Firefighting aircraft and its center of gravity adjustment method, computer-readable storage medium

Abstract

This application discloses a fire-fighting aircraft, its center of gravity adjustment method, and a computer-readable storage medium. In this method, after the load center of gravity of the fire-fighting aircraft exceeds a predetermined range, a drive mechanism adjusts the opening degree of the hatch to adjust the area of ​​the open portion of the delivery port. This adjusts the weight of the portion of the extinguishing agent within the container that is supported by the fire-fighting aircraft, thereby adjusting the position of the load center of gravity of the fire-fighting aircraft and reducing the probability that the load center of gravity of the fire-fighting aircraft exceeds its center of gravity envelope.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a fire-fighting aircraft, its center of gravity adjustment method, and a computer-readable storage medium. Background Technology

[0002] Firefighting aircraft are used to transport and deploy fire extinguishing agents to designated locations. The aircraft's chamber contains a large quantity of liquid fire extinguishing agent. When the aircraft accelerates, decelerates, rolls, tilts forward, or pitches backward, the distribution area of ​​the fire extinguishing agent within the chamber changes. Furthermore, during the deployment of the fire extinguishing agent, its distribution area within the chamber changes as the amount of agent decreases. This change in the distribution area of ​​the fire extinguishing agent within the chamber causes a shift in the center of gravity of the agent, which in turn causes a shift in the center of gravity of the firefighting aircraft (its overall center of gravity), potentially causing the center of gravity to fall outside the aircraft's center of gravity envelope. Summary of the Invention

[0003] Embodiments of this application provide a fire-fighting aircraft and its center of gravity adjustment method, as well as a computer-readable storage medium, which can reduce the probability that the load center of gravity of the fire-fighting aircraft exceeds the center of gravity envelope.

[0004] To address the aforementioned technical problems, embodiments of this application disclose the following technical solutions: On the one hand, a method for adjusting the center of gravity of a firefighting aircraft is provided, the method comprising the following steps: Determine whether the load center of gravity of the firefighting aircraft exceeds the predetermined range; In response to the load center of gravity of the fire-fighting aircraft exceeding a predetermined range, the drive mechanism of the fire-fighting aircraft is controlled to operate, so that the drive mechanism adjusts the opening degree of the fire-fighting aircraft's hatch. The hatch is used to open or close the fire-fighting aircraft's delivery port for releasing fire extinguishing agents by their own weight.

[0005] In addition to one or more of the features disclosed above, or alternatively, after determining whether the position of the load center of gravity of the fire-fighting aircraft exceeds a predetermined range, the center of gravity adjustment method further includes: In response to the fire-fighting aircraft's load center of gravity being outside a predetermined range, the interactive components of the fire-fighting aircraft are controlled to activate, causing the interactive components to issue an alarm message.

[0006] In addition to one or more of the features disclosed above, or alternatively, the operation steps of the interactive components controlling the fire-fighting aircraft precede the operation steps of the drive components controlling the fire-fighting aircraft.

[0007] In addition to one or more of the features disclosed above, or alternatively, the location of the load center of gravity is the location of the fire-fighting aircraft's heading.

[0008] In addition to one or more of the features disclosed above, or alternatively, the center of gravity adjustment method may further include, prior to the step of determining whether the position of the load center of gravity of the fire-fighting aircraft exceeds a predetermined range: The position of the load center of gravity of the fire-fighting aircraft is calculated based on the first weight and the first position of the unloaded center of gravity of the fire-fighting aircraft when it is not loaded with fuel and extinguishing agent, the second weight and the second position of the fuel center of gravity of the fire-fighting aircraft currently loaded with fuel, and the third weight and the third position of the extinguishing agent center of gravity of the fire-fighting aircraft currently loaded with extinguishing agent.

[0009] In addition to one or more of the features disclosed above, or as an alternative, the steps for calculating the position of the load center of gravity of the fire-fighting aircraft based on the first weight and the first position of the unloaded center of gravity of the fire-fighting aircraft in the state of not carrying fuel and extinguishing agent, the second weight of the fuel currently carried by the fire-fighting aircraft and the second position of the fuel center of gravity, and the third weight of the extinguishing agent currently carried by the fire-fighting aircraft and the third position of the extinguishing agent center of gravity include: Multiply the first weight and the first position to obtain the first product value, multiply the second weight and the second position to obtain the second product value, and multiply the third weight and the third position to obtain the third product value; Add the first product value, the second product value, and the third product value to obtain the first sum value; Add the first weight, the second weight, and the third weight to obtain the second total value; Dividing the first sum by the second sum gives the location of the load center of gravity of the fire-fighting aircraft.

[0010] In addition to one or more of the features disclosed above, or alternatively, the center of gravity adjustment method may include, prior to the step of calculating the position of the load center of gravity of the fire-fighting aircraft: Based on the fourth weight and fourth center of gravity of the extinguishing agent carried in the predetermined bearing area of ​​the fire-fighting aircraft's container, and the fifth weight and fifth center of gravity of the extinguishing agent carried by the hatch, the third weight of the extinguishing agent currently carried by the fire-fighting aircraft and the third position of the center of gravity of the extinguishing agent are calculated. There are multiple predetermined bearing areas and at least one hatch.

[0011] In addition to one or more of the features disclosed above, or as an alternative, the steps of calculating the third weight of the extinguishing agent currently carried by the fire-fighting aircraft and the third position of the extinguishing agent's center of gravity based on the fourth weight and fourth center of gravity position of the extinguishing agent carried in the predetermined carrying area of ​​the fire-fighting aircraft's container, and the fifth weight and fifth center of gravity position of the extinguishing agent carried in the hatch, include: The third weight is obtained by adding multiple fourth weights and at least one fifth weight; Multiply the fourth weight and the fourth center of gravity position to obtain the fourth product value; Multiply the fifth weight and the fifth center of gravity position to obtain the fifth product value; The third sum is obtained by adding multiple fourth product values ​​and at least one fifth product value; Dividing the third sum by the third weight gives the third position of the extinguishing agent's center of gravity.

