Firefighting drone

Abstract

The application relates to a fire-fighting unmanned plane, which comprises an unmanned plane body, a fire-fighting assembly, a plurality of telescopic pieces, a main controller and a detection piece. The fire-fighting assembly and the plurality of telescopic pieces are arranged below the unmanned plane body, and the opposite ends of each telescopic piece are hingedly connected to the unmanned plane body and the fire-fighting assembly respectively. The main controller is arranged on the unmanned plane body. The detection piece is arranged on the fire-fighting assembly and electrically connected to the main controller, and is used for detecting the position information of the fire-fighting assembly. The main controller is electrically connected to the telescopic pieces, and is used for controlling the length of the telescopic pieces in real time according to the position information of the fire-fighting assembly, so as to adjust the pose of the fire-fighting assembly and make the fire-fighting assembly in a horizontal state. The unmanned plane has the advantages of good stability, safety and reliability, uninterrupted operation and large load.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a firefighting UAV. Background Technology

[0002] With the widespread application of drone technology in various industries in modern society, combining drones with traditional technologies to overcome their weaknesses has become an inevitable trend in industry development. Currently, applying drone technology to fire and rescue work has significant practical implications for improving rescue efficiency and safety.

[0003] However, existing firefighting drones struggle to overcome the swaying or tilting caused by recoil during water spraying operations, resulting in poor stability. Summary of the Invention

[0004] Therefore, it is necessary to provide a firefighting drone with good stability and high reliability to address the problem of unstable operation of existing firefighting drones.

[0005] A firefighting drone for high-altitude firefighting includes:

[0006] The drone itself;

[0007] Firefighting components and multiple telescopic members are disposed below the drone body; the opposite ends of each telescopic member are respectively hinged to the drone body and the firefighting components;

[0008] The main controller is located on the UAV body; and

[0009] A detection element is mounted on the fire protection component and electrically connected to the main controller. The detection element is used to detect the position information of the fire protection component.

[0010] The main controller is electrically connected to the telescopic component. The main controller is used to control the length of the telescopic component in real time according to the position information of the fire-fighting component, so as to adjust the position of the fire-fighting component and make the fire-fighting component in a horizontal state.

[0011] In one embodiment, the drone body includes a fuselage, a rotor arm assembly connected to the fuselage, and a plurality of first rotor assemblies disposed on the rotor arm assembly and corresponding one-to-one with the telescopic member;

[0012] Each of the telescopic components has its opposite ends hinged to the corresponding first rotor assembly and the fire-fighting assembly.

[0013] In one embodiment, the rotor arm assembly includes two first arms located on opposite sides of the fuselage along a first direction and extending along a second direction, and two second arms extending along the first direction.

[0014] One of the second arms has its longitudinal ends connected to one side of the two first arms along the second direction, and the other second arm has its longitudinal ends connected to the other side of the two first arms along the second direction; the fire-fighting component extends along the second direction and is located below the fuselage; the first direction and the second direction intersect.

[0015] In one embodiment, four of the first rotor assembly and the telescopic member are provided;

[0016] A first rotor assembly is provided at the connection between the first arm and the second arm.

[0017] In one embodiment, the first rotor assembly includes a connecting seat at the connection between the first arm and the second arm and at least one first electric propeller blade located outside the connecting seat;

[0018] Each of the telescopic members has its end away from the fire-fighting component hinged to the bottom of the connecting seat of the corresponding first rotor assembly.

[0019] In one embodiment, a secondary controller is provided on the connector;

[0020] The secondary controller corresponds one-to-one with the first rotor assembly and is electrically connected to the main controller and the corresponding first rotor assembly, respectively.

[0021] In one embodiment, the connecting base is further provided with a speed regulating component, which is used to adjust the rotational speed of the first electric propeller and is electrically connected to the adjacent secondary controller.

[0022] In one embodiment, the rotor arm assembly further includes two third arms, one of which is connected to each of the first arms, and a second rotor assembly is provided at the end of the third arm away from the corresponding first arm.

