CN206087314U - Unmanned aerial vehicle fire extinguishing systems - Google Patents
Unmanned aerial vehicle fire extinguishing systems Download PDFInfo
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- CN206087314U CN206087314U CN201621132119.5U CN201621132119U CN206087314U CN 206087314 U CN206087314 U CN 206087314U CN 201621132119 U CN201621132119 U CN 201621132119U CN 206087314 U CN206087314 U CN 206087314U
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Abstract
The utility model relates to an unmanned aerial vehicle fire extinguishing systems, this system includes unmanned aerial vehicle and remote control unmanned aerial vehicle's remote controller, wherein, unmanned aerial vehicle includes at least one hot infrared camera who gathers scene of a fire infrared image, just hot infrared camera set up in unmanned aerial vehicle's bottom, still set up a plurality of temperature sensor on the lateral wall of unmanned aerial vehicle's the magazine of putting out a fire, just temperature sensor follows put out a fire crisscross setting of bottom edge height of magazine. At the in -process of putting out a fire, hot infrared camera gathers the regional infrared image in the scene of a fire, and this infrared image has effectively avoided among the fire scene influences such as smog, through the distribution of temperature among the infrared image, and the accurate positioning position of putting out a fire, temperature sensor gathers the temperature value in the scene of a fire, the further accurate positioning position of putting out a fire to ensure the fire extinguishing bomb and put in in the position of putting out a fire, and then guarantee to put in the precision, effectively improve fire extinguishing efficiency.
Description
Technical field
This utility model is related to a kind of fire-fighting fire-extinguishing equipment, and in particular to a kind of unmanned plane fire extinguishing system.
Background technology
When urban architecture or forest occur fire, as the floor of urban architecture is very high and the landform of forest multiple
Miscellaneous, when being put out a fire, the fire-fighting equipment such as fire fighting truck is difficult arrival scene of a fire region and is put out a fire fire fighter, therefore at present generally
Put out a fire using unmanned plane, specifically, carry fire extinguisher bomb and fire extinguisher bomb is rendered to into scene of a fire region by unmanned plane and realize going out
Fire.
In order to fire extinguisher bomb is rendered to scene of a fire region, unmanned plane fire extinguishing system as shown in Figure 1 is usually used, the system bag
Include unmanned plane 01 and remote control 02；Wherein, the unmanned plane 01 generally includes multiple rotor drivers 011, the rotor driver 011
It is that unmanned plane 01 provides flying power by rotor wing rotation；The bottom of the unmanned plane 01 is provided with fire extinguishing magazine 012, described to go out
The clamping device 013 of clamping fire extinguisher bomb 3 is provided with fiery magazine 012；Optics is provided with the lateral wall of the fire extinguishing magazine 012
Photographic head 014, the optical camera 014 gather the visible images in scene of a fire region, and the visible images are sent to
Show on remote control 02；Fire fighter observes the visible images in scene of a fire region on remote control 02, by the intensity of a fire most fierce or
Fire location is used as fire extinguishing position, and then controls the flight of unmanned plane 01 to fire extinguishing position by remote control 02, and to unmanned plane 01
Send and throw in order, open the clamping device 013 of unmanned plane 01 and implement fire extinguishing so as to throw in fire extinguisher bomb 03.
However, inventor is had found by studying, it is during above-mentioned unmanned plane fire extinguishing system use, dense in the region of the scene of a fire
Cigarette is easy to the image for blocking scene of a fire region, and such fire fighter cannot accurately judge position of putting out a fire, inclined so as to fire extinguisher bomb is thrown,
Throw in precision low, have a strong impact on extinguishing effect.
The content of the invention
This utility model is in order to make up the deficiencies in the prior art, there is provided it is a kind of throw in high precision, fire-fighting efficiency it is high and into
This cheap unmanned plane fire extinguishing system, solves problems of the prior art.
This utility model is achieved by the following technical solution：
A kind of unmanned plane fire extinguishing system, including unmanned plane and remote control, including unmanned plane described in unmanned plane and remote control is distant
Control device, wherein：
The unmanned plane includes the thermal infrared photographic head of at least one collection scene of a fire infrared image, and thermal infrared shooting
Head is arranged at the bottom of the unmanned plane；
Multiple temperature sensors, and the temperature sensor are also set up on the lateral wall of the fire extinguishing magazine of the unmanned plane
Bottom margin height along the fire extinguishing magazine is crisscross arranged.
