CN117582622A - Combined fire extinguishing system and method based on unmanned aerial vehicle platform - Google Patents
Combined fire extinguishing system and method based on unmanned aerial vehicle platform Download PDFInfo
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- CN117582622A CN117582622A CN202311671206.2A CN202311671206A CN117582622A CN 117582622 A CN117582622 A CN 117582622A CN 202311671206 A CN202311671206 A CN 202311671206A CN 117582622 A CN117582622 A CN 117582622A
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- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000002829 reductive effect Effects 0.000 abstract description 8
- 239000003795 chemical substances by application Substances 0.000 description 64
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- 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
- 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
- A62C3/0292—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires by spraying extinguishants directly into the fire
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
- B64U2101/47—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting for fire fighting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
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- Forests & Forestry (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The application relates to the technical field of fire control, in particular to a combined fire extinguishing system and method based on an unmanned aerial vehicle platform. The combined fire extinguishing system comprises an air fire extinguishing unit, a ground fire extinguishing unit and a command center, wherein the air fire extinguishing unit comprises a heavy unmanned aerial vehicle and a medium unmanned aerial vehicle, and the ground fire extinguishing unit comprises a fire extinguishing operation end, a fire extinguishing agent supply end, a field control end and a mobile terminal; the fire extinguishing operation end, the fire extinguishing agent supply end, the site control end and the mobile terminal are all carried by a firefighter in a fire extinguishing team. The three-line fire extinguishing device realizes the cooperation of the sky and the ground, the three-line fire extinguishing, the air fire extinguishing unit can extinguish the fire accurately in the first line and the second line, and the ground fire extinguishing teams can push and sweep in the third line to extinguish the residual fire and the re-burning hidden trouble; compared with the single soldier combat mode, the fire extinguishing device not only reduces the load of a single person, but also has the advantages of high fire extinguishing efficiency, long continuous combat time and reduced casualties.
Description
Technical Field
The application relates to the technical field of fire control, in particular to a combined fire extinguishing system and method based on an unmanned aerial vehicle platform.
Background
Forest fires are one of the major natural disasters threatening forest resources and ecological environments.
Conventional forest fire extinguishing is performed, a fire fighter is an individual fight, and one person carries all fire extinguishing equipment. Because the special conditions of mountain land are limited, the replenishment of fire extinguishing agent and the like is very difficult, each firefighter needs to travel and extinguish fire at the same time, so that the single load capacity is very limited, the conventional individual combat individuals carry heavy loads, the cooperation is less, the functions are repeated singly, the fire extinguishing time can only last for more than one minute, the time is very short, the completion of the fire extinguishing task in the limited replenishment and time can not be ensured, and the spread of forest fire can be difficult to timely and effectively prevented. In addition, forest fires can produce a large amount of dense smoke, can receive certain hindrance in the field of vision of fire fighter in dense smoke, and then lead to the fire fighter of individual combat to walk away easily, cause personnel's damage.
Accordingly, there is a need to provide a forest fire suppression system and method that is efficient in suppressing fires, that can be quickly replenished, and that promotes safety.
Disclosure of Invention
In order to improve forest fire extinguishing efficiency, provide the supply fast and promote the security performance, the application provides a combination formula fire extinguishing system and method based on unmanned aerial vehicle platform.
First aspect
The application provides a combination formula fire extinguishing systems based on unmanned aerial vehicle platform adopts following technical scheme:
a combination fire suppression system based on an unmanned aerial vehicle platform, comprising:
the combined fire extinguishing system is provided for a fire extinguishing team consisting of a plurality of firefighters to be used in cooperation with each other, and comprises:
the system comprises an aerial fire extinguishing unit, a ground fire extinguishing unit and a command center, wherein the command center is respectively in communication connection with the aerial fire extinguishing unit and the ground fire extinguishing unit; the aerial fire extinguishing unit comprises a heavy unmanned aerial vehicle for extinguishing fire and a medium unmanned aerial vehicle for assisting the heavy unmanned aerial vehicle in extinguishing fire and transporting fire-fighting materials; the ground fire extinguishing unit includes:
the fire-extinguishing device comprises a fire-extinguishing operation end, a fire-extinguishing device and a fire-extinguishing device, wherein the fire-extinguishing operation end is provided with a fire gun;
the fire extinguishing agent supply end is provided with a fire extinguishing agent storage;
the mobile terminal sends a signal of the position where the mobile terminal is located and the needed fire-fighting material supply to the command center;
the on-site control end comprises a mobile power supply, a motor, a delivery pump connected with the motor, a fire extinguishing agent distributor and a motor controller for controlling the output lift and flow of the delivery pump; the input end of the delivery pump is communicated with the fire extinguishing agent storage through an input hose, the output end of the delivery pump is connected with the input end of the fire extinguishing agent distributor, and the output end of the fire extinguishing agent distributor is communicated with the fire extinguishing gun of each fire extinguishing operation end through an output hose respectively;
each fire extinguishing operation end, fire extinguishing agent supply end, mobile terminal and site control end are correspondingly carried by a fire fighter, and the fire fighters form a ground fire extinguishing team; the fire extinguishing operation end and the fire extinguishing agent supply end are both arranged in a range of 5-10 m in radius by taking the site control end as a circle center.
