CN208530871U - A kind of captive fire-fighting Air Surveillance Platform - Google Patents
A kind of captive fire-fighting Air Surveillance Platform Download PDFInfo
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- CN208530871U CN208530871U CN201820806210.3U CN201820806210U CN208530871U CN 208530871 U CN208530871 U CN 208530871U CN 201820806210 U CN201820806210 U CN 201820806210U CN 208530871 U CN208530871 U CN 208530871U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The utility model relates to a kind of captive fire-fighting Air Surveillance Platform, including floated unmanned plane fire inspection platform, it is tethered at cable, hawser automatic winding-unwinding system, high voltage power supply feed system and ground control center.Reconnaissance platforms control system and Multifunction Sensor obstacle avoidance system, unmanned plane laser positioning landing system, temperature sensor and load carry platform are installed, there are many fire-fighting mission payloads for installation on the load carry platform on the floated unmanned plane fire inspection platform.High voltage power supply feed system includes ground power supply system and airborne power supply system.It is tethered at cable to be connected between the airborne power supply system and hawser automatic winding-unwinding system, the ground control center is connected by optical cable with hawser automatic winding-unwinding system.The utility model can be realized non-stop run in 24 hours, and work capacity is greatly improved.Since the operation simultaneously of 5 kinds or more fire-fighting mission payloads can be carried, a variety of fire-fighting work tasks are completed at the same time, function obtains very big expansion.
Description
Technical field
The utility model relates to a kind of captive fire-fighting Air Surveillance Platforms, belong to fire-fighting equipment technical field.
Background technique
In the prior art, unmanned air vehicle technique is widely used in various fields, monitors tool using the low-to-medium altitude of unmanned plane
Have it is motor-driven quickly, the technical characterstics such as use cost is low, attended operation is simple, there is over the ground quickly real-time cruising monitoring capability, be
A kind of novel imaging of low-to-medium altitude real-time television and infrared imaging fast acquiring system.Have many fire departments at home to use
Unmanned plane successfully carried out scene of a fire investigation monitoring, relief goods of jettisoninging etc. are attempted, fire monitoring and in terms of tool
There is its unique advantage, effect is clearly.
Currently, can be only done Image Acquisition mostly using unmanned plane as floated reconnaissance platforms in fire-fighting monitoring field
Equal single homeworks.The necessary manual control of existing floated reconnaissance platforms, completes the movement such as landing and aerial avoidance.In addition, due to
It is powered by the airborne power supply system of itself, the working time of existing floated reconnaissance platforms is restricted, mostly 1
In hour.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of captive fire-fighting Air Surveillance Platform, Neng Goutong
Ground Mooring cable power supply is crossed, realize the stagnant empty work of overlength endurance and is able to achieve automatic obstacle-avoiding.
To solve the above-mentioned problems, the technical solution adopted in the utility model is as follows:
A kind of captive fire-fighting Air Surveillance Platform, comprising: floated unmanned plane fire inspection platform is tethered at cable, cable
Rope automatic winding-unwinding system, high voltage power supply feed system and ground control center,
Reconnaissance platforms control system is installed on the floated unmanned plane fire inspection platform and Multifunction Sensor is kept away
Barrier system, unmanned plane laser positioning landing system, the first temperature sensor and several load carry platforms, the load carry
Platform for installing fire-fighting mission payload, the reconnaissance platforms control system respectively with Multifunction Sensor obstacle avoidance system, a variety of
Fire-fighting mission payload, unmanned plane laser positioning landing system and the first temperature sensor are connected,
The high voltage power supply feed system includes ground power supply system and airborne power supply system,
The hawser automatic deploying and retracting for being tethered at cable and being connected to the airborne power supply system and being powered by ground power supply system
Between system,
The ground control center is connected by optical cable with hawser automatic winding-unwinding system, floated for observing and collecting
Unmanned plane fire inspection working platform state, task execution information and aerial platform is operated.
Autonomous suspension and flight for a long time may be implemented as main body in floated unmanned plane fire inspection platform, and is equipped with
There are Multifunction Sensor obstacle avoidance system and unmanned plane laser positioning landing system, realizes highly reliable reconnaissance platforms, high-precision, safety
Steady operation.Unmanned plane laser positioning landing system, can be in short-term applied to the reconnaissance platforms control system under no GPS signal
The interior three-dimensional data and information for obtaining object and environment space point, to realize that floated unmanned plane fire inspection platform is accurate
Landing to Centimeter Level controls.A variety of fire-fighting mission payloads can be realized captive fire-fighting Air Surveillance Platform the same time,
Same place meets the fire-fighting application in actual combat demand of different function.Being tethered at cable can realize ground power supply system to reconnaissance platforms control
The power supply of system processed and fire-fighting mission payload；By being tethered at cable and optical cable, ground control center and reconnaissance platforms can be completed
Encryption optical signal transmission between control system；Hawser automatic winding-unwinding system is used to complete to be tethered at the automatic deploying and retracting of cable, effectively
The problems such as solving cable accumulation in ground when cable laying is required manual intervention, drawn over to one's side.
Further, in order to obtain surrounding enviroment information, precision ranging is realized, the Multifunction Sensor obstacle avoidance system includes
Ultrasonic sensor, infrared sensor, laser sensor and visual perception device.
The basic principle of ultrasonic sensor is to measure the flight time of ultrasonic wave, is measured by formula d=vt/2 related
Distance (wherein, d indicates measurement distance, and v indicates that ultrasonic propagation velocity, t indicate the flight time of ultrasonic wave) infrared sensor
Using the principle of range of triangle.The measurement distance of laser sensor can achieve tens meters of even rice up to a hundred, and angular resolution is high,
It can generally achieve the zero point several years, the precision of ranging is also high.Visual perception device uses the avoidance mode of binocular vision, using triangle
Telemetry ranging, the same point P that two cameras therein are seen have different location of pixels when imaging, this
When by range of triangle can measure this point distance.