[0012] On the other hand, a fire-fighting aircraft is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of any of the above-described center of gravity adjustment methods.

[0013] On the other hand, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described center of gravity adjustment methods.

[0014] On the other hand, a fire-fighting aircraft is provided, which includes a container, a hatch, a drive unit, and a processor.

[0015] The container has a cavity to hold the extinguishing agent, and the bottom of the container also has a dispensing port communicating with the cavity to dispense the extinguishing agent by its own weight; a door is used to open or close the dispensing port, and the opening degree of the door is adjustable to adjust the size of the open portion of the dispensing port; a drive unit is used to adjust the opening degree of the door; a processor is electrically connected to the drive unit, and the processor responds to the position of the load center of gravity of the fire-fighting aircraft exceeding a predetermined range by controlling the drive unit to work so that the drive unit adjusts the opening degree of the door.

[0016] In addition to one or more of the features disclosed above, or as an alternative, the hatch is rotatably configured to adjust the degree of opening by rotating relative to the container to different orientations.

[0017] In addition to one or more of the features disclosed above, or alternatively, the firefighting aircraft includes an interaction component electrically connected to a processor for issuing alarm information.

[0018] In addition to one or more of the features disclosed above, or as an alternative, the interactive component is also used to input predetermined parameter information.

[0019] In addition to one or more of the features disclosed above, or as an alternative, the location of the delivery port is spaced apart from the unloaded center of gravity of the fire-fighting aircraft in its flight path when it is not carrying fuel or extinguishing agent.

[0020] In addition to one or more of the features disclosed above, or alternatively, the fire-fighting aircraft includes multiple first detection elements and second detection elements. The multiple first detection elements are housed in a cavity, each corresponding one-to-one with a predetermined carrying area of ​​the container for carrying the extinguishing agent. Each first detection element is located in its corresponding predetermined carrying area and is used to detect a first parameter of the extinguishing agent carried in its corresponding predetermined carrying area. The second detection element is correspondingly disposed with a hatch and is used to detect a second parameter of the extinguishing agent carried in its corresponding hatch. A processor is also electrically connected to each of the first and second detection elements, respectively, and is used to calculate a fourth weight of the extinguishing agent carried in the predetermined carrying area based on the first parameters and a fifth weight of the extinguishing agent carried in the hatch based on the second parameters.

[0021] In addition to one or more of the features disclosed above, or as an alternative, the first detection element is a liquid level sensor disposed at the top of the cavity, and the first parameter is the liquid level height.

[0022] In addition to one or more of the features disclosed above, or as an alternative, the second detection element is a pressure sensor disposed on the inner surface of the hatch, and the second parameter is pressure.

[0023] In addition to one or more of the features disclosed above, or alternatively, the cavity includes a first sub-cavity and a second sub-cavity. The first sub-cavity extends generally in the direction of gravity, and its bottom is open to form a delivery port; the second sub-cavity communicates with the first sub-cavity and extends generally in the heading toward the unloaded center of gravity of the fire-fighting aircraft when it is not loaded with fuel and extinguishing agent, and the bottom of the second sub-cavity is higher than the bottom of the first sub-cavity.

[0024] In addition to one or more of the features disclosed above, or alternatively, the bottom of the second sub-cavity is inclined toward the bottom of the first sub-cavity.

[0025] In addition to one or more of the features disclosed above, or as an alternative, the volume of the second sub-cavity is greater than the volume of the first sub-cavity.

[0026] In addition to one or more of the features disclosed above, or alternatively, the diameter of the second sub-cavity gradually decreases along the course.

[0027] One of the above technical solutions has the following advantages or beneficial effects: In this technical solution, after the load center of gravity of the fire-fighting aircraft exceeds the predetermined range, the drive mechanism of the fire-fighting aircraft adjusts the opening degree of the aircraft's door, thereby adjusting the weight of the extinguishing agent carried by the door, and thus adjusting the position of the load center of gravity, so that the position of the load center of gravity is within the predetermined range, reducing the probability that the load center of gravity of the fire-fighting aircraft exceeds the center of gravity envelope. Attached Figure Description

[0028] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0029] Figure 1 This is a three-dimensional structural schematic diagram of a fire-fighting aerial vehicle according to an embodiment of this application; Figure 2 yes Figure 1 The image shows a side view of the firefighting aircraft. Figure 3 yes Figure 1 A top view of the firefighting aircraft shown; Figure 4 yes Figure 1 A cross-sectional view of the container in the fire-fighting aircraft at the first cut position; Figure 5 yes Figure 1 A cross-sectional view of the container in the fire-fighting aircraft at the second cut position; Figure 6 yes Figure 4 HH section view in the middle; Figure 7 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application; Figure 8 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application; Figure 9 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application; Figure 10 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application.

[0030] In the diagram, 100 is the fire-fighting aircraft, 101 is the fuselage, 103 is the wing, 105 is the engine, 107 is the fuel tank, 109 is the container, 111 is the cavity, 113 is the delivery port, 115 is the hatch, 117 is the drive unit, 119 is the processor, 121 is the interaction component, 123 is the memory, 125 is the first detection element, 127 is the second detection element, 129 is the first sub-cavity, 131 is the second sub-cavity, 133 is the predetermined load area, P0 is the load center of gravity, P1 is the unloaded center of gravity, P2 is the fuel center of gravity, P3 is the extinguishing agent center of gravity, X is the heading, Y is the spanwise direction, and Z is the altitude direction. Detailed Implementation

[0031] To make the objectives, technical solutions, and beneficial effects of this application clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates this application. It should be understood that the specific embodiments described in this specification are merely for explaining this application and are not intended to limit it.

