Fire extinguishing device and fire fighting aircraft

Abstract

The application provides a fire extinguishing device and a fire-fighting airplane. The fire extinguishing device comprises an energy storage system, a fire extinguishing agent storage system, a spraying system, at least one gas pipeline connector, and at least one liquid pipeline connector. The energy storage system is used for providing high-pressure gas as a power source for spraying the fire extinguishing agent. The fire extinguishing agent storage system is detachably provided with at least one container for storing the fire extinguishing agent. The spraying system is used for spraying the fire extinguishing agent outside the cabin. The first end of the at least one gas pipeline connector is connected to the energy storage system, and the second end thereof is detachably connected to the at least one container. The first end of the at least one liquid pipeline connector is connected to the spraying system, and the second end thereof is detachably connected to the at least one container. The fire extinguishing device can reduce the supply environment requirement of the fire-fighting airplane and improve the supply efficiency of the fire-fighting airplane, thereby improving the rescue efficiency of the aerial fire rescue.

Description

Technical Field

[0001] The present invention belongs to the technical field of aviation firefighting, and in particular relates to a fire extinguishing device configured on a firefighting aircraft, and a firefighting aircraft. Background Art

[0002] Forests serve as a primary carbon sink, reservoir, and reservoir, crucial for achieving the dual carbon goals. As an efficient solution for forest fire management, forest firefighting and rescue efforts, with their inherent safety and efficiency, not only determine the effectiveness of forest protection, and thus the progress of carbon sequestration, but also impact carbon emissions reductions. Therefore, research on safe and efficient forest fire rescue solutions is of great practical significance and urgency.

[0003] Existing forest fire fighting solutions are mainly divided into two categories: ground rescue and aviation rescue. Among them, aviation rescue has the advantages of strong maneuverability, fast response speed, fast fire extinguishing speed, wide coverage area, separation of people and fire, and low danger. It is an effective rescue method for medium and large forest fires. At present, there are three main methods of aviation fire fighting and rescue solutions: rotorcraft dumping, fire extinguishing (water) bombs, and fixed-wing aircraft spraying. Compared with the former two, there are disadvantages such as small dosage of fire extinguishing agent for a single rescue, concentrated spraying / delivery, small fire extinguishing range, and low fire extinguishing accuracy. The rescue method of fixed-wing aircraft spraying has the advantages of large dosage of fire extinguishing agent for a single rescue, long fire extinguishing duration, and wide fire extinguishing range. Furthermore, the fire extinguishing agent storage devices of existing fixed-wing fire-fighting aircraft are mostly based on airborne fixed containers, which mainly include two supply methods: surface extraction and filling injection.

[0004] However, the surface water supply method requires a vast expanse of water near the fire site that can accommodate aircraft takeoff and landing and water collection, severely limiting the application scenarios and practicality of firefighting aircraft. The filling and injection method has disadvantages such as long filling times and low efficiency, which limits the practicality and efficiency of aerial firefighting and rescue. Furthermore, the injection systems of existing fixed-wing firefighting aircraft are primarily based on a fixed single-channel design, making the extinguishing agent's spray area and concentration susceptible to environmental factors such as wind, temperature, smoke, and tree species around the fire site, thereby affecting its firefighting effectiveness.

[0005] In order to overcome the above-mentioned defects of the existing technology, this field urgently needs an aviation firefighting technology to reduce the demand of firefighting aircraft for the supply environment, improve the supply efficiency and system reliability of firefighting aircraft, and improve the spraying accuracy of fire extinguishing agents, so as to improve the practicality, reliability and rescue efficiency of aviation firefighting and rescue. Summary of the Invention

[0006] The following is a brief summary of one or more aspects to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceivable aspects and is neither intended to identify key or critical elements of all aspects nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that will be provided later.

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention provides a fire extinguishing device for a fire-fighting aircraft, and a fire-fighting aircraft, which can reduce the fire-fighting aircraft's demand for a supply environment and improve the fire-fighting aircraft's supply efficiency and system reliability, thereby improving the practicality and rescue efficiency of aviation firefighting and rescue.

[0008] Specifically, the fire-fighting device for the fire-fighting aircraft provided in accordance with the first aspect of the present invention includes an energy storage system, a fire-extinguishing agent storage system, an injection system, at least one gas pipeline manifold, and at least one liquid pipeline manifold. The energy storage system is used to provide high-pressure gas as a power source for injecting the fire-extinguishing agent. The fire-extinguishing agent storage system is detachably mounted with at least one container for storing the fire-extinguishing agent. The injection system is used to inject the fire-extinguishing agent outside the cabin of the fire-fighting aircraft. The first end of the at least one gas pipeline manifold is connected to the energy storage system, while the second end thereof is detachably connected to the at least one container. The first end of the at least one liquid pipeline manifold is connected to the injection system, while the second end thereof is detachably connected to the at least one container.

[0009] Furthermore, in some embodiments of the present invention, the gas pipe manifold supports multi-degree-of-freedom adjustment, including vertical translation, left-right roll, front-back pitch, and / or plane rotation. Furthermore, in some embodiments of the present invention, the liquid pipe manifold supports multi-degree-of-freedom adjustment, including vertical translation, left-right roll, front-back pitch, and / or plane rotation.

[0010] Furthermore, in some embodiments of the present invention, the gas pipeline connector includes a first lifting and centering mechanism, a first hose, a first turntable, and a first centering male / female connector. The first end of the first lifting and centering mechanism is connected to the energy storage system, while the second end is connected to the first turntable, for driving the first turntable to achieve multi-degree-of-freedom adjustment, including vertical translation, left-right roll, and fore-and-aft pitch. The first end of the first turntable is connected to the first lifting and centering mechanism, while the second end is connected to the first centering male / female connector. By rotating between its first and second ends, the first turntable cooperates with the first lifting and centering mechanism to achieve multi-degree-of-freedom adjustment of the first centering male / female connector. The first centering male / female connector is detachably connected to the at least one container. The first end of the first hose passes through the first lifting and centering mechanism to connect to the energy storage system, while the second end passes through the first lifting and centering mechanism to connect to the first centering male / female connector, thereby connecting the energy storage system and the at least one container.

