CN208530871U

CN208530871U - A kind of captive fire-fighting Air Surveillance Platform

Info

Publication number: CN208530871U
Application number: CN201820806210.3U
Authority: CN
Inventors: 徐琰; 胡斌; 方戍; 周兆威; 董非; 白涛; 赵亚宁
Original assignee: BEIJING SHENYUAN SHINING TECHNOLOGY Co Ltd; Shanghai Fire Research Institute of Ministry of Public Security
Current assignee: BEIJING SHENYUAN SHINING TECHNOLOGY Co Ltd; Shanghai Fire Research Institute of Ministry of Public Security
Priority date: 2018-05-25
Filing date: 2018-05-25
Publication date: 2019-02-22
Anticipated expiration: 2028-05-25

Abstract

The utility model relates to a tethered fire-fighting aerial reconnaissance platform, comprising a suspended unmanned aerial vehicle fire-fighting reconnaissance platform, a mooring cable, an automatic cable retraction system, a high-voltage power supply system and a ground control center. The suspended unmanned aerial vehicle fire reconnaissance platform is equipped with a reconnaissance platform control system, a multi-functional sensor obstacle avoidance system, an unmanned aerial vehicle laser positioning take-off and landing system, a temperature sensor and a load mounting platform, and the load mounting platform is installed on the There are a variety of firefighting mission loads. The high-voltage power supply system includes a ground power supply system and an airborne power supply system. The mooring cable is connected between the airborne power supply system and the automatic cable retraction system, and the ground control center is connected with the cable automatic retraction system through an optical cable. The utility model can realize 24-hour uninterrupted work, and the operation ability is greatly improved. Since it can carry more than 5 fire-fighting task loads at the same time, and complete various fire-fighting tasks at the same time, the function has been greatly expanded.

Description

A kind of captive fire-fighting Air Surveillance Platform

Technical field

The utility model relates to a kind of captive fire-fighting Air Surveillance Platforms, belong to fire-fighting equipment technical field.

Background technique

In the prior art, unmanned air vehicle technique is widely used in various fields, monitors tool using the low-to-medium altitude of unmanned plane Have it is motor-driven quickly, the technical characterstics such as use cost is low, attended operation is simple, there is over the ground quickly real-time cruising monitoring capability, be A kind of novel imaging of low-to-medium altitude real-time television and infrared imaging fast acquiring system.Have many fire departments at home to use Unmanned plane successfully carried out scene of a fire investigation monitoring, relief goods of jettisoninging etc. are attempted, fire monitoring and in terms of tool There is its unique advantage, effect is clearly.

Currently, can be only done Image Acquisition mostly using unmanned plane as floated reconnaissance platforms in fire-fighting monitoring field Equal single homeworks.The necessary manual control of existing floated reconnaissance platforms, completes the movement such as landing and aerial avoidance.In addition, due to It is powered by the airborne power supply system of itself, the working time of existing floated reconnaissance platforms is restricted, mostly 1 In hour.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of captive fire-fighting Air Surveillance Platform, Neng Goutong Ground Mooring cable power supply is crossed, realize the stagnant empty work of overlength endurance and is able to achieve automatic obstacle-avoiding.

To solve the above-mentioned problems, the technical solution adopted in the utility model is as follows:

A kind of captive fire-fighting Air Surveillance Platform, comprising: floated unmanned plane fire inspection platform is tethered at cable, cable Rope automatic winding-unwinding system, high voltage power supply feed system and ground control center,

Reconnaissance platforms control system is installed on the floated unmanned plane fire inspection platform and Multifunction Sensor is kept away Barrier system, unmanned plane laser positioning landing system, the first temperature sensor and several load carry platforms, the load carry Platform for installing fire-fighting mission payload, the reconnaissance platforms control system respectively with Multifunction Sensor obstacle avoidance system, a variety of Fire-fighting mission payload, unmanned plane laser positioning landing system and the first temperature sensor are connected,

The high voltage power supply feed system includes ground power supply system and airborne power supply system,

The hawser automatic deploying and retracting for being tethered at cable and being connected to the airborne power supply system and being powered by ground power supply system Between system,

The ground control center is connected by optical cable with hawser automatic winding-unwinding system, floated for observing and collecting Unmanned plane fire inspection working platform state, task execution information and aerial platform is operated.

Autonomous suspension and flight for a long time may be implemented as main body in floated unmanned plane fire inspection platform, and is equipped with There are Multifunction Sensor obstacle avoidance system and unmanned plane laser positioning landing system, realizes highly reliable reconnaissance platforms, high-precision, safety Steady operation.Unmanned plane laser positioning landing system, can be in short-term applied to the reconnaissance platforms control system under no GPS signal The interior three-dimensional data and information for obtaining object and environment space point, to realize that floated unmanned plane fire inspection platform is accurate Landing to Centimeter Level controls.A variety of fire-fighting mission payloads can be realized captive fire-fighting Air Surveillance Platform the same time, Same place meets the fire-fighting application in actual combat demand of different function.Being tethered at cable can realize ground power supply system to reconnaissance platforms control The power supply of system processed and fire-fighting mission payload；By being tethered at cable and optical cable, ground control center and reconnaissance platforms can be completed Encryption optical signal transmission between control system；Hawser automatic winding-unwinding system is used to complete to be tethered at the automatic deploying and retracting of cable, effectively The problems such as solving cable accumulation in ground when cable laying is required manual intervention, drawn over to one's side.

