device's atress feedback, and pressure and flow, the pressure and the flow that compressed air injected into of pressure boost water pump are injectd automatically in real time to guarantee the optimum flow and the foam expansion multiple of 6 ~ 8 times of fire extinguishing agent are carried to ultralight hosepipe 6. The optimal flow rate of the fire extinguishing agent conveyed by the water hose 6 is the maximum flow rate within the load capacity range of the unmanned aerial vehicle 4 under the reasonable fire extinguishing agent spraying pressure condition of the unmanned aerial vehicle 4. The foam expansion ratio of 6-8 times of the bottom is controlled to ensure that the expansion ratio of the wet foam of the jet orifice of the unmanned aerial vehicle 4 is not differentiated due to segregation in the long-distance vertical conveying process, so that the actual fire extinguishing efficiency is influenced. When the stress of the six-dimensional force sensor 406 reaches the load capacity of the unmanned aerial vehicle 4 for safe operation, or the actual measurement wind speed of the high altitude anemometer reaches the rated instantaneous wind speed of the safe operation, the vehicle-mounted controller is further provided with a drain valve which automatically opens the fire extinguishing agent conveying pipeline, and the load of the unmanned aerial vehicle 4 is reduced in an emergency drain mode.

The following operation method may be adopted for the control system of the fire engine.

Firstly, when the main console 11 at the turntable of the elevating fire truck operates the combined arm support to reach the small-range limit curve S2 required under the standard working posture during the coupling operation of the unmanned aerial vehicle 4, then the mode switching button is pressed down to enable the combined arm support to be in the coupled unmanned aerial vehicle fire extinguishing mode.

Secondly, operating the unmanned aerial vehicle console 12 at the turntable, opening the bottom plate of the storage device 9, the first control valve 18 and the electric control locking device 15 at the transfer pipeline 5 → putting down the superposed part of the water band 6, operating the unmanned aerial vehicle 4 to take off and hover from the supporting platform 3 → operating the compressed air foam system assembly 106 of the elevated fire truck to work, and enabling the fire extinguishing agent injection device 403 of the unmanned aerial vehicle 4 to spray wet foam → operating the unmanned aerial vehicle 4 to fly high and approach to a fire extinguishing target to extinguish fire.

Finally, when the unmanned aerial vehicle 4 finishes the fire extinguishing operation, an operator controls the platform 12 through the unmanned aerial vehicle, opens the electric control locking device 15 of the ultra-light water hose 6 interface connected at the transfer pipeline 5, and operates the unmanned aerial vehicle 4 to pull the ultra-light water hose 6 to land on the ground. Then the vehicle is in a fire extinguishing mode of elevating the fire truck through a switching key, and the vehicle is collected in the same process with the conventional fire truck with the elevating function, and the detailed description is omitted.

In some embodiments, the fire engine is further configured to: when locking mechanism 14 of unmanned aerial vehicle 4 was opened, only connected the locking mechanism of the 6 interfaces of the hosepipe of ultralight and opened (unmanned aerial vehicle 4 pulled ultralight hosepipe 6 at this moment and can break away from with the vehicle), switched the button of main platform 11 of controlling and could make the vehicle return the fire engine and lift the high mode of putting out a fire again. The combined arm support or ladder frame of the elevating fire truck can be operated again within the safety range of the elevating fire-fighting mode of the fire truck.

The fire engine that above-mentioned technical scheme provided, unmanned aerial vehicle 4 when elevating fire engine cantilever crane 2 and expand, can pull ultralight hosepipe 6, this makes unmanned aerial vehicle 4 can utilize the expansion action of cantilever crane 2 self to realize certain lift-off operation and the operation of being close to the object of putting out a fire from supporting platform 3 lift-off flight, this flying distance that has just reduced unmanned aerial vehicle 4, unmanned aerial vehicle 4's electric quantity has been saved, make unmanned aerial vehicle 4 carry out the time of the task of putting out a fire can be longer. And, this unmanned aerial vehicle 4 relies on transit pipeline 5 with the help of the conventional compressed air foam system of elevating the fire engine, and near putting out a fire is soared to the small discharge fire extinguishing agent.

