CN108578942A - Remotely-controllable unmanned fire truck with flexible escape passage - Google Patents
Remotely-controllable unmanned fire truck with flexible escape passage Download PDFInfo
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- CN108578942A CN108578942A CN201810399966.5A CN201810399966A CN108578942A CN 108578942 A CN108578942 A CN 108578942A CN 201810399966 A CN201810399966 A CN 201810399966A CN 108578942 A CN108578942 A CN 108578942A
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- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 38
- 239000010959 steel Substances 0.000 claims description 38
- 238000011835 investigation Methods 0.000 claims description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000003028 elevating effect Effects 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 6
- 210000001226 toe joint Anatomy 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 239000010410 layer Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
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- 125000006850 spacer group Chemical group 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
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- 230000009970 fire resistant effect Effects 0.000 description 1
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- 239000011229 interlayer Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B1/00—Devices for lowering persons from buildings or the like
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C33/00—Hose accessories
- A62C33/06—Hose or pipe bridges
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
-
- 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
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- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a remotely-controllable unmanned fire truck with a flexible escape channel, which comprises a truck body, a two-wheel walking device, a flying escape device, an unmanned detection device and a control device, wherein the two-wheel walking device is fixed in the middle of the bottom of the truck body; the flight escape device is provided with a flexible escape passage cabin, four ducted fans and four driving mechanisms, wherein the four driving mechanisms are all fixed at the top of the flexible escape passage cabin, and the four driving mechanisms are respectively connected with the ducted fans; the fire fighting truck has the beneficial effects that the remote-controllable control device is arranged, fire can be extinguished through remote operation, and even if the fire is very large, the fire fighting truck can arrive at a fire place before other fire fighting trucks to carry out fire detection, emergency fire extinguishing, personnel searching, rescue assistance and information transmission, so that the safety of people and property is better protected.
Description
Technical field
Disappear the present invention relates to nobody of fire-fighting domain more particularly to a kind of remote controlled band flexibility escape route
Anti- vehicle.
Background technology
According to statistics, with China's rapid development of economy, China's skyscraper is passed with 20% or more speed year by year
Increase, skyscraper is rised sheer from level ground rapidly like the mushrooms after rain.But it with the increase of building height and increasingly intensive, is sent out in building
It lights a fire calamity, when meeting with the accidents such as earthquake, the attack of terrorism, especially in the case where power-off and corridor are full of by dense smoke,
High-rise trapped person collective escape how is rapidly and efficiently organized and succoured in city be one urgently solve the problems, such as.
Country's external enwergy realizes that the high-rise building escape device of collective's escape mainly has fire control aerial ladder vehicle, the escape of pantographic flexibility at present
Slideway and folding escape cabin；Either rescue efficiency is relatively low or and needs to build outer personnel's supplementary anchorage for these escape devices
After could be unfolded, mobility is not strong or apparatus cost is expensive, and maintaining is complicated；Or the problem of encountering congestion in road
When miss the Best Times of personnel rescuing.
Therefore, the prior art is defective, needs to improve.
Invention content
The present invention provides a kind of unmanned fire fighting truck of remote controlled band flexibility escape route, the above problem of solution.
To solve the above problems, technical solution provided by the invention is as follows：
A kind of unmanned fire fighting truck of remote controlled band flexibility escape route includes body shell, two-wheel running device, flight
Escape device, unmanned investigation device and control device, the two-wheel running device are fixed among the body shell bottom, institute
It states in the flight instruments cabin that flight escape device is fixed at the top of the body shell by electromagnetic lock, the unmanned investigation device
It is fixed at the top of the body shell in unmanned investigation device cabin by electromagnetic lock, the unmanned investigation device is located at the flight
Beside escape device, the control device is located in the headstock of the body shell.Preferred technical solution, the body shell
Equipped with car body, front steering mechanism, rear drive mechanism, fire-fighting water storage box, flight instruments cabin and unmanned engine room, the front steering mechanism
It is located at before the vehicle bottom, the rear drive mechanism is located at behind the vehicle bottom, and the fire-fighting water storage box is fixed on
On the car body, the flight instruments cabin is fixed on the fire-fighting water storage box, and the unmanned engine room is fixed on the fire-fighting and stores
On water tank.Preferred technical solution, the two-wheel running device are equipped with self-balancing mechanism, preceding elevating mechanism, rear lifting mechanism, preceding
Walking mechanism and rear walking mechanism, the self-balancing mechanism are fixed in the car body, and the preceding elevating mechanism is fixed on described
Vehicle bottom, the rear lifting mechanism is fixed on the vehicle bottom, after the rear lifting mechanism is located at the preceding elevating mechanism,
The pre-walking mechanism is fixed on the preceding elevating mechanism bottom, and the rear walking mechanism is fixed on the rear lifting mechanism bottom
Portion.Preferred technical solution, the self-balancing mechanism are equipped with test the speed controller, MEMS gyroscope control box, the first moment gyro
Instrument and the second moment gyro instrument, the MEMS gyroscope control box are electrically connected with the controller that tests the speed, the first torque top
Spiral shell instrument is electrically connected with the MEMS gyroscope control box, and the second moment gyro instrument is electrically connected with the MEMS gyroscope control box
