CN113599739A - Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof - Google Patents
Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof Download PDFInfo
- Publication number
- CN113599739A CN113599739A CN202110964158.0A CN202110964158A CN113599739A CN 113599739 A CN113599739 A CN 113599739A CN 202110964158 A CN202110964158 A CN 202110964158A CN 113599739 A CN113599739 A CN 113599739A
- Authority
- CN
- China
- Prior art keywords
- fire
- extinguishing
- gravity
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 10
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 36
- 239000007788 liquid Substances 0.000 claims abstract description 35
- 230000005484 gravity Effects 0.000 claims abstract description 30
- 239000007921 spray Substances 0.000 claims abstract description 17
- 239000012530 fluid Substances 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 abstract description 6
- 238000000429 assembly Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012384 transportation and delivery Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000012296 anti-solvent Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0214—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for buildings or installations in fire storms
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0235—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by means of containers, e.g. buckets
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Emergency Management (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to a gravity-center-adjustable multi-rotor fire-extinguishing unmanned aerial vehicle which comprises a plurality of rotor assemblies, a machine body, a plurality of fire-extinguishing liquid tanks, spray pipes, a controller and a gravity-center adjusting device, wherein the rotor assemblies are uniformly arranged around the machine body as a circle center, the cross sections of the fire-extinguishing liquid tanks are fan-shaped, the fire-extinguishing liquid tanks are enclosed to form a circular ring shape and are arranged below the machine body at intervals, the spray pipes are communicated with the fire-extinguishing liquid tanks in a one-to-one correspondence manner, liquid level sensors are arranged in the fire-extinguishing liquid tanks, the controller is arranged at the centers of the fire-extinguishing liquid tanks and is connected with the machine body, the gravity-center adjusting device is arranged at one end, far away from the machine body, of the fire-extinguishing liquid tanks, the gravity-center adjusting device and the liquid level sensors are electrically connected with the controller, and the gravity-center position of the gravity-center adjusting device is adjusted by the controller according to feedback information of the liquid level sensors. According to the invention, the unmanned aerial vehicle is integrated with the plurality of fire extinguishing liquid tanks for loading different fire extinguishing agents, so that the purpose of quickly extinguishing fire according to the fire is realized, the center of gravity can be adjusted in real time, and the flight attitude can be controlled.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and a control method thereof.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. The fire extinguishing unmanned aerial vehicle is specially used for fire fighting of high-rise buildings, when fire happens to the high-rise buildings, people, water pressure and fire fighting equipment cannot directly reach the fire fighting place, fire fighting is very difficult, and the unmanned aerial vehicle can quickly reach the fire fighting place of the high-rise buildings to carry out fire fighting operation. But at the in-service use in-process discovery, the unmanned aerial vehicle of putting out a fire when carrying out the fire control operation, because an unmanned aerial vehicle only carries a fire extinguishing agent case, and to the ignition source of difference, need different fire extinguishing agents, lead to the fire control team to need reserve many to possess the unmanned aerial vehicle of putting out a fire that does not use the fire extinguishing agent case, after the rescue place, fly the unmanned aerial vehicle of putting out a fire that corresponds temporarily, when leading to the use, have the delivery inconvenient, unmanned aerial vehicle use cost scheduling problem.
Disclosure of Invention
Based on this, it is inconvenient to carry to have to put out a fire to current, the high condition of use cost, provides many rotors unmanned aerial vehicle that puts out a fire with adjustable focus.
A gravity-center-adjustable multi-rotor fire-extinguishing unmanned aerial vehicle comprises a plurality of rotor assemblies, a machine body, a plurality of fire-extinguishing liquid tanks, spray pipes, a controller and a gravity-center adjusting device, wherein the plurality of rotor assemblies are uniformly arranged around the machine body as the center of a circle, the cross section of the fire extinguishing fluid box is a sector ring, a plurality of fire extinguishing fluid boxes are enclosed to form a circular ring shape and are arranged below the machine body at intervals, the spray pipes are communicated with the fire extinguishing fluid tanks in a one-to-one correspondence manner, liquid level sensors are arranged in a plurality of the fire extinguishing fluid tanks, the controller is arranged at the center of the fire-extinguishing fluid tanks and connected with the machine body, the gravity center adjusting device is arranged at one end of the fire-extinguishing fluid tanks far away from the machine body, the gravity center adjusting device and the liquid level sensor are electrically connected with the controller, and the controller adjusts the gravity center position of the gravity center adjusting device according to the feedback information of the liquid level sensor.
