CN112093050B - Modularized unmanned aerial vehicle fire engine - Google Patents
Modularized unmanned aerial vehicle fire engine Download PDFInfo
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- CN112093050B CN112093050B CN202010992252.2A CN202010992252A CN112093050B CN 112093050 B CN112093050 B CN 112093050B CN 202010992252 A CN202010992252 A CN 202010992252A CN 112093050 B CN112093050 B CN 112093050B
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- 238000005286 illumination Methods 0.000 claims description 10
- 230000004297 night vision Effects 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 abstract description 7
- 230000008447 perception Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000008054 signal transmission Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bomb doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- 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
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
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- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the field of fire rescue, in particular to a modularized unmanned aerial vehicle fire engine. The utility model provides a modularization unmanned aerial vehicle fire engine, includes fire engine main part, unmanned aerial vehicle main part and remote control center, is provided with the skylight that can open and shut at fire engine main part top, is provided with in the fire engine main part and controls platform and automatic parking apron, still be provided with controller, signal transmission receiving module, on-vehicle positioning system module, environmental perception system omnidirectional complete machine protection module, remote communication module, 360 monitoring module and power module in the fire engine main part. This kind of on-vehicle unmanned aerial vehicle fire control rescue system adopts the modularized design, and the function is various, can fully promote unmanned aerial vehicle's availability factor.
Description
Technical Field
The invention relates to the field of fire rescue, in particular to a modularized unmanned aerial vehicle fire engine.
Background
Along with the continuous development of society, high-rise buildings are more and more, and high-rise building fires need to be extinguished in time, otherwise the influence is extremely large, traditional firefighting scaling ladder is of a mechanical telescopic structure, the highest lifting height can reach more than one hundred meters, and firefighters can stand on a platform of the tripod head to detect and extinguish the fire. However, the urban development is rapid, and the high-rise building is rapidly developed, and the urban land is "the land is the gold" and the high-rise building is an important landmark of the city. It is not uncommon for buildings of two or three hundred meters height for which an aerial ladder of more than one hundred meters is clearly less than the requirements of these high-rise and ultra-high buildings. And, along with the promotion of height, mechanical structure is also more and more complicated heavy, can not nimble coping with the traffic jam when out police, and the road is narrower after entering the district, and inconvenient forward is delayed rescue time.
Unmanned aerial vehicle can be accurate, directly perceived, comprehensive survey, can dissect the topography and topography when providing fire scene analysis data and rescue, uses also more and more extensively in fire control and rescue field. In the prior art, fire-fighting institutions utilize unmanned aerial vehicles to detect fire scene, throw rescue materials and other attempts, and the effect is very obvious. Fire control unmanned aerial vehicle is mostly special for the special plane among the prior art, uses an unmanned aerial vehicle, carries on infrared camera cloud platform on unmanned aerial vehicle, and ground station carries out the conversion transmission of communication link through the remote controller, and the function is single, and the utilization ratio is lower, causes great wasting of resources.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a modularized unmanned aerial vehicle fire-fighting truck, and the modularized design is adopted by the vehicle-mounted unmanned aerial vehicle fire-fighting rescue system, so that the functions are various, and the service efficiency of an unmanned aerial vehicle can be fully improved.
