WO2020052100A1 - 一种消防无人机发射消防炮的触发方法 - Google Patents

一种消防无人机发射消防炮的触发方法 Download PDF

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Publication number
WO2020052100A1
WO2020052100A1 PCT/CN2018/118583 CN2018118583W WO2020052100A1 WO 2020052100 A1 WO2020052100 A1 WO 2020052100A1 CN 2018118583 W CN2018118583 W CN 2018118583W WO 2020052100 A1 WO2020052100 A1 WO 2020052100A1
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Prior art keywords
fire
drone
fighting
firing
bomb
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PCT/CN2018/118583
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English (en)
French (fr)
Inventor
罗之洪
李奔
夏烨
罗强
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广州市华科尔科技股份有限公司
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Publication of WO2020052100A1 publication Critical patent/WO2020052100A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
    • A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
    • A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to a triggering method for firefighting unmanned aerial vehicles to fire fire cannons.
  • the commonly used fire extinguishing method is to extinguish fire through fire ladders and fire water guns, but for residential buildings with more than 10 floors and high-rise fires over 24 meters high, the length of fire ladders and the range of fire water guns and water cannons Both are severely restricted as the height of the fire incident increases, manifested as the ladder rising to the air, affected by wind, will sway left and right, increasing the difficulty of firefighting;
  • the use of fire water guns and water cannons to extinguish fires requires water to be carried out. Pressurized operation, water pressure will also limit height.
  • drones As a new type of industrial technology, drones have been widely used in various fields. With the development of drone technology, enabling drones to provide fire fighting and extinguishing functions will become a feasible means of high-altitude fire fighting. Generally, Speaking of, drones use oil as power, but drones used for firefighting, because their working environment is high temperature, using traditional oil as power to trigger fire bomb launches can easily lead to safety accidents such as explosions, so it is urgently needed A safe and feasible method to trigger fire cannon firing.
  • the present invention provides a method for triggering a firefighting drone to fire a fire cannon in order to solve the above-mentioned problems, which can safely trigger the firefighting cannon to fire under high temperature operating conditions.
  • the technical solution of the present invention is a triggering method for a firefighting drone to fire a fire cannon.
  • the firefighting drone includes a fuselage with a box structure, a battery assembly provided on the top of the fuselage, and two Group of feet, four groups of rotor components arranged on the side wall of the fuselage; the fire drone further comprises a plurality of functional components provided on the bottom of the fuselage of the drone or two sets of feet of the drone;
  • the functional components include a fire-fighting barrel with one or more fire-fighting bombs, a sight and a gimbal camera arranged near the fire-fighting barrel, an infrared fixed-height component for determining the flying height of the drone, and a set-on-air
  • the GPS component on the body for positioning the current position of the drone; the fire drone issues an action command through the operating terminal; the tail of the fire bomb is electrically connected to the tail of the fire gun barrel through a trigger switch; the aiming method includes :
  • A4. Determine the firing distance L of the fire gun barrel from the fire center
  • the remote control sends an action signal to the fire gun barrel, which causes the trigger switch to close, and the fire bomb is fired.
  • the battery module is composed of a plurality of batteries for providing power, and the output power is controlled by the battery PCB board.
  • Each set of feet includes two diagonal support feet fixed on the bottom surface of the fuselage box structure and horizontal feet that are perpendicularly connected to the same end of the diagonal support feet to form two continuous inverted T-shaped structures.
  • the included angle ⁇ is 30 ° to 80 °.
  • Each rotor component includes a tubular rotor arm supported by a carbon fiber material, a propeller drive motor, and a propeller. One end of the rotor arm is inserted into the inclined side wall and the other end is connected to the motor holder. A propeller drive motor and propeller are provided on the rotor arm.
  • the driving motor is connected to the propeller, and the battery PCB board is used to control the function of the battery to the motor to drive the propeller to rotate.
  • the signal lamp can be set on the motor holder. With the battery function, the signal lamp lights up when the drone is flying. It can indicate the ground personnel, the flying direction and status of the drone.
  • the drone in the present invention also includes a control module for driving various functional components, which is controlled by a remote terminal;
  • the control module is arranged inside the fuselage box structure, and includes a flight control for controlling the flight of the drone Modules, launch modules for controlling whether fire cannons are fired, PTZ adapter modules for controlling PTZ shooting, image transmission modules for controlling positioning pictures, PTZ shooting pictures, and aiming picture returns, Battery module for controlling battery output, infrared fixed-height module for measuring the height of drone flight, obstacle avoidance module for measuring the distance of obstacles, and control of fire-fighting tanks for spraying dry powder into dry powder spray tubes
  • the dry powder spraying module and the motherboard module The main board module plays the role of comprehensive control.
  • the flight control module is used to stabilize the drone's flight attitude and can control the hovering, autonomous or semi-autonomous flight of the drone.
  • the group is electrically connected to the motherboard module respectively to realize various operations of the drone.
  • the unmanned aerial vehicle in the present invention is driven by pure electric power, instead of the traditional fuel-driven or hybrid electric drive of the unmanned aerial vehicle, and avoids secondary dangers such as fuel explosion caused by operation in a high-temperature environment.
  • the drone When the operator receives a fire alarm, according to the fire address in the alarm message, the drone can be transported to the vicinity of the fire location, and the drone is controlled to take off, determine the fire center, aim, and fire a fire bomb to extinguish the fire. The location and operation of the man-machine launch fire bombs. After the launch, observe the fire-fighting situation on the spot to determine whether a second fire or another fire drone is required for fire-fighting operations.
  • step A1 according to the fire address and the current position of the drone, plan the shortest flight route for the drone; the operator issues a take-off order to the drone, and the drone flies to the fire area.
  • the PTZ camera passes The image transmission module returns the real-time flight picture to the operator, the infrared fixed height module returns the real-time altitude data of the drone, and the GPS component returns the real-time positioning information of the drone.
  • the operator combines these three types of information to understand in real time
  • the current state of the drone makes it easy to adjust the flying height and direction of the drone at any time to avoid high-altitude collisions.