Preferably, focus adjusting device includes first motor, ring rail, a plurality of ball and V type frame, first motor sets up a plurality of the center department of fire-fighting liquid case and with the organism is connected, first motor with the controller electricity is connected, V type frame the pointed end with the output of first motor is connected, ring demountable installation is in a plurality of the fire-fighting liquid case is kept away from the one end of organism, the ring inboard is provided with the opening, the open end of V type frame runs through the opening activity sets up in the ring rail, it is a plurality of the ball activity sets up in the ring rail, first motor drive V type frame is rotatory to be driven the ball is in roll in the ring rail.
Preferably, the open end of the V-shaped frame is provided with a shifting piece, the two opposite surfaces of the shifting pieces are provided with hemispherical grooves, and the shifting pieces are movably clamped in the circular ring rail.
Preferably, the rotor subassembly is including the frame, second motor and rotor, and a plurality of the frame is evenly around setting up the limit portion of organism, the second motor is installed the center department of frame, the output of second motor with the rotor is connected, the second motor drive the rotor is in the frame internal rotation.
Preferably, a buffer piece is further arranged on one side, away from the machine body, of the rotor assembly.
Preferably, the buffer member comprises an anti-collision strip and a spring, the anti-collision strip is detachably connected with the outer edge of the frame, and the spring is clamped between the anti-collision strip and the frame.
Preferably, the spray pipe is provided with an electromagnetic valve, and the electromagnetic valve is electrically connected with the controller.
Preferably, the machine body is provided with a pattern transmission antenna and a camera, and the pattern transmission antenna and the camera are electrically connected with the controller.
The invention has the advantages that: 1. the unmanned aerial vehicle is integrated with a plurality of fire extinguishing liquid boxes for bearing fire extinguishing agents of different types and weights, so that field workers can conveniently select corresponding fire extinguishing agents according to field fire conditions, different fire conditions can be correspondingly processed by using one unmanned aerial vehicle, the aim of quickly extinguishing fire is fulfilled, a plurality of unmanned aerial vehicles are not needed, the carrying is more convenient, and the use cost of the unmanned aerial vehicle is lower; 2. be provided with focus adjusting device below the fire-extinguishing fluid case, the weight change that the controller obtained each fire-extinguishing fluid case according to level sensor's feedback information conversion in each fire-extinguishing fluid case, and then control focus adjusting device motion, change the focus, make unmanned aerial vehicle's focus keep a constant state, make unmanned aerial vehicle's flight gesture steady, avoid because the increase and decrease of the liquid of different fire-extinguishing fluid incasement, lead to unmanned aerial vehicle focus skew, take place the slope and even crash the phenomenon.