In order to solve the problems in the prior art, the invention discloses a modularized unmanned aerial vehicle fire engine, which comprises a fire engine main body, an unmanned aerial vehicle main body and a remote control center, wherein an openable skylight and an automatic parking apron are arranged at the top of the fire engine main body;
the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, wherein a carrying frame is arranged on the unmanned aerial vehicle main body, and an infrared detection module, a mechanical arm module, a shouting illumination module, a life buoy throwing module, a fire extinguishing bomb throwing module, an individual outdoor 4G image transmission module and a toxic gas detection module can be carried on the carrying frame;
a plurality of mechanical devices and screen display units for controlling flight instructions of the unmanned aerial vehicle are arranged on a control platform in the fire-fighting vehicle body, the control platform is electrically connected with the controller, and an operator sends instructions to the controller through the control platform;
the automatic parking apron is electrically connected with the controller, and the automatic parking apron performs operations such as lifting and stopping according to signals sent by the controller;
the power supply module is electrically connected with the controller, the controller monitors the electric quantity of the unmanned aerial vehicle main body, after the electric quantity of the unmanned aerial vehicle main body is lower than a threshold value, the unmanned aerial vehicle main body automatically returns to the automatic parking apron, the power supply module comprises a manipulator and a charging box, the manipulator disassembles and installs a battery for the unmanned aerial vehicle main body, and the disassembled battery is placed in the charging box for charging;
the signal transmitting and receiving module in the fire engine main body can realize the signal receiving and transmitting with the unmanned aerial vehicle main body and the remote control center;
the vehicle-mounted positioning system module in the fire fighting truck body adopts a GNSS positioning system;
the environment sensing system all-round complete machine protection module in the fire fighting truck body is internally integrated with a miniature six-parameter high-integration weather station, can detect six weather elements including wind speed, wind direction, rainfall, temperature, humidity and air pressure, is electrically connected with the controller, sends detected weather data to the controller, and displays the detected weather data on a screen display unit of the control platform;
the remote communication module can realize remote communication between the fire truck main body and a remote control center;
the 360-degree monitoring module can detect the surrounding environment of the fire truck main body by arranging a plurality of cameras on the fire truck main body, and the detected data are sent to the controller and displayed on the screen display unit of the control platform;
the infrared detection module, the mechanical arm module, the shouting illumination module, the life buoy throwing module, the fire extinguishing bomb throwing module, the individual outdoor 4G image transmission module and the toxic gas detection module are all electrically connected with the controller, the controller sends out instruction signals to the infrared detection module, the mechanical arm module, the shouting illumination module, the life buoy throwing module, the fire extinguishing bomb throwing module, the individual outdoor 4G image transmission module and the toxic gas detection module, and the infrared detection module, the individual outdoor 4G image transmission module and the toxic gas detection module feed back to the controller to obtain signals.
Preferably, the automatic parking apron comprises a parking platform and an airplane conveying device, wherein an airplane conveying belt is arranged on the airplane conveying device and is in contact with the parking platform, a conveying belt is also arranged on the parking platform, the airplane conveying belt and the parking platform conveying belt are driven by a motor to rotate, and the motor is controlled by a controller to be started or stopped.
Preferably, the mechanical device for controlling the unmanned aerial vehicle flight direction, the automatic parking apron start and stop, the detection of the omnibearing complete machine protection module of the environment sensing system, the switch of the remote communication module, the switch of the 360-degree monitoring module and the receiving and releasing instructions of each module carried on the unmanned aerial vehicle main body are arranged on the control platform, and 4 dividing areas are respectively arranged on the control platform and correspond to the control of 4 unmanned aerial vehicle main bodies.
Preferably, 4 unmanned aerial vehicle bodies can be carried in the fire-fighting vehicle body at the same time.
Preferably, the infrared detection module is an infrared camera.
Preferably, the mechanical arm module adopts a mechanical gripper device.
Preferably, the shouting lighting module comprises a high beam spotlight and a loudspeaker, wherein the high beam spotlight and the loudspeaker are integrated together, and the high beam spotlight can rotate by 360 degrees.
Preferably, the life buoy throwing module adopts a fire-fighting special life buoy.
Preferably, the modules carried on the unmanned aerial vehicle main body can be selected according to different application occasions.
The application method of the invention comprises the following steps: when the fire-fighting team receives the alarm call, the unmanned aerial vehicle main body can be controlled when the fire-fighting team gives an alarm, the infrared detection module is carried on the unmanned aerial vehicle main body, and the fire-fighting rescue scheme can be formulated better by observing the information such as the image information fed back by the unmanned aerial vehicle main body. Before the unmanned aerial vehicle main part takes off, operating personnel presses the button of taking off of a key on the control platform, and 360 monitoring module of controller control and the omnidirectional complete machine protection module of environment perception system begin work, detect the surrounding environment of the fire-fighting truck main part, detect wind speed, wind direction, rainfall, temperature, humidity, atmospheric pressure in the environment of locating simultaneously, judge whether accord with the condition that the unmanned aerial vehicle main part took off. When meeting the condition of taking off, the openable skylight at the top of the fire-fighting truck body is opened, the aircraft conveying device of the automatic parking apron conveys the unmanned aerial vehicle body to the parking platform, the automatic lifting system at the bottom of the parking platform ascends, the unmanned aerial vehicle body ascends from the openable skylight at the top of the fire-fighting truck body, and the unmanned aerial vehicle body flies to a designated place according to instructions.
Different modules are carried on the unmanned aerial vehicle main body according to different fire-fighting application scenes,
1. when the infrared detection module is applied to fire suppression in a fire disaster, the infrared detection module comprises an infrared night vision camera and an infrared thermal induction camera, can be used for detecting at night and detecting a fire scene, and can be used for returning an image of the overall fire scene, so that firefighters can conveniently and accurately formulate a fire protection scheme, and whether trapped masses and animals exist or not can be detected, and accurate rescue is facilitated; the device can be also provided with a toxic gas detection module, so that whether toxic gas leaks in the field can be detected, and larger harm is avoided; the fire extinguishing bomb throwing module can be carried, fire extinguishing bombs can be thrown to the appointed position, and fire extinguishing efficiency is improved.