[0023] In one embodiment, a plane that is parallel to the first direction and parallel to the second direction is defined as the first plane;

[0024] The third arm forms a preset angle with the first plane.

[0025] In one embodiment, each of the second rotor assemblies includes a drive unit disposed on the corresponding third arm, and two second electric propeller blades spaced apart along a third direction;

[0026] Two second electric propeller blades are coaxially disposed at the output end of the drive unit to rotate under the drive of the drive unit.

[0027] In the aforementioned firefighting drone, during firefighting operations, the firefighting component sprays water forward, causing the drone to tilt backward due to recoil. To maintain the horizontal stability of the firefighting component, multiple telescopic components are installed between the drone body and the firefighting component located below the drone body, with the opposite ends of the telescopic components hinged to the drone body and the firefighting component, respectively. The main controller on the drone body receives detection signals from the detection devices on the firefighting component in real time, determining whether the firefighting component is in a horizontally stable state. If unstable, it calculates the mathematical model required to stabilize the firefighting component and adjusts the length of the telescopic components, causing the drone body to tilt forward to generate a horizontal forward force to counteract the recoil force generated by the firefighting component spraying water forward. This adjusts the posture of the firefighting component, ensuring it remains horizontal and preventing firefighting operations from being affected by the tilt of the firefighting component. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a firefighting drone according to one embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of a firefighting drone in a horizontal position in one embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of a firefighting drone tilting forward and backward in one embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of a firefighting drone in a horizontal position according to one embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of a firefighting drone tilted left and right in one embodiment of the present invention;

[0033] Figure 6 This is a structural schematic diagram of a firefighting drone from another perspective in one embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the slot at the connection point between the first arm and the main controller in one embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the control process of a fire-fighting drone in one embodiment of the present invention.

[0036] In the diagram: 100, Firefighting drone; 10, Drone body; 20, Firefighting components; 21, Water pump; 22, Water pump motor; 23, Sprinkler nozzle; 24, Fire hose; 30, Telescopic component; 40, Image component; 50, Secondary controller; 60, Speed ​​regulator; 70, Tether cable; F1, First direction; F2, Second direction; F3, Third direction; 11, Fuselage; 111, Fuselage body; 112, Outriggers; 12, Rotor arm assembly; 121, First arm; 122, Second arm; 123, Third arm; 13, First rotor assembly; 131, Connecting seat; 132, First electric propeller blade; 14, Second rotor assembly; M1, First plane; 141, Drive component; 142, Second electric propeller blade. Detailed Implementation

[0037] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0043] With the widespread application of drone technology in various industries in modern society, combining drones with traditional technologies to overcome their weaknesses has become an inevitable trend in industry development. Currently, applying drone technology to fire and rescue operations is of great practical significance in improving rescue efficiency and safety. However, existing firefighting drones struggle to overcome the swaying or tilting caused by recoil during water spraying operations, resulting in poor stability.

[0044] In addition to the above, existing firefighting drones also have the following problems.

[0045] Some firefighting drones are used solely for fire detection. These drones carry detection instruments such as infrared and ultrasonic sensors. Upon arriving at the fire scene, they take off to detect the fire and transmit the data back to the ground to help firefighters better understand the situation. These types of firefighting drones offer limited assistance to firefighting operations, serving only as auxiliary information gathering tools.

[0046] Some firefighting drones carry only small firefighting equipment, such as fire extinguishers and fire bombs. Upon arrival at the fire scene, the drones take off and perform targeted operations on the fire. While these drones can perform firefighting operations, their operating range is too small, limiting their ability to extinguish fires. Furthermore, their short flight time and short operating duration make it difficult to overcome the challenges of firefighting in high-rise buildings.

[0047] Some firefighting drones are tethered drones, powered by a tether cable 70. These drones carry equipment such as fire extinguishers and fire bombs for high-altitude firefighting. Upon arrival at the fire scene, the drones take off and conduct extended-duration firefighting operations over a wide area. Although these drones have long flight times, their limited carrying capacity for firefighting equipment prevents them from operating continuously, requiring them to land periodically to replenish supplies.

