CN110354426B

CN110354426B - Design method and system for fire-fighting system of multi-rotor unmanned aerial vehicle

Info

Publication number: CN110354426B
Application number: CN201910688180.XA
Authority: CN
Inventors: 陶文英
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2024-04-16
Anticipated expiration: 2039-07-29
Also published as: CN110354426A

Abstract

The invention discloses a design method and a system of a multi-rotor unmanned aerial vehicle fire-fighting system, wherein the design method and the system of the multi-rotor unmanned aerial vehicle fire-fighting system are formed by five parts of a multi-rotor unmanned aerial vehicle, an onboard control system, an onboard fire-fighting load system, a fire-fighting power supply vehicle and a ground controller; the multi-gyroplane is responsible for lifting off to implement fire-fighting operation, the multi-gyroplane is internally provided with an onboard control system for controlling the whole operation process, the onboard fire-fighting load system is used for implementing fire-fighting operation, the fire-fighting power supply vehicle is configured on the ground to be responsible for supplying power and delivering fire extinguishing agent and is also used for loading and transporting the multi-gyroplane, and the ground controller is responsible for fire-fighting site for operation. The invention adopts the main stream fire extinguishing agent and provides various supply schemes, is suitable for the scene of fire-fighting operation from the side face of the high building, solves the difficulty of window breaking operation of the fire-fighting unmanned aerial vehicle, solves the scene requirements of delivering the rescue package and the like, and adopts communication means such as video, namely a camera and the like in the fire-fighting site.

Description

Design method and system for fire-fighting system of multi-rotor unmanned aerial vehicle

Technical Field

The invention belongs to the field of fire protection of aviation aircrafts and high-rise buildings, in particular to the field of multi-rotor unmanned aerial vehicle engineering application, and can be applied to military and maritime works.

Background

Urban high-rise buildings are increasing, and fire protection and lifesaving are the focus of attention. The aerial ladder and the high-pressure water gun adopted by the traditional fire-fighting equipment are limited in performance and are not suitable for the fire-fighting requirements of high-rise buildings. Water as a fire extinguishing medium is advantageous for personnel safety in a fire scene, but has low fire extinguishing efficiency. If the urban fire is planned as a whole, the fire-fighting medium and the fire-fighting means are changed, and the fire-fighting effect of the high-rise building can be greatly improved. Currently, unmanned aerial vehicles are receiving attention for high-rise fire protection.

Chinese patent 107662699A of Shenyang Hechuang Xup Fei technology Co., ltd discloses a fire-fighting unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a thermal imager and sound wave equipment; the thermal imager and the acoustic wave device are respectively arranged at the bottom of the unmanned aerial vehicle body; a control device and a first wireless module are arranged in the unmanned aerial vehicle body; the thermal imager is connected with the control device and is used for shooting a target area to obtain thermal image information of the target area; the control device is used for sending the thermal image information to a monitoring terminal through the first wireless module; the control device is also used for receiving a fire extinguishing control signal sent by the monitoring terminal through the first wireless module; the sound wave equipment is connected with the control device; the acoustic wave device is used for working under the control of the fire extinguishing control signal so as to generate acoustic waves to eliminate fire. The fire extinguishing unmanned aerial vehicle for fire control can timely control fire danger and has higher working efficiency.

The invention patent 109573038A of Hunan new state wisdom fire control technology limited company discloses a fire control unmanned aerial vehicle, which comprises a bod, the top of organism is provided with the control box, the four corners department of control box all is provided with the rotor arm, flight motor is installed to the one end that the control box was kept away from at rotor arm top, flight motor's output rotates and is connected with the rotor, the both sides of organism bottom all are provided with the support frame, the bottom of support frame is provided with the backup pad, the inside bottom of organism is installed positive and negative motor, positive and negative motor's output rotates and is connected with the pivot that extends to the organism below, the end-to-end connection of pivot has the fort, the inside of fort is provided with the barrel. This scheme is through the positive and negative motor of internally mounted at the organism, and the output of positive and negative motor rotates through the fort of pivot and organism below and be connected, when putting out a fire, accessible positive and negative motor drives the fort and rotates to the direction of adjustment barrel, the application is comparatively nimble.

The utility model discloses a south Beijing city public security fire department applies for and obtains the chinese patent 106043678B who authorizes and discloses a two-body unmanned aerial vehicle for fire control, this application unmanned aerial vehicle main part has a pair of, and unmanned aerial vehicle main part middle part top has signal transmission receiving arrangement, has fire extinguishing device main part between two unmanned aerial vehicle main parts, and this application still includes corresponding fire engine, reforms transform the fire engine top, can also once carry 3 unmanned aerial vehicles simultaneously except having traditional fire engine function to unmanned aerial vehicle and fire engine can mutually support and use. According to the scheme, the double-head unmanned aerial vehicle adopts the design of the double-unmanned aerial vehicle main body, and can simultaneously carry the same fire extinguishing agent so as to improve the carrying capacity of the fire extinguishing agent, and can also respectively carry different fire extinguishing agents to simultaneously extinguish different fires and corresponding fire engines according to the structural design of the double-body unmanned aerial vehicle.

However, the prior art still has the following shortcomings that the existing fire-fighting unmanned aerial vehicle generally adopts a multi-rotor-wing-plane platform, the power of the multi-rotor-wing-plane adopts a turbine engine, the requirements of loading weight and endurance time can be met, however, the scheme of adopting the turbine engine has several disadvantages, firstly, the power control is difficult, the scheme is not suitable for being used in occasions with smaller building spacing and larger side wind, secondly, the noise is larger, the service life is shorter, the electric rotor wing is quite, the risk of accidental ignition of fuel oil exists, thirdly, each device is required to be started in sequence in operation, the site preparation time is long, and thirdly, the fuel is not suitable for being used in low-temperature and high-altitude low-pressure environments. Therefore, further innovative design and improvement of the existing fire-fighting unmanned aerial vehicle and the control system thereof are necessary.