By adopting the technical scheme, the integrated linkage of the air and the ground is realized, the air fire extinguishing unit can extinguish the fire accurately in a first line and a second line, and the ground fire extinguishing team can extinguish the residual fire and the small fire by cooperating with the air fire extinguishing unit in a three-line propulsion and sweeping manner, so that the re-burning hidden danger of a fire scene is eliminated; and unmanned aerial vehicle can send investigation, continuously monitor the information of scene of a fire to command center in real time, be convenient for command center and issue accurate fire extinguishing instruction and supplies replenishment in time, improve the duration of combat, reduce casualties and supplies consumption. In addition, the fire extinguishing teams formed by a plurality of firefighters are mutually matched for use when extinguishing fire, under the limitation of special conditions of mountain lands, the load of each firefighter in the advancing fire extinguishing process is in a reasonable range, the firefighters perform optimal allocation, and the firefighters are mutually matched. The fire extinguishing operation end and the fire extinguishing agent supply end are both arranged in a range of 5-10 m by taking the site control end as a circle center. By adopting the technical scheme, in the process of fire extinguishment, firefighters at the field control end are used as circle centers, other members are all located in the range of 5-10 m in radius to fight, and the mode can greatly reduce risks of loss, injury and the like of single firefighters under the scene of dense smoke diffusion, so that the safety of firefighters in fire extinguishment is remarkably improved.
Preferably, the mobile terminal is provided with a positioning module and a signal transmitting module; the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle are respectively provided with a signal receiving module, and the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle receive command signals sent by the command center and travel to a fire scene to extinguish fire, and convey and put in fixed points required fire-fighting materials.
By adopting the technical scheme, when a forest fire is received, the heavy unmanned aerial vehicle runs to a fire scene, and the fire source is precisely struck on the first line, so that the fire source is effectively extinguished, and the fire is suppressed; the medium-sized unmanned aerial vehicle assists the heavy unmanned aerial vehicle to extinguish and cool the fire scene in a second line of the fire scene, and blocks the spread of the fire scene; meanwhile, by means of dispatching of a command center, firefighters of a small fire extinguishing team continuously sweep on three lines of a fire scene, extinguish scattered afterfire and prevent afterburning.
Preferably, the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle are provided with cameras, the cameras are electrically connected with the command center, and the cameras can shoot fire information and send the fire information to the command center.
Through adopting above-mentioned technical scheme, realize the interactive communication of aerial fire extinguishing unit and ground fire extinguishing unit through the command center, the command center is according to unmanned aerial vehicle investigation shooting scene of a fire information judgement and decision-making to through mobile terminal's location information and required replenishment material information, control medium-sized unmanned aerial vehicle point-to-point transportation and put in the replenishment material, and the firefighter that has the special distribution material in time supplements the material for each member, support to put out a fire, further promote fire extinguishing efficiency.
Preferably, the effective load capacity of the heavy unmanned aerial vehicle is greater than 250kg, and the effective load capacity of the medium unmanned aerial vehicle is 50-250 kg.
Preferably, the medium-sized unmanned aerial vehicle is provided with a winch, a rope and a lifting lock piece, wherein the winch is used for throwing fire-fighting materials, one end of the rope is connected with a transmission shaft of the winch, the other end of the rope is connected with the lifting lock piece, and the lifting lock piece is connected with the fire-fighting materials;
preferably, the lifting lock piece is provided with an electromagnet, and a magnetic piece is magnetically connected below the electromagnet; the fire-fighting material includes:
the material box is fixedly connected with the magnetic piece, and a shock pad is arranged on one side, close to the magnetic piece, of the material box;
the turnover box is fixedly connected with the material box, the weight of the material box is larger than that of the turnover box, an air cavity is formed in the turnover box, and the turnover box can drive the material box to turn by using gravity.
The fire-fighting material further comprises:
the speed reducing piece is connected with the overturning box and used for reducing the falling speed of the material box.
Through adopting above-mentioned technical scheme, adopt electric winch and rope to descend the mode and put in the target area with the fire control material, improve supply efficiency. The shock pad can play certain cushioning effect, and protection supplies are prevented from violent vibration. In addition, because the material case weight is greater than the upset case for in the delivery process, the material case keeps decurrent orientation for the upset case, and then has ensured the stable throwing of fire control material. The speed reducer can effectively control the falling speed of materials, avoid the violent falling of the material box and reduce the possibility of damage to the materials. In addition, the use of the speed reducing part not only can protect materials, but also can protect firefighters below to improve the safety of fire extinguishing actions.
Optionally, the both sides of upset case still are provided with first slider and second slider, the bolster includes:
the first sliding plate is provided with a first limiting chute, and the first sliding block is in sliding fit with the first limiting chute;
the second sliding plate is hinged to the first sliding plate, a second limiting sliding groove is formed in the second sliding plate, the second sliding block is in sliding fit with the second limiting sliding groove, and the total area of the first sliding plate and the second sliding plate on the same plane is larger than the cross section area of the overturning box, which is close to the magnetic piece.
Through adopting above-mentioned technical scheme, because first slide and first slide are located the total area of coplanar and are greater than the sectional area of upset case, at the in-process that the material case falls, first slide and second slide can be along with the falling process relative slip and open gradually, increase with the area of contact of air, utilize air resistance to make the material case fall speed obtain suitably slowing down to realize the effect of slowing down.
Optionally, the fire-fighting material further includes:
the water bag is arranged between the overturning box and the speed reducing piece, the water bag is fixedly connected with the overturning box, a tip is further arranged on the first sliding plate and the second sliding plate, and the speed reducing piece falls to drive the tip to break the water bag.
By adopting the technical scheme, as the water bag is arranged between the overturning box and the speed reducing piece, the first sliding plate and the second sliding plate can drive the tip to break the water bag when the speed is reduced and fly, and water is released. Through setting up pointed end and water pocket not only can realize the speed reduction flight of speed reduction spare, can also realize the effect that the precipitation was put out a fire when fire control supplies.
