CN114082121A - A unmanned aerial vehicle that puts out a fire for forest grassland - Google Patents
A unmanned aerial vehicle that puts out a fire for forest grassland Download PDFInfo
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- CN114082121A CN114082121A CN202111381339.7A CN202111381339A CN114082121A CN 114082121 A CN114082121 A CN 114082121A CN 202111381339 A CN202111381339 A CN 202111381339A CN 114082121 A CN114082121 A CN 114082121A
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- 239000003795 chemical substances by application Substances 0.000 claims abstract description 66
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- 238000005507 spraying Methods 0.000 claims abstract description 46
- 238000012545 processing Methods 0.000 claims description 22
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- 230000000694 effects Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000013473 artificial intelligence Methods 0.000 claims description 4
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- 238000003466 welding Methods 0.000 claims description 2
- 239000000779 smoke Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 6
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0235—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
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Pest Control & Pesticides (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses an unmanned aerial vehicle for fire extinguishment in forest and grassland, which relates to the technical field of unmanned aerial vehicles and comprises a shell, a power box, a control box, a water storage tank and an intelligent control system, wherein an upper arm and a lower arm are movably arranged in a connecting block, a power assembly is arranged in the power box, a spraying assembly is arranged in the water storage tank, the power assembly comprises a first motor, a first rotating shaft, a first bearing, a main gear, a lead screw and a pinion, and the spraying assembly comprises a spraying pipe, an electromagnetic valve, a rotating disk, a fixing ring, a pulley and a connecting rod. The invention relates to a fire extinguishing unmanned aerial vehicle for forest and grassland, which adjusts the power to be provided to drive the unmanned aerial vehicle to normally fly, can ensure that the unmanned aerial vehicle has enough power to support load flight, is convenient for the unmanned aerial vehicle to use, ensures the normal forest fire extinguishing, enables water flow to be dispersed and sprayed, improves the spraying range of a fire extinguishing agent, improves the coverage area, intelligently controls the opening size of an electromagnetic valve according to the fire intensity of the forest, and achieves accurate fire extinguishing.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a fire extinguishing unmanned aerial vehicle for forest grasslands.
Background
The forest grassland is a transition zone between the temperate deciduous and broad-leaved forests and the grassland, namely a community crossing zone (or ecological transition zone) between the two zones. The large-scale mosaic of the deciduous forest and the meadow steppe is not a uniform vegetation type, the vegetation of the forest steppe is dense, the fire easily occurs in hot and arid seasons, once the fire occurs in the forest steppe, the mosaic has destructive effect, fire fighters need to rush to the fire scene for fire extinguishing and rescue actions, however, the forest has rugged and complex terrain and fierce fire, the fire fighters are difficult to enter in some fierce fire places, the fire fighters entering the forest steppe in person can not enter the forest steppe to extinguish the fire and cause great hidden danger to the safety of the fire fighters, along with the progress and development of science and technology, the unmanned aerial vehicle is taken as powerful supplement of the existing forestry monitoring means, and has unique advantages in the aspects of resource environment monitoring, forest fire monitoring and rescue command and the like of the vehicle and people which can not reach the terrain, especially the unmanned aerial vehicle with large load for long time in the aspects of forestry such as monitoring, prevention, fire extinguishing, rescue and fire fighting, The method can be widely applied in post-disaster evaluation and other aspects.
Most unmanned aerial vehicle rotor's quantity is too much on the existing market, the wind-force that too much rotor produced is great, when spraying dry powder or fire extinguishing agent, make it skew easily, influence the normal emission of dry powder or fire extinguishing agent, and most all spray that is the straight following formula to fire extinguishing agent and spray, the dry powder or the fire extinguishing agent that exist and shed are concentrated, it is less to make its coverage, lead to the unsatisfactory problem of fire control effect, and most unmanned aerial vehicle adopts single rotor to provide unmanned aerial vehicle's power, under the condition that carries fire extinguishing agent than heavy, can not provide sufficient power.
The stock of the fire extinguishing agent that current unmanned aerial vehicle carried needs to be guaranteed, when the stock is more, can not guarantee that unmanned aerial vehicle can have sufficient power, drives unmanned aerial vehicle normal flight, when carrying out unmanned aerial vehicle and putting out a fire to the small flame, need consider environmental factor, the fire extinguishing agent that has unmanned aerial vehicle to spray covers the surface of area than lower, the more concentrated problem of the fire extinguishing agent that sprays, we propose a unmanned aerial vehicle of putting out a fire for forest grassland for this reason.