Disclosure of Invention

The invention aims to provide a design method and a system for a fire-fighting system of a multi-rotor unmanned aerial vehicle, which are used for overcoming the defects in the prior art.

Detailed technical description:

the design method of the invention designs the multi-rotor unmanned aerial vehicle fire-fighting system to be composed of five parts of a multi-rotor unmanned aerial vehicle, an onboard control system, an onboard fire-extinguishing load system, a fire-fighting power supply vehicle and a ground controller; the multi-gyroplane is responsible for lifting off to implement fire-fighting operation, the multi-gyroplane is internally provided with an onboard control system for controlling the whole operation process, the onboard fire-fighting load system is used for implementing fire-fighting operation, the fire-fighting power supply vehicle is configured on the ground to be responsible for supplying power and delivering fire extinguishing agent and is also used for loading and transporting the multi-gyroplane, and the ground controller is responsible for fire-fighting site for operation.

The multi-rotor unmanned aerial vehicle fire-fighting system designed based on the method comprises five parts of a multi-rotor unmanned aerial vehicle, an onboard control system, an onboard fire-extinguishing load system, a fire-fighting power supply vehicle and a ground controller; the multi-rotor aircraft is characterized in that a main bearing structure is respectively connected with a rotor arm structure, a lift rotor motor and a rotor, a side force rotor motor and a rotor, a power supply or a generator, a power supply management converter, an onboard control system cabin, a lifting support structure, a fire extinguishing agent container or a gas cylinder group, a pressurized gas cylinder or a pressurizing pump for spraying fire extinguishing agent, a ground conveying pipeline of the fire extinguishing agent, and a spraying rod and fire-fighting equipment for fire-fighting operation; the main bearing structure and the structural members including the fire extinguishing agent container or the gas cylinder group are made of fireproof composite materials.

The machine-mounted control system is respectively connected with all subsystem equipment by a comprehensive management computer and performs control management, and the subsystem equipment comprises:

1) The system comprises a sensor combination and flight control subsystem, equipment and functions, wherein the equipment and functions comprise navigation positioning of a multi-rotor aircraft, relative positioning of the multi-rotor aircraft and a ground fire-fighting power supply vehicle, an anti-collision sensor combination and an anemometer, a flight control system, an air-ground data link, optional 5G communication equipment and an emergency instruction packet;

2) The power energy subsystem belongs to equipment and functions, and comprises a power battery pack, a power supply converter, a control executing mechanism of a high-pressure gas cylinder or a booster pump and a control mechanism of a power supply management converter;

3) The fire-fighting load subsystem belongs to equipment and functions, comprises a window breaker and a control mechanism thereof, a life-saving bag delivery control mechanism, a fire-extinguishing agent filling and spraying pressure control mechanism, a fire-extinguishing agent nozzle control mechanism, a control mechanism of a fire-extinguishing agent spraying rod and a ground power supply conveying pipe cable connection;

4) The communication subsystem belongs to equipment and functions including on-site video and an automatic identification and locking tracking servo control mechanism for an expected fire source target; an illuminating lamp and a pointing control mechanism; a broadcast and microphone; a field demonstration display screen;

5) The protection subsystem belongs to equipment and functions including protection installation of an onboard control system, a discharge brush and a ground mooring rope.

Further, the airborne fire extinguishing load system consists of the following fire-fighting operation subsystems:

1) The fire extinguishing agent subsystem belongs to equipment and functions, and comprises a fire extinguishing agent container or a gas cylinder group, a pressurized gas source or a pressurizing pump, a pipeline valve or an electric valve, a fire extinguishing agent spray rod and a spray nozzle;

2) The window breaking subsystem belongs to equipment and functions including a window breaking device and a mechanical arm or a window breaking rod for installing the window breaking device;

3) The lifesaving package subsystem belongs to equipment and functions including a lifesaving package push rod;

4) The information subsystem belongs to equipment and functions, and comprises a plurality of detection devices which are installed at the outer ends of a spray rod, a window breaking rod or a pushing rod and used for acquiring field information, wherein the plurality of detection devices comprise a field video, an illuminating lamp, a broadcast and microphone, a field demonstration display screen and a high-order video and an enhanced illuminating lamp which are used for assisting in observing a fire scene.

Further, the fire-fighting power supply vehicle comprises the following functional subsystems,

1) The loading vehicle subsystem belongs to equipment and functions including a loading vehicle with a light vehicle chassis refitted or a brand new design, a parking platform of a multi-rotor aircraft on the loading vehicle and a fastening mechanism;

2) Fire extinguishing agent subsystem, belonging to the equipment and function containing fire extinguishing agent container or gas cylinder group, fire extinguishing agent pressurized gas source or booster pump, fire extinguishing agent conveying pipe and conveying pipe connector, conveying pipe wire reel and control mechanism;

3) The control subsystem belongs to equipment and functions including a multi-gyroplane flight control console, a shipping car navigation system, an instruction data chain optional 5G communication equipment, a communication system, a power supply system and a power supply converter;

4) The emergency control subsystem belongs to equipment and functions including an actuating mechanism for emergency shutdown of a power source and an emergency mooring rope and an obstacle removing shovel of the multi-rotor aircraft on a shipping truck.

Further, the ground controller comprises a multi-gyroplane flight controller, a power cable and an information cable which are connected with a fire-fighting power supply vehicle, and a wireless data chain or 5G communication device which coexists with the information cable; the flight controller and the flight control console are universal or combined into a whole.