2. When the rescue device is applied to the water falling rescue, the life buoy throwing module can be carried, when a rescue call is received, the unmanned aerial vehicle main body can be controlled to fly to a water falling point on the fire engine main body, the image information fed back by the camera on the unmanned aerial vehicle main body is utilized, and when the position of a person falling into water is reached, the life buoy can be thrown to the vicinity of the person falling into water, so that the person falling into water is convenient to save oneself first. The life buoy at the position is a special life buoy for fire fighting and rescue, has a foldable structure and a small volume, is convenient for carrying the unmanned aerial vehicle theme, can automatically expand after meeting water, and is convenient for self-rescue of people falling into water; after the firefighter arrives, rescue can be performed.
3. When the system is applied to searching and rescuing missing persons, a shouting lighting module can be carried, shouting is carried out in the missing range, lamplight is emitted, help seeking is facilitated after the missing persons find out, an infrared detection module can be carried, life signs are searched, and rescue materials such as food and the like can be put in after the missing persons are found out; in order to cooperate with search and rescue, the outdoor 4G image transmission module of the individual soldier can be carried, and a command center can better know the scene.
4. When the system is applied to flood rescue, an infrared detection module can be carried to search trapped personnel; the mechanical arm module can be carried to replace a throwing device to deliver haulage ropes to a skin raft boat and the like trapped in water, and rescue materials and the like are thrown to trapped personnel.
In order to ensure the cruising ability of the battery, a power supply module is arranged on the fire engine main body, the power supply module comprises a manipulator and a charging box, the manipulator removes the battery which is not electrified on the unmanned aerial vehicle main body, and the battery is placed in the charging box for charging; meanwhile, the battery charged in the charging box can be mounted on the unmanned aerial vehicle main body, and the requirements of unmanned aerial vehicle high-frequency, continuity and normalized patrol operation are met.
The invention has the beneficial effects that: 1. the functionality is stronger. Various search and rescue occasions possibly applied by firefighters are considered, various functions such as fire rescue, water fall rescue, flood support, deep mountain search and rescue, emergency material throwing and the like are considered, resource waste is avoided, and the utilization rate of the unmanned aerial vehicle is improved; 2. the flexibility is stronger, different search and rescue modules can be carried according to different application occasions, and the system is more mobile; 3. the power supply module is arranged in the fire fighting truck main body, so that the fire fighting truck main body can be automatically charged, and the UPS and the surge protector can be arranged in the unmanned truck, so that the system can be safely operated under the abnormal power supply conditions, such as the conditions of failure of an on-board generator, interruption of mains supply, surge, under-voltage, overvoltage and the like, and the power endurance of more than 30min is ensured. 4. Can carry 4 unmanned aerial vehicle main parts in the fire engine main part to each item function of unmanned aerial vehicle main part can be through the control platform control in the fire engine main part, can control many unmanned aerial vehicles to operate simultaneously, improves the operating efficiency.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic structural view of the unmanned aerial vehicle body of the present invention;
FIG. 3 is a schematic diagram of the connection structure of the modules of the present invention;
fig. 4 is a schematic flow chart of the present invention.
Reference numerals:
1. a fire engine body; 2. an unmanned aerial vehicle main body; 3. a remote control center; 4. a retractable skylight; 5. a control platform; 6. an automatic parking apron; 61. an automatic lifting system; 62. a shutdown platform; 63. an aircraft transfer device; 7. a controller; 8. a signal transmitting and receiving module; 9. a vehicle-mounted positioning system module; 10. the environment perception system omnibearing complete machine protection module; 11. a remote communication module; 12. a 360-degree monitoring module; 13. a power supply module; 14. a carrying frame; 15. an infrared detection module; 151. an infrared night vision camera; 152. an infrared thermal sensing camera; 16. a robotic arm module; 17. a shouting lighting module; 18. a life buoy throwing module; 19. a fire extinguishing bomb throwing module; 20. an individual outdoor 4G image transmission module; 21. and a toxic gas detection module.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for the purpose of more clearly illustrating the structure of the present invention.