It connects.Preferred technical solution, the flight escape device are equipped with flexible escape route cabin, four ducted fans and four driving machines
Structure, four ducted fans be arranged at the top of the flexible escape route cabin before, below, the left side and the right side, four
A driving mechanism is each attached at the top of the flexible escape route cabin, four driving mechanisms respectively with the duct wind
Fan connection.Preferred technical solution, the flexibility escape route cabin are equipped with channel cabin ontology, inner sliding sleeve, oversheath, support steel disc
With multiple tightening steel bushings, the cloth bag set of the non-elastic tightening of inner sliding sleeve, the inner sliding sleeve is the long barrel structure of cloth bag of annular, institute
It states and forms toroidal cavity escape route in the middle part of inner sliding sleeve, the oversheath is set on the outside of the inner sliding sleeve, the support steel disc
It is located between the inner sliding sleeve and oversheath, multiple tightening steel bushing housings are on the outer jacket.Preferred technical solution,
The driving mechanism is equipped with yoke assembly and Power Component, and the yoke assembly is connected by cantilever and the ducted fan, institute
State fan axis connection of the Power Component by bevel gear and the ducted fan, the Power Component and the yoke assembly tooth
It connects.Preferred technical solution, the yoke assembly are equipped with multiple big bearing blocks, cantilever, driven gear, driving gear and servo electricity
Machine, multiple big bearing blocks are fixed on the ontology of the channel cabin, and described cantilever one end and the outer wall of the ducted fan are solid
Fixed to be connected, the other end is fixedly connected with engine mounting bracket, the cantilever by the big bearing block big bearing support, it is described outstanding
Arm is cylindrical shape, and the driven gear housing is fixed on the cantilever, the driving gear and the driven gear toe joint, institute
It states driving gear housing to be fixed in the rotary shaft of the servo motor, the servo motor is fixed on channel cabin ontology
On.Preferred technical solution, the Power Component is equipped with engine mounting bracket, engine, transmission shaft and two small bearing brackets, described
Engine mounting bracket is fixed on one end of the cantilever, and the engine is fixed on by flange in the engine mounting bracket, institute
Stating transmission shaft passes through the cantilever, the transmission shaft to pass through the output shaft fixed connection of shaft coupling and the engine, two small axis
Bearing is located at the both ends of the cantilever, is sleeved on the transmission shaft outside two small bearing brackets.Preferred technical solution, it is described
Unmanned investigation device is equipped with drone body, driving motor and rotor, and the driving motor is symmetricly set on the unmanned plane sheet
Both sides at the top of body, the rotor are connect with the driving motor.
Preferred technical solution, the control device and the two-wheel running device, flight escape device and unmanned investigation
Device is electrically connected, the control device be equipped with unmanned module, flight control modules, unmanned investigation device control module,
Information acquisition module, vehicle-mounted computer, setup module, self-checking module, mode setting module, wireless receiving sending module, voice
Module, power plant module, drive module, steering module and brake module；The output of information acquisition module and the setup module
End is connect with the input terminal of the vehicle-mounted computer；The output end of the vehicle-mounted computer and the self-checking module, it is described nobody
Drive module, the pattern setting module is connected with the input terminal of the voice module；The vehicle-mounted computer also with the nothing
Line receives sending module and is connected with each other；The output end of the unmanned module and the power plant module, the drive module,
The steering module is connected with the input terminal of the brake module；The output end of the mode setting module with it is described nobody drive
Sail the input terminal connection of module；The output end of the power plant module is connect with the input terminal of the drive module.
Preferred technical solution, the information acquisition module include CCD camera assembly, road information collecting unit, GPS
Positioning unit and radar velocity measurement unit；CCD camera assembly, road information collecting unit, GPS positioning unit and the radar is surveyed
The output end of fast unit is connect with the input terminal of the vehicle-mounted computer.
Preferred technical solution, the setup module include time setting unit and route setting unit；When described
Between the output end of setting unit and route setting unit connect with the input terminal of the vehicle-mounted computer.
Preferred technical solution, the self-checking module includes working state detection units and fault detection unit；Institute
The output end for the vehicle-mounted computer stated is connect with the input terminal of the working state detection units and the fault detection unit.
Preferred technical solution, the mode setting module include wakeup unit, suspend mode unit and operating mode
Unit；The output end of the vehicle-mounted computer is connect with the input terminal of the wakeup unit；The output end of the wakeup unit
It is connect with the input terminal of the suspend mode unit；The suspend mode unit and the operating mode unit be connected with each other into
Row pattern is converted；The output end of the operating mode unit is connect with the input terminal of the unmanned module.
Advantageous effect compared with the existing technology is that using the above scheme, the present invention is equipped with remote controlled control and fills
Set, stand ready after receiving the report for police service can responding, spot is rushed for prior to other fire fighting trucks using unmanned pattern,
Can be by two-wheel running device when encountering congested link in city, by the section of congestion, the present invention is equipped with unmanned investigation and fills
It sets, when fire fighting truck rushes to fire place, the remote controlled unmanned investigation device of fire fighter carries out fire behavior detecting, promptly goes out
Fire, personnel are searched, rescue auxiliary and information are conveyed, and the present invention is additionally provided with flight escape device, when fire fighting truck arrive at fire place
When, flight escape device is remote controlled to fly to disaster-stricken floor, and indicator of trapped personnel can be by flexible escape route cabin with most fast
Speed be back to ground, preferably protect the people and property safety.