[0032] In the description of this application, 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," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] Firefighting aircraft are used to transport and deploy fire extinguishing agents to predetermined locations. In some embodiments, the firefighting aircraft is a manned aircraft. It can be a modified passenger plane, specifically, with a container inside the plane to hold the fire extinguishing agent, and a dispensing port at the bottom of the container to release the agent by its own weight. In this embodiment, the firefighting aircraft can be used for forest fire fighting. In other embodiments, the firefighting aircraft is a drone. Drones are much smaller than passenger planes. In this embodiment, the firefighting aircraft can be used for firefighting in high-rise buildings.

[0036] The following explanation uses a fire-fighting aircraft as an example of a manned aircraft.

[0037] The extinguishing agent is liquid and can be water, commercially available chemical flame retardants, or a mixture thereof.

[0038] When a fire-fighting aircraft accelerates, decelerates, rolls, tilts forward, or pitches backward, the distribution area of ​​the extinguishing agent within the container changes (the sloshing of the extinguishing agent causes inconsistent liquid levels). Additionally, during the deployment of the extinguishing agent, its distribution area within the container also changes as the agent decreases. This change in the distribution area of ​​the extinguishing agent within the container leads to a shift in the center of gravity of the extinguishing agent, which in turn causes a shift in the center of gravity of the fire-fighting aircraft's load, potentially causing the load's center of gravity to fall outside its center of gravity envelope.

[0039] Center of gravity under load: The center of gravity of the firefighting aircraft under load. Specifically, the firefighting aircraft is fuel-powered, and its center of gravity under load is the combined center of gravity of the firefighting aircraft, fuel, and extinguishing agent.

[0040] Unloaded center of gravity: The center of gravity of the firefighting aircraft when unloaded. Specifically, since the firefighting aircraft is fuel-powered, its unloaded center of gravity is the center of gravity of the firefighting aircraft when it is not carrying fuel or extinguishing agent.

[0041] Center of gravity envelope: This refers to the permissible range of change in an aircraft's center of gravity throughout all flight stages. In terms of safety, the position of the center of gravity within its envelope should allow for safe, controllable flight. Regarding flight characteristics, a suitable center of gravity improves aircraft maneuverability, thereby enhancing overall aircraft dynamics. In terms of performance, the center of gravity affects an aircraft's takeoff, cruise, and landing performance. In terms of geometry, the range of the center of gravity primarily influences the aircraft's horizontal stabilizer design and overall aerodynamic layout.

[0042] To reduce the probability that the center of gravity of the firefighting aircraft's load will exceed its center of gravity envelope, in embodiments of this application, after the center of gravity of the firefighting aircraft's load exceeds a predetermined range, the drive mechanism adjusts the opening degree of the hatch to adjust the size of the open portion of the delivery port. In this way, the weight of the extinguishing agent carried by the hatch is adjusted, thereby adjusting the position of the load's center of gravity.

[0043] Please see Figures 1 to 3 , Figure 1 This is a three-dimensional structural schematic diagram of a fire-fighting aerial vehicle 100 according to an embodiment of this application. Figure 2 yes Figure 1 The side view of the fire-fighting aircraft 100 shown is shown. Figure 3 yes Figure 1 The top view of the fire-fighting aircraft 100 shown.

[0044] The diagram shows a heading X, spanwise Y, and an altitude Z that are perpendicular to each other. The heading X is the flight direction of the aircraft. When the fire-fighting aircraft 100 is parked on the ground, the spanwise Y is in the horizontal plane, and the altitude Z is opposite to the direction of gravity.

[0045] The fire-fighting aircraft 100 includes a fuselage 101, wings 103, engine 105, fuel tank 107, container 109, hatch 115, drive unit 117, and processor 119.

[0046] The fuselage 101 generally extends in the X direction.

[0047] The wings 103 are mounted on the fuselage 101. There are two wings 103, located on both sides of the fuselage 101.

[0048] Fuel tank 107 is located on fuselage 101 and is used to hold fuel. The position and shape of fuel tank 107 in the illustration are for illustrative purposes only. There may be one or more fuel tanks 107.

[0049] Engine 105 is located at the rear of fuselage 101 and uses fuel from fuel tank 107 to propel firefighting aircraft 100. There are two engines 105, located on either side of fuselage 101.

[0050] Container 109 has a cavity 111 for containing extinguishing agent. The bottom of container 109 also has a dispensing port 113 communicating with the cavity 111, so that the extinguishing agent is dispensed by its own weight. That is, when the dispensing port 113 is open, the extinguishing agent flows out of container 109 under its own weight.

[0051] On the heading X of the firefighting aircraft 100, the delivery port 113 is positioned at an interval from the unloaded center of gravity P1 of the firefighting aircraft 100 when it is not carrying fuel or extinguishing agent. Specifically, the delivery port 113 is located behind the unloaded center of gravity P1.

[0052] The unloaded center of gravity P1 of the fire-fighting aircraft 100 is located above and forward of the wing 103. To reduce or even avoid the entry of extinguishing agent into the engine 105, the delivery port 113 is positioned behind the wing 103. Compared to a layout where the delivery port 113 is located in front of the wing 103, this significantly shortens the distance from the delivery port 113 to the engine 105 in the heading X, preventing the released extinguishing agent from rising with the airflow to the height of the engine 105 within such a short distance, thereby reducing the probability of the extinguishing agent being sucked into the engine 105.

[0053] In some embodiments, cavity 111 includes a first sub-cavity 129 and a second sub-cavity 131.

[0054] The first sub-cavity 129 extends generally in the direction of gravity. The bottom of the first sub-cavity 129 is open to form a delivery port 113.