As shown in fig. 1 and 2 of the specification, a modularized unmanned aerial vehicle fire engine comprises a fire engine main body 1, an unmanned aerial vehicle main body 2 and a remote control center 3, wherein an openable skylight 4 and an automatic parking apron 6 are arranged at the top of the fire engine main body 1, a control platform 5 is arranged in the fire engine main body 1, and a controller 7, a signal transmitting and receiving module 8, a vehicle-mounted positioning system module 9, an environment perception system omnibearing complete machine protection module 10, a remote communication module 11, a 360-degree monitoring module 12 and a power supply module 13 are also arranged on the fire engine main body 1;
the unmanned aerial vehicle main body 2 is provided with a carrying frame 14, and the carrying frame 14 can carry an infrared detection module 15, a mechanical arm module 16, a shouting illumination module 17, a life buoy throwing module 18, a fire extinguishing bomb throwing module 19, an individual outdoor 4G image transmission module 20 and a toxic gas detection module 21;
a plurality of mechanical devices and screen display units for controlling flight instructions of the unmanned aerial vehicle are arranged on a control platform 5 in the fire truck main body 1, the control platform 5 is electrically connected with a controller 7, and an operator sends instructions to the controller 7 through the control platform 5;
the automatic lifting system 61 is arranged at the bottom of the automatic parking apron 6, the automatic lifting system 61 can lift and fall from the openable skylight 4 at the top of the fire truck main body 1, the automatic parking apron 6 is electrically connected with the controller 7, and the automatic parking apron 6 performs lifting, stopping and other operations according to signals sent by the controller 7;
the power supply module 13 is electrically connected with the controller 7, the controller 7 monitors the electric quantity of the unmanned aerial vehicle main body 2, after the electric quantity of the unmanned aerial vehicle main body 2 is lower than a threshold value, the unmanned aerial vehicle main body 2 drops onto the automatic parking apron 6, the power supply module 13 comprises a manipulator 131 and a charging box 132, the manipulator 131 is used for disassembling and assembling a battery for the unmanned aerial vehicle main body 2, and the disassembled battery is placed in the charging box 132 for charging;
the signal transmitting and receiving module 8 in the fire truck main body 1 can realize the signal receiving and transmitting with the unmanned aerial vehicle main body 2 and the remote control center 3;
the vehicle-mounted positioning system module 9 in the fire truck main body 1 adopts a GNSS positioning system;
the environment sensing system omnibearing complete machine protection module 10 in the fire truck main body 1 is internally integrated with a miniature six-parameter high-integration weather station, can detect six weather elements including wind speed, wind direction, rainfall, temperature, humidity and air pressure, is electrically connected with the controller 7, sends detected weather data to the controller 7, and displays the detected weather data on a screen display unit of the control platform 5;
the remote communication module 11 can realize remote communication between the fire truck main body 1 and the remote control center 3;
the 360-degree monitoring module 12 can detect the environment around the fire truck main body 1 by arranging a plurality of cameras on the fire truck main body, and the detected data are sent to the controller 7 and displayed on a screen display unit of the control platform 5;
the infrared detection module 15, the mechanical arm module 16, the shouting illumination module 17, the life buoy throwing module 18, the fire extinguishing bomb throwing module 19, the individual outdoor 4G image transmission module 20 and the toxic gas detection module 21 are all electrically connected with the controller 7, the controller 7 sends out instruction signals to the infrared detection module 15, the mechanical arm module 16, the shouting illumination module 17, the life buoy throwing module 18, the fire extinguishing bomb throwing module 19, the individual outdoor 4G image transmission module 20 and the toxic gas detection module 21, and the infrared detection module 15, the individual outdoor 4G image transmission module 20 and the toxic gas detection module 21 feed back to the controller 7 to obtain signals.
Preferably, the automatic apron 6 comprises an apron 62 and an airplane conveying device 63, an airplane conveying belt is arranged on the airplane conveying device 63, the airplane conveying belt is in contact with the apron 62, a conveying belt is also arranged on the apron 62, the airplane conveying belt and the apron 62 conveying belt are driven by a motor to rotate, and the motor is controlled by the controller 7 to be started or stopped.
Preferably, the control platform 5 is provided with a mechanical device for controlling the flight direction of the unmanned aerial vehicle, starting and stopping of the automatic parking apron 6, detection of the omnibearing complete machine protection module 10 of the environment sensing system, switching of the remote communication module 11, switching of the 360-degree monitoring module 12 and receiving and releasing instructions of all modules carried on the unmanned aerial vehicle main body 2, and the control platform 5 is provided with 4 dividing areas respectively, which corresponds to control of 4 unmanned aerial vehicle main bodies 2.