Alternatively, the unmanned plane includes multiple rotor drivers；The heat is respectively provided with the bottom of each rotor driver red
Outer photographic head.
Alternatively, the thermal infrared photographic head is respectively provided with the bottom of each rotor driver of unmanned plane.
Alternatively, in the rotor driver of unmanned plane, set relative to the centrosymmetric two rotor driver bottoms of unmanned plane
Put the thermal infrared photographic head.
Alternatively, the unmanned plane also includes optical camera.
Alternatively, positioning module is also set up inside the unmanned plane.
Alternatively, the positioning module includes GPS location module.
Alternatively, memorizer of the remote control also including be stored with floor architecture information and/or forest terrain information.
Alternatively, the system also includes server, wherein：
The server includes being stored with the memorizer of floor architecture information and/or forest terrain information；
The remote control also includes communications module, and the remote control is by the communications module and the server channel radio
Letter connection.
Alternatively, the optical camera is arranged at the bottom of the rotor driver for being provided with infrared camera.
Alternatively, the difference in height of the temperature sensor less than or equal to the fire extinguishing magazine height 1/2.
The beneficial effects of the utility model are：The unmanned plane fire extinguishing system, the bottom of the unmanned plane is provided with thermal infrared
Photographic head, in fire extinguishing procedure, thermal infrared photographic head can gather the infrared image in scene of a fire region, and the infrared image can be accurate
The Temperature Distribution in description scene of a fire region, will not be affected by smog in fire field environment etc., so as to accurately judge the fire extinguishing position in the scene of a fire
Put；And, multiple temperature sensors, and the temperature sensor are additionally provided with along the fire extinguishing on the lateral wall of fire extinguishing magazine
The bottom margin height of magazine is crisscross arranged, and can further gather the Temperature numerical in fire field environment, by the temperature value
Whether auxiliary judgment unmanned plane reaches the fire extinguishing position of optimum, to guarantee that fire extinguisher bomb is thrown in optimum fire extinguishing position, from
And guarantee to throw in precision, effectively improve fire-fighting efficiency；And, incline under state of flight, in multiple temperature sensors in unmanned plane
One can carry out temperature sampling, it is ensured that temperature detecting precision is so as to improving input precision closer to fire extinguishing position；And,
By positioning module is arranged on unmanned plane, and be stored with floor architecture information and/or forest landform letter are set on a remote control
The memorizer of breath, or remote control is from the above-mentioned floor architecture information of real-time update and/or woodland on the server of wireless connection
Shape information, makes the flight position of remote control control unmanned plane by way of tracing and positioning, so as to be further ensured that input precision,
Improve fire-fighting efficiency.
Description of the drawings
Below in conjunction with the accompanying drawings this utility model is further described.
Fig. 1 is a kind of current structural representation of unmanned plane fire extinguishing system；
Fig. 2 is the structural representation of this utility model embodiment one；
Fig. 3 is the schematic top plan view of Fig. 2；
Fig. 4 is the side view of Fig. 2；
Fig. 5 is the structural representation of this utility model embodiment two；
Fig. 6 is the top view of Fig. 5；
Fig. 7 is the structural representation of this utility model embodiment three；
Fig. 8 is the structural representation of this utility model example IV；
The symbol of Fig. 1-8 is expressed as：01st, unmanned plane, 011, rotor driver, 012, fire extinguishing magazine, 013, clamping device,
014th, optical pickocff, 02, remote control, 03, fire extinguisher bomb, 1, unmanned plane, 11, rotor driver, 12, thermal infrared photographic head, 13, go out
Fiery magazine, 14, temperature sensor, the 141, first temperature sensor, 142, second temperature sensor, the 143, the 3rd temperature sensing
Device, 15, optical pickocff, 16, positioning module, 2, remote control, 21, memorizer, 22, communications module, 3, fire extinguisher bomb, 4, service
Device.
Specific embodiment
Clearly to illustrate the technical characterstic of this programme, below by specific embodiment, and its accompanying drawing is combined, to this reality
It is described in detail with new.
Embodiment one
Referring to Fig. 2, it is the structural representation of this utility model embodiment one, referring also to Fig. 3 is that the vertical view of Fig. 2 is illustrated
Figure, the system include unmanned plane 1 and remote control 2；Wherein, the unmanned plane 1 include rotor driver 11, thermal infrared photographic head 12,
Fire extinguishing magazine 13 and temperature sensor 14.The remote control 2 can be the remote control with screen, and the remote control 2 passes through
Radio signal is sent to unmanned plane 1, flight speed, heading and flight attitude of unmanned plane 1 etc. is controlled.