Second aspect
The application provides a combined fire extinguishing method of a combined fire extinguishing system based on an unmanned aerial vehicle platform, which adopts the following technical scheme:
a combined fire extinguishing method of a combined fire extinguishing system based on an unmanned aerial vehicle platform, comprising the following steps:
s1, when a command center receives forest fire, controlling an aerial fire extinguishing unit to travel to a fire scene, accurately extinguishing the fire source on a first line of the fire scene by a heavy unmanned aerial vehicle, extinguishing the fire source, suppressing the fire, and simultaneously transmitting the fire scene information to the command center in real time for judgment and decision; the medium-sized unmanned aerial vehicle is used for assisting the heavy unmanned aerial vehicle to extinguish and cool the fire scene in a second line of the fire scene, blocking the spread of fire, and transporting and throwing needed fire-fighting materials to the ground fire extinguishing unit;
s2, performing collaborative combat among firefighters of a ground fire-extinguishing team, continuously pushing and sweeping in a fire scene by a third-line collaborative air fire-extinguishing unit in the fire scene, extinguishing scattered residual fires and preventing re-burning; the fire fighter at the fire extinguishing agent supply end carries a fire extinguishing agent storage to provide fire extinguishing agent for the fire fighter at other fire extinguishing operation ends; a firefighter control delivery pump carrying a site control end respectively delivers the fire extinguishing agent to a fire gun carried by a firefighter at each fire extinguishing operation end through a fire extinguishing agent distributor and an output hose so as to extinguish the fire; during the traveling fire extinguishing process, taking a firefighter carrying the field control end as a circle center, and performing fight by other firefighters carrying the fire extinguishing operation end and the fire extinguishing agent supply end which are all located within the range of 5-10 m in radius;
s3, firefighters carrying mobile terminals send out signals of positions and needed firefighting materials to a command center in time according to on-site fire conditions and material use conditions, then the command center sends out command signals to the medium-sized unmanned aerial vehicle, the firefighting materials are put in at fixed points, firefighters of the mobile terminals are uniformly distributed to other firefighters, and needed firefighting materials are timely supplemented and distributed.
Preferably, a preferred combination mode of the fire extinguishing team consists of 6 firefighters, namely 3 firefighters at the fire extinguishing operation end, 2 firefighters at the fire extinguishing agent supply end, 1 firefighter at the mobile terminal and 1 firefighter at the site control end. Through adopting above-mentioned technical scheme to reasonable distribution firefighter reaches optimal configuration, and firefighter's own job at all, mutually support, and then realize that fire extinguishing efficiency is high, last long effect of fight time.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the combined fire extinguishing system of the invention realizes the synergy of the heaven and earth for the first time and three-wire fire extinguishing: the heavy fire-fighting unmanned aerial vehicle is used for tapping and suppressing fires (the risk level is the most dangerous level) on a first line of a fire scene, the medium and heavy fire-fighting unmanned aerial vehicle is used for efficiently extinguishing fires (the risk level is the medium risk level) on a second line of the fire scene, a ground fire-extinguishing team matched with the medium and heavy fire-fighting unmanned aerial vehicle sweeps residual fires and tail fires after the second line of the fire scene is extinguished on a third line of the fire scene, the potential re-burning hazards (the risk level is the secondary risk level) are eliminated, and the ground team has continuous combat capability (the risk level: the secondary risk level) under the support of material supply of the medium and heavy unmanned aerial vehicle; under the limitation of special conditions of mountain lands, the combination of the ground fire-extinguishing teams in the traveling fire-extinguishing process is a multi-person cooperative operation, namely, the fire-extinguishing operation end, the fire-extinguishing agent supply end, the mobile terminal and the firefighters at the site control end perform their own roles, so that the load of the firefighters at the fire-extinguishing operation end is reduced, and the whole fire-extinguishing teams are optimally configured, and compared with the single-soldier fire-extinguishing mode, the combined fire-extinguishing system has the advantages of high fire-extinguishing efficiency, wide fire-extinguishing coverage and long continuous operation time;
2. in the fire extinguishing team combination, other members are positioned in the range of 5-10 m radius by taking the firefighter at the site control end as the center of a circle in the running fire extinguishing process, and the mode can greatly reduce the risks of losing, injuring and the like of a single firefighter under the scene of dense smoke diffusion, so that the fire extinguishing safety of the firefighter is obviously improved;
3. the interaction communication between the unmanned aerial vehicle and the mobile terminal is carried out through the command center, so that the integrated linkage of the air and the ground is realized, the air fire extinguishing unit can extinguish the fire accurately in a first line and a second line, and the ground fire extinguishing teams cooperate with the air fire extinguishing unit to push and sweep the residual fire and the small fire in a third line to extinguish the re-burning hidden trouble of the fire scene; and unmanned aerial vehicle can detect, continuously monitor the scene of a fire and send information to command center in real time, be convenient for command center and in time down accurate fire extinguishing instruction and supplies replenishment, further improve the duration of combat, reduce casualties and supplies consumption.
Drawings
Fig. 1 is a schematic diagram of a combined fire suppression system based on an unmanned aerial vehicle platform according to embodiment 1 of the present application;
FIG. 2 is a schematic view of the floor fire extinguishing unit of this embodiment 1;
FIG. 3 is a block diagram of the field control terminal in example 1;
FIG. 4 is a side view of the fire-fighting material of example 2;
FIG. 5 is a schematic view of the fire-fighting material of example 2;
FIG. 6 is a schematic diagram showing the overturning of fire-fighting materials in example 2;
fig. 7 is a reverse side view of the fire-fighting material of example 2.