Further, in order to obtain surrounding enviroment information, precision ranging is realized, the Multifunction Sensor obstacle avoidance system includes Ultrasonic sensor, infrared sensor, laser sensor and visual perception device.

The basic principle of ultrasonic sensor is to measure the flight time of ultrasonic wave, is measured by formula d=vt/2 related Distance (wherein, d indicates measurement distance, and v indicates that ultrasonic propagation velocity, t indicate the flight time of ultrasonic wave) infrared sensor Using the principle of range of triangle.The measurement distance of laser sensor can achieve tens meters of even rice up to a hundred, and angular resolution is high, It can generally achieve the zero point several years, the precision of ranging is also high.Visual perception device uses the avoidance mode of binocular vision, using triangle Telemetry ranging, the same point P that two cameras therein are seen have different location of pixels when imaging, this When by range of triangle can measure this point distance.

Further, the cable that is tethered at is followed successively by optical fiber layer, the first insulating layer, the first cable floor, second absolutely from inside to outside Edge layer, the second cable floor, third insulating layer, the light emitting layer being made of electro luminescence line and Kevlar tensile layer, it is described electroluminescent Isolychn is connected with emission driver, and electro luminescence line connects a miniature indicator light at a fixed height H.

The encryption optical signal transmission between ground control center and reconnaissance platforms control system is completed by optical fiber layer；By electricity The light emitting layer and miniature indicator light that electroluminescent wire is constituted, remember electro luminescence line by miniature indicating light sign in certain altitude Length of cable shows the elevation information and work safety prompt information of floated unmanned plane fire inspection platform at night.

Further, in order to realize the stability contorting to floated unmanned plane fire inspection platform, the reconnaissance platforms control System includes main control unit, multiple control units and acquisition unit, and the main control unit connects with each control unit respectively respectively It connecing, each control unit is respectively connected with corresponding acquisition unit,

The acquisition unit acquires the flying quality of floated unmanned plane fire inspection platform in real time, and flying quality is passed It is defeated by control unit；

Described control unit is used to receive and handle the flying quality of acquisition unit transmission, is analyzed according to data and generates control Signal is simultaneously transferred to main control unit；Wherein, control signal is used to control the state of flight of floated unmanned plane fire inspection platform；

The main control unit judges multiple control signal for receiving the control signal that multiple control units are sent respectively It is whether consistent, floated reconnaissance platforms are controlled according to judging result.

Further, the high voltage power supply feed system includes the ground power supply system by being tethered at cable connection and airborne power supply System,

The ground power supply system includes diesel oil/gasoline engine generator, ground AC-DC variable-voltage power supply and hawser automatic deploying and retracting System, the diesel oil/gasoline engine generator are connected with ground AC-DC variable-voltage power supply, the ground AC-DC variable-voltage power supply and hawser Automatic winding-unwinding system connection；

Airborne power supply system includes power supply junction box, several airborne power supply voltage changing module DC/DC, unmanned plane reconnaissance platforms electricity Machine, several secondary power supply voltage changing modules, the power supply junction box are separately connected with each airborne power supply voltage changing module DC/DC, machine Power supply voltage changing module DC/DC is carried to be correspondingly connected with unmanned plane reconnaissance platforms motor,

The airborne power supply voltage changing module DC/DC is also separately connected with several secondary power supply voltage changing modules, the secondary electricity Source voltage changing module respectively connects a fire-fighting mission payload.

Above-mentioned high voltage power supply feed system can be realized ground power supply system to the continued power of aerial platform, can be realized The non-stop run in 24 hours in the sky of floated fire inspection platform.The power supply junction box of airborne power pack can as needed by High direct voltage power supply is divided into several roads and powers to each unmanned plane reconnaissance platforms motor, generates the power of floated reconnaissance platforms.In addition, Because floated fire inspection platform needs the low-voltage electrical apparatus powered to have very much, such as a variety of fire-fighting mission payloads, so if must It wants, low-voltage DC can be converted to by secondary power supply voltage changing module and need to obtain specific voltage.

Further, floated unmanned plane fire inspection platform is fallen because of high voltage power supply feed system accident power-off in order to prevent It falls, is connected with Smart Power Module on the early airborne power supply voltage changing module DC/DC, realizes to floated unmanned plane fire inspection The anti-power failure falling guard function of platform.The Smart Power Module includes dsp chip circuit, CAN bus circuit, optical fiber conversion Circuit, several voltage collection circuits and the battery pack being connect with voltage collection circuit, SD card storage circuit, protection circuit and power supply Circuit,

The dsp chip circuit is connect with CAN bus circuit, and the CAN bus circuit connects optical fiber changeover circuit, each Voltage collection circuit respectively with dsp chip circuit connection, the SD card storage circuit, protection circuit and power circuit respectively and Dsp chip circuit connection, the power circuit is used for and airborne power supply voltage changing module DC/DC docking.

Its principle are as follows: when floated unmanned plane fire inspection platform motor etc. can work normally, the high pressure of output is handed over Low-voltage DC of the galvanic electricity after conversion, can carry out the Smart Power Module on floated unmanned plane fire inspection platform Charging maintains the voltage of Smart Power Module in the safe range of system setting, when Smart Power Module detects power supply When voltage is less than safety value, system can determine to be gone wrong by the route of generator powered, to start power outage security protection journey Sequence is powered by Smart Power Module to the low-voltage electrical apparatus on floated unmanned plane reconnaissance platforms, in the voltage of Smart Power Module In the preset time that can be supported, floated unmanned plane fire inspection platform can return to safely ground.

