CN115432183A - Fire control unmanned aerial vehicle cluster - Google Patents

Abstract

The invention relates to a fire-fighting unmanned aerial vehicle cluster, which comprises a ground platform and unmanned aerial vehicles arranged at intervals, wherein the ground platform comprises a main water pump, each unmanned aerial vehicle comprises an unmanned aerial vehicle body and an auxiliary water pump arranged on the unmanned aerial vehicle body, the Nth unmanned aerial vehicle also comprises a water spraying part, the outlet of the main water pump is communicated with the inlet of the auxiliary water pump of the first unmanned aerial vehicle, the outlet of the auxiliary water pump of the (N-1) th unmanned aerial vehicle is communicated with the inlet of the auxiliary water pump of the first unmanned aerial vehicle, the outlet of the auxiliary water pump of the Nth unmanned aerial vehicle is communicated with the water spraying part, N is less than or equal to N, and N and N are integers more than or equal to 2. According to the fire-fighting unmanned aerial vehicle cluster, fire-fighting water sequentially passes through the auxiliary water pumps of the N unmanned aerial vehicles for multiple pressurization, and finally is sprayed out through the water spraying part of the Nth unmanned aerial vehicle, so that the problem that the fire-fighting requirement of a super high-rise building cannot be met by a traditional fire-fighting device is solved.

Description

Fire control unmanned aerial vehicle cluster

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a fire-fighting unmanned aerial vehicle cluster.

Background

Along with the rapid increase of the number of high buildings in China, the high-rise fire-fighting problem of the high-rise buildings and the super high-rise buildings is increasingly outstanding, the high-rise buildings are often located in urban busy areas, the phenomena of dense personnel, crowded surrounding traffic, narrow roads and the like exist, and the problems of extremely easy three-dimensional combustion, difficult evacuation and escape and the like also exist.

However, the conventional fire fighting device has difficulty in satisfying the fire extinguishing demand of the super high-rise building.

Disclosure of Invention

Based on this, it is necessary to provide a fire control unmanned aerial vehicle cluster that can satisfy super high-rise building demand of putting out a fire to the problem that traditional fire control unit is difficult to satisfy super high-rise building demand of putting out a fire.

A fire fighting drone cluster comprising: the unmanned aerial vehicle comprises a ground platform and N unmanned aerial vehicles arranged at intervals along the height direction of the ground platform;

the ground platform comprises a main water pump;

each unmanned aerial vehicle comprises an unmanned aerial vehicle body and an auxiliary water pump arranged on the unmanned aerial vehicle body;

the Nth unmanned aerial vehicle also comprises a water spraying part;

the outlet of the main water pump is communicated with the inlet of the auxiliary water pump of the first unmanned aerial vehicle;

in two adjacent unmanned aerial vehicles, the outlet of the secondary water pump of the (n-1) th unmanned aerial vehicle is communicated with the inlet of the secondary water pump of the nth unmanned aerial vehicle;

an outlet of the auxiliary water pump of the Nth unmanned aerial vehicle is communicated with the water spraying part;

wherein N is less than or equal to N, and both N and N are integers greater than or equal to 2.

In one embodiment, each of the drones further comprises a fire fighting assembly disposed below the drone body, the fire fighting assembly comprising the auxiliary water pump and a fire hose;

in two adjacent unmanned aerial vehicles, the relative both ends of fire hose communicate respectively in the n-1 th unmanned aerial vehicle the export of auxiliary water pump and the nth unmanned aerial vehicle the import of auxiliary water pump.

In one embodiment, the ground platform further comprises a console electrically connected to the main body and the auxiliary water pump of the plurality of drones, respectively.

In one embodiment, each unmanned aerial vehicle further comprises a mooring cable and a main controller arranged on the unmanned aerial vehicle body, and the main controller is electrically connected with the unmanned aerial vehicle body of the unmanned aerial vehicle and the auxiliary water pump respectively;

the console is electrically connected with the main controller of a first unmanned aerial vehicle through a mooring cable of the first unmanned aerial vehicle;

in two adjacent unmanned aerial vehicles, the (n-1) th main control unit of the unmanned aerial vehicle body is connected with the auxiliary water pump of the unmanned aerial vehicle through the (n) th mooring cable of the unmanned aerial vehicle.

In one of them embodiment, each unmanned aerial vehicle still includes locates sensor assembly on the unmanned aerial vehicle body, sensor assembly is connected with its place unmanned aerial vehicle's main control unit electricity, and is used for acquireing the scene of a fire information of the scene of a fire that the unmanned aerial vehicle body is located.

In one embodiment, the ground platform further comprises a display electrically connected with the console, and the display is used for displaying the attitude information of the unmanned aerial vehicle and the fire scene information of the fire scene where the unmanned aerial vehicle is located.

In one embodiment, the ground platform further comprises a storage box having a storage space for storing a plurality of the drones.