In this utility model embodiment, unmanned plane of the unmanned plane 1 for rotor structure, referring also to Fig. 3 is Fig. 2
Schematic top plan view, as shown in figure 3, the unmanned plane 1 includes 4 rotor drivers 11, the rotor driver 11 generally includes rotation
The motor of the wing and the drive rotor rotational, the rotor driver 11 are that unmanned plane 1 provides flying power, and by control
Heading and flight attitude of the angle of inclination control unmanned plane 1 of the different rotor drivers 11 of system etc., implement in this utility model
Repeat no more in example.Center two-by-two centrosymmetry setting of 4 rotor drivers 11 relative to unmanned plane 1.Certainly need
Bright, the unmanned plane 1 can include any number of rotor drivers 11, such as 6 or 8 etc., the rotor driver 11
Set-up mode can not also use centrosymmetric mode, and in the specific implementation, the unmanned plane 1 is also not necessarily limited to rotor knot
The unmanned plane of structure.
Thermal infrared photographic head 12 is provided with the bottom of each rotor driver 11, i.e., in the present embodiment, it is described nobody
Machine 1 includes 4 thermal infrared photographic head 12；The thermal infrared photographic head 12 is used to gathering the infrared image in scene of a fire region, and by institute
State infrared image and remote control 2 is sent to by wireless radio transmission mode, and show on the screen of the remote control 2.Certainly exist
When being embodied as, any one or more rotor drivers 11 can be selected in multiple rotor drivers 11, and it is every what is selected
11 bottom of individual rotor driver arranges a thermal infrared photographic head 12.
The bottom of the unmanned plane 1 is provided with fire extinguishing magazine 13, and the fire extinguishing magazine 13 is the hollow knot for being provided with cavity
Structure, carries fire extinguisher bomb 3 in the fire extinguishing magazine 13；In the specific implementation, the fire extinguishing magazine 13 can be cuboid, pros
Body or cylindrical structure, do not limit in this utility model embodiment.Fire extinguisher bomb 3, the fire extinguishing are loaded for convenience
The clamping device of one or more included in mechanical hand, buckle and clip, the clamping device use are generally set in magazine 13
In clamping fire extinguisher bomb 3.Remote control 2 can be sent to unmanned plane and throws in order, nothing to send wireless remote control signals to unmanned plane 1
After man-machine 1 receives the input order, clamping device is driven to open by motor or hydraulic means, so as to throw in fire extinguisher bomb
3.In addition, the door that can be opened or closed is also provided with the bottom of the fire extinguishing magazine 13, throw in fire extinguisher bomb 3
When, drive the door of fire extinguishing magazine 13 to open by motor or hydraulic means, control clamps dress by the way again then
Input fire extinguisher bomb 3 is put, be will not be described here.
In order to obtain the temperature information in scene of a fire region, and then fire fighter is assisted to be accurately positioned fire extinguishing position, in fire extinguisher bomb
Temperature sensor 14 is additionally provided with the lateral wall in storehouse 13.Due to unmanned plane 1 in use, put out a fire magazine 13 bottom more
Arrange along the bottom outer edge of above-mentioned fire extinguishing magazine 13 near scene of a fire region, therefore the temperature sensor 13；Specifically, when going out
During the magazine of 13 bit length cube of fiery magazine or square body structure, as shown in figure 3, the temperature sensor 14 can be arranged on institute
State on any one side of fire extinguishing magazine 13.Certainly, it should be noted that in the specific implementation, can arrange any number of
Temperature sensor 13, and the temperature sensor 13 can be arranged on fire extinguishing magazine 13 same side on or be uniformly distributed
On all sides of the fire extinguishing magazine.
