CN114191739A - Unmanned aerial vehicle storage tank system of putting out a fire - Google Patents
Unmanned aerial vehicle storage tank system of putting out a fire Download PDFInfo
- Publication number
- CN114191739A CN114191739A CN202111536958.9A CN202111536958A CN114191739A CN 114191739 A CN114191739 A CN 114191739A CN 202111536958 A CN202111536958 A CN 202111536958A CN 114191739 A CN114191739 A CN 114191739A
- Authority
- CN
- China
- Prior art keywords
- unit
- storage tank
- aerial vehicle
- unmanned aerial
- fire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003795 chemical substances by application Substances 0.000 claims description 84
- 238000002485 combustion reaction Methods 0.000 claims description 34
- 238000000034 method Methods 0.000 claims description 16
- 238000005507 spraying Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 108010001267 Protein Subunits Proteins 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001629 suppression Effects 0.000 claims 10
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 239000002023 wood Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000006260 foam Substances 0.000 description 3
- 229910002092 carbon dioxide Inorganic materials 0.000 description 2
- 239000001569 carbon dioxide Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Images
Classifications
-
- 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
- A62C3/0235—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 by means of containers, e.g. buckets
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Emergency Management (AREA)
- Pest Control & Pesticides (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an unmanned aerial vehicle fire extinguishing storage tank system, which relates to the field of fire fighting, and comprises a storage tank unit, an image unit, an attitude unit and a control unit, wherein the storage tank unit is arranged on an unmanned aerial vehicle and is used for loading fire extinguishing agents, the storage tank unit comprises a plurality of storage tank units, each storage tank subunit is loaded with one type of fire extinguishing agents, each storage tank subunit is detachably hung on the unmanned aerial vehicle and comprises an opening, the openings of the storage tank subunits face different directions, and the image unit is used for collecting images at a fire point; the attitude unit is used for controlling the flight attitude of the unmanned aerial vehicle. The invention can effectively improve the fire extinguishing efficiency.
Description
Technical Field
The invention relates to the field of fire fighting, in particular to an unmanned aerial vehicle fire extinguishing storage tank system.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle relies on advantages such as its unmanned driving, occupation space are little, can fly in a flexible way, has been used by more and more fields, for example all has embodied indispensable effect in aspects such as taking photo by plane, detection, investigation, rescue, plant protection, and it is thus obvious, no matter be civilian or military field, unmanned aerial vehicle has all occupied extremely important position.
At present, along with the rapid development of socioeconomic, the high-rise building that population density is big is also more and more, and when these high-rise buildings conflagration took place, current high-pressure squirt can't reach the higher floor in position, leads to the fire fighter can't in time put out a fire the rescue, seriously threatens people's life and property safety, and unmanned aerial vehicle relies on its self advantage, and the portability fire extinguishing apparatus flies corresponding place to implement and put out a fire.
When the unmanned aerial vehicle carries out the operation of putting out a fire, generally carry extinguishing agent to fly to the ignition point, spray extinguishing agent to the ignition point department to realize putting out a fire. However, when the unmanned aerial vehicle is used for fire extinguishing, the unmanned aerial vehicle usually carries only one type of fire extinguishing agent, and multiple fire types exist according to different types of combustion materials, so that the unmanned aerial vehicle needs to change according to the fire condition in the process of fire extinguishing operation, a return replacement mode is adopted for the fire types, the unmanned aerial vehicle returns to a supply point for multiple times to replace the fire extinguishing agent corresponding to the fire types, but the mode of returning to the supply point to replace the fire extinguishing agent obviously increases extra time consumption, and therefore the best fire extinguishing time is missed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle fire-extinguishing storage tank system which can effectively improve the fire-extinguishing efficiency.