In one embodiment, the drone further comprises:

the telescopic pieces are arranged below the unmanned aerial vehicle body; the two opposite ends of each telescopic piece are hinged to the unmanned aerial vehicle body and the fire fighting assembly respectively; and

the detection piece is arranged on the fire fighting assembly and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire fighting assembly;

the main controller is electrically connected with the telescopic piece and used for controlling the length of the telescopic piece according to the position information of the fire fighting assembly in real time so as to adjust the pose of the fire fighting assembly and enable the fire fighting assembly to be in a horizontal state.

In one embodiment, the unmanned aerial vehicle body comprises a fuselage, a rotor arm assembly connected to the fuselage, and a plurality of first rotor assemblies arranged on the rotor arm assembly and corresponding to the telescopic pieces one by one;

the two opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire-fighting assembly.

In one embodiment, the rotor arm assembly includes two first arms located on opposite sides of the fuselage in a first direction and extending in a second direction, and two second arms extending in the first direction;

the two longitudinal ends of one second arm are respectively connected to one side of the two first arms along the second direction, and the two longitudinal ends of the other second arm are respectively connected to the other side of the two first arms along the second direction; the fire fighting assembly extends along the second direction and is positioned below the fuselage; the first direction and the second direction intersect.

The utility model provides a fire control unmanned aerial vehicle cluster, includes a plurality of unmanned aerial vehicle of ground platform and interval setting, and ground platform includes main water pump, and each unmanned aerial vehicle includes the auxiliary water pump, and a N unmanned aerial vehicle still includes the hydrojet portion. Through being linked together the export of main water pump and the import of first unmanned aerial vehicle's vice water pump, in two adjacent unmanned aerial vehicles, the export of the vice water pump of the N-1 unmanned aerial vehicle is linked together with the import of the vice water pump of the N unmanned aerial vehicle, the export of the vice water pump of the N unmanned aerial vehicle is linked together with water spray portion, the suction of the main water pump of fire-fighting water process ground platform, carry fire-fighting water to the import of the vice water pump of first unmanned aerial vehicle from ground, the vice water pump of first fire-fighting unmanned aerial vehicle carries the fire-fighting water back to, carry the import of the vice water pump of second unmanned aerial vehicle again through the export of vice water pump, so on, the fire-fighting water carries the import of the vice water pump of the N unmanned aerial vehicle again through the export of vice water pump, so, the fire-fighting water passes through the many times pressure boost of the vice water pump of N unmanned aerial vehicle in proper order, finally, spout water spray portion blowout through the N unmanned aerial vehicle, can overcome traditional fire control device and be difficult to satisfy super high-rise building fire extinguishing demand's difficult problem.

Drawings

Fig. 1 is a schematic view of a usage scenario of a fire-fighting drone cluster in an embodiment of the present invention;

fig. 2 is a schematic structural view of a plurality of unmanned aerial vehicles connected in series in one embodiment of the present invention

Fig. 3 is a schematic structural diagram of a single drone in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a ground platform according to an embodiment of the present invention;

fig. 5 is a schematic view of the drone body when tilted forward and backward in one embodiment of the present invention;

fig. 6 is a control flow diagram according to an embodiment of the invention.

In the figure: 1. a fire-fighting unmanned aerial vehicle cluster; 100. an unmanned aerial vehicle; 10. an unmanned aerial vehicle body; 11. a body; 111. a body; 112. a support leg; 12. a rotor arm assembly; 121. a first arm; 122. a second arm; 123. a third arm; 13. a first rotor assembly; 131. a connecting seat; 132. a first electric blade; 14. a second rotor assembly; 141. a drive member; 142. a second motorized paddle. 20. A fire-fighting component; 21. an auxiliary water pump; 22. an auxiliary water pump motor; 23. a water spraying part; 24. a fire hose; 30. a telescoping member; 40. a sensor assembly; 50. a secondary controller; 60. a speed adjustment member; 70. mooring the cable; f1, a first direction; f2, a second direction; f3, a third direction; m1, a first plane; 200. a ground platform; 220. a console; 230. a display; 240. a storage box; 250. an instrument panel; 260. a chair.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Along with the rapid increase of the number of tall buildings in cities in China, the high-rise building and super high-rise building have increasingly outstanding high-altitude fire-fighting problems, the high-rise buildings are often located in busy areas of the cities, the phenomena of dense personnel, crowded surrounding traffic, narrow roads and the like exist, and the problems of extremely easy three-dimensional combustion, difficult evacuation and escape and the like also exist.

In the related art, the height of the elevating fire truck which is mainly equipped is about 50-60 m. The spraying height of the fire-fighting lance and the water cannon is about 50 m. Traditional fire control unmanned aerial vehicle flying height is not enough, and the fire extinguishing performance is not enough, is difficult to satisfy the demand that super high-rise building was put out a fire.

In addition, there are still a great deal of not enough in current novel fire control extinguishing device, if:

some high-rise fire fighting devices are limited by ground fire trucks, cannot flexibly select the air fire extinguishing position, and can only realize fixed-place fire extinguishing operation.