The invention adopts an electric multi-rotor aircraft, the power of the rotor adopts a motor, and direct current or alternating current, preferably a direct current motor, can be used. The ground power supply vehicle is adopted to carry out wired power supply, so that the requirements of long endurance and heavy loading can be effectively met. The rotor motor is designed to solve the safety concern of power reconstruction by adopting at least six rotor layouts and even a double-layer multi-rotor layout, so that the multi-rotor motor can safely land after individual motor faults. The control system of safety redundancy is adopted, a solution is provided for the accurate positioning and the side wind resistance of the multi-rotor aircraft in the building group, and a strategy for coping with a typical fault mode is designed. The invention aims at solving the problem of high-rise fire-fighting high-altitude anti-falling safety from multiple aspects, firstly, multi-rotor wing layout and power reconstruction, secondly, control system redundancy design, thirdly, operation anti-collision sensor integration, and thirdly, a long-arm structure far away from a fire source, namely a window breaking rod/injection rod/pushing rod three-rod combination and the like. The invention adopts the main stream fire extinguishing agent and provides various supply schemes, is suitable for the scene of fire-fighting operation from the side face of the high building, solves the difficulty of window breaking operation of the fire-fighting unmanned aerial vehicle, solves the scene requirements of delivering the rescue package and the like, and adopts communication means such as video, namely a camera and the like in the fire-fighting site. For the operation scene of a plurality of unmanned aerial vehicles needed in a fire scene, the problem that the unmanned aerial vehicles lift off in turn can be solved by the invention. The performance of the fire unmanned aerial vehicle can be popularized and applied to military use, and the application value is improved.

Drawings

FIG. 1 is a schematic diagram of a multi-gyroplane and primary on-board system installation;

FIG. 2 is a double-layer rotor layout illustration of a multi-rotor aircraft, top view (other items omitted from the illustration);

FIG. 3 is a schematic illustration of a multi-gyroplane connection with a ground fire suppressant delivery pipe;

FIG. 4 is a view of a broken window ring and an electric window breaker;

fig. 5 is a schematic diagram of a fire-fighting power supply vehicle and primary system and a shipping multi-gyroplane.

The marks in the drawings are: 1-broken window ring, 2-broadcasting and microphone, 3-upper rotor, 4-rotor arm, 5-anemometer, 6-high video, 7-on-board control system cabin, 8-lower rotor, 9-nozzle, 10-release mechanism, 11-spray bar, 12-delivery pipe connector, 13-pressurized gas cylinder, 14-take-off and landing rack, 15-broken window device, 16-ring sleeve, 17-ring spoke, 18-flight control console, 19-power converter, 20-battery pack or generator, 21-fire-fighting electric supply vehicle, 22-fire extinguishing agent delivery pipe, 23-multi-rotor, 24-parking platform, 25-ground controller, 26-connecting cable.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the invention:

as shown in fig. 1 and 2, multi-rotor aircraft 23 is connected by a main load-carrying structure to the following on-board system devices: the rotor arm 4 structure can be designed into an electric or manual folding structure; the lift rotor motor and rotor mounted on rotor arm 4, recommended to design the rotor with an outer ring structure to protect the rotor; the layout design of the lift rotor motor can be single-layer layout or double-layer layout, a single-layer 6 rotor symmetrical layout is adopted, the double-layer layout can be selected for reducing the size of the multi-rotor machine 23, and the rotor arm 4 of the upper rotor 3 is in a longer layout, if the double-layer structure layout is adopted, the rotor arm 4 of the upper rotor 3 and the lower rotor 8 can be in a variable structure with adjustable spacing, so that the equipment height of ground transportation can be reduced, the design focus of the multi-rotor machine 23 motor layout is to design a rotor power reconstruction function, so that after one or a plurality of motors fail, the rotation speeds of other motors cooperate, and the whole multi-rotor machine 23 can still land stably; the optional side force rotor motor and rotor are usually symmetrically arranged and installed on a main bearing structure, and the motor axis is designed to be basically vertical to the axis of the lift force rotor motor, so that the side force resistance of the multi-rotor aircraft 23 is improved or the recoil resistance of the fire extinguishing agent is balanced; the system comprises an onboard power supply or generator, a ground power supply cable connection device and a power management converter, wherein the power management converter is used for alternating current-direct current conversion and recommends to adopt a direct current motor; an onboard control system is installed in the onboard control system cabin 7; the lifting support 14 structure of the multi-rotor aircraft 23 can be a skid structure with a buffer elastic mechanism, and a fireproof material air bag can be added; a fire extinguishing agent container or gas cylinder set installed at a lower position of the multi-rotor aircraft 23, wherein the fire extinguishing agent bearing weight of the multi-rotor aircraft 23 is selected to be 100kg, and the weight of the container and the high-pressure gas cylinder or the pressurizing pump equipment which are required to be installed are additionally calculated and summed; an optionally installed floor fire suppression agent delivery tube 22 and delivery tube connector 12, as shown in fig. 3; a telescopic rod for fire-fighting operation. The design of the main load-carrying structure and other structural members comprising the fire extinguishing agent container or the gas cylinder group is mainly made of fireproof composite materials with short-time flame resistance, and preferably, the fireproof materials are selected.