Description of the drawings
Illustrate embodiment or technical solution in the prior art in order to clearer, it below will be to embodiment or the prior art
The required attached drawing used is briefly described in description, it is clear that, the accompanying drawings in the following description is only some realities invented
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the unmanned fire fighting truck diagram of remote controlled band flexibility escape route of the invention；
Fig. 2 is the structural schematic diagram of the body shell of the present invention；
Fig. 3 is the structural schematic diagram of the flight escape device of the present invention；
Fig. 4 is the structural schematic diagram in the flexible escape route cabin of the present invention；
Fig. 5 is the structural schematic diagram of the driving mechanism of the present invention；
Fig. 6 is the structural schematic diagram of the unmanned investigation device of the present invention；
Schematic diagram when Fig. 7 is the flight escape device work of the present invention.
Shown in the above legend：1, body shell；11, car body；12, front steering mechanism；13, rear drive mechanism；14, fire-fighting stores
Water tank；15, flight instruments cabin；16, unmanned engine room；2, two-wheel running device；22, preceding elevating mechanism；23, rear lifting mechanism；
24, pre-walking mechanism；25, rear walking mechanism；3, flight escape device；31, flexible escape route cabin；311, channel cabin ontology；
312, inner sliding sleeve；313, oversheath；314, steel disc is supported；315, steel bushing is tightened；32, ducted fan；33, driving mechanism；331、
Yoke assembly；3311, big bearing block；3312, cantilever；3313, driven gear；3314, driving gear；3315, servo motor；
332, Power Component；3321, engine mounting bracket；3322, engine；3323, transmission shaft；4, unmanned investigation device；41, nobody
Machine ontology；43, rotor；5, control device；6, fire hose.
Specific implementation mode
To facilitate the understanding of the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
The preferred embodiment of the present invention is given in attached drawing.But the present invention can realize in many different forms, and it is unlimited
In this specification described embodiment.Make to the disclosure on the contrary, purpose of providing these embodiments is
Understand more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term used in this specification " fixation ", " integrated molding ",
For illustrative purposes only, the similar unit of structure is to identical label in the figure for "left", "right" and similar statement
Mark.
Unless otherwise defined, technical and scientific term all used in this specification is led with the technology for belonging to the present invention
The normally understood meaning of technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.
As shown in Figure 1, one embodiment of the present of invention is：
A kind of unmanned fire fighting truck of remote controlled band flexibility escape route includes body shell 1, two-wheel running device 2, flies
Row escape device 3, unmanned investigation device 4 and control device 5, the two-wheel running device 2 are fixed on 1 bottom of the body shell
Centre, the flight escape device 3 are fixed on by electromagnetic lock in the flight instruments cabin at 1 top of the body shell, the nothing
People investigates device 4 and is fixed in the unmanned investigation device cabin in 1 top of the body shell by electromagnetic lock, the unmanned investigation device
4 are located at 3 side of the flight escape device, and the control device 5 is located in the headstock of the body shell 1.The vehicle body sheet
Body 1 is equipped with car body 11, front steering mechanism 12, rear drive mechanism 13, fire-fighting water storage box 14, flight instruments cabin 15 and unmanned engine room
16, the front steering mechanism 12 is located at before 11 bottom of the car body, and the rear drive mechanism 13 is located at 11 bottom of the car body
Below, the fire-fighting water storage box 14 is fixed on the car body 11, and the flight instruments cabin 15 is fixed on the fire-fighting water storage box
On 14, the unmanned engine room 16 is fixed on the fire-fighting water storage box 14.The two-wheel running device 2 be equipped with self-balancing mechanism,
Preceding elevating mechanism 22, rear lifting mechanism 23, pre-walking mechanism 24 and rear walking mechanism 25, the self-balancing mechanism are fixed on described
In car body 11, the preceding elevating mechanism 22 is fixed on 11 bottom of the car body, and the rear lifting mechanism 23 is fixed on the car body
11 bottoms, after the rear lifting mechanism 23 is located at the preceding elevating mechanism 22, the pre-walking mechanism 24 is fixed on the preceding liter
22 bottom of descending mechanism, the rear walking mechanism 25 are fixed on 23 bottom of the rear lifting mechanism.The self-balancing mechanism, which is equipped with, to be surveyed
Fast controller, MEMS gyroscope control box, the first moment gyro instrument and the second moment gyro instrument, the MEMS gyroscope control box
It being electrically connected with the controller that tests the speed, the first moment gyro instrument is electrically connected with the MEMS gyroscope control box, and described
Two moment gyro instrument are electrically connected with the MEMS gyroscope control box.
The speed of the controller for calculating fire fighting truck that test the speed, and it is sent to the MEMS gyroscope control box, so that
The rotating speed of the control of MEMS gyroscope the control box first moment gyro instrument and the second moment gyro instrument.
When fire fighting truck left or right side is knocked, the controller that tests the speed detects speed exception, MEMS gyroscope control box
It controls the first moment gyro instrument and the second moment gyro instrument increases rotating speed, the first moment gyro instrument and the second moment gyro instrument increase
Moment torque increases while rotating speed, can realize the unbalance feelings of fire fighting truck side crash in the posture of inclination of vehicle moment amendment vehicle
Self-balancing under condition is restored, guarantee driving safety.
