CN217612590U - Fire control unmanned aerial vehicle - Google Patents

Abstract

The utility model relates to the technical field of fire-fighting equipment, in particular to a fire-fighting unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a fire-fighting system, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, and the fire-fighting system comprises a fire-fighting agent injection system and a fire-fighting agent conveying device connected with the fire-fighting agent injection system; the fire extinguishing agent injection system is arranged on the unmanned aerial vehicle main body through a cross frame; fire extinguishing agent conveyor locates unmanned aerial vehicle main part bottom to one side. The utility model discloses combine together fire extinguishing systems and unmanned aerial vehicle, utilize liquid nitrogen fire extinguishing agent and dry powder fire extinguishing agent to mix the back and put out a fire, can carry the dry powder to more remote end to the dry powder secondary pressure boost after the liquid nitrogen vaporization, the dry powder that makes simultaneously to spray away has sufficient kinetic energy to pierce through flame, directly support the flame root, improve the efficiency of putting out a fire, prevent the after combustion, the injection apparatus slope sets up at the unmanned aerial vehicle top, structural triangular distribution according to power, there is a component along the direction of spraying, utilize the potential energy that the flight height produced, a part of kinetic energy is provided, unmanned aerial vehicle's stability is guaranteed.

Description

Fire control unmanned aerial vehicle

Technical Field

The utility model relates to a fire-fighting equipment technical field, in particular to fire control unmanned aerial vehicle.

Background

Under the continuous development of modern science and technology, the unmanned aerial vehicle technology is mature day by day and is applied to in a plurality of fields, wherein fire control unmanned aerial vehicle is used for putting out a fire to high-rise building, it will be a great breakthrough to high-rise building fire field of putting out a fire, how to use unmanned aerial vehicle technology for high-rise building fire to put out a fire will be a meaningful project, but because the high temperature sinuous flow of fire source top, lead to unmanned aerial vehicle too close to the fire source, and the unmanned aerial vehicle fire extinguishing agent that now is applied to fire control sprays the distance limitedly, can only rely on the fire extinguishing agent to put out a fire by spraying close range fire source, not only promote unmanned aerial vehicle's damage probability greatly and improve the cost of putting out a fire greatly, and because the intensity that the fire extinguishing agent sprays is not enough, the fire extinguishing agent can't effectively reach the flame root under the influence of high temperature sinuous flow, the fire control effect is also not good, and most of fire control unmanned aerial vehicle all adopt the horizontal injection fire extinguishing agent simultaneously, there is not the component force, cause the potential energy waste to greatly improve unmanned aerial vehicle's application cost easily.

Traditional fire extinguishing device generally is fire water monitor or dry powder fire extinguisher etc. and a lot of all are not suitable for on the fire control unmanned aerial vehicle, firstly because volume weight problem, secondly because jet distance is not enough. The rivers range of fire water cannon is far away, and the cost that consumes is lower relatively, has good anti after-combustion ability and cooling heat absorption effect, but the fire extinguishing efficiency of water cannon is lower, and the time of putting out a fire is longer, and the proportion of water is big to be applied to the volume that fire control unmanned aerial vehicle once only carried less, can't guarantee the fire control effect. The dry powder fire extinguisher has higher fire extinguishing efficiency, but in the prior art, the dry powder can not realize ultra-long distance injection due to the matrix components of the dry powder, the re-combustion resistance and the cooling and heat absorption effects are relatively poor, and the injection distance of the pure dry powder fire extinguishing agent is greatly shortened when the pure dry powder fire extinguishing agent is applied to the fire-fighting unmanned aerial vehicle, particularly under the influence of high-temperature turbulence in the air speed and fire scene during high-altitude operation; although some fire extinguishing apparatuses can realize one or two mixed injection of water, dry powder or gas, under special conditions such as deep forest fire, high-rise fire and the like, effective fire extinguishing effect cannot be achieved according to the conditions of actual fire sites. The water flow has a long range, but the gravity of the water flow in the air is large, the spraying speed is limited, the range is still relatively low, and the fire control by water is inconvenient in the modern electrified environment. And because the traditional dry powder extinguishing range is relatively close, the traditional dry powder spraying method cannot drive the dry powder to a far fire scene.

The existing compressed gas dry powder fire extinguishing mainly adopts the mixed injection mode of inert gas and dry powder to extinguish fire.

The normal-pressure type compressed gas dry powder fire extinguishing method is characterized in that a compressor or a compressed gas steel cylinder is usually adopted for gas supply, the gas supply quantity of the compressor and the compressed gas steel cylinder is limited, the requirement of large-flow high-pressure gas supply cannot be met, and if the large-flow high-pressure gas supply is required, a plurality of compressors or compressed gas steel cylinders are required to be arranged, so that the occupied space is large, the space which is arranged in a limited space area is usually not provided, the field arrangement is not facilitated, and the application to the fire-fighting unmanned aerial vehicle is also not facilitated; the other pure gas storage type dry powder fire extinguishing method is characterized in that high-pressure compressed gas is stored in a fire extinguishing agent container generally, and when the high-pressure compressed gas is sprayed in a large flow, the compressed gas is consumed in a large amount, and the spraying pressure is also reduced greatly.

Most current fire extinguishers all adopt the structure of external pressure formula of storing (pressurized gas and dry powder fire extinguishing agent separately store, the dry powder storage tank does not take the area), spray through once mixing high-pressure nitrogen drive dry powder, when putting out a fire, through the pressurization (mix the same reason) of high-pressure nitrogen once, jet distance 6m ~ 15m, it is limited to lead to the dry powder jet distance, can not satisfy the multi-scene and use, simultaneously with the application of water combination, can increase the viscidity of dry powder and be difficult for scattering and still be unfavorable for more heaviness of extra long distance injection after spouting.

The nitrogen is liquid at the temperature of 196 ℃ below zero, the volume of liquid nitrogen is 1/640 of the volume of gaseous nitrogen at normal temperature and normal pressure, the pressure in a low-temperature storage container is less than 0.1MPa, the container is not brought into the supervision range of gas cylinders, regular inspection is not needed, the liquid nitrogen is released to a high-temperature region at the temperature of 196 ℃ below zero and can play a role in quickly cooling, and the fire extinguishing design dosage of a gas fire extinguishing agent is less than that of a normal-temperature fire extinguishing system, so that the liquid nitrogen fire extinguishing system can save the investment of users and reduce the maintenance cost of the fire extinguishing system, importantly, important places of the users are continuously protected, and meanwhile, the specific gravity of the liquid nitrogen is lower than that of water or other liquid fire extinguishing agents, which means that a tank body with the same volume can carry more liquid nitrogen.

