High-rise fire rescue aircraft and high wind resistance control method thereof

Abstract

The invention relates to a high-rise fire rescue aircraft and a high wind resistance control method thereof.The unmanned aerial vehicle comprises a rescue platform, a plurality of coaxial double-paddle vertical power ducts, a plurality of coaxial double-paddle horizontal power ducts, a guardrail frame and a control module, the coaxial double-paddle vertical power ducts are arranged below the rescue platform, and the guardrail frame is arranged below the rescue platform; the rescue platform is fixed with a plurality of coaxial double-paddle vertical power ducts through a support frame; the guardrail frame is fixed on the rescue platform; the plurality of coaxial double-paddle horizontal power ducts are respectively arranged in the guardrail frame; and the control module is in signal connection with the coaxial double-paddle vertical power ducts and the coaxial double-paddle horizontal power ducts, so that one unmanned aerial vehicle can carry two to three trapped persons, and the requirement of high-rise fire rescue is met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle rescue, and in particular to a high-rise fire rescue aircraft and a high-wind resistance control method thereof. Background Art

[0002] With the acceleration of urbanization, there are more and more high-rise buildings, and fire accidents occur from time to time. In the process of fire rescue, fire fighting and personnel evacuation in high-rise buildings have always been a difficult problem. Traditional rescue methods mainly rely on equipment such as fire ladders and helicopters, but these equipment have certain limitations, such as the limited height of fire ladders and high requirements for helicopter landing and take-off sites. Therefore, there is an urgent need for a device that can respond quickly when a fire occurs, rescue trapped people from high-rise windows and transport them safely to the ground. At present, there are already some drones for fire rescue on the market, but most of these drones have the following problems:

[0003] 1. All of them are fire-fighting drones that spray water or drop fire-fighting bombs from high altitudes, and there are no rescue drones.

[0004] 2. The load-bearing capacity is insufficient and cannot meet the needs of carrying multiple trapped people during high-rise fire rescue.

[0005] 3. The response time is long due to the assembly problems of water spray and fire extinguishing bombs. It takes a long time from the occurrence of fire to the deployment of drones, which may miss the best rescue time.

[0006] 4. When the multi-rotor drone is controlled to move horizontally, the fuselage needs to be tilted to complete the horizontal movement.

[0007] 5. The short battery life limits the rescue scope and time, and cannot guarantee long-term rescue missions at the fire scene. Summary of the invention

[0008] The main purpose of the present invention is to provide a high-rise fire rescue aircraft and a high wind resistance control method thereof, so as to realize an unmanned aerial vehicle that can carry 2 to 3 trapped persons and meet the needs of high-rise fire rescue.

[0009] To achieve the above object, the present invention provides a high-rise fire rescue aircraft, comprising:

[0010] rescue platform;

[0011] A plurality of coaxial twin-propeller vertical power ducts, wherein the plurality of coaxial twin-propeller vertical power ducts are arranged under the rescue platform, and the rescue platform is fixed to the plurality of coaxial twin-propeller vertical power ducts through a support frame;

[0012] A guardrail frame, wherein the guardrail frame is fixed on the rescue platform;

[0013] A plurality of coaxial twin-propeller horizontal power ducts, wherein the plurality of coaxial twin-propeller horizontal power ducts are respectively arranged in the guardrail frame;

[0014] A control module is respectively connected to the vertical power ducts of the coaxial twin-propellers and the horizontal power ducts of the coaxial twin-propellers.

[0015] Furthermore, the coaxial twin-propeller vertical power duct comprises:

[0016] The first annular shell, the second annular shell and the third annular shell are welded and fixed in sequence from top to bottom, and the diameter of the annular shell is less than the second annular shell and less than the third annular shell;

[0017] The wind blades are fixedly arranged in a duct formed by the first annular shell, the second annular shell and the third annular shell.

[0018] Furthermore, a plurality of coaxial twin-propeller vertical power ducts are evenly distributed under the rescue platform, and a support frame is used to fix each coaxial twin-propeller vertical power duct to each other and to the rescue platform, wherein the support frame includes:

[0019] A first bracket, the first bracket is arranged longitudinally;

[0020] The second bracket is in a square frame shape and is horizontally placed and fixedly connected to the first bracket. Each frame edge of the second bracket is connected in series with each coaxial double-propeller vertical power duct.

[0021] Furthermore, the high-rise fire rescue aircraft includes six or eight coaxial twin-propeller vertical power ducts spaced side by side.

[0022] Furthermore, a backup battery and a tethering cable connected to the backup battery are fixedly arranged on the support frame.