Reference numerals illustrate: 1. a fire extinguishing operation end; 101. a fire fighter; 102. multifunctional fire-fighting gun; 103. a backpack fire extinguishing agent supply assembly; 1031. a motor controller; 1032. a motor; 1033. a transfer pump; 1034. a fire suppressant dispenser; 1035. a back carrying frame; 1036. the battery can be replaced quickly; 104. back pumpers; 105. an output hose; 106. an intelligent tablet personal computer with a cellular communication satellite communication positioning navigation function; 107. a distributor; 108. a fire extinguishing agent storage; 109. a weight-carrying member; 110. an input hose; 2. medium-sized unmanned aerial vehicle; 3. heavy unmanned aerial vehicle; 4. an electromagnet; 41. a magnetic member; 5. a mobile terminal; 6. fire-fighting supplies; 61. a material box; 62. a turnover box; 621. a first slider; 622. a second slider; 63. a speed reducing member; 631. a first slide plate; 632. the first limiting chute; 633. a second slide plate; 634. the second limiting chute; 64. a water bag; 65. a tip.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-7.
The embodiment of the application discloses a combination formula fire extinguishing systems based on unmanned aerial vehicle platform:
example 1
Referring to fig. 1-3, a combined fire extinguishing system based on an unmanned aerial vehicle platform comprises an air fire extinguishing unit, a ground fire extinguishing unit and a command center, wherein the command center is respectively in communication connection with the air fire extinguishing unit and the ground fire extinguishing unit; the aerial fire extinguishing unit comprises a heavy unmanned aerial vehicle 3 used for extinguishing a fire and a medium unmanned aerial vehicle 2 used for assisting the heavy unmanned aerial vehicle 3 in extinguishing the fire and transporting fire-fighting materials. When the command center receives forest fire, the air fire extinguishing unit is controlled to rush to a fire scene, the heavy unmanned aerial vehicle 3 accurately extinguishes the fire source at the first line of the fire scene, extinguishes the fire source, suppresses the fire, and simultaneously transmits the fire scene information to the command center in real time for judgment and decision; the medium-sized unmanned aerial vehicle 2 assists the heavy unmanned aerial vehicle 3 to extinguish and cool the fire in a second line of the fire scene, blocks the spread of the fire, and transports and puts in needed fire-fighting materials to the ground fire extinguishing unit; the ground fire extinguishing team sweeps the residual fire and the tail fire after two-line fire extinguishment in the third line of the fire scene to eliminate the re-burning hidden trouble.
Referring to fig. 1 and 2, the ground fire extinguishing unit includes: a fire extinguishing operation end 1, a fire extinguishing agent supply end, a site control end and a mobile terminal 5. The fire extinguishing operation end 1, the fire extinguishing agent supply end, the site control end and the mobile terminal 5 are carried on the back of a firefighter in a fire extinguishing team, wherein:
referring to fig. 2, the fire-extinguishing operation end 1 is provided with a fire-fighting gun, and a firefighter (referred to as a "fire-extinguisher 101") of the fire-extinguishing operation end 1 wears a combat protective suit, holds the fire-fighting gun in a hand, and can switch between two working states of long-distance direct current and short-distance water mist to extinguish fire according to fire conditions.
Referring to fig. 2, the fire extinguishing agent supplying terminal for supplying a replenishment fire extinguishing agent to the fire extinguishing work terminal 1 according to an on-site fire is provided with an L fire extinguishing agent storage 108 storing the fire extinguishing agent, each fire extinguishing agent supplying terminal is carried by a fire fighter (referred to as "load person 109"), and the fire extinguishing agent may be a water-based fire extinguishing agent, a foam extinguishing agent, aerogel, or perfluoro hexanone, etc.
Referring to fig. 1-3, the field control terminal includes a mobile power supply, a motor 1032, a delivery pump 1033 connected to the motor 1032, a fire extinguishing agent dispenser 1034, and a motor controller 1031 for controlling the output lift and flow of the delivery pump 1033; the input end of the delivery pump 1033 is communicated with the fire extinguishing agent storage 108 through a delivery hose, the output end of the delivery pump 1033 is connected with the input end of the fire extinguishing agent distributor 1034, the output end of the fire extinguishing agent distributor 1034 is respectively communicated with the fire extinguishing guns of each fire extinguishing operation end 1 through the delivery hose 105, the fire extinguishing agent distributor 1034 is used for distributing fire extinguishing agent, the output flow of the delivery pump 1033 can be controlled, the fire extinguishing agent is reasonably guided to each fire extinguishing operation end 1 through the delivery hose, the rapid treatment of different fire extinguishing targets is realized, and the fire extinguishing efficiency is improved; the output lift and flow of the delivery pump 1033 can be controlled by adjusting the output parameters of the motor controller 1031 so as to meet the requirements of different fire fighting scenes. In addition, the fire extinguisher 101 only needs to wait for the fire extinguishing agent provided by the conveying hose at the fire extinguishing place, does not need to carry heavy fire extinguishing agent everybody, and ensures that the replenishing process is quicker and more efficient through the optimal configuration of the fire extinguishing system, thereby saving time and enhancing the fire extinguishing capability.
Referring to fig. 1-3, the site control end is carried by a fire fighter (referred to as "back pumper 104"), the site control end is further provided with a carrying frame 1035, and the motor controller 1031, the motor 1032, the mobile power supply, the delivery pump 1033, the fire extinguishing agent dispenser 1034 and other components are all provided on the carrying frame 1035 and carried by the back pumper 104. Preferably, the mobile power supply is a rechargeable battery or a detachable battery, so that power can be supplied to power equipment such as the motor 1032, and the mobile power supply is convenient to replace and supplement.