Further, the hawser automatic winding-unwinding system includes folding and unfolding cable unit, row cable unit, electric control unit, detection Unit and temperature control unit,

The folding and unfolding cable unit, row's cable unit, detection unit and temperature control unit respectively with electric control unit phase Connection, row's cable unit are connected with detection unit,

The folding and unfolding cable unit includes conveyer belt and spool, and the conveyer belt is connected to the shaft and following drives of spool Between dynamic motor,

Row's cable unit includes driving motor and guide roller,

The detection unit includes tension sensor and limit sensors, and the detection unit is mounted on guide roller, is used In the monitoring pulling force for being tethered at cable and the position that are wound on guide roller,

The temperature control unit includes built-in second temperature sensor and fan, the second temperature sensor installation Near spool, the temperature of spool and tether cable is obtained in real time.

Further, the load carry platform is fixed in the suspension platform of floated unmanned plane fire inspection mesa base On.

Further, the quantity of the load carry platform is 3 or 4, is symmetrically mounted on suspension platform.

Further, a variety of fire-fighting mission payloads include the more light photoelectric nacelles of the round-the-clock monitoring of fire spread situation, it is more Frequency range fire communication trunking, gas diffusion trend-monitoring equipment, high-altitude lighting apparatus, high-altitude are propagandaed directed to communicate equipment, geographical three-dimensional Imaging device and fire fighter's geographic positioning system.

The working principle of the utility model is appointed when needing the captive fire-fighting Air Surveillance Platform of the utility model to execute When business, the fire-fighting mission payload that carry needs first on load carry platform, operator makes in ground control center operations Floated reconnaissance platforms realize that a key takes off, or so that it is reached corresponding task point by intelligent operation, and fire-fighting task carries Collected information can be fed back to ground control center by lotus, and surface personnel carries out event according to the information passed back in real time Emergency processing or arrangement action strategy.Ground power supply system realizes that 24 hours of system are uninterrupted by uninterrupted power supply simultaneously Work.When needing to land, surface personnel can select corresponding operation at ground control center, in descent, Hawser automatic winding-unwinding system can need to adjust cable automatically according to operation.In hawser automatic winding-unwinding system, the detection unit Comprising tension sensor and limit sensors, for monitoring the lower end tension for being tethered at cable, folding and unfolding length and folding and unfolding speed；Work as drawing Folding and unfolding cable unit enters automatic take-up mode when power is less than take-up setting value, carries out automatic take-up；When pulling force is set greater than cable laying Folding and unfolding cable unit enters automatic cable laying mode when value, carries out slow payout operation at this time；In the common work of guide roller and spool It under, completes to be tethered at the automatic deploying and retracting function of cable, there are extras when making takeoff and landing, while avoiding cable from being entangled with and twining Around further increasing system reliability；Folding and unfolding cable unit provides retractable and is tethered at tensile force and brake force required for cable, foot The enough folding and unfolding speed held cable length, adapt to platform；Row's cable unit guarantee is tethered at that cable is in good order to be arranged in spool； Arranging cable unit includes driving motor, can automatic reverse, row's cable unit and spool synchronizing moving, cable collection tube every revolution, row The mobile root system of the guide roller of cable unit stays the distance of cable diameter, and the adaptive folding and unfolding cable of guide roller energy is in the process because arranging cable unit Cable oscillating is tethered at caused by synchronizing moving；The electric control unit provides corresponding electrical and data-interface, is convenient for user Operation and monitoring system；The temperature control unit obtains the temperature of spool and tether cable, when this by built-in in real time When temperature is more than certain limit value, it is tethered at cable cooling on cable collection tube, makes to be tethered at cable and is maintained at reasonable work temperature It spends in range.

Compared with prior art, the utility model has the beneficial effects that:

1, the utility model can be realized continual 24 hours and work, and work capacity is greatly improved.

2, the utility model can carry 5 kinds or more of fire-fighting mission payload operation simultaneously, be completed at the same time a variety of fire-fighting works Task, function obtain very big expansion, and suitable for the rescue site of large scale disasters accident, (such as petrochemical equipment, tank farm, high level are built Build, bulk storage plant) and occasion defendance scene, execute high definition video collecting, the round-the-clock monitoring of fire spread situation, gas Alarm that diffusion tendency and spreading range detection, multiband fire communication relaying, scene of fire night high-altitude illuminate, high-altitude is propagandaed directed to communicate, The fire-fightings tasks such as live fire fighter's location tracking.

3, the utility model can be realized intelligent avoidance and one-touch autonomous landing, manually acquires and sentences compared to fireman Disconnected, the utility model has the characteristics that monitoring range is wide, work capacity is more, strong real-time, highly-safe, intelligent, in combination Expert's auxiliary system in the display and operation system of face can provide brute force technique support for scientific, timely sue and labour of floor manager person.

4, the design of Smart Power Module can effectively prevent floated unmanned plane fire inspection platform to fall because of accident power-off It falls, it is ensured that reconnaissance platforms work long hours.

5, the application of the utility model can enrich the technological means of disaster accident on-site supervision and information collection, greatly improve The efficiency of disaster accident scene rescue protects the personal safety of fireman to greatest extent.

