Building outer wall fire extinguishing system based on unmanned aerial vehicle and fire extinguishing method thereof

Abstract

The invention discloses a building outer wall fire fighting system based on an unmanned aerial vehicle and a fire extinguishing method thereof, and belongs to the technical field of fire fighting, the building outer wall fire fighting system comprises fixed fire fighting equipment and mobile fire fighting equipment, the fixed fire fighting equipment is arranged on a building body, and the mobile fire fighting equipment is in butt joint with the fixed fire fighting equipment according to fire conditions; and the mobile fire-fighting equipment and the fixed fire-fighting equipment are electrically connected with the fire-fighting control center. The fire early warning cameras and the smoke alarm are arranged on the periphery of the roof parapet wall and used for discovering a fire in the early stage; the outer wall fire-fighting vertical pipe and the fire-fighting power supply are connected with a fire-fighting system of the whole building, and the unmanned aerial vehicle obtains a water source and the power supply through an adapter on the outer wall fire-fighting vertical pipe, so that the unmanned aerial vehicle can continuously work until a building fire is successfully extinguished; the building builds a three-dimensional fire-fighting network by means of indoor and outer wall fire-fighting systems, and the internal and external fire-fighting systems cooperate with each other to accelerate fire extinguishing of the building, reduce fire hazards and guarantee personal and property safety.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to a building exterior wall fire fighting system based on an unmanned aerial vehicle and a fire fighting method thereof. Background Art

[0002] With the continuous advancement of urban modernization, various types of complex buildings such as high-rise buildings, commercial buildings and factories continue to emerge, which puts higher and more stringent requirements on building fire protection facilities. Among them, high-rise fires have become one of the main disasters threatening urban public safety and social development. Due to the complex structure and high density of people in high-rise buildings, the fire is very easy to get out of control when a fire occurs, which brings great challenges to the safe evacuation of personnel. At present, many high-rise fire cases have fully demonstrated that the current high-rise fire extinguishing methods can no longer meet the needs of high-rise construction and development.

[0003] There are two existing methods of extinguishing fires in high-rise buildings: one is a fixed sprinkler system, which only covers the interior of the building and lacks effective means to suppress three-dimensional fires on the exterior walls (such as burning insulation materials); the other is to extinguish exterior wall fires using fire trucks or fire trucks + drones.

[0004] The shortcomings of existing drone firefighting technology are as follows:

[0005] 1. Existing drones are still attached to fire trucks when extinguishing building fires, and are unable to detect fires in the early stages of a building fire and extinguish them early. In addition, the operation of existing firefighting drones still relies on real-time control by pilots, and there is still a large gap between truly unmanned and intelligent operations;

[0006] 2. When existing drones are used for firefighting operations, due to their limited battery capacity, they need to constantly replace batteries during the firefighting process, which greatly affects their high-altitude firefighting efficiency;

[0007] 3. Existing drones are connected to ground fire trucks through fire hoses. When performing firefighting operations, as the drone continues to rise, the fire hose needs to be continuously lengthened, which not only reduces the maneuverability and flexibility during firefighting operations, but also increases the load of the drone and shortens the drone's flight time;

[0008] 4. When existing drones are performing firefighting operations, if a drone malfunctions or loses power due to other sudden reasons, the drone will accelerate its fall, which may cause harm to evacuees, firefighters and drone pilots. Summary of the invention

[0009] The purpose of the present invention is to provide a building exterior wall fire protection system based on a drone and a fire extinguishing method thereof, so as to solve the problem that when a fire occurs in a building, the fire often spreads to the upper floors through the window holes of the building exterior wall, and the exterior wall fire is difficult to extinguish. In addition, it takes time for the fire truck to arrive at the fire scene, and the best time to extinguish the fire is often missed, resulting in the continuous expansion of the fire range of the entire building exterior wall, causing greater property losses and casualties.

[0010] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0011] A building exterior wall fire protection system based on a drone, comprising fixed fire protection equipment and mobile fire protection equipment, wherein the fixed fire protection equipment is arranged on a building body, the mobile fire protection equipment is docked with the fixed fire protection equipment according to the fire situation, and the mobile fire protection equipment and the fixed fire protection equipment are both electrically connected to a fire control center;

[0012] The fixed fire fighting equipment includes a number of fire fighting risers and fire monitoring and early warning devices. The number of fire fighting risers are arranged on the building body. Each of the fire fighting risers is provided with a number of adapters. Each set of the adapters is reserved with a water source and a power source. The fire fighting power lines of the adapters are laid along the pipelines. The fire monitoring and early warning devices are arranged around the roof parapet of the building body. The adapters and the fire monitoring and early warning devices are electrically connected to the fire control center.

[0013] The mobile fire-fighting equipment includes a drone body, a fire-extinguishing device is arranged on one side of the drone body, a docking mechanism for connecting to the coupler is arranged on the other side of the drone body, an electric hose reel body is arranged at the lower part of the drone body, a double-layered water pipe is arranged on the electric hose reel body, one end of the double-layered water pipe is connected to the fire-extinguishing device, and the other end of the double-layered water pipe is connected to the docking mechanism, and sensors and detection equipment are also arranged on the drone body; the drone body, the fire-extinguishing device, the docking mechanism, the electric hose reel body, the sensors and detection equipment are all electrically connected to the fire control center.

[0014] Furthermore, an electric door is arranged on the outer side of the coupler, and a laser positioning and guiding module, a power supply socket and a water supply socket are arranged on the inner side of the electric door. The power supply socket is connected to the fire power line, and the water supply socket is connected to the fire riser. The electric door and the laser positioning and guiding module are both electrically connected to the fire control center.

[0015] Furthermore, the fire monitoring and early warning device includes a fire warning camera and a smoke alarm, and the fire warning camera and the smoke alarm are installed around the roof parapet of the building body through a bracket; the fire warning camera and the smoke alarm are electrically connected to the fire control center.