Therefore the utility model discloses develop a section and stably have high efficiency and put out a fire, super remote spray fire's fire control unmanned aerial vehicle.

Disclosure of Invention

The utility model aims at solving the existing problems and providing a fire-fighting unmanned aerial vehicle, combining a fire extinguishing agent injection system with the unmanned aerial vehicle, mixing a liquid nitrogen fire extinguishing agent and a dry powder fire extinguishing agent for fire extinguishing by the fire extinguishing agent injection system, carrying out secondary pressurization on the dry powder after vaporization of the liquid nitrogen to convey the dry powder fire extinguishing agent to a far end, and simultaneously ensuring that the sprayed dry powder has sufficient kinetic energy to penetrate through flame and directly reach the root of the flame, thereby improving the fire extinguishing efficiency and preventing re-combustion; meanwhile, the incompletely vaporized liquid nitrogen mixed dry powder extinguishing agent is sprayed out and then vaporized, so that a large amount of heat can be absorbed, the temperature of a fire scene is reduced, and the fire extinguishing is facilitated; the fire extinguishing agent is sprayed obliquely, namely the fire extinguishing agent can be accurately aimed at a fire source point at a position higher than a fire source, and the spraying speed of the fire extinguishing agent is increased, the utilization rate of the fire extinguishing agent is increased, and the fire extinguishing efficiency is improved.

In order to achieve the purpose, the utility model provides a fire-fighting unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a fire-fighting system, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, and the fire-fighting system comprises a fire-fighting agent injection system and a fire-fighting agent conveying device connected with the fire-fighting agent injection system; the fire extinguishing agent injection system is installed on the unmanned aerial vehicle main body through a cross frame; the fire extinguishing agent conveying device is obliquely arranged at the bottom of the unmanned aerial vehicle main body from the rear part of the unmanned aerial vehicle main body to the front part of the unmanned aerial vehicle main body; the fire extinguishing agent injection system comprises a liquid nitrogen bottle group, a dry powder bottle group and a control system, the fire extinguishing agent conveying device comprises a mixer and an injection device, the liquid nitrogen bottle group and the dry powder bottle group are respectively connected with the mixer, and one end of the mixer is connected with the injection device; the liquid nitrogen bottle group is also connected with a pressurized gas bottle group, and the pressurized gas bottle group is also connected with an injection device; the control system controls the liquid nitrogen bottle group, the dry powder bottle group and the pressurized gas bottle group, and is installed in the unmanned aerial vehicle main body.

Further, in order to aim at a fire source, the fire extinguishing agent spraying speed is improved, the loss of the fire extinguishing agent is reduced, a plurality of supporting arms are arranged on the unmanned aerial vehicle main body, a chassis used for installing a cross frame and symmetrical is arranged below the unmanned aerial vehicle main body, a flight rotor wing is arranged on each supporting arm, a supporting seat is arranged at the lower part of the front end of the unmanned aerial vehicle main body, a supporting connecting rod is arranged on each supporting seat, a fixed connecting rod is arranged at the lower part of the rear end of the unmanned aerial vehicle main body, the fire extinguishing agent conveying device and the plane at the bottom of the unmanned aerial vehicle main body form a sharp angle of 30-35 degrees, the rear end of the fire extinguishing agent conveying device is connected onto the fixed connecting rod, the front end of the fire extinguishing agent conveying device is connected onto the supporting connecting rod, and the supporting connecting rod and the fixed connecting rod support the fire extinguishing agent conveying device.

Further, in order to improve the stability during spraying, the supporting connecting rod is connected with the fire extinguishing agent conveying device through a first clamp; the fire extinguishing agent conveying device is connected with the fixed connecting rod through a second clamp; the unmanned aerial vehicle main part is inside still to be equipped with the storage battery who is used for providing electric energy, unmanned aerial vehicle top front end is equipped with camera subassembly, navigation subassembly, and unmanned aerial vehicle main part top rear end is equipped with communication module, unmanned aerial vehicle main part top still is equipped with the apron that is used for increasing unmanned aerial vehicle main part rigidity.

Furthermore, in order to enable the fire extinguishing agent which is fully mixed and less mixed to be sprayed with resistance forwards, a liquid nitrogen pipe joint and a dry powder pipe joint which are communicated with the interior of the mixer are arranged on the mixer, the mixer is a circular pipe with through holes at two ends, the liquid nitrogen pipe joint is connected into the through hole at one end, the dry powder pipe joint is obliquely connected into the circular pipe body of the mixer from the outer body of the circular pipe of the mixer, an acute angle is formed between the dry powder pipe joint and the central axis of the mixer, and at least one dry powder pipe joint is arranged.

Further, in order to better reduce the daily loss of liquid nitrogen and ensure the stable operation of the whole fire extinguishing system, the liquid nitrogen bottle group comprises a vacuum storage tank for storing liquid nitrogen fire extinguishing agent, and the vacuum storage tank is provided with a refrigerator for storing the liquid nitrogen fire extinguishing agent, a liquid nitrogen electromagnetic valve for spraying the liquid nitrogen fire extinguishing agent in the vacuum storage tank and a reversing valve body group for pressurizing the inside of the vacuum storage tank; the dry powder bottle group comprises a dry powder bottle and a dry powder bottle electromagnetic valve arranged on the dry powder bottle; the pressurized gas cylinder group comprises a pressurized gas cylinder and a pressurized gas cylinder electromagnetic valve arranged on the pressurized gas cylinder, and the pressurized gas cylinder is communicated with the vacuum storage tank through the reversing valve body group; and the control system is respectively and electrically connected with the liquid nitrogen electromagnetic valve, the dry powder bottle electromagnetic valve and the pressurized gas bottle electromagnetic valve.