6, the Quick Release adapter of load carry platform can be realized it is integrally-built be rapidly assembled and disassembled, multiple load are hung Carrying platform is conducive to improve the carry value volume and range of product of fire-fighting load, significantly expands the function of captive fire-fighting Air Surveillance Platform Energy.

7, the utility model uses full-automatic hawser automatic winding-unwinding system, thoroughly solves hanging system cables folding and unfolding problem, Hawser automatic winding-unwinding system, which can be realized, accurately controls hawser folding and unfolding line length, improve suspension platform work safety and It is easily handling.

Detailed description of the invention

Fig. 1 is a kind of structural representation of captive fire-fighting Air Surveillance Platform provided by an embodiment of the present invention Figure.

Fig. 2 is the structural representation of floated unmanned plane fire inspection platform provided in an embodiment of the present invention Figure.

Fig. 3 is the schematic illustration of reconnaissance platforms control system provided by an embodiment of the present invention.

Fig. 4 is the schematic cross-section that cable is tethered at provided by an embodiment of the present invention.

Fig. 5 is the operation principle schematic diagram that cable is tethered at provided by an embodiment of the present invention.

Fig. 6 is the electrical schematics of high voltage power supply feed system provided by an embodiment of the present invention.

Fig. 7 is the schematic illustration of Smart Power Module provided by an embodiment of the present invention.

Fig. 8 is the structural schematic diagram of hawser automatic winding-unwinding system provided by an embodiment of the present invention.

Fig. 9 is the working principle diagram of hawser automatic winding-unwinding system provided by an embodiment of the present invention.

Specific embodiment

The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It is said according to following Bright, the purpose of this utility model, technical solution and advantage will be apparent from.It should be noted that described embodiment is this The preferred embodiment of utility model, instead of all the embodiments.

Referring to figs. 1 and 2, a kind of captive fire-fighting Air Surveillance Platform, comprising: floated unmanned plane fire inspection Platform 1 is tethered at cable 4, hawser automatic winding-unwinding system 5, high voltage power supply feed system 6 and ground control center 7.

Reconnaissance platforms control system 10 and Multifunction Sensor are installed on the floated unmanned plane fire inspection platform 1 Obstacle avoidance system 11, unmanned plane laser positioning landing system 14, the first temperature sensor 15 and several load carry platforms 12, The load carry platform 12 for installing a variety of fire-fighting mission payloads 13, the reconnaissance platforms control system 10 respectively with more function It can sensor obstacle avoidance system 11, a variety of fire-fighting mission payloads 13, unmanned plane laser positioning landing system 14 and the first temperature biography Sensor 15 is connected.Preferably, the load carry platform 12 is fixed in floated 1 bottom of unmanned plane fire inspection platform On suspension platform 1a.

According to actual needs, a variety of fire-fighting mission payloads 13 include the round-the-clock more light photoelectricity of monitoring of fire spread situation Gondola, multiband fire communication trunking, gas diffusion trend-monitoring equipment, high-altitude lighting apparatus, high-altitude propaganda directed to communicate equipment, Manage three-dimensional imaging device and fire fighter's geographic positioning system.

Ground control center 7 includes hardware and software two parts, is ground fire fighter observation and collection aerial platform work Make state, task execution information and the terrestrial operation platform operated to floated unmanned plane fire inspection platform 1.Hardware Part can using Portable integral, resistance to compression, antiknock secure tote, using Multi-core embedded-type electric brain server and multi-screen Curtain display system, built-in multi-wavelength multiplex roles optical communication module and the touch report control platform of multitask, including display screen, mainboard, External equipment connector, optical transmitter and receiver, HDMI distributor, serial ports turn optic fiber converter, loudspeaker, alarm and are used for ground work Make the hardware that personnel operate floated unmanned plane fire inspection platform 1 according to the information of the software feedback, as button, Switch, distant bar etc. are realized to the control of reconnaissance platforms control system 10 and fire-fighting mission payload 13 and the acquisition of information.Software System mainly shows state, real-time parameter, video, operating function area of floated reconnaissance platforms etc., functionally realizes height Adjustment；Course adjustment；The grabgraf of video, video recording, amplification, setting；The functions such as video map switching display；It can be also used for handling The information that a variety of different load are fed back, the information fed back to fire-fighting mission payload 13 are handled；The fire-fighting of installation is appointed Business investigation decision information software system meets fire-fighting system for fire incident crime scene sketch, live three-dimensional reconstruction and fire thing Therefore the demand of the standardization efforts process such as process simulation analysis, fire behavior is carried out to live fire information and personnel safety information and is commented Estimate, hazard modeling, personnel positioning and tracking function, and comprehensive all kinds of scene of a fire information propose field rescue decision references data.

With reference to Fig. 1 and Fig. 6, the high voltage power supply feed system 6 includes ground power supply system 61 and airborne power supply system 62.The hawser automatic deploying and retracting for being tethered at cable 4 and being connected to the airborne power supply system 62 and being powered by ground power supply system 61 Between system 5.The ground control center 7 is connected by optical cable 8 with hawser automatic winding-unwinding system 5, for observing and collecting Floated 1 working condition of unmanned plane fire inspection platform, task execution information and aerial platform is operated.