In order to achieve the above purposes, the invention adopts the technical scheme that the unmanned aerial vehicle comprises:
the storage tank unit is used for loading fire extinguishing agents and comprises a plurality of storage tank units, each storage tank subunit is loaded with one type of fire extinguishing agents and detachably hung on the unmanned aerial vehicle, the storage tank subunits comprise openings, and the openings of the storage tank subunits face different directions;
the image unit is used for acquiring images at the fire point;
the attitude unit is used for controlling the flight attitude of the unmanned aerial vehicle;
the control unit is used for carrying out fire extinguishing control operation, the fire extinguishing control operation includes that the burning object type at the ignition point is obtained based on the image that the image unit gathered, and the discernment then orders about attitude unit work and adjusts unmanned aerial vehicle's flight gesture, opens the opening that corresponds storage tank unit simultaneously, sprays the fire extinguishing agent that corresponds ignition point burning object type to the ignition point department.
On the basis of the technical proposal, the device comprises a shell,
the tank storage units are mounted below the unmanned aerial vehicle in a parallel or stacked mode;
the openings of the tank storage units face the outer side of the unmanned aerial vehicle, and the openings of the tank storage subunits face different directions.
On the basis of the technical proposal, the device comprises a shell,
the number of the types of the fire extinguishing agents loaded in the storage tank unit is less than or equal to the number of the storage tank subunits in the storage tank unit;
a light unit is arranged on the tank storage unit, and the color of light emitted by the light unit corresponds to the type of the fire extinguishing agent;
when the storage tank subunit sprays the fire extinguishing agent, the light unit on the storage tank subunit emits flickering light, and the color of the flickering light corresponds to the type of the fire extinguishing agent sprayed by the storage tank subunit.
On the basis of the technical scheme, the specific process of the control unit for carrying out the fire extinguishing control operation comprises the following steps:
identifying and determining the type of the combustion object at the ignition point based on the image acquired by the image unit;
determining a storage tank subunit to be used according to the corresponding relation between the type of the combustion object and the fire extinguishing agent on the basis of the determined type of the combustion object at the ignition point;
the driving attitude unit is used for adjusting the flying attitude of the unmanned aerial vehicle, and the opening of the tank storage unit to be used faces to the ignition point;
and opening the opening of the to-be-used storage tank sub-unit, and spraying the fire extinguishing agent in the to-be-used storage tank sub-unit to the fire point.
On the basis of the technical proposal, the device comprises a shell,
the unmanned aerial vehicle fire extinguishing storage tank system further comprises a distance measuring unit;
the range unit is used for when waiting to use the opening of storage tank unit to the ignition point department, carries out the measurement of distance between unmanned aerial vehicle and ignition point department to feed back the control unit with the distance of measuring, so that the work of control unit drive gesture unit, the distance between adjustment unmanned aerial vehicle and ignition point department is the distance of predetermineeing.
On the basis of the technical scheme, when the fire extinguishing agent in the storage tank subunit to be used is sprayed to the fire point, the fire extinguishing agent storage tank further comprises:
the control unit drives the attitude unit to work so as to adjust the opening direction of the storage tank subunit currently used, and adjust the spraying direction of the fire extinguishing agent.
On the basis of the technical scheme, the fire extinguishing agent in the storage tank unit to be used is sprayed to a fire point, wherein after the fire extinguishing agent in the storage tank subunit is sprayed, the method further comprises the following steps:
the image of the ignition point is collected in real time through the image unit, and whether the fire is extinguished at the current ignition point is judged:
if so, the unmanned aerial vehicle leaves the current ignition point;
if not, determining the next storage tank subunit to be used based on the type of the combustion object at the ignition point, and simultaneously driving the attitude unit to work by the control unit to rotate the unmanned aerial vehicle, so that the opening of the determined next storage tank subunit to be used faces the ignition point, and the fire extinguishing agent is sprayed.