[0055] The second sub-cavity 131 is connected to the first sub-cavity 129 and generally extends towards the unloaded center of gravity P1 of the fire-fighting aircraft 100 in the heading X direction when it is not loaded with fuel or extinguishing agent. The diameter of the second sub-cavity 131 gradually decreases along the heading X. The volume of the second sub-cavity 131 is greater than the volume of the first sub-cavity 129. The bottom of the second sub-cavity 131 is higher than the bottom of the first sub-cavity 129, and the bottom of the second sub-cavity 131 slopes towards the bottom of the first sub-cavity 129.

[0056] By arranging the structure of the cavity 111 in this way, the center of gravity P3 of the extinguishing agent in the cavity 111 is as close as possible to the unloaded center of gravity P1 of the fire-fighting aircraft 100, thereby minimizing the impact of the extinguishing agent on the position of the load center of gravity P0 of the fire-fighting aircraft 100.

[0057] The hatch 115 is used to open or close the launch port 113. The opening degree of the hatch 115 is adjustable to adjust the size of the open portion of the launch port 113. Specifically, the adjustable opening degree of the hatch 115 means that the size of the projected area of ​​the hatch 115 in the direction of gravity is adjustable.

[0058] To achieve an adjustable opening degree for hatch 115, the following method can be adopted.

[0059] In the illustrated embodiment, the hatch 115 is rotatably configured, and its opening degree can be adjusted by rotating it to different positions relative to the container 109. More specifically, there are two hatches 115, each rotatably configured at the edge of the dispensing port 113 of the container 109. The two hatches 115 are arranged sequentially in the spanwise Y direction and open the dispensing port 113 by means of a double-opening mechanism. The number of hatches 115 is not limited to two; it can also be one or more.

[0060] In other embodiments, the hatch 115 can also be opened or closed by pulling the delivery port 113. For example, the hatch 115 covers the delivery port 113 and is movable along the spanwise Y direction or its opposite direction. The degree of opening of the hatch 115 can be adjusted by adjusting the position of the hatch 115 in the spanwise Y direction.

[0061] A drive unit 117 is disposed on the fuselage 101 and is used to adjust the opening degree of the hatch 115. Specifically, in some embodiments, the drive unit 117 is a drive cylinder, such as a hydraulic cylinder or a pneumatic cylinder.

[0062] The processor 119 is electrically connected to the actuator 117. Electrical connection, as used herein, refers to a connection capable of transmitting signals, such as a wired connection or a Bluetooth connection. In response to the load center of gravity P0 of the fire-fighting aircraft 100 exceeding a predetermined range, the processor 119 controls the actuator 117 to adjust the opening degree of the hatch 115. This predetermined range is smaller than the center of gravity envelope range.

[0063] The processor 119 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0064] In one scenario, a fire-fighting aircraft 100 is loaded with extinguishing agent and is releasing it. At this time, the hatch 115 is open to 30% (partially open). To respond to an emergency, the fire-fighting aircraft 100 accelerates in heading X, causing the extinguishing agent in container 109 to surge towards the rear of container 109 (the liquid level at the rear of cavity 111 is higher than the liquid level at the front). This causes the center of gravity P3 of the extinguishing agent in container 109 to shift rearward, consequently shifting the load center of gravity P0 of the fire-fighting aircraft 100 rearward, and the position of the load center of gravity P0 exceeds a predetermined range. At this moment, the processor 119 controls the actuator 117 to actuate, causing the actuator 117 to drive the hatch 115 to open to 100% (fully open). Thus, the extinguishing agent directly above the hatch 115 no longer exerts force on the hatch 115, reducing the weight of the portion of the extinguishing agent acting on the fire-fighting aircraft 100, causing the load center of gravity P0 of the fire-fighting aircraft 100 to move forward.

[0065] In the above embodiments, after the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range, the drive component 117 of the fire-fighting aircraft 100 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100, thereby adjusting the weight of the extinguishing agent carried by the hatch 115, and thus adjusting the position of the load center of gravity P0, so that the position of the load center of gravity P0 is within the predetermined range, reducing the probability that the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the center of gravity envelope.

[0066] In some embodiments, the fire-fighting aircraft 100 further includes an interaction component 121. The interaction component 121 is electrically connected to the processor 119 and is used to issue alarm information and to input predetermined parameter information. The interaction component 121 may include a display device (e.g., a display screen), an input device (e.g., a keypad, keyboard), and a sound playback device (e.g., a speaker).

[0067] Alarm information may include, for example, a graph showing the change in the position of the load center of gravity P0, the weight of the extinguishing agent, and the weight of the fuel. When the load center of gravity P0 of the fire-fighting aircraft 100 exceeds a predetermined range, the interaction component 121 issues an alarm message to alert the operators (pilot).

[0068] The predetermined parameter information includes, for example, the weight configuration, payload data, and fuel loading information of the fire-fighting aircraft 100. The operator inputs the predetermined parameter information into the processor 119 through the interactive component 121, and the processor 119 calculates the position of the load center of gravity P0 of the fire-fighting aircraft 100 based on the predetermined parameter information.

[0069] In some embodiments, the fire-fighting aircraft 100 further includes a memory 123 electrically connected to a processor 119. An interaction component 121 is also electrically connected to the memory 123. The processor 119 retrieves predetermined parameter information input via the interaction component 121 from the memory 123. In the following description, the first detection element 125 and the second detection element 127 may also be electrically connected to the memory 123 and, through the memory 123, to the processor 119. The detection data of the first detection element 125 and the second detection element 127 is stored in the memory 123, and the processor 119 retrieves the detection data from the memory 123.

[0070] Please refer to the following: Figures 4 to 6 , Figure 4 yes Figure 1 A cross-sectional view of the container 109 in the fire-fighting aircraft 100 at the first cut position. Figure 5 Yes, yes Figure 1 A cross-sectional view of the container 109 in the fire-fighting aircraft 100 at the second cut position, as shown. Figure 6 yes Figure 4 HH section view in the image.

