CN-122008315-A - Roof rotation telescopic mechanical arm collaborative fire-fighting unmanned aerial vehicle fire extinguishing system and control method

CN122008315ACN 122008315 ACN122008315 ACN 122008315ACN-122008315-A

Abstract

The invention discloses a fire extinguishing system of a roof rotary telescopic mechanical arm collaborative fire-fighting unmanned aerial vehicle and a control method, belongs to the technical field of building fire-fighting and intelligent equipment, and aims to solve the problems of limited coverage range, difficult continuous water supply, insufficient stability of an aerial water supply path, limited anti-overturning capacity of roof cantilever operation and the like in extinguishment of high-rise and super high-rise building facades. According to the scheme, the rotatable and telescopic mechanical arm is arranged on the building roof, the water supply path and the tail end water receiving structure are integrated in the system, and the stable water receiving, continuous water supply and linkage operation with the fire unmanned aerial vehicle are realized by combining the multi-point stable support, the balance weight and the cooperative control mechanism. The control method can complete the procedures of fire point positioning, operation posture adjustment, connection water supply, abnormality monitoring, operation recovery and the like, thereby improving the covering capacity, continuous operation capacity, operation stability and overall safety of extinguishment of the outer facade of the high-rise building.

Inventors

HUANG JING
Tan Xuntian
SUN ZHIJIE
WANG FU

Assignees

深圳翼星消防科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. The fire extinguishing system of the roof rotary telescopic mechanical arm collaborative fire unmanned aerial vehicle is characterized by comprising a roof fixed base, a rotary mechanism, a telescopic mechanical arm, a water supply pipeline component, a tail end water receiving structure, a stable supporting mechanism, a balance weight mechanism and a control module; The roof fixing base is fixedly arranged in a bearing area of a building roof; the slewing mechanism is arranged on the roof fixed base; The telescopic mechanical arm is arranged on the rotating mechanism and can extend or retract along the length direction of the telescopic mechanical arm, and the rotating mechanism is used for driving the telescopic mechanical arm to circumferentially rotate relative to the roof fixed base; the water supply pipeline assembly is communicated with a roof water supply system, and at least partially arranged inside the telescopic mechanical arm and used for conveying fire extinguishing medium; The tail end water receiving structure is arranged at the front end of the telescopic mechanical arm, is communicated with the water supply pipeline assembly and is used for being connected with a water inlet interface or a transition connecting pipe at the upper end of the external flight fire extinguishing unit so as to establish a water supply passage; The stable supporting mechanism is arranged on the periphery of the roof fixed base and is used for being unfolded to form a multi-point support in a working state; The balance weight mechanism is arranged at the tail part of the slewing mechanism and is used for carrying out balance compensation on overturning moment generated by the load at the front end of the telescopic mechanical arm; The control module is connected with the slewing mechanism, the telescopic mechanical arm, the stable supporting mechanism and the balance weight mechanism, and is used for controlling the slewing and the telescopic mechanical arm, the unfolding and the folding of the stable supporting mechanism and controlling the balance weight mechanism to be adjusted when the balance weight mechanism is an adjustable weight mechanism, and the control module is also used for controlling a roof water supply system to supply fire extinguishing medium to the external flying fire extinguishing unit through the water supply pipeline assembly after confirming that the connection state of the tail end water receiving structure meets the water supply requirement and the stable supporting mechanism meets the preset stable condition.
2. The roof swing telescopic mechanical arm collaborative fire unmanned aerial vehicle fire extinguishing system according to claim 1, wherein the swing mechanism comprises a slewing bearing, a swing platform and a swing driving mechanism, the telescopic mechanical arm is mounted on the swing platform, and the swing driving mechanism is used for driving the swing platform to rotate around a vertical axis.
3. The fire extinguishing system of the roof rotary telescopic mechanical arm collaborative fire unmanned aerial vehicle according to claim 1, wherein the telescopic mechanical arm is of a multi-stage telescopic structure and comprises a root arm section, a middle arm section and a front end arm section, adjacent arm sections are matched through a guide sliding structure to achieve extension and recovery of the telescopic mechanical arm along the length direction, a guide space extending along the arm length direction is formed inside the telescopic mechanical arm, and the water supply pipeline assembly is at least partially arranged in the guide space.
4. The fire extinguishing system of the roof rotary telescopic mechanical arm collaborative fire unmanned aerial vehicle according to claim 3, wherein the water supply pipeline component comprises a fixed pipe section and a telescopic pipe section capable of moving telescopically relative to the fixed pipe section, a guide structure, a limiting structure and a sealing structure are arranged between adjacent pipe sections, a synchronous adjusting mechanism is arranged in the telescopic mechanical arm and is in transmission connection with the water supply pipeline component and used for driving the telescopic pipe section to synchronously stretch out and draw back when the telescopic mechanical arm stretches out or recovers, and the synchronous adjusting mechanism adopts a gear-rack transmission mechanism.
