Marine fire fighting equipment and control methods

Abstract

This invention discloses a marine firefighting equipment and control method. The marine firefighting equipment includes a fire-fighting mother ship, a control system, and a marine firefighting platform system. The marine firefighting platform system is detachably mounted on the fire-fighting mother ship and is communicatively connected to the control system. The marine firefighting platform system includes an unmanned surface vessel (USV), a fire-fighting water delivery device, a water-absorbing submersible (WAD), and a fire-fighting aerial vehicle (FAV). The control system can control the WAD to dive to deep water to draw water and can control the FAV to ascend to a high altitude area above the fire point. In this way, the fire-fighting mother ship can be moored at a distance from the fire point, while the WAD can be controlled by the control system to moor closer to the fire point, allowing the FAV to extinguish the fire at close range, improving firefighting efficiency while ensuring the safety of firefighters. By controlling the WAD to draw water in deep water, it avoids drawing water from the hull, which could cause the WAD to capsize. With the water intake located in deep water, the impact of waves on the WAD is minimized.

Description

Technical Field

[0001] This invention relates to the field of marine fire protection technology, and in particular to a marine fire protection device and control method. Background Technology

[0002] When a fire breaks out on a ship at sea, specialized fireboats are typically used to extinguish it, ensuring the safety of firefighters. Due to the high cost of building and maintaining fireboats, these resources have always been extremely scarce, resulting in a persistent shortage of maritime firefighting capabilities. This situation has become increasingly severe with the development of the marine economy. Strengthening maritime firefighting capabilities is a pressing issue for my country. With the development of unmanned surface vessel (USV) technology, proposals have emerged to use unmanned self-propelled fireboats for firefighting. These USVs are remotely controlled to navigate to the fire and extinguish it by spraying water.

[0003] Due to construction costs and usage limitations, large-scale unmanned self-propelled fireboats have limited practical value and application significance. Therefore, most unmanned self-propelled fireboats currently on the market are small. However, during large-scale firefighting operations at sea, the fire-fighting water stored in small unmanned self-propelled fireboats is quickly depleted. Water needs to be continuously drawn from the hull using a fire pump to replenish the fire-fighting water tank. However, small unmanned self-propelled fireboats have shallow drafts, and if the fire pump has a large power output, it is easily affected by turbulence caused by water intake, which can lead to the unmanned self-propelled fireboat capsizing during the water intake process. Therefore, small unmanned self-propelled fireboats often use miniature fire pumps for water intake, resulting in low water intake efficiency and significantly weakened fire-fighting capabilities. Furthermore, if encountering severe waves during water intake, if the intake is located at the trough of a wave, it is easy to fail to draw water, leading to delays in fire suppression.

[0004] The aforementioned problems severely restrict the replacement of existing professional fireboats with unmanned self-propelled fireboats, hindering their role in enhancing my country's maritime firefighting capabilities and impeding the development of my country's maritime firefighting industry. Summary of the Invention

[0005] The purpose of this invention is to provide a marine firefighting equipment and control method. The water-absorbing submersible can dive into deep water to draw water, avoiding the risk of capsizing due to water intake at the hull level. The water intake is located in deep water, minimizing the impact of surface waves. This invention allows unmanned fireboats to utilize high-powered fire pumps for water intake, improving their firefighting capabilities. It also prevents situations where water cannot be drawn, ensuring timely water supply and efficient firefighting. Furthermore, this invention provides aerial battery swapping technology, solving the problem of unsustainable firefighting using aircraft.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] On one hand, the present invention provides a marine fire-fighting device, comprising:

[0008] Firefighting mother ship;

[0009] The control system is located on the fire-fighting mother ship;

[0010] The offshore fire-fighting platform system is detachably mounted on the fire-fighting mother ship, and the control system is communicatively connected to the offshore fire-fighting platform system for controlling the fire-fighting operations of the offshore fire-fighting platform system.

[0011] The marine fire-fighting platform system includes an unmanned vessel, a fire-fighting water supply device, a water-absorbing submersible, and a fire-fighting aerial vehicle. The fire-fighting water supply device is installed on the unmanned vessel and connected to the water-absorbing submersible. The water-absorbing submersible and the fire-fighting aerial vehicle are detachably installed on the unmanned vessel. The control system can control the water-absorbing submersible to dive into deep water to absorb water, and the control system can control the fire-fighting aerial vehicle to rise to a high-altitude area above the fire point.

[0012] In one embodiment, the water-absorbing submersible includes a main body, an umbilical cable, a water intake pipe, and a buoyancy system. The two ends of the umbilical cable are respectively connected to the main body and the unmanned vessel. The water intake pipe is respectively connected to the fire-fighting water supply device and the ballast water tank on the main body. The buoyancy system is used to make the main body submerge or float.

[0013] In one embodiment, the fire-fighting water supply device includes a fire water tank, a fire water pipe, and a fire pump. The fire water tank is installed on the unmanned vessel and connected to the suction pipe. One end of the fire water pipe is connected to the fire water tank, and the fire pump is connected between the fire water tank and the fire water pipe.

[0014] In one embodiment, the fire extinguishing aircraft includes a first aircraft body, a fire spray gun, a fire hose storage box, and a fire monitoring system. The first aircraft body is communicatively connected to the control system. The fire spray gun and the fire hose storage box are both located on the first aircraft body. The other end of the fire hose is connected to the fire spray gun. The fire hose storage box is used to store the fire hose. The fire monitoring system is used to monitor and acquire fire information at the ignition point.