Further, since unmanned plane 1 is in fire extinguishing procedure, flight attitude it may happen that incline, in order to more accurately determine
The temperature in scene of a fire region, the temperature sensor 13 are crisscross arranged along the bottom outer edge height of fire extinguishing magazine 13.Specifically, join
See Fig. 4, be the side view of Fig. 2, this utility model embodiment specifically describes the set-up mode of 3 temperature sensors, i.e., in this reality
Be provided with a side with the fire extinguishing magazine of new embodiment 3 temperature sensors, i.e. the first temperature sensor 141, the
Two temperature sensors 142 and three-temperature sensor 143；Wherein, first temperature sensor 141 and three-temperature sensor
The bottom margin of 142 close fire extinguishing magazines 13, the bottom margin of 142 principle of second temperature sensor fire extinguishing magazine 13；
On the edge bearing of trend of fire extinguishing magazine 13, spacing L1 of the first temperature sensor 141 and second temperature sensor 142 is equal to
Spacing L2 of second temperature sensor 142 and three-temperature sensor 143.In the edge bearing of trend perpendicular to fire extinguishing magazine 13
On, the spacing of first temperature sensor 141 and second temperature sensing 142, and second temperature sensor 142 and the 3rd is warm
The spacing of degree sensor 143 is space D.In order to ensure temperature sensor near the edge of fire extinguishing magazine 13, it is preferable that described
Space D less than or equal to the height H of fire extinguishing magazine 1/2.Equally, it is provided with each lateral surface of fire extinguishing magazine 13 multiple
Temperature sensor, equally can be configured to temperature sensor in the manner described above, will not be described here.By arranging height
Temperature sensor 13 staggeredly, when unmanned plane inclines flight, ensure that
It is enough to carry out thermometric near the fire extinguishing band of position, it is ensured that the precision of thermometric, and then fire extinguishing is accurately judged according to the temperature value for detecting
The placement position of bullet.
During specifically used, fire fighter can manipulate the flight of unmanned plane 1 to scene of a fire region by remote control 2；Heat
Infrared sensor 2 gathers the infrared image in scene of a fire region, and the infrared image is sent to display on remote control 2；By seeing
Infrared image is examined, temperature highest position in the region of the scene of a fire is judged, as the fire extinguishing position of bigness scale；When the flight of unmanned plane 1 is to slightly
Behind the fire extinguishing position of survey, temperature sensor 14 further detects the temperature value in the regional environment of the scene of a fire, and unmanned plane 1 can be to temperature
Value carries out numerical computations, by Temperature numerical, accurately judges whether unmanned plane reaches fire extinguishing position, and drops a bomb to remote control transmission
Signal, needs to throw in fire extinguisher bomb 3 for notifying that fire fighter's unmanned plane 1 reaches fire extinguishing position；In the specific implementation, for example exist
In this utility model embodiment, the temperature value and/or meansigma methodss that can be collected in 3 temperature sensors are more than the first temperature
During threshold value, unmanned plane 1 sends hack to remote control by wireless radio transmission mode, or when in 3 temperature sensors
When any two is more than second temperature threshold value, unmanned plane 1 sends hack to remote control 2 by wireless radio transmission mode.Institute
State hack to show on remote control 2, for example, fire fighter, fire fighter are informed in the form of word or pop-up box
Fire extinguisher bomb is sent to unmanned plane 1 by remote control 2 and throws in instruction, the clamping device for controlling unmanned plane is opened, to throw in fire extinguisher bomb,
Implement fire extinguishing.
Described from above-described embodiment, the unmanned plane fire extinguishing system that this utility model embodiment is provided, including unmanned plane 1
With remote control 2, the unmanned plane 1 includes the thermal infrared photographic head 12 of at least one collection scene of a fire infrared image, and the heat is red
Outer photographic head 12 is arranged at the bottom of the unmanned plane；Also set up on the lateral wall of the fire extinguishing magazine 13 of the unmanned plane 1 many
Individual temperature sensor 14, and the temperature sensor along it is described fire extinguishing magazine bottom margin height be crisscross arranged.Putting out a fire
Cheng Zhong, thermal infrared photographic head 12 can gather the infrared image in scene of a fire region, and the infrared image can accurately describe scene of a fire region
Temperature Distribution, the smog etc. in fire field environment will not be subject to affect, accurately judge the fire extinguishing position in the scene of a fire；And, temperature is passed
Whether sensor 14 can further gather the Temperature numerical in fire field environment, reached by the temperature value auxiliary judgment unmanned plane
Optimum fire extinguishing position, finally controls fire extinguisher bomb and is thrown in optimum fire extinguishing position, so that it is guaranteed that throwing in precision, effectively carry
High fire-fighting efficiency.