  • the functional component further includes an obstacle avoidance device for identifying an obstacle; in step A1, during the flight of the fire drone, when the distance of the obstacle from the drone is at least 5 meters, The drone starts to slow down.
  • the distance of the nearest obstacle can be determined according to the obstacle avoidance device.
  • the flight speed of the fire drone in the present invention is between 10m / s and 25m / s. Therefore, It is necessary to give the drone a certain response time.
  • the distance from the obstacle to the drone is not less than 5 meters, it is preferably 5 to 20 meters, that is, 1/5 to 2s for the drone.
  • Response time when an obstacle is encountered, the obstacle information can be fed back to the operator. Through manual operation, the drone can also automatically avoid, start deceleration, and wait for the obstacle to leave the flight line or the drone to bypass. .
  • the obstacle avoidance process of the drone is: during the flight, the position and height of the distant obstacle is identified through the obstacle avoidance device, and the current position and altitude of the drone fed back by the infrared fixed height module is used to judge the unmanned person. Does the machine need to rise over obstacles or slow down?
  • the obstacle avoidance device is realized by using the infrared TOF technology, that is, the distance from an object is calculated by using the flying time of infrared light in the air.
  • the TOF technology has a long ranging distance, high accuracy, and relatively low requirements for reflective objects. It is suitable for small-area objects such as lines and cones. It has a great advantage over ultrasonic ranging and has a multi-point sensing TOF chip. It can realize the construction of 3D models of objects, which is widely used, such as scanning the outline of a room, building a map, and recognizing gestures.
  • the fire cannon barrel in the present invention is a tubular structure without an end cap; when a fire bomb is fired, a considerable part of the gas generated during the launch can overflow from the rear of the fire cannon cap without an end cap, resulting in a close to Promote the reverse momentum of the forward momentum of the fire bomb, so that the fire bomb itself has almost no recoil, and the fire bomb becomes ammunition without recoil. Fire reconnaissance without recoil can prevent the fire extinguishing equipment from deviating from the fire area due to reverse impulse, and improve the accuracy of fire extinguishing.
  • the fire recoil without recoil makes the fire cannon barrel not require the recoil cushioning device required for conventional fire bomb launch, which makes the whole Fire-fighting equipment has become very lightweight and easy to use, thereby reducing the load of fire-fighting drones, increasing the number of fire-fighting bombs they carry, and increasing the fire-fighting area of a single drone.
  • step A2 when the operator sees the fire information from the gimbal camera, such as dense smoke, fire light, etc., the drone is operated to hover near the high-rise building; in order to further reduce the hovering of the drone when the fire bomb is launched,
  • the initial speed V0 ⁇ 40m / s of the fire bomb launch in order to ensure that the fire bomb can reach the fire area accurately, further, the hovering position of the fire drone is set as: the horizontal distance from the high-rise building It is 20 to 50 meters.
  • the functional component further includes a thermal sensor component for identifying a fire center; in step A4, the fire center is determined by using a thermal image transmitted from the thermal sensor component.
  • the steps to determine the fire center are:
  • step B3 If yes, the drone rises or descends to a high-temperature area, takes a thermal image again, and repeats step B2;
  • the drone's barrel may not be aimed at the fire floor at this time. Therefore, it is necessary to control the drone's height near the fire floor. It can be fully realized by using the thermal sensor components carried by the drone. Specifically, when the fire area is located on a high level and the drone is located on a low floor, the high temperature area of the thermal image captured must be located on the upper edge of the image. At this time, Control the drone to fly one or two floors upwards. If the fire center is located on the upper one or two floors of the drone, then the thermal image returned again will form a distribution situation where the center is the high temperature area and the surrounding is the low temperature area.
  • the control drone continues to fly upward one or two layers until the low temperature area is distributed in the high temperature in the thermal image. Hover again when going around.
  • the firing distance L satisfies the following relationship:
  • g is the acceleration due to gravity
  • t is the time it takes for the fire extinguishing equipment to reach the highest point after the oblique throw, which is reached by the following formula:
  • the drone can be hovered at the most appropriate position from the fire floor.
  • the fire area is located on the lower floor and the drone is located on the high floor, the same judgment is made.
  • the fire bomb If the fire bomb is set in the vertical direction, it will consume a lot of energy when turning the fire bomb when it is fired vertically; if the fire bomb is set horizontally, the vertical height of the fire drone and the fire area will be increased, so that the fire bomb can be extended. The parabolic trajectory falls into the fire area, but the increase in vertical height will affect the picture taken by the camera. Therefore, in this technical solution, the firing hole of the fire bomb is set to tilt, so that the fire bomb will move obliquely upwards when it is launched. At the highest point, it will then move parabolically toward the fire area to reduce energy consumption and increase range, so that the fire drone can keep the fire bombs accurately fired at the same time as far as possible from the fire area.
  • the elevation angle is in the range of 10 ° to 20 °, which improves the efficiency of fire bomb launching and also guarantees the safety of the drone.
  • step A6 since the firing port of the fire monitor barrel and the sight are located in the same vertical plane, when the sight is aimed at the fire center, it can ensure that the fire bomb finally reaches the fire center accurately, and the reliability of fire suppression is improved.
  • the main body of the fuselage box is provided with a main control board for comprehensive control and regulation, and a launching module for controlling whether the fire monitor fires.
  • the process of triggering the switch closing is: The main control board transmits a signal. After the signal is amplified, it is transmitted to the transmitting module. The transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
  • the process of triggering the switch closing is: the operating end sends a signal to the main control board, and the signal is amplified. Then, it is passed to the transmitting module, which controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
  • the signal amplification can be realized by an amplification circuit.
  • One-click signal transmission can be used on the remote end, and fire bombs are controlled by pure circuits. The response is fast and there is no deviation. When the fire bombs are launched and they are filled with new fire bombs again, they only need to use the electrical connection again, which is simple and convenient. .
  • the fire-fighting bomb is set to be delayed-fired. After the trigger switch is closed, the fire-fighting bomb is fired after an interval of 3s to 10s.
  • the present invention aims first before triggering the fire bomb, improves the accuracy of fire extinguishing and the effectiveness of fire extinguishing, and uses a one-button circuit signal to trigger the fire bomb launch, which has a fast response and simple operation.