[0048] Some firefighting drones are tethered drones carrying water hoses. Water is supplied through the hoses, and power is provided by the tethered cable 70. Water is sprayed from the drone. Upon arrival at the fire scene, the drone takes off and conducts continuous, large-scale firefighting operations. While these drones can perform continuous firefighting operations, their actual operating height is limited because their payload cannot support the weight of the water hoses and water over long distances. Therefore, they are only suitable as replacements for traditional fire trucks and cannot meet the needs of long-term, large-scale high-rise firefighting.

[0049] In view of the many problems existing in existing fire-fighting drones, the inventors of this application have designed a fire-fighting drone 100 that can solve at least one of the above problems.

[0050] See Figure 1 , Figure 1 A schematic diagram of a firefighting drone 100 according to an embodiment of the present invention is shown. This firefighting drone 100 is mainly used for high-altitude firefighting. The firefighting drone 100 includes a drone body 10, a firefighting component 20, multiple telescopic members 30, a main controller (not shown), and a detection component (not shown). The firefighting component 20 and the multiple telescopic members 30 are all located below the drone body 10, with each telescopic member 30 hinged to the drone body 10 and the firefighting component 20 at opposite ends. The main controller is located on the drone body 10. The detection component is located on the firefighting component 20 and electrically connected to the main controller, and is used to detect the position information of the firefighting component 20. The main controller is electrically connected to the telescopic members 30, and is used to control the length of the telescopic members 30 in real time according to the position information of the firefighting component 20, so as to adjust the posture of the firefighting component 20 and keep it in a horizontal state.

[0051] Figure 2This is a schematic diagram of the firefighting drone 100 in a horizontal position according to one embodiment of the present invention. Figure 3 This is a schematic diagram of a firefighting drone 100 tilted forward and backward in one embodiment of the present invention. Figure 4 This is a schematic diagram of the firefighting drone 100 in a horizontal position according to one embodiment of the present invention. Figure 5 This is a schematic diagram of a firefighting drone 100 tilted left and right in one embodiment of the present invention. Please refer to it in conjunction with... Figures 1-5 In one embodiment, such as Figure 1 As shown, for ease of explanation, the first direction F1 is temporarily defined as the left-right direction, the second direction F2 as the front-back direction, and the third direction F3 as the up-down direction. During firefighting operations, the firefighting component 20 of the aforementioned firefighting drone 100 sprays water forward, causing the drone 100 to tilt backward due to recoil. To maintain the horizontal stability of the firefighting component 20, multiple telescopic members 30 are installed between the drone body 10 and the firefighting component 20 located below the drone body 10, with the opposite ends of the telescopic members 30 hinged to the drone body 10 and the firefighting component 20, respectively. The main controller on the drone body 10 receives detection signals from the detection devices on the firefighting component 20 in real time, determines whether the firefighting component 20 is in a horizontally stable state, and if unstable, calculates the mathematical model required to stabilize the firefighting component 20 and adjusts the length of the telescopic members 30, causing the drone body 10 to tilt forward to generate a horizontal forward component force to counteract the recoil force generated by the firefighting component 20 spraying water forward. This adjusts the posture of the firefighting component 20, ensuring it remains horizontal and preventing the firefighting operation from being affected by the tilt of the firefighting component 20. The components to be tested include gyroscopes, accelerometers, etc., and no specific restrictions are imposed here.

[0052] It should be noted that the drone body 10 provides flight power for the entire firefighting drone 100, and the firefighting component 20 provides lifting power for the fire water to reach the designated fire extinguishing point, such as... Figure 1 As shown, in practical applications, the fire-fighting component 20 includes a water pump 21, a water pump motor 22, a sprinkler head 23, and a fire hose 24. The water pump 21 and the water pump motor 22 are connected. The water pump 21 is equipped with a water pump outlet and a water pump inlet. The fire hose 24 is connected to the water pump inlet, and the sprinkler head 23 is connected to the water pump outlet. Thus, fire-fighting water is drawn in by the water pump 21 and sprayed through the fire hose 24, the water pump inlet, the water pump 21, and the water pump outlet for use in fire-fighting operations at designated fire points.