Disclosure of Invention
The invention mainly aims to provide a fire extinguishing unmanned aerial vehicle for forest and grassland, which can effectively solve the problems that the storage of a fire extinguishing agent carried by an unmanned aerial vehicle in the background technology needs to be ensured, when the storage is more, the unmanned aerial vehicle cannot be ensured to have enough power to drive the unmanned aerial vehicle to normally fly, when the unmanned aerial vehicle extinguishes a small flame, environmental factors need to be considered, the coverage area of the fire extinguishing agent sprayed by the unmanned aerial vehicle is lower, and the sprayed fire extinguishing agent is more concentrated.
In order to achieve the purpose, the invention adopts the technical scheme that: a fire extinguishing unmanned aerial vehicle for forest grassland, including device main part and the artificial intelligence control system who is used for controlling the device main part, the device main part includes casing, headstock, control box, storage water tank and intelligent control system, the outer peripheral face of headstock is equipped with the connecting block, two horn about the inside activity of connecting block is equipped with, the inside of headstock is equipped with power component, the inside of storage water tank is equipped with sprays the subassembly, the both sides of control box are equipped with the descending supporting component, casing, headstock and control box are as unmanned aerial vehicle's main part component, are used for bearing various instrument parts, and the storage water tank is used for holding fire extinguishing liquid such as fire extinguishing agent, water, and drives unmanned aerial vehicle flight through various instruments and the fire extinguisher of inside and carries out the operation of putting out a fire;
the power assembly comprises a first motor, a first rotating shaft, a first bearing, a main gear, a screw rod and a pinion, a first motor is arranged in the shell, the driving end of the first motor is fixedly connected with the top of the first rotating shaft, the bottom of the first rotating shaft is connected with the interior of the power box through a first bearing, a main gear is sleeved on the peripheral surface of the first rotating shaft, a screw rod is movably arranged in the power box, a pinion is sleeved on the outer peripheral surface of the screw rod, the first motor drives the first rotating shaft to rotate through the work of the first motor, the first rotating shaft drives the main gear to rotate the three screw rods through the pinion, so that the distance between the upper and lower groups of arms can be adjusted, adjusting the distance between the machine arms according to the storage amount of the fire extinguishing agent in the water storage tank to adjust the power to be supplied to drive the unmanned aerial vehicle to normally fly;
the spraying assembly comprises spraying pipes, electromagnetic valves, rotating disks, fixing rings, pulleys and connecting rods, the bottom of the water storage tank is in an equilateral triangle shape and is provided with three spraying pipes, the spraying pipes are arranged at 45-degree angles obliquely downwards, the electromagnetic valves are arranged on the outer peripheral surfaces of the spraying pipes, the rotating disks are fixedly connected inside the spraying pipes, the inner sides of the rotating disks are connected with the fixing rings through the pulleys, the tops of the pulleys are connected with a rotating frame through the connecting rods, the bottom of the center of the rotating frame is connected with the fixing rings through rotating shafts, the electromagnetic valves are opened through remote control, fire extinguishing agents inside the water storage tank are sprayed out through the spraying pipes, when the fire extinguishing agents contact the rotating frame and the pulleys, water pressure enables the pulleys to rotate inside sliding grooves through the rotating frame, accordingly water flow is scattered and sprayed out, the spraying range of the fire extinguishing agents is enlarged, the coverage area is increased, and the three spraying pipes are distributed in an oblique downward angle of a triangle shape, the fire extinguishing agent can be sprayed better, the coverage area of the fire extinguishing agent can be improved on the existing basis, and the fire extinguishing agent is prevented from being sprayed more intensively;
the intelligent control system comprises an identification module, a transmission module, a central processing unit and a control module, wherein the identification module is used for identifying the forest fire intensity, the transmission module is used for receiving the information of the identification module and transmitting the information to the central processing unit, the central processing unit is used for sending the fire intensity information to the control module, the control module controls the spraying component to spray the fire extinguishing agent, the intelligent control system detects the forest fire intensity through a temperature sensor, the identification module identifies the fire intensity of the forest fire through the temperature sensor, the transmission module transmits the information of the fire intensity received by the identification module to the central processing unit, the central processing unit sends the fire intensity information to the control module, and the control module controls the opening of the electromagnetic valve to control the spraying amount of the fire extinguishing agent to accurately extinguish the fire, through intelligent control system, can carry out the size that intelligent control solenoid valve opened according to the size of forest fire intensity of a fire to control what that fire extinguishing agent sprayed, accomplish accurate putting out a fire, and can avoid the waste of fire extinguishing agent, the cost is reduced.
Preferably, power component still includes driving motor, connecting axle and spiral wing, the quantity of horn has three groups, and two are a set of from top to bottom, driving motor has been inlayed to the tip of horn, driving motor's drive end and the one end fixed connection of connecting axle, the other end and the spiral wing fixed connection of connecting axle, three groups the spiral wing is equilateral triangle distribution and the outer peripheral face of headstock, through the structure of three groups of two spiral wings, required power when can guaranteeing unmanned aerial vehicle flight, and triangle-shaped has stability, can guarantee the stability of unmanned aerial vehicle flight, and the influence when the too much wind-force that causes of spiral wing sprays fire extinguishing agent can be avoided to the structure of three groups of two spiral wings.