Referring to fig. 1-3, a mobile terminal 5 is provided with a positioning module and a signal transmitting module, and the mobile terminal 5 can send a material demand and a positioning signal to a command center; the heavy unmanned aerial vehicle 3 and the medium unmanned aerial vehicle 2 are respectively provided with a signal receiving module, and the heavy unmanned aerial vehicle 3 and the medium unmanned aerial vehicle 2 receive command signals sent by the command center and travel to a fire scene to extinguish fire, and convey and put in fixed points required fire-fighting materials. Specifically, the mobile terminal 5 is an intelligent tablet computer 106 with a cellular communication satellite communication positioning navigation function, a firefighter carrying the mobile terminal 5 is called as a distributor 107, the distributor 107 sends the fire extinguishing agent, a replaceable mobile power supply, food supplies and other material demands and positioning signals to a command center by means of the mobile terminal 5, and the command center controls the medium-sized unmanned aerial vehicle 2 to carry out point-to-point transportation, deliver fire control materials, and uniformly distributes the fire control materials to other firefighters by the distributor 107, and timely supplements and distributes the required fire control materials.
Referring to fig. 1, further, the heavy unmanned aerial vehicle 3 and the medium unmanned aerial vehicle 2 are provided with cameras (not shown in the figure), and the cameras can shoot fire information and upload the fire information to the command center in real time, so that the command center can conveniently judge and decide, and give a fire extinguishing instruction. As the preferred implementation mode, the unmanned aerial vehicle comprises a heavy unmanned aerial vehicle 3 and a medium-sized unmanned aerial vehicle 2, the effective load capacity of the heavy unmanned aerial vehicle 3 is greater than 250kg, and the effective load capacity of the medium-sized unmanned aerial vehicle 2 is 50-250 kg. When the command center receives forest fire, the heavy unmanned aerial vehicle 3 runs to a fire scene, and the fire source is precisely struck on the first line, so that the fire source is effectively extinguished, and the fire is suppressed; the medium-sized unmanned aerial vehicle 2 assists the heavy unmanned aerial vehicle 3 to extinguish and cool the fire scene in a second line of the fire scene, and blocks the spread of the fire scene; meanwhile, by means of dispatching of a command center, firefighters of a small fire extinguishing team continuously sweep on three lines of a fire scene, extinguish scattered afterfire and prevent afterburning.
In this embodiment, as a preferred embodiment, three fire extinguishing operation ends 1 are provided, two fire extinguishing agent supply ends are provided, and the fire extinguishing operation ends 1 and the fire extinguishing agent supply ends are located within a range of 5-10 m in radius with the site control end as a center of a circle. The preferred combination arrangement of the ground fire-extinguishing teams thus formed is the firefighter, the firefighter at the fire-extinguishing operation end 1, the firefighter at the fire-extinguishing agent supply end, the firefighter at the mobile terminal 5 and the firefighter at the field control end, respectively. In the scene of dense smoke diffusion, the mode can greatly reduce risks of losing, injuring and the like of a single firefighter, so that the safety of the firefighter in extinguishing the fire is obviously improved. In addition, in the combination of the fire extinguishing teams, the firefighters perform their own functions, so that the fire extinguishing teams can be optimally configured while the load of the firefighters at the fire extinguishing operation end 1 is reduced, and the fire extinguishing teams have the advantages of high fire extinguishing efficiency, wide fire extinguishing coverage range and long continuous combat time.
Compared with the traditional individual combat mode, the combined fire extinguishing system has the advantages of high fire extinguishing efficiency, wide fire extinguishing coverage range and long continuous combat time. On the one hand, through command center dispatching, the integrated linkage of the air and the ground is realized, the air unmanned aerial vehicle can extinguish the fire accurately on the first line and the second line, and the ground fire extinguishing team cooperates with the unmanned aerial vehicle to push and sweep on the third line to extinguish the residual fire and the small fire, so as to eliminate the re-burning hidden trouble of the fire scene; on the other hand, through the system, the fire fighters 101, the back pump staff 104, the load staff 109 and the distributor 107 in the fire extinguishing team have their own functions and are mutually matched, so that the load of the fire fighters at the fire extinguishing working end 1 is reduced, the whole fire extinguishing team is optimally configured, and the safety of the fire fighters in fire extinguishing is improved. In addition, unmanned aerial vehicle can detect, continuously monitor the scene of a fire and send the information to command center in real time, and the command center of being convenient for is issued accurate fire extinguishing instruction and supplies replenishment in time, improves the duration of combat, reduces casualties and supplies consumption.
The implementation principle of the embodiment 1 is as follows:
referring to fig. 1-3, when a forest fire is received, the heavy unmanned aerial vehicle 3 runs to a fire scene, and precisely strikes the fire source on the first line, so that the fire source is effectively extinguished, and the fire is suppressed; the medium-sized unmanned aerial vehicle 2 assists the heavy unmanned aerial vehicle 3 to extinguish and cool the fire scene in a second line of the fire scene, and blocks the spread of the fire scene; meanwhile, by means of dispatching of a command center, firefighters of a small fire extinguishing team continuously sweep on three lines of a fire scene, extinguish scattered afterfire and prevent afterburning. In the fire extinguishing team, each fire extinguishing operation end 1 is provided with a fire fighter 101, so that the fire fighter is ensured to wear the combat protective clothing, and the fire gun is held by hand. The field control end is carried by the backing pump operator 104 and includes, among other things, a mobile power supply, a motor 1032, a delivery pump 1033, and a fire suppression agent dispenser 1034. The backing pump operator 104 needs to ensure proper operation of the equipment and adjust the output head and flow of the transfer pump 1033 as needed. The fire extinguishing agent supply is equipped with an L fire extinguishing agent reservoir 108, carried by an operator 109 who is specially responsible for carrying the fire extinguishing agent reservoir 108. The fire extinguishing agent supplying end needs to ensure that the storage is filled with enough fire extinguishing agent to be supplied to the fire extinguishing work end 1 for use. The fire fighter at the site control end controls the delivery pump 1033 to output a proper amount of fire extinguishing agent, and reasonably distributes the fire extinguishing agent into the fire fighter gun at each fire extinguishing operation end 1 through the delivery hose and the fire extinguisher distributor. The fire extinguisher 101 selects two working states of long-distance direct current or short-distance water mist according to the fire situation. Communication connection is established between the command center and the mobile terminal 5 as well as between the command center and the unmanned aerial vehicle, so that the command center can timely and accurately issue fire extinguishing commands and material throwing commands, and the unmanned aerial vehicle can be remotely controlled to operate.