The airborne control system is respectively connected with each subsystem device by the comprehensive management computer and performs control management, and each system device comprises: (1) The sensor combination comprises a vertical gyroscope, a navigation attitude heading, an accelerometer and an air pressure altimeter, or a commercial plate with multiple sensors, which can provide measurement criteria in a pairwise combination to generate control instructions, is selected; the flight control system comprises an optional redundancy backup control system, and can adopt independent equipment with three redundancy or integrated equipment which shares other airborne computers to be integrated into three redundancy, or a low-cost system formed by adding two redundancy of hardware and software redundancy; satellite navigation and inertial devices, and relative positioning control of the position of the multi-gyroplane 23 relative to the ground fire-fighting power supply vehicle 21; the anti-collision sensor comprises an ultrasonic range finder or a laser range finder or a millimeter wave radar range finder in the horizontal direction, and the range of the height finder such as the laser range finder is optional from 20 meters to 500 meters; a flexible touch sensor comprising a pressure type switch; an anemometer 5; the flight control system, and its control over the lift and side force motors, control the reconfiguration of the rotorcraft power so that after failure of one or more of the rotorcraft's 23 multi-rotor motors, it is still able to land smoothly; the air-ground data link and the control instruction uplink and the interactive information uplink and downlink thereof comprise the uploading of the real-time position information of the fire-fighting power supply vehicle 21; the emergency instruction comprises an emergency criterion containing sensor information and control of generation and execution of the emergency instruction, namely, the design is generated according to combination measurement of an onboard sensor and the emergency criterion and the instruction, the out-of-control fault of the multi-rotor aircraft 23 is judged through the comprehensive management computer, and the emergency instruction is automatically sent to the fire-fighting power supply vehicle 21 to shut down the operation of a power supply air source, and the multi-rotor aircraft 23 lands on an onboard storage battery to prevent the occurrence of collateral damage to the ground. Wherein, the flight control system can replace the function of the integrated management computer. (2) The power energy subsystem belongs to equipment and functions, comprises a power battery pack and a power supply converter for a rotor motor, and recommends that the rotor adopts a direct current motor; a control mechanism of a high-pressure gas cylinder or a booster pump. (3) The fire-fighting load subsystem belongs to equipment and functions including a window breaker 15 and a control mechanism; a life-saving bag delivering and controlling mechanism; a fire extinguishing agent filling and spraying pressurizing control mechanism; a fire extinguishing agent nozzle 9 and a control mechanism; a displacement control mechanism of the fire extinguishing agent discharging rod 11. (4) The communication subsystem belongs to equipment and functions including a field video and control mechanism, an illuminating lamp and a directional control mechanism, a broadcasting and microphone 2 for voice communication and a field demonstration display screen. (5) The protection subsystem belongs to a protection installation structure of equipment and function containing airborne control equipment, and comprises a fireproof, waterproof and dustproof structural design, a lightning protection structure such as a discharge brush structural design and an electromagnetic compatibility structural design, and an optical fiber cable is recommended to be adopted; the ground mooring rope and the connection thereof can meet various design requirements, firstly, the combined cable formed by binding the power supply cable and the mooring rope of the multi-rotor aircraft 23 into a whole can improve the wind resistance and tensile resistance of the power supply cable, and secondly, the multi-rotor aircraft 23 can be towed to land or limit the flight range of the multi-rotor aircraft 23 after being out of control.

The airborne fire-extinguishing load system consists of a plurality of fire-extinguishing operation subsystems, wherein the subsystems comprise: (1) The fire extinguishing agent subsystem belongs to equipment and functions, and comprises a fire extinguishing agent container or a pressurized gas cylinder 13 group or a pressurizing pump, and the pressurizing pressure for the fire extinguishing agent is 2-7Mpa; or the ground conveying pipe is filled with fire extinguishing agent through the conveying pipe connector 22, wherein the fire extinguishing agent gas cylinder groups can be filled and pressurized in groups in turn and sprayed in turn; a pipeline valve or electric gate; the fire extinguishing agent spraying rod 11 and the spraying nozzle 9 are designed to be telescopic, so that the ground parking size is reduced, the fire extinguishing agent spraying rod can be installed on a main bearing structure of the multi-rotor aircraft 23 before taking off, the length of the fire extinguishing agent spraying rod can be set by electric or manual operation before taking off, the spraying nozzle 9 can be designed to be of a far-near combined structure, one gear is that the bunching spraying nozzle 9 is suitable for long-distance spraying, and the other gear is that the diffusion spraying nozzle 9 is suitable for short-distance spraying; the fire extinguishing bomb and the launching mechanism thereof can be arranged on the fire extinguishing agent spraying rod 11, so that the special installation structure is reduced. (2) The broken window subsystem belongs to equipment and functions and comprises a broken window device 15, wherein the multi-point broken window device 15 is arranged on a broken window ring 1, an electric control switch in the broken window device 15 controls pulses to fire a steel cone for multiple times to destroy window glass, the broken window ring 1 is arranged at the front end of a broken window rod or a spray rod 11 and drives the broken window device 15 to rotate to strike a multi-point hit window, so that a large area of broken window is formed, the broken window area is enlarged, 1 or more broken window devices 15 can be arranged on the broken window ring 1, a plurality of broken window devices can strike window glass at multiple points simultaneously to accelerate the broken window area, and once broken window devices can spray fire extinguishing agent in time so as to prevent fire fighting time delay caused by difficulty in aligning the spray rod 11 with a broken window cavity; the broken window ring 1 is connected with a ring shaft sleeve 16 through a ring spoke 17 and is fastened on a blocking-resistant falling mechanism, the ring shaft sleeve 16 is arranged at the front end of the injection rod 11, blocking is caused when the broken window device 15 or the broken window ring 1 protrudes into a window, the broken window ring 1 automatically falls off or is controlled to fall off manually through the fixed force or electric control of the falling mechanism, and as shown in fig. 4, the broken window ring 1 can be separated from the injection rod 11 to release blocking; the single window breaker 15 can also be directly connected with the front end of the spray rod 11 for breaking windows independently; a soft and adhered warhead is selected to launch and break the window; and the outer end of the window breaker 15 is hung with a lifesaving bag and an emergency falling mechanism to prevent the window breaking-universal rod from being blocked due to unmanned reception. (3) The lifesaving bag subsystem belongs to equipment and functions including a lifesaving bag, such as a smoke-proof disposable mask bag, for supplying 3-6 or more people at a time, such as a self-rescue sliding rope, such as a stopping band, and water and food; the life-saving bag can be hung and pushed to a person to be saved by means of the outer end of the window breaking ring 1, namely, one-rod multipurpose pushing of the life-saving bag is realized by means of the spray rod 11, a plurality of life-saving bags can be hung at the same time, the life-saving bag can be controlled to fall off in an emergency condition, and the situation that the life-saving bag is prevented from being blocked by unmanned reception. (4) The information subsystem belongs to equipment and functions, and comprises a plurality of detection equipment which are installed on the outer end structure of the spray rod 11 or the window breaking rod or the pushing rod and are used for acquiring field information, wherein the detection equipment comprises field video, particularly short-wave infrared video, illuminating lamps, particularly infrared illumination, broadcasting and microphones of a communication system, a field demonstration display screen, auxiliary observation of high-order video 6 and illuminating lamps around a fire scene, and short-wave infrared video and infrared illumination with good fog permeability, and can be selected from low-light or white-light video.