Embodiment two
Referring to Fig. 5, it is the structural representation of this utility model embodiment two, meanwhile, referring to Fig. 6, it is the top view of Fig. 5,
In this utility model embodiment, the unmanned plane fire extinguishing system includes unmanned plane 1 as shown in Figure 5 and remote control 2；It is described nobody
Machine 1 includes rotor driver 11, thermal infrared photographic head 12, fire extinguishing magazine 13, temperature sensor 14 and optical camera 15；Wherein,
The unmanned plane 1 includes 4 relative to 1 center of unmanned plane, two-by-two symmetrically arranged rotor driver 11；The temperature sensor 13
Including 3 temperature sensors, i.e. the first temperature sensor 141, second temperature sensor 142 and three-temperature sensor 143, institute
The first temperature sensor 141, second temperature sensor 142 and three-temperature sensor 143 are stated along 13 bottom of fire extinguishing magazine
Outward flange height is crisscross arranged.This utility model embodiment is to revolve at 4 in the present embodiment with the difference of embodiment one
In swing device 11, the bottom of centrosymmetric 2 rotor drivers 11 arranges the thermal infrared photographic head 12；And, it is being provided with
The bottom of the rotor driver 11 of thermal infrared photographic head 12 is provided with optical camera 15.In this utility model, above-mentioned thermal infrared
Photographic head 12 and the optical camera 15 can be disposed side by side on the bottom of the rotor driver 11, or thermal infrared photographic head
12 and the optical camera 15 in any one near unmanned plane it is centrally disposed, another is centrally disposed away from unmanned plane.
The visible images for gathering the visible images in scene of a fire region, and are sent to remote control 2 by the optical camera 15
On, and show on the screen of remote control 2；Certainly, the optical imagery and infrared image can also be merged by unmanned plane 1
Process, and the image after merging treatment is sent on remote control 2, and show on the screen of remote control 2.This utility model with
One something in common of embodiment, can be found in embodiment one, will not be described here.
From the description of above-described embodiment, unmanned plane of the present utility model is only in centrosymmetric 2 rotor drivers 11
Bottom arranges thermal infrared photographic head 12, in the flight course of unmanned plane 1, ensure that at one of thermal infrared photographic head 12
In the front relative to heading, another thermal infrared photographic head 12 is so used in the rear relative to heading
Two thermal infrared photographic head machines can just obtain the panorama infrared image in scene of a fire region, so as to cost-effective；And by arranging
The combination of thermal infrared photographic head 12 and optical camera 15, can be with reference to optical imagery and infrared image, in optical imagery more
Clear view carries out fire extinguisher bomb to fire extinguishing position so as to precisely control the flight of unmanned plane 1 to fire scene temperature highest position
Throw in.
Embodiment three
Referring to Fig. 7, it is the structural representation of this utility model embodiment three, as shown in fig. 7, the system includes unmanned plane 1
With remote control 2；In place of this utility model embodiment and the difference of embodiment one it is, in the present embodiment, in shown unmanned plane 1
Portion is additionally provided with positioning module 16；Alternatively, the positioning module 16 selects GPS location module, certainly, in the specific implementation,
Shown positioning module 16 can also be from Big Dipper positioning module etc..Memorizer 21 is additionally provided with inside shown remote control 2, it is described to deposit
21 internal memory of reservoir contains corresponding scene of a fire information, and the scene of a fire information includes floor architecture information and/or forest terrain information.
When being embodied as, the floor architecture information can be the CAD electronic drawings of floor, and the forest terrain information can be satellite
The remote sensing forest topography that remote sensing satellite is collected, and be stored in advance in the memorizer 21 of remote control.Above-mentioned floor building letter
Breath and/or forest terrain information can be shown on the screen of remote control 2.The phase of this utility model embodiment and embodiment one
Same part, can be found in embodiment one, will not be described here.
From the description of above-described embodiment, in fire extinguishing procedure, the positioning module 16 can be accurately positioned unmanned plane 1
Coordinate, by the combination of floor architecture information or forest terrain information and thermal infrared images, is further accurately positioned fire extinguishing position
Coordinate, control unmanned plane 1 by accurate tracing and positioning and move to carry out fire extinguisher bomb 3 on the corresponding coordinate in fire extinguishing position and throw in,
Input precision is further ensured that, fire-fighting efficiency is improved.
Example IV
Referring to Fig. 8, it is the structural representation of this utility model example IV, as shown in figure 8, the system includes unmanned plane 1
And remote control；This utility model embodiment is that the system also includes server 4 with the difference of embodiment one；And, institute
State and in remote control 2, be additionally provided with communications module 22, the remote control 2 is carried out wirelessly by the communications module 22 and server 4
Communication, specifically, during the communications module 22 can include WIFI communications modules, GPRS communications modules and Bluetooth communication module
One or more；Memorizer is provided with the server 3, the memory storage has floor architecture information and/or woodland
Shape information.This utility model embodiment and the something in common of embodiment three, can be found in embodiment three, will not be described here.
