CN116999744A - Multi-bullet fire-extinguishing platform and fire-extinguishing method thereof - Google Patents

Abstract

The multi-bullet fire-extinguishing platform comprises a launch vehicle and a plurality of barrels arranged on the launch vehicle, wherein fire-extinguishing bullets are arranged in each barrel, a bullet locking mechanism is arranged at the muzzle of each barrel, mixed gas is filled in a bore, a rifling sensor is arranged at the tail of each barrel, and the rifling sensor is used for detecting the rifling value in the bore of each barrel; the fire extinguishing bomb is characterized in that a console is arranged on the launch vehicle and is respectively and electrically connected with the rifling sensor and the bomb locking mechanism, and the console is used for controlling the bomb locking mechanism to release corresponding fire extinguishing bombs according to the rifling value. According to the application, the fire extinguishing bomb is locked or released through the bomb locking mechanism, when the fire extinguishing bomb is heavier, the fire extinguishing bomb is released at a higher rifling value, and when the fire extinguishing bomb is lighter, the fire extinguishing bomb is released at a lower rifling value, so that the muzzle speeds of the fire extinguishing bombs of different bomb types (different in bomb weight) are adjusted, and therefore, the purpose that different bomb types have the same landing point is achieved, and the aim of rapidly extinguishing fire is achieved.

Description

Multi-bullet fire-extinguishing platform and fire-extinguishing method thereof

Technical Field

The application relates to the technical field of fire extinguishing equipment, in particular to a multi-bullet type fire extinguishing platform and a fire extinguishing method thereof.

Background

The muzzle velocity of the existing various fire extinguishing bombs depends on the emission energy and the projectile weight, and as the muzzle velocity of the fire extinguishing bomb is not adjustable, the ranges of different projectile types (different projectile weights) cannot be unified, the same drop point cannot be reached, namely, only a single projectile type can be used simultaneously in the same fire scene, and the requirement of high-efficiency fire extinguishing cannot be met.

Specifically, because the densities of fire extinguishing agents with different performances are different (such as dry powder and water-based fire extinguishing agents), the weights of fire extinguishing bombs with different varieties are different, and if the fire extinguishing bombs are launched on the same launching platform, the fire extinguishing bombs launched at the same launching angle cannot reach the same landing point. If the firing angle of the fire extinguishing gun is corrected to adjust the landing point before each fire extinguishing ball is fired, the fire extinguishing time is affected, and the aim of rapid fire extinguishing cannot be achieved.

Disclosure of Invention

Based on the above, the application aims to provide a multi-bullet fire-extinguishing platform and a fire-extinguishing method thereof, which can control the moment of discharging fire-extinguishing bullet according to the value of the hearth pressure so as to achieve the purpose of adjusting the muzzle speed of the fire-extinguishing bullet, thereby realizing the purpose of rapid fire-extinguishing by different bullet types (different bullet weights) with the same landing point.

In a first aspect, the application provides a multi-bullet fire-extinguishing platform, which comprises a launch vehicle and a plurality of barrels arranged on the launch vehicle, wherein each barrel is internally provided with a fire-extinguishing bullet, a bullet locking mechanism is arranged at a muzzle of the barrel, mixed gas is filled in a gun bore, and a rifling sensor is arranged at a gun tail and is used for detecting a rifling value in the gun bore of the barrel;

the fire extinguishing bomb is characterized in that a console is arranged on the launch vehicle and is respectively and electrically connected with the rifling sensor and the bomb locking mechanism, and the console is used for controlling the bomb locking mechanism to release corresponding fire extinguishing bombs according to the rifling value.

Compared with the prior art, the fire extinguishing bomb is locked or released through the bomb locking mechanism, when the fire extinguishing bomb is heavier, the fire extinguishing bomb is released at a higher rifling pressure value, and when the fire extinguishing bomb is lighter, the fire extinguishing bomb is released at a lower rifling pressure value, so that the muzzle speeds of the fire extinguishing bombs of different bomb types (different in bomb weight) are adjusted, and the purpose that different bomb types have the same landing point is achieved, so that the aim of rapidly extinguishing fire is fulfilled.