Further, the cable that is tethered at is followed successively by optical fiber layer, the first insulating layer, the first cable floor, second absolutely from inside to outside
Edge layer, the second cable floor, third insulating layer, the light emitting layer being made of electro luminescence line and Kevlar tensile layer, it is described electroluminescent
Isolychn is connected with emission driver, and electro luminescence line connects a miniature indicator light at a fixed height H.
The encryption optical signal transmission between ground control center and reconnaissance platforms control system is completed by optical fiber layer；By electricity
The light emitting layer and miniature indicator light that electroluminescent wire is constituted, remember electro luminescence line by miniature indicating light sign in certain altitude
Length of cable shows the elevation information and work safety prompt information of floated unmanned plane fire inspection platform at night.
Further, in order to realize the stability contorting to floated unmanned plane fire inspection platform, the reconnaissance platforms control
System includes main control unit, multiple control units and acquisition unit, and the main control unit connects with each control unit respectively respectively
It connecing, each control unit is respectively connected with corresponding acquisition unit,
The acquisition unit acquires the flying quality of floated unmanned plane fire inspection platform in real time, and flying quality is passed
It is defeated by control unit；
Described control unit is used to receive and handle the flying quality of acquisition unit transmission, is analyzed according to data and generates control
Signal is simultaneously transferred to main control unit；Wherein, control signal is used to control the state of flight of floated unmanned plane fire inspection platform；
The main control unit judges multiple control signal for receiving the control signal that multiple control units are sent respectively
It is whether consistent, floated reconnaissance platforms are controlled according to judging result.
Further, the high voltage power supply feed system includes the ground power supply system by being tethered at cable connection and airborne power supply
System,
The ground power supply system includes diesel oil/gasoline engine generator, ground AC-DC variable-voltage power supply and hawser automatic deploying and retracting
System, the diesel oil/gasoline engine generator are connected with ground AC-DC variable-voltage power supply, the ground AC-DC variable-voltage power supply and hawser
Automatic winding-unwinding system connection；
Airborne power supply system includes power supply junction box, several airborne power supply voltage changing module DC/DC, unmanned plane reconnaissance platforms electricity
Machine, several secondary power supply voltage changing modules, the power supply junction box are separately connected with each airborne power supply voltage changing module DC/DC, machine
Power supply voltage changing module DC/DC is carried to be correspondingly connected with unmanned plane reconnaissance platforms motor,
The airborne power supply voltage changing module DC/DC is also separately connected with several secondary power supply voltage changing modules, the secondary electricity
Source voltage changing module respectively connects a fire-fighting mission payload.
Above-mentioned high voltage power supply feed system can be realized ground power supply system to the continued power of aerial platform, can be realized
The non-stop run in 24 hours in the sky of floated fire inspection platform.The power supply junction box of airborne power pack can as needed by
High direct voltage power supply is divided into several roads and powers to each unmanned plane reconnaissance platforms motor, generates the power of floated reconnaissance platforms.In addition,
Because floated fire inspection platform needs the low-voltage electrical apparatus powered to have very much, such as a variety of fire-fighting mission payloads, so if must
It wants, low-voltage DC can be converted to by secondary power supply voltage changing module and need to obtain specific voltage.
Further, floated unmanned plane fire inspection platform is fallen because of high voltage power supply feed system accident power-off in order to prevent
It falls, is connected with Smart Power Module on the early airborne power supply voltage changing module DC/DC, realizes to floated unmanned plane fire inspection
The anti-power failure falling guard function of platform.The Smart Power Module includes dsp chip circuit, CAN bus circuit, optical fiber conversion
Circuit, several voltage collection circuits and the battery pack being connect with voltage collection circuit, SD card storage circuit, protection circuit and power supply
Circuit,
The dsp chip circuit is connect with CAN bus circuit, and the CAN bus circuit connects optical fiber changeover circuit, each
Voltage collection circuit respectively with dsp chip circuit connection, the SD card storage circuit, protection circuit and power circuit respectively and
Dsp chip circuit connection, the power circuit is used for and airborne power supply voltage changing module DC/DC docking.
Its principle are as follows: when floated unmanned plane fire inspection platform motor etc. can work normally, the high pressure of output is handed over
Low-voltage DC of the galvanic electricity after conversion, can carry out the Smart Power Module on floated unmanned plane fire inspection platform
Charging maintains the voltage of Smart Power Module in the safe range of system setting, when Smart Power Module detects power supply
When voltage is less than safety value, system can determine to be gone wrong by the route of generator powered, to start power outage security protection journey
Sequence is powered by Smart Power Module to the low-voltage electrical apparatus on floated unmanned plane reconnaissance platforms, in the voltage of Smart Power Module
In the preset time that can be supported, floated unmanned plane fire inspection platform can return to safely ground.
Further, the hawser automatic winding-unwinding system includes folding and unfolding cable unit, row cable unit, electric control unit, detection
Unit and temperature control unit,
The folding and unfolding cable unit, row's cable unit, detection unit and temperature control unit respectively with electric control unit phase
Connection, row's cable unit are connected with detection unit,
The folding and unfolding cable unit includes conveyer belt and spool, and the conveyer belt is connected to the shaft and following drives of spool
Between dynamic motor,
Row's cable unit includes driving motor and guide roller,
The detection unit includes tension sensor and limit sensors, and the detection unit is mounted on guide roller, is used
In the monitoring pulling force for being tethered at cable and the position that are wound on guide roller,
The temperature control unit includes built-in second temperature sensor and fan, the second temperature sensor installation
Near spool, the temperature of spool and tether cable is obtained in real time.