[0071] In some embodiments, the firefighting aircraft 100 further includes a plurality of first detection elements 125 and second detection elements 127.

[0072] Multiple first detection elements 125 are housed in the cavity 111. Each of the multiple first detection elements 125 corresponds one-to-one with a multiple predetermined carrying area 133 of the container 109 for carrying the extinguishing agent. Each first detection element 125 is located in its corresponding predetermined carrying area 133 and is used to detect the first parameter of the extinguishing agent carried in its corresponding predetermined carrying area 133.

[0073] Specifically, the bottom of the container 109 at the second cavity 111 is divided into multiple predetermined bearing areas 133 (only 12 are shown in the figure). That is, the multiple predetermined bearing areas 133 combine to form the bottom of the container 109 at the second cavity 111. The multiple predetermined bearing areas 133 are generally distributed in an array along the X-axis and Y-axis. The area and position of each predetermined bearing area 133 are predetermined. The number of predetermined bearing areas 133 is equal to the number of first detection elements 125, and they correspond one-to-one.

[0074] In the illustrated embodiment, the first detection element 125 is a liquid level sensor, which is disposed at the top of the cavity 111, and the first parameter is the liquid level height. In other embodiments, the first detection element 125 may also be a pressure sensor, which is disposed at the bottom of the cavity 111, and the first parameter is the pressure.

[0075] The second detection element 127 is correspondingly provided with the hatch 115 and is used to detect the second parameter of the extinguishing agent carried by the corresponding hatch 115. Specifically, each hatch 115 is provided with a corresponding second detection element 127. The second detection element 127 is a pressure sensor, which is located on the inner surface of the hatch 115, and the second parameter is pressure.

[0076] The processor 119 is also electrically connected to each of the first detection elements 125 and the second detection elements 127, respectively, for calculating the fourth weight of the extinguishing agent carried in the predetermined carrying area 133 based on the first parameter, and calculating the fifth weight of the extinguishing agent carried in the hatch 115 based on the second parameter.

[0077] Please refer to the following: Figure 7 , Figure 7 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application.

[0078] A method for adjusting the center of gravity of a fire-fighting aircraft 100, wherein the fire-fighting aircraft 100 can be any of the above embodiments.

[0079] The method of adjusting the center of gravity includes the following steps: Step S601: Determine whether the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range.

[0080] For a detailed description of the load center of gravity P0, please refer to the explanation of the above-mentioned embodiment of the fire-fighting aircraft 100, which will not be repeated here.

[0081] In some embodiments, the predetermined range coincides with the range of the center of gravity envelope of the fire-fighting aircraft 100.

[0082] In other embodiments, the predetermined range is smaller than the range of the center of gravity envelope of the fire-fighting aircraft 100, and the position of the load center of gravity P0 is still within the range of the center of gravity envelope after it exceeds the predetermined range.

[0083] Step S602: In response to the load center of gravity P0 of the fire-fighting aircraft 100 exceeding a predetermined range, the drive unit 117 of the fire-fighting aircraft 100 is controlled to operate, so that the drive unit 117 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100. The hatch 115 is used to open or close the release port 113 of the fire-fighting aircraft 100, which is used to release the fire extinguishing agent by its own weight.

[0084] Specifically, the drive unit 117 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100 according to a predetermined rule. In some embodiments, during the entire process of discharging extinguishing agent, the position of the load center of gravity P0 of the fire-fighting aircraft 100 first moves backward and then forward. If the load center of gravity P0 exceeds the predetermined range during the forward-to-backward movement, the hatch 115 should be closed immediately to stop the load center of gravity P0 from moving backward; if the load center of gravity P0 has reached the final position, the hatch 115 should be opened to the maximum opening degree immediately to allow the extinguishing agent above the hatch 115 to be discharged as soon as possible, so that the load center of gravity P0 returns to the front in a short time.

[0085] After the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range, the drive component 117 of the fire-fighting aircraft 100 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100, thereby adjusting the weight of the extinguishing agent carried by the hatch 115, and thus adjusting the position of the load center of gravity P0, so that the position of the load center of gravity P0 is within the predetermined range, reducing the probability that the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the center of gravity envelope.

[0086] Please refer to the following: Figure 8 , Figure 8 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application.

[0087] In some embodiments, when the firefighting aircraft 100 has an interaction component 121, the center of gravity adjustment method includes the following steps: Step S701: Determine whether the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range.

[0088] Step S702: In response to the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeding the predetermined range, control the interaction component 121 of the fire-fighting aircraft 100 to work so that the interaction component 121 issues an alarm message.

[0089] Step S703: In response to the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeding the predetermined range, control the drive unit 117 of the fire-fighting aircraft 100 to work so that the drive unit 117 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100.

[0090] In this embodiment, step S702 can be performed before, after, or simultaneously with step S703.

[0091] In some embodiments, the position of the load center of gravity P0 is the position of the fire-fighting aircraft 100 in the heading X. The load center of gravity P0 has positions in the heading X, span Y, and altitude Z. Generally, the position in the heading X has the greatest impact on the flight safety of the fire-fighting aircraft 100. Therefore, in this embodiment, only the position of the load center of gravity P0 in the heading X is considered to improve the processing speed of the processor 119.

[0092] Please see Figure 9 , Figure 9 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application.

[0093] In some embodiments, when the firefighting aircraft 100 has an interaction component 121, the center of gravity adjustment method includes the following steps: Step S801: Calculate the position of the load center of gravity P0 of the fire-fighting aircraft 100 based on the first weight of the fire-fighting aircraft 100 in the state of not carrying fuel and extinguishing agent, the first position of the unloaded center of gravity P1, the second weight of the fuel currently carried by the fire-fighting aircraft 100 and the second position of the fuel center of gravity P2, and the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of the extinguishing agent center of gravity P3.

