CN-115432182-B - Unmanned aerial vehicle for fire control

CN115432182BCN 115432182 BCN115432182 BCN 115432182BCN-115432182-B

Abstract

The application relates to a fire-fighting unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a fire-fighting assembly, a plurality of telescopic pieces, a main controller and a detection piece. The fire control subassembly and a plurality of extensible members all set up in the below of unmanned aerial vehicle body, and the relative both ends of every extensible member articulate respectively in unmanned aerial vehicle body and fire control subassembly. The main controller is arranged on the unmanned aerial vehicle body. The detection piece is arranged on the fire-fighting assembly and is electrically connected to the main controller, and the detection piece is used for detecting the position information of the fire-fighting assembly. The main controller is electrically connected with the telescopic piece and is used for controlling the length of the telescopic piece according to the position information of the fire-fighting assembly in real time so as to adjust the pose of the fire-fighting assembly and enable the fire-fighting assembly to be in a horizontal state. The unmanned aerial vehicle has the advantages of good stability, safety, reliability, uninterrupted operation and large load.

Inventors

JIAN LINNI
WANG YONGZHI
ZHAO QINGYU
Niu Songyan
YU HANG

Assignees

南方科技大学嘉兴研究院

Dates

Publication Date: 20260512
Application Date: 20220928

Claims (10)

1. A fire fighting unmanned aerial vehicle for high altitude extinguishment, comprising: an unmanned aerial vehicle body; the fire fighting assembly and the telescopic pieces are arranged below the unmanned aerial vehicle body, and the opposite ends of each telescopic piece are respectively hinged to the unmanned aerial vehicle body and the fire fighting assembly; a main controller arranged on the unmanned aerial vehicle body, and The detection piece is arranged on the fire-fighting assembly and is electrically connected with the main controller, and the detection piece is used for detecting the position information of the fire-fighting assembly; The main controller is electrically connected with the telescopic piece and is used for receiving detection signals of the detection piece in real time, judging whether the fire-fighting assembly is in a horizontal stable state, if not, calculating a mathematical model required for stabilizing the fire-fighting assembly, and adjusting the length of the telescopic piece, so that the unmanned aerial vehicle body is inclined forwards to generate a horizontal forward component force to resist recoil force generated by the fire-fighting assembly due to forward water spraying, and adjusting the pose of the fire-fighting assembly to enable the fire-fighting assembly to be in a horizontal state; The unmanned aerial vehicle body comprises a body, rotor wing arm assemblies connected to the body, and a plurality of first rotor wing assemblies which are arranged on the rotor wing arm assemblies and correspond to the telescopic pieces one by one; opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire fighting assembly; the rotor arm assembly includes two first arms located on opposite sides of the fuselage in a first direction and extending in a second direction, and two second arms extending in the first direction; the fire-fighting assembly comprises a main body, a fire-fighting assembly and a fire-fighting assembly, wherein the two longitudinal ends of one second arm are respectively connected with one side of the two first arms along the second direction, the two longitudinal ends of the other second arm are respectively connected with the other side of the two first arms along the second direction, the fire-fighting assembly extends along the second direction and is positioned below the main body, and the first direction and the second direction are intersected.
2. The fire unmanned aerial vehicle of claim 1, wherein the first rotor assembly and the telescoping member are each provided with four; the joint of the first arm and the second arm is provided with a first rotor wing assembly.
3. The fire fighting unmanned aerial vehicle of claim 2, wherein the first rotor assembly comprises a connection mount provided at the junction of the first arm and the second arm and at least one first electric blade located outside the connection mount; One end of each telescopic piece far away from the fire-fighting assembly is hinged to the bottom of the connecting seat of the corresponding first rotor assembly.
4. The fire unmanned aerial vehicle of claim 3, wherein the connection base is provided with a secondary controller; the secondary controllers are in one-to-one correspondence with the first rotor wing assemblies and are respectively and electrically connected with the main controllers and the corresponding first rotor wing assemblies.
5. The fire unmanned aerial vehicle of claim 4, wherein the connection base is further provided with a speed adjusting member for adjusting the rotational speed of the first electric blade and electrically connected to the adjacent sub-controller.
6. The fire fighting unmanned aerial vehicle of claim 1, wherein the rotor arm assembly further comprises two third arms, one third arm being connected to each first arm, a second rotor assembly being provided at an end of the third arm remote from the corresponding first arm.
7. The fire fighting unmanned aerial vehicle of claim 6, wherein a plane parallel to the first direction and parallel to the second direction is defined as a first plane; the third arm forms a preset included angle with the first plane.
8. The fire fighting unmanned aerial vehicle of claim 7, wherein each of the second rotor assemblies includes a drive member provided to the corresponding third arm, and two second electric paddles spaced apart along a third direction; The two second electric paddles are coaxially arranged at the output end of the driving piece so as to rotate under the driving of the driving piece.
9. The unmanned fire fighting vehicle of any one of claims 1 to 8, wherein the fire fighting assembly comprises a water pump, a water pump motor, a water spray faucet and a fire hose, the water pump is connected with the water pump motor, a water pump outlet and a water pump inlet are arranged on the water pump, the fire hose is communicated with the water pump inlet, and the water spray faucet is communicated with the water pump outlet.
10. The fire unmanned aerial vehicle of claim 9, wherein the fire unmanned aerial vehicle is further provided with a mooring cable, the water pump motor is provided with a transformer, and the main controller and the transformer are respectively electrically connected with the mooring cable.