  • FIG. 1 is a perspective view of a fire drone of the present invention.
  • Fig. 2 is a front view of a fire drone of the present invention.
  • FIG. 3 is a left side view of the fire drone of the present invention.
  • FIG. 4 is an enlarged view of A in FIG. 1.
  • FIG. 5 is a structural diagram of a rotor assembly in the present invention.
  • FIG. 6 is a step diagram of determining a fire center in the present invention.
  • a compact fire-fighting drone includes a fuselage 1, four rotor components 3, two sets of feet 4, an image component 7, and a fire protection component 5.
  • the fuselage 1 is a cabinet Structure, with multiple control modules inside, battery module 2 on top of fuselage 3, rotor assembly 3 on the side wall of fuselage 1, multiple sets of feet 4 components located on the lateral sides of the lower part of fuselage 1, An anti-vibration device is provided; the rotor assembly 3 includes a rotor arm 31, a driving motor 32 provided at the distal end of the rotor arm 31, and a rotor 33 that is driven by the motor to rotate; one end of the leg 4 and the structure of the box body The bottom surface is connected, and the other end is used for supporting the ground.
  • the battery module 2 is used to drive whether the fire-fighting component 5 is working, and provides power to the driving motor 32 of the rotor component 3 to realize the power supply of the drone.
  • Each rotor assembly 3 includes a tubular rotor arm 31 supported by a carbon fiber material, a rotor drive motor 32 and a rotor 33.
  • One end of the rotor arm 31 is inserted into the inclined side wall 15 and the other end is connected to the motor fixing frame 34.
  • the propeller drive motor 32 is connected to the propeller 33, and the battery 21 is controlled by the battery PCB board 25 to function as a motor, which drives the propeller 33 to rotate.
  • a signal light 35 can be set on the motor holder 34. With the function of the battery 21, the signal light 35 is used when the drone is flying. When lit, it can also indicate the ground personnel, the flying direction and flight status of the drone.
  • the rotor arm 31 includes a first wing arm 311 fixed to a side wall of the fuselage 1, a second wing arm 312 for supporting the propeller 33, and a first wing arm for connection. 311 and wing arm adapter of the second wing arm 312, the second wing arm 312 can be folded around the first wing arm 311 through the wing arm adapter, the folded rotor assembly 3 does not exceed the range of the fire protection assembly 5 .
  • the adapter includes a first adapter 313 sleeved on the distal end of the first wing arm 311, a second adapter 314 sleeved on the proximal end of the second wing arm 312, and a first adapter 313 and a connecting piece locking spring 315 of the second adapter 314, a spring guide rod 316 and a sliding shaft 317 sleeved in the retracted spring, one end of the connecting piece locking spring 315 is fixed to the first adapter 313
  • the spring guide rod 316 passes through the distal end of the second adapter 314 and is fixed to the other end of the connecting member locking spring 315.
  • the first adapter 313 and the second adapter 314 are used.
  • the rotating shaft is connected, and a horizontal chute is provided on the second adapter 314.
  • the sliding shaft 317 passes through the horizontal chute vertically. When it needs to be folded, the locking spring is extended.
  • the sliding shaft 317 is located at the proximal end of the chute. It is fixed back to keep the locking spring stretched to achieve the folding of the second wing arm 312.
  • the sliding shaft 317 is moved to the distal end of the chute and fixed to keep the locking spring naturally extended. Just long.
  • the wires for connecting the propeller drive motor 32 pass through the second wing arm 312, the second adapter 314, the first adapter 313, and the first wing arm 311 in sequence, and are electrically connected to the battery 21 component, and the wires A certain margin is left to prevent it from obstructing the folding of the second wing arm 312.
  • the fire protection assembly 5 includes an integrated support and a fire gun barrel 51, and the elevation angle of the launch port of each fire gun barrel 51 and the horizontal line is in a range of 10 ° to 20 °;
  • the integrated bracket includes a first barrel fixing member 52 and a second barrel fixing member 53.
  • the front end of the fire barrel 51 is connected laterally with the foot 4 on the front side of the fuselage 1 through the first barrel fixing member 52.
  • the fire barrel 51 The rear end of the rear end is connected laterally with the foot 4 on the rear side of the fuselage 1 through the second barrel fixing member 53.
  • the fire cannon barrel is a cylindrical structure without an end cap; when firing a fire bomb, a considerable part of the gas generated during the launch can overflow from the rear of the fire cannon without an end cap, thereby generating a force close to the forward momentum of the fire bomb. Reverse momentum, so that the fire bomb itself produces almost no recoil, making the fire bomb ammunition without recoil. Fire reconnaissance without recoil can prevent the fire extinguishing equipment from deviating from the fire area due to reverse impulse, and improve the accuracy of fire extinguishing.
  • the fire recoil without recoil makes the fire cannon barrel not require the recoil cushioning device required for conventional fire bomb launch, which makes the Fire-fighting equipment has become very lightweight and easy to use, thereby reducing the load of fire-fighting drones, increasing the number of fire-fighting bombs they carry, and increasing the fire-fighting area of a single drone.
  • the image assembly 7 includes a sight 71 and a gimbal assembly 72.
  • the sight 71 is provided above the fire cannon barrel 51, and its axis is in the same vertical plane as the fire cannon barrel 51 axis. Adjacent to the fire gun barrel 51, it is fixed to the lower part of the first gun barrel fixing member 52 by a gimbal bracket; it further includes a night vision camera 73 disposed behind the sight 71, and the night vision camera 73 and the sight 71 pass through.
  • the scope fixing member 712 is longitudinally disposed on the first barrel fixing member 52 and the second barrel fixing member 53.
  • the fire drone further includes an obstacle avoidance assembly 74 provided on the upper part of the first barrel fixing member 52.
  • the obstacle avoidance assembly 74 determines whether the drone needs to bypass by measuring the distance from the obstacle.
  • the control module is arranged on the bottom plate of the box structure, and includes a flight control module for controlling the drone flight, a launch module for controlling whether a fire cannon is fired, and a gimbal transfer for controlling gimbal shooting.