Example 2
The difference between this embodiment and embodiment 1 is that the medium unmanned aerial vehicle 2 is provided with a hoist for throwing fire-fighting materials 6, a rope and a lifting lock, one end of the rope is connected with a transmission shaft of the hoist, the other end of the rope is connected with the lifting lock, and the lifting lock is connected with the fire-fighting materials 6. In this embodiment, the fire-fighting material 6 is put in by means of an electric hoist and rope drop. When the material is required to be delivered to a specific area or a target, the medium unmanned aerial vehicle 2 can hover in the air, and the winch controls the rope to lift, so that the fire-fighting material is delivered to the target area without the need for the firefighter to personally go to a supply center to acquire the material. Thus saving time and improving the replenishing efficiency.
Specifically, the effective length (height) of the winch is 25 m-50 m.
Example 3
Referring to fig. 4 to 7, the present embodiment is different from embodiment 2 in that the lift lock is provided with an electromagnet. The magnetic part 41 is magnetically connected below the electromagnet 4, and the magnetic part 41 is connected with the fire-fighting material 6. The command center is used for controlling the control of the fire-fighting material 6 by remotely controlling the attraction and release of the electromagnet 4 of the medium-sized unmanned aerial vehicle 2 to the magnetic piece 41.
Referring to fig. 7, the fire-fighting material 6 includes a material tank 61, a turn-over tank 62, a speed reducing member 63, and a water bag 64. The material box 61 includes necessary fire-fighting materials such as a quick-change battery 1036, food supplies, etc. for use with the fire-fighting lance. The material box 61 is fixedly connected with the magnetic member 41, and a shock pad (not shown) is provided on one side of the material box 61 near the magnetic member 41. The turnover box 62 is fixedly connected with the material box 61, the weight of the material box 61 is greater than that of the turnover box 62, an air cavity is formed in the turnover box 62, and when the turnover box 62 and the material box 61 are subjected to air drop, the weight of the material box 61 is far greater than that of the turnover box 62. So that the position of the center of gravity is close to the material box 61, and the material box 61 is driven to turn over step by step in the direction close to the ground.
Referring to fig. 5 and 6, when the unmanned aerial vehicle delivers the materials, the overturning box 62 drives the material box 61 to overturn and then to fall to the ground, and the shock pad is in quicker contact with the ground than the material box 61, so that a certain buffering effect can be achieved, and the materials are protected from severe vibration. In addition, since the material box 61 is heavier than the overturning box 62, the material box 61 always gets closer to the ground than the overturning box 62 in the delivery process, and falls more stably, so that stable delivery of the material is ensured.
The decelerating member 63 is fixedly connected to the overturning case 62, and is used for reducing the falling speed of the material case 61. Although the arrangement of the shock pad plays a certain role in buffering, the general flying height of the fire-fighting material 6 driven by the unmanned aerial vehicle above the forest is larger than that of rice, and if the fire-fighting material is directly put in, the falling speed of the material box 61 is too fast, so that the great momentum is brought, and the material box 61 is subjected to too great impact. The speed reducer 63 can effectively control the falling speed of the materials, avoid the severe landing of the material box 61, and reduce the possibility of damage to the materials. In addition, the use of the speed reducing member 63 not only can protect materials, but also can prevent the fire-fighting material 6 from falling too fast, thereby improving the safety of firefighters below.
Referring to fig. 6 and 7, the decelerator 63 includes a first slider 631 and a second slider 633. The two sides of the turnover box 62 are also provided with a first sliding block 621 and a second sliding block 622, the first sliding plate 631 is provided with a first strip-shaped limiting sliding groove 632, and the first sliding block 621 is in sliding fit with the first limiting sliding groove 632. The second sliding plate 633 is hinged to the first sliding plate 631, a second limiting sliding groove 634 with the same length and long strips is formed on the second sliding plate 633, and the second sliding block 622 is in sliding fit with the second limiting sliding groove 634. The first limiting chute 632 and the second limiting chute 634 are similar to a convex shape, the bottom is spherical, and the first sliding block 621 is clamped in the first limiting chute 632 and can be matched in a sliding and rolling manner. The first limiting sliding groove 632 and the second limiting sliding groove 634 have limiting functions, and the sliding block is prevented from shifting in the sliding process. Since the total area of the first slide plate 631 and the first slide plate 631 on the same plane is larger than the sectional area of the turn-over box 62 near the magnetic member 41, the first slide plate 631 and the second slide plate 633 can gradually expand along with the sliding of the turn-over box 62 during the falling process of the material box 61, and the contact area with the air is increased. By increasing the contact area between the fire-fighting material 6 and the air, the falling speed of the material box 61 is appropriately slowed down by the air resistance, thereby realizing the deceleration effect.