[0011] Furthermore, in some embodiments of the present invention, the liquid pipeline communication device includes a second lifting and centering mechanism, a second hose, a second turntable, and a second centering male / female connector. The first end of the second lifting and centering mechanism is connected to the injection system, and the second end is connected to the second turntable, which is used to drive the second turntable to achieve multi-degree-of-freedom adjustment including vertical translation, left and right roll, and front and back pitch. The first end of the second turntable is connected to the second lifting and centering mechanism, and the second end is connected to the second centering male / female connector. By rotating between its first and second ends, it cooperates with the second lifting and centering mechanism to achieve multi-degree-of-freedom adjustment of the second centering male / female connector. The second centering male / female connector is detachably connected to the at least one container. The first end of the second hose passes through the second lifting and centering mechanism to connect to the injection system, and the second end passes through the second lifting and centering mechanism to connect to the second centering male / female connector, thereby connecting the at least one container and the injection system.

[0012] Furthermore, in some embodiments of the present invention, the fire extinguishing agent storage system further includes a first mounting assembly and a second mounting assembly. The container includes an air / water inlet and a water outlet. The first mounting assembly includes a first centering male / female connector. The air / water inlet of the container is connected to the first centering male / female connector of the gas pipeline manifold via the first centering female / male connector. The second mounting assembly includes a second centering female / male connector. The water outlet of the container is connected to the second centering male / female connector of the liquid pipeline manifold via the second centering female / male connector.

[0013] Furthermore, in some embodiments of the present invention, the air / water inlet is equipped with a throttle valve. The water outlet is equipped with a servo valve. The throttle valve is arranged at the air outlet of the energy storage system. The servo valve is arranged at the second mounting assembly.

[0014] Furthermore, in some embodiments of the present invention, the bottom of the container is recessed toward the water outlet.

[0015] Furthermore, in some embodiments of the present invention, a plurality of partitions extending in different directions are provided inside the container, and each of the partitions is provided with at least one through hole.

[0016] Furthermore, in some embodiments of the present invention, the fire extinguishing agent storage system is detachably mounted with a plurality of the containers, and at least one buffer pad is provided between each of the containers.

[0017] Furthermore, in some embodiments of the present invention, the spray system includes a pan-tilt platform, a hose, and a spray gun. The spray gun is mounted on the pan-tilt platform and connected to the at least one liquid pipe manifold via the hose. The pan-tilt platform is configured to drive the spray gun to achieve multi-degree-of-freedom adjustment, including pitch and roll, and rotation.

[0018] Furthermore, in some embodiments of the present invention, the pan-tilt platform includes a pitch axis and a third turntable. The spray gun is mounted on the third turntable via the pitch axis. The pan-tilt platform drives the spray gun via the pitch axis to achieve forward and backward pitch adjustment, and drives the spray gun via the third turntable to achieve planar rotation adjustment. The pitch axis and the rotation axis of the third turntable are spatially orthogonal.

[0019] Furthermore, the firefighting aircraft provided in accordance with the second aspect of the present invention is equipped with the fire extinguishing device provided in accordance with the first aspect of the present invention. This configuration improves the firefighting aircraft's replenishment efficiency and system reliability, thereby enhancing the practicality and efficiency of aerial firefighting and rescue operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above features and advantages of the present invention will be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or characteristics may have the same or similar reference numerals.

[0021] Figure 1 A schematic structural diagram of a fire extinguishing device according to some embodiments of the present invention is shown.

[0022] Figure 2A and Figure 2BA schematic structural diagram of a gas pipeline connector provided according to some embodiments of the present invention is shown.

[0023] Figures 3A to 3C A schematic structural diagram of a liquid pipeline communication vessel provided according to some embodiments of the present invention is shown.

[0024] Figures 4A to 4D A schematic structural diagram of a container provided according to some embodiments of the present invention is shown.

[0025] Figures 5A to 5C A schematic structural diagram of an injection system provided according to some embodiments of the present invention is shown.

[0026] Figure 6 A flow chart of a control method for a firefighting aircraft according to some embodiments of the present invention is shown.

[0027] Figure 7 A flow chart of a control method for a firefighting aircraft according to some embodiments of the present invention is shown. DETAILED DESCRIPTION

[0028] The following specific embodiments illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] Furthermore, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," and "vertical" used in the following description should be understood to refer to the orientations depicted in that section and the accompanying drawings. These relative terms are used solely for convenience of description and do not necessarily imply that the devices described herein must be manufactured or operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0031] It will be understood that although the terms "first," "second," "third," etc. may be used herein to describe various components, regions, layers, and / or portions, these components, regions, layers, and / or portions should not be limited by these terms, and these terms are merely used to distinguish different components, regions, layers, and / or portions. Thus, a first component, region, layer, and / or portion discussed below may be referred to as a second component, region, layer, and / or portion without departing from some embodiments of the present invention.

[0032] As mentioned above, the fire extinguishing agent storage devices of existing fixed-wing firefighting aircraft are mostly based on airborne fixed containers, which mainly include two supply methods: surface extraction and filling injection. However, the surface extraction supply method requires a vast area of ​​water near the fire scene that meets the requirements of aircraft take-off and landing and water drawing, which seriously limits the application scenarios and practicality of firefighting aircraft. The filling injection supply method has disadvantages such as long filling time and low efficiency, which limits the practicality and rescue efficiency of aerial firefighting and rescue. In addition, the injection system of existing fixed-wing firefighting aircraft is mainly based on a fixed single-channel design, which makes the fire extinguishing agent spraying area and concentration susceptible to environmental factors such as wind field, temperature, smoke, tree species, etc. around the fire scene, thereby affecting its fire extinguishing effect.

[0033] In order to overcome the above-mentioned defects of the prior art, the present invention provides a fire extinguishing device configured for a fire-fighting aircraft, a fire-fighting aircraft, a control method for a fire-fighting aircraft, and a computer-readable storage medium, which can reduce the fire-fighting aircraft's demand for a supply environment, improve the fire-fighting aircraft's supply efficiency and system reliability, and improve the spraying accuracy of the fire-fighting agent, thereby improving the practicality, reliability and rescue efficiency of aviation firefighting and rescue.

[0034] Please refer to Figure 1 , Figure 1 A schematic structural diagram of a fire extinguishing device according to some embodiments of the present invention is shown.

[0035] like Figure 1As shown, in some embodiments of the present invention, the fire extinguishing device can be configured inside the cabin 10 of a fire-fighting aircraft and is equipped with an energy storage system, a fire extinguishing agent storage system, an injection system, at least one gas pipeline connector 14, and at least one liquid pipeline connector 15. The energy storage system is used to provide high-pressure gas as a power source for injecting fire extinguishing agent. The fire extinguishing agent storage system is detachably mounted with at least one container 121 for storing fire extinguishing agent. The injection system is used to inject fire extinguishing agent outside the cabin 10 of the fire-fighting aircraft. The first end of the at least one gas pipeline connector 13 is connected to the energy storage system, and the second end thereof is detachably connected to the air / water inlet of the at least one container 121. The first end of the at least one liquid pipeline connector 14 is connected to the injection system, and the second end thereof is detachably connected to the water outlet of the at least one container 13.