Preferably, the spraying assembly further comprises a second motor, a second rotating shaft, a second bearing and spiral blades, the second motor is arranged inside the control box, the driving end of the second motor is fixedly connected with the top of the second rotating shaft, the bottom of the second rotating shaft is connected with the inside of the water storage tank through the second bearing, the spiral blades are sleeved on the outer peripheral face of the second rotating shaft, when fire is needed to be extinguished, the second motor is started, the second motor rotates the spiral blades through the second rotating shaft, the fire extinguishing agent and the water spiral inside the water storage tank are pressed downwards, the water pressure when the fire extinguishing agent is sprayed is improved, the fire extinguishing agent can be quickly sprayed out through the spray pipe, and the fire extinguishing efficiency is improved.
Preferably, the inside of connecting block is equipped with the stopper, one side of stopper is run through and has been seted up the rectangle and lead to the groove, the welding of the inside relative both sides wall center department that the rectangle leads to the groove has the baffle, two the horn passes the rectangle that is separated by the baffle respectively and leads to the groove, and two horns pass the rectangle that is separated by the baffle respectively and lead to the groove, can lead to the groove through stopper and rectangle and make two upper and lower horns carry out spacing effect when the distance is adjusted.
Preferably, bottom one side of storage water tank is equipped with temperature sensor, the opposite side of the bottom of storage water tank is equipped with the camera of taking photo by plane, the preceding terminal surface of headstock is equipped with signal reception control ware, temperature sensor's inside is equipped with thermal infrared imager, makes unmanned aerial vehicle carry out the detection that the forest grassland was in danger of appearing through temperature sensor, and the camera of taking photo by plane gathers the transmission to the real-time observation phenomenon of forest grassland, is convenient for look over in real time, and signal reception control ware is used for the receipt of signal and controls opening and closing of various instruments.
Preferably, descending supporting component includes support frame, splice frame, movable rod, the wheel that falls, limiting plate and spring, the equal fixedly connected with support frame in both sides of control box, the top fixed connection of support frame, the inside activity of splice frame is equipped with the movable rod, the bottom of movable rod is connected with the wheel that falls, the top of movable rod is connected with the limiting plate, the spring is passed through at the top of limiting plate and the internal connection of splice frame, and unmanned aerial vehicle is when descending, and descending wheel and ground contact, the vibrations that the contact produced pass through the movable rod and transmit for the spring, make the spring in the internal contraction of splice frame, possess the effect of shock attenuation buffering when making unmanned aerial vehicle descend, improve the stability when falling to the ground, avoid taking place the unmanned aerial vehicle slope, prevent the emergence of the phenomenon that the spiral wing landed, avoid causing the condition of unmanned aerial vehicle damage because of vibrations to take place.
Preferably, an arc-shaped through groove is formed between the rotating disc and the fixing ring, sliding grooves are formed in two inner side walls of the arc-shaped through groove, the pulley is movably arranged inside the sliding grooves and slides inside the sliding grooves, water pressure generated when water flow is sprayed drives the pulley to rotate inside the rotating disc through the rotating frame, the pulley is rotated by the water pressure, the water flow is scattered and sprayed out, fire extinguishing operation is facilitated, and the coverage range of fire extinguishing agents is enlarged.
Preferably, the quantity of lead screw and pinion all has threely, and is three the both ends of lead screw are respectively through the inside of bearing frame activity in the headstock, and three lead screw is the triangular distribution, and three group the horn is threaded connection with three lead screw respectively, the master gear is the meshing connection with three pinion respectively, drives three lead screw rotation through three pinion through a master gear, can adjust the distance between the horn through three lead screw.
Preferably, the one end of movable rod passes through limiting plate activity and sets up in the inside of connection frame, and slides in the inside of connection frame, possesses the effect of shock attenuation buffering, avoids unmanned aerial vehicle to cause unmanned aerial vehicle's damage because of the vibrations that the descending produced.
Preferably, solenoid valve, temperature sensor, the camera of taking photo by plane all are electric connection with signal reception controller, signal reception controller is wireless connection with external terminal, through opening and closing of remote control unmanned aerial vehicle's various instruments, control unmanned aerial vehicle flight, survey and the operation of putting out a fire.