Can carry 4 unmanned aerial vehicle main parts 2 in the unmanned aerial vehicle main part 2 simultaneously, infrared investigation module 15 is infrared night vision camera 151 and infrared thermal induction camera 152, arm module 16 adopts mechanical tongs device, the illumination module of shouting 17 includes far-reaching headlamp and megaphone, far-reaching headlamp and megaphone are integrated together, the far-reaching headlamp can 360 rotations. The life buoy throwing module 18 adopts a life buoy special for fire control, and the modules carried on the unmanned aerial vehicle main body 2 can be selected according to different application occasions.
The application method of the invention comprises the following steps: when the fire-fighting team receives the alarm call, can control unmanned aerial vehicle main part 2 when going out the police, carry on infrared investigation module 15 on unmanned aerial vehicle main part 2, through observing the data such as image information that unmanned aerial vehicle body fed back, the better formulation fire-fighting rescue scheme of being convenient for. Before the unmanned aerial vehicle main body 2 takes off, an operator presses a one-key take-off button on the control platform 5, the controller 7 controls the 360-degree monitoring module 12 and the environment sensing system all-round complete machine protection module 10 to start working, the surrounding environment of the fire-fighting vehicle main body 1 is detected, and meanwhile, the wind speed, the wind direction, the rainfall, the temperature, the humidity and the air pressure in the environment are detected, so that whether the condition of taking off of the unmanned aerial vehicle main body 2 is met is judged. When meeting the condition of taking off, the openable skylight 4 at the top of the fire truck main body 1 is opened, the aircraft conveying device 63 of the automatic parking apron 6 conveys the unmanned aerial vehicle main body 2 to the parking platform 62, the automatic lifting system 61 at the bottom of the parking platform 62 ascends, the unmanned aerial vehicle main body 2 ascends from the openable skylight 4 at the top of the fire truck main body 1, and the unmanned aerial vehicle main body 2 flies to a designated place according to instructions.
According to the different fire-fighting application scenes, different modules are carried on the unmanned aerial vehicle main body 2,
1. when the infrared detection module 15 is applied to fire suppression in a fire disaster, the infrared detection module 15 comprises an infrared night vision camera 151 and an infrared heat induction camera 152, can be used for detecting at night and detecting a fire scene, and can be used for returning an image of the whole fire scene, so that firefighters can conveniently and accurately formulate a fire protection scheme, and whether trapped masses and animals exist or not can be detected, and accurate rescue is facilitated; the device can be further provided with a toxic gas detection module 21, so that whether toxic gas leaks in the field can be detected, and larger harm is avoided; the fire extinguishing bomb throwing module 19 can be carried to throw fire extinguishing bomb to the appointed position, so that the fire extinguishing efficiency is improved.
2. When the rescue device is applied to the water falling rescue, the life buoy throwing module 18 can be carried, when a rescue call is received, the unmanned aerial vehicle body 2 can be controlled to fly to a water falling point on the fire truck body 1, and when the position of a person falling into the water is reached, the life buoy can be thrown to the vicinity of the person falling into the water by utilizing the image information fed back by the camera on the unmanned aerial vehicle body 2, so that the person falling into the water is convenient to save oneself first. The life buoy at the position is a special life buoy for fire fighting and rescue, has a foldable structure and a small volume, is convenient for carrying the unmanned aerial vehicle theme, can automatically expand after meeting water, and is convenient for self-rescue of people falling into water; after the firefighter arrives, rescue can be performed.
3. When the system is applied to searching and rescuing missing persons, the system can be provided with a shouting lighting module 17, shouting and emitting lamplight sweeping in the missing range, so that help is called after the missing persons find out, an infrared detection module 15 can be provided for searching for life signs, and a mechanical arm module 16 can be provided for throwing rescue materials such as food, medical treatment and communication after the missing persons are found out; in order to cooperate with search and rescue, the outdoor 4G image transmission module 20 of the individual soldier can be carried, so that a command center can better know the field situation.
4. When the system is applied to flood rescue, an infrared detection module 15 can be carried to search trapped personnel; the mechanical arm module 16 can be carried to replace a throwing device to deliver haulage ropes to a skin raft boat and the like trapped in water, and rescue materials and the like can be thrown to trapped personnel.
In order to ensure the cruising ability of the battery, a power supply module 13 is arranged on the fire engine main body 1, the power supply module 13 comprises a manipulator 131 and a charging box 132, the manipulator 131 removes the battery which is not electrified on the unmanned aerial vehicle main body 2, and the battery is placed in the charging box 132 for charging; meanwhile, the battery charged in the charging box 132 can be mounted on the unmanned aerial vehicle main body 2, so that the requirements of unmanned aerial vehicle high-frequency, continuity and normalized patrol operation are met.