[0053] Furthermore, the firefighting drone 100 of this application can achieve joint firefighting operations of multiple firefighting drones 100 to solve the problem of operational height restrictions in high-rise firefighting. Specifically, multiple firefighting drones 100 are connected to each other via fire hoses 24. The water pump outlet of the upper-level firefighting drone 100 is connected to the water pump inlet of the lower-level firefighting drone 100 via fire hoses 24 to achieve continuous lifting of fire water. In one embodiment, the water pump 21 is a high-pressure water pump 21, which is used for continuous pressurization in the air. The lower-level high-pressure water pump 21 is supplied with water by the upper-level high-pressure water pump 21 and the fire hose 24, and finally the pressurized fire water is sprayed out through the sprinkler 23 for firefighting operations at designated fire points. In this way, the firefighting drone 100 of this application can achieve the superposition of multiple firefighting drones 100, no longer subject to the height restrictions of high-rise firefighting operations. At the same time, firefighters no longer need to approach the fire scene at close range, avoiding casualties among firefighters and improving the safety of fire rescue.

[0054] In some embodiments, such as Figure 1 As shown, the UAV body 10 includes a fuselage 11, a rotor arm assembly 12 connected to the fuselage 11, and a plurality of first rotor assemblies 13 disposed on the rotor arm assembly 12 and corresponding one-to-one with the telescopic members 30. The opposite ends of each telescopic member 30 are respectively hinged to the corresponding first rotor assembly 13 and the fire-fighting assembly 20.

[0055] In one embodiment, such as Figure 1 As shown, the fuselage 11 includes a fuselage body 111 and four outriggers 112 disposed on the outside of the fuselage body 111. The four outriggers 112 are respectively connected to the rotor arm assembly 12. The telescopic component 30 includes cylinders, hydraulic cylinders, electric actuators, telescopic trusses, etc. In this embodiment, the telescopic component 30 is an electric actuator. The electric actuator has high precision, large load capacity, can achieve synchronous automatic control, requires no air source or oil circuit, and is lightweight. The two ends of the electric actuator are respectively connected to the UAV body 10 and the fire-fighting component 20 via universal joints. The length of the electric actuator can be electrically adjusted by the main controller.

[0056] In some embodiments, such as Figure 1 As shown, the rotor arm assembly 12 includes two first arms 121 located on opposite sides of the fuselage 11 along a first direction F1 and extending along a second direction F2, and two second arms 122 extending along the first direction F1. The longitudinal ends of one second arm 122 are respectively connected to one side of the two first arms 121 along the second direction F2, and the longitudinal ends of the other second arm 122 are respectively connected to the other side of the two first arms 121 along the second direction F2. The fire suppression assembly 20 extends along the second direction F2 and is located below the fuselage 11. The first direction F1 and the second direction F2 intersect.

[0057] Specifically, such as Figure 1In the illustrated embodiment, the first direction F1 and the second direction F2 are perpendicular to each other. The fuselage body 111 is located in the middle of the UAV body 10. The rotor arm assembly 12 is arranged around the outside of the fuselage 11. The rotor arm assembly 12 includes two first arms 121 and two second arms 122, which form a square frame. In practical applications, the length of the first arm 121 is greater than the length of the second arm 122. The two first arms 121 and two second arms 122 form a rectangular frame. Multiple legs 112 extend from the fuselage body 111 and connect to the first arms 121 and / or the second arms 122. In this embodiment, there are four legs 112, which are connected in pairs to the corresponding first arms 121. The fire-fighting assembly 20 extends along the second direction F2 and is located below the fuselage 11. The water pump 21 and the water pump motor 22 are coaxial and extend along the second direction F2. Compared to the existing fire-fighting drone 100 with a circular drone body 10, the drone body 10 of this application has a square layout. As a result, the layout of the drone body 10 of this application is more compatible with the layout of the fire-fighting components 20, and the drone body 10 of this application occupies less space, making it easier to flexibly navigate through alleys or carry out fire-fighting operations in old residential areas.