[0036] In some embodiments, the energy storage system is composed of a compressor 111, a gas pipeline 112 and a boom 113. Specifically, the compressor 111 can be fixed to the floor 101 of the aircraft cabin 10 by a hinge. The gas pipeline 112 can be fixed to the top of the aircraft cabin 10 by the boom 113, one end of which is connected to the air outlet of the compressor 111, and a plurality of air outlets are provided on the hoisting portion. Furthermore, a flange can be fixed at each air outlet of the gas pipeline 112. Each air outlet is fixedly connected to the lifting and centering mechanism of the corresponding gas pipeline connector 13 through a flange, and its inner wall is connected to the hose of the gas pipeline connector 13. Furthermore, a gas throttle valve 1121 can preferably be installed on the upper side of each air outlet of the gas pipeline 112 to independently control the gas flow input by the energy storage system to each container 121.

[0037] In some embodiments, the fire extinguishing agent storage system includes at least one container 121 for storing fire extinguishing agent. Specifically, the at least one container 121 can be removably secured to the floor 101 of the aircraft cabin 12 via a ground hinge structure, allowing for convenient installation and removal by tightening and loosening the ground hinge. Furthermore, each container 121 can be configured to conform to the cross-sectional contour of the aircraft cabin 10, such as by chamfering or rounding the outer corners of the upper end, to further increase the fire extinguishing agent storage capacity of each container 121. Furthermore, each container 121 can employ a standard modular design, allowing operators to assemble a corresponding number of containers 121 based on the severity of the fire, thereby flexibly adjusting the amount of fire extinguishing agent onboard. Furthermore, by employing this removable installation method, each fire extinguishing installation can be redundantly equipped with at least two fire extinguishing agent storage systems. While one fire extinguishing agent storage system is aboard a firefighting aircraft, the remaining fire extinguishing agent storage systems can be replenished on the ground, enabling the recycling and alternating supply of multiple fire extinguishing agent storage systems. Compared to traditional fixed water storage containers, the removable design of the container 121 significantly reduces surface replenishment time, thereby improving the firefighting efficiency of firefighting aircraft.

[0038] Furthermore, given the removable design of the container 121, the fire extinguishing agent storage system can also preferably be configured with at least one air / water inlet assembly and at least one water outlet assembly. The air / water inlet assembly is connected to the countersunk threaded hole of the air / water inlet on the top of the container 121 via sealing threads. The water outlet assembly is connected to the countersunk threaded hole of the water outlet on the bottom of the container 121 via sealing threads.

[0039] Please refer to Figure 2A and Figure 2B ,as well as Figures 3A to 3C . Figure 2A and Figure 2B A schematic structural diagram of a gas pipeline connector provided according to some embodiments of the present invention is shown. Figures 3A to 3C A schematic structural diagram of a liquid pipeline communication vessel provided according to some embodiments of the present invention is shown.

[0040] like Figure 1 、 Figure 2A and Figure 2BAs shown, in some embodiments, the first end of the gas pipeline connector 13 is connected to the corresponding gas outlet on the gas pipeline 112 of the energy storage system, and its second end is detachably connected to the air inlet / water inlet assembly of the corresponding container 121. Specifically, the gas pipeline connector 13 can include a first lifting and centering mechanism 131, a first hose 132, a first turntable 133, and a first centering female connector 134. Furthermore, the first lifting and centering mechanism 131 can be a three-degree-of-freedom servo parallel mechanism (3UPU), consisting of a base 1311, a moving platform 1312, and three retractable branches 1313. The three retractable branches 1313 drive the moving platform 1312 to achieve three-degree-of-freedom adjustment of vertical translation, left-right roll, and front-back pitch. In addition, the base 1311 of the first lifting and centering mechanism 131 can be annular and fixed to the gas pipeline 112 via a flange 1314. In the initial state where the pipeline is not connected, the three retractable branches 1313 are all at the minimum stroke. At this time, the moving platform 1312 and the base 1311 are at the minimum distance. When the first pair of centering female connectors 134 approach the air inlet / water inlet assembly and reach the initial tightening position, the three retractable branches 1313 are at the maximum stroke. At this time, the moving platform 1312 and the base 1313 are at the maximum distance. The upper end of the first hose 132 passes through the circular notch of the base 1311 of the first lifting and centering mechanism 131 and is connected to the air outlet of the gas pipeline 112, while the lower end thereof passes through the circular notch of the moving platform 1312 and is connected to the sealing card 1341 of the first pair of centering female connectors 134. The first pair of centering female connectors 134 and the sealing card 1341 maintain surface contact and support relative sliding. The first turntable 133 is connected to the movable platform 1312 of the first lifting and centering mechanism 131 via a revolute joint. The first turntable 133 can rotate about the axis of the circular notch in the movable platform 1312, thereby cooperating with the first lifting and centering mechanism 131 to achieve four-degree-of-freedom adjustment of the first centering female connector 134. Furthermore, the first centering female connector 134 can be fixed to the first turntable 133, with its axis coinciding with the rotational axis of the first turntable 133. When the first turntable 133 rotates forward about the axis of the circular notch in the movable platform 1312 to a tightened position, the first centering female connector 134 of the gas pipeline manifold 13 is threadedly connected to the corresponding air / water inlet assembly of the container 121.

[0041] The gas / water inlet assembly, corresponding to the aforementioned gas pipe manifold 13, mounted on the gas / water inlet of the container 121, includes a first centering male connector 1211 and a sealing ring 1212. Specifically, the first centering male connector 1211 can be connected to the countersunk threaded hole of the gas / water inlet on the upper portion of the container 121 via a sealing thread. The sealing ring 1212 can be installed between the locating surface of the first centering male connector 1211 and the upper surface of the countersunk threaded hole of the gas / water inlet on the upper portion of the container 121, thereby achieving a removable, airtight connection between the gas pipe manifold 13 and the container 121.