[0094] Specifically, the method for calculating the position of the load center of gravity P0 of the fire-fighting aircraft 100 includes: Multiply the first weight and the first position to obtain the first product value, multiply the second weight and the second position to obtain the second product value, and multiply the third weight and the third position to obtain the third product value; Add the first product value, the second product value, and the third product value to obtain the first sum value; Add the first weight, the second weight, and the third weight to obtain the second total value; Divide the first sum by the second sum to obtain the position of the load center of gravity P0 of the fire-fighting aircraft 100.

[0095] More specifically, the position of the load center of gravity P0 of the fire-fighting aircraft 100 is calculated using the following formula.

[0096]

[0097] Wherein, CG represents the position of the load center of gravity P0 of the fire-fighting aircraft 100. W ZF The first weight of the fire-fighting aircraft 100 in its unloaded state, without fuel and extinguishing agent, CG ZF The first position of the unloaded center of gravity P1 of the fire-fighting aircraft 100 when it is not loaded with fuel or extinguishing agent. W F The second weight of the fuel currently carried by the fire-fighting aircraft 100, CG F The second position of the fuel center of gravity P2 of the fuel currently carried by the fire-fighting aircraft 100. W Total The third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100, CG Total The third position of the center of gravity P3 of the extinguishing agent currently carried by the fire-fighting aircraft 100.

[0098] Step S802: Determine whether the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range.

[0099] Step S803: In response to the load center of gravity P0 of the fire-fighting aircraft 100 exceeding the predetermined range, control the drive unit 117 of the fire-fighting aircraft 100 to work, so that the drive unit 117 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100.

[0100] Please see Figure 10 , Figure 10 This is a flowchart of a center of gravity adjustment method according to an embodiment of this application.

[0101] In some embodiments, when the firefighting aircraft 100 has an interaction component 121 and a first detection element 125 and a second detection element 127, the center of gravity adjustment method includes the following steps: Step S901: Based on the fourth weight and fourth center of gravity position of the extinguishing agent carried in the predetermined bearing area 133 of the fire-fighting aircraft 100 container, and the fifth weight and fifth center of gravity position of the extinguishing agent carried in the hatch 115, calculate the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of the center of gravity P3 of the extinguishing agent. There are multiple predetermined bearing areas 133 and at least one hatch 115.

[0102] Specifically, without considering the position of the load center of gravity P0 in the height direction Z, the position of the predetermined load-bearing area 133 is the fourth center of gravity position, and the position of the hatch 115 is the fifth center of gravity position.

[0103] Specifically, the method for calculating the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of the center of gravity P3 of the extinguishing agent includes: The third weight is obtained by adding multiple fourth weights and at least one fifth weight; Multiply the fourth weight and the fourth center of gravity position to obtain the fourth product value; Multiply the fifth weight and the fifth center of gravity position to obtain the fifth product value; The third sum is obtained by adding multiple fourth product values ​​and at least one fifth product value; Dividing the third sum by the third weight gives the third position of the extinguishing agent's center of gravity P3.

[0104] More specifically, the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of the center of gravity P3 of the extinguishing agent are calculated using the following formula.

[0105] The extinguishing agent within the chamber can be divided into three parts: A, B, and C. Part A is located in the second sub-chamber 131; Part B is located in the first sub-chamber 129, directly above the hatch 115; and Part C is located in the first sub-chamber 129 but suspended in the air. The weight of Parts A and B acts on the fire-fighting aircraft 100, while the weight of Part C does not. When calculating the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of its center of gravity P3, Part C can be disregarded. In other words, the extinguishing agent currently carried by the fire-fighting aircraft 100 includes Parts A and B, but excludes Part C.

[0106]

[0107]

[0108] In the formula, W ij For the position located at the i Rank, No. j The weight of the extinguishing agent carried by the designated bearing area 133 of the column, n A This represents the total number of rows. m A This represents the total number of columns. ρ The density of the extinguishing agent. S For the area of ​​the planned carrying area 133, Hij For the position located at the i Rank, No. j The liquid level of the extinguishing agent contained in the predetermined bearing area 133 of the column, W A This represents the weight of the extinguishing agent in Part A. g It represents the acceleration due to gravity.

[0109]

[0110]

[0111] In the formula, θ This represents the current opening angle of hatch 115. θ 0 represents the initial opening angle of hatch 115. w The angular velocity of the hatch rotation is 115°. t The time it takes for the hatch 115 to transition from its initial opening angle to its current opening angle. S 舱门 The surface area of ​​the hatch 115 used to hold the extinguishing agent. p r This refers to the pressure of the extinguishing agent on one of the hatches, 115. p l The pressure of the extinguishing agent on another hatch 115, W B This refers to the weight of the extinguishing agent in Part B.

[0112]

[0113]

[0114] In the formula, W Total This is the third weight of the extinguishing agent currently carried by the firefighting aircraft 100. CG Total The third position of the center of gravity P3 of the extinguishing agent currently carried by the fire-fighting aircraft 100.

[0115] Step S902: Calculate the position of the load center of gravity P0 of the fire-fighting aircraft 100 based on the first weight of the fire-fighting aircraft 100 when it is not loaded with fuel and extinguishing agent, the first position of the unloaded center of gravity P1, the second weight of the fuel currently carried by the fire-fighting aircraft 100 and the second position of the fuel center of gravity P2, and the third weight of the extinguishing agent currently carried by the fire-fighting aircraft 100 and the third position of the extinguishing agent center of gravity P3.

[0116] Step S902 is the same as step S801, and will not be repeated here.

[0117] Step S903: Determine whether the position of the load center of gravity P0 of the fire-fighting aircraft 100 exceeds the predetermined range.

[0118] Step S904: In response to the load center of gravity P0 of the fire-fighting aircraft 100 exceeding the predetermined range, control the drive unit 117 of the fire-fighting aircraft 100 to work, so that the drive unit 117 adjusts the opening degree of the hatch 115 of the fire-fighting aircraft 100.