First moment gyro instrument and the second moment gyro instrument play the self-balancing of fire fighting truck in fire fighting truck driving process double
It protects again, to make fire fighting truck more reliablely and stablely travel.
When fire fighting truck encounters congested link can by preceding elevating mechanism and rear lifting mechanism by fire fighting truck rise come, according to
The balance that fire fighting truck is kept by self-balancing mechanism, the section of congestion is crossed by pre-walking mechanism and rear walking mechanism.It is described to fly
Row escape device 3 is equipped with flexible escape route 31, four, cabin ducted fan 32 and four driving mechanisms 33, four duct wind
Fan 32 is arranged in before 31 top of flexible escape route cabin, below, the left side and the right side, four driving mechanisms
33 are each attached to 31 top of flexible escape route cabin, and four driving mechanisms 33 connect with the ducted fan 32 respectively
It connects.The driving mechanism 33 is equipped with yoke assembly 331 and Power Component 332, and the yoke assembly 331 passes through cantilever and the culvert
Road fan 32 is connected, and the Power Component 332 passes through the fan axis connection of bevel gear and the ducted fan, the power packages
Part 332 and 331 toe joint of the yoke assembly.The yoke assembly 331 is equipped with multiple big bearing blocks 3311, cantilever 3312, passive
Gear 3313, driving gear 3314 and servo motor 3315, multiple big bearing blocks 3311 are fixed on channel cabin ontology
On 311,3312 one end of the cantilever and the outer wall of the ducted fan are fixedly linked, and the other end is fixedly connected with engine installation branch
Frame, for the cantilever 3312 by the big bearing support of the big bearing block 3311, the cantilever 3312 is cylindrical shape, the passive tooth
It takes turns 3313 housings to be fixed on the cantilever 3312, the driving gear 3314 and 3313 toe joint of the driven gear, the master
3314 housing of moving gear is fixed in the rotary shaft of the servo motor 3315, and the servo motor 3315 is fixed on the channel
On cabin ontology 311.The Power Component 332 is equipped with engine mounting bracket 3321, engine 3322, transmission shaft 3323 and two small axis
Bearing, the engine mounting bracket 3321 are fixed on one end of the cantilever 3312, and the engine 3322 is fixed on by flange
In the engine mounting bracket 3321, the transmission shaft 3323 passes through the cantilever 3312, the transmission shaft 3323 to pass through shaft coupling
The output shaft fixed connection of device and the engine 3322, two small bearing brackets are located at the both ends of the cantilever 3312, described in two
It is sleeved on the transmission shaft 3323 outside small bearing bracket.
The front end of the transmission shaft 3323 is stretched into ducted fan 32, and bevel gear component and fan axis connection, umbrella are passed through
Shape gear assembly is made of two bevel gears, and a bevel gear is fixed on fan shaft, another bevel gear is fixed in
On the front end of transmission shaft 3323, two bevel gears mesh together, and the rear end of transmission shaft 3323 passes through shaft coupling and engine
3322 output axis connection, driven gear 3313 are fixed on cantilever 3312, and driving gear 3314 is fixed in servomotor
On 3315 main shaft, driving gear 3314 is engaged with driven gear 3313, and servo motor 3315 is fixed on channel cabin ontology 311
On top surface.
When engine 3322 works, output shaft drives 3323 high speed rotation of transmission shaft, transmission shaft 3323 to pass through umbrella shape tooth
Wheel assembly drives fan shaft high speed rotation, and then the outer fan being sleeved on fan shaft, which just rotates, generates lift.Work as servo motor
When 3315 work, driving gear 3314 can rotate an angle, and driven gear 3313 is driven also accordingly to rotate an angle, due to
Driven gear 3313 is fixed on cantilever 3312, so ducted fan can deflect, to realize adjustment flight attitude.
Ducted fan is provided centrally with upper and lower support base, and upper support seat is connected by the inner wall of upper joining beam and ducted fan
It connects, there are three upper joining beams, is radially distributed, and high-speed bearing is equipped in upper support seat.The upper end of upper support seat 3 is connected with pressure
Lid.Lower support base is connected by the inner wall of lower joining beam and ducted fan, and there are three lower joining beams, is also radially distributed, lower support
High-speed bearing is installed in seat.The both ends of fan shaft are supported by high-speed bearing.It is provided between bevel gear and high-speed bearing
Spacer, spacer play positioning action.
Fan is mounted on fan shaft, and the top and bottom end of fan shaft are respectively arranged with radome fairing.The middle part of fan shaft by
Protective cover covers.
The inside of channel cabin ontology 311 is additionally provided with giant.The bottom of giant is provided with pipe fitting, which connects
Head is connect with fire hose 6.Fire hose 6 is connect with the fire-fighting water storage box 14 on ground.Giant by control cable with
Fire fighting truck connection on ground.The trigger of giant is made of electric control gear, and the on and off of giant is remote controlled.
