CN109248390B - Fire rescue comprehensive system and method based on unmanned aerial vehicle platform - Google Patents
Fire rescue comprehensive system and method based on unmanned aerial vehicle platform Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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Abstract
The invention relates to a fire rescue comprehensive system and a fire rescue comprehensive method based on an unmanned aerial vehicle platform, wherein the unmanned aerial vehicle platform carries different functional modules to realize the reconnaissance of a fire scene, the rescue of trapped personnel and the suppression of fire conditions; the miniature reconnaissance module, the photoelectric pod and the reconnaissance bomb are used for realizing the three-dimensional reconnaissance of the conditions inside and outside the fire scene, so that the accidental injury to trapped people in the fire extinguishing process is avoided; guiding trapped people to evacuate by using a fire-fighting audio component; the rescue bomb is used for delivering escape materials to trapped people from the air in a short distance, so that the trapped people are assisted to escape from a fire scene; the fire extinguishing is implemented in a remote fire extinguishing mode by launching fire extinguishing bombs, so that the interference of fire scene environmental factors on rescue is weakened; close hold fire suppression is performed by using a fire monitor. The invention provides an effective means for complex fires such as high-rise building fires, dangerous chemical substance fires and the like, is an important supplement of the existing fire rescue method, and improves the capability of fire fighting troops for dealing with the complex fires.
Description
Technical Field
The invention relates to the technical field of fire fighting, in particular to a fire fighting and rescue integrated system and method based on an unmanned aerial vehicle platform.
Background
The existing unmanned aerial vehicle for fire fighting is single in function or does not have throwing capability, so that rescue equipment cannot be put into a fire scene, and the rescue effect is poor; or the fire extinguishing bomb does not have the function of rescuing the trapped people, so that the possibility of causing injury to the trapped people by the fire extinguishing bomb exists; or the device does not have the function of calculating the launching trajectory, and has poor launching precision and safety.
The invention mainly aims to provide a fire-fighting and rescue integrated system based on an unmanned aerial vehicle platform, and solves the problems of single function, low fire-fighting and rescue efficiency and poor system safety in the existing fire-fighting and rescue of high-rise and super-high-rise building fire and dangerous chemical fire by using an unmanned aerial vehicle as a platform.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a comprehensive fire rescue system and method based on an unmanned aerial vehicle platform, which solve the problems of single function, low fire rescue efficiency and poor system safety in the existing fire rescue of high-rise and super high-rise building fires and hazardous chemical substance fires by using an unmanned aerial vehicle as a platform.
The purpose of the invention is mainly realized by the following technical scheme:
a fire rescue comprehensive system based on an unmanned aerial vehicle platform comprises the unmanned aerial vehicle platform and a ground control station, wherein the unmanned aerial vehicle platform carries an information acquisition module, a load carrying module and a data transmission control module;
the information acquisition module detects fire scene condition information through various detection means including visible light and infrared light and outputs the fire scene condition information to the data transmission control module;
the data transmission control module establishes a data link with a ground control station and transmits the fire scene condition information to the ground control station; receiving a fire fighting disposal instruction uploaded by a ground control station, and sending the fire fighting disposal instruction to the load carrying module;
the load carrying module carries fire-fighting materials including fire-fighting materials, rescue materials or information acquisition materials according to the requirements of a fire-fighting task, and the fire-fighting materials are projected to a fire scene under the control of the fire-fighting disposal instruction.
Furthermore, the information acquisition module is a photoelectric pod which is mounted on an unmanned aerial vehicle platform and is communicated with the data transmission control module through a cable; the photoelectric pod comprises a visible light camera, an infrared camera, a distance measuring device and a servo mechanism;
the visible light camera is used for shooting visible light image information of a fire scene;
the infrared camera is used for shooting infrared image information of a fire scene;
the distance measuring device is used for measuring the distance of the target in the selected fire scene;
the servo mechanism is used for arranging the visible light camera, the infrared camera and the distance measuring device; under the control of the data transmission control module receiving a control instruction sent by the ground station, the servo mechanism drives the visible light camera, the infrared camera and the distance measuring device to perform pitching and azimuth rotation; the optical axes of the visible light camera and the infrared camera are parallel to the ranging optical axis of the ranging device.