5. A roof swing telescopic mechanical arm co-fire unmanned aerial vehicle fire extinguishing system according to claim 3, wherein the terminal water receiving structure comprises a water outlet connector arranged at the terminal end of the front end arm section, the water outlet connector is communicated with the water supply pipeline assembly, and the water outlet connector is connected with a water inlet connector or a transition adapter of the upper end of the external flying fire extinguishing unit through a quick plugging structure, a threaded connection structure, a clamp connection structure or a sleeved sealing structure.
6. The fire extinguishing system of the roof rotary telescopic mechanical arm collaborative fire unmanned aerial vehicle according to claim 1, wherein the stable supporting mechanism comprises a plurality of supporting legs distributed along the circumferential direction of the roof fixed base, each supporting leg can be switched between a furled state and a unfolded state, the tail end of each supporting leg is provided with a leveling structure and an anchoring structure, each supporting leg or the roof fixed base is provided with a load detection unit, and the control module judges whether the system meets a preset stable condition according to the detection result of the load detection unit.
7. A roof swing telescopic mechanical arm collaborative fire unmanned aerial vehicle fire extinguishing control method based on the system of any one of claims 1 to 6, comprising the following steps: Receiving fire alarm information and determining azimuth information and height information of a fire point on an outer elevation of a building; Controlling the stable supporting mechanism to be unfolded, and confirming that the stable supporting mechanism reaches a preset stable state; Controlling the rotation of the slewing mechanism and controlling the extension of the telescopic mechanical arm to enable the tail end water receiving structure to reach the target operation position; Guiding the fire-fighting unmanned aerial vehicle to fly against the front end of the telescopic mechanical arm, and enabling a water inlet interface or a transition connecting pipe at the upper end of the fire-fighting unmanned aerial vehicle to be connected with the tail end water receiving structure; After confirming that the stable supporting mechanism meets a preset stable condition and the connection state of the tail end water receiving structure meets a water supply requirement, starting water supply to enable fire extinguishing medium to be conveyed to the fire-fighting unmanned aerial vehicle through the water supply pipeline component; In the fire extinguishing process, monitoring a supporting state, a mechanical arm posture, water supply pressure, wind speed and a connecting state, and adjusting a slewing mechanism, a telescopic mechanical arm, a balance weight mechanism and water supply parameters according to monitoring results; when the fire is weakened, the fire is extinguished or an abnormal working condition occurs, water supply is stopped, the connection is disconnected, the telescopic mechanical arm is recovered, the balance weight mechanism is reset, and the stable supporting mechanism is folded.
8. The fire extinguishing control method of the collaborative fire-fighting unmanned aerial vehicle by using the roof-turning telescopic mechanical arm according to claim 7, wherein a target rotation angle of the turning mechanism, a target extension amount of the telescopic mechanical arm and a target approaching position of the fire-fighting unmanned aerial vehicle are calculated according to the azimuth information and the height information.
9. The fire extinguishing control method of the roof rotary telescopic mechanical arm collaborative fire-fighting unmanned aerial vehicle according to claim 7 is characterized in that the starting of water supply comprises starting water supply when the stable supporting mechanism meets a preset stable condition and the connection state of the tail end water receiving structure meets a water supply requirement, limiting the telescopic mechanical arm to continue to extend and stop water supply when the condition of wind speed overrun, support abnormality, water supply pressure abnormality, mechanical arm posture abnormality or connection state abnormality is detected, disconnecting the tail end water receiving structure and the fire-fighting unmanned aerial vehicle when abnormality continues or reaches a preset threshold value, controlling the fire-fighting unmanned aerial vehicle to be separated, and recovering the telescopic mechanical arm and collecting the stable supporting mechanism after the fire-fighting unmanned aerial vehicle is separated.
10. The fire extinguishing control method of the roof swing telescopic mechanical arm collaborative fire unmanned aerial vehicle according to claim 7, wherein before the swing mechanism is controlled to rotate and the telescopic mechanical arm is controlled to extend, the fire extinguishing control method further comprises the steps of pre-adjusting the balance weight mechanism according to the target rotation angle, the target extending amount and the predicted front end load, and confirming whether the system meets the condition of entering the working condition according to the detection result of the load detection unit.