[0016] Furthermore, the fire extinguishing device includes a recoilless fire-fighting water gun, which is arranged on one side of the drone body, and a booster pump is arranged below the recoilless fire-fighting water gun. The water inlet end of the booster pump is connected to the double-layer wound water pipe, and the water outlet end of the booster pump is connected to the recoilless fire-fighting water gun, and a multiple window breaker is arranged on one side of the booster pump.

[0017] Furthermore, a pipe laying device is provided on one side of the drone body close to the docking mechanism, and the pipe laying device includes a bidirectional screw, which is provided on the drone body, and a pipe laying rack is threadedly connected to the bidirectional screw, a guide rod is provided on one side of the bidirectional screw, and a guide hole matching the guide rod is provided on the pipe laying rack, and two rollers are provided on the pipe laying rack, and an electric motor is provided on one side of the electric hose reel body, and the motor drives the electric hose reel body to rotate through a first transmission assembly, and the electric hose reel body drives the bidirectional screw to rotate through a second transmission assembly.

[0018] Furthermore, a propeller anti-collision ring is provided on the top of the drone body.

[0019] Furthermore, the docking mechanism includes a docking device, and the docking device includes an electric telescopic rod, which is arranged on the other side of the drone body, and a dual-mode electromagnetic clutch device is arranged at the working end of the electric telescopic rod. A double-bell-mouth sleeve is arranged below the electric telescopic rod, and the other end of the double-layer wound water pipe passes through the double-bell-mouth sleeve and is connected to a water gun quick plug, and the water gun quick plug matches the water supply socket. A power plug matching the power supply socket is arranged above the water gun quick plug, and the dual-mode electromagnetic clutch device corresponds to the position of the power plug.

[0020] Furthermore, the docking mechanism includes a robotic arm, the robotic arm includes a first left-right motion joint, the first left-right motion joint is connected to the other side of the drone body through a connecting rod, a first robotic arm body is arranged on the other side of the first left-right motion joint, the first robotic arm body is connected to the second robotic arm body through a second left-right motion joint and a first up-and-down motion joint, the other side of the second robotic arm body is connected to the terminal telescopic robotic arm body through a second up-and-down motion joint, a two-finger clamp is arranged on the other side of the terminal telescopic robotic arm body, a binocular stereo camera + ToF sensor is arranged above the two-finger clamp, a double-bell-mouth sleeve is arranged below the connecting rod, the other end of the double-layer wound water pipe passes through the double-bell-mouth sleeve and is connected to a water gun quick plug, the water gun quick plug matches the water supply socket, a power plug matching the power supply socket is arranged above the water gun quick plug, and the two-finger clamp corresponds to the position of the power plug.

[0021] A fire extinguishing method, using any one of the above-mentioned drone-based building exterior wall fire fighting systems to extinguish fire, comprising the following steps:

[0022] Step 1: When a fire occurs in a building, the fire warning camera and the smoke alarm on the roof of the building send out a fire signal, and the three-dimensional coordinates of the fire source are initially located by the fire warning camera;

[0023] Step 2: Using the fire signal and the three-dimensional coordinates of the fire source, the signal is fed back to the fire control center to confirm that a fire has occurred in the building and notify the on-duty personnel;

[0024] Step 3, the fire control center transmits the three-dimensional coordinates of the fire source to the drone body;

[0025] Step 4: Using the three-dimensional coordinates of the fire source, the drone body calculates the optimal flight path according to the 3D model of the building and meteorological data, and the drone body flies from the hangar to the point where the building fire occurs, and the drone body begins to search for the exact location of the fire source;

[0026] Step 5: The drone body locks the exact location of the fire source through infrared thermal imaging and visible light visual recognition, and obtains the three-dimensional coordinates;

[0027] Step 6: Based on the three-dimensional coordinates of the exact location of the fire source, the drone body selects the nearest available adapter through calculation, generates an obstacle avoidance flight path, and flies to the location of the adapter;

[0028] Step 7, using a method for docking a drone and a connector to dock the drone body with the connector;

[0029] Step 8: The drone body pulls the double-layered water pipe to fly to the exact location of the fire source (the three-dimensional coordinates obtained in step 5) to extinguish the fire;

[0030] Step 9: The drone body completes the fire extinguishing, and the real-time picture of the fire extinguishing is uploaded to the fire control center. The drone body returns to the position of the adapter (the adapter position in step 7, each set of adapters has three-dimensional coordinates);

[0031] Step 10, the drone body and the adapter are separated;

[0032] Step 11, the drone body flies back to the hangar (the hangar at the position of step 4).

[0033] Furthermore, in step seven, when the docking mechanism is a docking device, the method for docking the drone and the adapter includes the following steps:

[0034] Step 1, preparing for docking: the drone body flies to the position of the adapter;

[0035] Step 2, rough positioning: the drone body flies to a position near the adapter through autonomous navigation;

[0036] Step 3, turning and finding the angle: the drone body adjusts the direction on the spot to determine the orientation of the power plug and the water gun quick plug relative to the adapter;

[0037] Step 4, centerline alignment: the drone body continuously adjusts the flight attitude so that the center of the drone body coincides with the center of the adapter;

[0038] Step 5, centerline guidance: the drone body slowly flies toward the adapter, while fine-tuning the heading to keep the heading aligned with the centerline of the adapter;

[0039] Step 6, docking device: when the drone body approaches the adapter, it stops flying forward, the dual-mode electromagnetic clutch device on the electric telescopic rod connects the power plug and the water gun quick plug, and the electric telescopic rod on the docking device extends toward the adapter;

[0040] Step seven, docking is completed: after the drone body and the adapter are docked, the power plug is inserted into the power supply socket, the water gun quick plug is inserted into the water supply socket, the electric clamp in the adapter clamps the water gun quick plug, and the adapter turns on the power and water source.