Some high-rise fire protection devices are limited by the carrying capacity of the unmanned aerial vehicle itself and cannot provide fire-fighting water injection at a high pressure.

The actual construction and popularization costs of some high-rise fire fighting devices are higher, and the high-rise fire fighting devices cannot be used in the daily fire extinguishing activities of fire fighting teams.

Some high altitude mooring unmanned fire extinguishing systems, provided and combined together unmanned aerial vehicle and fire extinguishing bomb, the device is including flight platform, extinguishing device, mooring cable, ground power supply, ground station system. Although this system provides a small-size effectual unmanned aerial vehicle mode of putting out a fire, compare and put out a fire in traditional fire gun, the fire extinguishing bomb can not be effectively used for large-scale scene of a fire for a long time.

Some fire extinguishing systems propose a system for supporting a water hose jointly with an unmanned aerial vehicle and a fire water vehicle, the apparatus comprising: unmanned aerial vehicle, fire control extinguishing device, water delivery hose, energy supply chain, fire engine, first hoist engine, second hoist engine and controlgear. The system effectively utilizes the existing fire water vehicle, but is limited by the load of the unmanned aerial vehicle and a fixed mechanical device, and can not flexibly complete the task of fire fighting at high-rise.

In view of present fire control unmanned aerial vehicle has above a great deal of problem, the inventor of this application has designed a fire control unmanned aerial vehicle cluster, can solve one of above problem at least.

Fig. 1 is a schematic view of a use scenario of a fire-fighting drone cluster 1 according to an embodiment of the present invention, and fig. 2 is a schematic view of a structure in which a plurality of drones 100 are connected in series according to an embodiment of the present invention.

Referring to fig. 1 and fig. 2, an embodiment of the fire-fighting drone cluster 1 includes a ground platform 200 and N drones 100 spaced apart from each other along a height direction of the ground platform 200. Ground platform 200 includes main water pump, and each unmanned aerial vehicle 100 includes unmanned aerial vehicle body 10 and locates the auxiliary water pump 21 on the unmanned aerial vehicle body 10, and nth unmanned aerial vehicle 100 still includes the hydrojet portion 23. The outlet of the main water pump is communicated with the inlet of the auxiliary water pump 21 of the first unmanned aerial vehicle 100, in two adjacent unmanned aerial vehicles 100, the outlet of the auxiliary water pump 21 of the (N-1) th unmanned aerial vehicle 100 is communicated with the inlet of the auxiliary water pump 21 of the nth unmanned aerial vehicle 100, the outlet of the auxiliary water pump 21 of the nth unmanned aerial vehicle 100 is communicated with the water spraying part 23, wherein N is less than or equal to N, and N and N are integers greater than or equal to 2.

The utility model provides a fire control unmanned aerial vehicle cluster 1, the suction of fire-fighting water through ground platform 200's main water pump, carry the import of fire-fighting water from ground to first unmanned aerial vehicle 100's auxiliary water pump 21, after first fire control unmanned aerial vehicle 100's auxiliary water pump 21 boosts the fire-fighting water, export through auxiliary water pump 21 is carried to second unmanned aerial vehicle 100's auxiliary water pump 21's import again, so on, after N-1 fire control unmanned aerial vehicle 100's auxiliary water pump 21 boosts the fire-fighting water, export through auxiliary water pump 21 is carried to nth unmanned aerial vehicle 100's auxiliary water pump 21's import again, so, the fire-fighting water is through the many times pressure boost of N unmanned aerial vehicle 100's auxiliary water pump 21 in proper order, finally, spout water portion 23 blowout through N unmanned aerial vehicle 100, can overcome traditional fire control unit and be difficult to satisfy the difficult problem of super high-rise building demand of putting out a fire.

In some embodiments, as shown in fig. 2, each of the drones 100 further includes a fire fighting assembly 20 disposed below the drone body 10, the fire fighting assembly 20 includes a secondary water pump 21 and a fire water pipe 24, and in two adjacent drones 100, two opposite ends of the fire water pipe 24 are respectively communicated with an outlet of the secondary water pump 21 of the (n-1) th drone 100 and an inlet of the secondary water pump 21 of the nth drone 100.

It should be noted that the unmanned aerial vehicle body 10 can provide flight power for unmanned aerial vehicle 100, and fire control assembly 20 provides lifting power for the fire-fighting water reaches the fire-extinguishing point of high-rise or super high-rise building. Fig. 3 is a schematic structural diagram of a single drone 100 according to an embodiment of the present invention, please refer to fig. 2 and 3 together, and in a specific embodiment, the fire fighting assembly 20 includes a secondary water pump 21, a secondary water pump motor 22, and a fire hose 24. Vice water pump 21 is connected with vice water pump motor 22, is provided with vice water pump 21 export and the 21 entry of vice water pump on the vice water pump 21, and the export of the vice water pump 21 of the n-1 unmanned aerial vehicle 100 is linked together through fire hose 24 with the vice water pump 21 import of the 100 unmanned aerial vehicle of n. The nth unmanned aerial vehicle 100 further comprises a water spraying part 23, wherein the water spraying part 23 comprises a water spraying faucet, and the water spraying faucet is communicated with an outlet of the auxiliary water pump 21 of the located unmanned aerial vehicle 100.