In the invention, the unmanned aerial vehicle main body 2 adopts DJI M300 in Xinjiang, which can meet the application of various search and rescue sites, and the fire engine main body 1 is modified by IVECO V45.
As shown in fig. 3 and 4 of the specification, the controller 7 controls the operation of the whole system, the controller 7 communicates with the remote control center 3, the unmanned aerial vehicle main body 2 and the modules carried by the remote control center 3 through the signal transmitting and receiving device 8, and a remote communication module 11 is further arranged between the controller 7 and the remote control center 3, so that free communication can be realized between the controller 7 and the unmanned aerial vehicle main body under the support of the signal transmitting and receiving device 8; the control of the controller 7 on the components of the fire-fighting truck main body 1 mainly comprises the following steps: (1) Comparing the data signals collected by the omnibearing complete machine protection module 10 of the environment sensing system with a preset data threshold, and when the data threshold is above, judging that the meteorological environment meets the flight requirement by the controller 7; (2) The 360-degree monitoring module 12 is characterized in that a plurality of cameras are arranged on the fire engine main body 1, whether objects such as obstacles, aircrafts and the like exist around the vehicle body or not is judged by the image signal controller 7 fed back by the cameras, and when the condition of limiting take-off in the fed back image is not met, the controller 7 sends out take-off signals of the unmanned aerial vehicle main body 2; (3) The aircraft conveyer 63 of controller 7 control automatic air apron 6 conveys unmanned aerial vehicle main part 2 to the air platform 62 department, and when unmanned aerial vehicle main part 2 is taken one's place on air platform 62, feedback signal is received to controller 7, and automatic operating system 61 of controller 7 control air platform 62 below rises, and openable skylight 4 opens, and unmanned aerial vehicle main part 2 rises to openable skylight 4 upper portion, and unmanned aerial vehicle main part 2 rotor is rotatory, and unmanned aerial vehicle main part 2 takes off. The control of the controller 7 to the unmanned aerial vehicle main body 2 is mainly: (1) Controlling the flight direction of the unmanned aerial vehicle main body 2, and storing the image signals fed back by the unmanned aerial vehicle main body 2; (2) If the remote communication request exists, feeding back the image signal to the remote control center 3; (3) Identifying modules carried by the unmanned aerial vehicle main body 2, switching to a corresponding control instruction mode for control, and currently, presetting numbers on different modules, such as an infrared detection module with a number 1, a mechanical arm module with a number 2 and the like, wherein after the different modules are carried by the unmanned aerial vehicle main body 2 and are electrically connected with the unmanned aerial vehicle main body 2, the controller 7 analyzes to determine which module is, and switching the operation mode to the corresponding module mode; (4) The traveling direction of the unmanned aerial vehicle body 2 and the specific actions of the carrying module thereof are determined by combining the on-site situation of the 3-dimensional coordinates fed back by the unmanned aerial vehicle body 2.
The invention has the beneficial effects that: 1. the functionality is stronger. Various search and rescue occasions possibly applied by firefighters are considered, various functions such as fire rescue, water fall rescue, flood support, deep mountain search and rescue, emergency material throwing and the like are considered, resource waste is avoided, and the utilization rate of the unmanned aerial vehicle is improved; 2. the flexibility is stronger, different search and rescue modules can be carried according to different application occasions, and the system is more mobile; 3. the power supply module 13 is arranged in the fire engine main body 1, so that the fire engine main body 2 can be automatically charged, and the UPS and the surge protector can be arranged in the unmanned aerial vehicle, so that the fire engine main body can provide power endurance protection for more than 30 minutes under the conditions of abnormal power supply, such as failure of an on-board generator, interruption of commercial power, surge, undervoltage, overvoltage and the like, and ensure safe operation of a system. 4. Can carry 4 unmanned aerial vehicle main parts 2 on the fire engine main part 1 to each item function of unmanned aerial vehicle main part 2 can be through the control platform 5 control on the fire engine main part 1, can control many unmanned aerial vehicles simultaneously and operate, improves the operating efficiency.