Drawings
Fig. 1 is a schematic perspective view of a center-of-gravity adjustable multi-rotor fire-extinguishing unmanned aerial vehicle according to an embodiment;
fig. 2 is another perspective view of the multi-rotor fire-fighting unmanned aerial vehicle with adjustable center of gravity;
FIG. 3 is a schematic diagram of a circuit structure of a gravity center adjustable multi-rotor fire-fighting unmanned aerial vehicle;
fig. 4 is a schematic structural view of the gravity center adjusting device.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 3, a gravity center adjustable multi-rotor fire-extinguishing unmanned aerial vehicle comprises a plurality of rotor assemblies 1, a body 2, a plurality of fire-extinguishing fluid tanks 3, a spray pipe 4, a controller 5 and a gravity center adjusting device 6, wherein the plurality of rotor assemblies 1 are uniformly arranged around the body 2 as a circle center, the cross section of the fire-extinguishing fluid tanks 3 is in a fan ring shape, the plurality of fire-extinguishing fluid tanks 3 are arranged in a ring shape and are arranged below the body 2 at intervals, the spray pipes 4 are communicated with the fire-extinguishing fluid tanks 3 in a one-to-one correspondence manner, liquid level sensors 31 are arranged in the plurality of fire-extinguishing fluid tanks 3, the controller 5 is arranged at the center of the plurality of fire-extinguishing fluid tanks 3 and is connected with the body 2, the gravity center adjusting device 6 is arranged at one end of the fire-extinguishing fluid tanks 3 far away from the body 2, and the gravity center adjusting device 6 and the liquid level sensors 31 are electrically connected with the controller 5, the controller 5 adjusts the position of the center of gravity adjusting device 6 according to the feedback information of the liquid level sensor 31. Specifically, in this embodiment, during the use, because unmanned aerial vehicle duration is shorter, need use haulage vehicle to carry unmanned aerial vehicle to the scene of putting out a fire. When fire is extinguished, different extinguishing agents are needed because of different ignition sources. This technical scheme is integrated on same unmanned aerial vehicle with multiple fire-fighting liquid case 3, need not to use a plurality of unmanned aerial vehicles to carry 3 deliveries of a plurality of fire-fighting liquid cases and uses more conveniently. The fire extinguishing agent carried in the fire extinguishing fluid tank 3 may be a chemical foam extinguishing agent, a protein foam extinguishing agent, an aqueous film extinguishing agent, an anti-solvent extinguishing agent, or the like. In this embodiment, 2 belows in the organism are provided with six fire extinguishing agent casees 3, and six 3 cross sections of fire extinguishing agent case all design for the fan ring-type, and it is convenient for it encloses to form circular-arcly, and the middle part fretwork for installation controller 5 and focus adjusting device 6. It will be appreciated that in other embodiments the number of fire suppressant boxes 3 may be other numbers, as long as the number is greater than two. Further, be provided with level sensor 31 in fire extinguishing agent case 3, when putting out a fire, use level sensor 31 to detect the stock of the fire extinguishing agent in the fire extinguishing agent case 3 that corresponds, the controller can be converted according to the density formula and obtain the weight of the fire extinguishing agent case 3 this moment that corresponds, and then control focus adjusting device 6 function, adjust its focus, make unmanned aerial vehicle's focus remain invariable all the time, and then maintain unmanned aerial vehicle's flight gesture, prevent because the reduction of the fire extinguishing agent in single fire extinguishing agent case 3, lead to unmanned aerial vehicle's focus skew, lead to unmanned aerial vehicle to fly to control unstably, it is serious, the crash probably takes place. It should be noted that the gravity center adjusting device 6 may be a cross screw rod or other structures, and the cross screw rod is a cross screw rod structure in the prior art, that is, two sets of screw rod structures which are vertically and horizontally staggered, and the controller controls the displacement of the slide block on the cross screw rod, so as to adjust the gravity center of the whole machine, and further adjust the gravity center of the whole machine. When fire is extinguished, the spray pipe 4 is aligned to a fire source, so that the fire extinguishing agent in the fire extinguishing agent box 3 can be sprayed out, flames are extinguished, unmanned fire extinguishment is realized, high-altitude dangerous fire situations are convenient to process, and the life and property safety of people is guaranteed.