Further, the load carrying module comprises a fire-fighting rescue bomb carrying assembly and a launching assembly;
the fire-fighting rescue bomb carrying assembly is used for carrying fire-fighting rescue bombs, and the fire-fighting rescue bombs comprise fire-fighting bombs, rescue material bombs and reconnaissance bombs;
the launching assembly is used for outputting the ignition current of the fire-fighting rescue bomb and launching the fire-fighting rescue bomb.
Further, the aiming and launching method of the fire-fighting rescue bomb comprises the following steps:
1) aiming the fire scene target through the photoelectric pod, and measuring the distance between the fire scene target and the fire scene target;
2) sending the position and attitude information of the unmanned aerial vehicle platform, the turning azimuth and pitching angle information of the photoelectric pod, the measured distance information between the photoelectric pod and a fire scene target and the environment information to a ground control station;
3) the ground control station calculates aiming data including the hovering height and the attitude angle of the unmanned aerial vehicle according to the information; aiming data is sent to the unmanned aerial vehicle platform through a data link, and the hovering height and the attitude angle of the unmanned aerial vehicle platform are controlled to aim;
4) after the unmanned aerial vehicle platform aims, the ground control station outputs a transmitting instruction to the transmitting assembly, the transmitting assembly is controlled to output ignition current, and fire rescue bombs are transmitted.
Further, the load carrying module further comprises a fire monitor assembly, wherein the fire monitor assembly comprises a fire monitor and a fire-fighting solvent tank or a fire hose matched with the fire monitor;
the fire-fighting solvent box is used for containing water or fire extinguishing agent;
the fire hose is used for being connected with a ground water supply system and providing a water source for the unmanned aerial vehicle platform from the ground;
the fire monitor is used in cooperation with a fire-fighting solvent box and is used for spraying the fire-fighting solvent in the fire-fighting solvent box; or the water spraying device is matched with a fire hose for use, and a water source of a ground water supply system is sprayed out through the fire hose.
Further, the unmanned aerial vehicle platform is also provided with a fire-fighting audio component; the fire-fighting audio component is in broadcast communication connection with the ground control station, and on one hand, a fire-fighting command of a commander sent by the ground control station is broadcast to a fire scene; on the other hand, sound information of the trapped person is picked up; and realizing the two-way language communication between the commander and the trapped personnel.
The system further comprises a micro reconnaissance module, wherein the micro reconnaissance module is a multi-rotor micro unmanned aerial vehicle carrying reconnaissance equipment and is used for reconnaissance of the fire scene at a close distance at the periphery of the fire scene or entering the interior and the vicinity of the fire scene to reconnaissance the fire situation; and sends information including video of the fire to the ground control station.
A fire rescue method based on an unmanned aerial vehicle platform comprises the following steps:
after a fire disaster occurs, the unmanned aerial vehicle platform and the micro reconnaissance module arrive at a fire scene to reconnaissance the fire condition and acquire the overall trend of the fire condition and the situation information of trapped personnel;
through reconnaissance of a fire scene, after trapped people are found, rescue of the people is carried out; a speech communication is established with the trapped person through the fire-fighting audio component to assist the trapped person in escaping and self-rescuing; providing escape self-rescue materials by launching rescue material bombs carried by the unmanned aerial vehicle platform to trapped people;
according to the fire information, the unmanned aerial vehicle platform carries corresponding fire extinguishing materials to extinguish fire; the fire extinguishing materials comprise fire extinguishing bombs, fire extinguishing solvent tanks or fire fighting water hoses.