Furthermore, in order to improve the spraying distance of the mixed fire extinguishing agent, the extension and recovery of the gun barrel are realized by inputting gas into the gas inlet joint, the spraying device comprises a fixed gun barrel and a telescopic gun barrel arranged in the fixed gun barrel, a fixed piston is arranged in the fixed gun barrel, the front end of the fixed gun barrel is provided with an adapter port, the adapter port is provided with internal threads, the mixer is connected with the fixed gun barrel through the internal threads, and the tail end of the fixed gun barrel is provided with a tail end piston; telescopic gun barrel one end passes terminal piston, fixed piston in proper order and installs and stretch out outside fixed gun barrel at the intraductal other end of fixed gun, be equipped with the ring platform in the main part that telescopic gun barrel is located fixed gun barrel, be equipped with the sealing washer on the ring platform, form first sealed chamber between fixed piston and the ring platform, be equipped with first damping spring in the first sealed intracavity, form the sealed chamber of second between terminal piston and the ring platform, be equipped with second damping spring in the sealed chamber of second, be equipped with on the fixed gun barrel and connect with the first air inlet of first sealed chamber intercommunication, with the second air inlet of the sealed chamber intercommunication of second, the interior rampart of fixed piston, terminal piston all is equipped with O shape sealing washer, first air inlet connects, second air inlet connects is connected with pneumatic reversing valve.

Furthermore, the telescopic control of the injection device by the pressurized gas cylinder is realized, a pressurized pipeline is arranged between the pneumatic reversing valve and the pressurized gas cylinder, a first pressurized gas electromagnetic valve is arranged on the pressurized pipeline, and the pneumatic reversing valve and the first pressurized gas electromagnetic valve are electrically connected with a control system.

Further, effective mixing of the liquid nitrogen fire extinguishing agent and the dry powder fire extinguishing agent is achieved, the mixer is connected with the liquid nitrogen electromagnetic valve through a liquid nitrogen pipe, one end of the liquid nitrogen pipe is connected with a liquid nitrogen pipe joint arranged on the mixer, and the other end of the liquid nitrogen pipe is connected with the liquid nitrogen electromagnetic valve; the mixer is connected with the dry powder bottle electromagnetic valve through a dry powder pipe, one end of the dry powder pipe is connected with a dry powder pipe joint arranged on the mixer, and the other end of the dry powder pipe is connected with the dry powder bottle electromagnetic valve.

Further, the dry powder pipe joint and the central axis of the mixer form an acute angle of 30 degrees.

The utility model has the advantages that: a fire-fighting unmanned aerial vehicle is provided with a fire extinguishing agent injection system and a fire extinguishing agent conveying device, wherein the fire extinguishing agent conveying device (injection device) and the bottom plane of an unmanned aerial vehicle main body are obliquely arranged on the unmanned aerial vehicle in an acute angle structure of 30-35 degrees, and can be directly aligned to a fire point at a position higher than a fire source point by adopting oblique injection; meanwhile, according to the triangular distribution of force, a component force along the spraying direction exists in the structure, and a part of kinetic energy (speed) is provided by utilizing potential energy generated by the flying height, so that the stability of the unmanned aerial vehicle is ensured; to conflagrations such as high-rise building, highway, forest, nimble motor-driven unmanned aerial vehicle carries on fire extinguishing agent injection system, mainly has parts such as liquid nitrogen bottle group and dry powder bottle group, and the fire extinguishing agent of two bottle groups mixes through the blender, from the fire extinguishing agent after injection apparatus blowout mixes, through unmanned aerial vehicle air flight, quick response, has shortened the time that fire rescue strength arrived the scene of a fire. The volume of the liquid nitrogen extinguishing agent is expanded by nearly 700 times under the normal temperature and pressure environment after being released, the dry powder extinguishing agent can be pressurized secondarily, the dry powder extinguishing agent enters a mixer and then is mixed with liquid nitrogen (high-pressure nitrogen after vaporization of the liquid nitrogen) secondarily (the primary mixing is that the high-pressure nitrogen is filled in a dry powder bottle), the liquid nitrogen extinguishing agent is vaporized under the normal temperature and pressure, high-pressure nitrogen is formed in a limited space to push the dry powder extinguishing agent to be sprayed, meanwhile, the liquid nitrogen extinguishing agent which is not vaporized in time and the dry powder extinguishing agent are continuously mixed and sprayed, the dry powder extinguishing agent can be conveyed to a farther end through the secondary pressurization after vaporization of the liquid nitrogen, the effective spraying distance can reach 60-70 m, and the effective spraying distance of a conventional dry powder extinguishing device is only 6-15 m; secondly, the sprayed dry powder has sufficient kinetic energy to penetrate through the flame and directly support the root of the flame, thereby improving the fire extinguishing efficiency and preventing re-combustion; thirdly, the sprayed liquid nitrogen is vaporized to absorb a large amount of heat, so that the temperature of a fire scene is reduced, and the fire extinguishing is facilitated.

Drawings

For the purpose of illustration, the invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.

Fig. 1 is a schematic structural view of a fire-fighting unmanned aerial vehicle of the utility model;

fig. 2 is a schematic plan view of the connection of fire extinguishing system components in a fire fighting unmanned aerial vehicle according to the present invention;

fig. 3 is a schematic structural view of the fire-fighting unmanned aerial vehicle when the telescopic gun barrel is not extended out;

fig. 4 is a schematic structural view of the fire-fighting unmanned aerial vehicle when extending out of the telescopic gun barrel;

fig. 5 is a schematic structural view of a fire extinguishing system in the fire-fighting unmanned aerial vehicle;

FIG. 6 is an enlarged view at FIG. 1-A;

FIG. 7 is an enlarged view taken at FIG. 1-B;

fig. 8 is a schematic structural view of the telescopic gun barrel of the injection device of the unmanned fire fighting vehicle according to the present invention when retracted;

fig. 9 is a schematic structural view of the fire-fighting unmanned aerial vehicle according to the present invention when the telescopic gun barrel of the injection device is extended;

fig. 10 is a schematic structural view of the mixer in the fire-fighting unmanned aerial vehicle of the present invention;

fig. 11 is the utility model relates to a cross-sectional structure schematic diagram of blender among fire control unmanned aerial vehicle.