As shown in fig. 1 to 4, the gravity center adjusting device 6 includes a first motor 61, a circular ring rail 62, a plurality of balls 63 and a V-shaped frame 64, the first motor 61 is disposed at the center of the plurality of fire-extinguishing fluid tanks 3 and connected to the machine body 2, the first motor 61 is electrically connected to the controller 5, the tip of the V-shaped frame 64 is connected to the output end of the first motor 61, the circular ring 62 is detachably mounted at one end of the plurality of fire-extinguishing fluid tanks 3 away from the machine body 2, an opening 621 is disposed on the inner side of the circular ring 62, the opening 621 penetrates through the opening 621 and is movably disposed in the circular ring rail 62, the plurality of balls 63 are movably disposed in the circular ring rail 62, and the first motor 61 drives the V-shaped frame 64 to rotate to drive the balls 63 to roll in the circular ring rail 62. Specifically, in the present embodiment, the applicant adopts the following principle that the first motor 61 is used to drive the ball 63 to roll in the circular track 62, so as to adjust the center of gravity: the first motor 61 is installed at the center of six fire extinguishing agent boxes 3, the space is saved, the circular ring rail 62 is hung below the six fire extinguishing agent boxes 3, a plurality of balls 63 are placed in the circular ring rail 62, the balls 63 are in tail connection, and the first ball 63 and the last ball 63 are both abutted to the open end of the V-shaped frame 64. When first motor 61 began work, drive V type frame 64 and rotate, and then drive ball 63 at the internal rotation of ring rail 62, realize adjusting unmanned aerial vehicle centrobaric design purpose. And ball 63 adjusts, compares and uses the cross star lead screw to adjust the focus among the prior art, and is more accurate, controllable.
As shown in fig. 4, the open end of the V-shaped frame 64 is provided with a shifting piece 641, two opposite surfaces of the shifting piece 641 are provided with hemispherical grooves, and the shifting piece 641 is movably clamped in the circular rail 62. Specifically, a shifting piece 641 is arranged at the open end of the V-shaped frame 64, and a hemispherical groove is formed in the shifting piece 641, so that the shifting piece 641 does not generate a pause feeling when the ball 63 is shifted, and the center of gravity is accurately adjusted.
As shown in fig. 1 to 2, the rotor assembly 1 includes a frame 11, a second motor 12 and a rotor 13, wherein a plurality of the frames 11 are uniformly disposed around the side of the body 2, the second motor 12 is installed at the center of the frame 11, an output end of the second motor 12 is connected to the rotor 13, and the second motor 12 drives the rotor 13 to rotate in the frame 11. Specifically, in this embodiment, six rotor subassembly 1 encircle organism 2, and rotor subassembly 1 is including frame 11, second motor 12 and rotor 13 wherein, and second motor 12 hoists at 11 tops of frame, and the output and the rotor 13 of second motor 12 are connected, and drive rotor 13 rotates, brings lift, realizes unmanned aerial vehicle's taking off and descending.
As shown in fig. 1-2, a buffer 14 is further disposed on a side of the rotor assembly 1 away from the machine body 2. In particular, during the fire extinguishing process, the unmanned aerial vehicle may collide with the building because it needs to be close to the fire source. Therefore, in order to protect unmanned aerial vehicle, be provided with bolster 14 in the outside portion of rotor subassembly 1, when unmanned aerial vehicle and building collide, play the buffering guard action, prevent rotor subassembly 1's frame 11 impaired deformation.
As shown in fig. 1 to 2, the buffer 14 includes a bumper strip 141 and a spring 142, the bumper strip 141 is detachably connected to an outer edge of the frame 11, and the spring 142 is clamped between the bumper strip 141 and the frame 11. Specifically, the buffer member 14 includes an anti-collision strip 141 and a spring 142, the anti-collision strip 141 is an EVA strip, the energy absorption effect is good, and the spring 142 is clamped between the anti-collision strip 141 and the frame 11, so as to play a role in further absorbing energy and buffering.
As shown in fig. 3, the nozzle 4 is provided with a solenoid valve, and the solenoid valve is electrically connected with the controller 5. Specifically, the electromagnetic valve is arranged on the spray pipe 4, and the controller 5 can be used for more accurately controlling the opening and closing of the pipeline of the opening and closing spray pipe 4, so that fixed-point spraying fire extinguishing is realized, and the fire extinguishing agent is saved.
As shown in fig. 2 to 3, the body 2 is provided with an image transmission antenna 21 and a camera 22, and both the image transmission antenna 21 and the camera 22 are electrically connected to the controller 5. Specifically, in the present embodiment, the fire extinguishing status is photographed by the camera 22 and transmitted back to the rear monitoring room through the image transmission antenna 21 for the operator to monitor in real time, so as to ensure that the fire is always under control. It should be noted that, in order to facilitate the camera 22 to observe the surrounding environment, the camera 22 can rotate freely in 360 degrees, and a rotating platform is used to fix the camera 22 on the machine body 2, so that compared with a common camera set at a fixed point, a larger view field is obtained, and the background personnel can conveniently control the camera in real time.