Further, the bullet locking mechanism comprises a switching component arranged at the muzzle of the barrel, a releaser body sleeved on the switching component, and a plurality of power components penetrating through the releaser body, wherein each power component is electrically connected with the console;

the power components are arranged in the releaser body in a circumferential array mode, the execution end of each power component is provided with a lock spring opening and closing block, and the power components can drive the lock spring opening and closing block to swing so that the lock spring opening and closing block locks or releases the fire extinguishing bomb.

Further, a locking position part or an opening and closing lock spring ring is sleeved on the fire extinguishing bomb, and the lock spring opening and closing block clamps the locking position part or the opening and closing lock spring ring.

Further, the locking part is a concave groove or a convex boss.

Further, the power assembly comprises a power cylinder arranged in the releaser body, a pull rod connected with the execution end of the power cylinder, and an adjusting pin connected with the pull rod;

the pull rod penetrates through the releaser body, and the tail end of the pull rod stretches into the lock spring opening and closing block to be connected with the adjusting pin;

the adjusting pin can slide in the lock spring opening and closing block so as to drive the lock spring opening and closing block to swing in the releaser body.

Further, one end of the releaser body is provided with a stepped through hole, and the outer wall of the other end of the releaser body is provided with a mounting frame;

a sliding groove is formed in the side wall of the mounting frame, and a radial perforation is formed in the outer wall of the mounting frame;

the power cylinder and the pull rod are located in the stepped through hole, the adjusting pin is located in the sliding groove, and the lock spring opening and closing block is located in the radial through hole.

Further, a buckling part is arranged on the inner side surface of the lock spring opening and closing block, and the buckling part clamps the locking position part or the opening and closing lock spring ring;

the outer side surface of the lock spring opening and closing block is provided with an accommodating groove, and the tail end of the pull rod is positioned in the accommodating groove;

the side wall of the lock spring opening and closing block is provided with a slide way, and the adjusting pin is positioned in the slide way.

Further, the slide comprises a vertical slide at the bottom and an inclined slide in communication with the vertical slide and having an end inclined outwardly.

Further, the mixed gas includes methane and air.

In a second aspect, the present application also provides a fire extinguishing method for a multi-bullet fire extinguishing platform, comprising the steps of:

step S10, determining a fire extinguishing scheme according to the condition of a fire scene so as to select the type combination of fire extinguishing bombs;

step S11, controlling a bullet locking mechanism at the muzzle of each barrel to unlock through a control console, loading each fire extinguishing bullet into the corresponding barrel, and controlling the bullet locking mechanism to lock the fire extinguishing bullet;

step S12, filling mixed gas into the bore of each barrel by adopting an inflation system;

step S13, setting corresponding release pressure through a control console according to the weight of each fire extinguishing bomb;

step S14, igniting according to the shooting sequence at preset interval time, and controlling the bullet locking mechanism to unlock by the control console when the pressure sensor at the tail of the gun detects that the pressure value in the gun bore reaches the corresponding release pressure;

and S15, each extinguishing bomb flies to the same target in the fire scene in sequence so as to throw the extinguishing agent, and the fire extinguishing operation is completed.

Drawings

FIG. 1 is a schematic diagram of a multi-bullet fire suppression platform according to the present application;

FIG. 2 is a schematic view of the structure of the fire extinguishing bomb according to the present application;

FIG. 3 is a schematic view of the latch mechanism of FIG. 2;

FIG. 4 is an exploded view of the release body of FIG. 3 and one of the power assemblies;

FIG. 5 is a schematic view of the structure of the release body of FIG. 3;

fig. 6 is a schematic structural view of the lock spring opening and closing block in fig. 3.

Description of main reference numerals:

the application will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Several embodiments of the application are presented in the figures. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Referring to fig. 1 to 3, a multi-bullet fire-extinguishing platform provided in an embodiment of the present application includes a launch vehicle 100, and a plurality of barrels 200 disposed on the launch vehicle 100, wherein fire-extinguishing bullets 300 are installed in each barrel 200, a bullet locking mechanism 400 is disposed at a muzzle of the barrel 200, mixed gas is filled in a bore, and a bore pressure sensor 500 is disposed at a tail of the barrel, and the bore pressure sensor 500 is used for detecting a bore pressure value in the bore of the barrel 200;

the launching vehicle 100 is provided with a control console 600, the control console 600 is respectively and electrically connected with the rifling sensor 500 and the bullet locking mechanism 400, and the control console 600 is used for controlling the bullet locking mechanism 400 to release the corresponding fire extinguishing bullet 300 according to the rifling value.