In order to obtain surrounding enviroment information, precision ranging is realized, the Multifunction Sensor obstacle avoidance system 11 includes ultrasound Wave sensor 110, infrared sensor 111, laser sensor 112 and visual perception device 113.The basic principle of ultrasonic sensor It is the flight time for measuring ultrasonic wave, correlation distance is measured wherein by formula d=vt/2, d indicates measurement distance, and v indicates super Acoustic wave propagation velocity, t indicate that the flight time infrared sensor of ultrasonic wave uses the principle of range of triangle.The survey of laser sensor For span from can achieve tens meters of even rice up to a hundred, angular resolution is high, can generally achieve zero point several years, the precision of ranging It is high.Visual perception device uses the avoidance mode of binocular vision, using triangle telemetry ranging, what two cameras therein were seen The same point P, imaging when have different location of pixels, at this time by range of triangle can measure this point away from From.

With reference to Fig. 3, the reconnaissance platforms control system 10 includes that main control unit 101, multiple control units 102 and acquisition are single Member 103, the main control unit 101 is separately connected with each control unit respectively, and each control unit is respectively connected with corresponding adopt Collect unit 103.The acquisition unit 103 acquires the flying quality of floated unmanned plane fire inspection platform 1 in real time, and will flight Data are transferred to control unit 102；Described control unit 102 is used to receive and handle the flying quality of acquisition unit transmission, root It is analyzed according to data and generates control signal and be transferred to main control unit；Wherein, control signal is for controlling floated unmanned plane fire-fighting The state of flight of reconnaissance platforms；The main control unit 101 is used to receive the control signal that multiple control units 102 are sent respectively, And judge whether multiple control signal is consistent, floated reconnaissance platforms are controlled according to judging result.

With reference to Fig. 4 and Fig. 5, the cable 4 that is tethered at is followed successively by optical fiber layer 40, first the 41, first electricity of insulating layer from inside to outside Cable layer 42, second insulating layer 43, the second cable floor 44, third insulating layer 45, the light emitting layer being made of electro luminescence line 46 and Kevlar tensile layer 47, the electro luminescence line 46 are connected with emission driver 48, and electro luminescence line 46 is fixed high every one It spends and connects a miniature indicator light 49 at H.

The encryption optical signal transmission between ground control center and reconnaissance platforms control system, ground are completed by optical fiber layer 40 The signal that face manipulation center issues first passes around after optical cable 8 passes to hawser automatic winding-unwinding system 5, by being tethered inside cable Optical fiber layer 40 is transferred to the signal receiver of reconnaissance platforms control system, ground control center and reconnaissance platforms control system Signal transmission be it is two-way, the signal issued from aerial platform end can be fed back in ground control by sequence contrary to the above The heart.The light emitting layer and miniature indicator light 49 be made of electro luminescence line 46, at such as 50 meters, 100 meters of certain altitude etc., So that electro luminescence line is remembered length of cable by miniature indicating light sign, the height of floated unmanned plane fire inspection platform is shown at night Spend information and work safety prompt information.

As shown in connection with fig. 6, the high voltage power supply feed system 6 includes the ground power supply system 61 connected by being tethered at cable 4 With airborne power supply system 62.

The ground power supply system 61 includes diesel oil/gasoline engine generator 610, ground AC-DC variable-voltage power supply 611 and hawser Automatic winding-unwinding system 5, the diesel oil/gasoline engine generator 610 are connected with ground AC-DC variable-voltage power supply 611, the ground AC- DC variable-voltage power supply 611 is connect with hawser automatic winding-unwinding system 5.Diesel oil or gasoline engine generator 610 issue three-phase high-voltage alternating current, electricity Pressure is generally 220V or 380V, so, if conditions permit, can be replaced with alternating current.High Level AC Voltage is by ground AC-DC Variable-voltage power supply 611 is changed into high voltage direct current, and specific voltage is depending on this section of line loss consumption, such as needs to guarantee into airborne power supply It is 400V before voltage changing module DC/DC, and 3 ohm of resistance value, electric current 15A, then voltage is adjusted to 445V.From ground AC-DC variable-voltage power supply 611 high-voltage direct currents come out supply airborne power pack 62 by hawser automatic winding-unwinding system 5.

Airborne power supply system 62 is detectd including power supply junction box 620, several airborne power supply voltage changing module DC/DC621, unmanned plane Examine platform motor 622, several secondary power supply voltage changing modules 623, the power supply junction box 620 and each airborne power supply voltage changing module DC/DC621 is separately connected, and airborne power supply voltage changing module DC/DC621 is correspondingly connected with unmanned plane reconnaissance platforms motor 622,

The airborne power supply voltage changing module DC/DC621 is also separately connected with several secondary power supply voltage changing modules 623, described Secondary power supply voltage changing module 623 respectively connects a fire-fighting mission payload 13.

Above-mentioned high voltage power supply feed system 61 can be realized ground power supply system 61 to the continued power of aerial platform, can Realize the non-stop run in 24 hours in the sky of floated reconnaissance platforms.The power supply junction box 620 of airborne power pack 62 can basis It needs to power high direct voltage and is divided into several roads, specifically, installing four spirals if it is floated unmanned plane fire inspection platform 1 Paddle 16, then needing to power is divided into four tunnels, i.e., floated reconnaissance platforms install n propeller and are then divided into the road n electricity, then will be electric right Afterwards after airborne power supply voltage changing module DC/DC, become low-voltage DC, power to unmanned plane reconnaissance platforms motor 622, drives Propeller 16 rotates, and generates the power of floated reconnaissance platforms.In addition, because floated reconnaissance platforms need the low tension powered Device has very much, such as a variety of fire-fighting mission payloads 13, can be by secondary power supply voltage changing module 623 by low pressure so if necessary Direct current, which is converted to, needs to obtain specific voltage.

