CN114288591A - Heterogeneous unmanned fire fighting system and working method thereof - Google Patents
Heterogeneous unmanned fire fighting system and working method thereof Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T10/00—Road transport of goods or passengers
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Abstract
The invention relates to a heterogeneous unmanned fire fighting system and a working method thereof, the system comprises a supply station, a fire fighting trolley and a fire fighting unmanned aerial vehicle, wherein the fire fighting trolley and the fire fighting unmanned aerial vehicle are respectively connected with a control system, the supply station provides charging, refueling and water adding services for the fire fighting trolley, the fire fighting trolley comprises a movable frame, a vehicle-mounted sensing module, a vehicle-mounted water storage module, a vehicle-mounted energy storage module, a vehicle-mounted communication module, a vehicle-mounted driving module, a vehicle-mounted fire extinguishing module and an unmanned aerial vehicle supply module are arranged on the frame, and the fire fighting unmanned aerial vehicle comprises a vehicle-mounted sensing module, a vehicle-mounted water storage module, a vehicle-mounted energy storage module, a vehicle-mounted communication module, a vehicle-mounted driving module and a vehicle-mounted fire extinguishing module. Compared with the prior art, the unmanned heterogeneous fire fighting system has the advantages that the fire fighting trolley is matched with the fire fighting unmanned aerial vehicle, the supply station is combined, the supply closed-loop type unmanned aerial vehicle system is provided, the regular patrol is realized, the fire prevention is realized, the fire condition is discovered and is eliminated on the spot, and the prevention before the fire disaster happens and the early elimination in the initial stage of the fire disaster can be realized.
Description
Technical Field
The invention relates to the technical field of fire fighting devices, in particular to a heterogeneous unmanned fire fighting system and a working method thereof.
Background
In dry, water-deficient and remote areas where fire easily occurs, the fire often has the characteristics of strong outburst and weak prevention, and due to the space contingency and the uncertainty in time, once the fire occurs, serious property loss is often caused, and even more, the life and property safety of people can be endangered. For example, in grassland and mountain forest in winter, some factories with inflammable substances, etc., once a fire occurs, its fruit cannot be assumed. In the areas where the fire is easy to occur, a complete prevention system is not set at present, and after the fire is developed, the fire can be controlled only by a fireman arriving at the scene, so that the fire is lost.
The Chinese patent CN201520794807.7 utilizes an unmanned aerial vehicle to identify and monitor the fire invisibility according to the thermal infrared imager, and transmits the monitoring process data to the monitoring center. However, this solution can only detect the fire early, but cannot achieve early extinguishing and prevention of the fire, and how to ensure continuous energy supply is a problem to be solved. The method is likely to lead the fire to develop to a certain extent before effective rescue comes, which brings certain difficulty to fire extinguishing and even causes disaster which is difficult to recover.
Chinese patent CN201920249972.2 provides an unmanned aerial vehicle storehouse system and fire engine, and this scheme sets up unmanned aerial vehicle storehouse system on the vehicle, specifically utilizes unmanned aerial vehicle to explore the condition of a fire and coordinate fire fighters, can't make early prevention from the conflagration source equally, also can not carry out the operation of putting out a fire.
Therefore, it is highly desirable to design a fire extinguishing system which can quickly find and treat a fire, and can kill the fire at the early stage of birth, even realize early temperature reduction of a high-temperature area. Meanwhile, the system has certain completeness and can realize closed-loop operation of automatic supply, timing patrol and early fire extinguishing of water and electricity and the like of the whole system.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a heterogeneous unmanned fire protection system and a working method thereof, so as to realize a complete self-supply fire protection system, and prevent the fire before the fire and eliminate the fire in the early stage by patrolling the surrounding environment.
The purpose of the invention can be realized by the following technical scheme: the utility model provides an unmanned fire extinguishing system of isomerism, includes supply station, fire control dolly and fire control unmanned aerial vehicle are connected with control system respectively, the supply station is used for providing charging, refuels and the service of adding water for the fire control dolly, the fire control dolly includes mobilizable frame, be provided with on-vehicle perception module, on-vehicle water storage module, on-vehicle energy storage module, on-vehicle communication module, on-vehicle drive module, on-vehicle fire extinguishing module and unmanned aerial vehicle supply module on the frame, fire control unmanned aerial vehicle includes that machine carries perception module, machine carries water storage module, machine carries energy storage module, machine carries communication module, machine carries drive module and machine carries fire extinguishing module.