[0058] In some embodiments, combined with Figure 6 As shown, Figure 6 This is a structural schematic diagram of a firefighting drone 100 from another perspective in one embodiment of the present invention. Four first rotor assemblies 13 and four telescopic members 30 are provided, with one first rotor assembly 13 located at the connection between the first arm 121 and the second arm 122.

[0059] Understandably, the first rotor assembly 13 provides power for the firefighting drone 100 to ascend, descend, and move horizontally. In one embodiment, the first rotor assembly 13 includes four relatively small rotors, in this embodiment, the rotors having a diameter of 5 inches. The four rotors are located at the connection between the first arm 121 and the second arm 122. Specifically, the four rotors are fixedly connected to the first arm 121 and the second arm 122 respectively via mounting brackets.

[0060] In some embodiments, such as Figure 1 As shown, the first rotor assembly 13 includes a connecting seat 131 located at the connection between the first arm 121 and the second arm 122, and at least one first electric propeller blade 132 located outside the connecting seat 131. The end of each telescopic member 30 away from the fire-fighting assembly 20 is hinged to the bottom of the connecting seat 131 of the corresponding first rotor assembly 13.

[0061] It should be noted that the first arm 121 and the second arm 122 are fixedly connected to the connecting seat 131, and the ends of the first arm 121 and the second arm 122 are cross-shaped. The connecting seat 131 is located at the intersection of the first arm 121 and the second arm 122. Four small rotors are arranged around the connecting seat 131 and fixedly connected to the first arm 121 and the second arm 122 respectively through mounting seats. Each small rotor includes a first electric blade 132 and a motor, and the motor is used to drive the first electric blade 132 to rotate. The end of each telescopic member 30 away from the fire-fighting component 20 is hinged to the bottom of the connecting seat 131 of the corresponding first rotor component 13, and the end of each telescopic member 30 near the fire-fighting component 20 is hinged to the water pump 21 or the water pump motor 22 through a universal joint. In practical applications, such as Figure 1 As shown, viewed from the side of the firefighting drone 100, the first arm 121, the second arm 122, the four telescopic rods, the eight universal joints, the water pump 21, and the water pump motor 22 together form an inverted trapezoidal structure. This ensures that the layout of the firefighting drone 100 is more reasonable, the center of gravity is more properly distributed, and the stability and reliability are better.

[0062] In some embodiments, such as Figure 1 As shown, a secondary controller 50 is provided on the connector 131. The secondary controller 50 corresponds one-to-one with the first rotor assembly 13 and is electrically connected to the main controller and the corresponding first rotor assembly 13, respectively.

[0063] In some embodiments, such as Figure 1 As shown, a speed regulator 60 is also provided on the connecting base 131. The speed regulator 60 is used to adjust the rotational speed of the first electric propeller 132 and is electrically connected to the adjacent secondary controller 50.

[0064] In one embodiment, the speed regulator 60 includes a small rotor ESC, and the connector 131 houses the small rotor ESC and a secondary controller 50, etc., to control and adjust each group of small rotors. The main controller contains a motherboard circuit, a supercapacitor, a large rotor ESC, a heat dissipation system, a flight control system, etc., to move the UAV body 10. It is understood that the secondary controller 50 is controlled by the main controller, and the main controller is controlled by ground firefighters.

[0065] In some embodiments, such as Figure 1 and Figure 4 As shown, the rotor arm assembly 12 also includes two third arms 123. Each first arm 121 is connected to a third arm 123, and a second rotor assembly 14 is provided at the end of the third arm 123 away from the corresponding first arm 121.

[0066] In some embodiments, such as Figure 1 and Figure 4As shown, a plane parallel to the first direction F1 and parallel to the second direction F2 is defined as the first plane M1. The third arm 123 forms a preset angle with the first plane M1.