[0042] like Figure 1 、 Figures 3A to 3CAs shown, in some embodiments, the first end of the liquid pipeline connector 14 is connected to the liquid pipeline 151 of the injection system, and its second end is detachably connected to the outlet assembly of the corresponding container 121. Specifically, the liquid pipeline connector 14 can include a second lifting and centering mechanism 141, a second hose 142, a second turntable 143, and a second centering female connector 144. Furthermore, the second lifting and centering mechanism 141 can use a three-degree-of-freedom servo parallel mechanism (3UPU), which consists of a base 1411, a movable platform 1412, and three retractable branches 1413. The three retractable branches 1413 drive the movable platform 1412 to achieve three-degree-of-freedom adjustment of vertical translation, left and right roll, and front and back pitch. In addition, the base 1411 of the second lifting and centering mechanism 141 can be annular and fixed to the liquid pipeline 151 via a flange 1414. In the initial state where the pipeline is not connected, the three retractable branches 1413 are all at their minimum stroke. At this point, the movable platform 1412 is at its minimum distance from the base 1411. When the second centering female connector 144 approaches the outlet assembly and reaches its initial, tightened position, the three retractable branches 1413 are at their maximum travel. At this point, the movable platform 1412 is at its maximum distance from the base 1413. The lower end of the second hose 142 passes through the circular notch in the base 1411 of the second lifting and centering mechanism 141 and connects to the water inlet of the liquid pipeline 151. Its upper end passes through the circular notch in the movable platform 1412 and connects to the sealing clip 1441 of the second centering female connector 144. The second centering female connector 144 and the sealing clip 1441 maintain surface contact and support relative sliding. The second turntable 143 is connected to the movable platform 1412 of the second lifting and centering mechanism 141 via a revolving pair and can rotate about the axis of the circular notch in the movable platform 1412, thereby cooperating with the second lifting and centering mechanism 141 to achieve four-degree-of-freedom adjustment of the second centering female connector 144. Furthermore, the second centering female connector 144 can be fixed to the second turntable 143, with its axis coinciding with the rotation axis of the second turntable 143. When the second turntable 143 rotates and precesses in the forward direction about the axis of the circular notch of the platform 1412 to a tightening position, the second centering female connector 144 of the liquid pipeline manifold 14 can be threadedly connected to the corresponding water outlet assembly of the container 121.

[0043] Corresponding to the aforementioned liquid pipe manifold 14, the outlet assembly mounted on the water outlet of the container 121 includes a second centering male connector 1213 and a sealing ring 1214. Specifically, the second centering male connector 1213 can be connected to the countersunk threaded hole of the water outlet at the bottom of the container 121 via a sealing thread. The sealing ring 1214 can be installed between the positioning surface of the second centering male connector 1213 and the lower flat surface of the countersunk threaded hole of the water outlet at the bottom of the container 121, thereby achieving a removable, liquid-tight connection between the liquid pipe manifold 14 and the container 121.

[0044] Furthermore, in some embodiments, a servo valve 1215 may be preferably installed on the second pair of central male connectors 1213 to individually control the flow of fire extinguishing agent output from the water outlet of the container 121 to the liquid pipeline 151. By configuring each container 121 with an independent throttle valve 1121 and servo valve 1215, the present invention can configure an independent spray channel for each container 121, constructing the entire fire extinguishing system as a parallel system consisting of multiple independent channels, further improving the spraying accuracy, reliability, and safety redundancy of the entire fire extinguishing system.

[0045] Those skilled in the art will understand that Figure 1 The design of a pipe connector 13, 14 corresponding to a container 121 shown is only a non-restrictive implementation method provided by the present invention, which is intended to clearly demonstrate the main concept of the present invention and provide a specific solution that is easy for the public to implement, rather than to limit the scope of protection of the present invention.

[0046] Optionally, in other embodiments, those skilled in the art may also adopt an alternative solution of one pipe communicator corresponding to multiple containers, multiple pipe communicators corresponding to one container, or multiple pipe communicators corresponding to multiple containers based on the above concept provided by the present invention to achieve the same connectivity effect, which will not be elaborated here.

[0047] In summary, by configuring the above-mentioned pipe connectors 13 and 14 that support multi-degree-of-freedom adjustment, the present invention can automatically reverse the gas pipe connector 13 and the liquid pipe connector 14 to the above-mentioned fixed initial position via the first turntable 133 and the second turntable 143 when the container 121 needs to be disassembled, and then retract the gas pipe connector 13 and the liquid pipe connector 14 to the above-mentioned non-connected initial state via the first lifting and centering mechanism 131 and the second lifting and centering mechanism 141, thereby disconnecting the energy storage system and the injection system from the container 121, and leaving sufficient space for the operator to disassemble the container 121. Furthermore, by configuring the aforementioned multi-degree-of-freedom adjustable pipe manifolds 13 and 14, the present invention also allows, after reinstalling the container 121, the gas pipe manifold 13 and the liquid pipe manifold 14 to be respectively advanced to the aforementioned initial secured position via the first lifting and centering mechanism 131 and the second lifting and centering mechanism 141. The gas pipe manifold 13 and the liquid pipe manifold 14 are then automatically rotated forward to the aforementioned secured position via the first turntable 133 and the second turntable 143, thereby automatically achieving an airtight connection between the energy storage system and the container 121, and a liquidtight connection between the injection system and the container 121. This allows the present invention to better adapt to the detachable design of the container 121, thereby further improving the replenishment efficiency and system reliability of the firefighting aircraft.

[0048] Please refer to further Figures 4A to 4D , Figures 4A to 4D A schematic structural diagram of a container provided according to some embodiments of the present invention is shown.

[0049] like Figure 1 、 Figures 4A to 4D As shown, in some embodiments of the present invention, the interior of the container 121 may be provided with multiple partitions extending in different directions, such as at least one partition 41 extending longitudinally and at least one partition 42 extending transversely. By providing multiple partitions extending in different directions, the present invention can effectively increase the flow resistance of the fire extinguishing agent parallel to the floor plane, thereby maintaining the stability of the fire extinguishing agent, mitigating the impact of the fire extinguishing agent on the inner walls of the container 121, and reducing the dynamic load between the container 121 and the floor, thereby reducing the impact of fire extinguishing agent surge on the stability of the firefighting aircraft. Furthermore, these partitions 41 and 42 extending in different directions may preferably be provided with at least one through-hole 43. By providing at least one through-hole 43 in the partitions 41 and 42, the present invention can ensure both flow resistance and connectivity between the partitions 41 and 42, thereby ensuring uniform distribution of the fire extinguishing agent across the partitions 41 and 42.

[0050] Furthermore, if Figure 4A and Figure 4B As shown, in some embodiments, a countersunk threaded hole 44 may be preferably formed at the geometric center of the bottom of the container 121 to serve as the water outlet of the container 121. By adopting this low-center, high-surrounded inwardly inclined surface design 46, the present invention can effectively prevent the accumulation of fire extinguishing agent at the bottom of the container 121, thereby improving the spraying efficiency of the fire extinguishing agent.