Compared with the prior art, the invention has the following beneficial effects:
1. in the invention, power is provided by two groups of upper and lower spiral wings, and three groups of double spiral wings are designed to provide power support by designing the double spiral wings in a triangular shape, the triangle has stability, the structure of three groups of double spiral wings can avoid the influence of wind power on the spraying of the fire extinguishing agent caused by too many spiral wings, the first motor drives the first rotating shaft to rotate through the work of the first motor, the first rotating shaft drives the main gear to rotate the three screw rods through the pinion, so that the distance between the upper and lower groups of arms can be adjusted, according to the storage capacity of the inside fire extinguishing agent of storage water tank how much, carry out distance between the horn and adjust, adjust the power drive unmanned aerial vehicle that should provide and normally fly, can guarantee that unmanned aerial vehicle power enough supports the load, make things convenient for unmanned aerial vehicle's use, guarantee the normal clear that the forest was put out a fire.
2. According to the invention, through the arranged spraying mechanism, the electromagnetic valve is opened through the intelligent control system, the fire extinguishing agent in the water storage tank is sprayed out through the spray pipes, when the fire extinguishing agent contacts the rotary frame and the pulleys, the pulleys are driven to rotate in the sliding grooves through the rotary frame by water pressure, so that water flow is dispersed and sprayed out, the spraying range of the fire extinguishing agent is increased, the coverage area is increased, the three spray pipes are distributed in an equilateral triangle shape and inclined downwards at an angle of 45 degrees, the fire extinguishing agent can be sprayed out better, the coverage area can be increased on the existing basis, the fire extinguishing agent is prevented from being sprayed more intensively, the second motor is started, the second motor rotates the spiral blades through the second rotating shaft, the fire extinguishing agent and the water in the water storage tank are pressed downwards in a spiral manner, the water pressure during the spraying of the fire extinguishing agent is increased, and the fire extinguishing agent can be sprayed out through the spray pipes quickly to extinguish a fire, the efficiency of putting out a fire is improved.
3. According to the intelligent control system, the temperature sensor detects the fire of the forest fire, the identification module identifies the fire of the forest fire through the temperature sensor, the transmission module transmits the information of the fire received by the identification module to the central processing unit, the central processing unit transmits the information of the fire to the control module, and the control module controls the opening of the electromagnetic valve to control the amount of fire extinguishing agent sprayed to accurately extinguish the fire.
Drawings
FIG. 1 is a schematic perspective view of a fire-fighting unmanned aerial vehicle for forest and grassland according to the present invention;
FIG. 2 is a schematic structural view of a front view plane of the fire extinguishing unmanned aerial vehicle for forest and grassland of the invention;
FIG. 3 is a schematic view of a front view internal cross-sectional structure of the fire extinguishing unmanned aerial vehicle for forest and grassland of the present invention;
FIG. 4 is an enlarged schematic view of the fire fighting unmanned aerial vehicle for forest and grassland of the present invention at A in FIG. 3;
FIG. 5 is a schematic perspective view of a water storage tank and a spray pipe of the fire extinguishing unmanned aerial vehicle for forest and grassland of the present invention;
FIG. 6 is a schematic front view of an inner cross-sectional structure of a spraying mechanism of the fire-extinguishing unmanned aerial vehicle for forest and grassland of the invention;
FIG. 7 is a schematic view of a water storage tank of the fire extinguishing unmanned aerial vehicle for forest and grassland of the present invention in a top view;
FIG. 8 is a schematic view of the internal structure of the nozzle of the fire-fighting unmanned aerial vehicle for forest and grassland according to the present invention;
FIG. 9 is a schematic perspective view of a limiting block of the fire extinguishing unmanned aerial vehicle for forest and grassland of the present invention;
FIG. 10 is an enlarged schematic view of the fire fighting unmanned aerial vehicle for forest and grassland of the present invention at B in FIG. 3;
FIG. 11 is a schematic diagram of a control system of the present invention.