As shown in connection with fig. 7, floated unmanned plane fire inspection platform surprisingly breaks because of high voltage power supply feed system in order to prevent Electricity and fall, preferably, be connected with intelligent power mould on the airborne power supply voltage changing module DC/DC621 of the utility model Block 3.

The Smart Power Module 3 includes dsp chip circuit 31, CAN bus circuit 32, optical fiber changeover circuit 33, several Voltage collection circuit 34 and the battery pack 35 being connect with voltage collection circuit, SD card storage circuit 36, protection circuit 37 and power supply Circuit 38,

The dsp chip circuit 31 is connect with CAN bus circuit 32, and the CAN bus circuit 32 connects optical fiber conversion electricity Road 33, each voltage collection circuit 34 are connected with dsp chip circuit 31 respectively, the SD card storage circuit 36, protection circuit 37 And power circuit 38 is connected with dsp chip circuit 31 respectively, the power circuit 38 is used for and airborne power supply voltage changing module DC/ DC621 docking.

Dsp chip circuit 31 has been internally integrated FLASH, A/D converter, communication interface using the dsp controller of TI company Equal peripheral hardwares, for running master control routine, charging subprogram, idle monitoring subroutine and the CAN communication of battery management system Subprogram；It states CAN bus circuit 32 and optical fiber changeover circuit 33 is the correspondence with foreign country link of Smart Power Module, it is total by CAN Wire protocol collects the information of battery management system, and is converted by CAN/RS232, will be electric using RS232 serial ports optical communication circuit The information of pond management system is sent to optical fiber；Voltage collection circuit 34 uses the dedicated monitoring chip of battery, built-in 12 ADC, essence Quasi- voltage reference, high voltage input multiplexer and serial line interface monitor the state of battery pack 35 in real time；Protect circuit 37 main It is protection battery pack 35, prevents battery pack from overcharging, overdischarge；SD card storage circuit 36 is responsible for the history letter of storage battery state Breath includes charging time, charging times, the information such as battery capacity, cell health state；Power circuit 38 is external power source charges Interface and the docking of 62 module of airborne power supply system, complete the charging/discharging function to intelligent battery group.

The principle of above-mentioned Smart Power Module 3 is: when unmanned plane reconnaissance platforms motor etc. can work normally, output Low-voltage DC of the High Level AC Voltage after conversion, can fill the Smart Power Module on floated reconnaissance platforms Electricity maintains the voltage of Smart Power Module in the safe range of system setting, when Smart Power Module detects power supply electricity When pressure is less than safety value, system can determine to be gone wrong by the route of generator powered, thus start power outage security guard process, By Smart Power Module to the low-voltage electrical apparatus power supply on floated reconnaissance platforms, can be supported in the voltage of Smart Power Module In preset time, floated unmanned plane fire inspection platform can return to safely ground.

In conjunction with shown in Fig. 8 and Fig. 9, the hawser automatic winding-unwinding system 5 includes folding and unfolding cable unit 51, row's cable unit 52, electricity Gas control unit 53, detection unit 54 and temperature control unit 55, the folding and unfolding cable unit 51, row cable unit 52, detection unit 54 and temperature control unit 55 be connected respectively with electric control unit 53, row's cable unit 52 is connected with detection unit 54 It connects,

The folding and unfolding cable unit 51 includes that conveyer belt 51a and spool 51b, the conveyer belt 51a are connected to spool 51b Shaft 51c and following driving motor 52a between.

Row's cable unit 52 includes driving motor 52a and guide roller 52b.

The detection unit 54 includes tension sensor 54a and limit sensors 54b, for monitoring the lower end for being tethered at cable Tension, folding and unfolding length and folding and unfolding speed, and send pulling force information to electric control unit 53.In conjunction with Fig. 9, received when pulling force is less than When cable setting value, electric control unit 53 issues cable laying control signal and driving motor 52a, driving motor 52a is given to work and pass through Conveyer belt 51a drives spool 51b rotation, and folding and unfolding cable unit 51 enters automatic take-up mode, carries out automatic take-up；Similarly, when When pulling force is greater than cable laying setting value, folding and unfolding cable unit 51 enters automatic cable laying mode, carries out slow payout operation at this time.In conducting wire Under the collective effect for taking turns 52b and spool 51b, the automatic deploying and retracting function for being tethered at cable is completed, there are volumes when making takeoff and landing Outer cable, while avoiding being tethered at cable and being entangled with winding, further increase system reliability.

The temperature control unit 55 includes built-in second temperature sensor 55a and fan 55b, and the second temperature passes Sensor 55a is mounted near spool 51b, obtains the temperature of spool 51b and tether cable in real time, and transmits a signal to electricity Gas control unit 53 issues temperature control signals to fan by electric control unit when temperature is more than certain limit value 55b is tethered at cable cooling on cable collection tube by fan 55b, makes to be tethered at cable and is maintained in reasonable operating temperature range.