Furthermore, the vehicle-mounted sensing module is arranged at the front end of the frame and comprises a camera and a thermal infrared imager for identifying smoke and an ignition area;
the vehicle-mounted water storage module comprises a vehicle-mounted water tank and a water collector, the vehicle-mounted water tank is provided with a water supplementing interface, the water collector is connected with the vehicle-mounted energy storage module, the vehicle-mounted energy storage module provides electric energy for the water collector, the water collector is connected with a hose, and an outlet of the hose is opposite to the water supplementing interface;
the vehicle-mounted energy storage module comprises a storage battery, a solar photovoltaic panel and an oil tank, wherein the input end of the storage battery is connected with the solar photovoltaic panel, the output end of the storage battery is connected with the vehicle-mounted driving module and the vehicle-mounted energy storage module, and the output end of the oil tank is connected with the vehicle-mounted driving module;
the vehicle-mounted communication module comprises a vehicle-mounted GPS and a vehicle-mounted wireless communication sub-module, the vehicle-mounted GPS is used for acquiring the position information of the fire fighting trolley, and the vehicle-mounted wireless communication sub-module is used for realizing information interaction between the fire fighting trolley and the fire fighting unmanned aerial vehicle;
the vehicle-mounted driving module adopts an oil-electricity hybrid power structure;
the vehicle-mounted fire extinguishing module comprises a vehicle-mounted fire extinguishing nozzle, the vehicle-mounted fire extinguishing nozzle is connected with a vehicle-mounted water pump, and the vehicle-mounted water pump is connected with a vehicle-mounted water tank through a water pipe;
unmanned aerial vehicle supply module includes supply railway carriage, unmanned aerial vehicle battery replacement submodule piece and unmanned aerial vehicle moisturizing submodule piece.
Further, the water collector comprises a condensing fan and a condensing sheet, and a gas collecting fan is arranged at the rear part of the condensing sheet.
Further, the airborne sensing module comprises a camera and a thermal infrared imager, and is used for identifying smoke and an ignition area;
the airborne water storage module comprises an unmanned aerial vehicle water tank, and the unmanned aerial vehicle water tank is provided with a water supplementing interface;
the airborne energy storage module is specifically an unmanned aerial vehicle replaceable battery;
the airborne communication module comprises an airborne GPS and an airborne wireless communication sub-module, the airborne GPS is used for acquiring the position information of the unmanned aerial vehicle, and the airborne wireless communication sub-module is used for realizing information interaction between the fire-fighting unmanned aerial vehicle and the fire-fighting trolley;
the airborne driving module is connected with the airborne energy storage module to drive the unmanned aerial vehicle to carry out fixed-point patrol and fire extinguishing operation after energy is acquired;
airborne fire extinguishing module is including airborne fire extinguishing nozzle, airborne fire extinguishing nozzle is connected with airborne water pump, airborne water pump is connected with the unmanned aerial vehicle water tank through the water pipe.
Further, be connected through the hose between on-vehicle water tank and the unmanned aerial vehicle water tank.
Further, be provided with water level monitor in on-vehicle water tank and the unmanned aerial vehicle water tank respectively.
Further, an oil level monitor is arranged in the oil tank.
Further, battery and unmanned aerial vehicle can replace the battery and be provided with the charge detector respectively.
A working method of a heterogeneous unmanned fire fighting system comprises the following steps:
s1, the control system sends a starting instruction to the fire fighting truck;
s2, respectively acquiring the electric quantity of a storage battery, the oil quantity of an oil tank and the water quantity in a vehicle-mounted water tank of the current fire fighting trolley to judge whether the fire fighting trolley needs to be supplied, and if the electric quantity of the storage battery, the oil quantity of the oil tank or the water quantity in the vehicle-mounted water tank is smaller than a corresponding threshold value, sending an instruction to the fire fighting trolley by a control system to enable the fire fighting trolley to move to a supply station for corresponding supply;
otherwise, the fire-fighting trolley releases the fire-fighting unmanned aerial vehicle, and the fire-fighting unmanned aerial vehicle is used for carrying out fixed-point patrol on the surrounding environment;
s3, if a high-temperature area appears in the patrol, the fire-fighting unmanned aerial vehicle carries out water spraying and cooling operation on the high-temperature area;
if the fire condition occurs in the patrol, the fire-fighting unmanned aerial vehicle sends a corresponding signal to the fire-fighting trolley, and the fire-fighting unmanned aerial vehicle and the fire-fighting trolley cooperate to carry out fire-fighting operation;
simultaneously fire control unmanned aerial vehicle real-time supervision unmanned aerial vehicle can replace the electric quantity of battery and the water yield of unmanned aerial vehicle water tank, if the electric quantity that unmanned aerial vehicle can replace the battery or the water yield of unmanned aerial vehicle water tank is less than the threshold value that corresponds, then fire control unmanned aerial vehicle sends corresponding signal and gives the fire control dolly to the supply railway carriage that returns the fire control dolly carries out corresponding supply.