It is obvious that the rescue system according to the present invention has numerous and complex contents, and the mechanical structure, software control and combination of the two are involved, and many technologies applied to the mature technology in the prior art are not described in detail in view of space limitation and conciseness of technical features. For example, the opening and closing manner of the openable and closable skylight 4 and the technical scheme that the openable and closable skylight is automatically opened and closed under the control of the keys of the control platform 5 are convenient for the unmanned aerial vehicle main body 2 to enter and exit, which are already mature in the prior art of vehicles, so that the method is not described in detail. In addition, the manipulator 131 of the power supply module 13 is used for many years in various fields of electric automation to realize operations such as disassembly, assembly, and playback of the battery of the unmanned aerial vehicle main body 2, and therefore, the operations are not described in detail; it is obvious that each module mounted on the unmanned aerial vehicle body 2 should have a mechanical mounting device and an electrical connection device that are matched with the mounting frame of the unmanned aerial vehicle body 2, and these technologies can be used as references for the existing unmanned aerial vehicle application, so that the applicant has not described in detail. Unmanned aerial vehicle technologies such as a power supply module 13, device connection carried by an unmanned aerial vehicle main body 2, an automatic parking apron and the like are mature technologies of Shanghai Fuya intelligent technology limited companies and Beijing cloud san intelligent technology limited liability companies, and products are mature to be applied and can be directly applied. In fig. 2 of the specification, the infrared detection module 15 is mounted on the mounting frame 14 of the unmanned aerial vehicle main body 2 by means of screw fixation, and obviously can be fixed by other means; the mechanical structures of the automatic parking apron for carrying, positioning, lifting and the like of the airplane can be directly applied to mature technologies, so that the automatic parking apron is not repeated here.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. A modularization unmanned aerial vehicle fire engine, its characterized in that: comprises a fire engine main body, an unmanned aerial vehicle main body and a remote control center,
the intelligent automatic control system comprises a fire truck main body, a control platform, a controller, a signal transmitting and receiving module, a vehicle-mounted positioning system module, an environment sensing system omnibearing complete machine protection module, a remote communication module, a 360-degree monitoring module and a power supply module, wherein the top of the fire truck main body is provided with an openable skylight and an automatic parking apron;
the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, wherein a carrying frame is arranged on the unmanned aerial vehicle main body, and an infrared detection module, a mechanical arm module, a shouting illumination module, a life buoy throwing module, a fire extinguishing bomb throwing module, an individual outdoor 4G image transmission module and a toxic gas detection module are carried on the carrying frame;
a plurality of mechanical devices and screen display units for controlling flight instructions of the unmanned aerial vehicle are arranged on a control platform in the fire-fighting vehicle body, the control platform is electrically connected with the controller, and an operator sends instructions to the controller through the control platform;
the automatic parking apron is electrically connected with the controller, and the automatic parking apron performs lifting and stopping operations according to signals sent by the controller;
the power supply module is electrically connected with the controller, the controller monitors the electric quantity of the unmanned aerial vehicle body, after the electric quantity of the unmanned aerial vehicle body is lower than a threshold value, the unmanned aerial vehicle body drops onto the automatic parking apron, the power supply module comprises a manipulator and a charging box, the manipulator disassembles and installs the battery for the unmanned aerial vehicle body, and the disassembled battery is placed in the charging box for charging;
the signal transmitting and receiving module in the fire-fighting vehicle body is used for receiving and transmitting signals between the fire-fighting vehicle body and the unmanned aerial vehicle body and the remote control center;
the vehicle-mounted positioning system module in the fire fighting truck body adopts a GNSS positioning system;
the environment sensing system all-round complete machine protection module in the fire truck body is internally integrated with a miniature six-parameter high-integration weather station, six weather elements including wind speed, wind direction, rainfall, temperature, humidity and air pressure are detected, and the environment sensing system all-round complete machine protection module is electrically connected with the controller, sends the detected weather data to the controller and displays the detected weather data on a screen display unit of the control platform;
the remote communication module is used for realizing remote communication between the fire truck main body and a remote control center;
the 360-degree monitoring module detects the environment around the fire truck main body by arranging a plurality of cameras on the fire truck main body, and the detected data are sent to the controller and displayed on the screen display unit of the control platform;
the infrared detection module, the mechanical arm module, the shouting illumination module, the life buoy throwing module, the fire extinguishing bomb throwing module, the individual outdoor 4G image transmission module and the toxic gas detection module are all electrically connected with the controller, the controller sends out instruction signals to the infrared detection module, the mechanical arm module, the shouting illumination module, the life buoy throwing module, the fire extinguishing bomb throwing module, the individual outdoor 4G image transmission module and the toxic gas detection module, and the infrared detection module, the individual outdoor 4G image transmission module and the toxic gas detection module feed back to the controller to obtain signals.
2. The modular unmanned aerial vehicle fire engine of claim 1, wherein: the automatic parking apron comprises a parking platform and an airplane conveying device, wherein an airplane conveying belt is arranged on the airplane conveying device and is in contact with the parking platform, a conveying belt is also arranged on the parking platform, the conveying belts of the airplane conveying belt and the parking platform are driven by a motor to rotate, and the motor is controlled by a controller to be started or stopped.