From the description of above-described embodiment, in this utility model embodiment, remote control 2 can in real time from server
4 obtain floor architecture information and/or forest terrain information, the above- mentioned information as renewal is preserved in server 4, according to renewal
Above- mentioned information be capable of the input of real-time adjustment fire extinguisher bomb, accurately thrown in, further improved fire-fighting efficiency.
This utility model does not describe part in detail, is the known technology of those skilled in the art of the present technique.Finally illustrate, with
Upper embodiment is only unrestricted to illustrate the technical solution of the utility model, although with reference to preferred embodiment to this utility model
It has been described in detail, it will be understood by those within the art that, the technical solution of the utility model can be repaiied
Change or equivalent, without deviating from the objective and scope of technical solutions of the utility model, which all should be covered in this utility model
Right in the middle of.
Claims (10)
1. a kind of unmanned plane fire extinguishing system, it is characterised in that including the remote control of unmanned plane described in unmanned plane and remote control, wherein：
The unmanned plane includes the thermal infrared photographic head of at least one collection scene of a fire infrared image, and the thermal infrared photographic head sets
It is placed in the bottom of the unmanned plane；
Multiple temperature sensors, and the temperature sensor are also set up along institute on the lateral wall of the fire extinguishing magazine of the unmanned plane
The bottom margin height for stating fire extinguishing magazine is crisscross arranged.
2. unmanned plane fire extinguishing system according to claim 1, it is characterised in that at the bottom of each rotor driver of unmanned plane
Portion is respectively provided with the thermal infrared photographic head.
3. unmanned plane fire extinguishing system according to claim 1, it is characterised in that in the rotor driver of unmanned plane, relatively
In unmanned plane centrosymmetric two rotor driver bottoms, the thermal infrared photographic head is set.
4. the unmanned plane fire extinguishing system according to Claims 2 or 3, it is characterised in that the unmanned plane is also taken the photograph including optics
As head.
5. unmanned plane fire extinguishing system according to claim 1, it is characterised in that positioning mould is also set up inside the unmanned plane
Group.
6. unmanned plane fire extinguishing system according to claim 5, it is characterised in that the positioning module includes GPS location mould
Group.
7. unmanned plane fire extinguishing system according to claim 1, it is characterised in that the remote control also includes the floor that is stored with
The memorizer of architecture information and/or forest terrain information.
8. unmanned plane fire extinguishing system according to claim 1, it is characterised in that the system also includes server, wherein：
The server includes being stored with the memorizer of floor architecture information and/or forest terrain information；
The remote control also includes communications module, and the remote control is by communications module and server wireless communication connection.
9. unmanned plane fire extinguishing system according to claim 4, it is characterised in that the optical camera is arranged at and is provided with
The bottom of the rotor driver of infrared camera.
10. unmanned plane fire extinguishing system according to claim 1, it is characterised in that the difference in height of the temperature sensor is little
In or equal to it is described fire extinguishing magazine height 1/2.
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| CN201621132119.5U CN206087314U (en) | 2016-10-17 | 2016-10-17 | Unmanned aerial vehicle fire extinguishing systems |
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| CN201621132119.5U CN206087314U (en) | 2016-10-17 | 2016-10-17 | Unmanned aerial vehicle fire extinguishing systems |
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| CN107158602A (en) * | 2017-04-27 | 2017-09-15 | 陶霖密 | A kind of emission type disaster relief and unmanned plane and fire-extinguishing |
| CN107029374A (en) * | 2017-04-28 | 2017-08-11 | 成都谍翼科技有限公司 | Clustered control fire-fighting method and device |
| CN107776883A (en) * | 2017-09-25 | 2018-03-09 | 南京律智诚专利技术开发有限公司 | More shootings for path planning gather unmanned plane |
| CN107651180A (en) * | 2017-09-29 | 2018-02-02 | 广州地理研究所 | A kind of unmanned plane precisely drops a bomb fire extinguishing system |
| CN108096743A (en) * | 2017-12-26 | 2018-06-01 | 佛山市幻龙科技有限公司 | A kind of unmanned plane and fire-extinguishing |
| US11288936B1 (en) | 2018-02-27 | 2022-03-29 | Allstate Insurance Company | Emergency incident detection, response, and mitigation using autonomous drones |
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