The utility model provides a fire control unmanned aerial vehicle cluster 1 can realize the joint fire extinguishing operation of a plurality of fire control unmanned aerial vehicle 100 and ground platform 200 to solve the high-rise operation height restriction problem of putting out a fire. Specifically, the auxiliary water pumps 21 of the multiple unmanned aerial vehicles 100 are respectively communicated with each other through fire water pipes 24, that is, the outlet of the auxiliary water pump 21 of the (n-1) th unmanned aerial vehicle 100 is communicated with the inlet of the auxiliary water pump 21 of the nth unmanned aerial vehicle 100 through the fire water pipe 24, so as to realize the step-by-step pressurization and continuous lifting of the fire water. In one embodiment, the water pump is a high-pressure water pump, the high-pressure water pump is used for continuously pressurizing in the air, the high-pressure water pump of the nth drone 100 is supplied with water by the high-pressure water pump of the (N-1) th drone 100 and the fire hose 24, and finally the pressurized fire water is jetted out through the water jet of the nth drone 100 for fire extinguishing work of a designated fire extinguishing point on a high floor. So, the superimposed mode on the direction of height of a plurality of unmanned aerial vehicle 100 is passed through to the unmanned aerial vehicle cluster of fire control 1 of this application, no longer receives the high limit of high-rise fire extinguishing operation, and fire control operation personnel need not closely to be close to the scene of a fire again simultaneously, avoids fire control operation casualties, improves fire rescue's security.

In some embodiments, referring to fig. 1 and 4, fig. 4 is a schematic structural diagram of the ground platform 200 in an embodiment of the present invention, and the ground platform 200 further includes a console 220, and the console 220 is electrically connected to the drone bodies 10 and the secondary water pumps 21 of the multiple drones 100, respectively.

It should be noted that the ground platform 200 may be towed by an existing vehicle or the ground platform 200 may have a cab and moving wheels, so that a ground fireman may perform more detailed operations on a high-rise fire scene through the console 220. The console 220 can control the flight of a plurality of drones 100, and when the nth drone 100 takes off and reaches a preset height difference with the (n-1) th drone 100, the (n-1) th stage platform takes off and moves along with the nth drone 100. The whole unmanned aerial vehicle 100 cluster keeps synchronous, ensures to be located on the same plumb line. After the nth unmanned aerial vehicle 100 flies to the assigned position, the plurality of unmanned aerial vehicles 100 below the nth unmanned aerial vehicle hover, a ground fire fighter opens a ground water supply switch, and the water spray faucet of the nth unmanned aerial vehicle 100 starts to continuously spray water for uninterrupted fire-fighting operation. The utility model provides a plurality of unmanned aerial vehicle 100 adopt ground platform 200 to supply water and power, can realize incessant long-time continuous operation, no longer need descend the supply of the consumptive material of putting out a fire.

In one particular example, as shown in fig. 1 and 2, adjacent drones 100 are vertically spaced apart by about 15 to 20 meters, and the first drone 100 is vertically spaced apart from the ground platform 200 by about 60 to 80 meters. In practical application, the user can choose the unmanned aerial vehicle 100 tandem work of suitable quantity for use according to the height in scene of a fire. If 50 floors are on fire, the height of each floor is calculated according to 3 meters, the height of the fire point is about 150 meters, the vertical distance between the first unmanned aerial vehicle 100 and the ground platform 200 is about 60 meters, the vertical distance between the adjacent unmanned aerial vehicles 100 is 20 meters, and the fire extinguishing operation of a designated fire scene can be realized only by selecting 6 unmanned aerial vehicles 100 for serial operation.

In some embodiments, as shown in fig. 2, each drone 100 further includes a mooring cable 70 and a main controller disposed on the drone body 10, and the main controller is electrically connected to the drone body 10 and the secondary water pump 21 of the drone 100. The console 220 is electrically connected to the main controller of the first drone 100 through the tether cable 70 of the first drone 100. In two adjacent unmanned aerial vehicles 100, the main control unit of the (n-1) th unmanned aerial vehicle body 10 is electrically connected with the secondary water pump 21 of the (n) th unmanned aerial vehicle 100 through the mooring cable 70 of the (n) th unmanned aerial vehicle 100.

The mooring cable 70 is a wire harness including not only a power supply line but also a signal transmission cable. The ground platform 200 provides power to all drones 100 through the power line of the tethered cable 70, and the signal transmission cable is used to transmit signals, implementing control functions. Still be provided with the transformer on the auxiliary water pump 21, the main control unit of unmanned aerial vehicle body 10 links to each other with the transformer electricity that sets up on auxiliary water pump 21 through mooring cable 70, and the automatically regulated voltage can be realized to the transformer for adapt to the required different voltage demands of auxiliary water pump 21 and main control unit. The main controller of the (n-1) th unmanned aerial vehicle body 10 is electrically connected with the transformer of the auxiliary water pump 21 of the (n) th unmanned aerial vehicle 100 through the mooring cable 70 of the (n) th unmanned aerial vehicle 100, and is used for providing power transmission and information transmission for the (n) th unmanned aerial vehicle 100. In this way, the mooring cable 70 can continuously supply power and transmit information to the plurality of drones 100, thereby realizing uninterrupted fire fighting work in a high-rise building.