[0015] In one embodiment, the marine fire-fighting platform system further includes an aerial fire-fighting balancing aircraft, which is detachably mounted on the unmanned vessel;

[0016] The aerial fire-fighting balancing aircraft includes a second aircraft body, a connecting water tank, and an aerial fire-fighting balancing system. Both the connecting water tank and the aerial fire-fighting balancing system are located on the second aircraft body. The connecting water tank connects the fire-fighting water supply device and the fire-fighting aircraft. The second aircraft body is communicatively connected to the control system, and the aerial fire-fighting balancing system is used to maintain the stability of the second aircraft body. In one embodiment, the offshore fire-fighting platform system further includes a charging and battery swapping station installed on the unmanned vessel to provide power to both the first and second aircraft bodies; and / or

[0017] The offshore firefighting platform system also includes a battery-swapping aircraft, which is mounted on the unmanned vessel and communicatively connected to the control system for replacing the batteries of the first and second aircraft bodies during firefighting operations; and / or

[0018] The unmanned boat, the fire-fighting aircraft, and the aerial fire-fighting balancing aircraft are each equipped with an emergency detachment fire hose device. The emergency detachment fire hose device is communicatively connected to the control system and is used to disconnect the corresponding fire hose.

[0019] In one embodiment, the marine fire-fighting equipment is equipped with multiple marine fire-fighting platform systems, all of which can be detachably installed on the fire-fighting mother ship and are all communicatively connected to the control system.

[0020] On the other hand, the present invention also provides a control method applied to the above-mentioned marine fire-fighting equipment, the control method comprising:

[0021] Control the firefighting mother ship to a position at the first predetermined distance from the fire point;

[0022] Control the unmanned boat to launch into the water and travel to a position at a second predetermined distance from the fire point;

[0023] Control the firefighting drone to fly to the first set altitude and obtain fire information;

[0024] Based on the fire information, control the unmanned vessel to travel to a position at a third predetermined distance from the fire point;

[0025] Control the submersible to submerge to the set water depth;

[0026] Control the fire-fighting aerial vehicle to fly to the second predetermined altitude;

[0027] Control the fire-fighting water supply device to supply water, and control the water-absorbing submersible to absorb water;

[0028] Control the fire-fighting aircraft to spray water at the fire point to extinguish the fire.

[0029] In one embodiment, after controlling the fire-fighting aircraft to fly to a first predetermined altitude to obtain fire information, the control method further includes:

[0030] Control the firefighting aircraft to return to the unmanned vessel; and / or

[0031] The offshore fire-fighting platform system also includes an aerial fire-fighting balancing aircraft; after the controlled submersible has submerged to a set water depth, the control method further includes:

[0032] Control the aerial fire-fighting balancing aircraft to fly to the third set altitude, control the fire-fighting water supply device to supply water to the aerial fire-fighting balancing aircraft, and control the water-absorbing submersible to absorb water.

[0033] In one embodiment, the offshore fire-fighting platform system also includes an aerial fire-fighting balancing aircraft and a battery-swapping aircraft;

[0034] During the fire extinguishing process, the control method further includes:

[0035] Real-time monitoring of the energy supply of the fire-fighting aerial vehicle and the aerial fire-fighting balancing aerial vehicle;

[0036] If the energy supply of the fire-fighting aircraft or the aerial fire-fighting balancing aircraft falls below a set threshold, the battery-swapping aircraft is controlled to fly to a fourth set altitude, and the battery of the fire-fighting aircraft or the aerial fire-fighting balancing aircraft is replaced in mid-air; and / or

[0037] After the fire is extinguished, the control method further includes:

[0038] Control the water-absorbing submersible to stop drawing water, and control the fire-fighting water supply device to stop supplying water;

[0039] Control the fire-fighting aerial vehicle to stop spraying water;

[0040] Control the fire-fighting aerial vehicle to return to the unmanned vessel;

[0041] Control the submersible to return to the mooring position;

[0042] Control the unmanned vessel to return to the fire-fighting mother ship; and / or

[0043] The unmanned boat, the fire-fighting aircraft, and the aerial fire-fighting balancing aircraft are each equipped with an emergency detachment fire hose device;

[0044] During the fire extinguishing process, the control method further includes:

[0045] If at least one of the unmanned vessel, the fire-fighting aircraft, or the aerial fire-fighting balancing aircraft is detected to be malfunctioning, the emergency detachment fire hose device is controlled to disconnect the corresponding fire hose.

[0046] The beneficial effects of this invention are:

[0047] This invention provides a marine firefighting equipment, including a fire-fighting mother ship, a control system, and a marine firefighting platform system. The marine firefighting platform system is detachably mounted on the fire-fighting mother ship and communicatively connected to the control system. The marine firefighting platform system includes an unmanned surface vessel (USV), a fire-fighting water supply device, a water-absorbing submersible, a fire-fighting aerial vehicle, and a battery-swapping aerial vehicle. The fire-fighting water supply device is mounted on the USV and connected to the water-absorbing submersible. The water-absorbing submersible and the fire-fighting aerial vehicle are detachably mounted on the USV. The control system can control the water-absorbing submersible to dive into deep water to draw water, and the control system can control the fire-fighting aerial vehicle to ascend to a high-altitude area above the fire point.