Further, the load carry platform is fixed in the suspension platform of floated unmanned plane fire inspection mesa base
On.
Further, the quantity of the load carry platform is 3 or 4, is symmetrically mounted on suspension platform.
Further, a variety of fire-fighting mission payloads include the more light photoelectric nacelles of the round-the-clock monitoring of fire spread situation, it is more
Frequency range fire communication trunking, gas diffusion trend-monitoring equipment, high-altitude lighting apparatus, high-altitude are propagandaed directed to communicate equipment, geographical three-dimensional
Imaging device and fire fighter's geographic positioning system.
The working principle of the utility model is appointed when needing the captive fire-fighting Air Surveillance Platform of the utility model to execute
When business, the fire-fighting mission payload that carry needs first on load carry platform, operator makes in ground control center operations
Floated reconnaissance platforms realize that a key takes off, or so that it is reached corresponding task point by intelligent operation, and fire-fighting task carries
Collected information can be fed back to ground control center by lotus, and surface personnel carries out event according to the information passed back in real time
Emergency processing or arrangement action strategy.Ground power supply system realizes that 24 hours of system are uninterrupted by uninterrupted power supply simultaneously
Work.When needing to land, surface personnel can select corresponding operation at ground control center, in descent,
Hawser automatic winding-unwinding system can need to adjust cable automatically according to operation.In hawser automatic winding-unwinding system, the detection unit
Comprising tension sensor and limit sensors, for monitoring the lower end tension for being tethered at cable, folding and unfolding length and folding and unfolding speed；Work as drawing
Folding and unfolding cable unit enters automatic take-up mode when power is less than take-up setting value, carries out automatic take-up；When pulling force is set greater than cable laying
Folding and unfolding cable unit enters automatic cable laying mode when value, carries out slow payout operation at this time；In the common work of guide roller and spool
It under, completes to be tethered at the automatic deploying and retracting function of cable, there are extras when making takeoff and landing, while avoiding cable from being entangled with and twining
Around further increasing system reliability；Folding and unfolding cable unit provides retractable and is tethered at tensile force and brake force required for cable, foot
The enough folding and unfolding speed held cable length, adapt to platform；Row's cable unit guarantee is tethered at that cable is in good order to be arranged in spool；
Arranging cable unit includes driving motor, can automatic reverse, row's cable unit and spool synchronizing moving, cable collection tube every revolution, row
The mobile root system of the guide roller of cable unit stays the distance of cable diameter, and the adaptive folding and unfolding cable of guide roller energy is in the process because arranging cable unit
Cable oscillating is tethered at caused by synchronizing moving；The electric control unit provides corresponding electrical and data-interface, is convenient for user
Operation and monitoring system；The temperature control unit obtains the temperature of spool and tether cable, when this by built-in in real time
When temperature is more than certain limit value, it is tethered at cable cooling on cable collection tube, makes to be tethered at cable and is maintained at reasonable work temperature
It spends in range.
Compared with prior art, the utility model has the beneficial effects that:
1, the utility model can be realized continual 24 hours and work, and work capacity is greatly improved.
2, the utility model can carry 5 kinds or more of fire-fighting mission payload operation simultaneously, be completed at the same time a variety of fire-fighting works
Task, function obtain very big expansion, and suitable for the rescue site of large scale disasters accident, (such as petrochemical equipment, tank farm, high level are built
Build, bulk storage plant) and occasion defendance scene, execute high definition video collecting, the round-the-clock monitoring of fire spread situation, gas
Alarm that diffusion tendency and spreading range detection, multiband fire communication relaying, scene of fire night high-altitude illuminate, high-altitude is propagandaed directed to communicate,
The fire-fightings tasks such as live fire fighter's location tracking.
3, the utility model can be realized intelligent avoidance and one-touch autonomous landing, manually acquires and sentences compared to fireman
Disconnected, the utility model has the characteristics that monitoring range is wide, work capacity is more, strong real-time, highly-safe, intelligent, in combination
Expert's auxiliary system in the display and operation system of face can provide brute force technique support for scientific, timely sue and labour of floor manager person.
4, the design of Smart Power Module can effectively prevent floated unmanned plane fire inspection platform to fall because of accident power-off
It falls, it is ensured that reconnaissance platforms work long hours.
5, the application of the utility model can enrich the technological means of disaster accident on-site supervision and information collection, greatly improve
The efficiency of disaster accident scene rescue protects the personal safety of fireman to greatest extent.
6, the Quick Release adapter of load carry platform can be realized it is integrally-built be rapidly assembled and disassembled, multiple load are hung
Carrying platform is conducive to improve the carry value volume and range of product of fire-fighting load, significantly expands the function of captive fire-fighting Air Surveillance Platform
Energy.
7, the utility model uses full-automatic hawser automatic winding-unwinding system, thoroughly solves hanging system cables folding and unfolding problem,
Hawser automatic winding-unwinding system, which can be realized, accurately controls hawser folding and unfolding line length, improve suspension platform work safety and
It is easily handling.
Detailed description of the invention
Fig. 1 is a kind of structural representation of captive fire-fighting Air Surveillance Platform provided by an embodiment of the present invention
Figure.
Fig. 2 is the structural representation of floated unmanned plane fire inspection platform provided in an embodiment of the present invention
Figure.
Fig. 3 is the schematic illustration of reconnaissance platforms control system provided by an embodiment of the present invention.
Fig. 4 is the schematic cross-section that cable is tethered at provided by an embodiment of the present invention.
