Rapid rescue lifting unmanned aerial vehicle for high-rise building

Abstract

The invention discloses a rapid rescue lifting unmanned aerial vehicle for a high-rise building, and relates to the technical field of rescue equipment, and the rapid rescue lifting unmanned aerial vehicle comprises a multi-rotor power system which comprises a plurality of groups of symmetrically arranged rotors; an intelligent navigation and control system and an intelligent power distribution system are integrated on the manned cabin, the intelligent navigation and control system is used for constructing a 3D environment map in real time and accurately recognizing building windows and obstacles, the intelligent power distribution system comprises a central control module and a plurality of load sensors installed at the bottom of the manned cabin, and the load sensors are used for monitoring load distribution of the manned cabin in real time. The load information is sent to the central control module, and the central control module is used for dynamically adjusting the power output of each group of rotors according to the load information, so that the unmanned aerial vehicle is kept balanced; a plurality of inflatable buffer balls are arranged at the bottom of the manned cabin; the bottom end of the front cover is rotatably connected to the manned cabin, and the top end is provided with an inflation buffer strip. The system can be in butt joint with the building outer wall of the target window, rapid rescue of the super high-rise building is achieved, and an automatic rescue scheme without operation of trapped persons is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of rescue equipment, and in particular to a high-rise building rapid rescue lifting drone. Background Art

[0002] When a fire or earthquake occurs in a high-rise building, the rescue solutions and shortcomings of the existing technology are as follows: (1) Ladder fire truck: It uses a hydraulic telescopic ladder with a maximum working height of about 100 meters. Its disadvantage is that it is limited by street width and building height and cannot cover super high-rise buildings (≥100 meters). It takes a long time to deploy (≥10 minutes) and has low emergency rescue efficiency.

[0003] (2) Descenders and escape slides: The trapped persons are guided to descend by themselves through ropes or slides. The disadvantage is that the trapped persons must be able to operate the slides, and the slides are not suitable for children, the elderly, and the injured. The slides are easily damaged by high temperatures or smoke.

[0004] (3) Traditional rescue helicopters: They are subject to urban airspace control and obstacle restrictions. They usually operate at an altitude of ≥100 meters and require professional pilots to operate. They cannot directly reach the rescue window and can only perform rescue operations on the roof.

[0005] (4) Traditional rescue drones: Multi-rotor drones are equipped with light rescue equipment, such as ropes, first aid kits, etc.; their disadvantages are low payload capacity (≤50kg) and inability to carry multiple people; short flight time (≤20 minutes); poor wind resistance (≤level 6); complex environments such as smoke and strong winds can easily cause the drone to lose control or navigation failure. Summary of the invention

[0006] In order to solve the deficiencies of the prior art, the present invention provides a high-rise building rapid rescue lifting drone, which can dock with the building exterior wall of the target window to achieve rapid and automated rescue of super high-rise buildings.

[0007] In order to achieve the purpose of the present invention, the following scheme is proposed: A high-rise building rapid rescue lifting drone comprises a manned cabin, a multi-rotor power system arranged on the top of the manned cabin, and a front cover and a rear cover respectively arranged at two ends of the manned cabin.

[0008] The multi-rotor power system includes multiple sets of symmetrically arranged rotors, each set of rotors includes a brushless motor, a speed regulator and a propeller connected in sequence; The manned cabin is integrated with an intelligent navigation and control system and an intelligent power distribution system. The intelligent navigation and control system includes a laser radar module, an infrared camera module, and an ultrasonic obstacle avoidance module, which are used to build a 3D environmental map in real time and accurately identify building windows and obstacles. The intelligent power distribution system includes a central control module and multiple load sensors installed at the bottom of the manned cabin. The load sensors are used to monitor the load distribution of the manned cabin in real time and send the load information to the central control module. The central control module is used to dynamically adjust the power output of each group of rotors according to the load information to keep the drone balanced. There are multiple inflatable cushioning balls at the bottom of the manned cabin; The bottom end of the front cover is rotatably connected to the manned cabin, and an inflatable buffer strip is provided on the top end. When the front cover automatically flips down under the action of its power source, it is used to dock with the building exterior wall of the target window.