[0051] Furthermore, if Figure 4C and Figure 4D As shown, in some embodiments, a plurality of cylindrical rubber buffer pads may be installed on the front and rear surfaces of the multi-container 121 respectively to alleviate the impact on each container 121 during the flight of the aircraft.

[0052] Please continue to refer to Figures 5A to 5C , Figures 5A to 5C A schematic structural diagram of an injection system provided according to some embodiments of the present invention is shown.

[0053] like Figure 1 、 Figures 5A to 5CAs shown, in some embodiments of the present invention, the spray system can be installed within the lower cabin space enclosed by the floor 101 and fuselage of the aircraft cabin 10. The system comprises a liquid pipeline 151, a boom 152, a third hose 153, a pan / tilt platform, a base 155, and a spray gun 156. Specifically, the liquid pipeline 151 can be secured to the lower surface of the floor 101 via the boom 152. Several liquid inlets are defined on the boom portion facing the floor 101, and several liquid outlets are defined on the boom portion facing the belly of the aircraft. Furthermore, a flange can be attached to each liquid inlet of the liquid pipeline 151. Each liquid inlet is fixedly connected to the corresponding lifting and centering mechanism 141 of the liquid pipeline manifold 14 via a flange. One end of the liquid inlet's inner wall is connected to the hose 142 of the liquid pipeline manifold 14, which in turn is connected to the water outlet assembly of the fire extinguishing agent storage system via the liquid hose 142 of the liquid pipeline manifold 14. Each liquid outlet of the liquid pipeline 151 is connected to the spray gun 156 via the third hose 153.

[0054] Furthermore, the pan-tilt head 154 includes a pitch axis 1541 and a third turntable 1542. The spray gun 156 is mounted on the third turntable 1542 via the pitch axis 1541 and can perform pitch rotation around the pitch axis 1541. The third turntable 1542 is connected to the base 155 via its rotary pair and maintains cylindrical surface contact with the base 155. The third turntable 1542 can perform planar rotational motion around its own axis (i.e., the rotation axis). In this way, the spray gun 156 can achieve multi-degree-of-freedom adjustment including forward and backward pitch and planar rotation under the drive of the pan-tilt head. Furthermore, the pitch axis 1541 can maintain spatial orthogonality with the rotation axis of the third turntable 1542, so that the pan-tilt head has the motion capability of a universal joint. In this way, the movement range of the spray axis of the spray gun 156 around the intersection of the pitch axis 1541 and the rotation axis is cone-shaped, which can make the direction of fire extinguishing agent spraying more selective, thereby enhancing the ability of the fire-fighting aircraft to cope with external interference such as wind field and flight attitude changes.

[0055] In some non-limiting embodiments, the firefighting aircraft control method provided in the second aspect of the present invention can be implemented by the firefighting aircraft provided in the first aspect of the present invention. Specifically, the firefighting aircraft can be configured with a memory and a processor. The memory includes, but is not limited to, the computer-readable storage medium provided in the third aspect of the present invention, which stores computer instructions. The processor is connected to the memory and configured to execute the computer instructions stored in the memory to implement the firefighting aircraft control method provided in the second aspect of the present invention.

[0056] The following describes the operating principles of the aforementioned firefighting aircraft, using examples of several firefighting aircraft control methods. Those skilled in the art will appreciate that these firefighting aircraft control methods are merely non-limiting implementations of the present invention, intended to clearly demonstrate the main concepts of the present invention and provide specific solutions for easy implementation. They are not intended to limit the full functionality or operating modes of the firefighting aircraft. Similarly, the firefighting aircraft is merely a non-limiting implementation of the present invention and does not constitute a limitation on the implementation of the various steps in these control methods.

[0057] Please refer to Figure 6 , Figure 6 A flow chart of a control method for a firefighting aircraft according to some embodiments of the present invention is shown.

[0058] like Figure 6 As shown, in some embodiments, the firefighting aircraft provided by the present invention may preferably be equipped with a sensing system and a control system. The sensing system includes multiple sensors, including but not limited to at least one of a gas pressure sensor, a liquid pressure sensor, a branch position sensor, a turntable travel switch, a pitch angle sensor, a rotation angle encoder, and a dosage sensor. The control system is communicatively connected to the sensing system, collects sensor information from the firefighting aircraft via the sensing system, and determines control instructions for the firefighting aircraft based on the collected sensor information.

[0059] Specifically, the gas pressure sensor can be installed near the gas outlet of gas pipeline 112 to measure the gas pressure within gas pipeline 112. The control system can determine control instructions for compressor 111 based on the gas pressure parameters fed back by the gas pressure sensor, dynamically adjusting the gas pressure within gas pipeline 112 to maintain the gas pressure at a target value. Furthermore, the liquid pressure sensor can be installed near the liquid inlet of liquid pipeline 151 to measure the liquid pressure of the fire extinguishing agent within liquid pipeline 151. The control system can determine opening instructions for throttle valve 1121 and / or servo valve 1215 based on the liquid pressure parameters fed back by the liquid pressure sensor, dynamically adjusting the liquid pressure within liquid pipeline 151 to maintain the liquid pressure at a target value. Furthermore, a branch chain position sensor and a turntable travel switch can be installed on the branch chain sliding pairs of the lifting and centering mechanisms 131 and 141 and the rotary shafts of the turntables 133 and 143, respectively, to measure the branch chain travel of the lifting and centering mechanisms 131 and 141 and the rotational precession angle of the centering female connectors 134 and 144. The control system can determine control instructions for the first elevating and centering mechanism 131 and the first turntable 134 based on the chain stroke of the first elevating and centering mechanism 131 as reported by the chain position sensor and the rotational precession angle of the first turntable 134 as reported by the turntable travel switch, thereby automatically connecting and disconnecting the first elevating and centering mechanism 131 from the gas pipeline 112. Furthermore, the control system can also determine control instructions for the second elevating and centering mechanism 141 and the second turntable 144 based on the chain stroke of the second elevating and centering mechanism 141 as reported by the chain position sensor and the rotational precession angle of the second turntable 144 as reported by the turntable travel switch, thereby automatically connecting and disconnecting the second elevating and centering mechanism 141 from the liquid pipeline 151. Furthermore, a pitch angle sensor and a rotation angle encoder can be coaxial with the pitch axis 1541 of the pan / tilt head and the rotation axis of the third turntable 1542, respectively, to measure the pitch angle and rotation angle of the spray gun 156. The control system can determine the spatial orientation of the spray gun 156's axis, as well as control commands for the gimbal, based on the pitch and slew angles of the spray gun 156 as reported by the pitch sensor and slew angle encoder, to precisely spray the fire extinguishing agent in a designated area, thereby improving the anti-interference capability and accuracy of the fire extinguishing process. Furthermore, a dosage sensor can be installed in each container 121 to measure the remaining dosage in each container 121. Based on the remaining dosage in each container 121 as reported by each dosage sensor, the control system can determine the opening command for the corresponding throttle valve 1121 and / or servo valve 1215, dynamically adjusting the flow rate of fire extinguishing agent output from each container 121 to balance the remaining dosage in each container 121. The control system can also promptly close the throttle valve 1121 and servo valve 1215 of a depleted container 121, thereby improving the system reliability of the firefighting aircraft.