Fig. 5 is the operation principle schematic diagram that cable is tethered at provided by an embodiment of the present invention.
Fig. 6 is the electrical schematics of high voltage power supply feed system provided by an embodiment of the present invention.
Fig. 7 is the schematic illustration of Smart Power Module provided by an embodiment of the present invention.
Fig. 8 is the structural schematic diagram of hawser automatic winding-unwinding system provided by an embodiment of the present invention.
Fig. 9 is the working principle diagram of hawser automatic winding-unwinding system provided by an embodiment of the present invention.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It is said according to following
Bright, the purpose of this utility model, technical solution and advantage will be apparent from.It should be noted that described embodiment is this
The preferred embodiment of utility model, instead of all the embodiments.
Referring to figs. 1 and 2, a kind of captive fire-fighting Air Surveillance Platform, comprising: floated unmanned plane fire inspection
Platform 1 is tethered at cable 4, hawser automatic winding-unwinding system 5, high voltage power supply feed system 6 and ground control center 7.
Reconnaissance platforms control system 10 and Multifunction Sensor are installed on the floated unmanned plane fire inspection platform 1
Obstacle avoidance system 11, unmanned plane laser positioning landing system 14, the first temperature sensor 15 and several load carry platforms 12,
The load carry platform 12 for installing a variety of fire-fighting mission payloads 13, the reconnaissance platforms control system 10 respectively with more function
It can sensor obstacle avoidance system 11, a variety of fire-fighting mission payloads 13, unmanned plane laser positioning landing system 14 and the first temperature biography
Sensor 15 is connected.Preferably, the load carry platform 12 is fixed in floated 1 bottom of unmanned plane fire inspection platform
On suspension platform 1a.
According to actual needs, a variety of fire-fighting mission payloads 13 include the round-the-clock more light photoelectricity of monitoring of fire spread situation
Gondola, multiband fire communication trunking, gas diffusion trend-monitoring equipment, high-altitude lighting apparatus, high-altitude propaganda directed to communicate equipment,
Manage three-dimensional imaging device and fire fighter's geographic positioning system.
Ground control center 7 includes hardware and software two parts, is ground fire fighter observation and collection aerial platform work
Make state, task execution information and the terrestrial operation platform operated to floated unmanned plane fire inspection platform 1.Hardware
Part can using Portable integral, resistance to compression, antiknock secure tote, using Multi-core embedded-type electric brain server and multi-screen
Curtain display system, built-in multi-wavelength multiplex roles optical communication module and the touch report control platform of multitask, including display screen, mainboard,
External equipment connector, optical transmitter and receiver, HDMI distributor, serial ports turn optic fiber converter, loudspeaker, alarm and are used for ground work
Make the hardware that personnel operate floated unmanned plane fire inspection platform 1 according to the information of the software feedback, as button,
Switch, distant bar etc. are realized to the control of reconnaissance platforms control system 10 and fire-fighting mission payload 13 and the acquisition of information.Software
System mainly shows state, real-time parameter, video, operating function area of floated reconnaissance platforms etc., functionally realizes height
Adjustment；Course adjustment；The grabgraf of video, video recording, amplification, setting；The functions such as video map switching display；It can be also used for handling
The information that a variety of different load are fed back, the information fed back to fire-fighting mission payload 13 are handled；The fire-fighting of installation is appointed
Business investigation decision information software system meets fire-fighting system for fire incident crime scene sketch, live three-dimensional reconstruction and fire thing
Therefore the demand of the standardization efforts process such as process simulation analysis, fire behavior is carried out to live fire information and personnel safety information and is commented
Estimate, hazard modeling, personnel positioning and tracking function, and comprehensive all kinds of scene of a fire information propose field rescue decision references data.
With reference to Fig. 1 and Fig. 6, the high voltage power supply feed system 6 includes ground power supply system 61 and airborne power supply system
62.The hawser automatic deploying and retracting for being tethered at cable 4 and being connected to the airborne power supply system 62 and being powered by ground power supply system 61
Between system 5.The ground control center 7 is connected by optical cable 8 with hawser automatic winding-unwinding system 5, for observing and collecting
Floated 1 working condition of unmanned plane fire inspection platform, task execution information and aerial platform is operated.
Autonomous suspension and flight for a long time may be implemented as main body in floated unmanned plane fire inspection platform, and is equipped with
There are Multifunction Sensor obstacle avoidance system and unmanned plane laser positioning landing system, realizes highly reliable reconnaissance platforms, high-precision, safety
Steady operation.Unmanned plane laser positioning landing system, can be in short-term applied to the reconnaissance platforms control system under no GPS signal
The interior three-dimensional data and information for obtaining object and environment space point, to realize that floated unmanned plane fire inspection platform is accurate
Landing to Centimeter Level controls.A variety of fire-fighting mission payloads can be realized captive fire-fighting Air Surveillance Platform the same time,
Same place meets the fire-fighting application in actual combat demand of different function.Being tethered at cable can realize ground power supply system to reconnaissance platforms control
The power supply of system processed and fire-fighting mission payload；By being tethered at cable and optical cable, ground control center and reconnaissance platforms can be completed
Encryption optical signal transmission between control system；Hawser automatic winding-unwinding system is used to complete to be tethered at the automatic deploying and retracting of cable, effectively
The problems such as solving cable accumulation in ground when cable laying is required manual intervention, drawn over to one's side.