Folding and unfolding cable unit 51 provides retractable and is tethered at tensile force and brake force required for cable, enough appearance cable length, fits Answer the folding and unfolding speed of platform；Row's guarantee of cable unit 52 is tethered at that cable is in good order to be arranged on spool 51b, arranges cable unit 52 Driving motor 52a can automatic reverse, arrange cable unit driving motor 52a and spool 51b it is synchronous by conveyer belt realization It is mobile.Because being tethered at cable oscillating caused by row's cable unit synchronizing moving during the adaptive folding and unfolding cable of guide roller 52b energy.The electricity Gas control unit 53 provides corresponding electrical and data-interface, convenient for the user to operate and monitoring system；The temperature control unit 55, by built-in second temperature sensor 55a, obtain the temperature of spool 51b and tether cable, when this temperature is more than in real time When certain limit value, it can be tethered at cable cooling on cable collection tube by fan 55b, make to be tethered at cable and be maintained at reasonable work Make in temperature range.

When needing the captive fire-fighting Air Surveillance Platform of the utility model to execute task, hung first in multifunctional comprehensive The fire-fighting mission payload that carry needs on carrying platform, operator make floated unmanned plane fire-fighting in ground control center operations Reconnaissance platforms realize that a key takes off, or so that its is reached corresponding task point by intelligent operation, and fire-fighting mission payload can incite somebody to action Collected information feeds back to earth station, and surface personnel carries out emergency processing or cloth to event according to the information passed back in real time Set action strategy.Ground power supply system realizes non-stop runs in 24 hours of system by uninterrupted power supply simultaneously.When needing to drop When falling, surface personnel can select corresponding operation in earth station, and in descent, hawser automatic winding-unwinding system can be certainly It is dynamic to be needed to adjust cable according to operation.

Application in order to preferably show captive fire-fighting Air Surveillance Platform provided by the utility model embodiment is former Reason and application scenarios, this example are illustrated by taking fire-fighting application scenarios as an example., when fire, captive fire-fighting occur for a building Air Surveillance Platform can be by carrying toxic harmful gas analysis instrument and double light gondolas (fire-fighting mission payload), to ground disaster Scene is monitored, and acquires the data such as high definition picture, infrared thermal imaging and the toxic and harmful gas concentration of disaster field in real time, And ground-based server is real-time transmitted to by 4G network, it is transferred in real time for user, docking scene of the accident fire-fighting emergent control Room information is realized and is believed fire-fightings Internet of Things such as disaster field video monitoring information, interlink warning information, active suppression facility informations The real-time reception of breath is supplied to fire-fighting emergent command centre and carries out fire-fighting emergent rescue decision.Fire-fighting emergent command centre will answer Anxious dispatch control information by captive fire-fighting Air Surveillance Platform be distributed to the ground fire fighting truck that scene of fire participates in rescue with And fire fighter, realize real-time commander and the scheduling of Field Force and equipment.

In embodiment provided by the utility model, it should be understood that disclosed device can be by others side Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the captive fire-fighting aerial platform is drawn Point, only a kind of logical function partition, there may be another division manner in actual implementation, in another example, platform includes listed The multiple fire-fighting mission payloads lifted it is one or more, but be not limited to the fire-fighting mission payload enumerated, can be according to reality Border needs to select some or all of fire-fighting mission payload therein to achieve the purpose of the solution of this embodiment.

Finally, it should be noted that embodiment described above, only specific embodiment of the present utility model, to illustrate this The technical solution of utility model, rather than its limitations, the protection scope of the utility model is not limited thereto, although referring to aforementioned The utility model is described in detail in embodiment, those skilled in the art should understand that: it is any to be familiar with this skill The technical staff in art field within the technical scope disclosed by the utility model, still can be to skill documented by previous embodiment Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications, Variation or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution It encloses.It should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described is wanted with right Subject to the protection scope asked.

Claims

1. A tethered firefighting aerial reconnaissance platform is characterized in that, comprising: a suspended unmanned aerial vehicle firefighting reconnaissance platform (1), a mooring cable (4), an automatic cable retraction system (5), a high-voltage power supply system (6) and ground control center (7),

The suspended unmanned aerial vehicle fire reconnaissance platform (1) is provided with a reconnaissance platform control system (10), a multifunctional sensor obstacle avoidance system (11), an unmanned aerial vehicle laser positioning take-off and landing system (14), and a first temperature sensor (15) and several load-mounted platforms (12), the load-mounted platforms (12) are used to install various fire-fighting task loads (13), and the reconnaissance platform control system (10) is respectively connected with the multi-function sensor to avoid The obstacle system (11), various firefighting task loads (13), the UAV laser positioning take-off and landing system (14) and the first temperature sensor (15) are connected,

The high-voltage power supply system (6) includes a ground power supply system (61) and an airborne power supply system (62),

The mooring cable (4) is connected between the on-board power supply system (62) and the automatic cable retraction system (5) powered by the ground power supply system (61),

The ground control center (7) is connected with the cable automatic retraction system (5) through the optical cable (8), and is used to observe and collect the working status and task execution information of the suspended unmanned aerial vehicle fire reconnaissance platform (1). to operate.

2. mooring firefighting aerial reconnaissance platform according to claim 1, is characterized in that:

The multifunctional sensor obstacle avoidance system (11) includes an ultrasonic sensor (110), an infrared sensor (111), a laser sensor (112) and a visual sensor (113).