[0048] In this way, the fire-fighting mother ship can be moored at a distance from the fire, while the unmanned surface vessel (USV) can be controlled by the control system to moor closer to the fire. This allows the fire-fighting aircraft to extinguish the fire at close range, improving fire-fighting efficiency and ensuring the safety of firefighters. Furthermore, aerial power swapping technology allows the USV to continuously extinguish fires for extended periods, ensuring the fire-fighting system remains operational. By controlling the water-absorbing submersible to draw water in deep water, the use of high-powered fire pumps that draw water from the hull can be avoided, which could cause the USV to capsize. With the water intake located in deep water, the impact of waves on the water-absorbing submersible is minimal, preventing situations where water cannot be drawn and ensuring timely water supply for fire suppression. Attached Figure Description

[0049] Figure 1 This is a top view schematic diagram of the marine fire-fighting equipment in an embodiment of the present invention;

[0050] Figure 2 yes Figure 1 Front view schematic diagram of the offshore fire-fighting platform system;

[0051] Figure 3 yes Figure 2 Schematic diagram of the structure of the firefighting aircraft;

[0052] Figure 4 yes Figure 2 A top-down view of the offshore fire-fighting platform system in its non-operational state;

[0053] Figure 5 yes Figure 2 A top-down view of the offshore fire-fighting platform system in operation;

[0054] Figure 6 yes Figure 1A flowchart illustrating the control method for offshore fire-fighting equipment.

[0055] Explanation of icon numbers:

[0056] 1. Firefighting mother ship; 2. Control system; 3. Unmanned surface vessel; 31. Propulsion system; 32. Dynamic positioning system; 4. Firefighting water supply device; 41. Fire water tank; 42. Fire water pipe; 43. Fire pump; 44. Power drive unit; 5. Water-absorbing submersible; 51. Main body; 52. Umbilical cable; 53. Water suction pipe; 54. Submersible buoyancy system; 55. Return positioning system; 56. Ballast water tank; 6. Firefighting aerial vehicle; 61. Main body of the first aircraft; 62. Fire spray gun; 63. Camera; 64. Infrared imager; 65. Radar; 7. Aerial firefighting balancing aircraft; 71. Main body of the second aircraft; 72. Connecting water tank; 8. Charging and battery swapping station; 9. Battery swapping aircraft; 91. Battery recycling area; 92. Battery storage area; 93. Battery replacement area; 10. Dedicated davit; 11. Locking device; 12. Ignition point; 13. Battery. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., 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 the invention and for 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 the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0060] See Figure 1This invention provides a marine firefighting equipment, including a fire-fighting mother ship 1, a control system 2, and a marine firefighting platform system. The control system 2 is mounted on the fire-fighting mother ship 1. The marine firefighting platform system is detachably mounted on the fire-fighting mother ship 1. The control system 2 is communicatively connected to the marine firefighting platform system and is used to control the firefighting operations of the marine firefighting platform system.

[0061] See Figure 1 and Figure 2 The offshore fire-fighting platform system includes an unmanned surface vessel (USV) 3, a fire-fighting water supply device 4, a water-absorbing submersible 5, and a fire-fighting aerial vehicle 6. The fire-fighting water supply device 4 is mounted on the USV 3 and connected to the water-absorbing submersible 5; the water-absorbing submersible 5 and the fire-fighting aerial vehicle 6 are detachably mounted on the USV 3; the control system 2 can control the water-absorbing submersible 5 to descend into deep water to absorb water, and the control system 2 can control the fire-fighting aerial vehicle 6 to ascend to the fire point 12 (see reference). Figure 5 The high-altitude region above.

[0062] Thus, when extinguishing a fire on a vessel at sea, the fire mother ship 1 is moored at a distance from the fire point 12, and the unmanned vessel 3 is then placed on the water. Firefighters operate the control system 2 on the fire mother ship 1 to prevent the fire mother ship 1 from getting close to the fire point 12 and to ensure the safety of the firefighters. By controlling the water suction device 5 to draw water in deep water, it is possible to avoid using a high-power fire pump to draw water from the bottom of the ship, which could cause the unmanned vessel 3 to capsize. The water intake is located in deep water, and the waves on the sea surface have less impact on the water suction device 5, avoiding the situation where water cannot be drawn, thereby enabling timely water supply and timely fire extinguishing.

[0063] See Figure 1 In this embodiment, the unmanned boat 3 is mounted on a dedicated davit 10 of the fire-fighting mother boat 1. The dedicated davit 10 is used to lift and unload the unmanned boat 3.

[0064] It should be noted that, in this embodiment, the control system 2 includes a display screen, a computer, and communication equipment. The display screen is used to show the situation at fire point 12 and the operational status of the offshore fire-fighting platform system. The computer has a control program, and the offshore fire-fighting platform system communicates with the computer via the communication equipment. Firefighters control the fire-fighting operations of the offshore fire-fighting platform system according to the situation through the control program. The communication equipment can be an antenna or wireless communication device, as long as it enables signal transmission.

[0065] See Figure 2Furthermore, the unmanned vessel 3 is equipped with a propulsion system 31 and a dynamic positioning system 32. The propulsion system 31 is used to propel the unmanned vessel 3, and the dynamic positioning system 32 is communicatively connected to the control system 2. In this embodiment, the propulsion system 31 is a ship propulsion system 31, including a main engine, steering device, propeller, propeller shaft system, oil system, cooling system, and control system 2. The control system 2 can coordinate and control the movement direction and speed of the unmanned vessel 3. The dynamic positioning system 32 is a ship dynamic positioning system 32, including a control and operating system, a position reference system, a heading reference system, a sensor system, a power supply system, and a propulsion system. Among them, the control and operating system controls the operation of the other systems mentioned above through communication methods such as data lines. The sensor system includes wind speed sensors, displacement sensors, and angle sensors. The power supply system is used to supply power to the other systems mentioned above, control the generator, and distribute power. The position reference system adopts DGPS (Differential Global Positioning System). Both the ship propulsion system 31 and the ship dynamic positioning system 32 are widely available in related technologies, so they will not be described in detail here.