In order to obtain surrounding enviroment information, precision ranging is realized, the Multifunction Sensor obstacle avoidance system 11 includes ultrasound
Wave sensor 110, infrared sensor 111, laser sensor 112 and visual perception device 113.The basic principle of ultrasonic sensor
It is the flight time for measuring ultrasonic wave, correlation distance is measured wherein by formula d=vt/2, d indicates measurement distance, and v indicates super
Acoustic wave propagation velocity, t indicate that the flight time infrared sensor of ultrasonic wave uses the principle of range of triangle.The survey of laser sensor
For span from can achieve tens meters of even rice up to a hundred, angular resolution is high, can generally achieve zero point several years, the precision of ranging
It is high.Visual perception device uses the avoidance mode of binocular vision, using triangle telemetry ranging, what two cameras therein were seen
The same point P, imaging when have different location of pixels, at this time by range of triangle can measure this point away from
From.
With reference to Fig. 3, the reconnaissance platforms control system 10 includes that main control unit 101, multiple control units 102 and acquisition are single
Member 103, the main control unit 101 is separately connected with each control unit respectively, and each control unit is respectively connected with corresponding adopt
Collect unit 103.The acquisition unit 103 acquires the flying quality of floated unmanned plane fire inspection platform 1 in real time, and will flight
Data are transferred to control unit 102；Described control unit 102 is used to receive and handle the flying quality of acquisition unit transmission, root
It is analyzed according to data and generates control signal and be transferred to main control unit；Wherein, control signal is for controlling floated unmanned plane fire-fighting
The state of flight of reconnaissance platforms；The main control unit 101 is used to receive the control signal that multiple control units 102 are sent respectively,
And judge whether multiple control signal is consistent, floated reconnaissance platforms are controlled according to judging result.
With reference to Fig. 4 and Fig. 5, the cable 4 that is tethered at is followed successively by optical fiber layer 40, first the 41, first electricity of insulating layer from inside to outside
Cable layer 42, second insulating layer 43, the second cable floor 44, third insulating layer 45, the light emitting layer being made of electro luminescence line 46 and
Kevlar tensile layer 47, the electro luminescence line 46 are connected with emission driver 48, and electro luminescence line 46 is fixed high every one
It spends and connects a miniature indicator light 49 at H.
The encryption optical signal transmission between ground control center and reconnaissance platforms control system, ground are completed by optical fiber layer 40
The signal that face manipulation center issues first passes around after optical cable 8 passes to hawser automatic winding-unwinding system 5, by being tethered inside cable
Optical fiber layer 40 is transferred to the signal receiver of reconnaissance platforms control system, ground control center and reconnaissance platforms control system
Signal transmission be it is two-way, the signal issued from aerial platform end can be fed back in ground control by sequence contrary to the above
The heart.The light emitting layer and miniature indicator light 49 be made of electro luminescence line 46, at such as 50 meters, 100 meters of certain altitude etc.,
So that electro luminescence line is remembered length of cable by miniature indicating light sign, the height of floated unmanned plane fire inspection platform is shown at night
Spend information and work safety prompt information.
As shown in connection with fig. 6, the high voltage power supply feed system 6 includes the ground power supply system 61 connected by being tethered at cable 4
With airborne power supply system 62.
The ground power supply system 61 includes diesel oil/gasoline engine generator 610, ground AC-DC variable-voltage power supply 611 and hawser
Automatic winding-unwinding system 5, the diesel oil/gasoline engine generator 610 are connected with ground AC-DC variable-voltage power supply 611, the ground AC-
DC variable-voltage power supply 611 is connect with hawser automatic winding-unwinding system 5.Diesel oil or gasoline engine generator 610 issue three-phase high-voltage alternating current, electricity
Pressure is generally 220V or 380V, so, if conditions permit, can be replaced with alternating current.High Level AC Voltage is by ground AC-DC
Variable-voltage power supply 611 is changed into high voltage direct current, and specific voltage is depending on this section of line loss consumption, such as needs to guarantee into airborne power supply
It is 400V before voltage changing module DC/DC, and 3 ohm of resistance value, electric current 15A, then voltage is adjusted to 445V.From ground AC-DC variable-voltage power supply
611 high-voltage direct currents come out supply airborne power pack 62 by hawser automatic winding-unwinding system 5.
Airborne power supply system 62 is detectd including power supply junction box 620, several airborne power supply voltage changing module DC/DC621, unmanned plane
Examine platform motor 622, several secondary power supply voltage changing modules 623, the power supply junction box 620 and each airborne power supply voltage changing module
DC/DC621 is separately connected, and airborne power supply voltage changing module DC/DC621 is correspondingly connected with unmanned plane reconnaissance platforms motor 622,
The airborne power supply voltage changing module DC/DC621 is also separately connected with several secondary power supply voltage changing modules 623, described
Secondary power supply voltage changing module 623 respectively connects a fire-fighting mission payload 13.
Above-mentioned high voltage power supply feed system 61 can be realized ground power supply system 61 to the continued power of aerial platform, can
Realize the non-stop run in 24 hours in the sky of floated reconnaissance platforms.The power supply junction box 620 of airborne power pack 62 can basis
It needs to power high direct voltage and is divided into several roads, specifically, installing four spirals if it is floated unmanned plane fire inspection platform 1
Paddle 16, then needing to power is divided into four tunnels, i.e., floated reconnaissance platforms install n propeller and are then divided into the road n electricity, then will be electric right
Afterwards after airborne power supply voltage changing module DC/DC, become low-voltage DC, power to unmanned plane reconnaissance platforms motor 622, drives
Propeller 16 rotates, and generates the power of floated reconnaissance platforms.In addition, because floated reconnaissance platforms need the low tension powered
Device has very much, such as a variety of fire-fighting mission payloads 13, can be by secondary power supply voltage changing module 623 by low pressure so if necessary
Direct current, which is converted to, needs to obtain specific voltage.