Booster pump is serially connected on fire hose 6, supercharging pumps up relaying action, makes fire-fighting liquid after being overpressurized from high pressure water
Rifle sprays, and water is big and concentrates, and big fire can be extinguished within the shortest time, booster pump can have it is multiple, to realize point
Grade supercharging, is pressurized using classification, fire-fighting liquid dead weight in fire hose can be applied to the pressure dissipation of lowermost end at different levels completely
Booster pump reduces the pressure of the pressure that bottommost pumps and the fire-fighting liquid that fire hose lower end is born, so as to reduce fire-fighting
The requirement of water band confrontation compressive resistance.
The centrifugal pump of coaxial-type may be used in booster pump, it is made of the pump housing, motor, impeller, and the both ends of impeller are by bearing
Bearing, motor is arranged is in the advantages of center of the pump housing, this centrifugal pump：Inlet and outlet on the same axis, liquid
It is passed through from the interlayer cavity of the pump housing, it is compact-sized, it is small, convenient for being serially connected on fire hose 6.Furthermore it is also possible to being pressurized
It pumps and check valve is set on the fire hose 6 of top, after so that fire-fighting liquid is passed through booster pump, can only flow up, cannot flow downward,
It prevents from flowing backwards.
The engine 3322 can be high-speed motor, and engine 3322 can also be aero-engine.When engine 3322 is adopted
When with high-speed motor, need to be connect with the distribution resupply vehicle on ground with power cable.
When engine 3322 is using aero-engine, need to be connect with the fuel make up vehicle on ground with oil pipe.
The quadrangle of channel cabin bodies top is provided with video camera, and is equipped with loud speaker, in order to converse with trapped person.
Video camera earthward transmits signal by controlling cable or wireless receiving module.Servo motor 3315 passes through power cable and ground
On distribution resupply vehicle connection.Electric energy, servo motor 3315, engine 3322, booster pump are provided by the distribution resupply vehicle on ground
All by being controlled on ground, line traffic control can be carried out by controlling cable, long-range nothing can also be carried out by remote control mode
Line traffic control.
Although it is noted that above-mentioned power cable, control cable, oil pipe, fire hose and different resupply vehicles
Connection, but can be bound together when in use, i.e., upper end is all connect with flight escape device, and middle part is connected in by protection sleeve pipe
Together, the lower end of lower end bifurcated, power cable therein is connect with the power interface of ground distribution resupply vehicle, the lower end of oil pipe with
The fuel interface of fuel make up vehicle connects, and the lower end for controlling cable is connect with fire fighting truck, lower end and the fire-fighting water storage of fire hose
The infusion connector of case connects.When it is implemented, distribution resupply vehicle, fuel make up vehicle, command car can be merged into same trolley,
Can be individually separated.
Control cable, power cable or oil pipe and fire hose 6 are bound together, and put on protection tube outside, when winged
It when row escape device 3 is gone up to the air, is drawn by the protection tube of connection so that control cable, power cable or oil pipe and fire water
Band 6 goes up to the air simultaneously.
When flight escape device 3 is gone up to the air, the Power Component in the driving device of four ducted fans works at the same time, i.e., four
Engine 3322 works at the same time, and high speed rotation, the high-speed flow that fan generates spray four fans from ducted fan bottom opening simultaneously
Go out, flight escape device 3 obtains lift, is raised from the flight instruments cabin of fire fighting truck, when needing flat fly, can start servo electricity
Machine 3315 makes ducted fan generate deflection, and flight escape device 3 can move in the horizontal direction, when needing to turn to, need by
Four ducted fans deflect an angle simultaneously, i.e., will be deflected into from vertical direction has certain angle with horizontal direction, and
And four ducted fans deflection trend want identical, i.e., all be clockwise or be all counterclockwise, such flight escape device
To turn left or turn right, when needing landing, it is only necessary to reduce the rotating speed of fan, flight escape device can decline slowly.
When fire fighting, fireman's remote control need not be face-to-face with big fire, and fireman is made by control device
The VTOL of flight escape device, hover, spiral, horizontal flight, turning, be directly adjacent to the tongues of fire, sprayed water using giant, water
Column is closely beaten on ignition point, and water is big and concentrates, and big fire can be extinguished within the shortest time.Flight escape device
Quadrangle is equipped with monitor, loud speaker, and fireman can be immediately seen the fire behavior in high-rise building in command car by monitor,
The trend of personnel, while can talk with by loud speaker, directly with trapped person, trapped person can pass through flexible escape route cabin
It returns on ground.The flexibility escape route cabin 31 is equipped with channel cabin ontology 311, inner sliding sleeve 312, oversheath 313, supporting steel
Piece 314 and multiple tightening steel bushings 315, the cloth bag set of 312 non-elastic tightening of the inner sliding sleeve, the inner sliding sleeve 312 are annular
The long barrel structure of cloth bag, 312 middle part of the inner sliding sleeve form toroidal cavity escape route, and the oversheath 313 is set in described
312 outside of sliding sleeve, the support steel disc 314 are located between the inner sliding sleeve 312 and oversheath 313, multiple tightening steel bushings
It is sleeved on the oversheath 313 outside 315.