In some embodiments, as shown in fig. 3, each drone 100 further includes a sensor assembly 40 disposed on the drone body 10, the sensor assembly 40 is electrically connected to a main controller of the drone 100 where the sensor assembly is located, and is configured to acquire fire scene information of a fire scene where the drone body 10 is located.

It should be noted that still be provided with sensor assembly 40 on the unmanned aerial vehicle body 10, sensor assembly 40 includes laser detector, ultrasonic detector, high definition digtal camera, infrared detector etc.. The main controller receives and processes fire scene data signals recorded by the laser detector, the ultrasonic detector, the high-definition camera and the infrared detector in real time, and transmits the fire scene data signals back to the main control console of the ground platform 200 through the mooring cable 70. After the ground fire-fighting operators master the fire, more suitable operation modes are flexibly selected according to the field conditions, and operation instructions are given. The responsiveness of fire rescue is improved, the fire-fighting or rescue operation is timely and reliably carried out, and more accurate, more efficient and more flexible high-rise fire-fighting operation is realized.

In some embodiments, as shown in fig. 4, the ground platform 200 further includes a display 230 electrically connected to the console 220, the display 230 for displaying pose information of the drone 100 and fire information of the fire scene in which the drone 100 is located.

Further, the floor platform 200 also includes a dashboard 250. The dashboard 250 may display the attitude information of the drone 100 and the fire scene information of the fire scene in which the drone 100 is located in real time for the operator.

In some embodiments, as shown in fig. 4, the ground platform 200 further comprises a storage box 240, the storage box 240 having a storage space for storing a plurality of drones 100.

In one particular embodiment, as shown in fig. 4, the ground platform 200 includes an operator cabin and a storage box 240, wherein the operator cabin is located at a side away from the cab, and the storage box 240 is located at a middle portion of the ground platform 200. The operation cabin includes a console 220, a display 230, a dashboard 250, a seat 260, and the like. In this example, the storage box 240 may store up to 11 drones 100. Of course, the user can adjust the space size of the storage box 240 as needed to store a greater number of drones 100.

In some embodiments, as shown in fig. 3, the unmanned aerial vehicle 100 further includes a plurality of telescopic members 30 and a detecting member, the telescopic members 30 are disposed below the unmanned aerial vehicle body 10, and opposite ends of each telescopic member 30 are respectively hinged to the unmanned aerial vehicle body 10 and the fire fighting module 20. The detection piece is arranged on the fire fighting assembly 20 and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire fighting assembly 20. The main controller is electrically connected with the telescopic member 30, and the main controller is used for controlling the length of the telescopic member 30 according to the position information of the fire fighting assembly 20 in real time so as to adjust the pose of the fire fighting assembly 20 and enable the fire fighting assembly 20 to be in a horizontal state.

Fig. 5 is a schematic diagram of the unmanned aerial vehicle 100 when tilting back and forth according to an embodiment of the present invention, and for convenience of description, the first direction F1 is defined as a left-right direction, the second direction F2 is defined as a front-back direction, and the third direction F3 is defined as an up-down direction. Above-mentioned unmanned aerial vehicle 100 crowd, when fire control operation, the jetting portion 23 of the N unmanned aerial vehicle 100 sprays water forward, and unmanned aerial vehicle 100 inclines backward because of recoil. In order to keep the level stability of fire control subassembly 20, set up a plurality of extensible members 30 between unmanned aerial vehicle body 10 and the fire control subassembly 20 that is located unmanned aerial vehicle body 10 below, and the relative both ends of extensible member 30 articulate respectively in unmanned aerial vehicle body 10 and fire control subassembly 20. The main control unit on the unmanned aerial vehicle body 10 receives the detected signal of the detection piece on the fire control subassembly 20 in real time, judge whether the fire control subassembly 20 is in horizontal stable state, if unstable, then calculate the required mathematical model that makes the fire control subassembly 20 stabilize, and adjust the length of extensible member 30, make unmanned aerial vehicle body 10 incline forward to resist the recoil that the fire control subassembly 20 produced because of spraying water forward with the component force that produces horizontal forward, adjust the position appearance of fire control subassembly 20 and make fire control subassembly 20 be in the horizontality all the time, avoid because the fire control operation that the slope of fire control subassembly 20 leads to receives the influence.