On the basis of above-mentioned technical scheme, put out a fire when present ignition and finish, unmanned aerial vehicle leaves behind present ignition, still includes:
judging whether other ignition points exist:
if so, the control unit drives the attitude unit to work so as to fly the unmanned aerial vehicle to other ignition points, then based on the image acquired by the image unit, the type of the combustion object at other ignition points is identified and obtained, then the flight attitude of the unmanned aerial vehicle is adjusted, meanwhile, the opening corresponding to the tank storage unit is opened, and the fire extinguishing agent corresponding to the type of the combustion object at the ignition points is sprayed to other ignition points.
If not, the unmanned aerial vehicle navigates back.
On the basis of the technical proposal, the device comprises a shell,
the control unit is also used for transmitting the image acquired by the image unit to the background terminal, and the background terminal identifies the type of the burning object at the ignition point;
the attitude unit is also used for receiving the control of the background terminal so as to adjust the flight attitude of the unmanned aerial vehicle.
On the basis of the technical scheme, when the types of the combustion objects at the fire point are identified and obtained to be various, the openings of the corresponding storage tank subunits are sequentially opened based on the preset fire extinguishing sequence, and the fire extinguishing agent corresponding to the types of the combustion objects at the fire point is sprayed to the fire point.
Compared with the prior art, the invention has the advantages that: divide into a plurality of storage tank subelements through the storage tank unit that will be used for loading fire extinguishing agent, every storage tank subelement loads the fire extinguishing agent of a type, when putting out a fire the operation, the image that obtains based on the image unit gathers, discernment obtains the burning thing type of ignition point department, then order about gesture unit work adjustment unmanned aerial vehicle's flight gesture, open the opening that corresponds storage tank unit simultaneously, the fire extinguishing agent that will correspond ignition point burning thing type sprays to ignition point department, through the fire extinguishing agent of loading the different grade type on unmanned aerial vehicle, thereby select to correspond the fire extinguishing agent to ignition point department burning thing type and spray, unmanned aerial vehicle need not to turn back alright realize putting out a fire to different burning things, effectively promote fire extinguishing efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle fire extinguishing storage tank system in an embodiment of the invention.
Detailed Description
The embodiment of the invention provides an unmanned aerial vehicle fire extinguishing storage tank system, which is characterized in that a storage tank unit used for loading fire extinguishing agents is divided into a plurality of storage tank subunits, each storage tank subunit is loaded with one type of fire extinguishing agent, when fire extinguishing operation is carried out, the type of a combustion object at a fire point is identified and obtained on the basis of an image acquired by an image unit, then a posture unit is driven to work to adjust the flight posture of an unmanned aerial vehicle, an opening corresponding to the storage tank unit is opened simultaneously, the fire extinguishing agents corresponding to the type of the combustion object at the fire point are sprayed to the fire point, the fire extinguishing agents of different types are loaded on the unmanned aerial vehicle, so that the corresponding fire extinguishing agents are selected for spraying according to the type of the combustion object at the fire point, the unmanned aerial vehicle can extinguish fire for different combustion objects without turning back, and the fire extinguishing efficiency is effectively improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Referring to fig. 1, an unmanned aerial vehicle fire extinguishing tank system provided by an embodiment of the invention comprises a tank unit, an image unit, a posture unit, a control unit and a distance measuring unit.
In an embodiment of the invention, the storage tank unit is used for loading fire extinguishing agents, and the storage tank unit comprises a plurality of storage tank units, each storage tank subunit is loaded with one type of fire extinguishing agents, each storage tank subunit is detachably mounted on the unmanned aerial vehicle, the storage tank subunits comprise openings, and the openings of each storage tank subunit face different directions. As the type of fire extinguishing agent, there are included foam extinguishing agents, dry powder extinguishing agents, liquid carbon dioxide extinguishing agents and the like. Each storage tank sub-unit is loaded with one type of fire suppressant, e.g. the storage tank unit comprises 4 storage tank sub-units, and each storage tank sub-unit is loaded with one type of fire suppressant, although it is also possible to have 2 of the storage tank sub-units loaded with the same type of fire suppressant, e.g. a first storage tank sub-unit and a second storage tank sub-unit are loaded with foam suppressant, a third storage tank sub-unit is loaded with dry suppressant, and a fourth storage tank sub-unit is loaded with liquid carbon dioxide suppressant.