In the figure: 1. a housing; 2. a power box; 3. a control box; 4. a water storage tank; 5. connecting blocks; 6. a horn; 7. a drive motor; 8. a connecting shaft; 9. a helical wing; 10. a first motor; 11. a first rotating shaft; 12. a first bearing; 13. a main gear; 14. a screw rod; 15. a pinion gear; 16. a second motor; 17. a second rotating shaft; 18. a second bearing; 19. a helical blade; 20. a nozzle; 21. an electromagnetic valve; 22. rotating the disc; 23. a fixing ring; 24. a pulley; 25. a connecting rod; 2501. a rotating frame; 26. a limiting block; 27. a rectangular through groove; 28. a baffle plate; 29. a temperature sensor; 30. an aerial camera; 31. a signal receiving controller; 32. a support frame; 33. a connecting frame; 34. a movable rod; 35. a wheel falls; 36. a limiting plate; 37. a spring; 38. an arc-shaped through groove.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-10, the present embodiment is an unmanned aerial vehicle for fire extinguishing in forest and grassland, which includes a main body and an artificial intelligence control system for controlling the main body, the main body includes a housing 1, a power box 2, a control box 3, a water storage tank 4 and an intelligence control system, a connection block 5 is disposed on an outer circumferential surface of the power box 2, an upper boom and a lower boom 6 are movably disposed inside the connection block 5, a power assembly is disposed inside the power box 2, a spraying assembly is disposed inside the water storage tank 4, landing support assemblies are disposed on two sides of the control box 3, the housing 1, the power box 2 and the control box 3 serve as main components of the unmanned aerial vehicle and are used for bearing various instrument components, the water storage tank 4 is used for containing fire extinguishing liquids such as fire extinguishing agents and water, and the unmanned aerial vehicle is driven by various instruments and fire extinguishers inside to fly for fire extinguishing;
wherein, the power assembly comprises a first motor 10, a first rotating shaft 11, a first bearing 12, a main gear 13, a screw rod 14 and a pinion 15, the first motor 10 is arranged in the shell 1, the driving end of the first motor 10 is fixedly connected with the top of the first rotating shaft 11, the bottom of the first rotating shaft 11 is connected with the inside of the power box 2 through the first bearing 12, the main gear 13 is sleeved on the outer peripheral surface of the first rotating shaft 11, the screw rod 14 is movably arranged in the power box 2, the pinion 15 is sleeved on the outer peripheral surface of the screw rod 14, the first motor 10 drives the first rotating shaft 11 to rotate through the operation of the first motor 10, the main gear 13 is driven by the rotation of the first rotating shaft 11 to rotate the three screw rods 14 through the pinion 15, so as to adjust the distance between the upper and lower groups of arms 6, and adjust the distance between the arms 6 according to the storage amount of the fire extinguishing agent in the water storage tank 4, the power to be provided is adjusted to drive the unmanned aerial vehicle to normally fly;
wherein, the spraying component comprises a spraying pipe 20, an electromagnetic valve 21, a rotating disk 22, a fixed ring 23, a pulley 24 and a connecting rod 25, the bottom of the water storage tank 4 is provided with three spraying pipes 20 in an equilateral triangle shape, the spraying pipes 20 are arranged in an inclined downward 45-degree angle, the peripheral surface of each spraying pipe 20 is provided with the electromagnetic valve 21, the rotating disk 22 is fixedly connected inside each spraying pipe 20, the inner side of each rotating disk 22 is connected with the fixed ring 23 through the pulley 24, the top of each pulley 24 is connected with a rotating frame 2501 through the connecting rod 25, the bottom of the center of the rotating frame 2501 is connected with the fixed ring 23 through a rotating shaft, the electromagnetic valve 21 is opened through remote control, the fire extinguishing agent inside the water storage tank 4 is sprayed out through the spraying pipes 20, when the fire extinguishing agent contacts the rotating frame 2501 and the pulleys 24, the pulleys 24 are driven by water pressure to rotate inside the sliding grooves through the rotating frame 2501, so that water flow is scattered and sprayed out, and the spraying range of the fire extinguishing agent is enlarged, the coverage area is increased, the three spray pipes 20 are distributed in an equilateral triangle shape and are obliquely distributed downwards at an angle of 45 degrees, the fire extinguishing agent can be sprayed out better, the coverage area can be increased on the basis of the prior art, and the fire extinguishing agent is prevented from being sprayed more intensively.
In this embodiment, power component still includes driving motor 7, connecting axle 8 and spiral wing 9, the quantity of horn 6 has three groups, and two are a set of from top to bottom, driving motor 7 has been inlayed to the tip of horn 6, driving motor 7's drive end and connecting axle 8's one end fixed connection, connecting axle 8's the other end and spiral wing 9 fixed connection, three spiral wings 9 of group are equilateral triangle distribution and headstock 2's outer peripheral face, structure through three two spiral wings 9 of group, required power when can guaranteeing unmanned aerial vehicle flight, and triangle-shaped has stability, the stability of unmanned aerial vehicle flight can be guaranteed, the influence of the too much wind-force that causes of spiral wing 9 when spraying fire extinguishing agent can be avoided to three double spiral wing 9's of group structure.
In this embodiment, the spraying assembly still includes second motor 16, second pivot 17, second bearing 18 and helical blade 19, the inside of control box 3 is equipped with second motor 16, the drive end of second motor 16 and the top fixed connection of second pivot 17, the internal connection of second bearing 18 and storage water tank 4 is passed through to the bottom of second pivot 17, the outer peripheral face cover of second pivot 17 is equipped with helical blade 19, when needing to put out a fire, start second motor 16, second motor 16 makes helical blade 19 rotate through second pivot 17, make the inside fire extinguishing agent of storage water tank 4 and the water spiral suppress downwards, water pressure when having improved the fire extinguishing agent and spraying, make the fire extinguishing agent can put out a fire through 20 blowout of spray tube fast, improve the efficiency of putting out a fire.
