CN115487442B - Unmanned aerial vehicle high altitude broken window dry powder fire extinguishing apparatus - Google Patents
Unmanned aerial vehicle high altitude broken window dry powder fire extinguishing apparatus Download PDFInfo
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- CN115487442B CN115487442B CN202211168381.5A CN202211168381A CN115487442B CN 115487442 B CN115487442 B CN 115487442B CN 202211168381 A CN202211168381 A CN 202211168381A CN 115487442 B CN115487442 B CN 115487442B
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- 239000000843 powder Substances 0.000 title claims abstract description 116
- 239000007921 spray Substances 0.000 claims abstract description 46
- 238000010304 firing Methods 0.000 claims abstract description 31
- 239000000725 suspension Substances 0.000 claims abstract description 5
- 239000000919 ceramic Substances 0.000 claims description 21
- 239000007789 gas Substances 0.000 claims description 20
- 239000000853 adhesive Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 239000001257 hydrogen Substances 0.000 claims description 4
- 229910052739 hydrogen Inorganic materials 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000010892 electric spark Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000000779 smoke Substances 0.000 claims description 2
- 239000005357 flat glass Substances 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 230000009194 climbing Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/0242—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft by spraying extinguishants from the aircraft
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B5/00—Other devices for rescuing from fire
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
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- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- General Health & Medical Sciences (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The unmanned aerial vehicle high-altitude window-breaking dry powder fire extinguishing equipment is suspended under the unmanned aerial vehicle and is elastically connected with the unmanned aerial vehicle suspension in order to alleviate the influence of impact force on suspension and movement of the unmanned aerial vehicle; comprising the following steps: the fire extinguishing device comprises a PLC (programmable logic controller), a platform, an air hammer spray pipe assembly, a fire extinguishing silo assembly, a positioner, a V-shaped fork sliding block, a dry powder fire extinguishing cylinder, a firing pin, a thrust fan, a CCD (charge coupled device) camera, a gas cylinder and a landing gear; the single equipment adopts a controllable chain type full-submerged fire extinguishing mode with one dry powder extinguishing cylinder connected with one dry powder extinguishing cylinder, or adopts more than 2 pieces of equipment to extinguish the fire in turn, the equipment with the consumed dry powder extinguishing cylinder can fall to the ground to replace a new dry powder cylinder and put into fire extinguishing, so that the fire extinguishing connection can be continued for a long time; fire extinguishment is not limited by the height of the floor; the fire extinguishing device can quickly and efficiently extinguish the fire by lightning on the scene of the direct-flight fire, improves the quick response and efficiency of fire extinguishment, does not need manual climbing of fire control, improves the safety, has a window breaking function, and eliminates fire extinguishment obstruction caused by window glass.
Description
Technical Field
The invention relates to an unmanned aerial vehicle application, and in particular belongs to unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment.
Background
In the face of urban development, a large number of high-rise buildings are built and put into use, the high-rise buildings are ultrahigh, if a fire disaster occurs, a chimney effect is extremely easy to form, the fire is quickly strung from a lower layer to a higher layer, and the use function of ground fire-fighting equipment is limited: the fire-fighting water pipe is not easy to pull up the floor of the fire disaster caused by insufficient water pressure, the aerial ladder is slowly erected and is difficult to reach the height of the top floor, so that the high-rise building is difficult to extinguish fire, firefighters climb the high-rise building on site to extinguish fire, casualties are extremely caused, and the fire-fighting water pipe is extremely dangerous; meanwhile, the road along the road of the descending vehicle is often not smooth and is separated from a certain distance, and a certain time is required for the whole journey to reach the fire-extinguishing site; practice proves that: the fire extinguishing must take a minute and a second, the fire can be effectively extinguished only in the initial stage of the fire, and once the fire is greatly spread and the fire is suddenly increased, the fire can not be extinguished, and immeasurable casualties and property loss can be caused; unfortunately: up to now, there is no fire extinguishing apparatus which has a strong and effective fire extinguishing function for high-rise buildings.
The unmanned aerial vehicle fire extinguishing technology has been presented before, and has the defects that the load is small, the requirements for carrying fire extinguishing articles and parts cannot be met, the flight and hovering control is unstable, the effect is poor and the like.
Disclosure of Invention
Therefore, the invention provides the high-altitude window breaking dry powder fire extinguishing equipment for the unmanned aerial vehicle, which is suspended under the unmanned aerial vehicle and is elastically connected with the unmanned aerial vehicle suspension in order to slow down the stability of the impact force on the hovering and movement of the unmanned aerial vehicle.
The implementation of the invention comprises the following steps: the fire extinguishing device comprises a PLC (programmable logic controller), a platform, an air hammer spray pipe assembly, a fire extinguishing silo assembly, a positioner, a V-shaped fork sliding block, a dry powder fire extinguishing cylinder, a firing pin, a thrust fan, a CCD (charge coupled device) camera, a gas cylinder and a landing gear; the single equipment adopts 2 to 20 dry powder extinguishing cylinders to put out fire in a controlled chain type one by one or adopts more than 2 equipment to put out fire in turn, the equipment after the dry powder extinguishing cylinders are used up can fall to the ground to replace the dry powder extinguishing cylinders to put into fire again, and the fire extinguishing connection can be continued for a long time.