A using method of a gravity-center-adjustable multi-rotor fire-extinguishing unmanned aerial vehicle comprises the following steps,
s1, loading different kinds of fire extinguishing agents into a plurality of fire extinguishing liquid boxes, wherein the total weight of the fire extinguishing agents is lower than the takeoff weight of the unmanned aerial vehicle;
s2, analyzing the fire condition on the fire extinguishing site according to the visual observation of an operator and the picture shot and returned by a camera arranged on the unmanned aerial vehicle, and controlling to selectively open the electromagnetic valve on the corresponding spray pipe by the controller according to instruction information sent by a background operator to start fire extinguishing;
and S3, the controller acquires the weight change of the corresponding fire-extinguishing liquid tank in the fire-extinguishing process according to the feedback information of the liquid level sensor in the fire-extinguishing liquid tank, and controls the gravity center adjusting device to adjust the gravity center.
Specifically, use the flow as follows, operating personnel can use carrying devices such as vehicles to carry the unmanned aerial vehicle that the time of endurance is shorter to the scene of a fire. The operator judges the type of the fire source according to information such as field information summary and video pictures sent back after the unmanned aerial vehicle is lifted off, selects the corresponding fire extinguishing agent, and sends the selected type information of the fire extinguishing agent to the controller of the unmanned aerial vehicle. The controller can control the opening of the electromagnetic valve on the corresponding spray pipe according to the acquired information to start fire extinguishing. It can be understood that the fire extinguishing liquid tank is internally provided with a water pump to increase the pressure, so that the fire extinguishing agent sprayed out from the spray pipe is farther away, and the fire extinguishing effect is better. Further, it can be understood that when the fire extinguishing agent in the corresponding fire extinguishing agent box is reduced and the fire extinguishing agent in other fire extinguishing agent boxes is kept as it is, the center of gravity of the whole unmanned aerial vehicle can be shifted. Consequently, in order to prevent unmanned aerial vehicle's focus skew, controller control focus adjusting device removes its focus, ensures that unmanned aerial vehicle's flight attitude is stable controllable, prevents that unmanned aerial vehicle from because focus skew, even crashing, has ensured unmanned aerial vehicle's safe in utilization.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. The utility model provides a many rotors unmanned aerial vehicle that puts out a fire with adjustable focus, its characterized in that: including a plurality of rotor subassemblies, the organism, a plurality of fire-extinguishing fluid case, the spray tube, controller and focus adjusting device, it is a plurality of the rotor subassembly with the organism evenly encircles the setting as the centre of a circle, the transversal fan ring of personally submitting of fire-extinguishing fluid case, a plurality of fire-extinguishing fluid case is enclosed and is formed the ring form and the interval setting and be in the below of organism, the spray tube with fire-extinguishing fluid case one-to-one intercommunication, it is a plurality of all be provided with level sensor in the fire-extinguishing fluid case, the controller sets up a plurality of the center department of fire-extinguishing fluid case and with the organism is connected, focus adjusting device installs fire-extinguishing fluid case keeps away from the one end of organism, focus adjusting device reaches level sensor all with the controller electricity is connected, the controller basis level sensor's feedback information adjusts focus adjusting device's focus position.
2. The multi-rotor fire-extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 1, characterized in that: the focus adjusting device comprises a first motor, a circular ring rail, a plurality of balls and a V-shaped frame, wherein the first motor is arranged in a plurality of centers of the fire extinguishing liquid boxes and connected with the machine body, the first motor is electrically connected with the controller, pointed ends of the V-shaped frame are connected with output ends of the first motor, the circular ring is detachably installed in a plurality of the fire extinguishing liquid boxes are far away from one end of the machine body, an opening is formed in the inner side of the circular ring, the open end of the V-shaped frame runs through the opening, the opening is movably arranged in the circular ring rail, the balls are movably arranged in the circular ring rail, and the first motor drives the V-shaped frame to rotate and drive the balls to roll in the circular ring rail.