  • Modules image transmission modules for controlling positioning images, gimbal shooting images and aiming image returns, battery modules for controlling battery output, infrared fixed-height modules for determining the altitude of drones, Obstacle avoidance module for measuring the distance of obstacles, dry powder spraying module and motherboard module for controlling the fire tank to spray dry powder into the dry powder spraying pipe.
  • the main board module plays the role of comprehensive control and regulation, mainly for driving regulation, such as batteries, rotor drive motors, etc .; the flight control module is used to stabilize the drone's flying attitude, and can control the drone's hovering, autonomous or semi-autonomous Autonomous flight; each module set on the chassis bottom of the box structure is electrically connected to the main board module respectively to realize various operations of the drone.
  • the infrared height-fixing module mainly uses infrared to determine the flying height of the drone to control the accuracy of the fire protection.
  • the obstacle avoidance module is mainly used for the distance measurement of the drone to realize the obstacle avoidance function of the drone.
  • the PTZ conversion module is mainly used to realize the communication connection between the drone and the remote control of the operation terminal, thereby realizing various operations of the user.
  • a triggering method for a fire drone firing a fire cannon includes:
  • A4. Determine the firing distance L of the fire gun barrel from the fire center
  • the remote control sends an action signal to the fire gun barrel, which causes the trigger switch to close, and the fire bomb is fired.
  • step A1 during the flight of the fire drone, when the distance between the obstacle and the drone is at least 5 meters, the drone starts braking and decelerating.
  • the obstacle avoidance process of the drone is: during the flight, the position and height of the distant obstacle is identified through the obstacle avoidance device, and the current position and altitude of the drone fed back by the infrared fixed height module is used to judge the unmanned person. Does the machine need to rise over obstacles or slow down?
  • step A2 when the operator sees the fire information from the gimbal camera, such as dense smoke, fire light, etc., the drone is operated to hover near the high-rise building; in order to further reduce the hovering of the drone when the fire bomb is launched,
  • the initial speed V0 ⁇ 40m / s of the fire bomb launch in order to ensure that the fire bomb can reach the fire area accurately, further, the hovering position of the fire drone is set as: the horizontal distance from the high-rise building It is 20 to 50 meters.
  • step A4 the steps of determining the fire center through the thermal image transmitted from the thermal sensor component are:
  • step B3 If yes, the drone rises or descends to a high-temperature area, takes a thermal image again, and repeats step B2;
  • the firing distance L satisfies the following relationship:
  • step A6 since the firing port of the fire monitor barrel and the sight are located in the same vertical plane, when the sight is aimed at the fire center, it can ensure that the fire bomb finally reaches the fire center accurately, and the reliability of fire suppression is improved.
  • the main body of the fuselage box is provided with a main control board for comprehensive control and regulation, and a launching module for controlling whether the fire monitor fires.
  • the process of triggering the switch closing is: The main control board transmits a signal. After the signal is amplified, it is transmitted to the transmitting module. The transmitting module controls the battery assembly to conduct electricity to the trigger switch, and the trigger switch is closed.
  • the fire bomb is set to be fired at a delayed time. After the trigger switch is closed, the fire bomb is fired after an interval of 3 to 10 seconds.

Abstract

一种消防无人机发射消防炮的触发方法，包括：控制消防无人机飞向火灾区域；使消防无人机悬停在火灾区域附近；通过消防无人机上的云台相机（72）传回火灾区域图像；确定消防炮筒（51）发射口距离火灾中心的射击距离L；通过瞄准镜（71）传回无人机的瞄准画面；根据瞄准画面，调整消防炮筒（51）发射口角度，将消防炮筒（51）瞄准火灾区域；遥控端向消防炮筒（51）发送动作信号，使触发开关闭合，消防弹射出。

Description

一种消防无人机发射消防炮的触发方法 技术领域
本发明涉及无人机领域，具体的说，是一种消防无人机发射消防炮的触发方法。
背景技术
随着城市化建设的不断发展，高层建筑越来越多，随之而来的是高楼火灾的频发，由于高楼结构复杂、人员密集、且高楼火灾具有火势蔓延快、疏散困难和扑救难度大的特点，一旦失火，火势难以控制、人员难以逃离。
在现有技术中，常用的灭火方式是通过消防云梯及消防水枪等进行灭火，但对于超过10层的住宅建筑和超过24米高的高层火灾，消防云梯的长度及消防水枪、水炮的射程均随着火灾发生点的高度增加严重受限，表现为云梯升到空中后，受风力影响，会左右摇摆，增加救火难度；其次，采用消防水枪、水炮进行灭火的方式，需要对水进行加压操作，水压也会对到高度产生限制。
无人机作为一种新型工业技术，已被广泛应用于各种领域，随着无人机技术的发展，使无人机赋予消防灭火的功能，将会成一种高空消防的可行手段，一般来讲，无人机使用油作为动力，但用作消防用途的无人机，由于其工作环境为高温，采用传统的油作为动力去触发消防弹发射容易导致爆炸等安全事故，因此，亟需一种安全可行的触发消防炮发射的方法。
发明内容
有鉴于此，本发明为解决上述问题，提供一种消防无人机发射消防炮的触发方法，可以在高温的作业条件下安全的触发消防炮的发射。
本发明的技术方案是，一种消防无人机发射消防炮的触发方法，所述消防无人机包括箱体结构的机身、设置在机身顶部的电池组件、设置在机身底部的两组支脚、设置在机身侧壁的四组旋翼组件；所述消防无人机还包括通过设置在无人机的机身底部或无人机的两组支脚上的多个功能组件；
所述功能组件包括带有一枚或多枚消防弹的消防炮筒、设置在消防炮筒邻近的瞄准镜及云台 相机、用于测定无人机飞行的高度的红外定高组件及设置在机身上部的用于定位无人机当前位置的GPS组件；所述消防无人机通过操作端下达动作命令；所述消防弹的尾部通过触发开关与消防炮筒尾部电连接；所述瞄准方法包括：
A1、控制消防无人机飞向火灾区域；
A2、使消防无人机悬停在火灾区域附近；
A3、通过消防无人机上的云台相机传回火灾区域图像；
A4、确定消防炮筒发射口距离火灾中心的射击距离L；
A5、通过瞄准镜传回无人机的瞄准画面；
A6、根据瞄准画面，调整消防炮筒发射口角度，将消防炮筒瞄准火灾区域；
A7、遥控端向消防炮筒发送动作信号，使触发开关闭合，消防弹射出。
在本发明中，电池模块由多块用于提供动力的电池组成，通过电池PCB板控制输出的电量。每组支脚包括两条固定在机身箱体结构的底面上斜撑支脚和与斜撑支脚同一端垂直连接的水平支脚，使其形成两个连续的倒置T型结构，两组支脚之间的夹角β为30°～80°。每个旋翼组件均包括碳纤维材质支撑的管状旋翼臂、旋桨驱动电机及旋桨，旋翼臂的一端插入斜侧壁，另一端与电机固定架连接，其上设有旋桨驱动电机，旋桨驱动电机与旋桨连接，通过电池PCB板控制电池向电机功能，带动旋桨转动。当消防无人机作业时户外光线不足时，需要让操作人员了解无人机起飞时的状态，可以在电机固定架上设置信号灯，通过电池功能，在无人机飞行时，信号灯点亮，也可示意地面人员，无人机的飞行方向和飞行状态。
本发明中无人机还包括用于驱动各功能组件的控制模组，通过遥控端进行控制；所述控制模组设置在机身箱体结构内部，包括用于控制无人机飞行的飞控模组、用于控制消防炮是否发射的发射模组、用于控制云台拍摄的云台转接模组、用于控制定位画面、云台拍摄画面及瞄准画面回传的图传模组、用于控制电池输出的电池模组、用于测定无人机飞行的高度的红外定高模组、用于测量障碍物距离的避障模组、用于控制消防罐向干粉喷射管中干粉喷出的干粉喷射模组及主板模组。其中主板模组起综合控制调控的作用，飞控模组用于稳定无人机飞行姿态，并能控制无人机悬停、自主或半自主飞行；其中设置在箱体结构底板上的各个模组分别与主板模组电连接，实现无人机的各种操作。