In the figure: the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a fire extinguishing system 2, an unmanned aerial vehicle main body 11, a camera component 111, a navigation component 112, a communication module 113, a cover plate 114, a chassis 12, a fire extinguishing agent injection system 3, a fire extinguishing agent conveying device 4, a cross frame 121, a supporting arm 13, a flight rotor 14, a fixed connecting rod 16, a supporting connecting rod 17, a supporting seat 171, a storage battery 18, a liquid nitrogen bottle group 31, a dry powder bottle group 32, a control system 33, a mixer 41, an injection pipeline 42, a pressurized gas bottle group 5, a liquid nitrogen pipe joint 411, a dry powder pipe joint 412, a vacuum storage tank 311, a liquid nitrogen solenoid valve 312, a reversing valve body group 313, a dry powder bottle 321, a dry powder bottle solenoid valve 322, a pressurized gas bottle 51, a pressurized gas bottle solenoid valve 52, a fixed gun tube 421, a telescopic gun tube 422, a fixed piston 4211, a connector port 4212, a tail end piston 4213, a ring platform 4221, a sealing ring 4222, a first sealing cavity 423, a first damping spring 424, a second damping cavity 425, a second damping spring 427, a second damping spring 426, a first air inlet joint 427, a second air inlet union 429, an O-shaped pneumatic valve 66, a first sealing ring-sealing ring 3228, a second damping tube 3221, a second damping tube clamp 61, a second damping tube 3221, and a second damping tube clamp 3228.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

It is right below with reference to the attached drawing the utility model relates to a fire control unmanned aerial vehicle does further explain:

1-11, the fire-fighting unmanned aerial vehicle comprises an unmanned aerial vehicle 1 and a fire extinguishing system 2 installed on the unmanned aerial vehicle, wherein the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle main body 11, the fire extinguishing system 2 comprises a fire extinguishing agent injection system 3 and a fire extinguishing agent delivery device 4 connected with the fire extinguishing agent injection system 3, and the fire extinguishing agent injection system 3 is installed on the unmanned aerial vehicle main body 11 through a cross frame 121; the fire extinguishing agent delivery device 4 is obliquely arranged at the bottom of the unmanned aerial vehicle main body 11 from the rear part of the unmanned aerial vehicle main body 11 to the front part of the unmanned aerial vehicle main body 11; the unmanned aerial vehicle comprises an unmanned aerial vehicle body 11, a plurality of supporting arms 13 are arranged on the unmanned aerial vehicle body 11, an underframe 12 which is used for installing a cross frame 121 and is symmetrical is arranged below the unmanned aerial vehicle body 11, a flight rotor 14 is arranged on each supporting arm 13, a supporting seat 171 is arranged on the lower portion of the front end of the unmanned aerial vehicle body 11, a supporting connecting rod 17 is arranged on each supporting seat 171, a fixing connecting rod 16 is arranged on the lower portion of the rear end of the unmanned aerial vehicle body 11, the rear end of a fire extinguishing agent conveying device 4 is connected onto the fixing connecting rod 16, the front end of the fire extinguishing agent conveying device is connected onto the supporting connecting rod 17, the supporting connecting rod 17 and the fixing connecting rod 16 support the fire extinguishing agent conveying device 4, in order to ensure the stability of the fire extinguishing agent conveying device 4 when spraying fire extinguishing agent, the fire extinguishing agent conveying device is obliquely arranged at a sharp angle, and the sharp angle is 30 degrees is formed between the fire extinguishing agent conveying device and the bottom plane of the unmanned aerial vehicle body; the fire extinguishing agent delivery device 4 comprises an injection device 42 and a mixer 41 connected with the injection device, the mixer is installed at the upward top end of the injection device, the upward end of the injection device is installed on the unmanned aerial vehicle main body 11 through a first clamp 7, a certain angle is formed between a supporting connecting rod 17 and the fire extinguishing agent delivery device 4, when the fire extinguishing agent is injected, the fire extinguishing agent delivery device 4 can receive a reverse force generated in the injection moment, the supporting connecting rod 17 can counteract the reverse force, and the damage to the fire extinguishing agent delivery device 4 caused by the reverse force is reduced;

in the embodiment, as shown in fig. 6 and 7, for the purpose of stable and reliable support of the injection device and ensuring the stability of the injection fire extinguishing process, the support connecting rod 17 is connected with the fire extinguishing agent delivery device 4 through the first clamp 7; the fire extinguishing agent delivery device 4 is connected with the fixed connecting rod 16 through a second clamp 8; still be equipped with the storage battery 18 that is used for providing the electric energy for unmanned aerial vehicle and fire extinguishing systems at unmanned aerial vehicle main part 11 inside, unmanned aerial vehicle top front end is equipped with the subassembly 111 of making a video recording that is used for acquireing conflagration scene image information and provides navigation assembly 112 of navigation function for unmanned aerial vehicle, and 11 top rear ends of unmanned aerial vehicle main part are equipped with the communication module 113 that is used for receiving and transmitting signal, 11 tops of unmanned aerial vehicle main part still are equipped with the apron 114 that is used for increasing unmanned aerial vehicle main part rigidity.

In this embodiment, as shown in fig. 11, the mixer 41 is provided with a liquid nitrogen pipe joint 411 and two dry powder pipe joints 412 to communicate with the inside of the mixer 41, the mixer 41 is a circular pipe with through holes at both ends, the liquid nitrogen pipe joint 411 is connected to the through hole at one end, the dry powder pipe joint 412 is obliquely connected to the circular pipe body of the mixer 41 from the outer body of the circular pipe of the mixer 41, the dry powder pipe joint 412 forms an acute angle with the central axis of the mixer 41, and the dry powder pipe joint and the central axis of the mixer form an acute angle structure of 30 ° to ensure the spraying continuity of the dry powder extinguishing agent entering the mixer, when the liquid nitrogen extinguishing agent enters the mixer along the pipe axis of the mixer, the dry powder extinguishing agent is cut into the mixer at an angle of 30 ° to form a forward momentum, so that the liquid nitrogen pushes the dry powder extinguishing agent forward after vaporization, and the liquid nitrogen and the dry powder which are not vaporized in time are mixed and then sprayed at a high speed.