[0041] Furthermore, in step seven, when the docking mechanism is a mechanical arm, the method for docking the drone and the adapter includes the following steps:

[0042] Step 1, preparing for docking: the drone body flies to the position of the adapter;

[0043] Step 2, rough positioning: the drone body flies to a position near the adapter through autonomous navigation;

[0044] Step 3, turning and finding the angle: the drone body adjusts the direction on the spot to determine the orientation of the power plug and the water gun quick plug relative to the adapter;

[0045] Step 4, centerline alignment: the drone body continuously adjusts the flight attitude so that the center of the drone body coincides with the center of the adapter;

[0046] Step 5, centerline guidance: the drone body slowly flies toward the adapter, while fine-tuning the heading to keep the heading aligned with the centerline of the adapter;

[0047] Step 6, docking device: When the drone body approaches the adapter, it stops flying forward, and the mechanical arm extends toward the adapter; the docking process between the mechanical arm and the adapter is as follows:

[0048] Coarse positioning: the binocular camera in the binocular stereo camera + ToF sensor locks the power socket area;

[0049] Fine-tuning mode: The ToF sensor scans the edge of the power socket;

[0050] Insertion process: the force sensor controls the mechanical arm to push the two-finger gripper at the end of the mechanical arm at a constant speed, and the two-finger gripper inserts the power plug and the water gun quick plug into the power supply socket and the water supply socket;

[0051] Step seven, docking is completed: after the drone body and the adapter are docked, the power plug is inserted into the power supply socket, the water gun quick plug is inserted into the water supply socket, the electric clamp in the adapter clamps the water gun quick plug, and the adapter turns on the power and water source.

[0052] Compared with the prior art, the beneficial technical effects of the present invention are:

[0053] The present invention has the following beneficial effects: 1) Fire warning cameras and smoke alarms are arranged around the roof parapet to detect fires at an early stage and transmit the information to the fire control center, wherein the fire warning cameras can also monitor the behavior of throwing objects from high places;

[0054] 2) The drone is parked in a dedicated hangar, and firefighting operations can be quickly initiated at the initial stage of a fire, with extremely high response efficiency. Unlike the traditional drone firefighting mode, this system does not need to wait for the fire truck to arrive at the scene before deploying the drone, greatly shortening the firefighting response time;

[0055] 3) The external wall fire riser and fire power supply are connected to the fire protection system of the entire building. The drone obtains water and power through the connector on the external wall fire riser to ensure that the drone can continue to operate until the building fire is successfully extinguished;

[0056] 4) When the drone fails or loses power due to other sudden reasons, the electric hose reel accelerates the recovery of the double-layer wound water hose, so that the drone can quickly return to the position of the fire riser connector to avoid injuring the evacuees and firefighters on the ground;

[0057] 5) Combining the 3D model of the building, meteorological data, the length of the double-layer water pipe on the electric hose reel and other information, the optimal fire-fighting path of the drone is generated through the AI ​​algorithm, realizing unmanned and intelligent operation;

[0058] 6) Buildings use indoor and exterior wall fire protection systems to build a three-dimensional fire protection network. The internal and external fire protection systems cooperate with each other to accelerate the extinguishing of building fires, reduce fire hazards, and ensure the safety of people and property. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The present invention will be further described below in conjunction with the accompanying drawings.

[0060] Figure 1 It is a schematic diagram of the overall structure of the drone and the adapter before docking in the drone-based building exterior wall fire fighting system of the present invention;

[0061] Figure 2 It is a partial enlarged view of the drone and the adapter before docking in the drone-based building exterior wall fire fighting system of the present invention;

[0062] Figure 3 It is a schematic diagram of the fire extinguishing working state after the drone is docked with the adapter in the building exterior wall fire fighting system based on the drone of the present invention;

[0063] Figure 4 It is a schematic diagram of the fire extinguishing working state from another angle after the drone is docked with the adapter in the building exterior wall fire fighting system based on the drone of the present invention;

[0064] Figure 5 It is a structural schematic diagram of the UAV of the present invention;

[0065] Figure 6 This is a schematic structural diagram of the drone of the present invention from another angle;

[0066] Figure 7 It is a structural schematic diagram of the pipe arrangement device of the present invention;

[0067] Figure 8 This is a schematic diagram of the drone of the present invention before docking with the adapter;

[0068] Fig. 9 This is a schematic diagram of the drone of the present invention after docking with the adapter;

[0069] Fig.10 This is a schematic diagram of the separation of the UAV docking device of the present invention;

[0070] Fig.11 It is a structural schematic diagram of the adapter of the present invention;

[0071] Fig.12 A side view of the electric clamp of the present invention in an open state;

[0072] Fig.13 It is a three-dimensional structural schematic diagram of the electric clamping jaw of the present invention in an open state;

[0073] Fig.14 A side view of the electric clamp of the present invention in a closed state;

[0074] Fig.15 It is a three-dimensional structural schematic diagram of the electric clamping jaw of the present invention in a closed state;

[0075] Fig.16 It is a cross-sectional view of the double-layer wound water pipe of the present invention;

[0076] Fig.17 It is a schematic diagram of the three-dimensional structure of the double-layer wound water pipe of the present invention;

[0077] Fig.18 This is a flow chart of fire fighting by the UAV of the present invention;

[0078] Fig.19 This is a flowchart of the docking between the drone and the adapter of the present invention; (the docking mechanism is a docking device)

[0079] Fig. 20 It is a structural schematic diagram of the drone and the mechanical arm of the present invention;

[0080] Fig.21 This is a schematic structural diagram of the drone and the mechanical arm of the present invention from another angle;

[0081] Fig. 22 This is a schematic diagram of the drone and the mechanical arm of the present invention before docking with the adapter;

[0082] Fig.23 It is a schematic diagram of the drone and the mechanical arm of the present invention after docking with the adapter;