Further, the fire reconnaissance includes:
after a fire disaster occurs, the unmanned aerial vehicle platform and the micro reconnaissance module reach a fire scene;
the unmanned aerial vehicle platform is used for remotely detecting the fire scene situation and knowing the overall trend of the fire and the situation of trapped personnel; the miniature reconnaissance module reconnaissance the fire in a short distance and finds out the trapped personnel; or flying into the fire scene to reconnaissance the gas concentration and temperature in the fire scene and the condition of trapped personnel;
for the position where the micro reconnaissance module is difficult to fly, the unmanned aerial vehicle platform enters a fire scene by transmitting a carried reconnaissance bomb, measures fire scene environment information by using a sensor carried by the reconnaissance bomb, shoots video information in the fire scene by using a camera, and searches trapped personnel; the wireless communication module on the reconnaissance bomb is sent to the unmanned aerial vehicle platform, and the unmanned aerial vehicle platform forwards the information to the ground control station.
Further, the fire extinguishing method comprises the following steps:
the ground commander selects to carry fire rescue bombs, fire control solvent tanks or fire fighting water hoses on the unmanned aerial vehicle platform according to the detected fire;
the unmanned aerial vehicle platform takes off to reach a safe fire extinguishing distance;
if the carried fire rescue bomb is a fire rescue bomb, aiming a fire source and measuring distance by using the photoelectric pod, and resolving the hovering height and the attitude angle of the unmanned aerial vehicle by using the ground control station; the ground control station controls a launching device of the unmanned aerial vehicle platform to launch fire extinguishing bombs; the fire extinguishing bomb releases the fire extinguishing agent after entering the fire scene; after the fire extinguishing bomb is completely launched, the unmanned aerial vehicle platform returns to the ground to be filled with the fire extinguishing bomb;
if the fire-fighting solvent box is carried, adjusting the fire monitor to align with the fire source, and controlling the fire monitor to spray the fire extinguishing agent by the ground control station to extinguish the fire source; after all the solvents in the fire-fighting solvent box are sprayed out, the unmanned aerial vehicle platform returns to the ground to fill the fire extinguishing agent.
If the carrying be fire hose, then link to each other fire hose and ground water supply system, after the unmanned aerial vehicle platform reachd the appointed height, start the fire gun, water passes through fire hose and carries to the unmanned aerial vehicle platform, sprays away through the fire gun, realizes the continuation suppression to the ignition source.
The invention has the following beneficial effects:
according to the fire rescue comprehensive system and method based on the unmanned aerial vehicle platform, the reconnaissance of a fire scene, the rescue of trapped personnel and the suppression of fire conditions are realized by carrying different functional modules, the system is comprehensive in function, the fire rescue efficiency is high, and the use is safer;
the miniature reconnaissance module, the photoelectric pod and the reconnaissance bomb are used for realizing the three-dimensional reconnaissance of the conditions inside and outside the fire scene, so that the accidental injury to trapped personnel in the fire extinguishing process is avoided, and the use safety of the system is improved;
by using the fire-fighting audio assembly, a channel for voice communication with the trapped people is built to guide the trapped people to evacuate, escape materials are delivered to the trapped people from the air at a short distance by using the rescue bomb to assist the trapped people to escape from a fire scene, the rescue is more direct, and the effect is more obvious;
the fire extinguishing system has the advantages that the fire extinguishing is carried out remotely by launching the fire extinguishing bomb, the interference of fire scene environmental factors on rescue is weakened, the fire extinguishing safety is improved, and the fire extinguishing efficiency is improved by using the fire monitor to carry out close-range continuous fire suppression;
the large-load unmanned aerial vehicle platform is used as a carrying platform of each functional module, so that the flight is more stable, and the anti-interference capability is stronger;
the invention provides an effective means for complex fires such as high-rise building fires, dangerous chemical substance fires and the like, is an important supplement of the existing fire rescue method, and improves the capability of fire fighting troops for dealing with the complex fires.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic composition diagram of a fire rescue integrated system in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The invention discloses a fire rescue integrated system based on an unmanned aerial vehicle platform, which comprises an unmanned aerial vehicle platform and a ground control station as shown in figure 1,
optionally, the drone platform is a multi-rotor drone or an unmanned helicopter. As an air carrying and launching platform, the multifunctional platform has installation interfaces of all functional modules, and different functional modules can be selectively carried according to different tasks each time. The unmanned aerial vehicle platform can carry out control signal, video, speech communication with ground control station.