As shown in fig. 1, 2 and 5, the fire extinguishing agent spraying system 3 includes a liquid nitrogen bottle group 31, a dry powder bottle group 32 and a control system 33, the liquid nitrogen bottle group 31 and the dry powder bottle group 32 are respectively connected to a mixer 41, the liquid nitrogen bottle group 31 is further connected to a pressurized gas bottle group 5, and the pressurized gas bottle group 5 is further connected to a spraying device 42; the control system 33 controls the liquid nitrogen bottle group 31, the dry powder bottle group 32 and the pressurized gas bottle group 5, and the control system 33 is installed in the unmanned aerial vehicle main body 11; the liquid nitrogen bottle group 31 comprises a vacuum storage tank 311 for storing liquid nitrogen fire extinguishing agent, the vacuum storage tank 311 is provided with a refrigerating machine 314 for storing the liquid nitrogen fire extinguishing agent, a liquid nitrogen electromagnetic valve 312 for spraying the liquid nitrogen fire extinguishing agent in the vacuum storage tank 311, and a reversing valve body group 313 for pressurizing the interior of the vacuum storage tank 311, so that the loss of the liquid nitrogen fire extinguishing agent caused by vaporization of the liquid nitrogen in the daily storage process of the liquid nitrogen fire extinguishing agent in the vacuum storage tank is reduced, the stable operation of the whole fire extinguishing system is ensured, the nitrogen vaporized by the liquid nitrogen can be converted into the liquid nitrogen again by the refrigerating machine 314, the liquid nitrogen fire extinguishing agent is constantly stored in the vacuum storage tank at-200 ℃ to-196 ℃, the gaseous liquid nitrogen fire extinguishing agent is liquefied into liquid state, the liquid nitrogen fire extinguishing agent is continuously stored in the vacuum storage tank, the liquid nitrogen fire extinguishing agent in the vacuum storage tank is not reduced and is not emptied, the storage capacity in the vacuum storage tank is kept unchanged, the problem of daily storage and maintenance of the liquid nitrogen is solved, the inventor has mature technology on the storage of the liquid nitrogen, the long-time, the feasibility of the liquid nitrogen storage technology supporting the utility model; the direction change valve body group 313 includes a direction change valve (not shown) and a safety valve (not shown) for protecting the vacuum reservoir 311; the dry powder bottle group 32 comprises a dry powder bottle 321 and a dry powder bottle electromagnetic valve 322 arranged on the dry powder bottle 321; the mixer 41 is connected with the liquid nitrogen electromagnetic valve 312 through a liquid nitrogen pipe 3121, the liquid nitrogen electromagnetic valve 312 is provided with a liquid nitrogen outlet (not marked), one end of the liquid nitrogen pipe 3121 is connected with the liquid nitrogen pipe joint 411 arranged on the mixer 41, and the other end is connected with the liquid nitrogen outlet (not marked); the mixer 41 is connected with the dry powder bottle electromagnetic valve 322 through a dry powder pipe 3221, a dry powder outlet (not marked) for spraying the dry powder extinguishing agent is arranged on the dry powder bottle electromagnetic valve 322, one end of the dry powder pipe 3221 is connected to a dry powder pipe joint 412 arranged on the mixer 41, the other end of the dry powder pipe is connected to the dry powder outlet (not marked), the liquid nitrogen extinguishing agent and the dry powder extinguishing agent are effectively mixed in the mixer, the dry powder extinguishing agent enters the mixer to be secondarily mixed with the liquid nitrogen extinguishing agent, meanwhile, the liquid nitrogen is rapidly expanded in a limited space after vaporization to form high-pressure nitrogen to push the dry powder extinguishing agent to secondarily pressurize the dry powder extinguishing agent, the sprayed dry powder extinguishing agent is guaranteed to have sufficient kinetic energy to penetrate through flames and directly reach the root of the flames, the extinguishing efficiency is improved, re-combustion is prevented, the spraying distance of the dry powder extinguishing agent under the secondary pressurization of the liquid nitrogen can reach 60 meters, the liquid nitrogen extinguishing agent which is not vaporized in time is mixed with the dry powder extinguishing agent and sprayed, the liquid nitrogen extinguishing agent is vaporized again, so that a large amount of heat can be absorbed, the temperature of a fire scene is reduced, and the extinguishing efficiency is increased; one end of the mixer is connected with a spraying device which adopts a telescopic structure, so that the spraying distance of the fire extinguishing agent is increased;

the pressurized gas bottle group 5 comprises a pressurized gas bottle 51 storing high-pressure gas and a pressurized gas bottle electromagnetic valve 52 arranged on the pressurized gas bottle 51, the high-pressure gas in the pressurized gas bottle 51 preferably uses high-pressure nitrogen, firstly, the pressurized gas bottle group provides a telescopic motive source for the injection device, secondly, the pressurized gas bottle group pressurizes the liquid nitrogen bottle group, the pressurized gas bottle 51 is communicated with the vacuum storage tank 311 through a reversing valve body group 313, a pipeline (not marked) is arranged between the pressurized gas bottle 51 and the reversing valve body group 313, the pressurized gas bottle group is communicated with the liquid nitrogen bottle group through the reversing valve body group 313, the pressurized gas bottle group 5 effectively pressurizes the liquid nitrogen when the liquid nitrogen extinguishing agent cannot be continuously released due to the reduction of the pressure in the tank in the releasing process of the liquid nitrogen extinguishing agent through the reversing valve body group 313, the continuous release of the liquid nitrogen extinguishing agent is ensured, the high-pressure nitrogen in the pressurized gas bottle 51 is depressurized through the reversing valve (not marked), the depressurized high-pressure nitrogen enters the vacuum storage tank 311 again, the occurrence of the explosion of the liquid nitrogen in the vacuum storage tank due to the direct entering the vacuum storage tank 311 due to the high-pressure is prevented, the safety valve (not marked), the safety valve (the liquid nitrogen is used for preventing the vaporization of the liquid nitrogen, the liquid nitrogen in the vacuum storage tank from being prevented, the vacuum storage tank, the high-pressure storage tank is ensured, and the vacuum storage tank is prevented when the high-pressure of the vacuum storage tank due to vaporization due to the vaporization, the vaporization due to the vaporization; the control system 33 is electrically connected with the liquid nitrogen solenoid valve 312, the dry powder bottle solenoid valve 322 and the pressurized gas bottle solenoid valve 51 respectively, so that the control of the fire extinguishing agent spraying system is realized.