[0083] Fig.24 It is a schematic diagram of the process of docking the drone and the mechanical arm with the adapter of the present invention;

[0084] Fig.25 This is a flowchart of the docking between the drone and the adapter of the present invention. (The docking mechanism is a mechanical arm)

[0085] Explanation of the reference numerals: 100, building body; 101, fire riser; 102, adapter; 103, fire warning camera; 104, smoke alarm; 105, electric door; 106, water supply socket; 107, power supply socket; 108, laser positioning and guidance module; 109, fire power line; 110, electric gripper; 200, drone body; 201, recoilless fire hose; 202, multi-shot window breaker; 203, booster pump; 204, propeller anti-collision ring; 205, sensor and detection equipment; 300, electric hose reel body; 301, pipe laying device; 301-1, pipe laying rack; 301-2, roller; 301-3, two-way screw; 301-4, guide rod; 302, double-layer winding water Tube; 302-1, fire hose; 302-2, middle layer; 302-3, protective layer; 303, first chain; 304, double-bell-mouth sleeve; 305, second chain; 306, motor; 400, docking device; 401, electric telescopic rod; 402, dual-mode electromagnetic clutch device; 403, power plug; 404, water gun quick plug; 500, robotic arm; 501, first left and right motion joint; 502, second left and right motion joint; 503, first up and down motion joint; 504, second up and down motion joint; 505, end telescopic robotic arm body; 506, two-finger gripper; 507, binocular stereo camera + ToF sensor; 508, first robotic arm body; 509, second robotic arm body. DETAILED DESCRIPTION

[0086] like Figure 1-25 As shown, a building exterior wall fire protection system based on drones includes fixed fire protection equipment and mobile fire protection equipment. The fixed fire protection equipment is arranged on the building body 100, and the mobile fire protection equipment is docked with the fixed fire protection equipment according to the fire situation. The mobile fire protection equipment and the fixed fire protection equipment are both electrically connected to a fire control center; the functions of the fire control center are fire monitoring and alarm, fire protection equipment control, information processing and dispatching, linkage control, monitoring and recording, coordinated dispatching of multiple drones, fire situation analysis, data storage and communication.

[0087] The fixed fire fighting equipment includes a plurality of fire risers 101 and a fire monitoring and early warning device. The fire risers 101 are arranged on the building body 100, wherein the plurality of fire risers 101 can be arranged along the outer wall of the building, or can be arranged indoors, and only connectors are reserved for the outdoor part of the outer wall, so that the building facade is more beautiful; a plurality of connectors 102 are arranged on each of the fire risers 101, and each set of the connectors 102 is reserved for water source and power supply interfaces, and the connector fire power supply line is laid along the pipeline; an electric door 105 is arranged on the outside of the connector 102, and a laser positioning and guiding module 108, a power supply socket 107 and a water supply socket 106 are arranged on the inside of the electric door 105, the power supply socket 107 is connected to the fire power supply line 109, the water supply socket 106 is connected to the fire riser 101, and the electric door 105 and the laser positioning and guiding module 108 are both electrically connected to the fire control center. The adapter includes an electric clamp, a self-sealing dual-channel socket (water supply socket + power supply socket), and a laser positioning guidance module. Each adapter has accurate three-dimensional coordinates. Specifically, the electric clamp 110 is installed inside the adapter 102, such as Figure 12-15 As shown, it is used to clamp the water gun quick plug 404.

[0088] The fire monitoring and early warning device is arranged around the roof parapet of the building body 100; the fire monitoring and early warning device includes a fire warning camera 103 and a smoke alarm 104, and the fire warning camera 103 and the smoke alarm 104 are installed around the roof parapet of the building body 100 through a bracket; the connector 102, the fire warning camera 103 and the smoke alarm 104 are all electrically connected to the fire control center.

[0089] Fire warning cameras 103 and smoke alarms 104 are installed around the parapet of the roof to monitor whether a fire occurs in the building in real time, thereby buying precious time for people to escape and effectively reducing the risk of casualties and property losses. The fire warning camera and the smoke alarm adopt a dual monitoring and dual protection method to improve the reliability and stability of the monitoring system. The role of the fire warning camera is to capture abnormal phenomena such as fire smoke and flames, and promptly convert them into electrical signals and transmit them to the fire control center and sound an alarm to remind people of the occurrence of fire; the role of the smoke alarm is to quickly sense the smoke generated in the early stage of the fire, sound an alarm to remind people of the occurrence of fire, and transmit the fire signal to the fire control center. The smoke alarm and the fire warning camera are linked to each other.

[0090] The mobile fire-fighting equipment includes a drone body 200, a fire-extinguishing device is arranged on one side of the drone body 200, a docking mechanism for connecting with the connector 102 is arranged on the other side of the drone body 200, an electric hose reel body 300 is arranged at the lower part of the drone body 200, a double-layered water pipe 302 is arranged on the electric hose reel body 300, one end of the double-layered water pipe 302 is connected to the fire-extinguishing device, and the other end of the double-layered water pipe 302 is connected to the docking mechanism, and the drone body 200 is also provided with a sensor and detection equipment 205; the drone body 200 is also provided with a communication and navigation system, a software and control system and a power system, and the drone body 200, the fire-extinguishing device, the docking mechanism, the electric hose reel body 300, the sensor and detection equipment 205 are all electrically connected to the fire control center.

[0091] Specifically, Figure 16-17 As shown, the fire hose 302-1 of the inner layer of the double-layer winding water pipe 302 is used to transport water, the middle layer 302-2 is used to lay power lines, and there is a protective layer 302-3 on the periphery, which has the characteristics of fire resistance, waterproofness, wear resistance and high tensile strength.

[0092] The function of the electric hose reel is to automatically retract and release the double-layered hose. When the drone fails or loses power due to other unexpected reasons, the electric hose reel accelerates the recovery of the double-layered hose, allowing the drone to quickly return to the position of the fire riser connector to avoid hitting the ground evacuees and firefighters.