It is to be understood that the detecting member includes a gyroscope, an acceleration sensor, and the like, and herein, is not particularly limited. The extensible member 30 includes a cylinder, an oil cylinder, an electric push rod, an extensible truss, etc., and is not particularly limited herein. In the embodiment shown in fig. 3, the telescoping member 30 is a power pushrod. The electric push rod has high precision and large load, can realize synchronous automatic control, does not need an air source and an oil way, and has lighter weight. Electric putter's both ends link to each other with unmanned aerial vehicle body 10 and fire control subassembly 20 through the universal joint respectively. The length of the electric push rod can be electrically controlled and adjusted by the main controller.

In some embodiments, as shown in fig. 3, the drone body 10 includes a fuselage 11, a rotor arm assembly 12 connected to the fuselage 11, and a plurality of first rotor assemblies 13 disposed on the rotor arm assembly 12 and in one-to-one correspondence with the telescoping members 30. Opposite ends of each telescopic member 30 are hinged to the corresponding first rotor assembly 13 and fire fighting assembly 20, respectively.

In the embodiment shown in fig. 3, the fuselage 11 includes a fuselage body 111 and four legs 112 disposed outside the fuselage body 111, and the four legs 112 are respectively connected to the rotor arm assembly 12.

In some embodiments, the rotor arm assembly 12 includes two first arms 121 located on opposite sides of the fuselage 11 along the first direction F1 and extending along the second direction F2, and two second arms 122 extending along the first direction F1. Two longitudinal ends of one second arm 122 are respectively connected to one side of the two first arms 121 along the second direction F2, and two longitudinal ends of the other second arm 122 are respectively connected to the other side of the two first arms 121 along the second direction F2. The fire fighting module 20 extends in the second direction F2 and is located below the fuselage 11; the first direction F1 and the second direction F2 intersect.

Specifically, in the embodiment shown in fig. 1, the first direction F1 and the second direction F2 are perpendicular to each other, the fuselage body 111 is located in the middle of the drone body 10, the rotor arm assembly 12 is disposed around the outer side of the fuselage 11, the rotor arm assembly 12 includes two first arms 121 and two second arms 122, the two first arms 121 and the two second arms 122 form a square frame, in practical applications, the length of the first arm 121 is greater than that of the second arm 122, the two first arms 121 and the two second arms 122 form a rectangular frame, the plurality of legs 112 extend out from the fuselage body 111 and are connected to the first arms 121 and/or the second arms 122, in this embodiment, the number of the legs 112 is four, and two-by-two sets of four legs 112 are connected to the corresponding first arms 121 respectively. The fire fighting module 20 extends in the second direction F2 and is located below the fuselage 11, wherein the auxiliary water pump 21 and the auxiliary water pump motor 22 are coaxial and extend in the second direction F2. Compare in current unmanned aerial vehicle 100's unmanned aerial vehicle body 10 of fire control and be circular shape layout mode, the unmanned aerial vehicle body 10 of this application is the mode of square overall arrangement, so, the overall arrangement of unmanned aerial vehicle body 10 of this application and fire control subassembly 20's overall arrangement adaptation more, and unmanned aerial vehicle body 10 occupation space of this application is littleer, is convenient for wear the lane in a flexible way or implement the fire control operation in old district.

In some embodiments, and as shown in connection with fig. 3, there are four first rotor assemblies 13 and four telescoping members 30, with one first rotor assembly 13 at the junction of first arm 121 and second arm 122.

It is understood that the first rotor assembly 13 provides power for the fire fighting drone 100 to ascend and descend and move horizontally. In one embodiment, first rotor assembly 13 includes four small rotors of relatively small size, in this embodiment, 5 inches in diameter, located at the junction of first arm 121 and second arm 122, and specifically, fixedly attached to first arm 121 and second arm 122 by mounts, respectively.

It should be noted that the first arm 121 and the second arm 122 are fixedly connected to the connection seat 131, the end portions of the first arm 121 and the second arm 122 are crossed, and the connection seat 131 is located at the crossing position of the first arm 121 and the second arm 122. The four small rotors are disposed around the connecting base 131 and fixedly connected to the first arm 121 and the second arm 122 through the mounting base, respectively, wherein the small rotors include a first electric blade 132 and a motor, and the motor is used for driving the first electric blade 132 to rotate. One end of each telescopic member 30 far away from the fire fighting module 20 is hinged to the bottom of the connecting seat 131 of the corresponding first rotor assembly 13, and one end of each telescopic member 30 close to the fire fighting module 20 is hinged to the auxiliary water pump 21 or the auxiliary water pump motor 22 through a universal joint. In practical application, as shown in fig. 3, from fire control unmanned aerial vehicle 100's side look, first arm 121, second arm 122, four telescopic links, eight universal joints, water pump and water pump motor have constituteed down trapezoidal structure jointly, so, can guarantee that fire control unmanned aerial vehicle 100's overall arrangement is more reasonable, and the focus distributes rationally, and stability and reliability are better.

In some embodiments, as shown in fig. 1, the connection seat 131 is provided with a secondary controller 50, and the secondary controllers 50 are in one-to-one correspondence with the first rotor assemblies 13 and are electrically connected to the main controller and the corresponding first rotor assemblies 13, respectively.