Specifically, the unmanned aerial vehicle platform carries an information acquisition module, a load carrying module and a data transmission control module;
the information acquisition module detects fire scene condition information through various detection means including visible light and infrared light and outputs the fire scene condition information to the data transmission control module;
the data transmission control module establishes a data link with a ground control station and transmits the fire scene condition information to the ground control station; receiving a fire fighting disposal instruction uploaded by a ground control station, and sending the fire fighting disposal instruction to the load carrying module;
the load carrying module carries fire-fighting materials including fire-fighting materials, rescue materials or information acquisition materials according to the requirements of a fire-fighting task, and the fire-fighting materials are projected to a fire scene under the control of the fire-fighting disposal instruction.
Optionally, the information acquisition module is a photoelectric pod, and the photoelectric pod is mounted on the unmanned aerial vehicle platform and is communicated with the data transmission control module through a cable; the photoelectric pod comprises a visible light camera, an infrared camera, a distance measuring device and a servo mechanism;
the visible light camera is used for shooting visible light image information of a fire scene;
the infrared camera is used for shooting infrared image information of a fire scene;
the distance measuring device is used for measuring the distance of the target in the selected fire scene;
the servo mechanism is used for arranging the visible light camera, the infrared camera and the distance measuring device; under the control of the data transmission control module receiving a control instruction sent by the ground station, the servo mechanism drives the visible light camera, the infrared camera and the distance measuring device to perform pitching and azimuth rotation; the optical axes of the visible light camera and the infrared camera are parallel to the ranging optical axis of the ranging device.
Specifically, the load carrying module is connected with the unmanned aerial vehicle platform through a cable, the unmanned aerial vehicle platform outputs a control signal and ignition current to the load carrying module through the cable, and the load carrying module comprises a fire-fighting rescue bomb carrying assembly and a launching assembly;
the fire-fighting rescue bomb carrying assembly is used for carrying fire-fighting rescue bombs, and the fire-fighting rescue bombs comprise fire-fighting bombs, rescue material bombs and reconnaissance bombs; fire rescue bombs with different functions can be installed on the launching device according to the operation task.
Wherein, the fire extinguishing bomb can realize fire suppression by automatically spraying fire extinguishing agent;
the rescue material bomb carries rescue materials and provides escape articles for trapped people;
the reconnaissance bomb carries a sensor and a camera to collect the internal information of a fire scene, and sends the information to the unmanned aerial vehicle platform through wireless communication, and the unmanned aerial vehicle platform transmits the information to the ground control station.
The launching assembly is used for outputting the ignition current of the fire-fighting rescue bomb and launching the fire-fighting rescue bomb.
The fire rescue bomb carrying assembly is matched with the photoelectric pod and the unmanned aerial vehicle platform to achieve aiming and launching of the fire rescue bomb, and specifically, the fire rescue bomb aiming and launching method comprises the following steps:
1) aiming the fire scene target through the photoelectric pod, and measuring the distance between the fire scene target and the fire scene target;
2) sending the position and attitude information of the unmanned aerial vehicle platform, the turning azimuth and pitching angle information of the photoelectric pod, the measured distance information between the photoelectric pod and a fire scene target and the environment information to a ground control station;
3) the ground control station calculates aiming data including the hovering height and the attitude angle of the unmanned aerial vehicle according to the information; aiming data is sent to the unmanned aerial vehicle platform through a data link, and the hovering height and the attitude angle of the unmanned aerial vehicle platform are controlled to aim;
4) after the unmanned aerial vehicle platform aims, the ground control station outputs a transmitting instruction to the transmitting assembly, the transmitting assembly is controlled to output ignition current, and fire rescue bombs are transmitted.