Referring to fig. 4 and 7, a water bag 64 is disposed between the turn box 62 and the decelerator 63, the water bag 64 is fixedly connected with the turn box 62, a tip 65 is further disposed on the first slide plate 631 and the second slide plate 633, and the decelerator 63 falls to drive the tip 65 to break the water bag 64, and release water for fire extinguishment. The tip 65 is driven to move when the speed reducing piece 63 is used for reducing speed so as to break the water bag 64, so that the speed reducing piece 63 can reduce speed, and the fire-fighting material 6 can be subjected to precipitation fire extinguishing by 6 weeks when the fire-fighting material 6 is simultaneously used.
The implementation principle of the embodiment 3 is as follows:
in order to facilitate timely throwing of the fire-fighting material 6 to personnel, and avoid damage to the material caused by too high rope falling speed. By providing the first slider 621, the second slider 622, and the turn-over box 62 in cooperation, the lowering speed of the material can be reduced, and the occurrence of severe impact and damage to the material can be avoided. Meanwhile, due to the falling process, the first slide plate 631 and the second slide plate 633 slide to the left and right sides due to self gravity and air resistance, and then the tip 65 is driven to break the water bag 64, and water in the water bag 64 is released to extinguish fire in the area where the firefighter is located.
Example 4
Referring to fig. 1 to 3, in a combined fire extinguishing method of a combined fire extinguishing system based on an unmanned aerial vehicle platform according to the present embodiment, the combined fire extinguishing system adopts the combined fire extinguishing system of embodiment 1 or embodiment 2.
The embodiment comprises the following steps:
s1, when a command center receives forest fire, controlling an aerial fire extinguishing unit to travel to a fire scene, accurately extinguishing the fire source on a first line of the fire scene by a heavy unmanned aerial vehicle 3, extinguishing the fire source, suppressing the fire, and simultaneously transmitting the fire scene information to the command center in real time for judgment and decision; the medium-sized unmanned aerial vehicle 2 assists the heavy unmanned aerial vehicle 3 to extinguish and cool the fire in a second line of the fire scene, blocks the spread of the fire, and transports and puts in needed fire-fighting materials to the ground fire extinguishing unit;
s2, performing collaborative combat among firefighters of a ground fire-extinguishing team, continuously pushing and sweeping in a fire scene by a third-line collaborative air fire-extinguishing unit in the fire scene, extinguishing scattered residual fires and preventing re-burning; wherein, the fire fighter at the fire extinguishing agent supply end carries a fire extinguishing agent storage 108 for providing fire extinguishing agent for the fire fighter at other fire extinguishing operation end 1; the firefighter control delivery pump 1033 carrying the on-site control end delivers the fire extinguishing agent through the fire extinguishing agent dispenser 1034 and the delivery hose 105, respectively, to the firefighter guns carried by the firefighters of each of the fire-extinguishing work ends 1 for extinguishing a fire; during the traveling fire extinguishing process, taking a firefighter carrying the field control end as a circle center, and performing combat by other firefighters carrying the fire extinguishing operation end 1 and the fire extinguishing agent supply end within the range of 5-10 m;
s3, the firefighters carrying the mobile terminal 5 send out signals of positions and needed firefighting materials to the command center in time according to the scene fire conditions and the material use conditions, then the command center sends out command signals to the medium-sized unmanned aerial vehicle 2, the firefighting materials are put in fixed points, the firefighters of the mobile terminal 5 are uniformly distributed to other firefighters, and the needed firefighting materials are timely supplemented and distributed.
Therefore, the invention realizes the integral linkage of the ground in the air, and the fire extinguishing unit in the air can extinguish fire accurately in the first line and the second line, thus pressing fire; the ground fire extinguishing teams cooperate with the air fire extinguishing unit to put out the afterfire and small fire by three-wire propulsion and sweeping, so as to eliminate the hidden trouble of re-burning in the fire scene; in the process of traveling fire extinguishing, the combination of the ground fire extinguishing teams is a multi-person collaborative operation, namely, the fire extinguishing operation end 1, the fire extinguishing agent supply end, the mobile terminal 5 and the firefighters of the field control end perform their own roles, so that the fire extinguishing teams are optimally configured while the load of the fire extinguishing operation end 1 firefighters is reduced, and compared with the mode of individual fire extinguishing, the combined fire extinguishing has the advantages of high fire extinguishing efficiency, wide fire extinguishing coverage, long continuous operation time and reduced casualties and material consumption.
The fire extinguishing agent dispenser 1034, the mobile terminal 5 and the unmanned aerial vehicle in the above embodiment are all devices purchased on the market, and can be selected or customized according to actual needs, in this patent, we only use the fire extinguishing agent dispenser 1034, the fire extinguishing agent dispenser, the mobile terminal 5 and the unmanned aerial vehicle, but do not improve the structure and the function of the fire extinguishing agent dispenser 1034, the installation mode and the electrical connection mode, so long as the person skilled in the art performs debugging operation according to the requirements of the use specification of the fire extinguishing agent dispenser 1034, and no further description is given here.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (8)
1. A combination formula fire extinguishing systems based on unmanned aerial vehicle platform, its characterized in that: the fire extinguishing system comprises an air fire extinguishing unit, a ground fire extinguishing unit and a command center, wherein the command center is respectively in communication connection with the air fire extinguishing unit and the ground fire extinguishing unit; the aerial fire extinguishing unit comprises a heavy unmanned aerial vehicle for extinguishing fire and a medium unmanned aerial vehicle for assisting the heavy unmanned aerial vehicle in extinguishing fire and transporting fire-fighting materials; the ground fire extinguishing unit includes:
the fire-extinguishing device comprises a fire-extinguishing operation end, a fire-extinguishing device and a fire-extinguishing device, wherein the fire-extinguishing operation end is provided with a fire gun;
the fire extinguishing agent supply end is provided with a fire extinguishing agent storage;
the mobile terminal sends a signal of the position where the mobile terminal is located and the needed fire-fighting material supply to the command center;
the on-site control end comprises a mobile power supply, a motor, a delivery pump connected with the motor, a fire extinguishing agent distributor and a motor controller for controlling the output lift and flow of the delivery pump; the input end of the delivery pump is communicated with the fire extinguishing agent storage through an input hose, the output end of the delivery pump is connected with the input end of the fire extinguishing agent distributor, and the output end of the fire extinguishing agent distributor is communicated with the fire extinguishing gun of each fire extinguishing operation end through an output hose respectively;
each fire extinguishing operation end, fire extinguishing agent supply end, mobile terminal and site control end are correspondingly carried by a fire fighter, and the fire fighters form a ground fire extinguishing team; the fire extinguishing operation end and the fire extinguishing agent supply end are both arranged in a range of 5-10 m in radius by taking the site control end as a circle center.