The support steel disc 314 is evenly arranged along the outside of inner sliding sleeve 312 and supports oversheath 313；The supporting steel
Piece 314 and the tightening interlaced arrangement of 315 axial direction of steel bushing, i.e., the described support steel disc 314 are not located at same with tightening steel bushing 315
On one horizontal plane.The support steel disc 314 is the arc steel plate with certain elasticity, and both ends are fixed with oversheath 313 to be connected
Connect, the middle part of support steel disc 314 is connect with inner sliding sleeve 312, and if be evenly arranged dried layer along the axial direction of inner sliding sleeve 312, every layer
Steel disc 314 is supported to be fixedly installed relative to the axial height position of inner sliding sleeve 312；Every layer of support steel disc 314 includes positioned at same
The support steel disc 314 of horizontal plane is no less than three pieces, and they are along the uniform equidistant placement of annular outer side wall of inner sliding sleeve 312.It is described
The both ends of support steel disc 314 are connect by connecting pole with oversheath 313, and the connecting pole is fixed on oversheath 313, supporting steel
The end of piece 314 is rotatablely connected with connecting pole so that support steel disc 314 can be relative to the angled rotation of connecting pole；The branch
The middle part of support steel disc 314 is fixedly connected by connection sheet with inner sliding sleeve 312.The support steel disc 314 turns relative to connecting pole
5 ° -10 ° of dynamic angle.The width of the support steel disc 314 is 2cm-3cm, and the thickness of support steel disc 314 is 2mm-5mm.
Tightening steel bushing 315 is spliced into annular cyclic structure by several sheath bodies, is connected by spring between adjacent sheath body, spring
End is fixedly connected with sheath body；It is additionally provided with resetting-mechanism on the lateral wall of the tightening steel bushing 315；The resetting-mechanism is used for
Connect adjacent sheath body so that sheath body can in spring contraction parking position accuracy.The both ends of the sheath body are cavity structure, spring
Both ends be respectively protruding into the cavity of adjacent sheath body and be fixedly connected on the inside of corresponding sheath body so that bullet after adjacent sheath body connection
Spring is set in cavity completely in its natural state.The resetting-mechanism includes reset steel wire；The reset steel wire be and receipts
Tight steel bushing 315 waits one section of curved wire of circle, is the resetting spring recovered with elasticity in the middle part of curved wire；The reset bullet
The most side of the reset steel wire of spring both sides is fixedly connected with adjacent sheath body respectively；The coefficient of elasticity of the resetting spring is less than sheath body
The coefficient of elasticity of cavity inner spring.Gas-permeable channels at regular intervals are formed between the oversheath 313 and inner sliding sleeve 312；Institute
Gas-permeable channels opening or closed channel design are stated, when it is closed channel design, is connect with Song Yang mechanisms；It is described
Several breathable mesh are further opened on the side wall of inner sliding sleeve 312, for being swapped with the air in gas-permeable channels.
The unmanned investigation device 4 is equipped with drone body 41, driving motor and rotor 43, and the driving motor is symmetrically set
It sets on 41 top both sides of the drone body, the rotor 43 is connect with the driving motor.
41 tail portion of the drone body is additionally provided with empennage；The drone body 41 is equipped with control cabinet, the control
Case is located at 41 top of the drone body；Main control module and lithium battery group, the main control module are provided in the control cabinet
It is connect with lithium battery group by power management module；The abdomen of the drone body 41 is provided with extinguishing medium storehouse；It is described to go out
Multiple spray guns are provided on powder composition storehouse；Multiple spray guns constitute fire-fighting work load, and fire-fighting work load is connect with main control module；
Communication module, infrared induction module and laser elevation range finder module, 41 top of the drone body are connected on main control module
It is additionally provided with broadcaster；Video camera is provided on the head of drone body 41, broadcaster and video camera pass through audio mould respectively
Block and video module are connect with main control module；The main control module, power management module, fire-fighting work load, electron speed regulator,
It is connected by RS485 interfaces between audio-frequency module, video module, communication module and laser elevation range finder module；The unmanned plane
41 bottom of ontology is additionally provided with undercarriage；It is provided with multiple anticollision directive wheels on 41 side shell of the drone body；It is described
It is provided with fire resistant coating on 41 shell of drone body.
The control device is electrically connected with the two-wheel running device, flight escape device and unmanned investigation device, institute
Control device is stated equipped with unmanned module, flight control modules, unmanned investigation device control module, information acquisition module, vehicle
Carry computer, setup module, self-checking module, mode setting module, wireless receiving sending module, voice module, power plant module, drive
Dynamic model block, steering module and brake module；The output end of the information acquisition module and setup module and the vehicle-mounted computer
Input terminal connection；The output end of the vehicle-mounted computer and the self-checking module, the unmanned module, the pattern
Setting module is connected with the input terminal of the voice module；The vehicle-mounted computer is also mutual with the wireless receiving sending module
Connection；The output end of the unmanned module and the power plant module, the drive module, the steering module and described
The input terminal of brake module connects；The output end of the mode setting module and the input terminal of the unmanned module connect
It connects；The output end of the power plant module is connect with the input terminal of the drive module.
The information acquisition module includes that CCD camera assembly, road information collecting unit, GPS positioning unit and radar are surveyed
Fast unit；The CCD camera assembly, road information collecting unit, GPS positioning unit and radar velocity measurement unit output end with
The input terminal of the vehicle-mounted computer connects.
The setup module includes time setting unit and route setting unit；The time setting unit and route
The output end of setting unit is connect with the input terminal of the vehicle-mounted computer.