[0009] Furthermore, the front cover includes a main body cover, a telescopic bridge and a sliding cover plate, the main body cover is rotatably connected to the manned cabin, the two sides of the telescopic bridge are connected to the main body cover by a first slide rail, the inflatable buffer strip is arranged at the top of the telescopic bridge, and the two sides of the sliding cover plate are connected to the telescopic bridge by a second slide rail. When the front cover automatically flips down under the action of its power source, the first slide rail is used to extend the telescopic bridge until the inflatable buffer strip contacts the building exterior wall of the target window, and the second slide rail is used to extend the sliding cover plate until the sliding cover plate covers the inflatable buffer strip.

[0010] Furthermore, a flexible sealing strip is provided at the top of the sliding cover.

[0011] Furthermore, the front cover also includes two protective nets respectively arranged on both sides of the front cover. The protective nets are divided into a flattened section and a folded section. The flattened section is arranged on the main cover, and the folded section is arranged on the telescopic bridge. When the telescopic bridge is extended, the folded section of the protective net is unfolded accordingly.

[0012] Furthermore, a plurality of booms are provided in the manned cabin.

[0013] Furthermore, multiple emergency parachute bags are provided on top of the manned cabin.

[0014] Furthermore, the manned cabin is configured to be cage-shaped, and the front cover and the rear cover are both configured to be mesh-shaped.

[0015] Furthermore, the multi-rotor power system also includes a redundant design module. When any motor in each group of rotors fails, the redundant design module is used to automatically adjust the power distribution of the remaining motors to keep the drone balanced.

[0016] Furthermore, a carbon fiber frame is arranged outside the inflatable cushioning ball.

[0017] The beneficial effects of the present invention are: it can break through the height limit of existing rescue equipment and realize rapid rescue of super-high-rise buildings; it can automatically dock with the building exterior wall of the target window and provide an automated rescue solution that does not require operation by trapped personnel; it improves the payload capacity and endurance of drones; and it enhances navigation stability and anti-interference capabilities in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the side view of the UAV is shown; Figure 2 A schematic diagram of the top of the drone is shown; Figure 3 A schematic diagram showing the front cover of the drone flipped down; Figure 4 A schematic diagram of the front cover and the protective net is shown; Figure 5 Shows a structural diagram of one implementation of the main cover, telescopic bridge and protective net; Figure 6 for Figure 5 A partial enlarged view of the middle part; Figure 7 Shows a schematic diagram of the telescopic bridge extension to promote the protection net fully deployed; Figure 8 Shows a schematic diagram of the sliding cover covering the inflatable buffer strip; Fig. 9 A schematic diagram of the rear cover of the drone folding down is shown. DETAILED DESCRIPTION

[0019] like Figure 1 As shown, this embodiment provides a high-rise building rapid rescue lifting drone, including a manned cabin 1, a multi-rotor power system 4 arranged on the top of the manned cabin 1, and a front cover 2 and a rear cover 3 respectively arranged at both ends of the manned cabin 1, and the front cover 2 and the rear cover 3 are both configured as a mesh structure.

[0020] Specifically, the manned cabin 1 is configured to be a cylindrical or rectangular cage, and adopts a high-strength carbon fiber composite frame; a battery pack is installed on the lower side of the manned cabin 1, which supports 40 minutes of continuous operation and fast charging within 30 minutes; the manned cabin 1 can accommodate 8-10 people, and is provided with multiple hoisting rods inside, the function of which is to facilitate personnel to hold on to maintain their position.

[0021] Specifically, eight inflatable buffer balls 11 are provided at the bottom of the manned cabin 1, which are filled with high-pressure gas, such as nitrogen. The inflatable buffer balls 11 are made of high-strength rubber or polyurethane materials and have good elasticity and wear resistance. The inflatable buffer balls 11 are pre-inflated before the drone takes off, maintaining a certain air pressure and elasticity. When touching the ground, the compressed gas absorbs the impact energy, which is used to ensure that the drone can effectively absorb the impact force when touching the ground and protect the personnel in the manned cabin 1; after the impact, the inflatable buffer balls 11 automatically return to their original state by relying on the internal air pressure, ready for the next use.

[0022] Preferably, a carbon fiber frame is provided outside the inflatable cushioning ball 11 to prevent the inflatable cushioning ball 11 from being excessively deformed when it touches the ground.

[0023] The inflatable cushioning ball 11 provided in this embodiment has the following advantages: ① No need for temporary inflation: the pre-inflation design avoids the delay of inflation when touching the ground, and the response speed is faster; ②Simple structure: no additional high-pressure gas cylinders and charging devices are required, reducing system complexity; ③ High reliability: The inflatable cushioning ball 11 directly takes effect when it touches the ground, without relying on an external trigger mechanism.