As shown in connection with fig. 7, floated unmanned plane fire inspection platform surprisingly breaks because of high voltage power supply feed system in order to prevent
Electricity and fall, preferably, be connected with intelligent power mould on the airborne power supply voltage changing module DC/DC621 of the utility model
Block 3.
The Smart Power Module 3 includes dsp chip circuit 31, CAN bus circuit 32, optical fiber changeover circuit 33, several
Voltage collection circuit 34 and the battery pack 35 being connect with voltage collection circuit, SD card storage circuit 36, protection circuit 37 and power supply
Circuit 38,
The dsp chip circuit 31 is connect with CAN bus circuit 32, and the CAN bus circuit 32 connects optical fiber conversion electricity
Road 33, each voltage collection circuit 34 are connected with dsp chip circuit 31 respectively, the SD card storage circuit 36, protection circuit 37
And power circuit 38 is connected with dsp chip circuit 31 respectively, the power circuit 38 is used for and airborne power supply voltage changing module DC/
DC621 docking.
Dsp chip circuit 31 has been internally integrated FLASH, A/D converter, communication interface using the dsp controller of TI company
Equal peripheral hardwares, for running master control routine, charging subprogram, idle monitoring subroutine and the CAN communication of battery management system
Subprogram；It states CAN bus circuit 32 and optical fiber changeover circuit 33 is the correspondence with foreign country link of Smart Power Module, it is total by CAN
Wire protocol collects the information of battery management system, and is converted by CAN/RS232, will be electric using RS232 serial ports optical communication circuit
The information of pond management system is sent to optical fiber；Voltage collection circuit 34 uses the dedicated monitoring chip of battery, built-in 12 ADC, essence
Quasi- voltage reference, high voltage input multiplexer and serial line interface monitor the state of battery pack 35 in real time；Protect circuit 37 main
It is protection battery pack 35, prevents battery pack from overcharging, overdischarge；SD card storage circuit 36 is responsible for the history letter of storage battery state
Breath includes charging time, charging times, the information such as battery capacity, cell health state；Power circuit 38 is external power source charges
Interface and the docking of 62 module of airborne power supply system, complete the charging/discharging function to intelligent battery group.
The principle of above-mentioned Smart Power Module 3 is: when unmanned plane reconnaissance platforms motor etc. can work normally, output
Low-voltage DC of the High Level AC Voltage after conversion, can fill the Smart Power Module on floated reconnaissance platforms
Electricity maintains the voltage of Smart Power Module in the safe range of system setting, when Smart Power Module detects power supply electricity
When pressure is less than safety value, system can determine to be gone wrong by the route of generator powered, thus start power outage security guard process,
By Smart Power Module to the low-voltage electrical apparatus power supply on floated reconnaissance platforms, can be supported in the voltage of Smart Power Module
In preset time, floated unmanned plane fire inspection platform can return to safely ground.
In conjunction with shown in Fig. 8 and Fig. 9, the hawser automatic winding-unwinding system 5 includes folding and unfolding cable unit 51, row's cable unit 52, electricity
Gas control unit 53, detection unit 54 and temperature control unit 55, the folding and unfolding cable unit 51, row cable unit 52, detection unit
54 and temperature control unit 55 be connected respectively with electric control unit 53, row's cable unit 52 is connected with detection unit 54
It connects,
The folding and unfolding cable unit 51 includes that conveyer belt 51a and spool 51b, the conveyer belt 51a are connected to spool 51b
Shaft 51c and following driving motor 52a between.
Row's cable unit 52 includes driving motor 52a and guide roller 52b.
The detection unit 54 includes tension sensor 54a and limit sensors 54b, for monitoring the lower end for being tethered at cable
Tension, folding and unfolding length and folding and unfolding speed, and send pulling force information to electric control unit 53.In conjunction with Fig. 9, received when pulling force is less than
When cable setting value, electric control unit 53 issues cable laying control signal and driving motor 52a, driving motor 52a is given to work and pass through
Conveyer belt 51a drives spool 51b rotation, and folding and unfolding cable unit 51 enters automatic take-up mode, carries out automatic take-up；Similarly, when
When pulling force is greater than cable laying setting value, folding and unfolding cable unit 51 enters automatic cable laying mode, carries out slow payout operation at this time.In conducting wire
Under the collective effect for taking turns 52b and spool 51b, the automatic deploying and retracting function for being tethered at cable is completed, there are volumes when making takeoff and landing
Outer cable, while avoiding being tethered at cable and being entangled with winding, further increase system reliability.
The temperature control unit 55 includes built-in second temperature sensor 55a and fan 55b, and the second temperature passes
Sensor 55a is mounted near spool 51b, obtains the temperature of spool 51b and tether cable in real time, and transmits a signal to electricity
Gas control unit 53 issues temperature control signals to fan by electric control unit when temperature is more than certain limit value
55b is tethered at cable cooling on cable collection tube by fan 55b, makes to be tethered at cable and is maintained in reasonable operating temperature range.
Folding and unfolding cable unit 51 provides retractable and is tethered at tensile force and brake force required for cable, enough appearance cable length, fits
Answer the folding and unfolding speed of platform；Row's guarantee of cable unit 52 is tethered at that cable is in good order to be arranged on spool 51b, arranges cable unit 52
Driving motor 52a can automatic reverse, arrange cable unit driving motor 52a and spool 51b it is synchronous by conveyer belt realization
It is mobile.Because being tethered at cable oscillating caused by row's cable unit synchronizing moving during the adaptive folding and unfolding cable of guide roller 52b energy.The electricity
Gas control unit 53 provides corresponding electrical and data-interface, convenient for the user to operate and monitoring system；The temperature control unit
55, by built-in second temperature sensor 55a, obtain the temperature of spool 51b and tether cable, when this temperature is more than in real time
When certain limit value, it can be tethered at cable cooling on cable collection tube by fan 55b, make to be tethered at cable and be maintained at reasonable work
Make in temperature range.