Optionally, the load carrying module further comprises a fire monitor assembly, the fire monitor assembly is mounted on the unmanned aerial vehicle platform and connected with the unmanned aerial vehicle platform through a cable, and the unmanned aerial vehicle platform outputs a control signal to the fire monitor assembly through the cable;
specifically, the fire monitor assembly comprises a fire monitor and a fire-fighting solvent tank or a fire hose which is matched with the fire monitor, and one of the fire monitor and the fire hose is selected according to task requirements;
the fire-fighting solvent box is used for containing water or fire extinguishing agent;
the fire hose is used for being connected with a ground water supply system and providing a water source for the unmanned aerial vehicle platform from the ground;
the fire monitor is used in cooperation with a fire-fighting solvent box and is used for spraying the fire-fighting solvent in the fire-fighting solvent box; or the water spraying device is matched with a fire hose for use, and a water source of a ground water supply system is sprayed out through the fire hose.
Further, the unmanned aerial vehicle platform is also provided with a fire-fighting audio component; the fire-fighting audio component is installed on the unmanned aerial vehicle platform and establishes broadcast communication connection with the ground control station through wireless communication to transmit voice signals; on one hand, a fire control command of a commander sent by a ground control station is broadcasted to a fire scene; on the other hand, sound information of the trapped person is picked up; and realizing the two-way language communication between the commander and the trapped personnel.
Furthermore, the unmanned aerial vehicle platform is also provided with a safety deceleration module, and the safety deceleration module is fixedly installed on the unmanned aerial vehicle platform; when the unmanned aerial vehicle platform is out of control because of unexpected factor, safe speed reduction module is opened at the unmanned aerial vehicle platform in-process automation that falls, and the unmanned aerial vehicle of avoiding falling causes secondary damage to ground.
The fire rescue integrated system of the embodiment further comprises a micro reconnaissance module, wherein the micro reconnaissance module is a multi-rotor micro unmanned aerial vehicle carrying reconnaissance equipment and is used for reconnaissance of the fire scene condition at a close distance at the periphery of the fire scene or entering the interior of the fire scene or nearby the fire scene to reconnaissance the fire condition; and sending information including the video of the fire scene to a ground control station for fire extinguishing and rescue decisions.
The ground control station controls the unmanned platform and the miniature reconnaissance module to fly, displays a video signal detected by the photoelectric pod, calculates shooting height through an unmanned aerial vehicle attitude signal fed back by the unmanned aerial vehicle platform and a ranging value of the ranging module, sends an ignition signal and a control signal to the unmanned aerial vehicle platform, and controls the fire-fighting rescue bomb to launch and the fire monitor module to spray fire extinguishing agent; meanwhile, an interface which is in contact with a local fire-fighting command center is reserved in the ground control station, and information detected by the unmanned aerial vehicle platform is fed back to the command center for comprehensive scheduling and decision making of the command center.
The embodiment also discloses a fire rescue method based on the unmanned aerial vehicle platform, which comprises the following steps:
s1, after a fire disaster occurs, enabling the unmanned aerial vehicle platform and the micro reconnaissance module to arrive at a fire scene, reconnaissance the fire condition, and acquiring the overall trend of the fire condition and the situation information of trapped people;
step S2, through reconnaissance of the fire scene, after finding the trapped person, carrying out rescue; a speech communication is established with the trapped person through the fire-fighting audio component to assist the trapped person in escaping and self-rescuing; providing escape self-rescue materials by launching rescue material bombs carried by the unmanned aerial vehicle platform to trapped people;
s3, carrying corresponding fire extinguishing materials on the unmanned aerial vehicle platform according to the fire information to extinguish the fire; the fire extinguishing materials comprise fire extinguishing bombs, fire extinguishing solvent tanks or fire fighting water hoses.
Specifically, the fire detection in step S1 includes:
after a fire disaster occurs, the unmanned aerial vehicle platform and the micro reconnaissance module reach a fire scene;
the unmanned aerial vehicle platform is used for remotely detecting the fire scene situation and knowing the overall trend of the fire and the situation of trapped personnel; the miniature reconnaissance module reconnaissance the fire in a short distance and finds out the trapped personnel; or flying into the fire scene to reconnaissance the gas concentration and temperature in the fire scene and the condition of trapped personnel;
for the position where the micro reconnaissance module is difficult to fly, the unmanned aerial vehicle platform enters a fire scene by transmitting a carried reconnaissance bomb, measures fire scene environment information by using a sensor carried by the reconnaissance bomb, shoots video information in the fire scene by using a camera, and searches trapped personnel; the wireless communication module on the reconnaissance bomb is sent to the unmanned aerial vehicle platform, and the unmanned aerial vehicle platform forwards the information to the ground control station.