In the present application, the control console 600 adopts a PLC controller to realize a control function. When extinguishing a fire, the mixed gas provides power for the emission, locks or releases the fire extinguishing bomb 300 through the bomb locking mechanism 400, releases at a higher rifling value when the fire extinguishing bomb 300 is heavier, and releases at a lower rifling value when the fire extinguishing bomb 300 is lighter, so as to adjust the muzzle speeds of fire extinguishing bombs of different bomb types (different in bomb weight), thereby realizing that different bomb types have the same landing point, and achieving the purpose of quick fire extinguishing.

Specifically, after the ignition system at the tail of the barrel 200 is ignited, the mixed gas is completely combusted in the bore of the barrel 200, the gas temperature and the bore pressure in the bore are gradually reduced, and the muzzle speed of the fire extinguishing bomb 300 is adjusted by changing the bore pressure when the fire extinguishing bomb 300 is released. Such as when a fire extinguishing bomb with a heavy whole bomb (such as 38 kg) carrying water-based fire extinguishing agent is launched, and released at a higher rifling pressure; when the fire extinguishing bomb with the dry powder fire extinguishing agent carried is launched, the fire extinguishing bomb is lighter (such as 28 kg) and is released at a lower rifling pressure; finally, the purpose that the drop points of different bullets (heavy bullets or light bullets) are the same is achieved.

Referring to fig. 2 to 4, the lock-and-bullet mechanism 400 includes a switching assembly 41 disposed at the muzzle of the barrel 200, a releaser body 42 sleeved on the switching assembly 41, and a plurality of power assemblies 43 penetrating the releaser body 42, wherein each power assembly 43 is electrically connected with the console 600;

the power components 43 are arranged in the releaser body 42 in a circumferential array, and a lock spring opening and closing block 44 is arranged at an execution end of each power component 43, and the power components 43 can drive the lock spring opening and closing block 44 to swing, so that the lock spring opening and closing block 44 locks or releases the fire extinguishing bomb 300.

In the present application, the number of the power assemblies 43 is at least two for balancing the stress. The lock spring opening and closing block 44 is embedded in the releaser body 42, and is limited in the vertical and horizontal positions, and can only swing inside and outside, when in a vertical state, the fire extinguishing bomb 300 is locked, and when the top swings outwards, the fire extinguishing bomb 300 is released.

In a preferred embodiment of the present application, the fire extinguishing bomb 300 is provided with a locking portion or an opening and closing bomb ring 301, and the bomb opening and closing block 44 is used for locking the locking portion or the opening and closing bomb ring 700. Preferably, in order to avoid changing the existing fire extinguishing bomb structure, the opening and closing lock bomb ring 700 is directly sleeved on the fire extinguishing bomb 300 so as to be engaged with the lock bomb opening and closing block 44. The opening and closing lock ring 700 is set to an open and closed state in order to be conveniently installed on the fire extinguishing bomb 300.

Further, the locking part is a concave groove or a convex boss.

Referring to fig. 3 to 5, the power assembly 43 includes a power cylinder 431 provided in the release body 42, a pull rod 432 connected to an actuating end of the power cylinder 431, and an adjusting pin 433 connected to the pull rod 432;

the pull rod 432 is arranged in the releaser body 42 in a penetrating way, and the tail end of the pull rod extends into the lock spring opening and closing block 44 to be connected with the adjusting pin 433;

the adjustment pin 433 can slide in the lock spring opening and closing block 44 to drive the lock spring opening and closing block 44 to swing in the releaser body 42.

In the present application, when the power cylinder 431 is in the initial state, the lock spring opening and closing block 44 is in the vertical state, and locks the fire extinguishing bomb 300; when the power cylinder 431 drives the pull rod 432 to extend outwards, the adjusting pin 433 pushes the top of the lock spring opening and closing block 44 to swing outwards, so that the top of the lock spring opening and closing block 44 is in an outwards inclined state, and at this time, the fire extinguishing bomb 300 is released.