[0093] The fire extinguishing device includes a recoilless fire-fighting water gun 201, which is arranged on one side of the drone body 200. A booster pump 203 is arranged below the recoilless fire-fighting water gun 201. The water inlet end of the booster pump 203 is connected to the double-layer winding water pipe 302, and the water outlet end of the booster pump 203 is connected to the recoilless fire-fighting water gun 201. A multiple window breaker 202 is arranged on one side of the booster pump 203.

[0094] A pipe arrangement device 301 is provided on one side of the drone body 200 near the docking mechanism. Figure 7As shown, the pipe arrangement device 301 includes a bidirectional lead screw 301-3, both ends of which are rotatably connected to the drone body 200, a pipe arrangement rack 301-1 is threadedly connected to the bidirectional lead screw 301-3, a guide rod 301-4 is arranged on one side of the bidirectional lead screw 301-3, both ends of the guide rod 301-4 are connected to the drone body 200, a guide hole matching the guide rod 301-4 is opened on the pipe arrangement rack 301-1, two rollers 301-2 are installed on the pipe arrangement rack 301-1, and the double-layer winding water pipe 302 passes between the two rollers 301-2, a motor 306 is arranged on one side of the electric hose reel body 300, and the motor 306 is installed on the drone body 200, and the motor 306 drives the electric hose reel body 300 to rotate through a first transmission component, and the electric hose reel body 300 drives the bidirectional lead screw 301-4 through a second transmission component. The rod 301-3 rotates; specifically, the first transmission component includes a first driving sprocket, which is mounted on the output shaft of the motor 306, and a first driven sprocket is mounted on the side of the electric hose reel body 300, and the first driving sprocket and the first driven sprocket are connected by a second chain 305; the second transmission component includes a second driving sprocket, which is mounted on the end of the central rotating shaft of the electric hose reel body 300, and a second driven sprocket is mounted on one end of the bidirectional lead screw 301-3, and the second driving sprocket and the second driven sprocket are connected by a first chain 303; when working, the motor 306 drives the electric hose reel body 300 to reel through the first transmission component, and at the same time, the second transmission component drives the bidirectional lead screw 301-3 to rotate, and the rotation of the bidirectional lead screw 301-3 drives the pipe rack 301-1 to move, and perform pipe laying work to ensure that the double-layer wound water pipe 302 is evenly wound on the electric hose reel body 300.

[0095] A propeller anti-collision ring 204 is provided on the top of the drone body 200. The propeller anti-collision ring 204 is used for anti-collision protection and to improve flight safety, while preventing a double-layered water pipe from entering the propeller and causing a safety accident.

[0096] Sensors and detection equipment 205 include: thermal imaging cameras for identifying fire source locations, high-temperature areas and trapped persons; visible light cameras that can achieve real-time high-definition video transmission to monitor fire dynamics; gas sensors that can detect the concentration of toxic gases (such as carbon monoxide, methane, etc.); laser radar (LiDAR) for generating 3D fire scene maps and assisting path planning; infrared sensors that can penetrate smoke to detect vital signs.

[0097] The communication and navigation system includes: real-time communication module, such as 4G / 5G network transmission, etc.; dedicated radio station (with anti-interference capability); navigation system, including GPS / Beidou positioning, inertial navigation (IMU), obstacle avoidance system (using ultrasonic, lidar, and visual obstacle avoidance technology).

[0098] The present invention also includes software and control systems, wherein the flight control software can realize autonomous flight, path planning, automatic return and support manual intervention mode, and the AI ​​algorithm can be used for fire prediction, smoke identification and personnel positioning.

[0099] The docking mechanism includes a docking device 400, and the docking device 400 includes an electric telescopic rod 401, and the electric telescopic rod 401 is arranged on the other side of the drone body 200. The working end of the electric telescopic rod 401 is provided with a dual-mode electromagnetic clutch device 402, and a double-bell-mouth sleeve 304 is arranged below the electric telescopic rod 401. The other end of the double-layer winding water pipe 302 passes through the double-bell-mouth sleeve 304 and is connected to a water gun quick plug 404. The water gun quick plug 404 matches the water supply socket 106, and a power plug 403 matching the power supply socket 107 is arranged above the water gun quick plug 404. The dual-mode electromagnetic clutch device 402 corresponds to the position of the power plug 403; specifically, the dual-mode electromagnetic clutch device 402 includes a mechanical buckle and an electromagnetic adsorption component.

[0100] When the building exterior wall fire protection system based on drones of the present invention is used for the first time, a 3D model of the building needs to be established first. The specific operation is: the drone equipped with LiDAR flies around the building to generate a 3D model of the building, and at the same time establishes a three-dimensional coordinate system of the building facade. The established 3D model of the building is stored in the fire control center so that the model can be retrieved when the drone is used to extinguish the fire later.

[0101] In another embodiment, the docking mechanism includes a robotic arm 500, and the robotic arm 500 includes a first left-right motion joint 501, and the first left-right motion joint 501 is connected to the other side of the drone body 200 through a connecting rod, and the other side of the first left-right motion joint 501 is connected to a first robotic arm body 508, and the first robotic arm body 508 is connected to a second robotic arm body 509 through a second left-right motion joint 502 and a first up-and-down motion joint 503, and the other side of the second robotic arm body 509 is connected to a terminal telescopic robotic arm body 505 through a second up-and-down motion joint 504, and the terminal A two-finger gripper 506 is connected to the other side of the telescopic robotic arm body 505, and a binocular stereo camera + ToF sensor 507 is installed above the two-finger gripper 506. A double-bell-mouth sleeve 304 is arranged below the connecting rod, and the other end of the double-layer winding water pipe 302 passes through the double-bell-mouth sleeve 304 and is connected to a water gun quick plug 404. The water gun quick plug 404 matches the water supply socket 106, and a power plug 403 matching the power supply socket 107 is arranged above the water gun quick plug 404, and the two-finger gripper 506 corresponds to the position of the power plug 403.