[0067] In one embodiment, the third arm 123 is vertically connected to the first arm 121 via a connecting seat 131, and the connecting seat 131 of the third arm 123 is located between the two legs 112 and deflected downward at a preset angle. In this way, the second rotor assembly 14 has a certain height difference with the first rotor, which can ensure that the UAV body 10 can bear greater weight while reducing its space occupation, making it convenient to flexibly navigate through alleys in old residential areas or carry out firefighting operations.

[0068] In some embodiments, such as Figure 1 As shown, each second rotor assembly 14 includes a drive member 141 disposed on the corresponding third arm 123, and two second electric propeller blades 142 spaced apart along the third direction F3. The two second electric propeller blades 142 are coaxially disposed at the output end of the drive member 141 to rotate under the drive of the drive member 141.

[0069] In one embodiment, the second rotor assembly 14 includes two coaxially arranged large rotors, each including a second electric propeller 142 and a motor. The motor drives the second electric propeller 142 to rotate, and the diameter of the large rotors is 10 inches. The firefighting drone 100 of this application employs a combination of large and small rotors with a height difference between them. This reasonable spatial layout allows the drone body 10 to carry a larger payload, capable of supporting the heavier water pump 21, water pump motor 22, and longer fire hose 24 and firefighting water located below the drone body 10.

[0070] In some embodiments, such as Figure 1 As shown, a transformer is installed on the water pump motor 22. The transformer can be automatically adjusted to adapt to the different voltage requirements of the water pump motor 22 and the main controller.

[0071] In some embodiments, such as Figure 1 As shown, the firefighting drone 100 is also equipped with a tether cable 70. The main controller and transformer of the firefighting drone 100 are electrically connected to the tether cable 70, and the tether cable 70 of the next-level firefighting drone 100 is electrically connected to the main controller of the previous-level drone. The tether cable 70 includes not only the power cord but also other necessary cables for transmitting signals and implementing control functions. In this way, the firefighting drone 100 can achieve continuous power supply and information transmission through the tether cable 70.

[0072] It should be noted that when multiple firefighting drones 100 of this application operate together, the problem of operational height limitations in high-rise firefighting can be solved. Existing ground fire hoses or fire trucks provide fire water to the pump inlet of the lowest-altitude first-level firefighting drone 100. Ground power is connected to the tethered cable 70 of the first-level firefighting drone 100 to provide power to the transformer of the pump motor 22 and the drone body 10. The firefighting drones 100 of this application use ground-based water and power supply, enabling uninterrupted long-term continuous operation without the need for landing to resupply firefighting consumables.

[0073] In one embodiment, such as Figure 7 As shown, the first arm 121 is a hollow tube, and an opening is provided at the connection between the first arm 121 and the support leg 112 to meet the cable routing requirements from the main controller to the secondary controller 50. This makes the wiring more aesthetically pleasing and neat.

[0074] In some embodiments, such as Figure 1 As shown, the fuselage 111, outriggers 112, first arm 121, second arm 122, third arm 123, connecting seat 131, first rotor assembly 13, second rotor assembly 14 and other structures are made of carbon fiber. This ensures that the UAV body 10 is lightweight while carrying a large payload, making it easier to carry a larger mass of fire-fighting components 20 and transport a longer fire hose 24 and mooring cable 70.