As shown in fig. 11, in this embodiment, smoke is released at the initial stage of fire occurrence, and the smoke rises with air as the air moves thermally, and in this process, the pressure inside the smoke is higher than the outside, and the image of the smoke shows a convex planar image characteristic, and in this embodiment, by using an intelligent control system, the smoke in the forest fire is detected by a temperature sensor 29 to obtain first data, and a specific fire situation at the fire scene is photographed by an aerial camera 30 to obtain second data;
the acquisition and processing process of the first data is that firstly, an infrared thermal imager in the temperature sensor 29 is used for acquiring, the infrared thermal imager firstly acquires an infrared image, the pseudo-color value of the infrared image and the specific temperature have a one-to-one corresponding relation, then the fire temperature is determined through the pseudo-color value of the infrared image, the specific conversion is as follows, the intermediate parameter of the heat value is needed in the conversion process, and the pseudo-color value and the heat value meet the following relational expression:
wherein I represents a calorific value of the infrared image; l represents the thermal level of the thermal imager; r represents the thermal range of the thermal imager, and then the temperature of each point of the infrared image can be calculated by utilizing the relation between the heat value of the infrared image and the absolute temperature, wherein the relation is as follows:
i in the formula0Represents the actual heating value; τ represents the transmittance; epsilon represents the emissivity of the object.
The measured temperature of the object is:
wherein A, B is a thermal imager calibration curve constant, and for a short wave system, C is 1. The temperature value of the object can be calculated according to the formula.
Because the thermal map has 256 levels of pseudo-color display, the corresponding relation between the pseudo-color value and the actual temperature can be found out according to the formula, and thus, the point temperature display and the isotherm display of the temperature can be realized according to the gray value of each pixel point, so that the temperature analysis of cross hatching and oblique hatching, the window analysis (the maximum temperature, the minimum temperature, the average value and the window area) with any size and the histogram can be realized. Judging the size of the forest fire by the temperature value, dividing the forest fire into five grades, and transmitting the five grades to a central processing unit;
the second data collecting and processing process is that firstly a group of photos are shot by the aerial camera 30, the motion characteristic of the smoke is extracted by using an optical flow field, the motion characteristic hue saturation difference descriptor of the smoke is combined to obtain the static and dynamic combination characteristic of the smoke, the smoke is non-rigid, the motion of different positions of the smoke area is inconsistent, the motion characteristic is special, and the motion characteristic difference with other foreground motion targets is large, firstly one of the photos is selected from the group of photos shot by the aerial camera 30, the image is smoothed by a Gaussian filter, then the amplitude and the direction of the gradient are calculated by the finite difference of first-order partial derivation, the non-maximum value inhibition is carried out on the amplitude of the gradient, the collected fire scene photos are divided by adopting double-threshold algorithm detection and connecting edges, and the fire area value of the fire scene is detected by the double-threshold algorithm, dividing the data into five grades and transmitting the grades to a central processing unit;
obtaining a formula through the first data and the second data as follows:
c is a grade value of temperature and area, T is a fire temperature value, M is a fire area value, 0.4 is a weighted value of temperature, 0.6 is a weighted value of area, a specific grade value is obtained by multiplying the weighted value by the temperature value and the area value, the fire condition is divided into five grades of C1, C2, C3, C4 and C5 through the grade value obtained by the formula, and the fire size and the area grade are distinguished;
the grades of the electromagnetic valves 21 are divided into five grades of opening and closing sizes of the electromagnetic valves 21 of T1, T2, T3, T4 and T5 through one-to-one correspondence with grade values.
The specific implementation scheme of this embodiment is that a specific field video of a fire area is transmitted to an identification module through a video camera imaging function of an aerial camera 30, the identification module is used for detecting the fire size of the fire area, the identification module ranks the fire transmitted by a temperature sensor 29 and the aerial camera 30, the fire size data obtained through the first data and the second data is divided into five fire size grades from small to large according to the fire size grades, then the information of the fire size received by the identification module is transmitted to a central processing unit through a transmission module, then the information of the fire size is sent to a control module through the central processing unit, the control module controls the size of opening of a control solenoid valve 21 to control the amount of fire extinguishing agent sprayed to perform accurate fire extinguishing, and the opening degree of the solenoid valve 21 is also set to five grades, the sizes of the fire extinguishing chamber are divided into five valve opening size grades from small to large, namely T1, T2, T3, T4 and T5, and the valve opening size grades correspond to the fire size grading grades. Through an intelligent control system, the opening grade of the electromagnetic valve 21 can be intelligently controlled according to the fire grade of forest fires, if the fire grade is C1, the electromagnetic valve 21 is opened through a central processing unit control module to be T1 grade, and so on, C1 corresponds to T1, C2 corresponds to T2, C3 corresponds to T3, C4 corresponds to T4 and C5 corresponds to T5, so that the amount of the fire extinguishing agent sprayed is controlled, accurate fire extinguishing is realized, the waste of the fire extinguishing agent can be avoided, and the cost is reduced;
for example, the temperature is 420 ℃, the fire area is 800 square meters, the grade value obtained through the first data and the second data is C3, then the information of the fire intensity received by the identification module is transmitted to the central processing unit through the transmission module, then the information of the fire intensity is transmitted to the control module through the central processing unit, and the control module controls the control electromagnetic valve 21 to open the valve degree of the T3 grade, so that the fire extinguishing work is performed.