[0102] A fire extinguishing method, using any one of the above-mentioned drone-based building exterior wall fire fighting systems to extinguish fire, comprising the following steps:

[0103] Step 1: When a fire occurs in a building, the fire warning camera 103 and the smoke alarm 104 on the roof of the building body 100 send out a fire signal, and the three-dimensional coordinates of the fire source are initially located by the fire warning camera 103;

[0104] Step 2: Using the fire signal and the three-dimensional coordinates of the fire source, the signal is fed back to the fire control center to confirm that a fire has occurred in the building and notify the on-duty personnel;

[0105] Step 3, the fire control center transmits the three-dimensional coordinates of the fire source to the drone body 200;

[0106] Step 4: Using the three-dimensional coordinates of the fire source, the drone body 200 calculates the optimal flight path according to the 3D model of the building and the meteorological data. The drone body 200 flies from the hangar to the point where the building fire occurs, and the drone body 200 begins to search for the exact location of the fire source.

[0107] Step 5: The drone body 200 locks the exact location of the fire source through infrared thermal imaging and visible light visual recognition, and obtains the three-dimensional coordinates;

[0108] Step 6: Based on the three-dimensional coordinates of the exact location of the fire source, the drone body 200 selects the nearest available adapter 102 through calculation, generates an obstacle avoidance flight path, and flies to the location of the adapter 102;

[0109] Step 7, using the method for docking a drone with a connector, the drone body 200 and the connector 102 are docked;

[0110] Step 8: The drone body 200 pulls the double-layered water pipe 302 to the exact location of the fire source and the three-dimensional coordinates obtained in step 5 to extinguish the fire;

[0111] Step nine, the drone body 200 completes the fire extinguishing, and the real-time picture of the fire extinguishing on site is uploaded to the fire control center, and the drone body 200 returns to the position of the adapter 102 (the adapter position in step seven, each set of adapters has three-dimensional coordinates);

[0112] Step 10, the drone body 200 and the adapter 102 are separated;

[0113] Step 11, the drone body 200 flies back to the hangar (the hangar at the position of step 4).

[0114] In step 7, when the docking mechanism is the docking device 400, the method for docking the drone with the adapter includes the following steps:

[0115] Step 1, preparing for docking: the drone body 200 flies to the position of the adapter 102;

[0116] Step 2, rough positioning: the drone body 200 flies to a position near the adapter 102 through autonomous navigation;

[0117] Step 3, turning and finding the angle: the drone body 200 adjusts the direction in situ to determine the orientation of the power plug 403 and the water gun quick plug 404 relative to the adapter 102;

[0118] Step 4: centerline alignment: the drone body 200 continuously adjusts the flight attitude so that the center of the drone body 200 coincides with the center of the adapter 102;

[0119] Step 5: Centerline guidance: the drone body 200 slowly flies toward the adapter 102 while fine-tuning the heading to keep the heading aligned with the centerline of the adapter 102;

[0120] Step 6, docking device: the drone body 200 stops flying forward when it approaches the adapter 102, the dual-mode electromagnetic clutch device 402 on the electric telescopic rod 401 connects the power plug 403 and the water gun quick plug 404, and the electric telescopic rod 401 on the docking device 400 extends toward the adapter 102;

[0121] Step seven, docking is completed: after the drone body 200 and the adapter 102 are docked, the power plug 403 is inserted into the power supply socket 107, the water gun quick plug 404 is inserted into the water supply socket 106, the electric clamp 110 in the adapter 102 clamps the water gun quick plug 404, and the adapter 102 turns on the power and water source.

[0122] In step 7, when the docking mechanism is a mechanical arm 500, the method for docking the drone and the adapter includes the following steps:

[0123] Step 1, preparing for docking: the drone body 200 flies to the position of the adapter 102;

[0124] Step 2, rough positioning: the drone body 200 flies to a position near the adapter 102 through autonomous navigation;

[0125] Step 3, turning and finding the angle: the drone body 200 adjusts the direction in situ to determine the orientation of the power plug 403 and the water gun quick plug 404 relative to the adapter 102;

[0126] Step 4: centerline alignment: the drone body 200 continuously adjusts the flight attitude so that the center of the drone body 200 coincides with the center of the adapter 102;

[0127] Step 5: Centerline guidance: the drone body 200 slowly flies toward the adapter 102 while fine-tuning the heading to keep the heading aligned with the centerline of the adapter 102;

[0128] Step 6, docking device: the drone body 200 stops flying forward when it approaches the adapter 102, and the mechanical arm 500 extends toward the adapter 102; the docking process of the mechanical arm 500 and the adapter 102 is as follows:

[0129] Coarse positioning: the binocular camera in the binocular stereo camera + ToF sensor 507 locks the power socket area;

[0130] Fine-tuning mode: The ToF sensor scans the edge of the power socket;

[0131] Insertion process: the force sensor controls the mechanical arm 500 to push the two-finger gripper 506 at the end of the mechanical arm at a constant speed, and the two-finger gripper 506 inserts the power plug 403 and the water gun quick plug 404 into the power supply socket 107 and the water supply socket 106;

[0132] Step seven, docking is completed: after the drone body 200 and the adapter 102 are docked, the power plug 403 is inserted into the power supply socket 107, the water gun quick plug 404 is inserted into the water supply socket 106, the electric clamp 110 in the adapter 102 clamps the water gun quick plug 404, and the adapter 102 turns on the power and water source.