[0024] Specifically, a plurality of emergency parachute bags 5 are arranged on the top of the manned cabin 1. The emergency parachute bags 5 are triggered by air pressure sensors and are automatically ejected when the UAV stalls or drops in altitude suddenly.

[0025] Specifically, Figure 2 As shown, the multi-rotor power system 4 includes six groups of symmetrically arranged rotors, each group of rotors includes an independent high-power brushless motor, a speed regulator and a propeller made of carbon fiber. The output shaft of the brushless motor is connected to the speed regulator, and the speed regulator is connected to the propeller. The function of the speed regulator is to ensure that the power output can be accurately controlled. The thrust of a single motor is ≥220kg, and the total load is ≥1320kg. The total load = 900kg (the weight of 10 people + safety factor) + 300kg (the weight of the drone) + 100kg (extra load) = 1300kg.

[0026] More specifically, the multi-rotor power system 4 also includes a redundant design module, which is used to monitor the working status of all motors in each group of rotors in real time. Once a fault is detected in a motor, common faults include motor stalling, overheating or abnormal current, the redundant design module automatically adjusts the power distribution of the remaining motors to keep the drone balanced and flying stably.

[0027] Specifically, the manned cabin 1 is integrated with an intelligent navigation and control system. The communication adopts a military-grade encrypted frequency band to ensure that the signal remains stable in smoke and electromagnetic interference environments. The intelligent navigation and control system includes a laser radar module, an infrared camera module, and an ultrasonic obstacle avoidance module, which are used to build a 3D environmental map in real time and accurately identify building windows and obstacles. The details are as follows: In the LiDAR module, the LiDAR obtains a detailed three-dimensional map of the surrounding environment by emitting a laser beam and measuring the time it takes to reflect back. It has the characteristics of high precision, wide range, and real-time performance. In the infrared camera module, the infrared camera can capture images of the environment, identify and track specific objects through image processing algorithms, and enhance environmental perception capabilities; In the ultrasonic obstacle avoidance module, the distance of the obstacle is detected by emitting ultrasonic waves and measuring the time of the reflected wave for quick response. It is widely used in obstacle avoidance functions in the fields of robots, unmanned vehicles, etc.

[0028] The laser radar module, infrared camera module and ultrasonic obstacle avoidance module complement each other in the intelligent navigation and control system. The laser radar module provides high-precision environmental modeling, the infrared camera module enhances visual perception, and the ultrasonic obstacle avoidance module effectively avoids obstacles at close range, enabling the intelligent navigation and control system to operate safely and efficiently in complex and dynamic environments. After the rescue is completed, the intelligent navigation and control system can avoid fire sources and obstacles, automatically plan the optimal descent path, and vertically fall to a safe area.

[0029] Specifically, an intelligent power distribution system is integrated in the manned cabin 1, and the intelligent power distribution system includes a central control module and multiple load sensors installed at the bottom of the manned cabin 1. The load sensors are used to monitor the load distribution of the manned cabin 1 in real time and send the load information to the central control module. The central control module is used to receive the load information sent by the load sensor and dynamically adjust the power output of each group of rotors according to the load information to ensure that the UAV can still maintain balance when the load distribution is uneven.

[0030] Specifically, Figure 1 As shown, the bottom end of the front cover 2 is rotatably connected to the manned cabin 1, and an inflatable buffer strip 24 is provided at the top of the front cover 2. When the front cover 2 automatically flips down under the action of its power source, it is used to dock with the building exterior wall of the target window. The function of the inflatable buffer strip 24 is to play a buffering role when docking with the building exterior wall. Similar to the inflatable buffer ball 11, in order to prevent the inflatable buffer strip 24 from excessive deformation when contacting the building exterior wall, a carbon fiber frame is arranged on the outside of the inflatable buffer strip 24.

[0031] There are many ways to implement the front cover 2. This embodiment adopts the following methods: Figure 3 , Figure 4As shown, the front cover 2 includes a main body cover 21, a telescopic bridge 22, a sliding cover plate 23 and two protective nets 25. The main body cover 21 is rotatably connected to the manned cabin 1. Both sides of the telescopic bridge 22 are connected to the main body cover 21 through a first slide rail. The first slide rail is used to control the extension or contraction of the telescopic bridge 22. The inflatable buffer strip 24 is arranged at the top of the telescopic bridge 22. Both sides of the sliding cover plate 23 are connected to the telescopic bridge 22 through a second slide rail. The second slide rail is used to control the extension or contraction of the sliding cover plate 23. Two protective nets 25 are arranged on both sides of the front cover 2. The protective net 25 can adopt a mesh structure made of nylon. The protective net 25 is divided into a flattening section and a folding section. The flattening section is arranged on the main body cover 21, and the folding section is arranged on the telescopic bridge 22. When the telescopic bridge 22 is extended, the folding section of the protective net 25 is unfolded accordingly to improve safety; when the telescopic bridge 22 is contracted, the folding section of the protective net 25 is linked to fold.