Specifically, the rescue of the person in step S2 includes:
through the reconnaissance to the scene of a fire, discover behind the stranded personnel, call out to the scene of a fire through the communication subassembly, provide condition of a fire, the skill of fleing and the route of fleing for one's life for the stranded personnel.
When the fire is too big or stranded personnel's escape route is blocked, the unmanned aerial vehicle platform provides the goods and materials of fleing for one's life to stranded personnel through launching rescue bullet, and stranded personnel utilize the goods and materials of fleing for one's life to save oneself.
The ground commander communicates with the trapped personnel through the communication assembly to guide the trapped personnel to avoid fire sources and toxic gases and reach safe positions. The information of the trapped personnel is transmitted to a local fire-fighting command center through a ground control station, and the fire-fighting command center makes a rescue plan of the trapped personnel in the next step and carries out rescue.
Specifically, the fire extinguishing method in step S3 includes:
the ground commander selects to carry fire rescue bombs, fire control solvent tanks or fire fighting water hoses on the unmanned aerial vehicle platform according to the detected fire;
the unmanned aerial vehicle platform takes off to reach a safe fire extinguishing distance;
if the carried fire rescue bomb is a fire rescue bomb, aiming a fire source and measuring distance by using the photoelectric pod, and resolving the hovering height and the attitude angle of the unmanned aerial vehicle by using the ground control station; the ground control station controls a launching device of the unmanned aerial vehicle platform to launch fire extinguishing bombs; the fire extinguishing bomb releases the fire extinguishing agent after entering the fire scene; after the fire extinguishing bomb is completely launched, the unmanned aerial vehicle platform returns to the ground to be filled with the fire extinguishing bomb;
if the fire-fighting solvent box is carried, adjusting the fire monitor to align with the fire source, and controlling the fire monitor to spray the fire extinguishing agent by the ground control station to extinguish the fire source; after all the solvents in the fire-fighting solvent box are sprayed out, the unmanned aerial vehicle platform returns to the ground to fill the fire extinguishing agent.
If the carrying be fire hose, then link to each other fire hose and ground water supply system, after the unmanned aerial vehicle platform reachd the appointed height, start the fire gun, water passes through fire hose and carries to the unmanned aerial vehicle platform, sprays away through the fire gun, realizes the continuation suppression to the ignition source.
The invention has the following beneficial effects:
according to the fire rescue comprehensive system and method based on the unmanned aerial vehicle platform, the reconnaissance of a fire scene, the rescue of trapped personnel and the suppression of fire conditions are realized by carrying different functional modules, the system is comprehensive in function, the fire rescue efficiency is high, and the use is safer;
the miniature reconnaissance module, the photoelectric pod and the reconnaissance bomb are used for realizing the three-dimensional reconnaissance of the conditions inside and outside the fire scene, so that the accidental injury to trapped personnel in the fire extinguishing process is avoided, and the use safety of the system is improved;
by using the fire-fighting audio assembly, a channel for voice communication with the trapped people is built to guide the trapped people to evacuate, escape materials are delivered to the trapped people from the air at a short distance by using the rescue bomb to assist the trapped people to escape from a fire scene, the rescue is more direct, and the effect is more obvious;
the fire extinguishing system has the advantages that the fire extinguishing is carried out remotely by launching the fire extinguishing bomb, the interference of fire scene environmental factors on rescue is weakened, the fire extinguishing safety is improved, and the fire extinguishing efficiency is improved by using the fire monitor to carry out close-range continuous fire suppression;
the large-load unmanned aerial vehicle platform is used as a carrying platform of each functional module, so that the flight is more stable, and the anti-interference capability is stronger;
the invention provides an effective means for complex fires such as high-rise building fires, dangerous chemical substance fires and the like, is an important supplement of the existing fire rescue method, and improves the capability of fire fighting troops for dealing with the complex fires.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (7)
1. A fire rescue comprehensive system based on an unmanned aerial vehicle platform comprises the unmanned aerial vehicle platform and a ground control station, and is characterized in that the unmanned aerial vehicle platform carries an information acquisition module, a load carrying module and a data transmission control module;