The working principle of the invention is as follows: when the unmanned aerial vehicle flies above a forest and grassland, power is provided through two groups of upper and lower spiral wings 9, the triangular double spiral wings 9 are designed, three groups of double spiral wings 9 provide power support, and the triangle has stability, the structure of the three groups of double spiral wings 9 can avoid the influence of wind power caused by the excessive spiral wings 9 on the spraying of fire extinguishing agents, the first motor 10 works to drive the first rotating shaft 11 to rotate through the first rotating shaft 11, the main gear 13 is driven by the rotation of the first rotating shaft 11 to rotate the three screw rods 14 through the pinion 15, so that the distance between the upper and lower arms 6 can be adjusted, the distance between the arms 6 can be adjusted according to the storage amount of the fire extinguishing agents in the water storage tank 4, the power to be provided is adjusted to drive the unmanned aerial vehicle to normally fly, the power of the unmanned aerial vehicle can be ensured to sufficiently support the load, and the use of the unmanned aerial vehicle is convenient, the fire hazard detection is carried out on the forest grassland through the temperature sensor 29, when the fire hazard occurs, the unmanned aerial vehicle flies above the fire hazard, the fire hazard detection is carried out on the forest grassland through the temperature sensor 29, the fire hazard of the forest is detected through the temperature sensor 29, the image recognition method is adopted by the recognition module, two scanning modes of dynamic scanning and static scanning are used, the size of smoke is accurately detected through recognizing the inherent characteristics of the smoke, abnormal smoke in a monitoring area is automatically found, the size of the fire of the forest is recognized through the recognition module through the temperature sensor 29, then the information of the fire size received by the recognition module is transmitted to the central processing unit through the transmission module, then the information of the fire size is transmitted to the control module through the central processing unit, and the control module controls the opening of the electromagnetic valve 21, the intelligent control system can intelligently control the opening grade of the electromagnetic valve 21 according to the grade of the forest fire, if the grade of the fire is C1, the central processing unit controls the control module to open the electromagnetic valve 21 to T1 grade, and so on, C1 corresponds to T1, C2 corresponds to T2, C3 corresponds to T3, C4 corresponds to T4 and C5 corresponds to T5 to control the spraying amount of fire extinguishing agent to accurately extinguish the fire, the fire extinguishing agent in the water storage tank 4 is sprayed out through the spray pipes 20, when the fire extinguishing agent contacts with the rotating frame 2501 and the spray pipes 24, the water pressure enables the spray pipes 24 to rotate in the sliding grooves through the rotating frame 2501, so that water flow is dispersed to be sprayed out, the spraying range of the fire extinguishing agent is enlarged, the coverage area is enlarged, the three spray pipes 20 are distributed in a triangular inclined downward 45-degree angle, and the fire extinguishing agent can be sprayed out better, can improve its coverage on current basis, avoid the comparison of fire extinguishing agent spraying to concentrate, and the start of second motor 16, second motor 16 makes helical blade 19 rotate through second pivot 17, makes the inside fire extinguishing agent spiral of storage water tank 4 suppress downwards, has improved the water pressure when fire extinguishing agent sprays, makes the fire extinguishing agent can put out a fire through 20 blowout of spray tube fast, improves the efficiency of putting out a fire.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A unmanned aerial vehicle puts out a fire for forest grassland, its characterized in that: the device comprises a device main body and an artificial intelligence control system for controlling the device main body, wherein the device main body comprises a shell (1), a power box (2), a control box (3) and a water storage tank (4), a connecting block (5) is arranged on the outer peripheral surface of the power box (2), an upper machine arm and a lower machine arm (6) are movably arranged in the connecting block (5), a power assembly is arranged in the power box (2), a spraying assembly is arranged in the water storage tank (4), and landing support assemblies are arranged on two sides of the control box (3);
the power assembly comprises a first motor (10), a first rotating shaft (11), a first bearing (12), a main gear (13), a screw rod (14) and a pinion (15), the first motor (10) is arranged inside the shell (1), the driving end of the first motor (10) is fixedly connected with the top of the first rotating shaft (11), the bottom of the first rotating shaft (11) is connected with the inside of the power box (2) through the first bearing (12), the main gear (13) is sleeved on the outer peripheral surface of the first rotating shaft (11), the screw rod (14) is movably arranged inside the power box (2), and the pinion (15) is sleeved on the outer peripheral surface of the screw rod (14);