本发明中的无人机采用纯电力驱动，取代传统无人机的燃油驱动或油电混合驱动，避免在高温环境下作业引发燃油爆炸等二次危险。
当操作端收到火灾报警后，根据报警信息中的火灾地址，可将无人机运送至火灾地点 附近后，操纵无人机起飞、确定火灾中心、瞄准、发射消防弹灭火，通过人为观察无人机的位置及操作发射消防弹，发射完后，就地观察灭火情况，判断是否需要第二次发射或者调取另一台消防无人机进行灭火操作。
在步骤A1中，根据火灾地址和无人机当前位置，为无人机规划飞行最短路线；操作端向无人机下达起飞命令，无人机飞向火灾区域，此过程中，云台相机通过图传模组向操作端回传飞行实时画面、红外定高模组传回无人机的实时高度数据、GPS组件传回无人机的实时定位信息，操作端结合此三种信息，实时了解无人机的当前状态，便于随时调整无人机的飞行高度和飞行方向，避免发生高空碰撞。
进一步地，所述功能组件还包括用于识别障碍物的避障装置；在步骤A1中，所述消防无人机在飞行过程中，当障碍物离无人机的距离至少为5米时，无人机开始刹车减速。
由于当前的地图还是以地面方位信息，对于建筑物的高度信息没有显示，而无人机的飞行搞定不足以绕过所有的高层建筑，在无人机的飞行线路里，还会出现其他飞行物体等，当无人机的线路中出现此种情况时，可以根据避障装置判断最近障碍物的距离，本发明中的消防无人机飞行速度在10m/s～25m/s之间，因此，需要给予无人机一定的反应时间，本发明中设置障碍物距离无人机的距离不少于5米时，优选地，为5～20米，即留给无人机的1/5～2s的反应时间，当遇到障碍物时，可将障碍物信息反馈给操作端，通过手动操作，也可使无人机自动避让，开始减速，等待障碍物离开飞行线路或无人机绕行通过。
进一步地，无人机的避障过程为：在飞行过程中，通过避障装置识别远处的障碍物的位置和高度，结合红外定高模组反馈的无人机当前位置高度，判断无人机是否需要上升越过障碍物或减速绕行。
所述避障装置采用红外TOF技术实现，即利用红外光在空气中的飞行时间，算出距离物体距离。由于TOF技术具有测距距离远，精度高，对反射物体要求比较低，适用于面积小的物体，如线、锥形物体等，相比超声波测距优势很大，同时多点感应的TOF芯片可以实现构建物体3D模型，应用非常广，比如扫描房间轮廓，构建地图、识别手势等。
更进一步地，本发明中的消防炮筒为无端盖的筒状结构；在发射消防弹时，发射时产生的气体中有相当一部分可以从无端盖的消防炮筒后方溢出，从而产生一个接近于推动消防弹前进动量的反向动量，这样就使得消防弹本身几乎不产生后坐力，使消防弹成为无后坐力的的弹药。无后坐力的消防炮可以避免由于反向冲力导致消防灭火设备偏离火灾区域，提高灭火精准性；其次，无后坐力消防弹使得消防炮筒不需要常规消防弹发射时所需的后坐缓冲 装置，使整个消防灭火设备变得很轻便且易于使用，从而减小消防无人机的载重，提高其承载消防弹的数量，增大无人机单次飞行的灭火面积。
在步骤A2中，操作端从云台相机中看到火灾信息，如浓烟、火光等时，操纵无人机悬停在高层建筑附近；为进一步减少消防弹发射时对无人机悬停时的影响，进一步地，所述消防弹发射的初始速度V0≤40m/s，为保证消防弹能精准的到达火灾区域，进一步地，设置消防无人机的悬停位置为：距离高层建筑水平距离为20至50米。
进一步地，所述功能组件还包括用于识别火灾中心的热敏仪组件；在步骤A4中，通过热敏仪组件传回的热敏图像，确定火灾中心。确定火灾中心的步骤为：
B1、通过热敏图像找到图像里的高温区域；
B2、判断高温区域是否位于热敏图像边缘；
B3、若是，则无人机沿上升或下降至高温区域，再次拍摄热敏图像，重复步骤B2；
B4、若否，即高温区域位于热敏图像中心，则无人机停留在此处。
当无人机悬停在距离火灾区域水平距离为20至50米位置时，此时无人机的炮筒不一定是对准着火楼层，因此，需要控制无人机位于火灾楼层附附近高度。可充分利用无人机携带的热敏仪组件实现，具体为：当着火区域位于高层，而无人机位于低楼层时，所拍摄的热敏图像的高温区域必然位于图像上方边沿，此时，控制无人机向上飞行一至两层，若火灾中心位于无人机上部的一至两层，则再次返回的热敏图像中，将形成已中心为高温区，四周为低温区的分布状况，此时可以确定无人机的高度合适；当再次返回的热敏图像中，高温去依旧位于图像边缘，此时，控制无人机继续向上飞行一至两层，直至热敏图像中，低温区分布在高温去四周时再次悬停。
进一步地，根据消防弹发射的初始速度V0、消防炮筒发射口的仰角α，确定射击距离L满足以下关系式：
Figure PCTCN2018118583-appb-000001
消防灭火设备以一定的仰角α发射后，作斜抛运动，其运动轨迹为抛物线运动，其落入点受到发射时的处时速度V 0和仰角α限制，由于射程小，动量大，可忽略空气阻力的影响，将距离L分解为：落点距离发射口的水平位移Lx与垂直位移Ly，因此，L 2＝Lx 2+Ly 2。
Lx与Ly可通过以下公式得到：
L X＝V 0·t·cosα
Figure PCTCN2018118583-appb-000002
其中，g为重力加速度；
t为消防灭火设备斜抛后到达最高点所用时间，通过以下公式的到：
Figure PCTCN2018118583-appb-000003
如此，经过步骤A2和A4，可将无人机悬停在距离火灾楼层最恰当的位置。同理，当着火区域位于低层，而无人机位于高楼层时，也如此判断。
进一步地，所述消防弹发射的初始速度V0≤40m/s；仰角α＝10°～20°。
若将消防弹设置在垂直方向，垂直发射后，消防弹转弯时会消耗很多能量；若将消防弹设置为水平，则消防无人机与火灾区域的垂直高度将加大，才能使消防弹延抛物线轨迹落入火灾区域，但垂直高度的加大，会影响摄像头拍摄的画面效果，因此，在本技术方案中，将消防弹的发射孔设置为倾斜，使消防弹在发射时先斜向上运动到最高点，之后再朝向火灾区域延抛物线运动，减少能量消耗，增加射程，使消防无人机在尽可能远离火灾区域的同时也能保证消防弹精准射向火灾区域。由于消防炮的长度可近似一米，且其位于机身(1)下部，支脚(4)的垂直高度有限，为了避免消防炮触碰到机身(1)下部的图像设备或机身(1)本体，将仰角为α的范围在10°至20°之间，提高消防弹发射效率的同时也保证无人机的安全性。
在步骤A6中，由于消防炮筒的发射口与瞄准镜位于同一竖直平面，当瞄准镜对准火灾中心时，就能保证消防弹最终精准到达火灾中心，提高灭火的可靠性。
进一步地，所述机身箱体内部设有起综合控制调控的作用的主控制板及用于控制消防炮是否发射的发射模组；在步骤A7中，触发开关闭合的过程为：操作端向主控制板发射信号，信号经过放大后，传给发射模组，发射模组控制电池组件向触发开关导电，触发开关闭合。