the information acquisition module detects fire scene condition information through various detection means including visible light and infrared light and outputs the fire scene condition information to the data transmission control module;
the data transmission control module establishes a data link with a ground control station and transmits the fire scene condition information to the ground control station; receiving a fire fighting disposal instruction uploaded by a ground control station, and sending the fire fighting disposal instruction to the load carrying module;
the load carrying module carries fire-fighting materials including fire-fighting materials, rescue materials or information acquisition materials according to the requirement of a fire-fighting task, and the fire-fighting materials are projected to a fire scene under the control of the fire-fighting disposal instruction;
the load carrying module comprises a fire rescue bomb carrying assembly and a launching assembly;
the fire-fighting rescue bomb carrying assembly is used for carrying fire-fighting rescue bombs, and the fire-fighting rescue bombs comprise fire-fighting bombs, rescue material bombs and reconnaissance bombs; selecting fire-fighting rescue bombs with different functions to be installed on the launching assembly according to the operation tasks;
the fire extinguishing bomb realizes fire suppression through automatic spraying of a fire extinguishing agent;
the rescue material bomb carries rescue materials and provides escape articles for trapped people;
the reconnaissance bomb carries a sensor and a camera to collect information in a fire scene and sends the information to the unmanned aerial vehicle platform through wireless communication, and the unmanned aerial vehicle platform transmits the information to the ground control station;
the launching assembly is used for outputting the ignition current of the fire-fighting rescue bomb and launching the fire-fighting rescue bomb.
2. A fire rescue integrated system as claimed in claim 1, wherein the information acquisition module is a photoelectric pod mounted on the unmanned aerial vehicle platform and communicating with the data transmission control module through a cable; the photoelectric pod comprises a visible light camera, an infrared camera, a distance measuring device and a servo mechanism;
the visible light camera is used for shooting visible light image information of a fire scene;
the infrared camera is used for shooting infrared image information of a fire scene;
the distance measuring device is used for measuring the distance of the target in the selected fire scene;
the servo mechanism is used for arranging the visible light camera, the infrared camera and the distance measuring device; under the control of the data transmission control module receiving a control instruction sent by the ground station, the servo mechanism drives the visible light camera, the infrared camera and the distance measuring device to perform pitching and azimuth rotation; the optical axes of the visible light camera and the infrared camera are parallel to the ranging optical axis of the ranging device.
3. A fire rescue integrated system as defined in claim 1, wherein the method of targeted launching of fire rescue projectiles comprises:
1) aiming the fire scene target through the photoelectric pod, and measuring the distance between the fire scene target and the fire scene target;
2) sending the position and attitude information of the unmanned aerial vehicle platform, the turning azimuth and pitching angle information of the photoelectric pod, the measured distance information between the photoelectric pod and a fire scene target and the environment information to a ground control station;
3) the ground control station calculates aiming data including the hovering height and the attitude angle of the unmanned aerial vehicle according to the information; aiming data is sent to the unmanned aerial vehicle platform through a data link, and the hovering height and the attitude angle of the unmanned aerial vehicle platform are controlled to aim;
4) after the unmanned aerial vehicle platform aims, the ground control station outputs a transmitting instruction to the transmitting assembly, the transmitting assembly is controlled to output ignition current, and fire rescue bombs are transmitted.
4. A fire rescue integrated system as claimed in claim 1, wherein the load carrying module further comprises a fire monitor assembly including a fire monitor and a fire fighting solvent tank or a fire hose for use with the fire monitor;
the fire-fighting solvent box is used for containing water or fire extinguishing agent;
the fire hose is used for being connected with a ground water supply system and providing a water source for the unmanned aerial vehicle platform from the ground;
the fire monitor is used in cooperation with a fire-fighting solvent box and is used for spraying the fire-fighting solvent in the fire-fighting solvent box; or the water spraying device is matched with a fire hose for use, and a water source of a ground water supply system is sprayed out through the fire hose.