Referring to fig. 3 to 5, one end of the release body 42 is provided with a stepped through hole 421, and the outer wall of the other end is provided with a mounting frame 422;

a sliding groove 423 is arranged on the side wall of the mounting frame 422, and a radial perforation 424 is arranged on the outer wall;

the power cylinder 431 and the pull rod 432 are located in the stepped through hole 421, the adjusting pin 433 is located in the sliding groove 423, and the lock spring opening and closing block 44 is located in the radial through hole 424.

Referring to fig. 3 to 6, a fastening portion 441 is disposed on an inner side surface of the lock spring opening and closing block 44, and the fastening portion 441 is used for fastening the locking portion or the opening and closing lock spring ring 700;

the outer side surface of the lock spring opening and closing block 44 is provided with a containing groove 442, and the tail end of the pull rod 432 is positioned in the containing groove 442;

the side wall of the lock spring opening and closing block 44 is provided with a slide 443, and the adjusting pin 433 is positioned in the slide 443.

In the present application, when the adjusting pin 433 is located at the bottom of the slideway 443, the locking portion 441 locks the locking portion or the open-close lock ring 700 to lock the fire extinguishing bomb 300, and when the adjusting pin 433 is located at the top of the slideway 443, the locking portion releases the locking portion or the open-close lock ring 700 to release the fire extinguishing bomb 300.

In a preferred embodiment of the present application, the inner side surface of the lock cylinder opening and closing block 44 is an arc surface, so as to facilitate the surface fitting of the fire extinguishing bomb 300.

Referring to fig. 3 and 6, the chute 443 includes a vertical chute 4431 at the bottom, and an inclined chute 4432 communicating with the vertical chute 4431 and having an end inclined outward.

Specifically, the fire extinguishing bomb 300 is locked when the adjusting pin 433 is in the vertical slide 4431, and the fire extinguishing bomb 300 is released when the adjusting pin 433 is in the inclined slide 4432.

It is clear that the mixed gas comprises methane and air. In the application, methane is used as fuel, so that the method is more convenient to obtain compared with gunpowder solid fuel. And the production, assembly and transportation processes of the whole device are not filled with fuel gas, and the mixed gas of methane and air is filled when the device is in a fire-extinguishing site so as to ensure the safety of the production and transportation processes, and meanwhile, the launching site needs professional training so as to avoid safety accidents.

The application also provides a fire extinguishing method of the multi-bullet fire extinguishing platform, which comprises the following steps:

step S10, determining a fire extinguishing scheme according to the condition of a fire scene so as to select the type combination of fire extinguishing bombs;

step S11, controlling a bullet locking mechanism at the muzzle of each barrel to unlock through a control console, loading each fire extinguishing bullet into the corresponding barrel, and controlling the bullet locking mechanism to lock the fire extinguishing bullet;

step S12, filling mixed gas into the bore of each barrel by adopting an inflation system;

step S13, setting corresponding release pressure through a control console according to the weight of each fire extinguishing bomb;

step S14, igniting according to the shooting sequence at preset interval time, and controlling the bullet locking mechanism to unlock by the control console when the pressure sensor at the tail of the gun detects that the pressure value in the gun bore reaches the corresponding release pressure;

and S15, each extinguishing bomb flies to the same target in the fire scene in sequence so as to throw the extinguishing agent, and the fire extinguishing operation is completed.

Specifically, when the fire extinguishing is performed, if a plurality of fire extinguishing bombs (fire extinguishing agents with inhibition, cooling and isolation effects are respectively adopted) can be launched at the same time, different bomb types can be selected to be mixed for combination fire extinguishing according to different fire scene conditions, and the comprehensive efficacy of various fire extinguishing agents is exerted, so that the flexibility of fire extinguishing operation is improved, and the fire extinguishing effect is greatly improved.

The fire extinguishing method according to the present application will be described in detail with reference to the following embodiments.