The fire power supply vehicle 21 includes the following functional subsystems: (1) The loading vehicle subsystem comprises a loading vehicle with a light vehicle chassis refitted or a brand new design, a cab or an unmanned equipment cabin; the power of the chassis can be fuel oil power or electric power, in particular to a hybrid power vehicle chassis, and the timely and continuous power supply capacity is improved by adopting hybrid power; the parking platform 24 of the multi-gyroplane 23 on the shipment car, the multi-gyroplane 231 rack or multiple racks are parked, and in the overall scheme design, in order to adapt to the installation space for loading the fire extinguishing agent loading volume or the power battery module, the combination scheme that the multi-gyroplane 23 and the fire extinguishing agent container are jointly installed on the shipment car can be selected, and the split scheme that the multi-gyroplane 23 is independently installed on the shipment car can also be selected; the fastening mechanism of multi-gyroplane 23 on parking platform 24 is fastened in transit and released before take-off. (2) A fire extinguishing agent subsystem comprising a fire extinguishing agent container or gas cylinder assembly adapted to hold a volume of about 2 tons of fire extinguishing agent, preferably comprising ultrafine dry powder, 7 fluoropropane, aerosol, or IG541 inert gas; a nitrogen cylinder or a booster pump for pressurizing the fire extinguishing agent; the length of the fire extinguishing agent conveying pipe 22 accords with the fire protection requirement of the high-rise building, the length design can adopt a conduit structure with sectional connection, the two ends are provided with quick-assembling and disassembling joints, the conveying pipe adopts a nonmetallic pipe such as a braided or plastic light flexible pressure-resistant pipe, the outer surface of the conveying pipe can be coated with colored marking lines such as colored lines of reflective materials, 1 or more of the conveying pipe is designed, the lines are uninterrupted, the broken lines are easy to misjudge, the width is moderate, the ground personnel can observe the fire extinguishing agent, and the common easy-to-recognize red or yellow or green color is selected; the conveying pipe connector 12 is designed for rotatable anti-winding, namely, a connector of a sealed and leakproof multilayer rotatable structure is designed between the conveying pipe and a gas conveying pipe orifice on a loading and transporting vehicle so that the conveying pipe cannot rotate along with the multi-rotor aircraft 23 and can be unwound; the wire spool and the control mechanism are composed of a plurality of spools and are stored on the loading and transporting vehicle; the power supply cables are released or recovered by the wire reel, and are connected by the end socket connectors when the power supply cables are segmented; when the fire extinguishing agent conveying pipe 22 is selected, if the conveying pipe is connected in sections, two ends are connected through quick-release connectors and are integrally wrapped by a power supply cable and connected with the multi-gyroplane 23; the wire spool can be controlled electrically or manually to release and retrieve power supply cable or conveyer pipe, is controlled by release mechanism 10 to with the one end of ground with the joint connection of many gyroplanes 23 before many gyroplanes 23 take off, connect every section power supply cable or conveyer pipe before taking off or in releasing, empty remaining fire extinguishing agent in the conveyer pipe before retrieving, carry out the segmentation to the wire spool after retrieving and deposit, fasten and clean the protection to the wire spool. (3) The control subsystem comprises a flight control console 18 of a multi-gyroplane 23, can be designed to be mobile, provided with a display screen and an operation keyboard, can be designed to be connected with a ground controller 25 to share information, or can be designed to be quickly detached from the flight control console 18 used outside the vehicle; the navigation system of the shipping truck can provide navigation information required by manual driving or automatic driving and can upload the navigation information of relative positioning to the multi-rotor aircraft 23 in a wired or wireless way; control and information instruction data chains, which can transfer data up and down between the air spaces; the communication system comprises voice uplink and downlink duplex transmission, uploading demonstration video, and receiving information such as on-board downloading video, voice, navigation and on-board equipment working states; the power supply system is used for carrying out a wired power supply mode on the multi-gyroplane 23, the loading and transporting vehicle is provided with a power supply battery pack or a generator 20, a modified hybrid power system for the vehicle is particularly selected, an external power supply interface and a cable are reserved, a simple auxiliary power supply scheme can be selected according to the power supply requirement, firstly, a special high-power vehicle-mounted power supply is selected for supplying power, and secondly, the power supply system can be connected to an urban industrial power supply for power supply in a conditional place; the power converter 19, optionally supplied with ac and dc power, is changed from an on-board converter to dc power. (4) An emergency control subsystem comprising a control executing mechanism for an emergency shut-down power source gas source, such as an electric switch and an electric/manual valve; emergency tie down lines for multi-gyroplane 23 on a shipping vehicle to emergency recover multi-gyroplane 23 in the event of an out of control condition; the obstacle removing shovel is arranged on the vehicle head, such as a snow pushing shovel and a garbage pushing shovel, so that the driving power of the loading and transporting vehicle is selected by considering the power requirement of the obstacle removing shovel, as shown in fig. 5.

Ground controller 25 is a flight controller for multi-gyroplane 23, and is designed to include a mobile, ground stand, portable or wearable by an operator, having a control interface and a display screen. The system equipment has an alternative design scheme, wherein the power supply is obtained from the fire-fighting power supply car 21 through a connecting cable 26 or the power supply is self-contained; the system and the method can share a vehicle-mounted data chain and a communication system with the fire-fighting power supply vehicle 21 through a connecting cable 26, control the take-off, landing and flying of the multi-rotor aircraft 23, control fire-fighting operation, share the information of the multi-rotor aircraft 23, or carry the data chain and the communication system; communication connection with a remote commander can be designed, and 5G communication can be selected. The ground controller 25 may be generic to or integral with the flight control station 18 on the truck as shown in fig. 5.