[0066] Thus, the position and motion information of the unmanned vessel 3 are monitored by the dynamic positioning system 32 and fed back to the control system 2. The control system 2 controls the propulsion system 31 to drive the unmanned vessel 3 to move closer to or away from the fire point 12 based on the position and motion information of the unmanned vessel 3, thereby realizing remote control of the unmanned vessel 3.

[0067] See Figure 2 Specifically, the submersible 5 includes a main body 51, an umbilical cable 52, a suction pipe 53, and a buoyancy system 54. The two ends of the umbilical cable 52 are connected to the main body 51 and the unmanned surface vessel 3, respectively. The suction pipe 53 is connected to the fire-fighting water supply device 4 and the ballast water tank 56 on the main body 51, respectively. The buoyancy system 54 is used to submerge or keep the main body 51 afloat. Specifically, the buoyancy system 54 submerges the main body 51 by depressurizing water. When the main body 51 submerges to a set depth, the buoyancy system 54 stops depressurizing water, keeping the main body 51 afloat. The buoyancy system 54 also depressurizes the main body 51 by discharging water, allowing the main body 51 to rise back to its mooring position.

[0068] See Figure 2 It should be noted that the submersible 5 also includes a power drive station (not shown), a pump system (not shown), and a return positioning system 55. The power drive station provides driving energy for the pump system, which is used to pump water from the deep water area to the suction pipe 53 and flow into the fire water tank 41. During the ascent of the main submersible 51, it is positioned by the return positioning system 55 so that the main submersible 51 is accurately aligned and returns to its original mooring position.

[0069] See Figure 2 Specifically, the fire-fighting water supply device 4 includes a fire water tank 41, a fire water pipe 42, and a fire pump 43. The fire water tank 41, used to store fire-fighting water, is installed on the unmanned vessel 3 and connected to a suction pipe 53. One end of the fire water pipe 42 is connected to the fire water tank 41, and the fire pump 43 is connected between the fire water tank 41 and the fire water pipe 42. It drives the fire-fighting water in the fire water tank 41 to flow to the fire water pipe 42, and then through the fire water pipe 42 to the fire-fighting aerial vehicle 6 to spray water to extinguish the fire at the fire point 12. Furthermore, the fire-fighting water supply device 4 also includes a power drive device 44, through which the fire pump 43 is driven. The power drive device 44 can be a generator, a fuel engine, or a battery.

[0070] See Figure 2 Specifically, the fire-fighting aerial vehicle 6 includes a first aircraft body 61, a fire nozzle 62, a fire hose storage box (not shown), and a fire monitoring system (not shown). The first aircraft body 61 is communicatively connected to the control system 2. Both the fire nozzle 62 and the fire hose storage box are located on the first aircraft body 61. The other end of the fire hose 42 is connected to the fire nozzle 62. The fire hose storage box is used to store the fire hose 42. The fire monitoring system is used to monitor and acquire fire information from the ignition point 12. The fire nozzle 62 is equipped with a control valve for controlling its opening and closing. Optionally, the first aircraft body 61 can be an unmanned aerial vehicle (UAV). The fire nozzle 62 can store and spray mixed fire-fighting liquids such as foam, dry powder, halon, carbon dioxide, acids, alkalis, and water.

[0071] Furthermore, the control valve is an adaptive buffer valve, and the fire-fighting aircraft 6 also includes a recoil-counter-propulsion system (not shown in the figure). The adaptive buffer valve works in conjunction with the recoil-counter-propulsion system, that is, the opening degree of the adaptive buffer valve is proportional to the thrust provided by the recoil-counter-propulsion system.

[0072] See Figure 3 In this embodiment, the fire monitoring system includes a camera 63, an infrared imager 64, and a radar 65 that are communicatively connected to the control system 2. The camera 63 captures real-time images of the fire point 12, the infrared imager 64 monitors the combustion of the fire point 12, and the radar 65 monitors the location of the fire point 12. At the same time, the camera 63, the infrared imager 64, and the radar 65 transmit the monitored fire information to the control system 2, so that firefighters can formulate fire extinguishing strategies based on the fire information and control the control system 2 to issue corresponding control commands to extinguish the fire.

[0073] Thus, during firefighting, the control system 2 controls the main body 61 of the first aircraft to leave the unmanned boat 3 and fly to the airspace above the fire point 12. The fire monitoring system monitors the fire information of the fire point 12 and controls the control valve of the fire spray gun 62 to open according to the fire information so as to spray water to extinguish the fire.

[0074] See Figure 2 In some embodiments, the offshore fire-fighting platform system further includes an aerial fire-fighting balancing aircraft 7, which is detachably mounted on the unmanned vessel 3. The aerial fire-fighting balancing aircraft 7 includes a second aircraft body 71, a connecting water tank 72, and an aerial fire-fighting balancing system. Both the connecting water tank 72 and the aerial fire-fighting balancing system are mounted on the second aircraft body 71. The connecting water tank 72 is connected between the fire-fighting water supply device 4 and the fire-fighting aircraft 6. The second aircraft body 71 is communicatively connected to the control system 2, and the aerial fire-fighting balancing system is used to keep the second aircraft body 71 stable.