When needing the captive fire-fighting Air Surveillance Platform of the utility model to execute task, hung first in multifunctional comprehensive
The fire-fighting mission payload that carry needs on carrying platform, operator make floated unmanned plane fire-fighting in ground control center operations
Reconnaissance platforms realize that a key takes off, or so that its is reached corresponding task point by intelligent operation, and fire-fighting mission payload can incite somebody to action
Collected information feeds back to earth station, and surface personnel carries out emergency processing or cloth to event according to the information passed back in real time
Set action strategy.Ground power supply system realizes non-stop runs in 24 hours of system by uninterrupted power supply simultaneously.When needing to drop
When falling, surface personnel can select corresponding operation in earth station, and in descent, hawser automatic winding-unwinding system can be certainly
It is dynamic to be needed to adjust cable according to operation.
Application in order to preferably show captive fire-fighting Air Surveillance Platform provided by the utility model embodiment is former
Reason and application scenarios, this example are illustrated by taking fire-fighting application scenarios as an example., when fire, captive fire-fighting occur for a building
Air Surveillance Platform can be by carrying toxic harmful gas analysis instrument and double light gondolas (fire-fighting mission payload), to ground disaster
Scene is monitored, and acquires the data such as high definition picture, infrared thermal imaging and the toxic and harmful gas concentration of disaster field in real time,
And ground-based server is real-time transmitted to by 4G network, it is transferred in real time for user, docking scene of the accident fire-fighting emergent control
Room information is realized and is believed fire-fightings Internet of Things such as disaster field video monitoring information, interlink warning information, active suppression facility informations
The real-time reception of breath is supplied to fire-fighting emergent command centre and carries out fire-fighting emergent rescue decision.Fire-fighting emergent command centre will answer
Anxious dispatch control information by captive fire-fighting Air Surveillance Platform be distributed to the ground fire fighting truck that scene of fire participates in rescue with
And fire fighter, realize real-time commander and the scheduling of Field Force and equipment.
In embodiment provided by the utility model, it should be understood that disclosed device can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the captive fire-fighting aerial platform is drawn
Point, only a kind of logical function partition, there may be another division manner in actual implementation, in another example, platform includes listed
The multiple fire-fighting mission payloads lifted it is one or more, but be not limited to the fire-fighting mission payload enumerated, can be according to reality
Border needs to select some or all of fire-fighting mission payload therein to achieve the purpose of the solution of this embodiment.
Finally, it should be noted that embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the protection scope of the utility model is not limited thereto, although referring to aforementioned
The utility model is described in detail in embodiment, those skilled in the art should understand that: it is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to skill documented by previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses.It should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described is wanted with right
Subject to the protection scope asked.
Claims (10)
1. a kind of captive fire-fighting Air Surveillance Platform characterized by comprising floated unmanned plane fire inspection platform (1),
Cable (4), hawser automatic winding-unwinding system (5), high voltage power supply feed system (6) and ground control center (7) are tethered at,
Reconnaissance platforms control system (10) and Multifunction Sensor are installed on the floated unmanned plane fire inspection platform (1)
Obstacle avoidance system (11), unmanned plane laser positioning landing system (14), the first temperature sensor (15) and several load carries are flat
Platform (12), the load carry platform (12) is for installing a variety of fire-fighting mission payloads (13), the reconnaissance platforms control system
(10) respectively with Multifunction Sensor obstacle avoidance system (11), a variety of fire-fighting mission payloads (13), unmanned plane laser positioning landing system
System (14) and the first temperature sensor (15) are connected,
The high voltage power supply feed system (6) includes ground power supply system (61) and airborne power supply system (62),
It is described be tethered at cable (4) be connected to the airborne power supply system (62) and by ground power supply system (61) power supply hawser from
Between dynamic extension and retraction system (5),
The ground control center (7) is connected by optical cable (8) with hawser automatic winding-unwinding system (5), for observing and collecting
It floated unmanned plane fire inspection platform (1) working condition, task execution information and operates on it.
2. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The Multifunction Sensor obstacle avoidance system (11) includes ultrasonic sensor (110), infrared sensor (111), laser
Sensor (112) and visual perception device (113).
3. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The cable (4) that is tethered at is followed successively by optical fiber layer (40), the first insulating layer (41), the first cable floor (42), from inside to outside
Two insulating layers (43), the second cable floor (44), third insulating layer (45), the light emitting layer being made of electro luminescence line (46) and triumphant
Husband draws tensile layer (47), and the electro luminescence line (46) is connected with emission driver (48), and electro luminescence line (46) is every one
A miniature indicator light (49) is connected at fixed height H.
4. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The reconnaissance platforms control system (10) includes main control unit (101), multiple control units (102) and acquisition unit
(103), the main control unit (101) is separately connected with each control unit respectively, and each control unit is respectively connected with corresponding
Acquisition unit (103),
The acquisition unit (103) acquires the flying quality of floated unmanned plane fire inspection platform (1) in real time, and by flight number
According to being transferred to control unit (102)；
Described control unit (102) is used to receive and handle the flying quality of acquisition unit transmission, is analyzed according to data and generates control
Signal processed is simultaneously transferred to main control unit；Wherein, control signal is used to control the flight shape of floated unmanned plane fire inspection platform
State；
The main control unit (101) judges multiple controls for receiving the control signal that multiple control units (102) are sent respectively
Whether signal processed is consistent, is controlled according to judging result floated unmanned plane fire inspection platform.
5. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The high voltage power supply feed system (6) includes the ground power supply system (61) and airborne power supply by being tethered at cable (4) connection
System (62),
The ground power supply system (61) includes diesel oil/gasoline engine generator (610), ground AC-DC variable-voltage power supply (611) and cable
It restricts automatic winding-unwinding system (5), the diesel oil/gasoline engine generator (610) is connected with ground AC-DC variable-voltage power supply (611), described
Ground AC-DC variable-voltage power supply (611) is connect with hawser automatic winding-unwinding system (5)；
Airborne power supply system (62) includes power supply junction box (620), several airborne power supply voltage changing module DC/DC
(621), unmanned plane reconnaissance platforms motor (622), several secondary power supply voltage changing modules (623), the power supply junction box
(620) it is separately connected with each airborne power supply voltage changing module DC/DC (621), airborne power supply voltage changing module DC/DC (621) and nothing
Man-machine reconnaissance platforms motor (622) is correspondingly connected with,
The airborne power supply voltage changing module DC/DC is also separately connected with several secondary power supply voltage changing modules (623), the secondary electricity
Source voltage changing module (623) respectively connects a fire-fighting mission payload (13).
6. captive fire-fighting Air Surveillance Platform according to claim 5, it is characterised in that:
Smart Power Module (3) are connected on the airborne power supply voltage changing module DC/DC (621),
The Smart Power Module (3) include dsp chip circuit (31), CAN bus circuit (32), optical fiber changeover circuit (33),
Several voltage collection circuits (34) and the battery pack (35) being connect with voltage collection circuit, SD card storage circuit (36), protection electricity
Road (37) and power circuit (38),
The dsp chip circuit (31) connect with CAN bus circuit (32), CAN bus circuit (the 32 connection optical fiber conversion electricity
Road (33), each voltage collection circuit (34) connect with dsp chip circuit (31) respectively, and the SD card storage circuit (36) is protected
Protection circuit (37) and power circuit (38) are connected with dsp chip circuit (31) respectively, and the power circuit (38) is used for and machine
Carry power supply voltage changing module DC/DC (621) docking.
7. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The hawser automatic winding-unwinding system (5) include folding and unfolding cable unit (51), row cable unit (52), electric control unit (53),
Detection unit (54) and temperature control unit (55),
The folding and unfolding cable unit (51), row cable unit (52), detection unit (54) and temperature control unit (55) respectively with electricity
Gas control unit (53) is connected, and row's cable unit (52) is connected with detection unit (54),
The folding and unfolding cable unit (51) includes conveyer belt (51a) and spool (51b), and the conveyer belt (51a) is connected to storage line
Between the shaft (51c) and following driving motors (52a) of cylinder (51b),
Row's cable unit (52) includes driving motor (52a) and guide roller (52b),
The detection unit (54) includes tension sensor (54a) and limit sensors (54b), and the detection unit, which is mounted on, to be led
In line wheel (52b), for monitoring the pulling force for being tethered at cable (4) and the position that are wound on guide roller,
The temperature control unit (55) includes built-in second temperature sensor (55a) and fan (55b), the second temperature
Sensor (55a) is mounted near spool (51b), obtains the temperature of spool (51b) and tether cable in real time.
8. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
The load carry platform (12) is fixed in the suspension platform (1a) of floated unmanned plane fire inspection platform (1) bottom
On.
9. captive fire-fighting Air Surveillance Platform according to claim 8, it is characterised in that:
The quantity of the load carry platform (12) is 3 or 4, is symmetrically mounted on suspension platform (1a).
10. captive fire-fighting Air Surveillance Platform according to claim 1, it is characterised in that:
A variety of fire-fighting mission payloads (13) include the more light photoelectric nacelles of the round-the-clock monitoring of fire spread situation, multiband fire-fighting
Communication relay set, gas diffusion trend-monitoring equipment, high-altitude lighting apparatus, high-altitude are propagandaed directed to communicate equipment, geographical three-dimensional imaging device
And fire fighter's geographic positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820806210.3U CN208530871U (en) | 2018-05-25 | 2018-05-25 | A kind of captive fire-fighting Air Surveillance Platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820806210.3U CN208530871U (en) | 2018-05-25 | 2018-05-25 | A kind of captive fire-fighting Air Surveillance Platform |
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| Publication Number | Publication Date |
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| CN208530871U true CN208530871U (en) | 2019-02-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528753A (en) * | 2018-07-09 | 2018-09-14 | 公安部上海消防研究所 | A kind of captive fire-fighting Air Surveillance Platform |
| CN110286690A (en) * | 2019-06-12 | 2019-09-27 | 浙江吉利控股集团有限公司 | One kind is vehicle-mounted to be tethered at multi-rotor unmanned aerial vehicle control system and vehicle |
| CN117818933A (en) * | 2024-03-05 | 2024-04-05 | 深圳市光明顶技术有限公司 | Unmanned aerial vehicle-based power supply method and system |
-
2018
- 2018-05-25 CN CN201820806210.3U patent/CN208530871U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528753A (en) * | 2018-07-09 | 2018-09-14 | 公安部上海消防研究所 | A kind of captive fire-fighting Air Surveillance Platform |
| CN110286690A (en) * | 2019-06-12 | 2019-09-27 | 浙江吉利控股集团有限公司 | One kind is vehicle-mounted to be tethered at multi-rotor unmanned aerial vehicle control system and vehicle |
| CN117818933A (en) * | 2024-03-05 | 2024-04-05 | 深圳市光明顶技术有限公司 | Unmanned aerial vehicle-based power supply method and system |
| CN117818933B (en) * | 2024-03-05 | 2024-05-07 | 深圳市光明顶技术有限公司 | Unmanned aerial vehicle-based power supply method and system |
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