Description of the preferred embodiments

Case 1, fire-fighting operation with extinguishing agent for multi-gyroplane 23

A multi-rotor aircraft 23 is designed, and the maximum takeoff weight is 300kg, so that the multi-rotor aircraft carries fire extinguishing agent 100k. Suitable fire extinguishing agents are 7 fluoropropane, or aerosols. The parameters of the airborne fire extinguishing system are that the pressure of the air cylinder of 7 fluoropropane is 2.4-5.6Mpa, and the pressure of the air cylinder of aerosol is 30Mpa. Can be used for various fire-fighting types with fire extinguishing space of about 300-500m3.

The rotor arm 4 of the multi-rotor aircraft 23 is folded and then mounted on the parking platform 24 of the fire-fighting power supply vehicle 21, and is fastened by a multi-claw compression bar. And (5) loading the fire-fighting equipment to the high-rise fire-fighting site, and setting and binding preset flight parameters according to the obtained fire-fighting site conditions. After arriving at the scene, the hybrid loader remains in a non-flameout state, the firefighter deploys the rapidly folded rotor arms 4 of the multi-rotor aircraft 23 on the parking platform 24, and simultaneously, the combined cable connecting the power cable communication cable and the mooring rope deploys the retractable spray bar 11 and tightens the bar joint, checking the mechanical installation tightening state of the window breaker 15. The rotor power is started, the working parameters of the multi-rotor machine 23 and the power supply vehicle are checked by power-up through a ground controller, and the flight parameters are preset. About 3 minutes ready. According to the power supply requirement of the loading weight of the fire extinguishing agent, the fire extinguishing agent can be supplied with power in a supplementary way along with a special high-power supply vehicle or connected with an urban industrial power supply.

The commander issues a take-off command. The multi-gyroplane 23 is lifted off, and the multi-gyroplane 23 is controlled to be lifted vertically according to relative navigation with the position of the fire-fighting power supply vehicle 21. On the prefabricated height of about 120m, short wave infrared videos, namely, capturing and identifying the fire smoke floor window by a camera, automatically adjusting the flying height, the height of the window and the like by tracking and guiding the multi-rotor aircraft 23, hovering, prompting ground personnel through a flashing light, and displaying the reaching operation height on a ground controller display. The commander issues a command for job start. The multi-rotor aircraft 23 automatically slows down the moving speed before moving to approach the rescue balcony, and a mask rescue bag is mounted on the broken window ring 1 at the front end of the spray rod 11 to be transmitted to balcony personnel, and the operations are transmitted to a ground controller display through videos. The multi-gyroplane 23 is transferred to a balcony bulkhead window, the speed is slowed down and the window is abutted against the window, after the window breaking rod is abutted against the window, the pressure sensor starts the window breaking device 15 to pulse to strike the window glass, and meanwhile, the window breaking ring 1 rotates to perform multi-point striking. The broken window glass falls off quickly, the pressure of the broken window ring 1, which is pressed against the window while protruding into the window, disappears, and the fire extinguishing agent is automatically sprayed in the sequence of remote spraying and then near spraying, and the fire extinguishing agent is automatically sprayed for about 10 seconds according to the preset spraying time. The multi-gyroplane 23 automatically exits the window hole and moves away from the building.

In the blowing of strong wind of the building group, the multi-rotor aircraft 23 descends steadily and descends slowly on the parking platform 24. After the firefighter properly moves, the multi-claw compression bar is quickly started, and the lifting bracket 14 is fastened. The firefighters are disconnected from the connection, the folding rotor arm 4 is completed, the loading truck extinguishes, and other firefighters check and handover the rescue and firefighting sites to complete the removal of the firefighting sites. The commander orders to withdraw from the scene to end the fire-fighting task.

Case 2, operation of multiple gyroplanes 23 with ground delivery pipe extinguishing agent

The states of the multi-gyroplane 23 and the fire power supply vehicle 21 are the same as in case 1. Wherein the fire suppressant container in the shipping vehicle is loaded with about 2000kg of 7 fluoropropane fire suppressant.

After the fire-fighting power supply vehicle 21 arrives at the fire scene, the multi-gyroplane 23 is deployed and inspected as in case 1. Wherein the firefighter connects the duct of the first spool and the power supply cable communication cable connector to the multi-gyroplane 23, the duct length is approximately 50m, and the duct is bundled with the power supply cable and the mooring line. The multi-gyroplane 23 is lifted to a height of about 40m, the firefighter releases the remaining delivery tube and connects the connector to the delivery tube connector of the second spool, and is lifted to a height of about 90m, connecting the third spool. Multi-gyroplane 23 is eventually raised to a predetermined height of about 120m and automatically adjusted to the working height as in case 1 by the video recognition and tracking guidance program. And the ground firefighter connects the inlet end of the conveying pipe of the third wire spool with the fire extinguishing agent container interface to prepare for conveying the fire extinguishing agent.

The commander commands the pressurizing operation of the fire extinguishing agent container, and the pressurizing is ready. The commander commands to start pressurized delivery, the electric valve starts the extinguishing agent to flow into the delivery pipe, and after a few seconds of time delay, the onboard pressurized gas cylinder 13 on the multi-rotor aircraft 23 starts a valve in a small pressure state, so that a certain vacuum degree is caused on the delivery pipe, and the extinguishing agent is helped to rise smoothly. When the fire extinguishing agent fills the first set of fire extinguishing agent cylinders, the fire extinguishing agent is automatically pressurized to the index and automatically switched to delivering the fire extinguishing agent to the second set of fire extinguishing agent cylinders, and meanwhile, the multi-gyroplane 23 is moved to press against the fire extinguishing window, and the window breaking operation is started. The second set of fire suppressant cylinders is filled and pressurization is automatically completed at the same time as the first set of fire suppressant cylinders is started to spray. The second group takes over the first group for continued injection. After the fire-fighting operation is completed at the predetermined spraying time, the multi-gyroplane 23 is withdrawn and transferred to the open place of the high building, automatically descends and stably descends onto the parking platform 24. In the landing process, the ground firefighter starts to withdraw the conveying pipe in sections, and recovers the conveying pipe by using the electric control wire reels until all 3 wire reels withdraw the conveying pipe and complete placement and fastening, wherein the fire extinguishing agent remaining in the conveying pipe is recovered by using the fire extinguishing agent ground recovery container.