[0060] Furthermore, in some embodiments, the sensing system may be configured with a data collection component mounted on a frame in the aircraft cockpit. This data collection component can be connected to the aforementioned sensors, as well as the fire extinguishing device's compressor 111, throttle valve 1121, servo valve 1215, and other drive components via a CAN bus, for real-time acquisition of sensor signals and immediate transmission of control instructions to the drive components. Furthermore, the data collection component can communicate with a control system also mounted on the aircraft cockpit frame via an aviation data bus, encoding and transmitting sensor signals to the control system and receiving and decoding control instructions to the drive components issued by the control system, thereby enabling real-time data exchange between the sensing system and the control system.

[0061] Furthermore, in some embodiments, the control system can also identify the operating status of the compressor 111, throttle valve 1121, servo valve 1215, lifting and centering mechanisms 131, 141, turntables 133, 143, and / or pan / tilt platform, as well as the operating status of the fire-fighting aircraft's entire fire-fighting system, based on sensor information collected by the sensor system, and issue a fault warning based on the identification results. Furthermore, the control system can also predict the future operating status of the compressor 111, throttle valve 1121, servo valve 1215, lifting and centering mechanisms 131, 141, turntables 133, 143, and / or pan / tilt platform, as well as the future operating status of the fire-fighting aircraft's entire fire-fighting system, based on the control instructions it issues, and issue a fault warning based on the prediction results. By monitoring and predicting the operating status of each drive component and the entire fire-fighting system, the present invention can provide real-time monitoring of the safety of the fire-fighting system during use, thereby improving the system reliability and safety of the fire-fighting aircraft.

[0062] Furthermore, in some embodiments, the present invention provides that the firefighting aircraft may be preferably equipped with an avionics system for indicating the flight status and aircraft system status. Here, the flight status includes but is not limited to data such as the airspeed, ground speed, attitude angle, angular velocity, flight altitude, and flight position of the firefighting aircraft. The aircraft system status may be indicated by fault alarm messages of various systems such as the power, power, navigation, and communication of the firefighting aircraft. The control system may also be connected to the avionics system via an aviation data bus communication, and combined with feedback information from the sensor system and the avionics system, to determine control instructions for drive components such as the compressor 111, the throttle valve 1121, the servo valve 1215, the lifting and centering mechanisms 131, 141, the turntables 133, 143, and / or the gimbal.

[0063] Specifically, the control system can first obtain the firefighting aircraft's navigation status information via the avionics system. In response to this navigation status information indicating that the firefighting aircraft is on the ground, the control system can determine that the firefighting aircraft is currently in the ground resupply phase and thereby send a disconnection command to the gas pipeline manifold 13 and the liquid pipeline manifold 14. In response to this disconnection command, the turntables 133 and 143 of the gas pipeline manifold 13 and the liquid pipeline manifold 14 will drive the corresponding centering female connectors 134 and 144 to rotate in the opposite direction to the aforementioned initial fastening position (i.e., the unlocked position). The turntables 133 and 143 and the centering female connectors 134 and 144 are then driven away from the container 21 via the corresponding lifting and centering mechanisms 131 and 141 to reach the aforementioned initial disconnected position.

[0064] After the gas pipeline connector 13 and the liquid pipeline connector 14 are completely disconnected, the ground staff can release the ground hinge constraints of each airborne container 121 in turn, move the empty container 121 out of the aircraft cabin 10 from the front and rear doors, and move the replenished container 121 into the aircraft cabin 10 from the front and rear doors in turn, and then fix each container 121 in turn through the corresponding ground hinge, thereby conveniently completing the operation of disassembling the empty container 121 and installing the container 121 filled with fire extinguishing agent, and improving the supply efficiency of the fire-fighting aircraft.

[0065] Afterwards, when all containers 121 are fastened, the control system can send connection instructions to each gas pipeline manifold 13 and liquid pipeline manifold 14. In response to the connection instructions, the gas pipeline manifold 13 and liquid pipeline manifold 14 can first drive the corresponding turntable 133, 143 and centering female connector 134, 144 via the lifting and centering mechanisms 131, 141 to approach the container 121 to reach the aforementioned initial fastening position. The turntable 133, 143 then drives the centering female connector 134, 144 to rotate forward to the aforementioned fastening position (i.e., the locked position), thereby achieving an airtight connection between each container 121 and the energy storage system, and a liquidtight connection between each container 121 and the injection system.

[0066] Please refer to further Figure 7 , Figure 7 A flow chart of a control method for a firefighting aircraft according to some embodiments of the present invention is shown.

[0067] like Figure 7As shown, after the firefighting aircraft completes ground refueling and takes off, in response to navigation status information fed back by the avionics system indicating that the firefighting aircraft has entered the steady cruise phase, the control system can determine that the firefighting equipment is currently in the firefighting preparation phase. At this point, the control system can obtain firefighting mission information such as the fire scene location, fire intensity, and firefighting flight path from the forest firefighting command system via the firefighting aircraft's communication system, and obtain meteorological data such as current wind speed and current wind direction from the meteorological center. Based on the acquired fire scene location, fire intensity, firefighting flight path, and meteorological data, the control system determines the required fire extinguishing agent injection pressure for firefighting. The control system then sends control commands to compressor 111 and throttle valve 1121, causing compressor 111 to pressurize container 121 to the required pressure via throttle valve 1121.