5. A fire rescue integrated system as claimed in claim 1, wherein the unmanned aerial vehicle platform also carries a fire audio component; the fire-fighting audio component is in broadcast communication connection with the ground control station, and on one hand, a fire-fighting command of a commander sent by the ground control station is broadcast to a fire scene; on the other hand, sound information of the trapped person is picked up; and realizing the two-way language communication between the commander and the trapped personnel.
6. A fire rescue integrated system as claimed in any one of claims 1 to 5, further comprising a micro reconnaissance module, the micro reconnaissance module being a multi-rotor micro drone carrying reconnaissance equipment for reconnaissance of fire conditions at close distances around the fire scene, or entering into and near the fire scene for reconnaissance of fire conditions; and sends information including video of the fire to the ground control station.
7. A fire rescue method based on an unmanned aerial vehicle platform is characterized by comprising the following steps:
after a fire disaster occurs, the unmanned aerial vehicle platform and the micro reconnaissance module arrive at a fire scene to reconnaissance the fire condition and acquire the overall trend of the fire condition and the situation information of trapped personnel;
through reconnaissance of a fire scene, after trapped people are found, rescue of the people is carried out; a speech communication is established with the trapped person through the fire-fighting audio component to assist the trapped person in escaping and self-rescuing; providing escape self-rescue materials by launching rescue material bombs carried by the unmanned aerial vehicle platform to trapped people;
according to the fire information, the unmanned aerial vehicle platform carries corresponding fire extinguishing materials to extinguish fire; the fire extinguishing materials comprise fire extinguishing bombs, fire extinguishing solvent tanks or fire fighting water hoses;
the fire detection comprises:
after a fire disaster occurs, the unmanned aerial vehicle platform and the micro reconnaissance module reach a fire scene;
the unmanned aerial vehicle platform is used for remotely detecting the fire scene situation and knowing the overall trend of the fire and the situation of trapped personnel; the miniature reconnaissance module reconnaissance the fire in a short distance and finds out the trapped personnel; or flying into the fire scene to reconnaissance the gas concentration and temperature in the fire scene and the condition of trapped personnel;
for the position where the micro reconnaissance module is difficult to fly, the unmanned aerial vehicle platform enters a fire scene by transmitting a carried reconnaissance bomb, measures fire scene environment information by using a sensor carried by the reconnaissance bomb, shoots video information in the fire scene by using a camera, and searches trapped personnel; the information is sent to the unmanned aerial vehicle platform through the wireless communication module on the reconnaissance bomb, and the unmanned aerial vehicle platform forwards the information to the ground control station;
the fire rescue method comprises the following steps:
the ground commander selects to carry fire rescue bombs, fire control solvent tanks or fire fighting water hoses on the unmanned aerial vehicle platform according to the detected fire;
the unmanned aerial vehicle platform takes off to reach a safe fire extinguishing distance;
if the carried fire rescue bomb is a fire rescue bomb, aiming a fire source and measuring distance by using the photoelectric pod, and resolving the hovering height and the attitude angle of the unmanned aerial vehicle by using the ground control station; the ground control station controls a launching device of the unmanned aerial vehicle platform to launch fire extinguishing bombs; the fire extinguishing bomb releases the fire extinguishing agent after entering the fire scene; after the fire extinguishing bomb is completely launched, the unmanned aerial vehicle platform returns to the ground to be filled with the fire extinguishing bomb;
if the fire-fighting solvent box is carried, adjusting the fire monitor to align with the fire source, and controlling the fire monitor to spray the fire extinguishing agent by the ground control station to extinguish the fire source; when all the solvent in the fire-fighting solvent box is sprayed out, the unmanned aerial vehicle platform returns to the ground to fill the fire extinguishing agent;
if the carrying be fire hose, then link to each other fire hose and ground water supply system, after the unmanned aerial vehicle platform reachd the appointed height, start the fire gun, water passes through fire hose and carries to the unmanned aerial vehicle platform, sprays away through the fire gun, realizes the continuation suppression to the ignition source.
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