[0075] Specifically, the aerial fire balancing system receives real-time position and speed information of the unmanned surface vessel 3, combines this information with the position of the second aircraft body 71, calculates the required balancing position using a pre-programmed procedure, activates the propellers of the second aircraft body 71 to propel it to the target position, and then hovers in the air. The entire process primarily ensures that the fire hose 42, connecting the water tank 72 and the fire water tank 41, remains vertically above the unmanned surface vessel 3. This balancing process is continuously performed as the position of the unmanned surface vessel 3 changes.

[0076] In this embodiment, the fire water pipe 42 is a soft water pipe. There are two fire water pipes 42. One fire water pipe 42 is located between the water tank 72 and the fire pump 43, and the other fire water pipe 42 is located between the water tank 72 and the first aircraft body 61.

[0077] See Figures 2 to 4 It should be noted that in this embodiment, both the first aircraft body 61 and the second aircraft body 71 are equipped with batteries 13, which are used to provide energy. Furthermore, in this embodiment, the first aircraft body 61 and the second aircraft body 71 use the same batteries 13.

[0078] Understandably, in this embodiment, the aerial fire-fighting balancing aircraft 7 is provided to further reduce the impact of the shaking generated by the fire-fighting aircraft 6 during the fire-fighting process on the unmanned vessel 3, making the unmanned vessel 3 more stable. Furthermore, the aerial fire-fighting balancing aircraft 7 can assist the fire-fighting aircraft 6 in supporting the fire hose 42, thereby allowing the use of a larger fire hose 42, which is beneficial for increasing the water flow rate and volume, improving fire-fighting efficiency, and also reducing the recoil force caused by water spraying. In addition, the movement of the unmanned vessel 3 will not directly exert a significant force on the fire-fighting aircraft 6, affecting the fire-fighting operation of the fire-fighting aircraft 6.

[0079] See Figure 4 and Figure 5 In some embodiments, the offshore fire-fighting platform system further includes a charging and battery swapping station 8, installed on the unmanned vessel 3, for providing power to the first aircraft body 61 and the second aircraft body 71. The charging and battery swapping station 8 primarily stores the batteries 13 required by the first and second aircraft bodies 61 and charges these batteries 13. The charging and battery swapping station 8 can be provided by the unmanned vessel 3's power drive system or by a built-in large-scale energy storage system.

[0080] See Figure 2 See also Figure 4 and Figure 5 In some embodiments, the marine fire-fighting platform system also includes a battery-swapping aircraft 9, which is mounted on the unmanned vessel 3 and communicates with the control system 2 for replacing batteries 13 for the first aircraft body 61 and the second aircraft body 71 during firefighting. Further, the battery-swapping aircraft 9 includes a battery recycling area 91, a battery storage area 92, and a battery replacement area 93. The battery recycling area 91 is used to place the replaced batteries 13, the battery storage area 92 is used to store fully charged batteries 13, and the battery replacement area 93 serves as a transfer area for replacing batteries 13, thus facilitating battery replacement.

[0081] Specifically, upon receiving the battery swapping command from the control system 2, the battery swapping aircraft 9 uses a robotic arm (not shown) to retrieve the fully charged battery 13 from the charging station 8 and stores it in the battery storage area 92. Then, the battery swapping aircraft 9 flies to the coordinate position above the first aircraft body 61 or the second aircraft body 71 according to the position transmitted by the control system 2. In some embodiments, battery pack systems are respectively arranged on the top of the first aircraft body 61 and the second aircraft body 71. The battery pack systems are provided with battery slots (not shown), and the batteries 13 are placed in the battery slots. The battery pack system includes four batteries 13, and two batteries 13 are used each time the aircraft is in operation. When the battery swapping aircraft 9 flies above the first aircraft body 61 or the second aircraft body 71, the battery pack system ejects the depleted battery 13. The battery swapping aircraft 9 uses a robotic arm to store the depleted battery 13 in the battery recycling area 91, then removes the battery 13 from the battery storage area 92, places it in the battery slot to be replaced in the battery pack system, and presses it down so that the battery 13 is embedded in the battery slot. The battery swapping aircraft 9 replaces the batteries one by one until all battery swapping work is completed.

[0082] In some embodiments, the marine fire-fighting equipment is equipped with multiple marine fire-fighting platform systems, all of which can be separately installed on the fire-fighting mother ship 1 and are all communicatively connected to the control system 2.

[0083] Thus, by setting up multiple offshore fire-fighting platform systems, multiple offshore fire-fighting platform systems can be used simultaneously according to the fire intensity at point 12, thereby improving fire-fighting efficiency.

[0084] In some embodiments, the unmanned boat 3, the fire-fighting aircraft 6, and the aerial fire-fighting balancing aircraft 7 are each equipped with an emergency disconnection fire hose device (not shown). The emergency disconnection fire hose device is communicatively connected to the control system 2 and is used to disconnect the corresponding fire hose 42. Thus, by installing the emergency disconnection fire hose device, the fire hose 42 can be disconnected in a timely manner in the event of a malfunction.

[0085] Specifically, emergency detachable fire hose devices are installed on both the fire-fighting aerial vehicle 6 and the aerial fire-fighting balancing vehicle 7. Fire hoses 42 pass through these devices. In an emergency, a cutting blade on the emergency detachable fire hose device rotates and cuts off the corresponding fire hose 42. The emergency detachable fire hose device on the unmanned surface vessel 3 is located at the outlet of the fire hose 42 on the unmanned surface vessel 3. The fire hose 42 passes through the emergency detachable fire hose device. In an emergency, a cutting blade on the emergency detachable fire hose device rotates and cuts off the fire hose 42. The cutting blade can be a laser blade, a flame blade, or a metal blade.