1) Fire extinguishing bomb preparation

According to the preset fire extinguishing scheme of most fire scene conditions, the dry powder fire extinguishing bullet and the water-based fire extinguishing bullet 1 are prepared in common: 2 proportion are equipped with fire extinguishing bullet (other proportion can be used according to the type of local multiple fire), and are filled into corresponding fire extinguishing gun cars, and the gun muzzle speeds of the corresponding barrels of the dry powder fire extinguishing bullet and the water-based fire extinguishing bullet are set in a programmable manner for standby. The dry powder bullet is mainly used for choking and pressing the fire head to prevent the spread of the fire scene; the water-based bullet mainly cools and blocks the combustion matters.

2) Fire extinguishing bomb filling

The manual control hydraulic system unlocks the releaser, the fire extinguishing bomb is inserted into the corresponding gun barrel from the gun muzzle, and the manual control releaser locks the fire extinguishing bomb. And the charging system charges the mixed gas of methane and air into the chamber to complete the charging procedure. A prescribed release pressure is set on the programmable control console for different extinguishing bombs. And finishing the bullet preparation operation.

3) Preparation for transmission

After the gun carriage reaches the operation position, the gun carriage is placed in a position where the axis of the gun carriage deflects about 30 degrees to the left in the direction of the fire scene, the standing hoe is unfolded, and the gun carriage is adjusted to be horizontal; and (5) inflating the gun barrel, and completing gun launching preparation. And meanwhile, the reconnaissance and observation unmanned aerial vehicle flies to the upper position of the fire scene side, the coordinates of the fire scene are measured, the coordinate information of the fire scene, the coordinates of a gun carriage and the direction information are input into a gun control system, the gun control system automatically sets the throwing time information of a warhead for the fire extinguishing bomb, the direction angle and the high and low angle of the gun are adjusted to aim at the fire scene, and the gun enters a state to be emitted.

The on-site command sends out an emission instruction, and the unmanned aerial vehicle is used for observing the fire extinguishing effect through reconnaissance and sighting, so as to send out correction shooting data. Meanwhile, according to the conditions of fire fields (scale and category), the shooting sequence and quantity are determined, such as: 2 dry bullets followed by 4 water bullets (or 5 dry bullets followed by 10 water bullets).

4) Fire extinguishing operation

The gun control system fires according to firing sequence with 2 second interval, and the gun fires and fires, and the air in the bore and methane mixed gas deflagrates and produces high pressure and promote the projectile body motion, and the fuze releases the squat insurance. The projectile speed is tested by a fuze at the moment of the projectile exiting the muzzle, and the set time delay throwing time is corrected according to the projectile speed. After the projectile body flies 60m from the muzzle, the fuze creeping insurance is released; the fuze enters a priming state, the projectile flies above a fire scene, the fuze delays the throwing time, an ignition signal is output, the warhead is ignited to mix gas, the descent control device is started, the fire fighting is expanded and fried under the action of high-pressure gas, and the fire extinguishing agent is thrown to the fire scene, so that the fire extinguishing operation is realized.

In summary, the application has the following advantages:

(1) The barrel gun principle and the conventional energy power are utilized to finish the large-caliber multi-tube fire extinguishing bomb launching, the characteristics of multi-tube rocket guns are inherited, and the advantages of high barrel gun precision and large-angle curved firing are exerted;

(2) After the conventional energy power multi-variety fire extinguishing bomb combined fire extinguishing technology is used for emission and ignition, the pressure in the hearth is gradually reduced, and the hearth outlet time of the fire extinguishing bomb is controlled through a control console, so that the purpose of adjusting the muzzle speed of the fire extinguishing bomb is achieved, the same drop point function of different bomb types (different bomb weights) is realized, multiple bomb types (such as solid fire extinguishing agent or water-based fire extinguishing agent) can be carried out on a single platform in a mixed manner, and high-efficiency combined ("multi-bomb type and same drop point") fire extinguishing is realized;

(3) The large-capacity ultra-caliber intelligent fire extinguishing bomb technology is adopted, the fire extinguishing bomb is continuously launched, a plurality of fire extinguishing agents are delivered to the same fire area in a large-capacity combined mode in a short time, and an overwhelming effect is achieved on fire scene extinguishment.