The invention is described in the following directions: the direction of the side length of the platform surface is longitudinal, and the direction of the side short is transverse.
The platform is rectangular, a remote control receiver is arranged on the platform, and the PLC controller is arranged in the rectangular; the storage battery and other parts except for the parts arranged outside the platform are arranged in the platform; two gas cylinders filled with compressed air are arranged below the platform, and a landing gear is arranged below the gas cylinders; the air hammer spray pipe assembly with a window breaking function is arranged on the upper plane of the platform, the fixed position is arranged at the middle position of the longitudinal direction of the upper plane of the platform, and the axial direction is transverse; the fire extinguishing bin assembly is arranged on the platform, a dry powder fire extinguishing cylinder is placed in a silo at the upper part of the fire extinguishing bin assembly, the middle plane of the silo in the length direction is overlapped with the axis of the air hammer spray pipe assembly, the left slide block and the right slide block are arranged in a slideway box of the fire extinguishing bin assembly, and the moving direction of the V-shaped fork slide block is longitudinal; the installation position of the fire extinguishing bin assembly in the width direction is required to meet the requirement that the front end plane of the dry powder fire extinguishing cylinder at the fire extinguishing position is attached to the powder inlet plane in the air hammer spray pipe assembly, and the dry powder fire extinguishing cylinder stops at the position, namely the axis of the fire extinguishing start position of the fire extinguishing cylinder is coaxial and communicated with the hole of the air hammer spray pipe assembly at the position, and the dry powder is in clearance sliding fit, so that the dry powder is sprayed from the fire extinguishing cylinder at high speed through the air hammer spray pipe channel under the pushing of high-pressure gas melt adhesive smoke after the fire extinguishing is started; the firing pin is used for striking piezoelectric ceramics at the tail part of the dry powder extinguishing cylinder to realize ignition so as to start the dry powder extinguishing cylinder to extinguish fire, and the axis of the firing pin is coaxial with the axis of the dry powder extinguishing cylinder at the fire extinguishing starting position; the two thrust fans are symmetrically arranged at two sides of the firing pin, and the axes of the two thrust fans are parallel to the axis of the firing pin; the rotation directions of the two blades are opposite, the opposite rotation speeds of the two blades are the same, and the rotation speeds are controlled by the frequency converter to obtain dynamic different thrust; the arrangement and installation of the components in the platform are based on static balance positions, and the frequency converter controls the rotating speed of the thrust fan to realize dynamic balance.
Further, the fire-extinguishing silo assembly comprises: the device comprises a silo, a slideway seat, a left V-shaped fork sliding block, a right V-shaped fork sliding block, a left three-position cylinder and a right three-position cylinder; the silo is used for storing a dry powder fire extinguishing cylinder; two symmetrical V-shaped fork sliding blocks are assembled on a longitudinal middle plane in the slide way seat, the V-shaped fork sliding blocks are pushed and stretched out by a three-position cylinder along the slide way in the slide way seat and used for changing the distance and positioning between the two V-shaped fork sliding blocks, compressed air connecting pipes are respectively connected with stretching and retracting of the V-shaped fork sliding blocks, the connecting pipes are connected with 2 two five-way electromagnetic valves through air pipes, the P interface of the electromagnetic valve is communicated with the air cylinder, and the electromagnetic valve is electrically connected with a PLC; the pneumatic position is three positioning, the horizontal distance between the two V-shaped fork slide blocks is medium, the dry powder fire extinguishing cylinder can freely fall from top to bottom to enter the fire extinguishing starting position, the horizontal distance between the two V-shaped fork slide blocks is minimum, the dry powder fire extinguishing cylinder is clamped and positioned from outside in the inner slide seat, the horizontal distance between the two V-shaped fork slide blocks is maximum, the free fall of the dry powder fire extinguishing cylinder in the fire extinguishing position leaves the V-shaped fork slide blocks downwards after the dry powder is sprayed, falls into the platform bin, the horizontal distance between the V-shaped fork slide blocks is medium, and the dry powder fire extinguishing cylinder freely falls from top to bottom to enter the fire extinguishing starting position; the depth of the space of the dry powder fire extinguishing cylinder in the fire extinguishing silo component is vertically stacked in a single row, the tooth-shaped forks of the V-shaped fork slide block are of a staggered structure, and the dry powder fire extinguishing cylinder at the starting position can be clamped at a small distance without interference of the left and right V-shaped fork slide blocks.