由于机身箱体内部设有起综合控制调控的作用的主控制板及用于控制消防炮是否发射的发射模组，触发开关闭合的过程为：操作端向主控制板发射信号，信号经过放大后，传给发射模组，发射模组控制电池组件向触发开关导电，触发开关闭合。信号放大可采用放大电路实现。可在遥控端采用一键式信号发送，通过纯电路控制消防弹发射，反应迅速，无偏差，当消防弹发射后，再次填充新的消防弹时，只需要重新采用电连接即可，简单便捷。
进一步地，由于火灾场景情况多变，为降低遥控端误判的几率，设定消防弹为延时射 出，设定触发开关闭合后，间隔3s～10s后，消防弹发射。
与现有技术相比，本发明的在触发消防弹前先瞄准，提高灭火的精准度和灭火的有效性，采用一键式电路信号触发消防弹发射，反应迅速且操作简便。
附图说明
图1为本发明消防无人机的立体图。
图2为本发明消防无人机的主视图。
图3为本发明消防无人机的左视图。
图4为图1的A处放大图。
图5为本发明中旋翼组件结构图。
图6为本发明中确定火灾中心步骤图。
具体实施方式
下面结合具体实施方式对本发明作进一步的说明。其中，本发明实施例附图中相同或相似的标号对应相同或相似的部件，仅用于示例性说明，不能理解为对本发明的限制；为了更好地说明本发明的实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；本发明中实施例术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，而不是指示或暗示所指的装置或元件必须具有特定的方位或以特定的方位构造，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
结构实施例
如图1和图2所示，一种紧凑型消防无人机，包括机身1、四个旋翼组件3、两组支脚4、图像组件7及消防组件5，所述机身1为箱体结构，内部设有多个控制模组，机身1上部设有电池模块2，旋翼组件3设于机身1侧壁，多组支脚4组件分别位于机身1下部的横向两侧、且均设有防震装置；所述旋翼组件3包括旋翼臂31、设置在旋翼臂31远端的驱动电机32，以及设有利用电机驱动转动的旋桨33；所述支脚4的一端与箱体结构的底面连接，另一端用于支撑地面，所述消防组件5和图像组件7固定在支脚4上；两组支脚4之间的夹角β为30°～80°，优选地，夹角β＝30°或40°或50°或60°或70°或80°。所述电池模块2用于驱动消防组件5是否工作，且为旋翼组件3的驱动电机32提供动力，实现无人机的供能。
每个旋翼组件3均包括碳纤维材质支撑的管状旋翼臂31、旋桨驱动电机32及旋桨33，旋翼臂31的一端插入斜侧壁15，另一端与电机固定架34连接，其上设有旋桨驱动电机32，旋桨驱动电机32与旋桨33连接，通过电池PCB板25控制电池21向电机功能，带动旋桨33转动。当消防无人机作业时户外光线不足时，需要让操作人员了解无人机起飞时的状态，可以在电机固定架34上设置信号灯35，通过电池21功能，在无人机飞行时，信号灯35点亮，也可示意地面人员，无人机的飞行方向和飞行状态。
如图4和图5所示，所述旋翼臂31包括固定在机身1侧壁的第一翼臂311、用于承托旋桨33的第二翼臂312及用于连接第一翼臂311与第二翼臂312的翼臂转接装置，所述第二翼臂312可通过翼臂转接装置绕着第一翼臂311折叠，折叠后的旋翼组件3不超出消防组件5的范围。所述转接装置包括套设在第一翼臂311远端的第一转接件313、套设在第二翼臂312近端的第二转接件314、用于连接第一转接件313及第二转接件314的连接件锁紧弹簧315、套设在缩进弹簧内的弹簧导向杆316及滑动轴317，所述连接件锁紧弹簧315一端固定在第一转接件313内，所述弹簧导向杆316从第二转接件314的远端穿过，再与连接件锁紧弹簧315的另一端固定，所述第一转接件313与第二转接件314采用转轴连接，且在第二转接件314上设有水平滑槽，所述滑动轴317垂直穿过水平滑槽，当需要折叠时，锁紧弹簧伸长，滑动轴317位于滑槽的近端后固定，使锁紧弹簧保持伸长，实现第二翼臂312的折叠；当需要展开第二翼臂312时，将滑动轴317移动至滑槽的远端后固定，保持锁紧弹簧自然伸长即可。此外，用于连接旋桨驱动电机32的导线依次通过第二翼臂312、第二转接件314、第一转接件313、第一翼臂311后，与电池21组件电连接，且导线留有一定裕度，避免其阻挠第二翼臂312的折叠。
如图2和图3所示，所述消防组件5包括集成支架和消防炮筒51，每个消防炮筒51的发射口与水平线的仰角为α的范围在10°至20°之间；所述集成支架包括第一炮筒固定件52和第二炮筒固定件53，消防炮筒51的前端通过第一炮筒固定件52横向与机身1前侧的支脚4连接，消防炮筒51的后端通过第二炮筒固定件53横向与机身1后侧的支脚4连接。
其中，消防炮筒为无端盖的筒状结构；在发射消防弹时，发射时产生的气体中有相当一部分可以从无端盖的消防炮筒后方溢出，从而产生一个接近于推动消防弹前进动量的反向动量，这样就使得消防弹本身几乎不产生后坐力，使消防弹成为无后坐力的的弹药。无后坐力的消防炮可以避免由于反向冲力导致消防灭火设备偏离火灾区域，提高灭火精准性；其次，无后坐力消防弹使得消防炮筒不需要常规消防弹发射时所需的后坐缓冲装置，使整个消防灭 火设备变得很轻便且易于使用，从而减小消防无人机的载重，提高其承载消防弹的数量，增大无人机单次飞行的灭火面积。
所述图像组件7包括瞄准镜71和云台组件72，所述瞄准镜71设于消防炮筒51的上方，其轴线与消防炮筒51轴线位于同一竖直平面；所述云台组件72设于消防炮筒51的邻侧，通过云台支架固定在第一炮筒固定件52下部；还包括设置在瞄准镜71后方的夜视相机73，所述夜视相机73与瞄准镜71均通过瞄准镜固定件712纵向跨设在第一炮筒固定件52和第二炮筒固定件53上。
所述消防无人机还包括设置在第一炮筒固定件52上部的避障组件74，所述避障组件74通过测量与障碍物之间的距离来判断是否无人机是否需要绕行。
所述控制模组设置在箱体结构底板上，包括用于控制无人机飞行的飞控模组、用于控制消防炮是否发射的发射模组、用于控制云台拍摄的云台转接模组、用于控制定位画面、云台拍摄画面及瞄准画面回传的图传模组、用于控制电池输出的电池模组、用于测定无人机飞行的高度的红外定高模组、用于测量障碍物距离的避障模组、用于控制消防罐向干粉喷射管中干粉喷出的干粉喷射模组及主板模组。
其中主板模组起综合控制调控的作用，主要针对驱动的调控，如电池、旋翼驱动电机等；飞控模组用于稳定无人机飞行姿态，并能控制无人机悬停、自主或半自主飞行；其中设置在箱体结构底板上的各个模组分别与主板模组电连接，实现无人机的各种操作。
所述红外定高模组主要利用红外测定无人机飞行的高度，从而控制消防的精度；所述避障模组主要用于无人机的测距，实现无人机的避障功能。所述云台转接模组主要用于实现无人机与操作端遥控器之间的通讯连接，从而实现用户的各项操作。
方法实施例
一种消防无人机发射消防炮的触发方法，包括：
A1、控制消防无人机飞向火灾区域；
A2、使消防无人机悬停在火灾区域附近；