Further, the specific process of the fire-fighting operation performed by the cooperation of the fire-fighting unmanned aerial vehicle and the fire-fighting trolley in the step S3 is as follows: the fire-fighting unmanned aerial vehicle sends the current position information to the fire-fighting trolley, so that the fire-fighting trolley moves to a corresponding position, and meanwhile, the fire-fighting unmanned aerial vehicle judges the position of a fire source through the onboard sensing module and carries out aerial water-spraying fire-extinguishing operation on the position of the fire source;
the fire-fighting trolley judges the position of a fire source through the vehicle-mounted sensing module and carries out ground water spray fire-extinguishing operation on the position of the fire source.
Compared with the prior art, the fire-fighting trolley and the fire-fighting unmanned aerial vehicle are arranged, the supply station is used for supplying electric energy, fuel oil and water to the fire-fighting trolley, and the fire-fighting trolley is used for supplying electric energy and water to the fire-fighting unmanned aerial vehicle, so that the fire-fighting trolley and the fire-fighting unmanned aerial vehicle are matched with each other, and the cooperative patrol, fire prevention and fire extinguishing operation at the initial stage of fire are realized together.
According to the invention, the water collector is arranged on the fire fighting trolley, so that water collection and storage can be synchronously realized in the patrol process, and the water quantity in the vehicle-mounted water tank on the fire fighting trolley is supplemented in real time, thereby being beneficial to fire prevention and initial fire extinguishing operation.
According to the invention, the solar photovoltaic panel is arranged on the fire fighting trolley to ensure the energy supply of the storage battery on the fire fighting trolley, so that the working stability of the whole system is further improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the structure of the present invention;
FIG. 3 is a top view of the structure of the present invention;
FIG. 4 is a schematic view of the arrangement of the water collector in the present invention;
FIG. 5 is a schematic diagram of a condensate storage process according to the present invention;
FIG. 6 is a schematic diagram of the power supply principle of the present invention;
FIG. 7 is a schematic view of the water supply principle of the present invention;
FIG. 8 is a schematic view of the water collector of the present invention;
FIG. 9 is a schematic diagram of the operation of the present invention;
FIG. 10 is a schematic illustration of a replenishment process for a fire fighting truck;
FIG. 11 is a schematic illustration of a replenishment process for a fire-fighting drone;
fig. 12 is a schematic view of a patrol process of the fire-fighting unmanned aerial vehicle;
FIG. 13 is a schematic view of a cooperative fire suppression process for a fire-fighting drone and a fire-fighting cart;
the notation in the figure is: 1. on-vehicle sensing module, 2, on-vehicle shower nozzle of putting out a fire, 3, the water collector, 4, machine carries shower nozzle of putting out a fire, 5, unmanned aerial vehicle water tank, 6, machine carries sensing module, 7, machine carries GPS, 8, supply railway carriage, 9, solar photovoltaic board, 10, condensing fan, 11, condensation piece, 12, gas collection fan, 13, hose, 14, on-vehicle water tank.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1 to 8, the heterogeneous unmanned fire fighting system comprises a supply station, a fire fighting truck and a fire fighting unmanned aerial vehicle. Wherein, the supply station provides services such as charging, refueling, water adding for the fire fighting truck.