The other subsequent withdrawal operations are the same as in case 1.

Case 3, typical military maritime application of the same class of multi-gyroplanes 23

The performance index of the multi-rotor aircraft 23 can be selected to be 100kg of maximum takeoff weight, 50kg of carrying mission load and power supply from the ground or a mobile vehicle or ship. Larger multi-gyroplanes 23 may also be selected. The multi-rotor aircraft 23 is designed to be protected from rain, ice, etc. The wind resistance and the breaking resistance can be enhanced by the composite connection of the power supply cable and the communication cable and the mooring rope.

Battle array air defense (early warning, scouting)

In a temporary army parking area, such as a missile battle field, an armor battle field, a multi-gyroplane 23 may be optionally used to perform a diurnal duty.

A reconnaissance camera is arranged on the abdomen of the multi-rotor aircraft 23, a weapon hanging rack can be selected, and a servo mechanism which can two-dimensionally follow up a camera stabilized aiming tracking system is designed for the weapon hanging rack, so that the weapon can rotate or pitch along with the pointing direction of the camera. The weapon hanging rack carries a small infrared probe missile or a common rocket projectile, and can also be hung with a gun closing machine or a voice horn/recording broadcast.

After the camera detects the target, the camera automatically starts the recognition and tracking, and alarms the operator on duty through the communication cable. The weapon may be fired, or a voice warning may be issued, depending on the instructions of the attendant.

Airport anti-terrorism

On a building with an open airport sight, the multi-rotor aircraft 23 is lifted off duty and is connected with the ground through a power supply cable communication cable. The electro-optic nacelle and the following load pylon are mounted on the belly of the multi-gyroplane 23. Optional loads include strong electromagnetic disruptors, laser disruptors, and the like.

The nacelle finds and identifies the targets in the air, especially the landing airlines, which illegally enter the airport airspace, and then gives an alarm to the ground. The load device may be activated to perform a drive or a hit according to an attendant instruction. Meanwhile, the ground pilot vehicle is arranged to go to the lower part of the target airspace for standby, and once the condition of striking occurs, ground objects are removed in time.

Front lightning detection device

The army can perform the mine exploration task for the armed police to expel the mine from the road, and the multi-rotor aircraft 23 can be selected. The radar is installed on the belly of the multi-rotor aircraft 23, and after a target is found, the radar can be detonated according to command of a commander. When the mine explosion forms a shock wave, the multi-rotor aircraft 23 receives and processes the signals of the pressure sensors, and the pressure sensors are rapidly lifted and retracted, so that the danger is avoided.

Chemical-resistant sampling

After the chemical defense vehicle arrives at the pollution area, the multi-rotor aircraft 23 is released to lift off, and the chemical defense vehicle is accompanied with the low-altitude sampling operation.

5) Ship early warning

A sea police or marine vessel may carry multi-gyroplanes 23 out of the sea. The multi-rotor aircraft 23 takes off in the target sea area, and the surrounding sea area is detected to provide early warning for the ship at the height of 300-1000m above the advancing ship. The mission load carried by the multi-gyroplane 23 accompanying the ship is mainly to identify the electro-optical nacelle which is 50km away, and the weight is about 100kg.

The reloading multiaxial rotorcraft is also suitable for military, battlefield (street battle), battle field, command center, airport, base, storehouse and other fixed sites, and needs to execute warning monitoring and air defense duty for a long time, defend against enemy unmanned aerial vehicle approaching reconnaissance or bombing, and the multiaxial rotorcraft is loaded with video and small-sized missiles with the action distance of 2-5km. Long-term monitoring and defence.

Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.

Claims

1. A design method of a fire protection system of a multi-rotor unmanned aerial vehicle is characterized by comprising the following steps: the multi-rotor unmanned aerial vehicle fire control system is designed to be composed of five parts of a multi-rotor unmanned aerial vehicle (23), an airborne control system, an airborne fire extinguishing load system, a fire-fighting power supply vehicle (21) and a ground controller (25); the multi-rotor aircraft (23) is responsible for lifting off to implement fire-fighting operation, an airborne control system is installed in the multi-rotor aircraft (23) to control the whole operation process, the airborne fire-fighting load system is used for implementing fire-fighting operation, the fire-fighting power supply vehicle (21) is configured on the ground to be responsible for supplying power and delivering fire extinguishing agent and is also used for loading and transporting the multi-rotor aircraft (23), and the ground controller (25) is responsible for fire-fighting site to be used for operation;

an on-board fire suppression load system comprising: the fire extinguishing agent component system is characterized in that the fire extinguishing agent gas cylinder component is filled and pressurized in turn and sprayed in turn; a pipeline valve or electric gate; the fire extinguishing agent spraying rod and the nozzle are designed to be of a telescopic spraying rod structure and are arranged on a main bearing structure of the multi-rotor aircraft, the nozzle is of a far-near combined structure, one gear is a bunching nozzle suitable for long-distance spraying, and the other gear is a diffusion nozzle suitable for short-distance spraying; the fire extinguishing bomb and the launching mechanism thereof are arranged on the fire extinguishing agent spraying rod; the window breaking subsystem comprises a window breaking device, wherein the window breaking device is arranged on a window breaking ring, the window breaking ring is arranged at the front end of a window breaking rod or a jet rod and drives the window breaking device to rotate, and the window breaking device is arranged on more than one window breaking ring; the broken window ring is connected with a ring shaft sleeve through a ring spoke and is fastened on the anti-jamming falling mechanism, and the ring shaft sleeve is arranged at the front end of the injection rod; the outer end of the window breaker is hung with a life-saving bag and an emergency falling mechanism to prevent unmanned reception from obstructing the window breaking; the lifesaving package subsystem comprises a lifesaving package; the information subsystem comprises a detection device which is arranged on the outer end structure of the injection rod, the window breaking rod or the pushing rod and used for acquiring field information, and the detection device comprises a field short wave infrared video, infrared illumination, a broadcasting and microphone of a communication system, a field demonstration display screen and an auxiliary observation of a high-order video and an illumination lamp around a fire scene;