[0086] It is understandable that the corresponding fire hose 42 refers to the fire hose 42 connected to the first aircraft body 61, the fire hose 42 connected to the second aircraft body 71, and the fire hose 42 connected to the unmanned boat 3 (that is, the fire hose connected to the fire water tank 41); the emergency refers to the engine failure or operation problem of the first aircraft body 61 and the second aircraft body 71, the malfunction or capsizing of the unmanned boat 3, etc.

[0087] See Figure 2 It should be noted that in this embodiment, the marine fire-fighting platform system also includes multiple locking devices 11. These locking devices 11 are used to lock the first aircraft body 61, the second aircraft body 71, and the submersible 5 onto the unmanned vessel 3. The locking devices 11 are also used to lock the unmanned vessel 3 onto the fire-fighting mother ship 1. As an optional embodiment, the bottom of the first aircraft body 61, the second aircraft body 71, and the unmanned vessel 3 are supported by parallel trusses. The locking device 11 includes a locking groove on the truss and a retractable semi-circular lock head on the unmanned vessel 3. The control system 2 can control the semi-circular lock head to extend and insert into the locking groove, compressing the spring in the locking groove to achieve locking. As another optional embodiment, the top of the submersible 5 is provided with a retractable push rod, and the bottom of the unmanned vessel 3 is provided with a sleeve. The push rod is inserted into the sleeve, and the control system 2 drives a pin to insert through the sleeve into the push rod for locking. Of course, other locking devices 11 can also be selected according to actual needs, and no further limitations are imposed here.

[0088] See Figure 6 and combined Figures 2 to 5 The present invention also provides a control method applied to the marine fire-fighting equipment of the above embodiments, the control method comprising:

[0089] S10. Control the fire-fighting mother ship 1 to travel to a position at a first predetermined distance from the fire point 12;

[0090] S20, Control the unmanned boat 3 to launch into the water and travel to a position at a second predetermined distance from the fire point 12;

[0091] S30: Control the fire-fighting aircraft 6 to fly to the first set altitude and obtain fire information;

[0092] S40. Based on the fire information, control the unmanned boat 3 to travel to a position at a third predetermined distance from the fire point 12;

[0093] S50, control the scuba tank 5 to submerge to the set water depth;

[0094] S60, control the fire-fighting aircraft 6 to fly to the second set altitude;

[0095] S70, controls the fire water supply device 4 to supply water, and controls the water suction device 5 to suction water;

[0096] S80, controls fire-fighting aircraft 6 to spray water at the fire point 12 to extinguish the fire.

[0097] In this embodiment, the control system 2 uses a dedicated davit 10 to control the unmanned boat 3 to be launched into the water. Before the unmanned boat 3 is launched into the water, the locking device 11 between the unmanned boat 3 and the fire mother boat 1 needs to be unlocked first. Then, the unmanned boat 3 is lifted from the fire mother boat 1 and placed into the water by the dedicated davit 10.

[0098] In this embodiment, obtaining fire information specifically includes: after the fire-fighting aircraft 6 flies to a first set altitude, the camera 63 captures real-time images of the fire point 12 and sends the acquired first image information to the control system 2; the infrared imager 64 monitors the combustion of the fire point 12 and sends the acquired second image information to the control system 2; the radar 65 monitors the location of the fire point 12 and sends the location information of the fire point 12 to the control system 2; the control system 2 analyzes the above fire information and analyzes the fire range through convolution calculation, image recognition algorithm and AI algorithm, and formulates a fire extinguishing strategy based on the analysis results.

[0099] The fire information includes the first image information, the second image information, and the location information mentioned above. Of course, other monitoring devices can also be set up as needed to obtain other fire information.

[0100] It should be noted that before the submersible 5 dives into deep water, the locking device 11 between the submersible 5 and the unmanned vessel 3 must be unlocked. After the submersible 5 reaches the set water depth, it can move freely in the water. At the same time, the submersible 5 will send its movement trajectory to the control system 2 in real time so that if the stress on the umbilical cable 52 exceeds the usage requirements, the control system can adjust the position of the submersible 5 in time to avoid the umbilical cable 52 breaking.

[0101] In this embodiment, controlling the fire-fighting aircraft 6 to spray water at the fire point 12 to extinguish the fire includes: the anti-recoil counter-impact propulsion system controls the adaptive buffer valve to open, with the opening degree increasing from small to large. The thrust generated by the first aircraft body 61 also increases from small to large, simultaneously increasing the water spraying capacity of the fire nozzle 62 and the thrust generated by the first aircraft body 61. Throughout the process, the anti-recoil of the fire nozzle 62 is completely offset by the thrust generated by the first aircraft body 61 under the control of the anti-recoil counter-impact propulsion system. The fire-fighting aircraft 6 can remain hovering in place throughout the process. Under the above state, the opening degree is maintained to continue spraying water to extinguish the fire.

[0102] In some embodiments, after controlling the fire-fighting aircraft 6 to fly to a first predetermined altitude to obtain fire information, the control method further includes:

[0103] Control the fire-fighting aerial vehicle 6 to return to the unmanned ship 3.