The fire control dolly includes on-vehicle perception module 1, on-vehicle water storage module, on-vehicle energy storage module, on-vehicle communication module, on-vehicle drive module, on-vehicle fire extinguishing module and unmanned aerial vehicle supply module:
the vehicle-mounted sensing module 1 comprises a camera and a thermal infrared imager, wherein the camera and the thermal infrared imager are matched with each other to realize the identification of smoke and an ignition area so as to facilitate the fire extinguishing task of the fire extinguishing module;
the vehicle-mounted water storage module comprises a vehicle-mounted water tank 14, a water collector 3 and a water replenishing interface, the water collector 3 is powered by the vehicle-mounted energy storage module to drive a condensing sheet 11 in the water collector to play a role, and the water collector is matched with a condensing fan 10 and a gas collecting fan 12 behind the condensing sheet to realize condensation and collection of moisture in air, and collected water can flow into the vehicle-mounted water tank 14 through a hose 13 to realize water replenishing of an unmanned aerial vehicle water tank 15; when the water level in the vehicle-mounted water tank 14 reaches a warning line, the fire-fighting trolley is directly informed to return to a supply station for water supplement;
the vehicle-mounted energy storage module comprises a storage battery, a solar photovoltaic panel 9 and an oil tank, wherein the storage battery and the oil tank provide a power source for an oil-electricity hybrid system in the vehicle-mounted driving module, the solar photovoltaic panel 9 can provide charging service for the storage battery, similarly, when the storage battery is lower than a certain threshold value, the fire fighting trolley can be directly informed to return to a supply station for charging, the storage battery can be used for charging a replaceable battery of a replaced unmanned aerial vehicle, and when the electric quantity of the unmanned aerial vehicle is insufficient, the electric quantity can be directly supplied in a battery replacement mode;
the vehicle-mounted communication module comprises a vehicle-mounted GPS and a vehicle-mounted wireless communication sub-module, the vehicle-mounted GPS is used for providing position information of the fire fighting trolley, the vehicle-mounted wireless communication sub-module is used for information communication between the fire fighting trolley and the fire fighting unmanned aerial vehicle, information communication contents include but are not limited to information such as a water storage state, an energy storage state and a geographic position of the fire fighting trolley, and meanwhile fire signals of the fire fighting unmanned aerial vehicle can be received, so that the fire fighting trolley can reach the vicinity of the fire fighting unmanned aerial vehicle at the first time when the fire fighting unmanned aerial vehicle finds a fire, and resource supply and ground assistance fire extinguishing are provided for the fire fighting unmanned aerial vehicle;
the vehicle-mounted driving module uses an oil-electricity hybrid power system, and simultaneously uses a storage battery and an oil tank in the vehicle-mounted energy storage module as driving energy sources;
the vehicle-mounted fire extinguishing module comprises a vehicle-mounted fire extinguishing nozzle 2, a hose and a water pump, the water pump can pump water from the vehicle-mounted water tank 14 to the position of the vehicle-mounted fire extinguishing nozzle 2 by using the hose, the vehicle-mounted fire extinguishing nozzle 2 can judge the position of a fire source by combining a camera and a thermal infrared imager, and fire extinguishing operation is executed from the ground;
the unmanned aerial vehicle replenishing module comprises a replenishing carriage 8, an unmanned aerial vehicle battery replacement submodule and an unmanned aerial vehicle water tank replenishing submodule, when the fire-fighting unmanned aerial vehicle needs to be replenished, the fire-fighting unmanned aerial vehicle firstly contacts with a fire-fighting trolley through the onboard communication module and the vehicle-mounted communication module, then the position of the trolley is determined, and the trolley is converged; when the fire-fighting unmanned aerial vehicle hovers over the fire-fighting trolley supply carriage, a signal is sent to the fire-fighting trolley, the fire-fighting trolley opens the sliding cover of the supply carriage 8 after receiving the signal, the fire-fighting unmanned aerial vehicle is allowed to enter the supply carriage 8 of the fire-fighting trolley for resource supply, meanwhile, the fire-fighting unmanned aerial vehicle informs the fire-fighting trolley of insufficient electric quantity or insufficient water quantity through the onboard communication module and the onboard communication module, if the fire-fighting unmanned aerial vehicle returns to the fire-fighting trolley due to insufficient electric quantity, the supply carriage 8 can replace the sub-module with the unmanned aerial vehicle battery of the fire-fighting trolley to replace the battery of the fire-fighting unmanned aerial vehicle; if the fire-fighting unmanned aerial vehicle returns to the fire-fighting carriage due to the reason of insufficient water, the supply carriage 8 can use the unmanned aerial vehicle water tank water replenishing sub-module of the fire-fighting carriage to supply water for the water tank of the fire-fighting unmanned aerial vehicle.
Fire control unmanned aerial vehicle includes that machine carries perception module, machine carries water storage module, machine carries energy storage module, machine carries communication module, machine carries drive module and machine carries the fire extinguishing module:
airborne perception module 6 includes camera and thermal infrared imager, wherein camera and thermal infrared imager mutually support, the realization is to smog and the regional discernment that catches fire, send the police dispatch newspaper to the fire control dolly, both sides cooperate and accomplish the elimination in advance to the conflagration region, thermal infrared imager mainly realizes the detection to the high temperature region, utilize airborne fire extinguishing module's airborne fire extinguishing nozzle 4 by unmanned aerial vehicle, water in with the unmanned aerial vehicle water tank 5 sprays the high temperature region with the form of water smoke, realize the physics cooling, the emergence of prevention conflagration.