In an embodiment of the invention, the storage tank subunits are mounted below the drone in a side-by-side or stacked manner, for example, when the storage tank unit comprises 4 storage tank subunits, 4 storage tank subunits are mounted below the drone in a side-by-side manner, or 4 storage tank subunits are mounted below the drone in an up-and-down stacked manner.
The openings of the tank units all face the outside of the drone, and the openings of each tank subunit face different orientations. For example, when the tank unit comprises 4 tank subunits, the first tank subunit is towards the front of the drone, the second tank subunit is towards the rear of the drone, the third tank subunit is towards the left of the drone and the fourth tank subunit is towards the right of the drone.
In the embodiment of the invention, the number of the types of the fire extinguishing agents loaded in the storage tank unit is less than or equal to the number of the storage tank subunits in the storage tank unit; the tank storage unit is provided with a light unit, and the color of light emitted by the light unit corresponds to the type of the fire extinguishing agent; when the storage tank subunit sprays the fire extinguishing agent, the light unit on the storage tank subunit emits flickering light, and the color of the flickering light corresponds to the type of the fire extinguishing agent sprayed by the storage tank subunit. For example, when the fire extinguishing agent loaded by the storage tank subunit is foam fire extinguishing agent, the light unit on the storage tank subunit emits flickering red light when the fire extinguishing agent is sprayed, and when the fire extinguishing agent loaded by the storage tank subunit is dry powder fire extinguishing agent, the light unit on the storage tank subunit emits flickering blue light when the fire extinguishing agent is sprayed, and ground workers can intuitively know the type of the fire extinguishing agent currently being sprayed through lights of different colors.
In the embodiment of the invention, the image unit is used for collecting the image at the fire point; the attitude unit is used for controlling the flight attitude of the unmanned aerial vehicle; the control unit is used for carrying out the control operation of putting out a fire, the control operation of putting out a fire includes that the discernment obtains the burning thing type of ignition point department based on the image that image unit gathered, then orders about gesture unit work adjustment unmanned aerial vehicle's flight gesture, opens the opening that corresponds storage tank unit simultaneously, sprays the fire extinguishing agent that corresponds ignition point burning thing type to ignition point department.
In the embodiment of the invention, the specific process of the control unit for carrying out the fire extinguishing control operation comprises the following steps:
s101: identifying and determining the type of the combustion object at the ignition point based on the image acquired by the image unit; identifying the acquired image through a neural network model to determine the type of the burning object; of course, the images acquired by the image unit can also be transmitted to the ground, and the type of the comburent at the fire point can be determined by ground staff.
S102: determining a storage tank subunit to be used according to the corresponding relation between the type of the combustion object and the fire extinguishing agent on the basis of the determined type of the combustion object at the ignition point; the correspondence between the type of the combustion product and the fire extinguishing agent may be set in advance.
S103: the driving attitude unit is used for adjusting the flying attitude of the unmanned aerial vehicle, and the opening of the tank storage unit to be used faces to the ignition point;
s104: and opening the opening of the to-be-used storage tank sub-unit, and spraying the fire extinguishing agent in the to-be-used storage tank sub-unit to the fire point.
In the embodiment of the invention, the distance measuring unit is used for measuring the distance between the unmanned aerial vehicle and the ignition point when the opening of the tank storage unit to be used faces the ignition point, and feeding back the measured distance to the control unit, so that the control unit drives the attitude unit to work, and the distance between the unmanned aerial vehicle and the ignition point is adjusted to be a preset distance. Through adjusting the distance between unmanned aerial vehicle and ignition point department to flight safety when guaranteeing that unmanned aerial vehicle puts out a fire.