[0133] The present invention arranges fire warning cameras and smoke alarms around the parapet of the roof; fire risers and connectors are arranged on the outer wall of the building, and the drone obtains water and power through the connector on the outer wall fire riser; the outer wall fire riser and connector are connected to the fire protection system of the entire building, and share water and fire power with the indoor fire protection system; an electric hose reel is installed on the drone, and with the cooperation of the electric hose reel, the drone is more flexible in the air and has a larger fire extinguishing radius; an automatic docking method between the drone and the connector, and the use of an electric telescopic rod; the outer wall fire protection system and the indoor fire protection system build a three-dimensional fire protection network, and the internal and external fire protection systems cooperate with each other to accelerate the extinguishing of building fires.

[0134] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A building exterior wall fire protection system based on drones, characterized by: It comprises fixed fire fighting equipment and mobile fire fighting equipment, wherein the fixed fire fighting equipment is arranged on a building body (100), the mobile fire fighting equipment is docked with the fixed fire fighting equipment according to the fire situation, and the mobile fire fighting equipment and the fixed fire fighting equipment are both electrically connected to a fire control center; The fixed fire fighting equipment comprises a plurality of fire fighting risers (101) and a fire monitoring and early warning device. The plurality of fire fighting risers (101) are arranged on a building body (100). A plurality of adapters (102) are arranged on each fire fighting riser (101). Each adapter (102) is provided with a water source and a power source. The fire fighting power lines of the adapters are laid along the pipeline. The fire monitoring and early warning device is arranged around the parapet of the roof of the building body (100). The adapters (102) and the fire monitoring and early warning device are electrically connected to the fire fighting control center. The mobile fire fighting equipment comprises a drone body (200), a fire extinguishing device is arranged on one side of the drone body (200), a docking mechanism for connecting with the connector (102) is arranged on the other side of the drone body (200), an electric hose reel body (300) is arranged at the lower part of the drone body (200), a double-layered water pipe (302) is arranged on the electric hose reel body (300), one end of the double-layered water pipe (302) is connected to the fire extinguishing device, and the other end of the double-layered water pipe (302) is connected to the docking mechanism, and a sensor and detection device (205) are also arranged on the drone body (200); the drone body (200), the fire extinguishing device, the docking mechanism, the electric hose reel body (300), the sensor and detection device (205) are all electrically connected to the fire control center.

2. The building exterior wall fire protection system based on drone according to claim 1 is characterized by: An electric door (105) is arranged on the outside of the adapter (102), and a laser positioning and guiding module (108), a power supply socket (107) and a water supply socket (106) are arranged on the inside of the electric door (105). The power supply socket (107) is connected to a fire power line (109), and the water supply socket (106) is connected to the fire riser (101). The electric door (105) and the laser positioning and guiding module (108) are both electrically connected to the fire control center.

3. The building exterior wall fire protection system based on drone according to claim 1 is characterized by: The fire monitoring and early warning device comprises a fire early warning camera (103) and a smoke alarm (104); the fire early warning camera (103) and the smoke alarm (104) are installed around the roof parapet of the building body (100) through a bracket; the fire early warning camera (103) and the smoke alarm (104) are both electrically connected to the fire control center.

4. The building exterior wall fire protection system based on drone according to claim 1 is characterized by: The fire extinguishing device comprises a recoilless fire-fighting water gun (201), the recoilless fire-fighting water gun (201) is arranged on one side of the drone body (200), a booster pump (203) is arranged below the recoilless fire-fighting water gun (201), a water inlet end of the booster pump (203) is connected to the double-layer winding water pipe (302), a water outlet end of the booster pump (203) is connected to the recoilless fire-fighting water gun (201), and a multi-shot window breaker (202) is arranged on one side of the booster pump (203).

5. The building exterior wall fire protection system based on drone according to claim 1 is characterized by: A pipe arrangement device (301) is arranged on one side of the drone body (200) close to the docking mechanism, and the pipe arrangement device (301) comprises a bidirectional lead screw (301-3), the bidirectional lead screw (301-3) is arranged on the drone body (200), a pipe arrangement rack (301-1) is threadedly connected to the bidirectional lead screw (301-3), a guide rod (301-4) is arranged on one side of the bidirectional lead screw (301-3), and the pipe arrangement rack (301 -1) is provided with a guide hole matching the guide rod (301-4), the pipe rack (301-1) is provided with two rollers (301-2), a motor (306) is provided on one side of the electric hose reel body (300), the motor (306) drives the electric hose reel body (300) to rotate through a first transmission component, and the electric hose reel body (300) drives the bidirectional lead screw (301-3) to rotate through a second transmission component.

6. The building exterior wall fire protection system based on drone according to claim 2 is characterized by: The docking mechanism comprises a docking device (400), wherein the docking device (400) comprises an electric telescopic rod (401), wherein the electric telescopic rod (401) is arranged on the other side of the drone body (200), wherein a dual-mode electromagnetic clutch device (402) is arranged at the working end of the electric telescopic rod (401), wherein a double-bell-mouth sleeve (304) is arranged below the electric telescopic rod (401), wherein the other end of the double-layer winding water pipe (302) passes through the double-bell-mouth sleeve (304) and is connected to a water gun quick plug (404), wherein the water gun quick plug (404) matches the water supply socket (106), wherein a power plug (403) matching the power supply socket (107) is arranged above the water gun quick plug (404), and wherein the dual-mode electromagnetic clutch device (402) corresponds to the position of the power plug (403).