3. The multi-rotor fire-extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 2, characterized in that: the open end of the V-shaped frame is provided with two shifting pieces, hemispherical grooves are formed in the opposite surfaces of the two shifting pieces, and the shifting pieces are movably clamped in the circular ring rail.
4. The center-of-gravity adjustable multi-rotor fire-extinguishing unmanned aerial vehicle as claimed in claim 1 or 3, wherein: the rotor subassembly is including the frame, second motor and rotor, and is a plurality of the frame is evenly around setting up the limit portion of organism, the second motor is installed the center department of frame, the output of second motor with the rotor is connected, the second motor drive the rotor is in the frame internal rotation.
5. The multi-rotor fire extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 4, characterized in that: one side that the rotor subassembly was kept away from the organism still is provided with the bolster.
6. The multi-rotor fire-extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 5, characterized in that: the buffer piece comprises an anti-collision strip and a spring, the anti-collision strip is detachably connected with the outer side of the frame, and the spring is clamped between the anti-collision strip and the frame.
7. The multi-rotor fire-extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 1, characterized in that: and the spray pipe is provided with an electromagnetic valve which is electrically connected with the controller.
8. The multi-rotor fire-extinguishing unmanned aerial vehicle with adjustable center of gravity of claim 1, characterized in that: the machine body is provided with a picture transmission antenna and a camera, and the picture transmission antenna and the camera are electrically connected with the controller.
9. The utility model provides a focus adjustable many rotors unmanned aerial vehicle's that puts out a fire application method which characterized in that: comprises the following steps of (a) carrying out,
s1, loading different kinds of fire extinguishing agents into a plurality of fire extinguishing liquid boxes, wherein the total weight of the fire extinguishing agents is lower than the takeoff weight of the unmanned aerial vehicle;
s2, analyzing the fire condition on the fire extinguishing site according to the visual observation of an operator and the picture shot and returned by a camera arranged on the unmanned aerial vehicle, and controlling to selectively open the electromagnetic valve on the corresponding spray pipe by the controller according to instruction information sent by a background operator to start fire extinguishing;
and S3, the controller acquires the weight change of the corresponding fire-extinguishing liquid tank in the fire-extinguishing process according to the feedback information of the liquid level sensor in the fire-extinguishing liquid tank, and controls the gravity center adjusting device to adjust the gravity center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110964158.0A CN113599739A (en) | 2021-08-21 | 2021-08-21 | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110964158.0A CN113599739A (en) | 2021-08-21 | 2021-08-21 | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113599739A true CN113599739A (en) | 2021-11-05 |
Family
ID=78309096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110964158.0A Pending CN113599739A (en) | 2021-08-21 | 2021-08-21 | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113599739A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191739A (en) * | 2021-12-15 | 2022-03-18 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle storage tank system of putting out a fire |
| CN117382884A (en) * | 2023-12-11 | 2024-01-12 | 山西嗨森久远智能科技有限公司 | Throwing device for rotor unmanned aerial vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205801510U (en) * | 2016-07-21 | 2016-12-14 | 南京市公安消防局 | A kind of fire-fighting binary unmanned plane and unmanned plane fire fighting truck |
| CN108528677A (en) * | 2018-04-10 | 2018-09-14 | 中博宇图信息科技有限公司 | A kind of center of gravity self-regulation unmanned plane |