The onboard water storage module comprises an unmanned aerial vehicle water tank 5 and a water tank water replenishing interface, and when the water amount in the unmanned aerial vehicle water tank 5 is lower than a certain threshold value, the fire fighting unmanned aerial vehicle sends information to the fire fighting trolley through the onboard communication module and the vehicle-mounted communication module and moves to the unmanned fire fighting trolley for water replenishing;
the onboard energy storage module mainly refers to a replaceable battery on the fire-fighting unmanned aerial vehicle, and when the electric quantity of the replaceable battery of the fire-fighting unmanned aerial vehicle is lower than a certain threshold value, the fire-fighting unmanned aerial vehicle sends information to the fire-fighting trolley through the onboard communication module and the vehicle-mounted communication module and goes to the unmanned fire-fighting trolley to replace the battery;
the airborne communication module comprises an airborne GPS7 and an airborne wireless communication sub-module, the airborne GPS7 is used for providing position information of the fire-fighting unmanned aerial vehicle, the airborne wireless communication sub-module is used for information communication between the fire-fighting unmanned aerial vehicle and the fire-fighting trolley, information communication contents include but are not limited to information such as a water storage state, an energy storage state and a geographic position of the fire-fighting unmanned aerial vehicle, and meanwhile, the fire-fighting trolley can be expected to send a fire signal, so that the fire-fighting trolley can reach the position near the fire-fighting unmanned aerial vehicle at the first time when the fire-fighting unmanned aerial vehicle finds a fire, and resource supply and ground assistance fire extinguishing are provided for the fire-fighting unmanned aerial vehicle;
the onboard driving module acquires energy from the onboard energy storage module to drive the fire-fighting unmanned aerial vehicle to perform operations such as fixed-point patrol, fire extinguishment and the like;
airborne fire extinguishing module includes airborne fire extinguishing nozzle 4, hose, water pump, and the water pump can lead to and utilize the hose to extract water to airborne fire extinguishing nozzle 4 department from unmanned aerial vehicle water tank 5, and airborne fire extinguishing nozzle 4 can combine camera and thermal infrared imager to judge fire source position or high temperature region, from aerial execution fire extinguishing operation.
The heterogeneous unmanned fire fighting system is applied to reality, and the fire fighting unmanned aerial vehicle can be released after the fire fighting trolley replenishes resources from the supply station. The fire-fighting unmanned aerial vehicle can perform a fixed-point inspection function and inspect the peripheral area. The fire control dolly can utilize water collector and solar photovoltaic board to realize the self-feeding of water and electricity at the in-process that the cooperation unmanned aerial vehicle patrolled and examined, forms a system of closed loop relatively. Meanwhile, when the fire fighting trolley is in the process of executing operation, once the water quantity, the electric quantity or the oil quantity of the trolley is found to be lower than a threshold value, the fire fighting trolley can immediately return to a supply station to supplement fire fighting trolley resources.
When the fire-fighting unmanned aerial vehicle is insufficient in electric quantity and water quantity, the communication module can be used for contacting the fire-fighting trolley, and the fire-fighting unmanned aerial vehicle enters a supply carriage of the fire-fighting trolley to supply resources. When the fire control unmanned aerial vehicle finds fire areas such as smoke or flame, an alarm is sent to the fire control center to inform fire fighters. Fire control unmanned aerial vehicle also can use communication module to inform the fire control dolly to arrive near the conflagration at once, both reduced the time that fire control unmanned aerial vehicle spent on the supply road, make unmanned aerial vehicle and fire control dolly cooperation again, carry out three-dimensional fire extinguishing operation. And when unmanned aerial vehicle discovery high temperature region, can utilize the form of shower nozzle of putting out a fire with water smoke, carry out the physics cooling to high temperature region, send out the police dispatch newspaper to fire control center simultaneously, inform the fire fighter.
In this embodiment, the supply station is disposed at a reasonable position of the open-air warehouse, and the work flow of the heterogeneous unmanned fire protection system is as shown in fig. 9: the unmanned fire fighting system is started, the condition of the fire fighting trolley is checked firstly, if the fire fighting trolley needs to be supplied, the condition that the electric quantity is insufficient, the water quantity is insufficient or the oil quantity is insufficient is referred to, and the supply station supplies resources for the fire fighting trolley.