3. moored firefighting aerial reconnaissance platform according to claim 1, is characterized in that:

The tethered cable (4) is, from inside to outside, an optical fiber layer (40), a first insulating layer (41), a first cable layer (42), a second insulating layer (43), and a second cable layer ( 44), a third insulating layer (45), a self-luminous layer and a Kevlar tensile layer (47) composed of an electroluminescent wire (46), the electroluminescent wire (46) and a light-emitting driver (48) In connection, the electroluminescent wires (46) are connected to a miniature indicator light (49) at every fixed height H.

4. mooring firefighting aerial reconnaissance platform according to claim 1, is characterized in that:

The reconnaissance platform control system (10) includes a main control unit (101), a plurality of control units (102) and an acquisition unit (103), the main control unit (101) is respectively connected with each control unit, and each The control units are all connected with corresponding acquisition units (103),

The collection unit (103) collects the flight data of the suspended unmanned aerial vehicle fire reconnaissance platform (1) in real time, and transmits the flight data to the control unit (102);

The control unit (102) is used to receive and process the flight data sent by the acquisition unit, generate a control signal according to the data analysis and transmit it to the main control unit; wherein, the control signal is used to control the flight state of the suspended unmanned aerial vehicle fire reconnaissance platform ;

The main control unit (101) is used for receiving control signals respectively sent by a plurality of control units (102), judging whether the plurality of control signals are consistent, and controlling the suspended unmanned aerial vehicle fire reconnaissance platform according to the judgment result.

5. moored firefighting aerial reconnaissance platform according to claim 1, is characterized in that:

The high-voltage power supply system (6) comprises a ground power supply system (61) and an airborne power supply system (62) connected by a mooring cable (4),

The ground power supply system (61) includes a diesel/gasoline generator (610), a ground AC-DC transformer power supply (611) and an automatic cable retraction system (5). The diesel/gasoline generator (610) is connected to the ground. An AC-DC transformer power supply (611) is connected, and the ground AC-DC transformer power source (611) is connected to the cable automatic retracting and releasing system (5);

The onboard power supply system (62) includes a power distribution box (620), a plurality of onboard power transformer modules DC/DC

(621), the UAV reconnaissance platform motor (622), several secondary power transformer modules (623), the power junction box (620) and each on-board power transformer module DC/DC (621) They are connected separately, and the airborne power transformer module DC/DC (621) is correspondingly connected to the UAV reconnaissance platform motor (622).

The onboard power transformer module DC/DC is also connected to a plurality of secondary power transformer modules (623) respectively, and each of the secondary power transformer modules (623) is connected to a fire fighting task load (13).

6. The moored firefighting aerial reconnaissance platform according to claim 5 is characterized in that:

The onboard power transformer module DC/DC (621) is connected with an intelligent power module (3),

The intelligent power supply module (3) includes a DSP chip circuit (31), a CAN bus circuit (32), an optical fiber conversion circuit (33), a plurality of voltage acquisition circuits (34) and a battery pack (35) connected to the voltage acquisition circuit , SD card storage circuit (36), protection circuit (37) and power supply circuit (38),

The DSP chip circuit (31) is connected to the CAN bus circuit (32), the CAN bus circuit (32) is connected to the optical fiber conversion circuit (33), and each voltage acquisition circuit (34) is respectively connected to the DSP chip circuit (31), The SD card storage circuit (36), the protection circuit (37) and the power supply circuit (38) are respectively connected with the DSP chip circuit (31), and the power supply circuit (38) is used for connecting with the onboard power supply transformer module DC/DC (621) DOCKING.

7. The moored firefighting aerial reconnaissance platform according to claim 1 is characterized in that:

The automatic cable retraction system (5) comprises a cable retraction unit (51), a cable distribution unit (52), an electrical control unit (53), a detection unit (54) and a temperature control unit (55),

The cable retracting unit (51), the cable arranging unit (52), the detection unit (54) and the temperature control unit (55) are respectively connected with the electrical control unit (53), and the cable arranging unit (52) is connected to the detection unit (53). unit (54) is connected,

The cable retracting and unwinding unit (51) includes a conveyor belt (51a) and a wire storage drum (51b). between,

The cable arrangement unit (52) includes a drive motor (52a) and a wire wheel (52b),

The detection unit (54) includes a tension sensor (54a) and a limit sensor (54b), the detection unit is installed on the wire wheel (52b), and is used for monitoring the mooring cable (4) wound on the wire wheel tension and position,

The temperature control unit (55) includes a built-in second temperature sensor (55a) and a fan (55b), the second temperature sensor (55a) is installed near the wire storage reel (51b), and acquires the wire storage reel (51b) in real time ) and the temperature of the mooring rope.

8. moored firefighting aerial reconnaissance platform according to claim 1, is characterized in that:

The load mounting platform (12) is fixedly connected to the suspended platform (1a) at the bottom of the suspended unmanned aerial vehicle fire reconnaissance platform (1).

9. moored firefighting aerial reconnaissance platform according to claim 8, is characterized in that:

The number of the load mounting platforms (12) is 3 or 4, and they are symmetrically installed on the suspended platform (1a).

10. The moored firefighting aerial reconnaissance platform according to claim 1 is characterized in that:

The various firefighting task loads (13) include all-weather monitoring of fire spread situation multi-optical photoelectric pods, multi-band fire communication relay equipment, gas diffusion trend detection equipment, high-altitude lighting equipment, high-altitude calling equipment, geographic three-dimensional imaging equipment, and firefighting equipment Personnel Geolocation System.