In the embodiment of the present invention, when the fire extinguishing agent in the storage tank sub-unit to be used is sprayed to the fire point, the method further comprises: the control unit drives the attitude unit to work so as to adjust the opening direction of the storage tank subunit currently used, and adjust the spraying direction of the fire extinguishing agent. The in-process that sprays at fire extinguishing agent promptly, adjust the opening direction of storage tank subunit, carry out the adjustment of spraying the angle for the spraying of fire extinguishing agent is more even.
In the embodiment of the invention, the fire extinguishing agent in the tank unit to be used is sprayed to the fire point, wherein after the fire extinguishing agent in the tank subunit is sprayed, the method further comprises the following steps:
the image of the ignition point is collected in real time through the image unit, and whether the fire is extinguished at the current ignition point is judged:
if so, the unmanned aerial vehicle leaves the current ignition point;
if not, determining the next storage tank subunit to be used based on the type of the combustion object at the ignition point, and simultaneously driving the attitude unit to work by the control unit to rotate the unmanned aerial vehicle, so that the opening of the determined next storage tank subunit to be used faces the ignition point, and the fire extinguishing agent is sprayed.
In the embodiment of the present invention, after the fire extinguishing at the current fire point is completed and the unmanned aerial vehicle leaves the current fire point, the method further includes:
judging whether other ignition points exist:
if so, the control unit drives the attitude unit to work so as to fly the unmanned aerial vehicle to other ignition points, then based on the image acquired by the image unit, the type of the combustion object at other ignition points is identified and obtained, then the flight attitude of the unmanned aerial vehicle is adjusted, meanwhile, the opening corresponding to the tank storage unit is opened, and the fire extinguishing agent corresponding to the type of the combustion object at the ignition points is sprayed to other ignition points. Through the fire extinguishing agent of loading different grade type on unmanned aerial vehicle to selecting to correspond the fire extinguishing agent to ignition point department's burning thing type and spraying, unmanned aerial vehicle need not to turn back alright realize effectively promoting the fire extinguishing efficiency to the putting out a fire of different burning things.
If not, the unmanned aerial vehicle navigates back.
In the embodiment of the invention, the control unit is also used for transmitting the image acquired by the image unit to the background terminal, and the background terminal identifies the type of the burning object at the ignition point. The attitude unit is also used for receiving the control of the background terminal so as to adjust the flight attitude of the unmanned aerial vehicle. Realize the manual control to unmanned aerial vehicle through backstage terminal promptly, control unmanned aerial vehicle's flight to and control storage tank unit open-ended and open, adopt the manual control mode to realize the operation of putting out a fire promptly.
In one possible embodiment, when the type of the combustion object at the fire point is identified to include a plurality of types, the openings of the corresponding storage tank sub-units are sequentially opened based on a preset fire extinguishing sequence, and the fire extinguishing agent corresponding to the type of the combustion object at the fire point is sprayed to the fire point.
For example, the preset fire extinguishing sequence is plastic first and then wood, when the type of the fire point burning object is identified to comprise plastic and wood, the opening of the storage tank subunit loaded with the fire extinguishing agent corresponding to the plastic is opened first to extinguish the fire of the plastic burning object, and then the opening of the storage tank subunit loaded with the fire extinguishing agent corresponding to the wood is opened again to extinguish the fire of the wood burning object.