A3、通过消防无人机上的云台相机传回火灾区域图像；
A4、确定消防炮筒发射口距离火灾中心的射击距离L；
A5、通过瞄准镜传回无人机的瞄准画面；
A6、根据瞄准画面，调整消防炮筒发射口角度，将消防炮筒瞄准火灾区域；
A7、遥控端向消防炮筒发送动作信号，使触发开关闭合，消防弹射出。
在步骤A1中，所述消防无人机在飞行过程中，当障碍物离无人机的距离至少为5米时，无人机开始刹车减速。
进一步地，无人机的避障过程为：在飞行过程中，通过避障装置识别远处的障碍物的位置和高度，结合红外定高模组反馈的无人机当前位置高度，判断无人机是否需要上升越过障碍物或减速绕行。
在步骤A2中，操作端从云台相机中看到火灾信息，如浓烟、火光等时，操纵无人机悬停在高层建筑附近；为进一步减少消防弹发射时对无人机悬停时的影响，进一步地，所述消防弹发射的初始速度V0≤40m/s，为保证消防弹能精准的到达火灾区域，进一步地，设置消防无人机的悬停位置为：距离高层建筑水平距离为20至50米。
如图6所示，在步骤A4中，通过热敏仪组件传回的热敏图像，确定火灾中心的步骤为：
B1、通过热敏图像找到图像里的高温区域；
B2、判断高温区域是否位于热敏图像边缘；
B3、若是，则无人机沿上升或下降至高温区域，再次拍摄热敏图像，重复步骤B2；
B4、若否，即高温区域位于热敏图像中心，则无人机停留在此处。
进一步地，根据消防弹发射的初始速度V0、消防炮筒发射口的仰角α，确定射击距离L满足以下关系式：
Figure PCTCN2018118583-appb-000004
进一步地，所述消防弹发射的初始速度V0≤40m/s；仰角α＝10°～20°。
在步骤A6中，由于消防炮筒的发射口与瞄准镜位于同一竖直平面，当瞄准镜对准火灾中心时，就能保证消防弹最终精准到达火灾中心，提高灭火的可靠性。
进一步地，所述机身箱体内部设有起综合控制调控的作用的主控制板及用于控制消防炮是否发射的发射模组；在步骤A7中，触发开关闭合的过程为：操作端向主控制板发射信号，信号经过放大后，传给发射模组，发射模组控制电池组件向触发开关导电，触发开关闭合。
进一步地，由于火灾场景情况多变，为降低遥控端误判的几率，设定消防弹为延时射出，设定触发开关闭合后，间隔3s～10s后，消防弹发射。
显然，本发明虽然以上述实施例公开，但并不是对本发明的限定。任何本领域的普通 技术人员在不脱离本发明的精神和范围内，在上述说明的基础上都可以做出可能的变化和修改。因此，本发明的保护范围应当以本发明的权利要求书所界定的范围为准。

Claims (9)

  1. 一种消防无人机发射消防炮的触发方法，所述消防无人机包括箱体结构的机身、设置在机身顶部的电池组件、设置在机身底部的两组支脚、设置在机身侧壁的四组旋翼组件；
    所述消防无人机还包括通过设置在无人机的机身底部或无人机的两组支脚上的多个功能组件；
    所述功能组件包括带有一枚或多枚消防弹的消防炮筒、设置在消防炮筒邻近的瞄准镜及云台相机、用于测定无人机飞行的高度的红外定高组件及设置在机身上部的用于定位无人机当前位置的GPS组件；所述消防无人机通过操作端下达动作命令；所述消防弹的尾部通过触发开关与消防炮筒尾部电连接；其特征在于，所述瞄准方法包括：
    A1、控制消防无人机飞向火灾区域；
    A2、使消防无人机悬停在火灾区域附近；
    A3、通过消防无人机上的云台相机传回火灾区域图像；
    A4、确定消防炮筒发射口距离火灾中心的射击距离L；
    A5、通过瞄准镜传回无人机的瞄准画面；
    A6、根据瞄准画面，调整消防炮筒发射口角度，将消防炮筒瞄准火灾区域；
    A7、遥控端向消防炮筒发送动作信号，使触发开关闭合，消防弹射出。
  2. 根据权利要求1所述的一种消防无人机发射消防炮的触发方法，其特征在于，所述功能组件还包括用于识别障碍物的避障装置；在步骤A1中，所述消防无人机在飞行过程中，当障碍物离无人机的距离至少为5米时，无人机开始刹车减速。
  3. 根据权利要求2所述的一种消防无人机发射消防炮的触发方法，其特征在于，无人机的避障过程为：在飞行过程中，通过避障装置识别远处的障碍物的位置和高度，结合红外定高模组反馈的无人机当前位置高度，判断无人机是否需要上升越过障碍物或减速绕行。
  4. 根据权利要求1所述的一种消防无人机发射消防炮的触发方法，其特征在于，在步骤A2中，消防无人机的悬停位置为：距离火灾区域水平距离为20至50米、垂直距离为1至5米。
  5. 根据权利要求1所述的一种消防无人机发射消防炮的触发方法，其特征在于，所述功能组件还包括用于识别火灾中心的热敏仪组件；在步骤A4中，通过热敏仪组件传回的热敏图像，确定火灾中心。
  6. 根据权利要求4所述的一种消防无人机发射消防炮的触发方法，其特征在于，根据消防弹发射的初始速度V 0、消防炮筒发射口的仰角α，确定射击距离L满足以下关系式：
    Figure PCTCN2018118583-appb-100001
  7. 根据权利要求1所述的一种消防无人机发射消防炮的触发方法，其特征在于，所述消防弹发射的初始速度V 0≤40m/s；仰角α＝10°～20°。
  8. 根据权利要求1所述的一种消防无人机发射消防炮的触发方法，其特征在于，所述机身箱体内部设有起综合控制调控的作用的主控制板及用于控制消防炮是否发射的发射模组；在步骤A7中，触发开关闭合的过程为：操作端向主控制板发射信号，信号经过放大后，传给发射模组，发射模组控制电池组件向触发开关导电，触发开关闭合。
  9. 根据权利要求1或8所述的一种消防无人机发射消防炮的触发方法，其特征在于，触发开关闭合后，间隔3s～10s后，消防弹发射。
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CN108408053A (zh) * 2018-04-25 2018-08-17 天津中德应用技术大学 抛射式高空灭火无人机系统及其使用方法

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CN115531767A (zh) * 2022-09-30 2022-12-30 新兴际华集团有限公司 一种基于自平衡增稳式系留无人机的消防灭火系统
GR1010548B (el) * 2023-01-18 2023-09-25 Δημητριος Γεωργιου Ραπτοπουλος Διαταξη και μεθοδος διαχυσης ουσιων συγχυσης φυλου ή αλλων φυτοπροστατευτικων προϊοντων με πολλαπλα φυσιγγια για χρηση σε μη επανδρωμενο ιπταμενο ή επιγειο οχημα

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