Further, the firing pin is a pneumatic piece and comprises a firing pin head and an air cylinder, and provides power for starting piezoelectric ceramics in the dry powder fire extinguishing cylinder, the extension and retraction of the firing pin are respectively connected with a compressed air connecting pipe, the connecting pipe is connected with a two-position five-way electromagnetic valve through an air pipe, the P interface of the electromagnetic valve is communicated with an air cylinder, and the electromagnetic valve is electrically connected with a PLC; the piezoelectric ceramic key of the dry powder fire extinguishing cylinder arranged on the end face of the ram head is similar to the piezoelectric ceramic key of the dry powder fire extinguishing cylinder at the fire extinguishing position and is coaxial with the axes of the fire extinguishing nozzle and the air hammer assembly; the power is driven by a cylinder to impact to generate high-voltage electricity to ignite and start the dry powder fire extinguishing cylinder.
The air hammer nozzle assembly is a pneumatic piece comprising: the air hammer spray pipe, the piston, the cylinder body and the cylinder rear barrel; the two cylinder seats are fixedly arranged on the platform, the cylinder rear cylinder is fixedly arranged in the hole of the platform, the cylinder rear cylinder is assembled with the cylinder body into a whole, and the air hammer spray pipe is assembled with the piston into a whole; holes at two ends of the cylinder body are sealed by sealing rings, and an inner hole of a rear cylinder of the cylinder is in sliding fit with an outer cylinder of the air hammer spraying cylinder; the air hammer spray pipe is driven by compressed air to repeatedly change the axis running direction to perform frequent window breaking work; the air hammer spray pipe and the piston extension and retraction air chamber are respectively connected with a compressed air connecting pipe on the cylinder body, the connecting pipe is connected with an AB port of a two-position five-way electromagnetic valve through an air pipe, a P port of the electromagnetic valve is communicated with an air bottle, and the electromagnetic valve is electrically connected with a PLC.
Further, the pneumatic flow: the two gas cylinders are connected in parallel, and the PLC controls the switch of the two gas cylinders; the air hole of the air hammer spray pipe assembly, the air holes of the three positioning air holes of the two sliding blocks connected in parallel and the air hole of the air cylinder of the firing pin are respectively connected through an AB air pipe through corresponding electromagnetic valves.
Further, the electrical connection: the power supply is a hydrogen battery or a lithium battery, and is connected with a transformer, a rectifier and a transmitter through a frequency discriminator: one path is connected with a PLC controller; the PLC controller is respectively connected with the gas cylinder, the fire extinguishing nozzle, the pneumatic hammer assembly, the sliding block and the electromagnetic valve of the firing pin, and is respectively connected with the transducer and the sensor of the fire extinguishing position of the dry powder fire extinguishing cylinder, the remote controller and the transducer which are connected with the thrust fan; the other route is connected with a power line of a remote control receiver, the remote control receiver is respectively connected with an I port of a PLC controller, and the starting and the rotating speed of the thrust fan are controlled and controlled through a connecting frequency converter; the PLC is also in communication connection with the CCD camera; the two electrode wires of the piezoelectric ceramics are connected with two wires of an electric ignition head in the dry powder fire extinguishing cylinder.
Further, the front part of the dry powder extinguishing cylinder is provided with a powder spraying port, the middle part of the dry powder extinguishing cylinder is provided with dry powder, the bottom part of the dry powder extinguishing cylinder is provided with a gas-melt adhesive generating agent, the bottom part of the dry powder extinguishing cylinder is provided with an electric ignition head, and the piezoelectric ceramics is used for generating electric sparks to start the gas-melt adhesive agent to burn and explode to generate 10MP air pressure to push the dry powder to be ejected from a nozzle for extinguishing fire; the piezoelectric ceramic mounting position is arranged at the tail part in the cylinder body, the movement direction of the piezoelectric ceramic button is coaxial and the same with the axis of the cylinder body, and the button extends out of the cylinder body.
Further, the control of the present invention: 1. flight to fire spot control: according to navigation, a flight path is manually controlled to quickly fly straight to reach a fire place, and then a fire extinguishing position is accurately positioned by means of video; 2. the window breaking control adopts the reciprocating impact motion of a piston in the air hammer spray pipe assembly in the cylinder body to link the air hammer window breaking; 3. fire extinguishing control: the PLC controller automatically controls according to the instantaneous video picture and the ranging data of the CCD camera, and the PLC controller automatically controls the content to comprise: the horizontal distance between the fire extinguishing device and the fire extinguishing wall surface is accurate, the window is broken, the next dry powder fire extinguishing cylinder is started according to the fire extinguishing effect, the piezoelectric ceramics of the firing pin striking the dry powder fire extinguishing cylinder starts fire extinguishing, the gas cylinder is started and stopped, the variable frequency rotating speed is automatically adjusted, the timely recoil fan is started, the variable frequency speed is adjusted, and the reaction force is balanced; 4. according to ground monitoring data and pictures, a remote controller is adopted for manual adjustment to preferentially adjust and control the position of a window breaking point, the window breaking time and related actions of striking ignition and fire extinguishment of a firing pin through a PLC; 5. the start and stop of the thrust fan, and the balance of the rotating speed wind power and the horizontal recoil force are automatically controlled by a single algorithm of a PLC.
Further, the robustness of the invention is that in the transverse direction in unmanned aerial vehicle hovering operation, the rotating speed adjustment through the thrust fan achieves: 1. balancing the reaction force of the broken window, and drawing out the air hammer nozzle assembly after the broken window; 2. so as to avoid the air hammer nozzle head from being blocked by the broken mouth and affecting the flight safety; 3. balancing the reaction force of dry powder spraying fire extinguishment; the data acquired by the CCD camera is accurately controlled and timely adjusted by the PLC, so that the unmanned aerial vehicle can be stably and independently disturbed by the power of the fire extinguishing step.
The application method of the invention comprises the following steps: the single application is applied to a small fire situation, and can stop extinguishing according to the completion of extinguishing a fire without using other dry powder extinguishing cylinders at any time, so that the fire extinguishing cost is saved; two or more than two dry powder extinguishing cylinders are applied, and are suitable for being used for large fire, if one dry powder extinguishing cylinder is completely sprayed with dry powder in the process of extinguishing a fire, the dry powder extinguishing cylinder is immediately dropped from a fire scene to the ground to discharge the dry powder extinguishing cylinder sprayed with the dry powder, a new dry powder extinguishing cylinder is filled, the fire is continuously extinguished by another device, the subsequent device can continuously take over the alternate fire, and the device after the replacement of the dry powder extinguishing cylinder is completed can be added into the alternate fire again.
The technical effect achieved by the invention is as follows: 1. the fire extinguishing device is not limited by the height of a floor, and can quickly and efficiently extinguish the fire by lightning on a direct-flight fire scene, thereby improving the quick response and efficiency of fire extinguishment; 2. the fire fighting is not needed to ascend manually, so that the safety is improved; 3. the static force balance and the dynamic force balance are adopted, and the elastic suspension between the unmanned aerial vehicle and the unmanned aerial vehicle is adopted, so that the robustness of unmanned spraying is improved; 4. according to the real-time monitoring video and remote control, the fire extinguishing can be accurately and timely moved; 5. according to the dynamic condition of the fire scene, the fire extinguishing can be completed at any time, or the fire extinguishing cylinder can be replaced rapidly and frequently to supplement the fire extinguishing, so that the secondary re-burning is prevented; 6. the fire extinguishing device has a window breaking function, and eliminates fire extinguishing obstruction caused by window glass; 7. the chimney chain effect of high-rise fires is cut off.
Drawings
FIG. 1 is a schematic isometric view of the present invention; FIG. 2 is a schematic diagram of a fire-extinguishing silo assembly of the present invention; FIG. 3 is a schematic view of the air hammer nozzle assembly of the present invention; FIG. 4 is a schematic view of the striker of the present invention; FIG. 5 is a schematic view of a dry powder fire extinguishing cylinder of the present invention; FIG. 6 is a schematic diagram of a V-fork slider assembly of the present invention;
wherein: 1. unmanned plane; 2. A fire-extinguishing silo assembly; 3. an air hammer spray pipe assembly; 4. a platform; 5. a gas cylinder; 6. a CCD camera; 7. a thrust fan; 8. a striker; 9. and (5) landing gear.
Detailed description of the preferred embodiments
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout or elements having like or similar functionality; the embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
According to the unmanned aerial vehicle 1 with larger configuration load capacity and stable work, the unmanned aerial vehicle 1 and the platform 4 adopt the resin light bar with better elasticity, the performance of the unmanned aerial vehicle has the elastic shock absorption performance, and the unmanned aerial vehicle 1 has the stress supporting performance that the unmanned aerial vehicle 1 can be stably placed on the platform 4 without impact force when the ground is stopped.
The platform 4 is made of light village materials, and has a rectangular shape; a hydrogen energy storage battery or a lithium battery is arranged in the battery; the air hammer spray pipe assembly 3 is transversely arranged at the longitudinal midpoint of the upper plane, the air hammer spray pipe assembly 3 comprises an air hammer spray pipe 31, a piston 32, a cylinder body 33 and a cylinder rear pipe 34, the air hammer spray pipe assembly is fixedly arranged in a hole of a cylinder seat, the upper plane of the platform 4 is fixedly arranged through the cylinder seat, and the orientation of the air hammer spray pipe assembly is coincident with the vertical plane of the longitudinal midpoint of the platform 4; thrust fans 7 are symmetrically arranged on two sides of the air hammer spray pipe assembly 3, and a CCD camera 6 is arranged above the air hammer spray pipe assembly 3 and is also arranged on the upper plane.
A gas cylinder 5 is fixedly arranged below the platform 4, and compressed air in the gas cylinder 5 is respectively connected with the air hammer spray pipe assembly 3 and the firing pin 8 through a pressure reducing valve and a PU hose.
The undercarriage 9 is fixedly arranged below the gas cylinder 5, and an elastic rubber pad is arranged at the bottom of the undercarriage 9 and used for floor vibration reduction.
The air hammer nozzle assembly 3 comprises: the air hammer spray pipe 31, the piston 32, the cylinder body 33 and the cylinder rear pipe 34 are fixedly assembled into a whole, and then assembled into an assembly; the air hammer spray pipe assembly 3 is fixedly arranged on the platform 4 through the outer cylindrical surface of the cylinder rear pipe 34 by two cylinder seats; the outer cylinder 32 is fixedly arranged in the hole of the fire extinguishing nozzle 31, and the fire extinguishing nozzle 31 is arranged in the outer cylinder 32; the air hammer spray pipe 31 and the piston 32 are used as a piston assembly to be assembled with the cylinder body 33 to form a cylinder, the air hammer spray pipe 31 and the piston 32 are used as a piston assembly to be arranged in the cylinder body 33, two ends of the air hammer spray pipe 31 and the piston 32 are sealed in the cylinder body 33 through sealing rings, and the air hammer spray pipe 31 and the piston 32 are used as a piston assembly to reciprocate under the drive of compressed air to impact the hammer to break windows; the front and rear pipe joints of the cylinder body 33 are respectively connected with a compressed air connecting pipe, the connecting pipe is connected with the AB port of a two-position five-way electromagnetic valve through an air pipe, the P port of the electromagnetic valve is communicated with the air bottle, and the electromagnetic valve is electrically connected with the PLC.
The fire extinguishing silo assembly 2 is fixedly arranged on the longitudinal midpoint plane of the platform, and the plane is transverse; assembly: the silo 21 is fixedly arranged on a middle plane above the slideway box 23 in a longitudinal direction, the slideway box 23 is internally provided with a left V-shaped fork slide block 24 and a right V-shaped fork slide block 24 along a middle plane in the longitudinal direction, the left V-shaped fork slide block and the right V-shaped fork slide block are matched in a sliding fit, and three cylinders 25 are symmetrically arranged at two ends of the V-shaped fork slide block; the silo 21 stores a dry powder fire extinguishing cylinder 22; the V-shaped fork slide blocks 24 are pushed and stretched out by a three-position cylinder 25 along the slide way in the slide way seat, so as to change the distance and the positioning between the two V-shaped fork slide blocks 24, compressed air connecting pipes are respectively connected with stretching and retracting of the V-shaped fork slide blocks, the connecting pipes are connected with 2 two five-way electromagnetic valves through air pipes, the P interface of the electromagnetic valve is communicated with the air cylinder, and the electromagnetic valve is electrically connected with the PLC; the pneumatic position is three positioning, the horizontal distance of the two V-shaped fork slide blocks 24 is medium, the dry powder fire extinguishing cylinder can freely fall from top to bottom to enter the fire extinguishing starting position, the horizontal distance of the two V-shaped fork slide blocks in the B position is minimum, the dry powder fire extinguishing cylinder 22 is clamped and positioned from outside in the inner slide seat, the horizontal distance of the two V-shaped fork slide blocks in the C position is maximum, the dry powder fire extinguishing cylinder 22 in the fire extinguishing position freely falls from bottom to leave the V-shaped fork slide blocks after the dry powder is sprayed, falls into the platform 2 bin, the horizontal distance of the V-shaped fork slide blocks is medium, and the dry powder fire extinguishing cylinder 22 freely falls from top to bottom to enter the fire extinguishing starting position; the dry powder fire extinguishing cylinder 22 is arranged in the fire extinguishing silo assembly 2, the space depth is vertically stacked in a single row, the tooth-shaped forks 24 of the V-shaped fork slide block are of a staggered structure, and the dry powder fire extinguishing cylinder 22 at the starting position can be clamped at a small distance, and the slide blocks of the V-shaped fork 24 do not interfere.
The two thrust fans 7 are symmetrically and fixedly arranged at two sides of the air hammer spray pipe assembly 3 respectively, the rotation directions of the fan blades are opposite, the rotation directions are opposite when the air hammer spray pipe assembly works, the rotation speeds are the same, the air hammer spray pipe assembly is used for balancing the recoil force when the air faucet spray pipe 31 sprays the paint, the rotation speeds are determined by the measurement of the impact force and the thrust of the electric fan, and the rotation speeds are controlled through the frequency converter.
The firing pin 8 comprises a firing pin head 41, a piston 43 and a cylinder body 42, wherein the firing pin head 41 and the piston 43 are fixedly assembled into a whole, the extension and retraction of the firing pin head are respectively connected with a compressed air connecting pipe, the connecting pipes are connected with a two-position five-way electromagnetic valve through an air pipe, the P interface of the electromagnetic valve is communicated with the air bottle 5, and the electromagnetic valve is electrically connected with the PLC; the end face of the striking pin 41 is close to the piezoelectric ceramic key of the dry powder fire extinguishing cylinder 22 at the fire extinguishing position and is coaxial with the axis of the air hammer spray pipe 31; the power is driven by compressed air to strike piezoelectric ceramics to generate high-voltage electric ignition to start the dry powder extinguishing cylinder 22.
The CCD camera 6 is coplanar with the longitudinal middle plane of the platform 4 and is integrally arranged on the upper plane of the plane 4; the CCD camera 6 is in communication connection with the PLC, monitors the picture and measures the distance and the azimuth in time, and sends the picture and the measured distance and the azimuth to the PLC.
The plane 4 is internally provided with a lithium or hydrogen energy storage battery, and the circuit loop is as follows: the accumulator is connected to the electric wire for frequency discrimination, power transformation, frequency conversion and rectification and then to the electric appliance and motor, and the PLC and electromagnetic valve.
Unmanned aerial vehicle 1 flies to support the flow: when a fire alarm is received, a firefighter navigates to the fire spot according to the fire alarm information, and then the unmanned aerial vehicle 1 is manually operated to fly to the fire spot.
The fire extinguishing process comprises the following steps: according to the video image, the fire extinguishing program is started in the accurate position of the fire extinguishing point of the fire floor by flying under the manual remote control, then the manual or PLC controls the broken window, the broken window successfully finds the accurate position, the firing pin 8 impacts the piezoelectric ceramics on the dry powder fire extinguishing cylinder 22 at the fire extinguishing position to ignite, the started dry powder fire extinguishing cylinder 22 ejects the dry powder to extinguish fire, the fire extinguishing in the total submerged fire passing space is formed, the fire extinguishing intensity and the chained fire extinguishing time are determined according to the CCD camera, the number of fire extinguishing equipment is determined, and the dry powder fire extinguishing cylinder 22 is filled alternately until the fire extinguishing is completed, and the equipment is safely landed.
All the installation parts of the body are required to be provided with static balance adjustment and test so as to ensure the projection midpoint position of the total mass center on the horizontal plane; meanwhile, on the basis of the standard of static balance, dynamic balance test is carried out, and the rotating speed of the recoil fan 4 and the sliding speed and the sliding position of the nozzle assembly are adjusted until the static balance reaches the standard, and the standard is according to the relevant national standard of the aircraft.
Automatic control: 1. starting the CCD camera 6 and the unmanned aerial vehicle 1 to hover at the fire extinguishing point; 2. switching on and off the thrust fan 7 by an algorithm according to the horizontal recoil force, and adjusting the thrust balance recoil force by the rotation speed; 3. according to the distance between the equipment collected by the unmanned aerial vehicle 1 and the fire extinguishing doors and windows and the wall surface, the unmanned aerial vehicle automatically hovers at the safe distance for fire extinguishing.
If abnormal conditions occur, the remote controller stops the automatic operation function and switches to the manual control function, and the function takes precedence over the automatic control.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment is suspended under the unmanned aerial vehicle and is elastically connected with the unmanned aerial vehicle suspension in order to slow down the stability of the impact force on the hovering and movement of the unmanned aerial vehicle; comprising the following steps: the fire extinguishing device comprises a PLC (programmable logic controller), a platform, an air hammer spray pipe assembly, a fire extinguishing silo assembly, a positioner, a V-shaped fork sliding block, a dry powder fire extinguishing cylinder, a firing pin, a thrust fan, a CCD (charge coupled device) camera, a gas cylinder and a landing gear; 2 to 20 dry powder extinguishing cylinders are adopted for one-by-one controllable chained total submerged fire extinguishing, or more than 2 dry powder extinguishing cylinders are adopted for alternately extinguishing fire, and the dry powder extinguishing cylinders can be replaced by the equipment which is used up and falls to the ground to put into fire again, so that the fire extinguishing connection can be continued for a long time; the direction of the side length of the platform surface is longitudinal, and the direction of the side short is transverse; the platform is rectangular, a remote control receiver is arranged on the platform, and the PLC controller is arranged in the rectangular; the storage battery and other parts except for the parts arranged outside the platform are arranged in the platform; two gas cylinders filled with compressed air are arranged below the platform, and a landing gear is arranged below the gas cylinders; the air hammer spray pipe assembly with a window breaking function is arranged on the upper plane of the platform, the fixed position is arranged at the middle position of the longitudinal direction of the upper plane of the platform, and the axial direction is transverse; the fire extinguishing bin assembly is arranged on the platform, a dry powder fire extinguishing cylinder is placed in a silo at the upper part of the fire extinguishing bin assembly, the middle plane of the silo in the length direction is overlapped with the axis of the air hammer spray pipe assembly, the left slide block and the right slide block are arranged in a slideway box of the fire extinguishing bin assembly, and the moving direction of the V-shaped fork slide block is longitudinal; the installation position of the fire extinguishing bin assembly in the width direction is required to meet the requirement that the front end plane of the dry powder fire extinguishing cylinder at the fire extinguishing position is attached to the powder inlet plane in the air hammer spray pipe assembly, and the dry powder fire extinguishing cylinder stops at the position, namely the axis of the fire extinguishing start position of the fire extinguishing cylinder is coaxial and communicated with the hole of the air hammer spray pipe assembly at the position, and the dry powder is in clearance sliding fit, so that the dry powder is sprayed from the fire extinguishing cylinder at high speed through the air hammer spray pipe channel under the pushing of high-pressure gas melt adhesive smoke after the fire extinguishing is started; the firing pin is used for striking piezoelectric ceramics at the tail part of the dry powder extinguishing cylinder to realize ignition so as to start the dry powder extinguishing cylinder to extinguish fire, and the axis of the firing pin is coaxial with the axis of the dry powder extinguishing cylinder at the fire extinguishing starting position; the two thrust fans are symmetrically arranged at two sides of the firing pin, and the axes of the two thrust fans are parallel to the axis of the firing pin; the rotation directions of the two blades are opposite, the opposite rotation speeds of the two blades are the same, and the rotation speeds are controlled by the frequency converter to obtain dynamic different thrust; the arrangement and installation of the components in the platform are based on static balance positions, and the frequency converter controls the rotating speed of the thrust fan to realize dynamic balance.
2. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the fire-extinguishing silo assembly comprises: the device comprises a silo, a slideway seat, a left V-shaped fork sliding block, a right V-shaped fork sliding block, a left three-position cylinder and a right three-position cylinder; the silo is used for storing a dry powder fire extinguishing cylinder; two symmetrical V-shaped fork sliding blocks are assembled on a longitudinal middle plane in the slide way seat, the V-shaped fork sliding blocks are pushed and stretched out by a three-position cylinder along the slide way in the slide way seat and used for changing the distance and positioning between the two V-shaped fork sliding blocks, compressed air connecting pipes are respectively connected with stretching and retracting of the V-shaped fork sliding blocks, the connecting pipes are connected with 2 two five-way electromagnetic valves through air pipes, the P interface of the electromagnetic valve is communicated with the air cylinder, and the electromagnetic valve is electrically connected with a PLC; the pneumatic position is three positioning, the horizontal distance between the two V-shaped fork slide blocks is medium, the dry powder fire extinguishing cylinder can freely fall from top to bottom to enter the fire extinguishing starting position, the horizontal distance between the two V-shaped fork slide blocks is minimum, the dry powder fire extinguishing cylinder is clamped and positioned from outside in the inner slide seat, the horizontal distance between the two V-shaped fork slide blocks is maximum, the free fall of the dry powder fire extinguishing cylinder in the fire extinguishing position leaves the V-shaped fork slide blocks downwards after the dry powder is sprayed, falls into the platform bin, the horizontal distance between the V-shaped fork slide blocks is medium, and the dry powder fire extinguishing cylinder freely falls from top to bottom to enter the fire extinguishing starting position; the depth of the space of the dry powder fire extinguishing cylinder in the fire extinguishing silo component is vertically stacked in a single row, the tooth-shaped forks of the V-shaped fork slide block are of a staggered structure, and the dry powder fire extinguishing cylinder at the starting position can be clamped at a small distance without interference of the left and right V-shaped fork slide blocks.
3. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the firing pin is a pneumatic piece and comprises a firing pin head and a cylinder, and is used for providing power for starting piezoelectric ceramics in the dry powder fire extinguishing cylinder, the extension and retraction of the firing pin are respectively connected with a compressed air connecting pipe, the connecting pipes are connected with a two-position five-way electromagnetic valve through an air pipe, the P interface of the electromagnetic valve is communicated with the air cylinder, and the electromagnetic valve is electrically connected with the PLC; the piezoelectric ceramic key of the dry powder fire extinguishing cylinder arranged on the end face of the ram head is similar to the piezoelectric ceramic key of the dry powder fire extinguishing cylinder at the fire extinguishing position and is coaxial with the axes of the fire extinguishing nozzle and the air hammer assembly; the power is driven by a cylinder to impact to generate high-voltage electricity to ignite and start the dry powder fire extinguishing cylinder.
4. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the air hammer nozzle assembly is a pneumatic piece comprising: the air hammer spray pipe, the piston, the cylinder body and the cylinder rear barrel; the two cylinder seats are fixedly arranged on the platform, the cylinder rear cylinder is fixedly arranged in the hole of the platform, the cylinder rear cylinder is assembled with the cylinder body into a whole, and the air hammer spray pipe is assembled with the piston into a whole; holes at two ends of the cylinder body are sealed by sealing rings, and an inner hole of a rear cylinder of the cylinder is in sliding fit with an outer cylinder of the air hammer spraying cylinder; the air hammer spray pipe is driven by compressed air to repeatedly change the axis running direction to perform frequent window breaking work; the air hammer spray pipe and the piston extension and retraction air chamber are respectively connected with a compressed air connecting pipe on the cylinder body, the connecting pipe is connected with an AB port of a two-position five-way electromagnetic valve through an air pipe, a P port of the electromagnetic valve is communicated with an air bottle, and the electromagnetic valve is electrically connected with a PLC.
5. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the two gas cylinders are connected in parallel, and the PLC controls the switch of the two gas cylinders; the air hole of the air hammer spray pipe assembly, the air holes of the three positioning air holes of the two sliding blocks connected in parallel and the air hole of the air cylinder of the firing pin are respectively connected through an AB air pipe through corresponding electromagnetic valves.
6. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the electrical connection: the power supply is a hydrogen battery or a lithium battery, and is connected with a transformer, a rectifier and a transmitter through a frequency discriminator: one path is connected with a PLC controller; the PLC controller is respectively connected with the gas cylinder, the fire extinguishing nozzle, the pneumatic hammer assembly, the sliding block and the electromagnetic valve of the firing pin, and is respectively connected with the transducer and the sensor of the fire extinguishing position of the dry powder fire extinguishing cylinder, the remote controller and the transducer which are connected with the thrust fan; the other route is connected with a power line of a remote control receiver, the remote control receiver is respectively connected with an I port of a PLC controller, and the starting and the rotating speed of the thrust fan are controlled by connecting a frequency converter; the PLC is also in communication connection with the CCD camera; the two electrode wires of the piezoelectric ceramics are connected with two wires of an electric ignition head in the dry powder fire extinguishing cylinder.
7. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the dry powder fire extinguishing cylinder is characterized in that a powder spraying port is arranged at the front part of the dry powder fire extinguishing cylinder, dry powder is arranged at the middle part of the dry powder fire extinguishing cylinder, the generated gas-melt adhesive agent is arranged at the bottom part of the dry powder fire extinguishing cylinder, an electric ignition head is arranged at the bottom part of the dry powder fire extinguishing cylinder, electric sparks are generated by piezoelectric ceramics to start the gas-melt adhesive agent to burn and explode, and 10MP air pressure is generated to push the dry powder to be ejected from a nozzle for fire extinguishment; the piezoelectric ceramic mounting position is arranged at the tail part in the cylinder body, the movement direction of the piezoelectric ceramic button is coaxial and the same with the axis of the cylinder body, and the button extends out of the cylinder body.
8. The unmanned aerial vehicle high-altitude window breaking dry powder fire extinguishing equipment according to claim 1, wherein: the control method comprises the following steps of: according to navigation, a flight path is manually controlled to quickly fly straight to reach a fire place, and then a fire extinguishing position is accurately positioned by means of video; 2. the window breaking control adopts the reciprocating impact motion of a piston in the air hammer spray pipe assembly in the cylinder body to link the air hammer window breaking; 3. fire extinguishing control: the PLC controller automatically controls according to the instantaneous video picture and the ranging data of the CCD camera, and the PLC controller automatically controls the content to comprise: the horizontal distance between the fire extinguishing device and the fire extinguishing wall surface is accurate, the window is broken, the next dry powder fire extinguishing cylinder is started according to the fire extinguishing effect, the piezoelectric ceramics of the firing pin striking the dry powder fire extinguishing cylinder starts fire extinguishing, the gas cylinder is started and stopped, the variable frequency rotating speed is automatically adjusted, the timely recoil fan is started, the variable frequency speed is adjusted, and the reaction force is balanced; 4. according to ground monitoring data and pictures, a remote controller is adopted for manual adjustment to preferentially adjust and control the position of a window breaking point, the window breaking time and related actions of striking ignition and fire extinguishment of a firing pin through a PLC; 5. the start and stop of the thrust fan, and the balance of the rotating speed wind power and the horizontal recoil force are automatically controlled by a PLC independent algorithm.
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| CN202211168381.5A CN115487442B (en) | 2022-09-24 | 2022-09-24 | Unmanned aerial vehicle high altitude broken window dry powder fire extinguishing apparatus |
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| CN202211168381.5A CN115487442B (en) | 2022-09-24 | 2022-09-24 | Unmanned aerial vehicle high altitude broken window dry powder fire extinguishing apparatus |
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| CN115487442B true CN115487442B (en) | 2023-07-21 |
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| CN117979594A (en) * | 2023-12-25 | 2024-05-03 | 江苏博沃汽车电子系统有限公司 | Motor electric control box structure and use method thereof |
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| CN207785711U (en) * | 2017-11-27 | 2018-08-31 | 天津百利工业品供应链有限公司 | A kind of unmanned plane delivery fire extinguisher bomb band hook |
| CN207694102U (en) * | 2017-12-11 | 2018-08-07 | 云南优航无人机科技有限公司 | A kind of high-altitude unmanned plane and fire-extinguishing |
| KR101925078B1 (en) * | 2018-08-13 | 2018-12-04 | 대신아이브(주) | fire suspension drone for skyscrapers |
| CN209444255U (en) * | 2018-08-29 | 2019-09-27 | 深圳海赛福科技有限公司 | A kind of broken window ladder of the dedicated tactics of special policeman |
| CN217320751U (en) * | 2021-12-28 | 2022-08-30 | 泰州市三江消防器材有限公司 | High altitude unmanned aerial vehicle's fire control extinguishing device |
| CN114906321A (en) * | 2022-05-25 | 2022-08-16 | 艾巍材料科技(太仓)有限公司 | A multi-functional unmanned aerial vehicle for spraying |
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