According to the fire extinguishing storage tank system for the unmanned aerial vehicle, the storage tank unit used for loading the fire extinguishing agent is divided into the plurality of storage tank subunits, each storage tank subunit is loaded with the fire extinguishing agent of one type, when fire extinguishing operation is carried out, the type of the combustion object at the fire point is identified and obtained based on the image acquired by the image unit, then the attitude unit is driven to work to adjust the flight attitude of the unmanned aerial vehicle, the opening corresponding to the storage tank unit is opened simultaneously, the fire extinguishing agent corresponding to the type of the combustion object at the fire point is sprayed to the fire point, the fire extinguishing agents of different types are loaded on the unmanned aerial vehicle, so that the corresponding fire extinguishing agents are selected for the type of the combustion object at the fire point to be sprayed, the unmanned aerial vehicle can extinguish fire for different combustion objects without turning back, and the fire extinguishing efficiency is effectively improved.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an unmanned aerial vehicle storage tank system that puts out a fire which is characterized in that, including setting up on unmanned aerial vehicle:
the storage tank unit is used for loading fire extinguishing agents and comprises a plurality of storage tank units, each storage tank subunit is loaded with one type of fire extinguishing agents and detachably hung on the unmanned aerial vehicle, the storage tank subunits comprise openings, and the openings of the storage tank subunits face different directions;
the image unit is used for acquiring images at the fire point;
the attitude unit is used for controlling the flight attitude of the unmanned aerial vehicle;
the control unit is used for carrying out fire extinguishing control operation, the fire extinguishing control operation includes that the burning object type at the ignition point is obtained based on the image that the image unit gathered, and the discernment then orders about attitude unit work and adjusts unmanned aerial vehicle's flight gesture, opens the opening that corresponds storage tank unit simultaneously, sprays the fire extinguishing agent that corresponds ignition point burning object type to the ignition point department.
2. An unmanned aerial vehicle fire suppression storage tank system as defined in claim 1, wherein:
the tank storage units are mounted below the unmanned aerial vehicle in a parallel or stacked mode;
the openings of the tank storage units face the outer side of the unmanned aerial vehicle, and the openings of the tank storage subunits face different directions.
3. An unmanned aerial vehicle fire suppression storage tank system as defined in claim 2, wherein:
the number of the types of the fire extinguishing agents loaded in the storage tank unit is less than or equal to the number of the storage tank subunits in the storage tank unit;
a light unit is arranged on the tank storage unit, and the color of light emitted by the light unit corresponds to the type of the fire extinguishing agent;
when the storage tank subunit sprays the fire extinguishing agent, the light unit on the storage tank subunit emits flickering light, and the color of the flickering light corresponds to the type of the fire extinguishing agent sprayed by the storage tank subunit.
4. The unmanned aerial vehicle fire suppression storage tank system of claim 2, wherein the control unit performs fire suppression control operations in a specific process comprising:
identifying and determining the type of the combustion object at the ignition point based on the image acquired by the image unit;
determining a storage tank subunit to be used according to the corresponding relation between the type of the combustion object and the fire extinguishing agent on the basis of the determined type of the combustion object at the ignition point;
the driving attitude unit is used for adjusting the flying attitude of the unmanned aerial vehicle, and the opening of the tank storage unit to be used faces to the ignition point;
and opening the opening of the to-be-used storage tank sub-unit, and spraying the fire extinguishing agent in the to-be-used storage tank sub-unit to the fire point.
5. An unmanned aerial vehicle fire suppression storage tank system as defined in claim 4, wherein:
the unmanned aerial vehicle fire extinguishing storage tank system further comprises a distance measuring unit;
the range unit is used for when waiting to use the opening of storage tank unit to the ignition point department, carries out the measurement of distance between unmanned aerial vehicle and ignition point department to feed back the control unit with the distance of measuring, so that the work of control unit drive gesture unit, the distance between adjustment unmanned aerial vehicle and ignition point department is the distance of predetermineeing.
6. The unmanned aerial vehicle fire suppression tank system of claim 4, further comprising, when spraying fire suppressant from the tank sub-unit to be used to the fire point:
the control unit drives the attitude unit to work so as to adjust the opening direction of the storage tank subunit currently used, and adjust the spraying direction of the fire extinguishing agent.