The self-checking module includes working state detection units and fault detection unit；The vehicle-mounted computer it is defeated
Outlet is connect with the input terminal of the working state detection units and the fault detection unit.
The mode setting module includes wakeup unit, suspend mode unit and operating mode unit；Described is vehicle-mounted
The output end of computer is connect with the input terminal of the wakeup unit；The output end of the wakeup unit and the suspend mode list
The input terminal connection of member；The suspend mode unit is connected with each other carry out pattern conversion with the operating mode unit；It is described
The output end of operating mode unit connect with the input terminal of the unmanned module.
The drive module includes Driving Stepping Motor and accelerator pedal；The unmanned module controls the drive
Dynamic stepper motor starts；The Driving Stepping Motor connects the accelerator pedal and is accelerated；The power plant module is described
Driving Stepping Motor provides lasting power.
The steering module includes turning to stepper motor and steering shaft；The unmanned module controls the steering
Stepper motor starts；The steering stepper motor connects rotation of the steering shaft into line direction.
The brake module includes braking stepper motor and brake pedal；The unmanned module controls the system
Dynamic stepper motor starts；The steering stepper motor connects the brake pedal and is braked.
Operation principle：The present invention can be immediately corresponding, while alarm can responding, by control device fire fighting truck can from
Row drives or by remote control to fire place, enables fire fighting truck easily by the section of congestion by two-wheel running device,
Avoid because traffic congestion wastes time, the present invention can automatically open flight instruments cabin and unmanned engine room, unmanned investigation device fly out into
Row fire behavior is detected and personnel search, and flight escape device is promoted to the floor to catch fire with fire hose and puts out a fire, by soft
Property escape route cabin indicator of trapped personnel is sent to ground, flight escape device can be with VTOL, hovering, and speed is fast, mobility strong,
It is not limited by landform, barrier, fire fighting truck is slightly remote, slightly close, and all unaffected, no matter floor is how high, flight escape device
Can quickly, accurately close to scene, protect the life security of the people.
Advantageous effect compared with the existing technology is that using the above scheme, the present invention is equipped with remote controlled control and fills
Set, stand ready after receiving the report for police service can responding, do not delay within one minute, can pass through when encountering congested link in city
Two-wheel running device, by the section of congestion, the present invention is equipped with unmanned investigation device and disappears when fire fighting truck rushes to fire place
Anti- personnel can remotely carry out fire behavior detecting and personnel search, and the present invention is additionally provided with flight escape device, when fire fighting truck reaches fire
When place, flight escape device is remote controlled to fly to disaster-stricken floor, indicator of trapped personnel can by flexible escape route cabin with
Most fast speed is back to ground, and when fire behavior is small, the present invention can be put out a fire by remote operation, sheet when fire behavior is big
Invention can also rush for fire place prior to other fire fighting trucks, carry out fire behavior detecting, instant fire extinguishment, personnel search, rescue auxiliary and
Information is conveyed, and the safety of the people and property are preferably protected.
It should be noted that above-mentioned each technical characteristic continues to be combined with each other, the various embodiments not being enumerated above are formed,
It is accordingly to be regarded as the range of description of the invention record；Also, for those of ordinary skills, it can add according to the above description
To improve or convert, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (9)
1. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route, it is characterised in that：Including body shell, two-wheeled
Running gear, flight escape device, unmanned investigation device and control device, the two-wheel running device are fixed on the vehicle body sheet
Among body bottom, the flight escape device is fixed on by electromagnetic lock in the flight instruments cabin at the top of the body shell, institute
It states unmanned investigation device to be fixed at the top of the body shell in unmanned investigation device cabin by electromagnetic lock, the unmanned investigation dress
It is set in beside the flight escape device, the control device is located in the headstock of the body shell；
The body shell is equipped with car body, front steering mechanism, rear drive mechanism, fire-fighting water storage box, flight instruments cabin and unmanned plane
Cabin, the front steering mechanism are located at before the vehicle bottom, and the rear drive mechanism is located at behind the vehicle bottom, described
Fire-fighting water storage box is fixed on the car body；
The flight escape device is equipped with flexible escape route cabin, four ducted fans and four driving mechanisms, four culverts
Road fan be arranged at the top of the flexible escape route cabin before, below, the left side and the right side, four driving mechanisms
It is each attached at the top of the flexible escape route cabin, four driving mechanisms are connect with the ducted fan respectively；It is described soft
Property escape route cabin be equipped with channel cabin ontology, inner sliding sleeve, oversheath, support steel disc and multiple tightening steel bushings, the inner sliding sleeve is not
The cloth bag set of elastic tightening, the inner sliding sleeve are the long barrel structure of cloth bag of annular, and forming toroidal cavity in the middle part of the inner sliding sleeve escapes
Raw channel, the oversheath are set on the outside of the inner sliding sleeve, and the support steel disc is located between the inner sliding sleeve and oversheath,
Multiple tightening steel bushing housings are on the outer jacket.
2. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 1, feature exist
In：The flight instruments cabin is fixed on the fire-fighting water storage box, and the unmanned engine room is fixed on the fire-fighting water storage box.
3. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 2, feature exist
In：The two-wheel running device is equipped with self-balancing mechanism, preceding elevating mechanism, rear lifting mechanism, pre-walking mechanism and walk behind machine
Structure, the self-balancing mechanism are fixed in the car body, and the preceding elevating mechanism is fixed on the vehicle bottom, is lifted after described
Mechanism is fixed on the vehicle bottom, and after the rear lifting mechanism is located at the preceding elevating mechanism, the pre-walking mechanism is fixed
In the preceding elevating mechanism bottom, the rear walking mechanism is fixed on the rear lifting mechanism bottom.
4. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 3, feature exist
In：The self-balancing mechanism is equipped with test the speed controller, MEMS gyroscope control box, the first moment gyro instrument and the second moment gyro
Instrument, the MEMS gyroscope control box are electrically connected with the controller that tests the speed, the first moment gyro instrument and the MEMS tops
Spiral shell instrument control box is electrically connected, and the second moment gyro instrument is electrically connected with the MEMS gyroscope control box.
5. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 4, feature exist
In：The driving mechanism is equipped with yoke assembly and Power Component, and the yoke assembly is connected by cantilever and the ducted fan,
The Power Component passes through the fan axis connection of bevel gear and the ducted fan, the Power Component and the yoke assembly
Toe joint.
6. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 5, feature exist
In：The yoke assembly is equipped with multiple big bearing blocks, cantilever, driven gear, driving gear and servo motor, multiple big axis
Bearing is fixed on the ontology of the channel cabin, and described cantilever one end and the outer wall of the ducted fan are fixedly linked, and the other end is solid
Surely it is connected with engine mounting bracket, for the cantilever by the big bearing support of the big bearing block, the cantilever is cylindrical shape, described
Driven gear housing is fixed on the cantilever, the driving gear and the driven gear toe joint, the driving gear housing
It is fixed in the rotary shaft of the servo motor, the servo motor is fixed on the ontology of the channel cabin.
7. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 6, feature exist
In：The Power Component is equipped with engine mounting bracket, engine, transmission shaft and two small bearing brackets, and the engine mounting bracket is solid
It is scheduled on one end of the cantilever, the engine is fixed on by flange in the engine mounting bracket, and the transmission shaft passes through institute
Cantilever is stated, by the output shaft fixed connection of shaft coupling and the engine, two small bearing brackets are located at described outstanding the transmission shaft
The both ends of arm, two small bearing brackets are sleeved on the transmission shaft outside.
8. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 7, feature exist
In：The unmanned investigation device is equipped with drone body, driving motor and rotor, and the driving motor is symmetricly set on the nothing
Man-machine bodies top both sides, the rotor are connect with the driving motor.
9. a kind of unmanned fire fighting truck of remote controlled band flexibility escape route according to claim 8, feature exist
In：The control device is electrically connected with the two-wheel running device, flight escape device and unmanned investigation device, the control
Device be equipped with unmanned module, flight control modules, unmanned investigation device control module, information acquisition module, vehicle-mounted computer,
Setup module, self-checking module, mode setting module, wireless receiving sending module, voice module, power plant module, drive module,
Steering module and brake module；The input terminal of the output end and the vehicle-mounted computer of the information acquisition module and setup module
Connection；The output end of the vehicle-mounted computer and the self-checking module, the unmanned module, the pattern setting module
It is connected with the input terminal of the voice module；The vehicle-mounted computer is also connected with each other with the wireless receiving sending module；Institute
The output end for the unmanned module stated and the power plant module, the drive module, the steering module and the braking mould
The input terminal of block connects；The output end of the mode setting module is connect with the input terminal of the unmanned module；It is described
The output end of power plant module connect with the input terminal of the drive module；The information acquisition module includes camera group
Part, road information collecting unit, GPS positioning unit and radar velocity measurement unit；The CCD camera assembly, road information acquisition are single
The output end of member, GPS positioning unit and radar velocity measurement unit is connect with the input terminal of the vehicle-mounted computer.
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| CN201810399966.5A CN108578942A (en) | 2018-04-28 | 2018-04-28 | Remotely-controllable unmanned fire truck with flexible escape passage |
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| CN201810399966.5A CN108578942A (en) | 2018-04-28 | 2018-04-28 | Remotely-controllable unmanned fire truck with flexible escape passage |
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| CN108785921A (en) * | 2018-05-11 | 2018-11-13 | 深圳市中科创想科技有限责任公司 | A kind of remote controlled unmanned fire fighting truck of ducted fan single track |
| CN109179277A (en) * | 2018-10-22 | 2019-01-11 | 陕西银河消防科技装备股份有限公司 | A kind of vehicle-mounted unmanned aerial vehicle automatic lifting and storage device for fire fighting truck |
| CN109876314A (en) * | 2019-03-21 | 2019-06-14 | 陈乐宇 | A kind of fire-fighting high altitude operation deliverance apparatus |
| CN110354424A (en) * | 2019-07-19 | 2019-10-22 | 江苏科达机械有限公司 | A kind of fire plant |
| CN110665151A (en) * | 2019-10-15 | 2020-01-10 | 安徽安凯汽车股份有限公司 | Deformation fire-fighting electric vehicle of vehicle-mounted manned high-altitude aircraft |
| CN112224115A (en) * | 2020-10-17 | 2021-01-15 | 辽宁立洲科技有限公司 | Military emergency shelter |
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