| CN111467719A (en) * | 2020-05-22 | 2020-07-31 | 深圳市祥蔺智能装备科技有限公司 | High-altitude fire fighting equipment |
| CN211364935U (en) * | 2019-11-03 | 2020-08-28 | 诸暨企周企业管理有限公司 | Spiral arm protection frame for unmanned aerial vehicle |
| CN212099378U (en) * | 2020-04-14 | 2020-12-08 | 刘媛媛 | Remote sensing monitoring unmanned aerial vehicle for natural resources, anticollision institution and heat dissipation mechanism |
| CN212951119U (en) * | 2020-08-26 | 2021-04-13 | 上海铱云信息技术有限公司 | Correcting device based on unmanned aerial vehicle fuselage slope |
-
2021
- 2021-08-21 CN CN202110964158.0A patent/CN113599739A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205801510U (en) * | 2016-07-21 | 2016-12-14 | 南京市公安消防局 | A kind of fire-fighting binary unmanned plane and unmanned plane fire fighting truck |
| CN108528677A (en) * | 2018-04-10 | 2018-09-14 | 中博宇图信息科技有限公司 | A kind of center of gravity self-regulation unmanned plane |
| CN211364935U (en) * | 2019-11-03 | 2020-08-28 | 诸暨企周企业管理有限公司 | Spiral arm protection frame for unmanned aerial vehicle |
| CN212099378U (en) * | 2020-04-14 | 2020-12-08 | 刘媛媛 | Remote sensing monitoring unmanned aerial vehicle for natural resources, anticollision institution and heat dissipation mechanism |
| CN111467719A (en) * | 2020-05-22 | 2020-07-31 | 深圳市祥蔺智能装备科技有限公司 | High-altitude fire fighting equipment |
| CN212951119U (en) * | 2020-08-26 | 2021-04-13 | 上海铱云信息技术有限公司 | Correcting device based on unmanned aerial vehicle fuselage slope |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191739A (en) * | 2021-12-15 | 2022-03-18 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle storage tank system of putting out a fire |
| CN117382884A (en) * | 2023-12-11 | 2024-01-12 | 山西嗨森久远智能科技有限公司 | Throwing device for rotor unmanned aerial vehicle |
| CN117382884B (en) * | 2023-12-11 | 2024-02-09 | 山西嗨森久远智能科技有限公司 | Throwing device for rotor unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107683243B (en) | Fire-fighting unmanned aerial vehicle for fire extinguishment | |
| CN113599739A (en) | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof | |
| JP5985784B2 (en) | Collision protection device | |
| US20170197719A1 (en) | Unmanned aerial vehicle for evacuating people from skyscraper and managing method for the same | |
| JP6302012B2 (en) | Collision protection device | |
| JP6749693B2 (en) | Unmanned aerial vehicle | |
| Alshbatat | Fire extinguishing system for high-rise buildings and rugged mountainous terrains utilizing quadrotor unmanned aerial vehicle | |
| CN204750571U (en) | A flight machine people for high -rise building fire control is put out a fire | |
| CN107161328A (en) | One kind is dropped a bomb type disaster relief and unmanned plane and fire-extinguishing | |
| CN109050921A (en) | A kind of unmanned plane for being connected with ground and moving fire plant | |
| Barua et al. | Design and implementation of fire extinguishing ball thrower quadcopter | |
| JP2004017722A (en) | Vtol aircraft | |
| CN208699057U (en) | A kind of unmanned plane for being connected with ground and moving fire plant | |
| CN115531767A (en) | Fire extinguishing system based on self-balancing augmented and stabilized unmanned aerial vehicle | |
| CN107914879A (en) | A kind of unmanned rescue aid in intelligence high-altitude | |
| CN105035323A (en) | Remote-control flight-type dry powder extinguishing lifesaving device | |
| CN117018494A (en) | High-altitude fire-extinguishing flying robot, control system and control method | |
| CN207631493U (en) | A kind of unmanned rescue aid in intelligence high-altitude | |
| CN114832260A (en) | Multi-mode intelligent fire-extinguishing robot and use method thereof | |
| CN218806654U (en) | Fire control unmanned aerial vehicle | |
| JP2021107228A (en) | Flying body with main body part extending in long shape | |
| CN219237401U (en) | Fire-fighting early warning unmanned aerial vehicle for mine pile fire disaster | |
| KR102557844B1 (en) | Hovering means for fire suppression drone | |
| CN210653648U (en) | Unmanned aerial vehicle with aerial fire extinguishing bomb | |
| CN211969747U (en) | Mooring type fire rescue unmanned aerial vehicle system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211105 |