[0119] This application also provides a fire-fighting aircraft 100, which includes a memory 123, a processor, and a computer program stored in the memory 123 and executable on the processor. When the processor executes the computer program, it implements the steps of any of the above-described center of gravity adjustment methods.

[0120] The memory 123 can be an internal storage unit of the fire-fighting aircraft 100, such as the hard drive or memory of the fire-fighting aircraft 100. The memory 123 can also be an external storage device of the fire-fighting aircraft 100, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the fire-fighting aircraft 100. Furthermore, the memory 123 can include both internal storage units and external storage devices of the fire-fighting aircraft 100. The memory 123 stores the aforementioned computer programs and other programs and data required by the aforementioned terminal equipment. The memory 123 can also be used to temporarily store data that has been output or will be output.

[0121] On the other hand, a computer-readable storage medium is provided, which stores a computer program. When executed by a processor, the computer program implements the steps of any of the above-described center-of-gravity adjustment methods. This application implements all or part of the processes in the methods of the above embodiments, which can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0122] In summary, the fire-fighting aircraft, its center of gravity adjustment method, and the computer-readable storage medium provided in this application can reduce the probability that the load center of gravity of the fire-fighting aircraft exceeds the center of gravity envelope.

[0123] The above steps are provided only to help understand the method, structure, and core ideas of this application. Those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

Claims

1. A method of adjusting the center of gravity of a fire fighting aircraft, characterized by, The firefighting aerial vehicle includes: The container and hatch; the container has a cavity for containing the extinguishing agent; the bottom of the container also has a dispensing port communicating with the cavity for dispensing the extinguishing agent by its own weight; A plurality of first detection elements are housed in the cavity. Each of the first detection elements corresponds one-to-one with a plurality of predetermined carrying areas of the container for carrying the extinguishing agent. Each first detection element is located in its corresponding predetermined carrying area and is used to detect a first parameter of the extinguishing agent carried in its corresponding predetermined carrying area. The first detection element is a liquid level sensor, which is disposed at the top of the cavity. The first parameter is the liquid level height. The second detection element is disposed corresponding to the hatch and is used to detect the second parameter of the extinguishing agent carried by the corresponding hatch; the second detection element is a pressure sensor disposed on the inner surface of the hatch, and the second parameter is pressure. The cavity includes: The first sub-cavity extends generally in the direction of gravity, and the bottom of the first sub-cavity is open to form the delivery port; The second sub-cavity is connected to the first sub-cavity and generally extends toward the unloaded center of gravity of the fire-fighting aircraft in the heading direction of the fire-fighting aircraft when it is not loaded with fuel and the extinguishing agent. The bottom of the second sub-cavity is higher than the bottom of the first sub-cavity. The center of gravity adjustment method includes the following steps: The position of the load center of gravity of the fire-fighting aircraft is calculated based on the first weight and first position of the unloaded center of gravity of the fire-fighting aircraft in its unloaded state and in the state of the fire extinguishing agent; the second weight and second position of the fuel center of gravity of the fire-fighting aircraft currently carrying the fuel; and the third weight and third position of the fire extinguishing agent center of gravity of the fire-fighting aircraft currently carrying the fire extinguishing agent. The third weight refers to the weight of part A and part B of the fire extinguishing agent currently carried by the fire-fighting aircraft within its container. Part A of the fire extinguishing agent is located in the second sub-cavity of the container, and part B of the fire extinguishing agent is located in the first sub-cavity of the container, directly above the hatch of the fire-fighting aircraft. The weight of part A of the fire extinguishing agent is obtained by measuring the liquid level height of part A using a liquid level sensor; the weight of part B of the fire extinguishing agent is obtained by measuring the pressure on the hatch using a pressure sensor; and the third position refers to the center of gravity of the fire extinguishing agent carried by the fire-fighting aircraft. Determine whether the position of the load center of gravity of the firefighting aircraft exceeds the predetermined range; In response to the position of the load center of gravity of the fire-fighting aircraft exceeding the predetermined range, the drive mechanism of the fire-fighting aircraft is controlled to operate, so that the drive mechanism adjusts the opening degree of the hatch of the fire-fighting aircraft, the hatch being used to open or close the delivery port.

2. The method of claim 1, wherein, After the step of determining whether the position of the load center of gravity of the fire-fighting aircraft exceeds a predetermined range, the center of gravity adjustment method further includes: In response to the fire-fighting aircraft's load center of gravity being outside a predetermined range, the interactive component of the fire-fighting aircraft is controlled to activate, causing the interactive component to issue an alarm message.

3. The center of gravity adjustment method as described in claim 2, characterized in that, The operation steps of the interactive component controlling the firefighting aircraft precede the operation steps of the drive component controlling the firefighting aircraft.

4. The center of gravity adjustment method as described in claim 1, characterized in that, The position of the load's center of gravity is the position of the fire-fighting aircraft's flight path.

5. The method of claim 1, wherein the center of gravity is adjusted by, The step of calculating the position of the load center of gravity of the fire-fighting aircraft based on the first weight and the first position of the unloaded center of gravity of the fire-fighting aircraft when it is not loaded with fuel and the extinguishing agent, the second weight and the second position of the fuel center of gravity of the fire-fighting aircraft currently loaded with fuel, and the third weight and the third position of the extinguishing agent center of gravity of the fire-fighting aircraft currently loaded with extinguishing agent, includes: Multiply the first weight and the first position to obtain a first product value, multiply the second weight and the second position to obtain a second product value, and multiply the third weight and the third position to obtain a third product value; The first product value, the second product value, and the third product value are added together to obtain the first sum value; The first weight, the second weight, and the third weight are added together to obtain a second total value; The position of the load center of gravity of the fire-fighting aircraft is obtained by dividing the first sum by the second sum.