[0075] In some embodiments, such as Figure 1 As shown, the drone body 10 is also equipped with an image component 40, which includes a laser detector, an ultrasonic detector, a high-definition camera, an infrared detector, etc. In one embodiment, the laser detector, ultrasonic detector, high-definition camera, infrared detector, and other devices are all mounted on the fuselage body 111. Figure 8 This is a signal processing flowchart of a firefighting drone 100 according to one embodiment of the present invention. (In conjunction with...) Figure 8 The main controller, located within the fuselage 111, receives and processes real-time fire data signals recorded by laser detectors, ultrasonic detectors, high-definition cameras, and infrared detectors, and transmits this data back to ground firefighters via tethered cable 70. After assessing the fire situation, ground firefighters flexibly select the most suitable operational method and issue operational instructions based on the on-site conditions. This improves the responsiveness of fire rescue operations, enabling timely and reliable firefighting or rescue operations, and achieving more precise, efficient, and flexible high-rise firefighting operations. The firefighting drone 100 continuously performs firefighting operations in real time. Upon receiving a command from the ground to end operations, the firefighting drone 100 stops spraying water, the drone body 10 adjusts to a horizontal position, and descends to the ground carrying the firefighting components 20.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A firefighting drone for high-altitude firefighting, characterized in that, include: The drone itself; Firefighting components and multiple telescopic members are disposed below the drone body; the opposite ends of each telescopic member are respectively hinged to the drone body and the firefighting components; The main controller is located on the UAV body; as well as A detection element is mounted on the fire protection component and electrically connected to the main controller. The detection element is used to detect the position information of the fire protection component. The main controller is electrically connected to the telescopic component. The main controller is used to receive the detection signal of the detection component in real time, determine whether the fire-fighting component is in a horizontal and stable state, and if it is unstable, calculate the mathematical model required to stabilize the fire-fighting component and adjust the length of the telescopic component so that the UAV body tilts forward to generate a horizontal forward component force to resist the recoil force generated by the fire-fighting component spraying water forward, so as to adjust the position of the fire-fighting component and make the fire-fighting component in a horizontal state. The drone body includes a fuselage, a rotor arm assembly connected to the fuselage, and a plurality of first rotor assemblies disposed on the rotor arm assembly and corresponding one-to-one with the telescopic component; Each of the telescopic components has its opposite ends hinged to the corresponding first rotor assembly and the fire-fighting assembly; The rotor arm assembly includes two first arms located on opposite sides of the fuselage along a first direction and extending along a second direction, and two second arms extending along the first direction. One of the second arms has its longitudinal ends connected to one side of the two first arms along the second direction, and the other second arm has its longitudinal ends connected to the other side of the two first arms along the second direction; the fire-fighting component extends along the second direction and is located below the fuselage; the first direction and the second direction intersect.

2. The firefighting drone according to claim 1, characterized in that, The first rotor assembly and the telescopic component are each provided with four; A first rotor assembly is provided at the connection between the first arm and the second arm.

3. The firefighting drone according to claim 2, characterized in that, The first rotor assembly includes a connecting seat at the connection between the first arm and the second arm and at least one first electric propeller blade located outside the connecting seat; Each of the telescopic members has its end away from the fire-fighting component hinged to the bottom of the connecting seat of the corresponding first rotor assembly.

4. The firefighting drone according to claim 3, characterized in that, A secondary controller is provided on the connector; The secondary controller corresponds one-to-one with the first rotor assembly and is electrically connected to the main controller and the corresponding first rotor assembly, respectively.

5. The firefighting drone according to claim 4, characterized in that, The connecting base is also provided with a speed regulating component, which is used to adjust the rotational speed of the first electric propeller and is electrically connected to the adjacent secondary controller.

6. The firefighting drone according to claim 1, characterized in that, The rotor arm assembly also includes two third arms, with one third arm connected to each of the first arms, and a second rotor assembly provided at the end of the third arm away from the corresponding first arm.

7. The firefighting drone according to claim 6, characterized in that, A plane that is parallel to the first direction and parallel to the second direction is defined as the first plane; The third arm forms a preset angle with the first plane.

8. The firefighting drone according to claim 7, characterized in that, Each of the second rotor assemblies includes a drive unit disposed on the corresponding third arm, and two second electric propeller blades spaced apart along a third direction; Two second electric propeller blades are coaxially disposed at the output end of the drive unit to rotate under the drive of the drive unit.

9. The firefighting drone according to any one of claims 1 to 8, characterized in that, The fire-fighting components include a water pump, a water pump motor, a sprinkler head, and a fire hose; the water pump and the water pump motor are connected, the water pump is provided with a water pump outlet and a water pump inlet, the fire hose is connected to the water pump inlet, and the sprinkler head is connected to the water pump outlet.

10. The firefighting drone according to claim 9, characterized in that, The firefighting drone is also equipped with a tether cable, and the water pump motor is equipped with a transformer. The main controller and the transformer are electrically connected to the tether cable respectively.

Images