[0104] In some embodiments, the offshore fire-fighting platform system further includes an aerial fire-fighting balancing aircraft 7; after controlling the submersible 5 to submerge to a set water depth, the control method further includes:

[0105] Control the aerial fire-fighting balance aircraft 7 to fly to the third set altitude, control the fire-fighting water supply device 4 to supply water to the aerial fire-fighting balance aircraft 7, and control the water-absorbing submersible 5 to absorb water.

[0106] In this embodiment, it is necessary to first unlock the locking device 11 between the aerial fire-fighting balancing aircraft 7 and the unmanned boat 3, and then control the aerial fire-fighting balancing aircraft 7 to fly to the third set altitude. After reaching the third set altitude, the aerial fire-fighting balancing aircraft 7 sends its location and the stress on the fire water pipe 42 in real time.

[0107] It should be noted that controlling the fire water supply device 4 to supply water to the aerial fire balancing aircraft 7 and controlling the water suction device 5 to draw water can be done simultaneously, or the water can be replenished by drawing water through the water suction device 5 when the water stored in the fire water tank 41 is almost used up.

[0108] In some embodiments, the offshore fire-fighting platform system further includes an aerial fire-fighting balancing aircraft 7 and a battery-swapping aircraft 9. During firefighting, the control method further includes:

[0109] Real-time monitoring of the energy supply of firefighting aircraft 6 and aerial firefighting balancing aircraft 7;

[0110] If the energy supply of the fire-fighting aircraft 6 or the aerial fire-fighting balancing aircraft 7 is lower than the set threshold, the battery swapping aircraft 9 is controlled to fly to the fourth set altitude and the battery of the fire-fighting aircraft 6 or the aerial fire-fighting balancing aircraft 7 is replaced in the air 13.

[0111] After the battery swap is completed, control the battery swapping aircraft 9 to return to the unmanned ship 3.

[0112] It should be noted that the first, second, and third set distances, as well as the first, second, third, and fourth set altitudes, can all be adjusted according to actual conditions. Furthermore, when the fire-fighting mother ship 1, unmanned vessel 3, fire-fighting aerial vehicle 6, water-absorbing submersible 5, aerial fire-fighting balancing aerial vehicle 7, and battery-swapping aerial vehicle 9 reach their designated positions according to the instructions issued by the control system 2, they will all send feedback information indicating their arrival to the control system 2, enabling the control system 2 to perform subsequent operations.

[0113] In some embodiments, after the fire is extinguished, the control method further includes:

[0114] Control the water suction device 5 to stop suctioning water, and control the fire water supply device 4 to stop supplying water;

[0115] Control fire-fighting aerial vehicle 6 to stop spraying water;

[0116] Control the fire-fighting aerial vehicle 6 to return to the unmanned vessel 3;

[0117] Control the submersible 5 to return to the mooring position;

[0118] Control the unmanned boat 3 to return to the fire-fighting mother ship 1.

[0119] After the fire is extinguished, while controlling the fire-fighting aerial vehicle 6 to return to the unmanned boat 3, it is also necessary to control the aerial fire-fighting balancing aerial vehicle 7 to return to the unmanned boat 3.

[0120] It should be noted that the return sequence of the water-absorbing submersible 5, the fire-fighting aircraft 6, and the aerial fire-fighting balancing aircraft 7 can also be set as needed. After returning to the unmanned vessel 3, they need to be locked by the locking device 11. The unmanned vessel 3 also needs to be locked after returning to the fire-fighting mother ship 1.

[0121] In some embodiments, during the fire extinguishing process, the control method further includes:

[0122] If at least one of the unmanned boat 3, fire extinguishing aircraft 6, and aerial fire balancing aircraft 7 is detected to be malfunctioning, the emergency disconnect fire hose device will be controlled to disconnect the corresponding fire hose 42.

[0123] Among them, the fault can be identified by image recognition obtained by camera 63 and infrared imager 64, or by the system built into the unmanned boat 3, fire extinguishing aircraft 6, and aerial fire balancing aircraft 7 to identify engine faults and operational faults.

[0124] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A marine firefighting device, characterized in that, include: Firefighting mother ship(1); The control system (2) is installed on the fire-fighting mother ship (1); The offshore fire-fighting platform system is detachably mounted on the fire-fighting mother ship (1), and the control system (2) is communicatively connected to the offshore fire-fighting platform system to control the fire-fighting operations of the offshore fire-fighting platform system. The offshore fire-fighting platform system includes an unmanned vessel (3), a fire-fighting water supply device (4), a water-absorbing submersible (5), and a fire-fighting aircraft (6). The fire-fighting water supply device (4) is installed on the unmanned vessel (3) and connected to the water-absorbing submersible (5). The water-absorbing submersible (5) and the fire-fighting aircraft (6) are detachably installed on the unmanned vessel (3). The control system (2) can control the water-absorbing submersible (5) to dive into deep water to absorb water, and the control system (2) can control the fire-fighting aircraft (6) to rise to a high-altitude area above the fire point (12). The water-absorbing submersible (5) includes a main body (51), an umbilical cable (52), a water suction pipe (53), and a buoyancy system (54). The two ends of the umbilical cable (52) are respectively connected to the main body (51) and the unmanned vessel (3). The water suction pipe (53) is respectively connected to the fire-fighting water supply device (4) and the ballast water tank (56) on the main body (51). The buoyancy system (54) is used to make the main body (51) submerge or float.

2. The marine fire-fighting equipment according to claim 1, characterized in that, The fire water supply device (4) includes a fire water tank (41), a fire water pipe (42), and a fire pump (43). The fire water tank (41) is installed on the unmanned vessel (3) and connected to the suction pipe (53). One end of the fire water pipe (42) is connected to the fire water tank (41), and the fire pump (43) is connected between the fire water tank (41) and the fire water pipe (42).