7. The building exterior wall fire protection system based on drone according to claim 2 is characterized by: The docking mechanism comprises a mechanical arm (500), wherein the mechanical arm (500) comprises a first left-right motion joint (501), wherein the first left-right motion joint (501) is connected to the other side of the drone body (200) via a connecting rod, wherein a first mechanical arm body (508) is arranged on the other side of the first left-right motion joint (501), wherein the first mechanical arm body (508) is connected to a second mechanical arm body (509) via a second left-right motion joint (502) and a first up-and-down motion joint (503), wherein the other side of the second mechanical arm body (509) is connected to a terminal telescopic mechanical arm body (505) via a second up-and-down motion joint (504), wherein the terminal telescopic mechanical arm A two-finger gripper (506) is provided on the other side of the main body (505), a binocular stereo camera + ToF sensor (507) is provided above the two-finger gripper (506), a double-bell-mouthed sleeve (304) is provided below the connecting rod, the other end of the double-layered winding water pipe (302) passes through the double-bell-mouthed sleeve (304) and is connected to a water gun quick plug (404), the water gun quick plug (404) matches the water supply socket (106), a power plug (403) matching the power supply socket (107) is provided above the water gun quick plug (404), and the positions of the two-finger gripper (506) and the power plug (403) correspond to each other.

8. A fire extinguishing method, using the building exterior wall fire fighting system based on a drone according to any one of claims 1 to 7 to extinguish a fire, characterized in that: The following steps are involved: Step 1: When a fire occurs in a building, the fire warning camera (103) and the smoke alarm (104) on the roof of the building body (100) send out a fire signal, and the three-dimensional coordinates of the fire source are initially located by the fire warning camera (103); Step 2: Using the fire signal and the three-dimensional coordinates of the fire source, the signal is fed back to the fire control center to confirm that a fire has occurred in the building and notify the on-duty personnel; Step 3, the fire control center transmits the three-dimensional coordinates of the fire source to the drone body (200); Step 4: using the three-dimensional coordinates of the fire source, the drone body (200) calculates the optimal flight path according to the 3D model of the building and meteorological data, and the drone body (200) flies from the hangar to the point where the building fire occurs, and the drone body (200) begins to search for the exact location of the fire source; Step 5, the drone body (200) locks the exact location of the fire source through infrared thermal imaging and visible light visual recognition, and obtains the three-dimensional coordinates; Step 6, using the three-dimensional coordinates of the accurate location of the fire source, the drone body (200) selects the nearest available adapter (102) through calculation, generates an obstacle avoidance flight path, and flies to the location of the adapter (102); Step 7, using a method for docking a drone with a connector, so that the drone body (200) and the connector (102) are docked; Step 8, the drone body (200) pulls the double-layered winding water pipe (302) to fly to the exact location of the fire source (the three-dimensional coordinates obtained in step 5) to extinguish the fire; Step nine, the drone body (200) completes the fire extinguishing, and the real-time picture of the fire extinguishing on site is uploaded to the fire control center, and the drone body (200) returns to the position of the adapter (102) (the adapter position in step seven, each set of adapters has three-dimensional coordinates); Step 10, the drone body (200) and the adapter (102) are separated; Step 11, the drone body (200) flies back to the hangar (the hangar at the position of step 4).

9. A fire extinguishing method according to claim 8, characterized in that: In the step 7, when the docking mechanism is a docking device (400), the method for docking the drone with the adapter comprises the following steps: Step 1, preparing for docking: the drone body (200) flies to the position of the adapter (102); Step 2, rough positioning: the drone body (200) flies to a position near the adapter (102) through autonomous navigation; Step 3, turning and finding the angle: the drone body (200) adjusts its direction in situ to determine the orientation of the power plug (403) and the water gun quick plug (404) relative to the adapter (102); Step 4: centerline alignment: the drone body (200) continuously adjusts the flight attitude so that the center of the drone body (200) and the adapter (102) coincide with each other; Step 5: centerline guidance: the drone body (200) slowly flies toward the adapter (102), while fine-tuning the heading to keep the heading aligned with the centerline of the adapter (102); Step 6, docking device: when the drone body (200) approaches the adapter (102), the drone stops flying forward, the dual-mode electromagnetic clutch device (402) on the electric telescopic rod (401) connects the power plug (403) and the water gun quick plug (404), and the electric telescopic rod (401) on the docking device (400) extends toward the adapter (102); Step 7, docking is completed: after the drone body (200) and the adapter (102) are docked, the power plug (403) is inserted into the power supply socket (107), the water gun quick plug (404) is inserted into the water supply socket (106), the electric clamp (110) in the adapter (102) clamps the water gun quick plug (404), and the adapter (102) turns on the power and water source.

10. A fire extinguishing method according to claim 8, characterized in that: In step seven, when the docking mechanism is a mechanical arm (500), the method for docking the drone with the adapter comprises the following steps: Step 1, preparing for docking: the drone body (200) flies to the position of the adapter (102); Step 2, rough positioning: the drone body (200) flies to a position near the adapter (102) through autonomous navigation; Step 3, turning and finding the angle: the drone body (200) adjusts its direction in situ to determine the orientation of the power plug (403) and the water gun quick plug (404) relative to the adapter (102); Step 4: centerline alignment: the drone body (200) continuously adjusts the flight attitude so that the center of the drone body (200) and the adapter (102) coincide with each other; Step 5: centerline guidance: the drone body (200) slowly flies toward the adapter (102), while fine-tuning the heading to keep the heading aligned with the centerline of the adapter (102); Step 6, docking device: when the drone body (200) approaches the adapter (102), it stops flying forward, and the mechanical arm (500) extends toward the adapter (102); the docking process of the mechanical arm (500) and the adapter (102) is as follows: Coarse positioning: the binocular camera in the binocular stereo camera + ToF sensor (507) locks the power socket area; Fine-tuning mode: The ToF sensor scans the edge of the power socket; Insertion process: the force sensor controls the mechanical arm (500) to push the two-finger gripper (506) at the end of the mechanical arm at a constant speed, and the two-finger gripper (506) inserts the power plug (403) and the water gun quick plug (404) into the power supply socket (107) and the water supply socket (106); Step 7, docking is completed: after the drone body (200) and the adapter (102) are docked, the power plug (403) is inserted into the power supply socket (107), the water gun quick plug (404) is inserted into the water supply socket (106), the electric clamp (110) in the adapter (102) clamps the water gun quick plug (404), and the adapter (102) turns on the power and water source.

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