Referring to fig. 8 and 9, the injection device 42 includes a fixed barrel 421 and a telescopic barrel 422 installed in the fixed barrel 421, a fixed piston 4211 is provided in the fixed barrel 421, a connector port 4212 is provided at the front end of the fixed barrel 421, the connector port 4212 is provided with an internal thread, the mixer 41 is connected with the fixed barrel 421 through the internal thread, and a tail end piston 4213 is provided at the tail end of the fixed barrel 421; one end of the telescopic gun barrel 422 sequentially passes through a tail end piston 4213 and a fixed piston 4211 and is installed in the fixed gun barrel 421, the other end of the telescopic gun barrel 422 extends out of the fixed gun barrel 421, a ring platform 4221 is arranged on a main body of the telescopic gun barrel 422 in the fixed gun barrel 421, a sealing ring 4222 is arranged on the ring platform 4221, a first sealing cavity 423 is formed between the fixed piston 4211 and the ring platform 4221, a first damping spring 424 is arranged in the first sealing cavity 423, a second sealing cavity 425 is formed between the tail end piston 4213 and the ring platform 4221, and a second damping spring 426 is arranged in the second sealing cavity 425; the extension and recovery of the telescopic gun barrel in the fixed gun barrel are realized by inputting high-pressure gas into a gas inlet joint on the fixed gun barrel, so that a first gas inlet joint 427 communicated with a first sealing cavity 423 and a second gas inlet joint 428 communicated with a second sealing cavity 425 are arranged on the fixed gun barrel 421, O-shaped sealing rings 429 are arranged on the inner annular walls of the fixed piston 4211 and the tail end piston 4213, the first gas inlet joint 427 and the second gas inlet joint 428 are connected with a pneumatic reversing valve 6, a pressurizing pipeline 61 is arranged between the pneumatic reversing valve 6 and a pressurizing gas cylinder 51, a first pressurizing gas electromagnetic valve 62 is arranged on the pressurizing pipeline 61, the high-pressure gas is controlled to enter the pneumatic reversing valve through the first pressurizing gas electromagnetic valve to drive the telescopic gun barrel to move, the pneumatic reversing valve 6 and the first pressurizing gas electromagnetic valve 62 are electrically connected with a control system 33, the expansion control of the injection device by the pressurizing gas cylinder is realized, the pressurizing is communicated with the pneumatic reversing valve, and the high-pressure nitrogen in the pressurizing gas cylinder reaches the pneumatic reversing valve through the pressurizing pipeline, and the pneumatic reversing valve is controlled by the control system to be communicated with the first gas inlet joint and the second gas inlet joint; when pneumatic switching-over valve and first admission joint intercommunication, high-pressure nitrogen gas gets into first sealed chamber and makes flexible barrel stretch out then the output mixes fire extinguishing agent and allies oneself with to use and put out a fire from fixed barrel, flexible barrel stretches out the range that can improve the fire extinguishing agent, when pneumatic switching-over valve intercommunication second admission joint, high-pressure gas gets into the sealed intracavity of second through the second admission joint and makes flexible barrel retrieve backward, realize the scalable operation of injection apparatus 42, put out a fire for unmanned aerial vehicle provides better fire extinguishing agent injection effect.

The utility model discloses still relate to a fire control unmanned aerial vehicle's application method, concrete method is as follows:

(1) under the daily standby state of the fire extinguishing system, the control system monitors the state of the liquid nitrogen cylinder group in real time, a refrigerating machine is arranged on a vacuum storage tank for storing liquid nitrogen extinguishing agent, when the pressure in the vacuum storage tank reaches a certain threshold value, the refrigerating machine is started, vaporized nitrogen is liquefied into liquid nitrogen again, and when the pressure in the vacuum storage tank is greater than the set threshold value of a safety valve (not marked) in the reversing valve body group, the vacuum storage tank is decompressed through the safety valve (not marked);

(2) when fire is needed to be extinguished, all components of the fire extinguishing system are installed on the unmanned aerial vehicle, the unmanned aerial vehicle carrying the fire extinguishing system is started, the unmanned aerial vehicle is controlled to fly to a fire scene through a communication module on the main body of the unmanned aerial vehicle, the real-time scene situation is obtained through a camera assembly, accurate geographical position information is obtained through a navigation assembly, long-distance fire extinguishing is carried out through a control system after the unmanned aerial vehicle reaches a proper position of a fire source, before mixed fire extinguishing agents are sprayed, high-pressure gas in a pressurized gas bottle quickly enters a pneumatic reversing valve through a pressurized pipeline, the control system controls the pneumatic reversing valve to be communicated with a first gas inlet connector, the high-pressure gas enters a first sealing cavity through the first gas inlet connector to push a telescopic gun tube to extend forwards, and the spraying range of the fire extinguishing agents is improved; through a control system, firstly, a vacuum storage tank releases liquid nitrogen fire extinguishing agent to enter a mixer through a liquid nitrogen pipe, meanwhile, a dry powder bottle releases dry powder fire extinguishing agent to enter the mixer through a dry powder pipe, the dry powder fire extinguishing agent and the liquid nitrogen fire extinguishing agent are mixed in the mixer to form mixed fire extinguishing agent, and the mixed fire extinguishing agent in the mixer is sprayed out for fire extinguishing through a fixed gun barrel and a telescopic gun barrel; the pressure intensity of a vacuum storage tank is smaller than a set value in the reversing valve body group in the spraying process of the liquid nitrogen fire extinguishing agent, the pressurizing gas bottle discharges the pressurizing gas which is decompressed by the reversing valve body group into the vacuum storage tank, and the pressurizing gas is supplemented into the vacuum storage tank for pressurization, so that the liquid nitrogen fire extinguishing agent in the vacuum storage tank is continuously released;

(3) after a fire disaster is extinguished, the control system controls the pneumatic reversing valve to be communicated with the second air inlet joint, and high-pressure gas enters the second sealing cavity through the second air inlet joint to enable the telescopic gun barrel to be recovered backwards; and the control system closes the liquid nitrogen bottle group, the dry powder bottle group and the pressurized gas bottle group, and the unmanned aerial vehicle returns.