In some embodiments, as shown in fig. 1, the connecting base 131 is further provided with a speed adjuster 60, and the speed adjuster 60 is used for adjusting the rotation speed of the first electric blade 132 and is electrically connected with the adjacent secondary controller 50.

In one embodiment, speed adjustment member 60 includes a small rotor electric governor, and a small rotor electric governor and a secondary controller 50, etc. are disposed in connecting base 131 to control and adjust each group of small rotors. Be equipped with mainboard circuit, super capacitor, big rotor electricity and transfer, cooling system, flight control system etc. in the main control unit and accomplish the removal of unmanned aerial vehicle body 10. It will be appreciated that the secondary controller 50 is controlled by a primary controller, which is controlled by a primary console.

In some embodiments, as shown in fig. 3, the rotor arm assembly 12 further includes two third arms 123, one third arm 123 is connected to each first arm 121, and the end of the third arm 123 remote from the corresponding first arm 121 is provided with the second rotor assembly 14.

In some embodiments, as shown in fig. 3, a plane parallel to the first direction F1 and parallel to the second direction F2 is defined as a first plane M1. The third arm 123 forms a predetermined included angle with the first plane M1.

In one embodiment, the third arm 123 is vertically connected to the first arm 121 by a connection seat 131, and the connection seat 131 of the third arm 123 is located between the two legs 112 and is deflected downward by a predetermined angle. So, second rotor subassembly 14 has certain difference in height with first rotor, can guarantee that 10 bearing of unmanned aerial vehicle body reduce its occupation space when bigger, are convenient for wear the lane in a flexible way or implement the fire control operation in old district.

In some embodiments, as shown in fig. 3, each second rotor assembly 14 includes a driving member 141 provided on the corresponding third arm 123, and two second electric blades 142 spaced apart in the third direction F3. Two second electric blades 142 are coaxially disposed at the output end of the driving member 141, so as to be driven by the driving member 141 to rotate.

In one embodiment, the second rotor assembly 14 includes two large rotors coaxially arranged, the large rotors including a second motorized blade 142 and a motor for driving the second motorized blade 142 to rotate, the large rotors being inches in diameter. The utility model provides an unmanned aerial vehicle 100 has adopted the combination of big rotor and little rotor, and there is the mode of difference in height big rotor and little rotor, makes unmanned aerial vehicle body 10's load bigger through reasonable spatial layout, can bear the bigger secondary water pump 21 of quality, secondary water pump motor 22 and the longer fire water pipe 24 of being located unmanned aerial vehicle body 10 below and fire water.

In some embodiments, as shown in fig. 3, the structural material of the main body 10 of the unmanned aerial vehicle is carbon fiber, so that the main body 10 of the unmanned aerial vehicle has a light self-weight while carrying a heavy load, and is convenient for loading the fire fighting assembly 20 with a larger mass and carrying a longer fire hose 24 and a mooring cable 70.

Fig. 6 is a control flow diagram according to an embodiment of the invention. As shown in fig. 6, when the fire fighter receives the fire alarm, he or she quickly drives the ground platform 200 carrying the drone 100 to the vicinity of the burning high-rise building. After arriving at the scene, the fire fighter judges the specific height and fire size of the fire scene and selects the place suitable for the takeoff of the unmanned aerial vehicle 100 for relevant fire extinguishing preparation. After the preparation work is completed, the fire fighter supplies water through the existing fire hose 24 or fire engine on the ground, provides fire water for the inlet of the auxiliary water pump 21 of the first unmanned aerial vehicle 100, and supplies power to the mooring cable 70 of the first unmanned aerial vehicle 100 by using the ground power supply.

After establishing ties a plurality of unmanned aerial vehicles 100 that can satisfy the high demand with fire hose and mooring cable 70, a plurality of unmanned aerial vehicles 100 take off in order. The plurality of drones 100 autonomously fly to the high-rise fire position using the flight parameters preset by the ground platform 200. After the height of the aerial fire reaches the required height, a ground fireman can receive and process specific fire scene data sent back by the laser detector, the ultrasonic detector, the high-definition camera, the infrared detector and the detector and fire scene data displayed by the display screen and the instrument panel 250 in real time through the console 220 to perform more refined operation on the aerial fire.

When ground fire fighter according to the scene of a fire, control unmanned aerial vehicle 100 removes, main control unit receives the real-time status of fire control subassembly 20, judges whether fire control subassembly 20 is stable. If the water level is unstable, a mathematical model required for stabilizing the fire fighting module 20 is calculated, the telescopic piece 30 is subjected to electric control adjustment, and the horizontal stability of the auxiliary water pump 21 and the auxiliary water pump motor 22 is realized. Meanwhile, the secondary controller 50 adjusts the rotation speed of the first electric paddle 132 to complete the horizontal movement of the drone 100.

When being located the first unmanned aerial vehicle 100 of topmost water spray when implementing fire control operation, recoil when in order to offset unmanned aerial vehicle 100 water spray to and stabilize unmanned aerial vehicle 100 when the direction of flight adjustment with the swing during attitude control, universal joint and electric telescopic handle continue to work, guarantee that vice water pump 21 and vice water pump motor 22 maintain the level stability always.