7. The unmanned aerial vehicle fire suppression tank system of claim 4, wherein the tank unit to be used is sprayed with fire suppressant to a fire point, and wherein after the tank sub-unit is sprayed with fire suppressant, the system further comprises:
the image of the ignition point is collected in real time through the image unit, and whether the fire is extinguished at the current ignition point is judged:
if so, the unmanned aerial vehicle leaves the current ignition point;
if not, determining the next storage tank subunit to be used based on the type of the combustion object at the ignition point, and simultaneously driving the attitude unit to work by the control unit to rotate the unmanned aerial vehicle, so that the opening of the determined next storage tank subunit to be used faces the ignition point, and the fire extinguishing agent is sprayed.
8. The fire suppression unmanned aerial vehicle storage tank system of claim 7, further comprising, after the unmanned aerial vehicle leaves the current fire point after the fire is extinguished at the current fire point:
judging whether other ignition points exist:
if so, the control unit drives the attitude unit to work so as to fly the unmanned aerial vehicle to other ignition points, then based on the image acquired by the image unit, the type of the combustion object at other ignition points is identified and obtained, then the flight attitude of the unmanned aerial vehicle is adjusted, meanwhile, the opening corresponding to the tank storage unit is opened, and the fire extinguishing agent corresponding to the type of the combustion object at the ignition points is sprayed to other ignition points.
If not, the unmanned aerial vehicle navigates back.
9. An unmanned aerial vehicle fire suppression storage tank system as defined in claim 1, wherein:
the control unit is also used for transmitting the image acquired by the image unit to the background terminal, and the background terminal identifies the type of the burning object at the ignition point;
the attitude unit is also used for receiving the control of the background terminal so as to adjust the flight attitude of the unmanned aerial vehicle.
10. An unmanned aerial vehicle fire suppression storage tank system as defined in claim 1, wherein: when the types of the combustion objects at the fire point are identified to be various, the openings of the corresponding storage tank subunits are sequentially opened based on the preset fire extinguishing sequence, and the fire extinguishing agent corresponding to the types of the combustion objects at the fire point is sprayed to the fire point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536958.9A CN114191739A (en) | 2021-12-15 | 2021-12-15 | Unmanned aerial vehicle storage tank system of putting out a fire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536958.9A CN114191739A (en) | 2021-12-15 | 2021-12-15 | Unmanned aerial vehicle storage tank system of putting out a fire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114191739A true CN114191739A (en) | 2022-03-18 |
Family
ID=80654262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111536958.9A Pending CN114191739A (en) | 2021-12-15 | 2021-12-15 | Unmanned aerial vehicle storage tank system of putting out a fire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114191739A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207898790U (en) * | 2017-09-30 | 2018-09-25 | 广州大学 | A kind of intelligent fire vehicle and long-range fire control system |
| CN208585405U (en) * | 2018-08-10 | 2019-03-08 | 苏州军宇航空科技有限公司 | A kind of six rotor fire-fighting unmanned planes |
| CN110102002A (en) * | 2019-05-15 | 2019-08-09 | 上海荷福人工智能科技（集团）有限公司 | The early warning of fire-fighting robot based on artificial intelligence and fire extinguishing system and method |
| CN209258403U (en) * | 2018-12-25 | 2019-08-16 | 四川迪威消防设备制造有限公司 | A kind of multifunctional fire-fighting unmanned helicopter |
| CN110263710A (en) * | 2019-06-20 | 2019-09-20 | 湘潭大学 | A kind of extinguishing device based on air-ground cooperation, method and system |