the layout design of lift rotor motor is single-layer overall arrangement or bilayer overall arrangement, including the symmetrical overall arrangement of 6 rotors of individual layer, and bilayer overall arrangement is the longer overall arrangement of rotor arm of upper rotor, and bilayer overall arrangement's structure is the variable structure of interval adjustable between the rotor arm of upper rotor and lower floor's rotor.

2. Many rotor unmanned aerial vehicle fire extinguishing systems, its characterized in that: the system consists of five parts, namely a multi-rotor aircraft (23), an airborne control system, an airborne fire extinguishing load system, a fire-fighting power supply vehicle (21) and a ground controller (25); the multi-rotor aircraft (23) is respectively connected with a rotor arm (4) structure, a lift rotor motor and a rotor, a side force rotor motor and a rotor, a power supply or a generator, a power supply management converter, an onboard control system cabin (7), a lifting bracket (14) structure, a fire extinguishing agent container, a pressurized gas cylinder (13) or a pressurized pump for spraying the fire extinguishing agent, a ground conveying pipeline of the fire extinguishing agent and a spraying rod (11) for fire-fighting operation by a main bearing structure; the main bearing structure and the structural members including the fire extinguishing agent container or the gas cylinder group are made of fireproof composite materials;

3. The multi-rotor unmanned aerial vehicle fire protection system of claim 2, wherein: the said airborne control system is connected with each subsystem device and controls and manages by the comprehensive management computer, each subsystem device includes:

1) The system comprises a sensor combination and flight control subsystem, wherein the equipment comprises a multi-rotor aircraft (23) navigation positioning and relative positioning with a ground fire-fighting power supply vehicle (21), an anti-collision sensor combination and anemometer (5), a flight control system, an air-ground data link and an emergency instruction packet;

2) The power energy subsystem comprises a power battery pack, a power supply converter, a control executing mechanism of a high-pressure gas cylinder or a booster pump and a control mechanism of a power supply management converter;

3) The fire-fighting load subsystem belongs to equipment comprising a window breaker (15) and a control mechanism thereof, a life-saving bag delivery control mechanism, a fire extinguishing agent filling and spraying pressure control mechanism, a fire extinguishing agent nozzle (9) control mechanism, a control mechanism of a fire extinguishing agent spraying rod (11) and a ground power supply conveying pipe cable;

4) The communication subsystem belongs to equipment comprising a field video and an automatic identification and locking tracking servo control mechanism for an expected target; an illuminating lamp and a pointing control mechanism; a broadcast and microphone (2); a field demonstration display screen;

5) The protection subsystem comprises protection installation of an onboard control system, a discharge brush and a ground mooring rope.

4. The multi-rotor unmanned aerial vehicle fire protection system of claim 2, wherein: the airborne fire extinguishing load system consists of the following fire extinguishing operation subsystems:

1) The fire extinguishing agent subsystem belongs to equipment which comprises a fire extinguishing agent container or a gas cylinder group, a pressurized gas cylinder or a pressurizing pump, a pipeline valve or an electric valve, a fire extinguishing agent spraying rod (11) and a nozzle (9);

2) The window breaking subsystem belongs to equipment which comprises a window breaking device (15) and a mechanical arm or a window breaking rod for installing the window breaking device (15);

3) The lifesaving package subsystem belongs to equipment comprising a lifesaving package pushing rod;

4) The information subsystem comprises a plurality of detection devices for acquiring field information, wherein the detection devices comprise a field video, an illuminating lamp, a broadcasting and microphone, a field demonstration display screen, a high-level video (6) for assisting in observing a fire scene and an enhanced illuminating lamp, and the outer ends of the injection rod (11) or the window breaking rod or the pushing rod are arranged at the outer ends of the equipment.

5. The multi-rotor unmanned aerial vehicle fire protection system of claim 2, wherein: the fire-fighting power supply vehicle (21) comprises the following functional subsystems,

1) A loading vehicle subsystem, the equipment comprises a loading vehicle with a light chassis refitted or completely new design, a parking platform (24) of a multi-rotor aircraft (23) on the loading vehicle and a fastening mechanism;

2) The fire extinguishing agent subsystem belongs to equipment which comprises a fire extinguishing agent container, a pressurized gas cylinder or a pressurizing pump, a fire extinguishing agent conveying pipe (22) and a conveying pipe connector (12), a conveying pipe wire reel and a control mechanism;

3) A control subsystem, wherein the equipment comprises a multi-gyroplane (23) flight control console, a shipping car navigation system, an instruction data chain, a communication system, a power supply system and a power supply converter (19);

4) The emergency control subsystem belongs to equipment comprising an actuating mechanism for emergency shutdown of a power supply air source, and an emergency mooring rope and an obstacle removing shovel of the multi-rotor aircraft (23) on a shipping truck.

6. The multi-rotor unmanned aerial vehicle fire protection system of claim 2, wherein: the ground controller (25) comprises a flight controller of the multi-gyroplane (23), a power cable and an information cable which are connected with the fire-fighting power supply vehicle (21), and a wireless data chain or 5G communication device which coexists with the information cable; the flight controller and the flight control console are universal or combined into a whole.