[0032] The front cover 2 is used in that the front cover 2 automatically turns down under the action of its power source. Figure 3 The first slide rail extends the telescopic bridge 22 until the inflatable buffer strip 24 contacts the building exterior wall of the target window. During this process, the protective net 25 is in the expanded state. Figure 7 As shown; the second slide rail extends the sliding cover 23 until the sliding cover 23 covers the inflatable buffer strip 24, and the flexible sealing strip at the end of the sliding cover 23 contacts the outer wall of the building. The function of the sliding cover 23 is to prevent people from stepping on the inflatable buffer strip 24 when they board the telescopic bridge 22. Figure 8 shown.

[0033] The front cover 2 provided in this embodiment has the following advantages: ① Structural optimization: The sliding cover plate 23 and the inflatable buffer strip 24 are designed in layers to prevent trampling from interfering with the buffer function; ② Linked protection: The protection net 25 and the telescopic bridge 22 are deployed simultaneously to improve the safety of rescue; ③Fully automated: No need for trapped personnel to operate, suitable for children, the elderly and the injured.

[0034] Here is a point to explain, Figure 3 , Figure 4 What is shown is a schematic diagram of the front cover 2, which does not limit the structure of the front cover 2. There are many specific ways to implement the main cover 21, the telescopic bridge 22, the sliding cover plate 23 and the two protective nets 25 in the front cover 2. It only needs to meet the following three points: ① The telescopic bridge 22 can automatically extend so as to automatically extend to the building exterior wall of the target window; the protective net 25 can extend in conjunction with the telescopic bridge 22; the sliding cover plate 23 can automatically cover the inflatable buffer strip 24.

[0035] In order to more clearly describe the main body cover 21, the telescopic bridge 22 and the two protective nets 25, this embodiment provides a structural diagram of one of the front covers 2, such as Figure 5 , Figure 6 As shown, the protective net 25 is arranged on multiple columns, some of the columns are fixedly connected to the main body cover 21, and the bottoms of the other columns are slidably arranged along the guide grooves of the telescopic bridge 22, and a telescopic folding frame is provided in the guide grooves of the telescopic bridge 22, and the telescopic folding frame is connected to the main body cover 21 at one end thereof facing the main body cover 21, and the columns are connected to the X-intersection position of the telescopic folding frame. When the bridge 22 is telescoped, the telescopic folding frame will be lengthened, thereby unfolding the folding section of the protective net 25.

[0036] The rescue process is as follows: Step 1: The drone flies to the rescue floor, with one end of the front cover 2 facing the target window; Step 2: The front cover 2 automatically flips down under the action of its power source, and the state is as follows: Figure 3 As shown, the power source of the front cover 2 can be a telescopic rod driven by a gas cylinder or an oil cylinder; Step 3: The first slide rail extends the telescopic bridge 22 until the inflatable buffer strip 24 contacts the building exterior wall of the target window, and the protective net 25 is deployed in conjunction with the telescopic bridge 22. Figure 7 As shown; Step 4: The second slide rail extends the sliding cover plate 23 until the sliding cover plate 23 covers the inflatable buffer strip 24, and the flexible sealing strip at the end of the sliding cover plate 23 contacts the building exterior wall. Figure 8 As shown; Step 5: The trapped person enters the manned cabin 1, the UAV retracts the sliding cover 23 and the telescopic bridge 22 in sequence, and then closes the front cover 2; Step 6: The drone returns to the ground, and after touching the ground, the inflatable cushioning ball 11 is used for cushioning. The rear cover 3 automatically flips down under the action of its power source, and the trapped personnel evacuate. The status is as follows: Fig. 9 shown.