3. The modular unmanned aerial vehicle fire engine of claim 2, wherein: the unmanned aerial vehicle control system is characterized in that a mechanical device for controlling the flight direction of the unmanned aerial vehicle, the start and stop of an automatic parking apron, the detection of an omnibearing complete machine protection module of an environment sensing system, the switch of a remote communication module, the switch of a 360-degree monitoring module and the retraction instruction of each module carried on the unmanned aerial vehicle body are arranged on the control platform, and 4 dividing areas are respectively arranged on the control platform and correspond to the control of 4 unmanned aerial vehicle bodies.
4. A modular unmanned aerial vehicle fire truck according to claim 3, wherein: 4 unmanned aerial vehicle main bodies can be carried in the fire-fighting vehicle main body simultaneously.
5. The modular unmanned aerial vehicle fire engine of claim 4, wherein: the infrared detection module is an infrared night vision camera and an infrared heat induction camera.
6. The modular unmanned aerial vehicle fire engine of claim 5, wherein: the mechanical arm module adopts a mechanical gripper device.
7. The modular unmanned aerial vehicle fire engine of claim 6, wherein: the shouting lighting module comprises a high beam spotlight and a loudspeaker, wherein the high beam spotlight and the loudspeaker are integrated together, and the high beam spotlight rotates by 360 degrees.
8. The modular unmanned aerial vehicle fire truck of claim 7, wherein: the life buoy throwing module adopts a fire-fighting water-swelling life buoy.
9. The modular unmanned aerial vehicle fire engine of claim 8, wherein: the modules carried on the unmanned aerial vehicle main body are selected according to different application occasions.
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| CN113168775B (en) * | 2021-02-24 | 2022-12-06 | 华为技术有限公司 | Driving assistance method, shutdown slot, chip, electronic device and storage medium |
| IT202100005750A1 (en) * | 2021-03-11 | 2022-09-11 | Domenico Piatti | VEHICLE FOR SPECIAL USE OF EMERGENCY FOR FIGHTING FOREST FIRE OR OF OTHER NATURE THAT CAN BE ATTACKED FROM ABOVE WITH A DRONE THAT RELEASES WATER BOMBS THAT BURST IN THE AIR WITH A SPRINKLERS EFFECT, OR RELEASES FRACTIONAL WATER AT THE SAME TIME OR ALTERNATIVELY WITH THE BOMBS BY PRESSURE FROM A TANK PLACED BELOW IT |
| CN113086191A (en) * | 2021-04-07 | 2021-07-09 | 上海志茗航空科技有限公司 | Cluster type fire-fighting mooring unmanned aerial vehicle system |
| CN113176601A (en) * | 2021-04-20 | 2021-07-27 | 深圳市车百路科技有限公司 | Vehicle remote monitoring terminal based on Beidou positioning and 5G video technology |
| CN113310755B (en) * | 2021-07-02 | 2022-01-18 | 兴化市泰龙消防器材有限公司 | Fire prevention type on-spot investigation sampling device of conflagration |
| CN113842588A (en) * | 2021-10-30 | 2021-12-28 | 苏州江南航天机电工业有限公司 | A fire-fighting bomb fire truck |
| CN114224368A (en) * | 2021-12-17 | 2022-03-25 | 上海联影医疗科技股份有限公司 | Medical imaging apparatus, imaging method thereof, mobile medical center system, and storage medium |
| CN114889517A (en) * | 2022-03-18 | 2022-08-12 | 吉林大学 | An Amphibious Rescue System Based on Land-Air Collaboration Technology |
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| US9526930B2 (en) * | 2013-07-16 | 2016-12-27 | Beijing Mechanical Equipment Institute | Control method of a fire truck for high-rise and super high-rise building firefighting |
| KR101741578B1 (en) * | 2015-08-28 | 2017-05-30 | 금오공과대학교 산학협력단 | fire fighter drone capable of launching grenade-shaped extinguisher |
| CN205345332U (en) * | 2016-01-22 | 2016-06-29 | 江苏数字鹰科技发展有限公司 | Police uses multi -functional unmanned aerial vehicle |
| KR102737692B1 (en) * | 2016-05-26 | 2024-12-03 | 주식회사 두드론 | Firefighting system that extinguishes fire of area where fire occurred in kamikaze style |
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| CN110104193A (en) * | 2019-05-21 | 2019-08-09 | 河南大域航空科技有限公司 | Unmanned plane fire-fighting emergent total system |
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