The specific fire fighting truck replenishment process is shown in fig. 10:
the fire-fighting trolley can respectively judge the electric quantity, the oil quantity and the water storage capacity of the fire-fighting trolley, and if any resource is insufficient, the fire-fighting trolley returns to a supply station to supply the resource. If the supply is not needed at the moment, the fire-fighting trolley can release the fire-fighting unmanned aerial vehicle, and the unmanned aerial vehicle starts to execute fixed-point patrol operation. The fire control dolly can cooperate fire control unmanned aerial vehicle to carry out the patrol operation and put out a fire the operation. Simultaneously, the in-process that the fire control dolly patrolled and examined in cooperation fire control unmanned aerial vehicle can utilize the water collector to collect moisture from the air, and solar panel can store the energy storage module in the fire control dolly with solar energy conversion for the electric energy.
Fire control unmanned aerial vehicle is patrolling and examining or the in-process of putting out a fire, must appear needing to carry out the condition of supply, specifically see, as shown in fig. 11:
the fire control unmanned aerial vehicle carries out the electric quantity condition and the water storage condition that can regularly inspect self among the operation process, in case one of them is less than the threshold value, just contact with the fire control dolly through communication module immediately, get into the supply railway carriage of fire control unmanned aerial vehicle, supply corresponding resource, treat that the fire control unmanned aerial vehicle supply is accomplished the back, fire control dolly release fire control unmanned aerial vehicle, the fire control unmanned aerial vehicle will continue to carry out the operation from the breakpoint of operation before.
In the process of performing fixed-point position patrol, there are generally three situations for a fire-fighting drone, specifically, as shown in fig. 12:
the fire fighting trolley has the advantages that firstly, abnormal conditions do not exist, at the moment, no fire fighting person can check the electric quantity and the water quantity of the fire fighting trolley regularly, and the fire fighting trolley can enter the compartment of the fire fighting trolley for supplying if resources need to be supplied.
And secondly, when a high-temperature area is found, the fire-fighting unmanned aerial vehicle can physically cool the high-temperature area in a water mist mode by using the fire-fighting spray head, and simultaneously, the communication module is used for sending an alarm to a fire-fighting control center to inform fire-fighting personnel. During the fire control unmanned aerial vehicle carries out physics cooling process to the high temperature region, can get into the fire control dolly when discovering self water yield or electric quantity not enough and supply, wait that the supply is accomplished the back, return the operation breakpoint, the high temperature region promptly, judge whether the high temperature region cools down completely. If the temperature is not completely reduced, the temperature reduction operation is continuously carried out, namely the fire extinguishing spray head is utilized to carry out physical temperature reduction on a high-temperature area in a water mist mode; otherwise, the fixed-point patrol operation is continuously executed.
And thirdly, when fire areas such as smoke or flame are found, the fire control unmanned aerial vehicle sends an alarm to the fire control center to inform fire fighters. Simultaneously, the fire control unmanned aerial vehicle can use communication module to inform the fire control dolly immediately and be close to near the conflagration, has both reduced the time that fire control unmanned aerial vehicle spent on the supply road, makes fire control unmanned aerial vehicle and fire control dolly cooperation again, carries out three-dimensional fire extinguishing operation.
Specifically, the process of fire fighting by the cooperation of the fire-fighting unmanned aerial vehicle and the fire-fighting trolley is as shown in fig. 13:
the fire-fighting unmanned aerial vehicle finds flame or smoke and informs the fire-fighting trolley to arrive at a fire scene. The fire control dolly utilizes perception module to judge the fire source position, uses the shower nozzle of putting out a fire on ground to put out a fire, and if electric quantity, water yield, oil mass are not enough for the dolly of putting out a fire during, then can return the supply station supply immediately, return to the scene of fire immediately after the completion of supply and continue to carry out the operation of putting out a fire, and until the condition of a fire obtains control, the dolly of putting out a fire continues to cooperate fire control unmanned aerial vehicle to carry out the operation of patrolling. Fire control unmanned aerial vehicle utilizes the perception module to judge the fire source position, uses the shower nozzle of putting out a fire in control to put out a fire, and if electric quantity, water yield were not enough for the unmanned aerial vehicle of middle period fire control, then can get into the fire control dolly immediately and supply, until the condition of a fire obtains controlling, and unmanned aerial vehicle of fire control continues to carry out the fixed point and patrols the operation.