[0037] The comparison of the rescue situation of this solution with fire ladder trucks, rescue helicopters, and multi-rotor eVTOL is shown in Tables 1 and 2 as follows: Table 1 Comparison with ladder fire trucks and rescue helicopters Table 2 Parameter comparison between this solution and multi-rotor eVTOL In summary, this solution can break through the height limitation of existing rescue equipment and realize rapid rescue of super-high-rise buildings; it can automatically connect to the building exterior wall of the target window and provide an automated rescue solution that does not require operation by trapped personnel; it can improve the payload capacity and endurance of drones; and it can enhance navigation stability and anti-interference capabilities in complex environments.

[0038] The above embodiments are only used to illustrate the technical ideas and features of the present invention, and are not intended to be the only or limit the present invention. It should be understood by those skilled in the art that various changes or equivalent substitutions made to the present invention without departing from the scope of the present invention all fall within the scope of protection of the present invention.

Claims

1. A high-rise building rapid rescue lifting drone, characterized in that: It comprises a manned cabin (1), a multi-rotor power system (4) arranged on the top of the manned cabin (1), and a front cover (2) and a rear cover (3) respectively arranged at two ends of the manned cabin (1); The multi-rotor power system (4) comprises a plurality of sets of symmetrically arranged rotors, each set of rotors comprising a brushless motor, a speed regulator and a propeller connected in sequence; The manned cabin (1) is integrated with an intelligent navigation and control system and an intelligent power distribution system. The intelligent navigation and control system includes a laser radar module, an infrared camera module and an ultrasonic obstacle avoidance module, which are used to construct a 3D environment map in real time and accurately identify building windows and obstacles. The intelligent power distribution system includes a central control module and a plurality of load sensors installed at the bottom of the manned cabin (1). The load sensors are used to monitor the load distribution of the manned cabin (1) in real time and send the load information to the central control module. The central control module is used to dynamically adjust the power output of each group of rotors according to the load information so that the drone can maintain balance. A plurality of inflatable cushioning balls (11) are provided at the bottom of the manned cabin (1); The bottom end of the front cover (2) is rotatably connected to the manned cabin (1), and an inflatable buffer strip (24) is provided at the top end. When the front cover (2) automatically flips down under the action of its power source, it is used to dock with the building exterior wall of the target window.

2. The high-rise building rapid rescue lifting drone according to claim 1 is characterized in that: The front cover (2) comprises a main body cover (21), a telescopic bridge (22) and a sliding cover plate (23); the main body cover (21) is rotatably connected to the manned cabin (1); the two sides of the telescopic bridge (22) are connected to the main body cover (21) via a first slide rail; an inflatable buffer strip (24) is arranged at the top of the telescopic bridge (22); the two sides of the sliding cover plate (23) are connected to the telescopic bridge (22) via a second slide rail; when the front cover (2) automatically flips down under the action of its power source, the first slide rail is used to extend the telescopic bridge (22) until the inflatable buffer strip (24) contacts the building exterior wall of the target window; the second slide rail is used to extend the sliding cover plate (23) until the sliding cover plate (23) covers the inflatable buffer strip (24).

3. The high-rise building rapid rescue lifting drone according to claim 2 is characterized in that: A flexible sealing strip is provided at the top end of the sliding cover plate (23).

4. The high-rise building rapid rescue lifting drone according to claim 2 is characterized in that: The front cover (2) further comprises two protective nets (25) respectively arranged on both sides of the front cover (2), the protective net (25) being divided into a flattened section and a folded section, the flattened section being arranged on the main body cover (21), and the folded section being arranged on the telescopic bridge (22), and when the telescopic bridge (22) is extended, the folded section of the protective net (25) is unfolded accordingly.

5. The high-rise building rapid rescue lifting drone according to claim 1, characterized in that: A plurality of suspension rods are arranged in the manned cabin (1).

6. The high-rise building rapid rescue lifting drone according to claim 1, characterized in that: A plurality of emergency parachute bags (5) are arranged on the top of the manned cabin (1).

7. The high-rise building rapid rescue lifting drone according to claim 1, characterized in that: The manned cabin (1) is configured in a cage shape, and the front cover (2) and the rear cover (3) are both configured in a mesh shape.

8. The high-rise building rapid rescue lifting drone according to claim 1, characterized in that: The multi-rotor power system (4) also includes a redundant design module. When any motor in each group of rotors fails, the redundant design module is used to automatically adjust the power distribution of the remaining motors so that the drone maintains balance.

9. The high-rise building rapid rescue lifting drone according to claim 1, characterized in that: A carbon fiber frame is arranged outside the inflatable cushioning ball (11).

Images