Description

Roof rotation telescopic mechanical arm collaborative fire-fighting unmanned aerial vehicle fire extinguishing system and control method Technical Field The invention relates to the technical field of building fire control and intelligent equipment, in particular to a roof fixed fire control system suitable for extinguishment of outer vertical surfaces of high-rise and super-high-rise buildings and a control method thereof, and particularly relates to a fire extinguishing system and a control method adopting a roof rotary telescopic mechanical arm, a water supply pipeline assembly and a tail end water receiving structure and cooperatively operating with a fire-fighting unmanned plane. Background The fire disaster of the outer facade of the high-rise and super high-rise buildings has the characteristics of high fire point height, high spreading speed, limited effective range of the traditional ground fire-fighting equipment and the like, so that the existing fire-extinguishing means have the defects in coverage range, continuous water supply capacity and accurate control capacity. In the prior art, CN202105349U discloses a roof fire-fighting system, which implements fire extinguishment to the outer facade of a building through a roof window cleaning machine, a cross arm, a mechanical arm and a fire-fighting water monitor, and supplies water through a roof fire-fighting pool. The scheme has embodied the basic thinking of roof installation, cantilever crane extension and outer facade fire extinguishing, but its water supply mode mainly relies on the fire hose, and focus on with fire water cannon send to the target area, does not disclose the integrated structure scheme of arranging the water supply line subassembly in the inside flexible arm of gyration, does not also disclose the system scheme of carrying out terminal water connection with fire control unmanned aerial vehicle. In addition, CN207687495U discloses a fire-fighting telescopic water pipe, which realizes telescopic water supply through a fixed pipe joint, a plurality of telescopic pipe joints, a joint sleeve and a sealing ring, and the telescopic water pipe body is not in a blank direction, but the scheme mainly aims at the structure and sealing expansion of the water pipe, and does not relate to a roof fixed base, a rotary mechanical arm, terminal aerial butt joint and an unmanned aerial vehicle collaborative fire extinguishing scene. In the aspect of continuous water supply of unmanned aerial vehicles, CN207822332U discloses a continuous water supply device of a fire-fighting unmanned aerial vehicle special for fire control, the structure of the continuous water supply device comprises a rubber hose, a telescopic pipe and other parts for continuous water supply to the fire-fighting unmanned aerial vehicle, but the water supply path of the scheme is still mainly based on a flexible pipeline, the problems that the flexible water pipe is easy to swing, easy to wind and unstable in posture when falling at high altitude are not solved, and the structural scheme that a roof fixed type rotary telescopic mechanical arm supports water supply and is connected with the fire-fighting unmanned aerial vehicle in a water receiving manner is not disclosed. In addition, CN210992732U discloses a fire-fighting unmanned aerial vehicle water supply pipe with bearing function, through setting up honeycomb gas tube outside the fire-fighting water pipe, improves the delivery pipe self-supporting ability, alleviates unmanned aerial vehicle and promotes the burden, and CN109876330A discloses a many rotor unmanned aerial vehicle fire extinguishing systems, carries out the high altitude fire extinguishing through pilot operation machine and booster cooperative lifting fire-fighting water pipe. In the foregoing technical description, the prior art has recognized that the unmanned aerial vehicle continuously supplies water and the high-altitude pipeline is stable, but the solution path is mainly concentrated on the schemes of hose bearing enhancement, multi-machine collaborative lifting and the like, and the system scheme of integrating the roof rotary telescopic mechanical arm, the water supply pipeline assembly, the multi-point unfolding support stabilizing mechanism, the balance weight mechanism and the fire-fighting unmanned aerial vehicle water receiving connection control has not been disclosed. Therefore, the prior art still needs to provide a fire extinguishing system and a control method suitable for a roof fixed installation scene, capable of improving the anti-overturning stability of the whole machine, reducing the influence of cantilever unbalanced load, realizing continuous water supply and high-efficiency collaborative operation with a fire unmanned aerial vehicle. Disclosure of Invention The invention aims to: The invention aims to provide a fire extinguishing system and a control method of a roof rotary telescopic mechanical arm collaborative fire-fighting un