6. The method of centering according to claim 1, wherein, Before calculating the position of the load center of gravity of the fire-fighting aircraft, the center of gravity adjustment method further includes: The third weight of the extinguishing agent currently carried by the fire-fighting aircraft and the third position of the center of gravity of the extinguishing agent are calculated based on the fourth weight and fourth center of gravity position of the extinguishing agent carried by the predetermined bearing area of ​​the container of the fire-fighting aircraft, and the fifth weight and fifth center of gravity position of the extinguishing agent carried by the hatch. There are multiple predetermined bearing areas and at least one hatch.

7. The method of centering according to claim 6, wherein, The step of calculating the third weight of the extinguishing agent currently carried by the fire-fighting aircraft and the third position of the center of gravity of the extinguishing agent based on the fourth weight and fourth center of gravity position of the extinguishing agent carried in the predetermined bearing area of ​​the container of the fire-fighting aircraft, and the fifth weight and fifth center of gravity position of the extinguishing agent carried by the hatch, includes: The third weight is obtained by adding multiple fourth weights and at least one fifth weight; Multiply the fourth weight and the fourth center of gravity position to obtain the fourth product value; Multiply the fifth weight and the fifth center of gravity position to obtain the fifth product value; The third sum is obtained by adding multiple fourth product values ​​and at least one fifth product value; Dividing the third sum by the third weight yields the third position of the center of gravity of the extinguishing agent.

8. A firefighting aircraft, the firefighting aircraft comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the center of gravity adjustment method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the center of gravity adjustment method as described in any one of claims 1 to 7.

10. A fire fighting aircraft characterised in that, The firefighting aerial vehicle includes: A container having a cavity for containing a fire extinguishing agent, and a dispensing port at the bottom of the container communicating with the cavity for dispensing the fire extinguishing agent by its own weight; the cavity comprising: a first sub-cavity extending generally in the direction of gravity, the bottom of the first sub-cavity being open to form the dispensing port; and a second sub-cavity communicating with the first sub-cavity and extending generally in the heading of the fire-fighting aircraft toward the unloaded center of gravity of the fire-fighting aircraft in the state of not carrying fuel and the fire extinguishing agent, the bottom of the second sub-cavity being higher than the bottom of the first sub-cavity; A hatch, used to open or close the delivery port, the opening degree of which is adjustable to adjust the size of the open portion of the delivery port; A plurality of first detection elements are housed in the cavity. Each of the first detection elements corresponds one-to-one with a plurality of predetermined carrying areas of the container for carrying the extinguishing agent. Each first detection element is located in its corresponding predetermined carrying area and is used to detect a first parameter of the extinguishing agent carried in its corresponding predetermined carrying area. The first detection element is a liquid level sensor, which is disposed at the top of the cavity. The first parameter is the liquid level height. The second detection element is disposed corresponding to the hatch and is used to detect the second parameter of the extinguishing agent carried by the corresponding hatch; the second detection element is a pressure sensor disposed on the inner surface of the hatch, and the second parameter is pressure. A drive unit, the drive unit being used to adjust the opening degree of the hatch; A processor, electrically connected to the drive unit, calculates the position of the load center of gravity of the fire-fighting aircraft based on the first weight and the first position of the unloaded center of gravity of the fire-fighting aircraft in its unloaded state with no fuel and the fire extinguishing agent, the second weight and the second position of the fuel center of gravity of the fire-fighting aircraft currently carrying the fuel, and the third weight and the third position of the fire extinguishing agent center of gravity of the fire-fighting aircraft currently carrying the fire extinguishing agent; wherein, the third weight refers to the fire extinguishing agent load currently carried by the fire-fighting aircraft within the container of the fire-fighting aircraft. The weights of extinguishing agent A and B; the extinguishing agent in part A is located in the second sub-cavity within the main cavity, and the extinguishing agent in part B is located in the first sub-cavity within the main cavity, directly above the hatch of the fire-fighting aircraft; the weight of the extinguishing agent in part A is obtained by measuring the liquid level height of the extinguishing agent in part A using the liquid level sensor; the weight of the extinguishing agent in part B is obtained by measuring the pressure on the hatch using the pressure sensor; the third position refers to the center of gravity of the extinguishing agent carried by the fire-fighting aircraft. In addition, in response to the load center of gravity of the fire-fighting aircraft exceeding a predetermined range, the drive unit is controlled to operate so that the drive unit adjusts the opening degree of the hatch.

11. The firefighting aircraft as described in claim 10, characterized in that, The hatch is rotatably configured, and the degree of opening can be adjusted by rotating it to different positions relative to the container.

12. The firefighting aircraft as described in claim 10, characterized in that, include: An interactive component, electrically connected to the processor, is used to issue alarm information.

13. The firefighting aircraft as described in claim 12, characterized in that, The interactive component is also used to input predetermined parameter information.

14. The firefighting aircraft as described in claim 10, characterized in that, The location of the delivery port is spaced apart from the unloaded center of gravity of the fire-fighting aircraft when it is not carrying fuel or extinguishing agent, in the flight direction of the fire-fighting aircraft.

15. The firefighting aircraft as described in claim 10, characterized in that, The processor is also electrically connected to each of the first detection element and the second detection element, respectively, for calculating the fourth weight of the extinguishing agent carried in the predetermined bearing area based on the first parameter, and calculating the fifth weight of the extinguishing agent carried in the hatch based on the second parameter.

16. The firefighting aircraft as described in claim 10, characterized in that, The bottom of the second sub-cavity is inclined toward the bottom of the first sub-cavity.

17. The firefighting aircraft as described in claim 10, characterized in that, The volume of the second sub-cavity is greater than the volume of the first sub-cavity.

18. The firefighting aircraft as described in claim 10, characterized in that, Along the course of travel, the diameter of the second sub-cavity gradually decreases.

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