3. The marine fire-fighting equipment according to claim 2, characterized in that, The fire extinguishing aircraft (6) includes a first aircraft body (61), a fire spray gun (62), a fire hose storage box, and a fire monitoring system. The first aircraft body (61) is communicatively connected to the control system (2). The fire spray gun (62) and the fire hose storage box are both located on the first aircraft body (61). The other end of the fire hose (42) is connected to the fire spray gun (62). The fire hose storage box is used to store the fire hose (42). The fire monitoring system is used to monitor and obtain fire information of the ignition point (12).

4. The marine fire-fighting equipment according to claim 3, characterized in that, The marine fire-fighting platform system also includes an aerial fire-fighting balancing aircraft (7), which is detachably mounted on the unmanned vessel (3); The aerial fire-fighting balancing aircraft (7) includes a second aircraft body (71), a connecting water tank (72), and an aerial fire-fighting balancing system. The connecting water tank (72) and the aerial fire-fighting balancing system are both located on the second aircraft body (71). The connecting water tank (72) is connected between the fire-fighting water supply device (4) and the fire-fighting aircraft (6). The second aircraft body (71) is communicatively connected to the control system (2). The aerial fire-fighting balancing system is used to keep the second aircraft body (71) stable.

5. The marine fire-fighting equipment according to claim 4, characterized in that, The offshore fire-fighting platform system also includes a charging and battery swapping station (8), which is installed on the unmanned vessel (3) and is used to provide power to the first aircraft body (61) and the second aircraft body (71); and / or The offshore fire-fighting platform system also includes a battery-swapping aircraft (9), which is mounted on the unmanned vessel (3) and communicates with the control system (2) for replacing batteries (13) of the first aircraft body (61) and the second aircraft body (71) during firefighting; and / or The unmanned boat (3), the fire-fighting aircraft (6), and the aerial fire-fighting balancing aircraft (7) are each equipped with an emergency detachment fire hose device. The emergency detachment fire hose device is communicatively connected to the control system (2) and is used to disconnect the corresponding fire hose (42).

6. The marine fire-fighting equipment according to any one of claims 1-5, characterized in that, The marine fire-fighting equipment is equipped with multiple marine fire-fighting platform systems. All of the marine fire-fighting platform systems can be separately installed on the fire-fighting mother ship (1) and are all communicatively connected to the control system (2).

7. A control method, characterized in that, The control method, applied to the marine fire-fighting equipment as described in any one of claims 1-6, comprises: Control the fire-fighting mother ship (1) to travel to a position at the first predetermined distance from the fire point (12); Control the unmanned boat (3) to launch into the water and travel to a position at a second predetermined distance from the fire point (12); Control the fire-fighting aircraft (6) to fly to the first set altitude and obtain fire information; Based on the fire information, control the unmanned vessel (3) to travel to a position at a third predetermined distance from the fire point (12); Control the submersible (5) to submerge to the set water depth; Control the fire-fighting aircraft (6) to fly to the second set altitude; Control the fire-fighting water supply device (4) to supply water, and control the water-absorbing submersible (5) to absorb water; Control the fire-fighting aircraft (6) to spray water on the fire point (12) to extinguish the fire.

8. The control method according to claim 7, characterized in that, After the fire-fighting aircraft (6) is controlled to fly to a first set altitude to obtain fire information, the control method further includes: Control the firefighting aircraft (6) to return to the unmanned vessel (3); and / or The offshore fire-fighting platform system also includes an aerial fire-fighting balancing aircraft (7); after the controlled submersible (5) submerges to a set water depth, the control method further includes: Control the aerial fire-fighting balance aircraft (7) to fly to the third set altitude, control the fire-fighting water supply device (4) to supply water to the aerial fire-fighting balance aircraft (7), and control the water-absorbing submersible (5) to absorb water.

9. The control method according to claim 7, characterized in that, The offshore fire-fighting platform system also includes an aerial fire-fighting balancing aircraft (7) and a battery-swapping aircraft (9); During the fire extinguishing process, the control method further includes: Real-time monitoring of the energy supply of the fire-fighting aircraft (6) and the aerial fire-fighting balancing aircraft (7); If the energy supply of the fire-fighting aircraft (6) or the aerial fire-fighting balancing aircraft (7) is lower than a set threshold, the battery-swapping aircraft (9) is controlled to fly to a fourth set altitude, and the battery (13) of the fire-fighting aircraft (6) or the aerial fire-fighting balancing aircraft (7) is replaced in mid-air; and / or After the fire is extinguished, the control method further includes: Control the water-absorbing submersible (5) to stop absorbing water, and control the fire-fighting water supply device (4) to stop supplying water; Control the fire-fighting aircraft (6) to stop spraying water; Control the fire-fighting aircraft (6) to return to the unmanned vessel (3); Control the submersible (5) to return to the mooring position; Control the unmanned vessel (3) to return to the fire-fighting mother ship (1); and / or The unmanned boat (3), the fire-fighting aircraft (6), and the aerial fire-fighting balancing aircraft (7) are each equipped with an emergency detachment fire hose device; During the fire extinguishing process, the control method further includes: If at least one of the unmanned boat (3), the fire extinguishing aircraft (6), and the aerial fire balancing aircraft (7) is detected to be malfunctioning, the emergency detachment fire hose device is controlled to disconnect the corresponding fire hose (42).

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