By executing the flow, a complete self-supply fire prevention system is formed, and prevention before fire and early elimination in the initial stage of fire can be realized through patrol of the surrounding environment.
In summary, the technical scheme provides an unmanned heterogeneous fire fighting system with closed supply, timing patrol, fire prevention and fire finding and extinguishing on the spot, the unmanned aerial vehicle can utilize a camera and a thermal infrared imager carried by the body to realize advanced detection on a high-temperature area, and utilizes a water tank carried by the body to realize advanced cooling in the form of water mist; the realization is to the discernment of flame and smog to the water tank that utilizes the fuselage to carry on eliminates flame in advance sprouting the initial stage, simultaneously for accelerating the condition of a fire control, unmanned aerial vehicle utilizes GPS and communication module to send the alarm to the fire control dolly, can be close to the region of catching fire after the dolly receives the alarm, and put out a fire in ground and unmanned aerial vehicle cooperation, and provide the supply.
The heterogeneous unmanned fire-fighting system power supply has wide acquisition sources, and can realize power supply of basic functions by self-charging of solar energy of the system; the battery can be charged through the supply station, so that the stability of the unmanned fire fighting system is ensured; the heterogeneous unmanned fire fighting system has wide water sources, can utilize the automatic water collecting device to realize small amount of water storage in the patrol process, and is applied to the initial stage or prevention of fire; the fire fighting trolley can also return to a supply station, and quick water supplement is realized through a water tank water supplement interface; the fire-fighting unmanned aerial vehicle and the fire-fighting unmanned aerial vehicle are matched with each other, so that the early discovery and early extinguishing of the cooperative patrol, the fire prevention and the initial stage of the fire are realized.
Claims (10)
1. The utility model provides an unmanned fire extinguishing systems of isomerism, a serial communication port, including supply station, fire control dolly and fire control unmanned aerial vehicle are connected with control system respectively, the supply station is used for providing charging, refuels and the service of adding water for the fire control dolly, the fire control dolly includes mobilizable frame, be provided with on-vehicle perception module (1), on-vehicle water storage module, on-vehicle energy storage module, on-vehicle communication module, on-vehicle drive module, on-vehicle fire extinguishing module and unmanned aerial vehicle supply module on the frame, fire control unmanned aerial vehicle includes airborne perception module (6), airborne water storage module, airborne energy storage module, airborne communication module, airborne drive module and airborne fire extinguishing module.
2. The heterogeneous unmanned fire fighting system according to claim 1, wherein the vehicle-mounted sensing module (1) is arranged at the front end of the vehicle frame, and the vehicle-mounted sensing module (1) comprises a camera and a thermal infrared imager for identifying smoke and an area on fire;
the vehicle-mounted water storage module comprises a vehicle-mounted water tank (14) and a water collector (3), the vehicle-mounted water tank (14) is provided with a water supplementing interface, the water collector (3) is connected with the vehicle-mounted energy storage module, the vehicle-mounted energy storage module provides electric energy for the water collector (3), the water collector (3) is connected with a hose, and an outlet of the hose is opposite to the water supplementing interface;
the vehicle-mounted energy storage module comprises a storage battery, a solar photovoltaic panel (9) and an oil tank, wherein the input end of the storage battery is connected with the solar photovoltaic panel (9), the output end of the storage battery is connected with the vehicle-mounted driving module and the vehicle-mounted energy storage module, and the output end of the oil tank is connected with the vehicle-mounted driving module;
the vehicle-mounted communication module comprises a vehicle-mounted GPS and a vehicle-mounted wireless communication sub-module, the vehicle-mounted GPS is used for acquiring the position information of the fire fighting trolley, and the vehicle-mounted wireless communication sub-module is used for realizing information interaction between the fire fighting trolley and the fire fighting unmanned aerial vehicle;
the vehicle-mounted driving module adopts an oil-electricity hybrid power structure;
the vehicle-mounted fire extinguishing module comprises a vehicle-mounted fire extinguishing nozzle (2), the vehicle-mounted fire extinguishing nozzle (2) is connected with a vehicle-mounted water pump, and the vehicle-mounted water pump is connected with a vehicle-mounted water tank (14) through a water pipe;
the unmanned aerial vehicle replenishing module comprises a replenishing carriage (8), an unmanned aerial vehicle battery replacement submodule and an unmanned aerial vehicle water replenishing submodule.