After fire control unmanned aerial vehicle cluster 1 accomplished the given fire task, ground fire fighter stopped unmanned aerial vehicle 100 and supplied water, and a plurality of unmanned aerial vehicles 100 descend in proper order to ground platform 200's containing box 240 according to the order of height, and ground fire fighter arranges in order unmanned aerial vehicle 100 to drive ground platform 200 and return.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A fire control unmanned aerial vehicle cluster, its characterized in that includes: the unmanned aerial vehicle comprises a ground platform and N unmanned aerial vehicles arranged at intervals along the height direction of the ground platform;

the ground platform comprises a main water pump;

each unmanned aerial vehicle comprises an unmanned aerial vehicle body and an auxiliary water pump arranged on the unmanned aerial vehicle body;

the Nth unmanned aerial vehicle also comprises a water spraying part;

an outlet of the main water pump is communicated with an inlet of the auxiliary water pump of the first unmanned aerial vehicle;

in two adjacent unmanned aerial vehicles, the outlet of the auxiliary water pump of the (n-1) th unmanned aerial vehicle is communicated with the inlet of the auxiliary water pump of the nth unmanned aerial vehicle;

an outlet of the auxiliary water pump of the Nth unmanned aerial vehicle is communicated with the water spraying part;

wherein N is less than or equal to N, and both N and N are integers greater than or equal to 2.

2. A fire fighting drone cluster according to claim 1, wherein each of the drones further includes a fire fighting assembly disposed below the drone body, the fire fighting assembly including the secondary pump and a fire hose;

in two adjacent unmanned aerial vehicles, the relative both ends of fire hose communicate respectively in the n-1 th unmanned aerial vehicle the export of auxiliary water pump and the nth unmanned aerial vehicle the import of auxiliary water pump.

3. A fire fighting unmanned aerial vehicle cluster according to claim 2, wherein the ground platform further comprises a console electrically connected with the unmanned aerial vehicle bodies and the auxiliary water pumps of the plurality of unmanned aerial vehicles, respectively.

4. A fire fighting unmanned aerial vehicle cluster as defined in claim 3, wherein each unmanned aerial vehicle further comprises a mooring cable and a main controller disposed on the unmanned aerial vehicle body, the main controller being electrically connected to the unmanned aerial vehicle body and the auxiliary water pump of the unmanned aerial vehicle, respectively;

the console is electrically connected with the main controller of a first unmanned aerial vehicle through a mooring cable of the first unmanned aerial vehicle;

in two adjacent unmanned aerial vehicle, the (n-1) th unmanned aerial vehicle body the main control unit passes through the nth unmanned aerial vehicle the mooring cable is connected with the nth unmanned aerial vehicle's secondary water pump electricity.

5. A fire control unmanned aerial vehicle cluster as claimed in claim 4, wherein each unmanned aerial vehicle further comprises a sensor assembly disposed on the unmanned aerial vehicle body, the sensor assembly being electrically connected to the main controller of the unmanned aerial vehicle where the sensor assembly is located, and being used for acquiring fire scene information of a fire scene where the unmanned aerial vehicle body is located.

6. A fire fighting drone cluster according to claim 5, wherein the ground platform further includes a display electrically connected to the console for displaying attitude information of the drones and fire information of the fire scene in which the drones are located.

7. A fire fighting drone cluster according to claim 3, wherein the ground platform further includes a storage box having a storage space for storing a plurality of the drones.

8. A fire fighting drone cluster according to claim 3, wherein the drones further include:

the telescopic pieces are arranged below the unmanned aerial vehicle body; the two opposite ends of each telescopic piece are hinged to the unmanned aerial vehicle body and the fire fighting assembly respectively; and

the detection piece is arranged on the fire fighting assembly and is electrically connected with the main controller, and the detection piece is used for detecting the position information of the fire fighting assembly;

the main controller is electrically connected with the telescopic piece and used for controlling the length of the telescopic piece according to the position information of the fire fighting assembly in real time so as to adjust the pose of the fire fighting assembly and enable the fire fighting assembly to be in a horizontal state.

9. A fire fighting unmanned aerial vehicle cluster as recited in claim 8, wherein the unmanned aerial vehicle body includes a body, a rotor arm assembly connected to the body, and a plurality of first rotor assemblies disposed on the rotor arm assembly and in one-to-one correspondence with the extension members;

the two opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire-fighting assembly.

10. A fire fighting drone cluster according to claim 9, wherein the rotor arm assembly includes two first arms located on opposite sides of the fuselage in the first direction and extending in the second direction, and two second arms extending in the first direction;

the two longitudinal ends of one second arm are respectively connected to one side of the two first arms along the second direction, and the two longitudinal ends of the other second arm are respectively connected to the other side of the two first arms along the second direction; the fire fighting assembly extends along the second direction and is positioned below the fuselage; the first direction and the second direction intersect.

Images