In addition, the fire fighting truck provided by the embodiment of the invention has the characteristics of high maneuverability, good site adaptability, larger operation height and span and higher high-altitude fire extinguishing operation unfolding speed. According to the carrying capacity of 50Kg of the existing electric unmanned aerial vehicle, a water belt with the drift diameter more than or equal to DN40 is reliably dragged for 60-80 m, so that a fire fighting task of a high-rise building with the height of less than 120 m can be covered. Along with the technical development, when more reliable unmanned aerial vehicle 4 can provide bigger carrying capacity, this technique can realize dragging hosepipe 6 of longer or bigger latus rectum to realize bigger working range. This technique is according to local conditions, and the low latitude is put out a fire and is adopted the fire engine to lift the height and put out a fire the mode, and the high altitude is put out a fire and is adopted coupling unmanned aerial vehicle mode of putting out a fire, takes different modes to be close to by the object of putting out a fire, and is more nimble convenient.

In addition, compared with the existing unmanned aerial vehicle which independently carries fire extinguishing bombs or sprays fire extinguishing agents, the fire fighting truck provided by the embodiment of the invention has longer lasting and stronger fire extinguishing capability. The fire extinguishing device can continuously extinguish fire at a large flow rate below 60 meters, and can continuously extinguish fire at a small flow rate above 60 meters. Compared with the existing high-rise fire extinguishing mode of the urban main war fire fighting truck by using the unmanned aerial vehicle to cast the water belt, the fire fighting truck provided by the embodiment of the invention has the flexibility of high-altitude operation.

Referring to fig. 6 and 7, an embodiment of the present invention further provides a fire fighting vehicle fire extinguishing control method, which is implemented by using the fire fighting vehicle provided in any technical solution of the present invention, and for implementation of the fire fighting vehicle, please refer to the above, which is not described herein again. The fire fighting vehicle fire extinguishing control method has two working modes: the first is a fire fighting truck elevating fire extinguishing mode. The second is a coupled drone fire suppression mode. Fig. 6 illustrates different parameters in the two modes. That is, as described above, the elevating fire truck has different control strategies and control requirements for the compressed air foam system assembly, the valve control module and the safe operation attitude control module in two different fire extinguishing operation modes. Wherein the foam expansion ratio N1 is 5-15 times, and the N2 is 6-8 times; the flow rate Q1 of the foam mixed liquid is in a range of 8-20L/s, and the flow rate Q2 is in a range of 1-5L/s; the foam pressure P2 is more than P1. The first control valve 18 and the second control valve 19 are in opposite opening and closing states.

Referring to fig. 7, the fire fighting vehicle fire extinguishing control method includes the steps of:

and S100, judging whether fire extinguishing conditions of the coupling unmanned aerial vehicle are met.

The arm support 2 of the fire fighting truck has a first posture and a second posture. The first attitude is fire extinguishing using the fire monitor 7 of the fire engine alone. In the first posture, the arm support 2 freely changes the amplitude, and the limit curve of the safe working range in the elevating fire extinguishing mode is S1. The second attitude is the sole use the drone extinguishes a fire. In the second posture, the arm support 2 is kept still, and the arm support 2 is limited within the range limiting curve S2 in the standard working posture required during the coupling operation. The conditions include that whether the arm support 2 is positioned in the range limiting curve S2 under the standard working posture required during the coupling operation is judged. The specific operation is as follows: in the main control platform 11 at the turntable of the elevating fire truck, the combined arm support is operated to reach the small-range limit curve S2 required under the standard working posture when the unmanned aerial vehicle 4 is in coupling operation, and then the mode switching button is pressed down to enable the combined arm support to be in the coupling unmanned aerial vehicle fire extinguishing mode.

And S200, if the condition that the unmanned aerial vehicle is adopted for fire extinguishing is met, unlocking the unmanned aerial vehicle 4 and the supporting platform 3 of the fire fighting truck. For a specific implementation manner of the unmanned aerial vehicle 4, please refer to the content described above, and details thereof are not repeated herein.

And step S300, driving the unmanned aerial vehicle 4 to take off from the supporting platform 3 together with the water belt 6. For the specific control manner, the state of each control module, and the related states of the first control valve 18 and the second control valve 19, please refer to the above description, and will not be described herein again.

Before the above step S300, the fire fighting vehicle fire extinguishing control method may further include the steps of: the bottom plate of the storage means 9 below the support platform 3 is opened to lower the hose 6 so that the hose 6 no longer overlaps.