3. A heterogeneous unmanned fire fighting system according to claim 2, characterized in that the water collector (3) comprises a condensing fan (10) and a condensing sheet (11), and a gas collecting fan (12) is provided behind the condensing sheet (11).
4. The heterogeneous unmanned fire fighting system according to claim 2, wherein the onboard awareness module (6) comprises a camera and a thermal infrared imager for identifying smoke and fire areas;
the onboard water storage module comprises an unmanned aerial vehicle water tank (5), and the unmanned aerial vehicle water tank (5) is provided with a water supplementing interface;
the airborne energy storage module is specifically an unmanned aerial vehicle replaceable battery;
the airborne communication module comprises an airborne GPS (7) and an airborne wireless communication sub-module, wherein the airborne GPS (7) is used for acquiring the position information of the unmanned aerial vehicle, and the airborne wireless communication sub-module is used for realizing information interaction between the fire-fighting unmanned aerial vehicle and the fire-fighting trolley;
the airborne driving module is connected with the airborne energy storage module to drive the unmanned aerial vehicle to carry out fixed-point patrol and fire extinguishing operation after energy is acquired;
the airborne fire extinguishing module comprises an airborne fire extinguishing nozzle (4), the airborne fire extinguishing nozzle (4) is connected with an airborne water pump, and the airborne water pump is connected with an unmanned aerial vehicle water tank (5) through a water pipe.
5. A heterogeneous unmanned fire fighting system according to claim 4, characterized in that the vehicle water tank (14) and the unmanned aerial vehicle water tank (5) are connected by a hose.
6. A heterogeneous unmanned fire protection system according to claim 4, wherein water level monitors are arranged in the vehicle water tank (14) and the unmanned aerial vehicle water tank (5), respectively.
7. The heterogeneous unmanned fire protection system of claim 2, wherein a fuel level monitor is disposed within the tank.
8. The heterogeneous unmanned fire fighting system of claim 4, wherein the storage battery and the replaceable unmanned aerial vehicle battery are each provided with a charge detector.
9. A working method of a heterogeneous unmanned fire fighting system is characterized by comprising the following steps:
s1, the control system sends a starting instruction to the fire fighting truck;
s2, respectively acquiring the electric quantity of a storage battery, the oil quantity of an oil tank and the water quantity in a vehicle-mounted water tank of the current fire fighting trolley to judge whether the fire fighting trolley needs to be supplied, and if the electric quantity of the storage battery, the oil quantity of the oil tank or the water quantity in the vehicle-mounted water tank is smaller than a corresponding threshold value, sending an instruction to the fire fighting trolley by a control system to enable the fire fighting trolley to move to a supply station for corresponding supply;
otherwise, the fire-fighting trolley releases the fire-fighting unmanned aerial vehicle, and the fire-fighting unmanned aerial vehicle is used for carrying out fixed-point patrol on the surrounding environment;
s3, if a high-temperature area appears in the patrol, the fire-fighting unmanned aerial vehicle carries out water spraying and cooling operation on the high-temperature area;
if the fire condition occurs in the patrol, the fire-fighting unmanned aerial vehicle sends a corresponding signal to the fire-fighting trolley, and the fire-fighting unmanned aerial vehicle and the fire-fighting trolley cooperate to carry out fire-fighting operation;
simultaneously fire control unmanned aerial vehicle real-time supervision unmanned aerial vehicle can replace the electric quantity of battery and the water yield of unmanned aerial vehicle water tank, if the electric quantity that unmanned aerial vehicle can replace the battery or the water yield of unmanned aerial vehicle water tank is less than the threshold value that corresponds, then fire control unmanned aerial vehicle sends corresponding signal and gives the fire control dolly to the supply railway carriage that returns the fire control dolly carries out corresponding supply.
10. The working method of the heterogeneous unmanned fire fighting system according to claim 9, wherein the specific process of the fire fighting operation performed by the unmanned aerial vehicle and the fire fighting truck in cooperation in step S3 is as follows: the fire-fighting unmanned aerial vehicle sends the current position information to the fire-fighting trolley, so that the fire-fighting trolley moves to a corresponding position, and meanwhile, the fire-fighting unmanned aerial vehicle judges the position of a fire source through the onboard sensing module and carries out aerial water-spraying fire-extinguishing operation on the position of the fire source;
the fire-fighting trolley judges the position of a fire source through the vehicle-mounted sensing module and carries out ground water spray fire-extinguishing operation on the position of the fire source.
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