Description

Unmanned aerial vehicle for fire control Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a fire-fighting unmanned aerial vehicle. Background With the wide application of unmanned aerial vehicle technology in various industries in modern society, unmanned aerial vehicle combines with traditional technology, improves the weakness of traditional technology and has become the necessary trend of industry development. At present, the unmanned aerial vehicle technology is applied to fire rescue work, and has very important practical significance in the aspects of improving rescue efficiency, rescue safety and the like. However, the existing fire-fighting unmanned aerial vehicle is difficult to overcome shaking or tilting caused by recoil force during water spraying operation, and has poor stability. Disclosure of Invention Based on the problems, the operation of the existing fire-fighting unmanned aerial vehicle is unstable, and the fire-fighting unmanned aerial vehicle with good stability, safety and reliability is provided. A fire fighting unmanned aerial vehicle for high altitude extinguishment, comprising: an unmanned aerial vehicle body; the fire fighting assembly and the telescopic pieces are arranged below the unmanned aerial vehicle body, and the opposite ends of each telescopic piece are respectively hinged to the unmanned aerial vehicle body and the fire fighting assembly; a main controller arranged on the unmanned aerial vehicle body, and The detection piece is arranged on the fire-fighting assembly and is electrically connected with the main controller, and the detection piece is used for detecting the position information of the fire-fighting assembly; the main controller is electrically connected with the telescopic piece, and is used for controlling the length of the telescopic piece according to the position information of the fire-fighting assembly in real time so as to adjust the pose of the fire-fighting assembly and enable the fire-fighting assembly to be in a horizontal state. In one embodiment, the unmanned aerial vehicle body comprises a body, rotor arm assemblies connected to the body, and a plurality of first rotor assemblies arranged on the rotor arm assemblies and in one-to-one correspondence with the telescopic pieces; the opposite ends of each telescopic piece are respectively hinged to the corresponding first rotor wing assembly and the corresponding fire fighting assembly. In one embodiment, the rotor arm assembly includes two first arms located on opposite sides of the fuselage in a first direction and extending in a second direction, and two second arms extending in the first direction; the fire-fighting assembly comprises a main body, a fire-fighting assembly and a fire-fighting assembly, wherein the two longitudinal ends of one second arm are respectively connected with one side of the two first arms along the second direction, the two longitudinal ends of the other second arm are respectively connected with the other side of the two first arms along the second direction, the fire-fighting assembly extends along the second direction and is positioned below the main body, and the first direction and the second direction are intersected. In one embodiment, the first rotor assembly and the telescoping member are each provided with four; the joint of the first arm and the second arm is provided with a first rotor wing assembly. In one embodiment, the first rotor assembly comprises a connecting seat arranged at the joint of the first arm and the second arm and at least one first electric blade positioned outside the connecting seat; One end of each telescopic piece far away from the fire-fighting assembly is hinged to the bottom of the connecting seat of the corresponding first rotor assembly. In one embodiment, the secondary controller is arranged on the connecting seat; the secondary controllers are in one-to-one correspondence with the first rotor wing assemblies and are respectively and electrically connected with the main controllers and the corresponding first rotor wing assemblies. In one embodiment, the connecting seat is further provided with a speed adjusting member, and the speed adjusting member is used for adjusting the rotating speed of the first electric blade and is electrically connected with the adjacent secondary controller. In one embodiment, the rotor arm assembly further comprises two third arms, each of the first arms is connected with one of the third arms, and a second rotor assembly is arranged at one end of the third arm away from the corresponding first arm. In one embodiment, a plane parallel to the first direction and parallel to the second direction is defined as a first plane; the third arm forms a preset included angle with the first plane. In one embodiment, each second rotor assembly includes a driving member provided to the corresponding third arm, and two second electric blades spaced apart