In the step S200, the method may be divided into the following steps: the unmanned aerial vehicle 4 is driven to take off from the support platform 3 with the water band 6 together to a hovering position to await fire suppressant supply delivery.

Step S400, fire extinguishing agents are conveyed to the water hoses 6, and the unmanned aerial vehicle 4 flies to a position to be extinguished with the water hoses 6 filled with the fire extinguishing agents so as to extinguish the fire of the unmanned aerial vehicle 4.

The step S400 specifically includes the following steps: delivering a fire extinguishing agent to the hose; after the fire extinguishing agent is stably conveyed, the unmanned aerial vehicle drives the water belt filled with the fire extinguishing agent to fly to a position to be extinguished.

In the process of executing the above step S400, the following steps are simultaneously executed: detecting the distance of the unmanned aerial vehicle 4 relative to the supporting platform 3 in real time; if the distance of the drone 4 relative to the support platform 3 exceeds a set value, the position of the drone 4 in the air is adjusted so that the distance of the drone 4 relative to the support platform 3 does not exceed the set value.

In some embodiments, the distance is D, D < L- Δ ε; wherein Δ ∈ is the maximum value of the positioning deviation of the unmanned aerial vehicle 4 in the horizontal or vertical direction based on the own imu inertial measurement unit and the GPS positioning system. Wherein, L is the length of the water belt 6 allowed to be effectively pulled, and Δ ∈ is the maximum value of the positioning deviation of the unmanned aerial vehicle 4 in the horizontal or vertical direction based on the I MU inertial measurement unit and the GPS positioning system thereof. When the flight of the unmanned aerial vehicle 4 is close to the value D from the center of the takeoff platform once, the flight control system of the unmanned aerial vehicle 4 automatically limits the unmanned aerial vehicle to fly away from the center of the takeoff platform and only allows the distance-reduced flight.

In the fire extinguishing process of the unmanned aerial vehicle 4, the water belt 6 is always dragged, and the length of the water belt 6 is certain. The distance between the unmanned aerial vehicle 4 and the supporting platform 3 cannot exceed the length of the water hose 6, and optionally, the distance does not exceed 80% of the length of the water hose 6, so that the reliable connection between the unmanned aerial vehicle 4 and the water hose 6 can be maintained, and the fire extinguishing agent can be effectively conveyed; and, reduce because unmanned aerial vehicle 4 is too far away from supporting platform 3, the probability that other dangerous situations appear.

In the process of executing the above step S400, the following steps are also executed at the same time: judging whether the unmanned aerial vehicle 4 finishes extinguishing or is abnormal; if the unmanned aerial vehicle 4 finishes extinguishing fire or abnormal conditions occur, the electric control locking device 15 at the lower end of the water hose 6 is disconnected, the fire extinguishing agent in the water hose 6 is released, and the unmanned aerial vehicle 4 is controlled to fly with the empty water hose 6.

In some embodiments, the abnormal condition includes at least one of: the electric energy of unmanned aerial vehicle 4 is not enough, unmanned aerial vehicle 4's load exceeds the setting value, the wind speed of the environment that unmanned aerial vehicle 4 is located exceeds rated loss wind speed.

Before the unmanned aerial vehicle 4 takes off and in the flying process, the fire extinguishing control method for the fire fighting truck further comprises the following steps: the data transmission module of the unmanned aerial vehicle transmits the state parameters of the unmanned aerial vehicle and the preset parameters of the unmanned aerial vehicle to a data processing module arranged at the tail end of the arm support of the supporting platform or the fire fighting truck; the unmanned aerial vehicle control platform controls the unmanned aerial vehicle to fly, the conveying capacity of the fire extinguishing agent and/or whether to convey the fire extinguishing agent or not, or whether to unload the fire extinguishing agent in the pipeline or not according to the state parameters of the unmanned aerial vehicle acquired by the data processing module and the preset parameters of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle does not crash due to excessive dragging. The arrangement positions and the specific operation modes of the components are referred to the content described above.

With continued reference to fig. 6 and 7, the fire fighting vehicle fire fighting control method further includes the steps of:

s500, operating the unmanned aerial vehicle 4 to land on the ground.

And S600, operating the fire fighting truck to recover from the unfolding state to the running state. The details are described above and will not be described herein.