In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and the same or similar parts between the embodiments are referred to each other. And the above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. The utility model provides a many kinds of bullet fire extinguishing platform, includes the launching wagon, and locates a plurality of barrels on the launching wagon, its characterized in that: fire extinguishing bombs are arranged in each barrel, a bullet locking mechanism is arranged at the muzzle of each barrel, mixed gas is filled in the bore, a rifling sensor is arranged at the tail of each barrel, and the rifling sensor is used for detecting the rifling value in the bore of each barrel;

the fire extinguishing bomb is characterized in that a console is arranged on the launch vehicle and is respectively and electrically connected with the rifling sensor and the bomb locking mechanism, and the console is used for controlling the bomb locking mechanism to release corresponding fire extinguishing bombs according to the rifling value.

2. The multi-bullet fire extinguishing platform according to claim 1, wherein the bullet locking mechanism comprises a switching component arranged at a muzzle of the barrel, a releaser body sleeved on the switching component, and a plurality of power components penetrating through the releaser body, wherein each power component is electrically connected with the console;

the power components are arranged in the releaser body in a circumferential array mode, the execution end of each power component is provided with a lock spring opening and closing block, and the power components can drive the lock spring opening and closing block to swing so that the lock spring opening and closing block locks or releases the fire extinguishing bomb.

3. The multi-bullet fire extinguishing platform according to claim 2, wherein the fire extinguishing bullet is provided with a locking part or an opening and closing lock bullet ring in a sleeved mode, and the lock bullet opening and closing block clamps the locking part or the opening and closing lock bullet ring.

4. A multi-bullet fire suppression platform according to claim 3, wherein the capture is a concave groove or a convex boss.

5. The multi-fingered fire suppression platform of claim 2, wherein the power assembly comprises a power cylinder disposed in the release body, a pull rod connected to an actuation end of the power cylinder, and an adjustment pin connected to the pull rod;

the pull rod penetrates through the releaser body, and the tail end of the pull rod stretches into the lock spring opening and closing block to be connected with the adjusting pin;

the adjusting pin can slide in the lock spring opening and closing block so as to drive the lock spring opening and closing block to swing in the releaser body.

6. The multi-bullet fire extinguishing platform according to claim 5, wherein one end of the releaser body is provided with a stepped through hole, and the outer wall of the other end is provided with a mounting frame;

a sliding groove is formed in the side wall of the mounting frame, and a radial perforation is formed in the outer wall of the mounting frame;

the power cylinder and the pull rod are located in the stepped through hole, the adjusting pin is located in the sliding groove, and the lock spring opening and closing block is located in the radial through hole.

7. The multi-bullet fire extinguishing platform according to claim 6, wherein the inner side surface of the lock bullet opening and closing block is provided with a buckling part, and the buckling part is used for clamping the locking position part or the opening and closing lock bullet ring;

the outer side surface of the lock spring opening and closing block is provided with an accommodating groove, and the tail end of the pull rod is positioned in the accommodating groove;

the side wall of the lock spring opening and closing block is provided with a slide way, and the adjusting pin is positioned in the slide way.

8. The multi-fingered fire suppression platform of claim 7, wherein the chute comprises a vertical chute at the bottom and a sloped chute in communication with the vertical chute and sloped outwardly at the end.

9. The multi-fingered fire suppression platform of any one of claims 1-8, wherein the mixed gas comprises methane and air.

10. The fire extinguishing method of the multi-bullet fire extinguishing platform is characterized by comprising the following steps of:

step S10, determining a fire extinguishing scheme according to the condition of a fire scene so as to select the type combination of fire extinguishing bombs;

step S11, controlling a bullet locking mechanism at the muzzle of each barrel to unlock through a control console, loading each fire extinguishing bullet into the corresponding barrel, and controlling the bullet locking mechanism to lock the fire extinguishing bullet;

step S12, filling mixed gas into the bore of each barrel by adopting an inflation system;

step S13, setting corresponding release pressure through a control console according to the weight of each fire extinguishing bomb;

step S14, igniting according to the shooting sequence at preset interval time, and controlling the bullet locking mechanism to unlock by the control console when the pressure sensor at the tail of the gun detects that the pressure value in the gun bore reaches the corresponding release pressure;

and S15, each extinguishing bomb flies to the same target in the fire scene in sequence so as to throw the extinguishing agent, and the fire extinguishing operation is completed.