[0068] Afterward, in response to navigation status information fed back by the avionics system indicating that the firefighting aircraft has arrived at the mission airspace, the control system can determine that the firefighting system is currently in the fire extinguishing agent injection phase. At this point, the control system can determine the opening of servo valve 1215 and the pitch and slew angles of the gimbal in real time based on the fire location, fire size, fire spread rate, aircraft position, aircraft status, and / or environmental data. Based on the opening, pitch, and slew angles of servo valve 1215, the control system can control the injection pressure and injection direction of spray gun 156 in real time, ensuring that spray gun 156 can accurately spray the fire extinguishing agent to the target area.

[0069] Specifically, during the control of fire extinguishing agent spraying, the control system can monitor the actual position of the firefighting aircraft and the remaining amount of fire extinguishing agent in each container 121 in real time. In response to the firefighting aircraft's actual position remaining within the mission airspace and the presence of fire extinguishing agent monitoring results in each container 121, the control system can determine that all spray guns 156 are usable. Based directly on the firefighting aircraft's actual relative position and actual relative attitude (i.e., actual attitude) with respect to the fire, it can determine the next flight direction, flight speed, flight altitude, and other flight instructions, thereby controlling the firefighting aircraft to maintain the most efficient firefighting attitude relative to the fire.

[0070] Furthermore, in response to monitoring results indicating that the firefighting aircraft's actual position remains within the mission airspace, but the fire extinguishing agent in some containers 121 has been depleted, the control system can accordingly adjust the firefighting circuit to isolate these empty containers 121 and determine the remaining available spray guns 156. The control system can then determine the desired relative position and attitude (i.e., desired posture) between the firefighting aircraft and the fire site based on the installation locations of the remaining available spray guns 156. Based on the difference between this desired posture and the actual posture, the control system can determine subsequent flight instructions, such as flight direction, speed, and altitude, thereby continuously controlling the firefighting aircraft to maintain the most efficient firefighting posture relative to the fire site.

[0071] Furthermore, the control system can also combine meteorological data such as current wind speed and current wind direction to determine the expected position of the fire-fighting aircraft and the fire point, and determine the opening of the throttle valve 1121 and the spray angle of the spray gun 156 based on the determined expected position, thereby ensuring that the spray gun 156 can spray the fire extinguishing agent to the target area more accurately and efficiently.

[0072] Furthermore, when servo valve 1215 is connected, some pressure is lost within container 121 and gas pipeline 112. In some embodiments, to ensure stable fire extinguishing agent injection pressure, the control system can preferably calculate control instructions for compressor 111 in real time based on feedback from the dosage sensor and gas pressure sensor, dynamically controlling it to continuously provide gas source power to container 121.

[0073] Furthermore, due to changes in the aircraft's flight attitude, the fire extinguishing agent consumption rate in each container 121 varies. In some embodiments, the control system can preferably monitor the amount of fire extinguishing agent remaining in each container 121 in real time based on feedback from the dosage sensor and dynamically provide corresponding control instructions.

[0074] Specifically, in some embodiments, in response to feedback from the dose sensor indicating that the remaining dose in some containers 121 is lower than a preset dose threshold (for example, close to 0), the control system can promptly send a first warning message to the pilot that the fire extinguishing agent in the corresponding container 121 has been exhausted, and close the throttle valve 1121 and servo valve 1215 corresponding to these containers 121 to isolate them from the entire fire extinguishing agent injection circuit, thereby improving the system reliability and safety of the fire extinguishing device.

[0075] like Figure 7 As shown, in some embodiments, in response to feedback from the dosage sensor indicating that the remaining dosage in all containers is below a preset dosage threshold (e.g., all are close to zero), the control system can promptly issue a second warning message to the pilot indicating that the fire extinguishing agent in all containers 121 has been depleted, prompting the pilot to depart the mission route and leave the mission airspace to resupply the fire extinguishing agent. Furthermore, the control system can automatically shut down compressor 111 and, after compressor 111 has completely stopped and the gas pressure in each container 121 has reached the ambient pressure, close the throttle valve 1121 and servo valve 1215 corresponding to each container 121, thereby improving the system reliability and safety of the fire extinguishing device.

[0076] In some embodiments, in response to a termination spraying instruction provided by the pilot, ground control terminal or aircraft automatic control terminal, or navigation status information indicating that the fire-fighting aircraft has left the mission airspace, the control system can automatically shut down the compressor 111 and the throttle valve 1121 and servo valve 1215 corresponding to each container 121 to avoid waste of fire extinguishing agent and pollution to the environment, and to improve the system reliability and safety of the fire extinguishing device.

[0077] Later, in response to navigation status information from the avionics system indicating that the firefighting aircraft has departed the mission airspace, the control system can determine that the firefighting system is currently in the return-to-field depressurization phase. At this point, the firefighting system may be in one of three situations: all UDUs 121 have been completely depleted, some UDUs 121 have residual extinguishing agent, or all UDUs 121 have residual extinguishing agent. The control system can identify these three situations based on feedback from the dosage sensors in each UDU 121.

[0078] In some embodiments, in response to the identification result that all containers 121 have been consumed, the control system can determine that the pressure in each container 121, gas pipeline 112 and liquid pipeline 151 is the same as the ambient pressure inside and outside the aircraft cabin 10, and no pressure relief is required at this time.

[0079] In some embodiments, in response to identifying residual fire extinguishing agent in some containers 121, the control system may determine that the pressures within each container 121, gas pipeline 112, and liquid pipeline 151 are different and differ from the ambient pressure inside and outside the aircraft cabin 10. In this case, if pre-depressurization is not performed, a safety hazard would exist and the automatic disconnection of the pipe connectors 13 and 14 would be hindered. Therefore, the control system may first issue a command to the servo valve 1215 corresponding to the empty container 121, opening the servo valve 1215 to connect that container 121 to the atmosphere outside the aircraft cabin 10. Simultaneously, the control system may also issue a command to the throttle valve 1121, opening all throttle valves 1121 to connect all containers 121 to the ambient atmosphere via the empty container 121, liquid pipeline 151, and injection system, thereby depressurizing the container 121 and gas pipeline 112 that contain residual fire extinguishing agent.

[0080] In some embodiments, in response to the identification result that all containers 121 have residual fire extinguishing agent, the control system may determine that the pressure within all containers 121 and the gas pipeline 112 is the same, but different from the ambient pressure inside and outside the aircraft cabin 10. In this case, if pre-depressurization is not performed, it will also pose a safety hazard and hinder the automatic disconnection of the pipeline connectors 13 and 14. Therefore, based on the feedback from each dosage sensor, the control system may first issue a command to the compressor 111 to open its bypass valve to connect the gas pipeline 112 to the atmosphere inside and outside the aircraft cabin 10. Secondly, the control system may also issue a command to the throttle valve 1121 to open it, thereby connecting all containers to the atmosphere inside and outside the aircraft cabin 10, thereby achieving pressure relief for all containers 121 and the gas pipeline 112.