2. A combination fire suppression system based on an unmanned aerial vehicle platform as claimed in claim 1, wherein: the mobile terminal is provided with a positioning module and a signal transmitting module; the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle are respectively provided with a signal receiving module, and the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle receive command signals sent by the command center and travel to a fire scene to extinguish fire, and convey and put in fixed points required fire-fighting materials.
3. A combination fire suppression system based on an unmanned aerial vehicle platform as claimed in claim 2, wherein: the heavy unmanned aerial vehicle and the medium unmanned aerial vehicle are provided with cameras, the cameras are electrically connected with the command center, and the cameras can shoot fire information and send the fire information to the command center.
4. A combination fire suppression system based on an unmanned aerial vehicle platform as claimed in claim 1, wherein: the effective load capacity of the heavy unmanned aerial vehicle is greater than 250kg, and the effective load capacity of the medium unmanned aerial vehicle is 50-250 kg.
5. The unmanned aerial vehicle platform-based combined fire suppression system of claim 4, wherein: the medium-sized unmanned aerial vehicle is provided with a winch, a rope and a lifting lock piece, wherein the winch is used for throwing fire-fighting materials, one end of the rope is connected with a transmission shaft of the winch, the other end of the rope is connected with the lifting lock piece, and the lifting lock piece is connected with the fire-fighting materials.
6. The unmanned aerial vehicle platform-based combined fire suppression system of claim 5, wherein: the lifting lock piece is provided with an electromagnet, and a magnetic piece is magnetically connected below the electromagnet; the fire-fighting material includes:
the material box is fixedly connected with the magnetic piece, and a shock pad is arranged on one side, close to the magnetic piece, of the material box;
the turnover box is fixedly connected with the material box, the weight of the material box is larger than that of the turnover box, an air cavity is arranged in the turnover box, and the turnover box can drive the material box to turn by gravity;
the fire-fighting material further comprises:
the speed reducing piece is connected with the overturning box and used for reducing the falling speed of the material box.
7. The unmanned aerial vehicle platform-based combined fire suppression system of claim 6, wherein: the both sides of upset case still are provided with first slider and second slider, the bolster includes:
the first sliding plate is provided with a first limiting chute, and the first sliding block is in sliding fit with the first limiting chute;
the second sliding plate is hinged to the first sliding plate, a second limiting sliding groove is formed in the second sliding plate, the second sliding block is in sliding fit with the second limiting sliding groove, and the total area of the first sliding plate and the second sliding plate on the same plane is larger than the cross section area of the overturning box, which is close to the magnetic piece.
8. A combined fire suppression method employing a combined fire suppression system based on an unmanned aerial vehicle platform as claimed in any one of claims 1 to 7, wherein: the method comprises the following steps:
s1, when a command center receives forest fire, controlling an aerial fire extinguishing unit to travel to a fire scene, accurately extinguishing the fire source on a first line of the fire scene by a heavy unmanned aerial vehicle, extinguishing the fire source, suppressing the fire, and simultaneously transmitting the fire scene information to the command center in real time for judgment and decision; the medium-sized unmanned aerial vehicle is used for assisting the heavy unmanned aerial vehicle to extinguish and cool the fire scene in a second line of the fire scene, blocking the spread of fire, and transporting and throwing needed fire-fighting materials to the ground fire extinguishing unit;
s2, performing collaborative combat among firefighters of a ground fire-extinguishing team, continuously pushing and sweeping in a fire scene by a third-line collaborative air fire-extinguishing unit in the fire scene, extinguishing scattered residual fires and preventing re-burning; the fire fighter at the fire extinguishing agent supply end carries a fire extinguishing agent storage to provide fire extinguishing agent for the fire fighter at other fire extinguishing operation ends; a firefighter control delivery pump carrying a site control end respectively delivers the fire extinguishing agent to a fire gun carried by a firefighter at each fire extinguishing operation end through a fire extinguishing agent distributor and an output hose so as to extinguish the fire; during the traveling fire extinguishing process, taking a firefighter carrying the field control end as a circle center, and performing fight by other firefighters carrying the fire extinguishing operation end and the fire extinguishing agent supply end which are all located within the range of 5-10 m in radius;
s3, firefighters carrying mobile terminals send out signals of positions and needed firefighting materials to a command center in time according to on-site fire conditions and material use conditions, then the command center sends out command signals to the medium-sized unmanned aerial vehicle, the firefighting materials are put in at fixed points, firefighters of the mobile terminals are uniformly distributed to other firefighters, and needed firefighting materials are timely supplemented and distributed.
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