The utility model relates to a fire control unmanned aerial vehicle carries on fire extinguishing agent injection system and fire extinguishing agent conveyor, wherein the acute angle structure slope that fire extinguishing agent conveyor (injection apparatus) and unmanned aerial vehicle main part bottom plane are 30 ~ 35 is set up on unmanned aerial vehicle, adopts and is spraying to one side, can aim at the ignition point directly in the position that is higher than the ignition source point; meanwhile, according to the triangular distribution of force, a component force along the spraying direction is structurally provided, and a part of kinetic energy (speed) is provided by utilizing potential energy generated by the flying height, so that the stability of the unmanned aerial vehicle is ensured; aiming at high-rise buildings, highways, forests and other fires, the flexible and maneuvering unmanned aerial vehicle carries a fire extinguishing agent injection system, mainly comprises a liquid nitrogen bottle group, a dry powder bottle group and other components, the fire extinguishing agents of the two bottle groups are mixed through a mixer, the mixed fire extinguishing agent is sprayed out from an injection device, and the time for fire fighting and rescue force to reach a fire scene is shortened through aerial flight and quick reaction of the unmanned aerial vehicle. After the liquid nitrogen extinguishing agent is released, the volume of the liquid nitrogen extinguishing agent expands nearly 700 times under the normal temperature and pressure environment, the liquid nitrogen extinguishing agent can be pressurized secondarily in a limited space, the liquid nitrogen extinguishing agent enters a mixer and then is mixed with liquid nitrogen (high-pressure nitrogen after liquid nitrogen is vaporized) (one-time mixing is that high-pressure nitrogen is filled in a dry powder bottle), the liquid nitrogen extinguishing agent is vaporized under the normal temperature and pressure environment, high-pressure nitrogen is formed in the limited space to push the dry powder extinguishing agent to be sprayed, meanwhile, the liquid nitrogen extinguishing agent which is not vaporized in time and the dry powder extinguishing agent are continuously mixed and sprayed out, the mixer is a circular tube with through holes at two ends, a liquid nitrogen tube connector is connected into one end of the through hole, the dry powder tube connector is obliquely connected into the circular tube body of the mixer from the outer circular tube body of the mixer, the dry powder tube connector and the central shaft of the mixer form a 30-degree acute-shaped angle structure, when the liquid nitrogen extinguishing agent enters the mixer along the tube shaft of the mixer, then the liquid nitrogen extinguishing agent is cut into the mixer at an angle of 30 degrees, the problem that the dry powder is discontinuous during spraying is solved, a forward flushing potential is formed, and the liquid nitrogen extinguishing agent is sprayed forward, so that the dry powder which is sprayed forward while the extinguishing agent is sprayed out in time and is mixed with the liquid nitrogen extinguishing agent, and then the liquid nitrogen extinguishing agent is conveyed at a high-speed through a high-speed liquid nitrogen conveying device 4-liquid nitrogen conveying device.

The fire extinguishing agent conveying device 4 (namely an injection device) is obliquely arranged at the bottom of the unmanned aerial vehicle main body 11 along the rear part of the unmanned aerial vehicle main body 11 towards the front part of the unmanned aerial vehicle main body 11, one upward end of the fire extinguishing agent conveying device is connected to the fixed connecting rod 16, and one downward end of the fire extinguishing agent conveying device is connected to the supporting connecting rod 17, so that the fire extinguishing agent conveying device 4 and the bottom plane of the unmanned aerial vehicle main body 11 are obliquely arranged in an acute angle structure of 30 degrees, and the unmanned aerial vehicle adopts an oblique injection mode, so that the unmanned aerial vehicle can hover at a position higher than a fire source point and directly aim at the fire point; meanwhile, according to the triangular distribution of force, a component force along the spraying direction is structurally provided, and a part of kinetic energy (speed) is provided by utilizing the potential energy generated by the flying height, so that the stability of the unmanned aerial vehicle is ensured; secondly, the sprayed dry powder has sufficient kinetic energy to penetrate through the flame and directly support the root of the flame, thereby improving the fire extinguishing efficiency and preventing re-combustion; thirdly, the sprayed liquid nitrogen is vaporized to absorb a large amount of heat, so that the temperature of a fire scene is reduced, and the fire extinguishing is facilitated.

In the embodiment, the unmanned aerial vehicle adopts a six-arm six-wing unmanned aerial vehicle with the effective load of 200 kg-300 kg; the capacity of the vacuum storage tank is 70L, the weight of the liquid nitrogen medium is 50kg, the internal pressure is less than 0.1MPa, and the effective injection distance is more than 5m; the pressurizing gas bottle adopts a high-pressure nitrogen bottle with the capacity of 15L and the internal pressure of 12MPa; the capacity of the dry powder bottle is 63L, the weight of a dry powder medium is 5kg, the internal pressure is 1.2MPa, and the effective spraying distance is 6-8 m;

mixing the liquid nitrogen fire extinguishing agent in the vacuum storage tank with the dry powder fire extinguishing agent in the dry powder bottle in a mixer, vaporizing the liquid nitrogen in the mixer, and carrying out secondary pressurization on the dry powder fire extinguishing agent in a limited space, wherein the pressure in the mixer can reach 2.2MPa, while the pressure of the mixer used by the conventional fire extinguishing device in the prior art is not higher than 1MPa; the instantaneous pressure that the mixed fire extinguishing agent medium of liquid nitrogen extinguishing agent, dry powder extinguishing agent after the mixture jetted out through injection apparatus in the blender is 2.1MPa, initial velocity > 70m/s, effective range is not less than 60m, the contrast is conventional dry powder extinguishing device sprays instantaneous pressure only 1.2MPa among the prior art, initial velocity 25m/s, and effective range is not higher than 15m, there is not the technique or the product that use liquid nitrogen to carry out secondary pressure boost for the dry powder extinguishing agent to appear temporarily yet at present fire control trade simultaneously, show from the above-mentioned data the utility model discloses a liquid nitrogen mixes with the dry powder and increases the dry powder extinguishing agent secondary, it is stronger to have jet power, the farther advantage of jet distance, the liquid nitrogen extinguishing agent that does not in time vaporize can absorb a large amount of heat along with the revaporization behind the dry powder extinguishing agent blowout, reduce the scene of a fire temperature, beneficial fire extinguishing.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. A fire-fighting unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle and a fire-fighting system, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, and the fire-fighting system comprises a fire-fighting agent injection system and a fire-fighting agent conveying device connected with the fire-fighting agent injection system; the fire extinguishing agent injection system is installed on the unmanned aerial vehicle main body through a cross frame; the fire extinguishing agent conveying device is obliquely arranged at the bottom of the unmanned aerial vehicle main body from the rear part of the unmanned aerial vehicle main body to the front part of the unmanned aerial vehicle main body; the fire extinguishing agent spraying system comprises a liquid nitrogen bottle group, a dry powder bottle group and a control system, the fire extinguishing agent conveying device comprises a mixer and a spraying device, the liquid nitrogen bottle group and the dry powder bottle group are respectively connected with the mixer, and one end of the mixer is connected with the spraying device; the liquid nitrogen bottle group is also connected with a pressurized gas bottle group, and the pressurized gas bottle group is also connected with an injection device; the control system controls the liquid nitrogen bottle group, the dry powder bottle group and the pressurized gas bottle group, and is installed in the unmanned aerial vehicle main body.