[0081] In summary, by executing the above steps, the control method of the fire-fighting aircraft can not only realize adaptive real-time adjustment based on the injection direction and injection speed of the fire-fighting agent, thereby improving the anti-interference ability of the fire-fighting process and the accuracy of the delivery of the fire-fighting agent, but also automatically complete the automatic connection, automatic pressure relief and automatic disconnection operations of each detachable container 121 with the energy storage system and the injection system, thereby further improving the supply efficiency, system safety and system reliability of the fire-fighting aircraft.

[0082] Although the above methods are illustrated and described as a series of acts for simplicity of explanation, it is to be understood and appreciated that these methods are not limited by the order of the acts, as some acts may occur in a different order and / or concurrently with other acts from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art according to one or more embodiments.

[0083] Those skilled in the art will appreciate that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips cited throughout the foregoing description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0084] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. A skilled person may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0085] Although the control system described in the above embodiments can be implemented through a combination of software and hardware, it is understood that the control system can also be implemented in software or hardware alone. For hardware implementation, the control system can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic devices for performing the above functions, or selected combinations of the above devices. For software implementation, the control system can be implemented through independent software modules such as procedures and functions running on a general-purpose chip, where each module performs one or more functions and operations described herein.

[0086] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0087] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire extinguishing device for a fire-fighting aircraft, characterized in that: include: Energy storage system, used to provide high-pressure gas as a power source for spraying fire extinguishing agent; a fire extinguishing agent storage system, detachably mounted with at least one container for storing the fire extinguishing agent; a spraying system for spraying the fire extinguishing agent outside the cabin of the fire-fighting aircraft; At least one gas pipeline connector, a first end of which is connected to the energy storage system, and a second end of which is detachably connected to the at least one container, the gas pipeline connector supports multi-degree-of-freedom adjustment including up and down translation, left and right rolling, front and back pitching and / or plane rotation, the gas pipeline connector includes a first lifting and centering mechanism, a first hose, a first turntable and a first centering male / female joint, wherein the first end of the first lifting and centering mechanism is connected to the energy storage system, and the second end of the first turntable is connected to the first turntable, for driving the first turntable to achieve multi-degree-of-freedom adjustment including up and down translation, left and right rolling and front and back pitching The first end of the first turntable is connected to the first lifting and centering mechanism, and the second end of the first turntable is connected to the first centering male / female connector. The first turntable cooperates with the first lifting and centering mechanism to achieve multi-degree-of-freedom adjustment of the first centering male / female connector through rotation between the first and second ends. The first centering male / female connector is detachably connected to the at least one container. The first end of the first hose passes through the first lifting and centering mechanism to connect to the energy storage system, and the second end of the first hose passes through the first lifting and centering mechanism to connect to the first centering male / female connector, thereby connecting the energy storage system and the at least one container. as well as At least one liquid pipeline connector has a first end connected to the injection system and a second end detachably connected to the at least one container.

2. The fire extinguishing device according to claim 1, characterized in that: The liquid pipeline communication device supports multi-degree-of-freedom adjustment including up and down translation, left and right rolling, front and back pitching and / or plane rotation.

3. The fire extinguishing device according to claim 2, characterized in that: The liquid pipeline communication device includes a second lifting and centering mechanism, a second hose, a second turntable and a second centering male / female connector, wherein the first end of the second lifting and centering mechanism is connected to the injection system, and the second end thereof is connected to the second turntable, and is used to drive the second turntable to achieve multi-degree-of-freedom adjustment including vertical translation, left-right roll, and front-back pitch. The first end of the second turntable is connected to the second lifting and centering mechanism, and the second end is connected to the second centering male / female joint. By rotating between the first and second ends, the second turntable cooperates with the second lifting and centering mechanism to achieve multi-degree-of-freedom adjustment of the second centering male / female joint. The second pair of male / female connectors is detachably connected to the at least one container. The first end of the second hose passes through the second lifting and centering mechanism to connect to the injection system, and the second end passes through the second lifting and centering mechanism to connect to the second centering male / female connector to connect the at least one container and the injection system.

4. The fire extinguishing device according to claim 1 or 3, characterized in that: The fire extinguishing agent storage system further includes a first mounting assembly and a second mounting assembly, the container includes an air inlet / water inlet and a water outlet, wherein the first mounting assembly includes a first pair of centering female / male connectors, and the air inlet / water inlet of the container is connected to the first pair of centering male / female connectors of the gas pipeline connector via the first pair of centering female / male connectors. The second installation assembly includes a second pair of centering female / male connectors, and the water outlet of the container is connected to the second pair of centering male / female connectors of the liquid pipeline connector via the second pair of centering female / male connectors.

5. The fire extinguishing device according to claim 4, characterized in that: The air / water inlet is equipped with a throttle valve, and the water outlet is equipped with a servo valve, wherein the throttle valve is arranged at the air outlet of the energy storage system, and the servo valve is arranged at the second mounting assembly.

6. The fire extinguishing device according to claim 4, characterized in that: The bottom of the container is recessed toward the water outlet.

7. The fire extinguishing device according to claim 1, wherein: The interior of the container is provided with a plurality of partitions extending in different directions, and each of the partitions is provided with at least one through hole.

8. The fire extinguishing device according to claim 1, wherein: The fire extinguishing agent storage system is detachably mounted with a plurality of the containers, and at least one buffer pad is provided between each of the containers.

9. The fire extinguishing device according to claim 1, wherein: The spray system includes a pan-tilt head, a hose and a spray gun, wherein the spray gun is installed on the pan-tilt head and connected to the at least one liquid pipeline connector via the hose. The pan-tilt head is used to drive the spray gun to achieve multi-degree-of-freedom adjustment including forward and backward pitch and plane rotation.

10. The fire extinguishing device according to claim 9, characterized in that: The pan-tilt head includes a pitch axis and a third turntable. The spray gun is mounted on the third turntable via the pitch axis. The pan-tilt head drives the spray gun via the pitch axis to achieve forward and backward pitch adjustment, and drives the spray gun via the third turntable to achieve planar rotation adjustment. The pitch axis is spatially orthogonal to the rotation axis of the third turntable.

11. A firefighting aircraft, characterized in that: The firefighting aircraft is equipped with the fire extinguishing device according to any one of claims 1 to 10.

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