| CN110435890A (en) * | 2019-07-02 | 2019-11-12 | 上海鲲哥无人机科技有限公司 | A kind of fire-fighting fire extinguishing platform based on aircraft |
| CN210228939U (en) * | 2018-12-18 | 2020-04-03 | 广州市华科尔科技股份有限公司 | Fire control unmanned aerial vehicle's fire control unit |
| CN113058185A (en) * | 2021-05-18 | 2021-07-02 | 重庆文理学院 | Intelligent patrol fire-fighting robot and control method |
| CN113599739A (en) * | 2021-08-21 | 2021-11-05 | 深圳飞赛精密钣金技术有限公司 | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof |
-
2021
- 2021-12-15 CN CN202111536958.9A patent/CN114191739A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207898790U (en) * | 2017-09-30 | 2018-09-25 | 广州大学 | A kind of intelligent fire vehicle and long-range fire control system |
| CN208585405U (en) * | 2018-08-10 | 2019-03-08 | 苏州军宇航空科技有限公司 | A kind of six rotor fire-fighting unmanned planes |
| CN210228939U (en) * | 2018-12-18 | 2020-04-03 | 广州市华科尔科技股份有限公司 | Fire control unmanned aerial vehicle's fire control unit |
| CN209258403U (en) * | 2018-12-25 | 2019-08-16 | 四川迪威消防设备制造有限公司 | A kind of multifunctional fire-fighting unmanned helicopter |
| CN110102002A (en) * | 2019-05-15 | 2019-08-09 | 上海荷福人工智能科技（集团）有限公司 | The early warning of fire-fighting robot based on artificial intelligence and fire extinguishing system and method |
| CN110263710A (en) * | 2019-06-20 | 2019-09-20 | 湘潭大学 | A kind of extinguishing device based on air-ground cooperation, method and system |
| CN110435890A (en) * | 2019-07-02 | 2019-11-12 | 上海鲲哥无人机科技有限公司 | A kind of fire-fighting fire extinguishing platform based on aircraft |
| CN113058185A (en) * | 2021-05-18 | 2021-07-02 | 重庆文理学院 | Intelligent patrol fire-fighting robot and control method |
| CN113599739A (en) * | 2021-08-21 | 2021-11-05 | 深圳飞赛精密钣金技术有限公司 | Gravity-center-adjustable multi-rotor fire extinguishing unmanned aerial vehicle and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109248390A (en) | A kind of fire-fighting and rescue integrated system and method based on unmanned aerial vehicle platform | |
| JP6876351B2 (en) | Drone system, drone, process control device, process control method of drone system, and process control program of drone system | |
| KR102155286B1 (en) | A Control System for Forest Fire using Unmanned Aerial Vehicle | |
| JP6763596B1 (en) | Drone system, drone, moving object, compartment member, drone system control method, and drone system control program | |
| CN104436501B (en) | A kind of control extinguishing method, apparatus and system based on fire monitor technology | |
| JP2019016119A (en) | Fire monitoring system | |
| CN113813527A (en) | Accurate fire fighting device and method for marine unmanned fire fighting truck | |
| JPWO2020116493A1 (en) | Mobile | |
| CN111711480A (en) | Forest zone fire prevention and harm control unmanned aerial vehicle unit linked system | |
| CN114191739A (en) | Unmanned aerial vehicle storage tank system of putting out a fire | |
| CN113487929A (en) | VR multi-person cooperation simulated fire extinguishing method | |
| JPWO2020116442A1 (en) | Mobile | |
| CN215298414U (en) | Forest fire extinguishing system | |
| CN107651187A (en) | A kind of fire-fighting unmanned plane that fire is made with fire | |
| CN112618992B (en) | Low-cost suicide networking fire extinguishing method and unmanned aerial vehicle system | |
| CN210667097U (en) | Forest fire prevention monitoring system | |
| JP6944299B2 (en) | Fire extinguishing system | |
| JP6860257B2 (en) | Drone system, drone, mobile, motion decision device, drone system control method, and drone system control program | |
| CN212383124U (en) | Fire control unmanned aerial vehicle control system | |
| CN105035323A (en) | Remote-control flight-type dry powder extinguishing lifesaving device | |
| CN111672049A (en) | Fire-fighting unmanned aerial vehicle control system and fire-fighting method | |
| CA3223805A1 (en) | Device, system and method for remote firefighting | |
| CN214629445U (en) | Bird-repelling unmanned aerial vehicle | |
| CN211969747U (en) | Mooring type fire rescue unmanned aerial vehicle system | |
| CN114870313A (en) | Intelligent fire-fighting comprehensive monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220318 |