2. The unmanned aerial vehicle for fire fighting of claim 1, wherein a plurality of support arms are arranged on the unmanned aerial vehicle main body, a symmetrical chassis for installing a cross frame is arranged below the unmanned aerial vehicle main body, a flight rotor is arranged on each support arm, a support seat is arranged at the lower part of the front end of the unmanned aerial vehicle main body, a support connecting rod is arranged on each support seat, a fixing part is arranged at the lower part of the rear end of the unmanned aerial vehicle main body, the fire extinguishing agent delivery device forms a sharp angle of 30-35 degrees with the bottom plane of the unmanned aerial vehicle main body, the rear end of the fire extinguishing agent delivery device is connected to the fixed connecting rod, the front end of the fire extinguishing agent delivery device is connected to the support connecting rod, and the support connecting rod and the fixed connecting rod support the fire extinguishing agent delivery device.

3. A fire fighting drone according to claim 2, characterised in that the support connection rod is connected to the fire extinguishing agent delivery means by a first clamp; the fire extinguishing agent conveying device is connected with the fixed connecting rod through a second clamp; a storage battery pack for providing electric energy is further arranged in the unmanned aerial vehicle main body; unmanned aerial vehicle top front end is equipped with camera shooting subassembly, navigation subassembly, and unmanned aerial vehicle main part top rear end is equipped with communication module, unmanned aerial vehicle main part top still is equipped with the apron that is used for increasing unmanned aerial vehicle main part rigidity.

4. A fire-fighting unmanned aerial vehicle as recited in claim 1, wherein the mixer is provided with a liquid nitrogen pipe joint and a dry powder pipe joint which are communicated with the interior of the mixer, the mixer is a round pipe with through holes at two ends, the liquid nitrogen pipe joint is connected into the through hole at one end, the dry powder pipe joint is obliquely connected into the round pipe body of the mixer from the round pipe outer body of the mixer, the dry powder pipe joint forms an acute angle with the central axis of the mixer, and the number of the dry powder pipe joints is not less than one.

5. A fire-fighting unmanned aerial vehicle as defined by claim 1, wherein the liquid nitrogen bottle group comprises a vacuum storage tank for storing liquid nitrogen fire extinguishing agent, and the vacuum storage tank is provided with a refrigerator for storing the liquid nitrogen fire extinguishing agent, a liquid nitrogen solenoid valve for spraying the liquid nitrogen fire extinguishing agent in the vacuum storage tank, and a reversing valve group for pressurizing the interior of the vacuum storage tank; the dry powder bottle group comprises a dry powder bottle and a dry powder bottle electromagnetic valve arranged on the dry powder bottle; the pressurized gas cylinder group comprises a pressurized gas cylinder and a pressurized gas cylinder electromagnetic valve arranged on the pressurized gas cylinder, and the pressurized gas cylinder is communicated with the vacuum storage tank through the reversing valve body group; and the control system is respectively and electrically connected with the liquid nitrogen electromagnetic valve, the dry powder bottle electromagnetic valve and the pressurized gas bottle electromagnetic valve.

6. The unmanned aerial vehicle for fire fighting as defined in claim 1, wherein the injection device comprises a fixed barrel and a telescopic barrel mounted in the fixed barrel, a fixed piston is arranged in the fixed barrel, a connector port is arranged at the front end of the fixed barrel, an internal thread is arranged at the connector port, the mixer is connected with the fixed barrel through the internal thread, and a tail end piston is arranged at the tail end of the fixed barrel; the telescopic gun barrel one end passes terminal piston, fixed piston in proper order and installs the other end in fixed gun barrel and stretches out outside fixed gun barrel, be equipped with the ring platform in the main part that telescopic gun barrel is located fixed gun barrel, be equipped with the sealing washer on the ring platform, form first sealed chamber between fixed piston and the ring platform, first sealed intracavity is equipped with first damping spring, form the sealed chamber of second between terminal piston and the ring platform, be equipped with second damping spring in the sealed chamber of second, be equipped with the first air inlet joint with first sealed chamber intercommunication on the fixed gun barrel, with the second air inlet joint of the sealed chamber intercommunication of second, the interior rampart of fixed piston, terminal piston all is equipped with O shape sealing washer, first air inlet joint, second air inlet joint are connected with pneumatic reversing valve.

7. The fire-fighting unmanned aerial vehicle of claim 6, wherein a pressurizing pipeline is arranged between the pneumatic reversing valve and the pressurizing gas bottle, a first pressurizing gas solenoid valve is arranged on the pressurizing pipeline, and the pneumatic reversing valve and the first pressurizing gas solenoid valve are electrically connected with a control system.

8. A fire-fighting unmanned aerial vehicle as defined by claim 1, wherein the mixer is connected with the liquid nitrogen solenoid valve through a liquid nitrogen pipe, one end of the liquid nitrogen pipe is connected with a liquid nitrogen pipe joint arranged on the mixer, and the other end of the liquid nitrogen pipe is connected with the liquid nitrogen solenoid valve; the mixer is connected with the dry powder bottle electromagnetic valve through a dry powder pipe, one end of the dry powder pipe is connected with a dry powder pipe joint arranged on the mixer, and the other end of the dry powder pipe is connected with the dry powder bottle electromagnetic valve.

9. A fire fighting drone according to claim 4, characterised in that the dry powder pipe connection forms an acute angle of 30 ° with the mixer central axis.

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