the spraying assembly comprises spraying pipes (20), electromagnetic valves (21), rotating discs (22), fixing rings (23), pulleys (24) and connecting rods (25), the bottom of the water storage tank (4) is provided with three spraying pipes (20) in an equilateral triangle shape, the spraying pipes (20) are arranged at 45-degree angles downwards in an inclined mode, the electromagnetic valves (21) are arranged on the outer peripheral surfaces of the spraying pipes (20), the rotating discs (22) are fixedly connected to the inner portions of the spraying pipes (20), the inner sides of the rotating discs (22) are connected with the fixing rings (23) through the pulleys (24), the tops of the pulleys (24) are connected with a rotating frame (2501) through the connecting rods (25), and the bottom of the center of the rotating frame (2501) is connected with the fixing rings (23) through rotating shafts;
artificial intelligence control system includes identification module, transmission module, central processing unit and control module, identification module is used for discerning forest fire size, transmission module is used for receiving identification module's information and transmits for central processing unit, central processing unit is used for sending fire size information to control module to spray the subassembly by control module control and spray the fire extinguishing agent.
2. Fire fighting drone for forest and grassland, according to claim 1, characterized in that: power component still includes driving motor (7), connecting axle (8) and spiral wing (9), the quantity of horn (6) has three groups, and two are a set of from top to bottom, driving motor (7) have been inlayed to the tip of horn (6), the drive end of driving motor (7) and the one end fixed connection of connecting axle (8), the other end and spiral wing (9) fixed connection of connecting axle (8), three groups spiral wing (9) are the outer peripheral face of equilateral triangle distribution and headstock (2).
3. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: the spraying assembly further comprises a second motor (16), a second rotating shaft (17), a second bearing (18) and a spiral blade (19), the second motor (16) is arranged inside the control box (3), the driving end of the second motor (16) is fixedly connected with the top of the second rotating shaft (17), the bottom of the second rotating shaft (17) is connected with the inside of the water storage tank (4) through the second bearing (18), and the spiral blade (19) is sleeved on the outer peripheral surface of the second rotating shaft (17).
4. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: the inside of connecting block (5) is equipped with stopper (26), one side of stopper (26) is run through and has been seted up the rectangle and has been led to the groove (27), the welding of the inside relative both sides wall center department that the rectangle leads to the groove (27) has baffle (28), two horn (6) pass respectively and lead to groove (27) by the rectangle that baffle (28) separated.
5. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: one side of the bottom of the water storage tank (4) is provided with a temperature sensor (29), the other side of the bottom of the water storage tank (4) is provided with an aerial camera (30), the front end face of the power box (2) is provided with a signal receiving controller (31), and the inside of the temperature sensor (29) is provided with a thermal infrared imager.
6. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: descending supporting component includes support frame (32), connecting frame (33), movable rod (34), descending wheel (35), limiting plate (36) and spring (37), the equal fixedly connected with support frame (32) in both sides of control box (3), the bottom of support frame (32) and the top fixed connection of connecting frame (33), the inside activity of connecting frame (33) is equipped with movable rod (34), the bottom of movable rod (34) is connected with and falls wheel (35), the top of movable rod (34) is connected with limiting plate (36), the internal connection of spring (37) and connecting frame (33) is passed through at the top of limiting plate (36).
7. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: an arc-shaped through groove (38) is formed between the rotating disc (22) and the fixing ring (23), sliding grooves are formed in two inner side walls of the arc-shaped through groove (38), and the pulley (24) is movably arranged in the sliding grooves and slides in the sliding grooves.
8. Fire fighting drone for forest grasslands according to claim 1 or 2, characterized in that: the quantity of lead screw (14) and pinion (15) all has threely, and is three the both ends of lead screw (14) are respectively through the inside of bearing frame activity in headstock (2), and three lead screw (14) are triangular distribution, and three groups horn (6) are threaded connection with three lead screw (14) respectively, master gear (13) are the meshing with three pinion (15) respectively and are connected.
9. Fire fighting drone for forest and grassland, according to claim 6, characterized in that: one end of the movable rod (34) is movably arranged in the connecting frame (33) through a limiting plate (36) and slides in the connecting frame (33).
10. Fire fighting drone for forest and grassland, according to claim 1, characterized in that: solenoid valve (21), temperature sensor (29), aerial camera (30) all are electric connection with signal reception controller (31), signal reception controller (31) are wireless connection with external terminal.
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