According to the fire fighting truck fire extinguishing control method provided by the technical scheme, the ultra-light water hose 6 of 60-80 meters is dragged by the small and medium-sized elevating fire fighting truck of 40-50 meters and the coupling unmanned aerial vehicle 4, so that high-efficiency, flexible and economical fire fighting of high-rise buildings with higher meters and larger span can be realized. Compared with the existing large-scale elevating fire truck, the self cost and the later maintenance cost of the equipment are obviously reduced.

In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fire extinguishing control method for a fire engine is characterized by comprising the following steps:

if the condition of coupling the unmanned aerial vehicle to extinguish the fire is met, unlocking the unmanned aerial vehicle and a supporting platform of the fire truck; the fire fighting truck comprises an arm support, a supporting platform, a transit pipeline and a water hose; the supporting platform is arranged at the top end of the arm support; the transfer pipeline is mounted at the top end of the arm support; one end of the water hose is in fluid communication with the transfer pipeline, and the other end of the water hose is detachably connected with the unmanned aerial vehicle;

2. The fire fighting vehicle fire extinguishing control method according to claim 1, wherein the unmanned aerial vehicle is driven to take off from the supporting platform together with the water hose, and the method comprises the following steps:

and driving the unmanned aerial vehicle to take off from the supporting platform to a hovering position together with the water band so as to wait for the supply and the delivery of the fire extinguishing agent.

3. The fire fighting vehicle fire extinguishing control method according to claim 2, wherein the fire extinguishing agent is delivered to the water hose, and the unmanned aerial vehicle flies to a position to be extinguished with the water hose filled with the fire extinguishing agent, and the method comprises the following specific steps:

delivering a fire extinguishing agent to the hose;

4. A fire fighting vehicle fire fighting control method according to claim 1, characterized in that the following steps are performed in a fire fighting process using the drone:

5. The fire fighting vehicle fire fighting control method according to claim 4, wherein the distance is D, D < (L- Δ ∈); and L is the length of the water band which is allowed to be effectively pulled, and Delta epsilon is the maximum value of the positioning deviation of the unmanned aerial vehicle in the horizontal direction or the vertical direction based on the self inertial measurement unit and the positioning system.

6. A fire fighting vehicle fire fighting control method according to claim 1, further comprising, before unlocking the drone from a support platform of the fire fighting vehicle, the steps of:

adjusting the posture of the arm support of the fire fighting truck so as to enable the arm support to be in a second posture; the boom has a first posture and a second posture, and the first posture is used for extinguishing fire by independently using a fire monitor of a fire truck; in the first posture, the arm support of the fire truck freely changes the amplitude, and the arm support is in a limit curve of a safe working range in a lifting fire-extinguishing mode; the second posture is that the unmanned aerial vehicle is used independently for fire extinguishing, and under the second posture, the arm support is kept still and is limited in a range limiting curve under a standard working posture required during coupling operation.

7. The fire fighting vehicle fire extinguishing control method according to claim 1, further comprising the steps of:

and if the unmanned aerial vehicle finishes fire extinguishing or abnormal conditions occur, releasing the fire extinguishing agent in the water hose and controlling the unmanned aerial vehicle to fly with the empty water hose.

8. A fire fighting vehicle fire extinguishing control method according to claim 7, wherein the abnormal situation includes at least one of: the electric energy of the unmanned aerial vehicle is insufficient, the load of the unmanned aerial vehicle exceeds a set value, and the wind speed of the environment where the unmanned aerial vehicle is located exceeds the rated loss wind speed.

9. The fire fighting vehicle fire extinguishing control method according to claim 1, further comprising the steps of:

operating the unmanned aerial vehicle to land on the ground;

10. The fire fighting vehicle fire extinguishing control method according to claim 1, further comprising the steps of:

11. The fire fighting vehicle fire fighting control method according to claim 10,

the preset parameters of the unmanned aerial vehicle at least comprise one of the following parameters: the preset load capacity of the unmanned aerial vehicle, the limit value of the unmanned aerial vehicle on the ambient wind speed, and the set distance for the unmanned aerial vehicle to be allowed to be far away from the take-off point.

12. A fire fighting vehicle fire extinguishing control method according to claim 1, further comprising, after unlocking the drone from a support platform of the fire fighting vehicle, the steps of: