CN116764132A - High-rise fire rescue unmanned aerial vehicle system - Google Patents
High-rise fire rescue unmanned aerial vehicle system Download PDFInfo
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- CN116764132A CN116764132A CN202311063153.6A CN202311063153A CN116764132A CN 116764132 A CN116764132 A CN 116764132A CN 202311063153 A CN202311063153 A CN 202311063153A CN 116764132 A CN116764132 A CN 116764132A
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Abstract
The invention discloses a high-rise firefighting rescue unmanned aerial vehicle system, and belongs to the technical field of unmanned aerial vehicle application. The high-rise firefighting rescue unmanned aerial vehicle system comprises: unmanned aerial vehicle body, fire detection module, communication relay module, integrated control module, material transport module, personnel search and rescue module and fire suppression module. According to the invention, the unmanned aerial vehicle is provided with the smoke clearing function, a visual field is opened up for rescue workers and trapped workers, the unmanned aerial vehicle and the rescue workers are helped to quickly find the fire points and the trapped workers, the rescue efficiency is effectively improved, the lung injury probability of the rescue workers and the trapped workers is reduced, when the fire is spread and expanded, the fire truck water pipe is connected with the water pipe connection port, the unmanned aerial vehicle is controlled to enter a fire house through the control station, the adjustable rotary spray head is controlled to spray fire for the fire house indiscriminately, the delivery water quantity of the unmanned aerial vehicle is improved, and the fire extinguishing rate and safety are ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle application, in particular to a high-rise firefighting rescue unmanned aerial vehicle system.
Background
Tall buildings generally refer to buildings of greater floors and heights, including high-rise apartments, office buildings, hotels, and malls. Because of the specificity of high-rise buildings, fire and other emergency situations may lead to greater hazards and challenges, high-rise fire rescue requires special emergency measures and resource scheduling to ensure personnel's life safety and effective control of the fire, while as unmanned aerial vehicles are increasingly mature in application, unmanned aerial vehicles become powerful tools in high-rise fire rescue, fire rescue is performed through unmanned aerial vehicles in high-rise buildings when fire or other emergency situations occur, personnel search and rescue are assisted by fire fighters more effectively coping with emergency situations. The unmanned aerial vehicle that is applied to high-rise fire rescue at present carries fire extinguishing apparatus and rescue instrument more, although can effectively put out a fire, lacks the measure to the clear processing of dispelling of smog, and many conflagration circumstances, stranded personnel often can lead to lung injury because of inhaling excessive smog, and the existence of smog can reduce just getting into the field of vision of fire house rescue personnel and unmanned aerial vehicle, increases the rescue degree of difficulty, delays the rescue gold moment.
Disclosure of Invention
A high-rise fire rescue unmanned aerial vehicle system, the high-rise fire rescue unmanned aerial vehicle system comprising: unmanned aerial vehicle body, fire detection module, communication relay module, integrated control module, material transport module, personnel search and rescue module and fire put out the module, integrated control module includes ground control station, ground control station control fire detection module the communication relay module the material transport module with personnel search and rescue module, just personnel search and rescue module is provided with the smog and dispel, the smog is cleared up and is combined the fire detection module is used for the smog of quick clear advancing direction front end, just the fire put out the module and utilize the material transport module transports the utensil to implement the fire and put out.
Preferably, the fire detection module comprises a high-resolution thermal imaging camera, a visible light camera and an illuminating lamp which are arranged on the unmanned aerial vehicle body, wherein the illuminating lamp is used for providing a light source for night rescue, the high-resolution thermal imaging camera and the visible light camera are connected with the communication relay module, and the shot indoor picture information is transmitted to the ground control station in real time.
Preferably, the communication relay module comprises a wireless communication and a data link installed on the unmanned aerial vehicle body, wherein the wireless communication establishes information connection with the ground control station in a wireless network mode and is used for transmitting instructions, receiving sensor data, receiving video and image transmission, and the wireless communication is provided with voice intercom, and the data link is used for transmitting data between the ground control station and the unmanned aerial vehicle.
Preferably, the ground control station is provided with GIS software and a monitoring display screen, the GIS software is used for generating a fire situation map and displaying key information, the key information comprises a fire source position, a rescue personnel position and an unmanned aerial vehicle flight track, and the monitoring display screen receives and displays video and image data from the unmanned aerial vehicle body.
Preferably, the material transport module comprises an emergency article transport and a fire extinguishing apparatus transport, the emergency article transport transports emergency medicines, a water source, a life-saving rope and a smoke mask through the unmanned aerial vehicle body, the fire extinguishing apparatus transport is used for carrying a fire-fighting lance and a fire extinguisher on the unmanned aerial vehicle body, and the fire-fighting lance and the fire extinguisher can be taken down.
Preferably, the personnel search and rescue module comprises smoke clearing and rescue positioning, the smoke clearing and rescue module is provided with a fan by using the unmanned aerial vehicle body, a filtering and discharging cylinder is arranged at the tail end of the fan, an inner core of the filtering and discharging cylinder is activated carbon, the rescue positioning is provided with voice navigation and route display by using a thermal imager to find out trapped personnel, fire points and evacuation channel positions under the condition of dark smoke.
Preferably, the fire extinguishing module is combined with the fire detecting module to shoot pictures, and a bottom surface worker sends out a control instruction based on the ground control station to control the unmanned aerial vehicle body to carry the fire-fighting lance and the fire extinguisher to spray and extinguish fire at the fire position.
Preferably, the unmanned aerial vehicle body is provided with water piping connection mouth and adjustable rotatory nozzle, the water piping connection mouth is used for connecting the outer fire control water pipe of window, adjustable rotatory nozzle passes through ground control station control adjusts.
Compared with the prior art, the invention has the advantages that:
(1) According to the invention, the unmanned aerial vehicle is provided with the smoke clearing function, so that a visual field is opened for rescue workers and trapped workers, the unmanned aerial vehicle and the rescue workers are helped to quickly find the fire points and the trapped workers, the rescue efficiency is effectively improved, the smoke amount inhaled by the rescue workers and the trapped workers is slowed down, and the lung injury probability of the rescue workers and the trapped workers is effectively reduced.
(2) According to the fire extinguishing system, the water pipe connection port and the adjustable rotary spray head are arranged on the unmanned aerial vehicle, when fire spread is expanded, a rescue worker cannot smoothly enter a fire house, the fire truck is connected with the water pipe connection port, the unmanned aerial vehicle is controlled to enter the fire house through the control station, the adjustable rotary spray head is controlled to spray and extinguish fire on the fire house indiscriminately, the water conveying quantity of the unmanned aerial vehicle is improved, water can be conveyed to extinguish fire in real time, and the fire extinguishing speed and safety are effectively guaranteed.
(3) In the invention, in the search and rescue process, the rescue positioning improves the recorded route, the recorded route is displayed in real time through the video and image receiving display, and the evacuation route is played by utilizing voice navigation, so that rescue workers and trapped workers can be helped to quickly find the evacuation route, the evacuation time is effectively shortened, and the rescue workers and the trapped workers cannot get lost.
Drawings
FIG. 1 is a schematic diagram of the overall system of the present invention.
Detailed Description
The unmanned aerial vehicle that is applied to high-rise fire rescue at present carries fire extinguishing apparatus and rescue instrument more, although can effectively put out a fire, lacks the measure to the clear processing of dispelling of smog, and many conflagration circumstances, stranded personnel often can lead to lung injury because of inhaling excessive smog, and the existence of smog can reduce just getting into the field of vision of fire house rescue personnel and unmanned aerial vehicle, increases the rescue degree of difficulty, delays the rescue gold moment.
Examples: referring to fig. 1, a high-rise fire rescue unmanned aerial vehicle system includes: unmanned aerial vehicle body, fire detection module, communication relay module, integrated control module, material transport module, personnel search and rescue module and fire suppression module, integrated control module includes ground control station, and ground control station is unmanned aerial vehicle system's core control equipment, comprises one or more computers and relevant hardware equipment generally. The fire disaster detection device comprises a ground control station, a fire disaster detection module, a communication relay module, a material conveying module and a personnel search and rescue module, wherein the ground control station is used for controlling the fire disaster detection module, the personnel search and rescue module is provided with smoke scattering, the smoke scattering is combined with the fire disaster detection module to be used for rapidly scattering smoke at the front end of the advancing direction, and the fire disaster extinguishing module utilizes the material conveying module to convey an appliance to carry out fire disaster extinguishing, so that smoke in the advancing front of the unmanned aerial vehicle is clearly scattered in the search and rescue process of the unmanned aerial vehicle, trapped personnel can be rapidly positioned, and the unmanned aerial vehicle can be led to rescue personnel and the trapped personnel to escape in the escape process, so that the smoke in the escaping direction can be rapidly cleared away.
In this system, ground control station is provided with GIS software and monitor display screen, the GIS software is used for generating the conflagration situation map and shows key information, including fire source position, rescue personnel position and unmanned aerial vehicle flight path, the GIS software through with the high resolution thermal imaging camera in the conflagration detection module and the visible light camera information connection, can provide audio-visual interface, help commander know whole rescue process in real time, and command and dispatch, monitor display screen is through with the high resolution thermal imaging camera in the conflagration detection module and the visible light camera information connection, receive and show video and image data from the unmanned aerial vehicle body, the operator can observe unmanned aerial vehicle's flight state through the large screen display, conflagration condition and rescue action.
In this system, communication relay module includes the wireless communication and the data link of installing on the unmanned aerial vehicle body, wireless communication establishes information connection with ground control station in wireless network form, and be used for transmitting the instruction, receive sensor data, receive video and image transmission, and wireless communication is provided with the pronunciation intercom, so that the operator carries out effectual communication and cooperation with unmanned aerial vehicle operator and rescue personnel, wherein be equipped with video and image receiving display on the unmanned aerial vehicle body, and ground control station is equipped with the equipment that is used for showing and monitor unmanned aerial vehicle transmission's video and image, including high resolution display and video processor, data link is used for transmitting data between ground control station and unmanned aerial vehicle, ground control station can send control command through the data link and adjust unmanned aerial vehicle body's flight parameters.
In this system, personnel search and rescue module includes that smog is clear to be scattered and rescue location, smog is clear to be utilized unmanned aerial vehicle body to assemble the fan, be equipped with the filtration and discharge section of thick bamboo at the fan tail end, and filtration and discharge section of thick bamboo inner core is the active carbon, utilize the smog of fan wind-force blowing off road front end of going forward, and the fan is rotatory to form the negative pressure and can cause smog air flow, smog through the fan can be absorbed by the active carbon in the filtration and discharge section of thick bamboo, open up the field of vision for rescue personnel and stranded personnel, rescue location utilizes the thermal imaging instrument to find out stranded personnel under the dark condition of dense smoke, fire spot and evacuation passageway position, and rescue location combines communication relay module to match to have voice navigation and route to show, voice navigation can send through the talkback, and route display shows through video and image receiving display, and install the lighting lamp on unmanned aerial vehicle body can open automatically in the night, can provide the demonstration entering route for firefighter and stranded personnel in real time and be used for the escape in the former way, help in the personnel to attack personnel to develop the rescue.
Specifically, a worker controls the unmanned aerial vehicle body to enter a fire house at a ground control station, the unmanned aerial vehicle body shoots and records room information through a high-resolution thermal imaging camera and a visible light camera, the positions of trapped people, fire points and evacuation channels under the condition of dense smoke darkness are ascertained by utilizing a thermal imager matched with the unmanned aerial vehicle body and are transmitted to GIS software, the GIS software generates a feasible rescue route, then rescue workers keep up, a personnel search and rescue module starts smoke clearing, smoke at the front end of a traveling road is blown away by utilizing wind power of a fan, negative pressure is formed by rotation of the fan to cause smoke air to flow, smoke passing through the fan can be absorbed by active carbon in a filtering and discharging cylinder, a visual field is opened for rescue workers and the trapped workers, and meanwhile, the smoke amount inhaled by the rescue workers and the trapped workers is slowed down, after the trapped person is found, the condition of the trapped person is checked, when the trapped person is found by the rescue person, the rescue positioning is carried out, the recorded time route is displayed in real time through the video and image receiving display, the voice navigation is used for playing the evacuation route through voice talkback, the rescue person and the trapped person are displayed according to the video and image receiving display, the room is evacuated rapidly, then the unmanned aerial vehicle returns to the room to get on the fire, the fire is extinguished rapidly by using the rescue tool (namely the fire gun and the fire extinguisher) carried by the unmanned aerial vehicle body, and in the whole rescue process, the ground control station receives and displays the video and image data from the unmanned aerial vehicle body, and an operator can observe the flight state, the fire condition and the rescue action of the unmanned aerial vehicle through the large screen display.
In this system, fire detection module includes high-resolution thermal imaging camera, visible light camera and the light that is equipped with on unmanned aerial vehicle body, high-resolution thermal imaging camera surveys hot spot and flame, and the visible light camera can provide more audio-visual information, the light is used for the night rescue to provide the light source, and high-resolution thermal imaging camera and visible light camera connect communication relay module to with the indoor picture information real-time transmission who shoots gives ground control station, help fire fighter to know the diffusion condition of fire scene, fire source position and possible hidden danger region.
In this system, the material transport module includes that the first aid article is transported and fire extinguisher transport, the first aid article is transported and is transported first aid medicine through the unmanned aerial vehicle body, the water source, lifesaving rope and smoke mask, flight navigation through ground control station control unmanned aerial vehicle is accurate, throw the lifesaving rope to stranded personnel's position for rescue stranded personnel provides support and help, and smoke mask can help stranded personnel to reduce the suction of smog, fire extinguisher transport is used for carrying fire gun and fire extinguisher on the unmanned aerial vehicle body, and fire gun and fire extinguisher can take off, carry out accurate location and fire extinguishing operation through ground control station staff remote control, in order to put out a fire at the conflagration initial stage, reduce personnel's risk of getting into dangerous area.
In this system, the module of putting out a fire combines the fire to detect the module and shoots the picture, and the bottom surface staff sends control command based on ground control station, controls to carry fire gun and fire extinguisher on the unmanned aerial vehicle body and to put out a fire to the position of putting out a fire, and the rescue personnel can put out a fire to the position of putting out a fire by taking off fire gun and fire extinguisher injection.
Specifically, when unmanned aerial vehicle gets into the room of firing, the high resolution thermal imaging camera that fire detection module set up can survey hotspot and flame, and visible light camera cooperation light provides more audio-visual information for unmanned aerial vehicle, simultaneously also strengthened visible light camera and shot the image and the video quality of transmission, help ground control station to observe the diffusion condition of understanding the fire more clearly, fire source position and possible hidden danger area, confirm the whole fire condition in house after, find stranded personnel, and with first aid medicine, the water source, life-saving rope and smoke mask are thrown to stranded personnel position, afterwards, ground control station control unmanned aerial vehicle guide stranded personnel flee away, and carry fire gun and fire extinguisher alignment fire point on utilizing unmanned aerial vehicle body and spray the fire extinguishing, and when the fire is serious and stranded personnel act inconveniently, the rescue personnel need get into the house of firing, unmanned aerial vehicle body rescue personnel help stranded personnel to take the smoke mask, the smoke mask can help stranded personnel to reduce the suction, when the smog personnel is left and leave the back of stranded personnel, the fire gun is not taken down with the fire extinguisher, fire gun and fire extinguisher spreading on the fire gun.
In this system, the unmanned aerial vehicle body is provided with water piping connection mouth and adjustable rotatory nozzle, the water piping connection mouth is used for connecting the outer fire control water pipe of window, adjustable rotatory nozzle passes through ground control station control regulation, fire engine water pipe is connected through the water piping connection mouth in advance to the house of firing in a large scale, and combine high resolution thermal imaging camera that is equipped with on the unmanned aerial vehicle body, visible light camera and light, the indiscriminate quick omnidirectional of adjustable rotatory nozzle of control through ground control station control is put out a fire, effectively improve fire rate and security, and improved unmanned aerial vehicle's delivery water yield, can not stop the water delivery in real time and put out a fire.
Specifically, when the fire situation spreads and enlarges, when the rescue personnel can't get into the house of firing smoothly, need in advance with fire engine water piping connection mouth, rethread control station control unmanned aerial vehicle gets into the house of firing, and the indiscriminate quick all-round fire extinguishing that sprays of adjustable rotatory nozzle of control through ground control station, effectively improve fire extinguishing rate and security, and improved unmanned aerial vehicle's delivery water yield, can stop in real time water delivery and put out a fire, and at this in-process, ground control station passes through the real-time picture of the high resolution thermal imaging camera and the visible light camera transmission that are equipped with on the unmanned aerial vehicle body, observe and judge the condition of putting out a fire situation.
The specific working flow of the system is as follows: the personnel control the unmanned aerial vehicle body at ground control station and get into the house of firing at first, when the unmanned aerial vehicle gets into the room of firing, high resolution thermal imaging camera that fire detection module set up can detect hotspot and flame, and visible light camera cooperation light provides more audio visual information for the unmanned aerial vehicle, simultaneously also strengthened the image and the video quality that the visible light camera shooted the transmission, help ground control station to observe the diffusion condition of understanding the fire situation more clearly, fire source position and possible hidden danger area, and utilize the thermal imaging ware of unmanned aerial vehicle body collocation to find out stranded personnel under the dense smoke dark condition, fire spot and evacuation passageway position, and transmit to GIS software, GIS software generates feasible rescue route, after confirming the holistic fire situation of house, find stranded personnel, and give stranded personnel's emergency medicine, the water source, life-saving rope and smoke mask to the position of stranded personnel, afterwards, ground control station control unmanned aerial vehicle guide stranded personnel escape, and utilize and carry fire control station on the unmanned aerial vehicle body to aim at fire point on the fire monitor, and when spraying serious and so that stranded personnel do not get into the fire, the air blower fan is inhaled to the air blower fan is blown down to the fire, the life-saving air blower is realized, the life-saving fan is realized, the smoke of stranded personnel is blown forward by the life-saving, and the air blower is blown down to the life-saving, the life-saving personnel is blown down by the life-saving, and the life-saving, the life-saving fan is passed through the life-saving, and the life-saving air, the life-saving personnel is blown down in the life-saving, and the life-saving condition, and the life-saving personnel is blown by the life-saving, and the life-saving personnel and the life-saving. The smoke mask can help trapped people reduce the inhalation of smoke, when rescue workers find the trapped people, rescue and position the recorded time route, and display the time route in real time through the video and image receiving display, voice navigation plays the evacuation route through voice talkback, the rescue workers and the trapped people quickly evacuate the room according to the video and image receiving display, when the trapped people escape, the unmanned aerial vehicle returns to the house to get to the fire point, the rescue tool (namely the fire gun and the fire extinguisher) carried by the unmanned aerial vehicle body is utilized to quickly extinguish the fire point, and in the whole rescue process, the ground control station receives and displays the video and image data from the unmanned aerial vehicle body, an operator can observe the flight state, the fire condition and the rescue action of the unmanned aerial vehicle through the large screen display, and if the fire situation does not spread during this time, the fire fighter also can be replaced and take down fire gun and fire extinguisher on the unmanned aerial vehicle body, put out the fire situation, when the fire situation spread and expand, when the rescue personnel can't get into fire house smoothly, need in advance with fire engine water piping connection mouth, rethread control station control unmanned aerial vehicle gets into fire house, and the indiscriminate quick all-round fire extinguishing of spraying of adjustable rotatory nozzle through ground control station control, effectively improve fire extinguishing rate and security, and the delivery water volume of unmanned aerial vehicle has been improved, can be in real time the water of not stopping to put out a fire, and at this in-process, the ground control station is through the real-time picture of the high resolution thermal imaging camera and the visible light camera transmission that are equipped with on the unmanned aerial vehicle body, observe and judge the condition of putting out a fire situation.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a high-rise fire control rescue unmanned aerial vehicle system which characterized in that: the high-rise firefighting rescue unmanned aerial vehicle system comprises: unmanned aerial vehicle body, fire detection module, communication relay module, integrated control module, material transport module, personnel search and rescue module and fire put out the module, integrated control module includes ground control station, ground control station control fire detection module the communication relay module the material transport module with personnel search and rescue module, just personnel search and rescue module is provided with the smog and dispel, the smog is cleared up and is combined the fire detection module is used for the smog of quick clear advancing direction front end, just the fire put out the module and utilize the material transport module transports the utensil to implement the fire and put out.
2. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the fire disaster detection module comprises a high-resolution thermal imaging camera, a visible light camera and an illuminating lamp which are arranged on the unmanned aerial vehicle body, wherein the illuminating lamp is used for providing a light source for night rescue, the high-resolution thermal imaging camera and the visible light camera are connected with the communication relay module, and the shot indoor picture information is transmitted to the ground control station in real time.
3. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the communication relay module comprises wireless communication and a data link, wherein the wireless communication and the ground control station are arranged on the unmanned aerial vehicle body, information connection is established in a wireless network mode and used for transmitting instructions, receiving sensor data, receiving video and image transmission, voice intercom is arranged on the wireless communication, and the data link is used for transmitting data between the ground control station and the unmanned aerial vehicle.
4. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the ground control station is provided with GIS software and a monitoring display screen, the GIS software is used for generating a fire situation map and displaying key information, the key information comprises a fire source position, a rescue personnel position and an unmanned aerial vehicle flight track, and the monitoring display screen receives and displays video and image data from the unmanned aerial vehicle body.
5. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the material transport module comprises an emergency article transport module and a fire extinguisher transport module, wherein the emergency article transport module is used for transporting emergency medicines, a water source, a lifesaving rope and a smoke mask through the unmanned aerial vehicle body, the fire extinguisher transport module is used for carrying a fire-fighting lance and a fire extinguisher on the unmanned aerial vehicle body, and the fire-fighting lance and the fire extinguisher can be taken down.
6. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the personnel search and rescue module comprises smoke elimination and rescue positioning, the smoke elimination is utilized by the unmanned aerial vehicle body to be provided with a fan, a filtering and discharging cylinder is arranged at the tail end of the fan, an inner core of the filtering and discharging cylinder is activated carbon, the rescue positioning is utilized by a thermal imager to find out the positions of trapped personnel, fire points and evacuation channels under the condition of dense smoke darkness, and the rescue positioning is combined with the communication relay module to be matched with voice navigation and route display.
7. The high-rise fire rescue unmanned aerial vehicle system of claim 5, wherein: the fire extinguishing module is combined with the fire detecting module to shoot pictures, and the bottom surface staff sends out control instructions based on the ground control station to control the unmanned aerial vehicle body to carry the fire gun and the fire extinguisher to spray and extinguish the fire at the fire position.
8. A high-rise fire rescue unmanned aerial vehicle system according to claim 1, wherein: the unmanned aerial vehicle body is provided with water piping connection mouth and adjustable rotatory nozzle, the water piping connection mouth is used for connecting the outer fire control water pipe of window, adjustable rotatory nozzle passes through ground control station control adjusts.
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| CN202311063153.6A CN116764132A (en) | 2023-08-23 | 2023-08-23 | High-rise fire rescue unmanned aerial vehicle system |
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| CN202311063153.6A CN116764132A (en) | 2023-08-23 | 2023-08-23 | High-rise fire rescue unmanned aerial vehicle system |
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| CN213374840U (en) * | 2020-09-27 | 2021-06-08 | 山西工程技术学院 | Fire sprinkler device for unmanned aerial vehicle |
| CN116492623A (en) * | 2023-05-23 | 2023-07-28 | 中国消防救援学院 | Fire early-warning and fire-extinguishing intelligent robot and fire-extinguishing method |
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2023
- 2023-08-23 CN CN202311063153.6A patent/CN116764132A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207157538U (en) * | 2017-09-12 | 2018-03-30 | 西安科技大学 | A kind of rescue UAS for fire of high-rise building |
| CN207311836U (en) * | 2017-09-12 | 2018-05-04 | 西安科技大学 | A kind of high-rise fire unmanned plane deliverance apparatus |
| CN109248390A (en) * | 2018-09-14 | 2019-01-22 | 北京机械设备研究所 | A kind of fire-fighting and rescue integrated system and method based on unmanned aerial vehicle platform |
| CN213374840U (en) * | 2020-09-27 | 2021-06-08 | 山西工程技术学院 | Fire sprinkler device for unmanned aerial vehicle |
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