[0023] Furthermore, the guardrail frame is composed of three surfaces, namely the first cross surface, the second cross surface and the top cross surface, wherein:

[0024] One end of each of the first cross surface and the second cross surface is fixedly connected to the rescue platform, and the other end of each of the first cross surface and the second cross surface is fixedly connected to the top cross surface;

[0025] The plurality of coaxial twin-propeller horizontal power ducts are composed of a first horizontal power group, a second horizontal power group, a third horizontal power group and a fourth horizontal power group, wherein:

[0026] The first cross surface is fixed with a first horizontal power group and a second horizontal power group;

[0027] The second cross surface is fixed with a third horizontal power group and a fourth horizontal power group;

[0028] The top cross-surface is respectively connected to the tops of the first horizontal power group, the second horizontal power group, the third horizontal power group and the fourth horizontal power group.

[0029] Furthermore, the rescue platform is of hollow design.

[0030] The present invention also provides a high wind resistance control method, comprising:

[0031] Get the current drone's location and attitude information in real time;

[0032] Determine whether the corresponding values ​​of the position information and the posture information are equal to preset values;

[0033] If not, the position control unit and the posture control unit are enabled to identify the deviation between the position information and the posture information and the preset values;

[0034] The six-degree-of-freedom dynamics model is used to adjust the current position and attitude of the drone based on the deviation value.

[0035] Further, the steps of adjusting the current position and attitude of the UAV based on the deviation value using the six-degree-of-freedom dynamics model include:

[0036] By adopting a six-degree-of-freedom dynamics model, the position deviation and attitude deviation are used as input parameters to calculate the adjustment force required by the UAV. According to the adjustment force, control instructions are generated to adjust the rotation speed of the coaxial twin-propeller vertical power duct and the coaxial twin-propeller horizontal power duct of the high-rise fire rescue aircraft.

[0037] Monitor the adjusted position information and attitude information in real time, obtain the updated position deviation and attitude deviation, if the updated position deviation and attitude deviation still exist, repeat the steps and make iterative adjustments, when the corresponding values ​​of the updated position information and attitude information are equal to the preset values, stop the adjustment and maintain the current position and attitude of the drone.

[0038] Further, after the step of adjusting the current position and attitude of the drone based on the deviation value using the six-degree-of-freedom dynamics model, the method further includes:

[0039] Obtain information about trapped people boarding the rescue platform, and dynamically adjust the working parameters of each propulsion device according to the number and distribution of people boarding the rescue platform to ensure the force balance of the rescue platform

[0040] The high-rise fire rescue aircraft and the high wind resistance control method thereof provided by the present invention have the following beneficial effects:

[0041] 1. It can carry 2 to 3 trapped persons to meet the needs of high-rise fire rescue.

[0042] 2. The power system is powerful, with a load capacity of 200kg, safe and stable flight. It has 6 or 8 coaxial double-propeller ducts as power, flight safety redundancy, and can fly stably in complex and changeable fire scene environments.

[0043] 3. It is deployed on the roof of a high-rise building as fire-fighting equipment and connected to the fire warning system. It can take off from the roof to rescue people at the first time.

[0044] 4. Eight coaxial twin-propeller ducts are installed horizontally to participate in the horizontal movement control of the UAV, so that the UAV body can be stable and not tilted during movement.

[0045] 5. It has a tethered power supply mode to achieve unlimited flight endurance and ensure long-term rescue missions at the fire scene.

[0046] The purpose of the present invention is to design a high wind-resistant rescue drone that can be used to take off at the scene (rooftop or community open space platform) to rescue personnel at the first time when a fire occurs in a high-rise building, so as to reduce the damage to personnel caused by the fire. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic structural diagram of a high-rise fire rescue aircraft in one embodiment of the present invention;

[0048] Figure 2 is a schematic structural diagram of a high-rise fire rescue aircraft according to another embodiment of the present invention;

[0049] Figure 3 It is a flow chart of a high wind resistance control method in one embodiment of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] Reference Figure 1-2 , is a structural schematic diagram of a high-rise fire rescue aircraft proposed by the present invention, the high-rise fire rescue aircraft comprises:

[0053] Rescue platform 1;

[0054] A plurality of coaxial twin-propeller vertical power ducts 2, wherein the plurality of coaxial twin-propeller vertical power ducts 2 are arranged under the rescue platform 1, and the rescue platform 1 is fixed to the plurality of coaxial twin-propeller vertical power ducts 2 through a support frame 5;

[0055] A guardrail frame 3, wherein the guardrail frame 3 is fixed on the rescue platform 1;

[0056] A plurality of coaxial twin-propeller horizontal power ducts 4, wherein the plurality of coaxial twin-propeller horizontal power ducts 4 are respectively arranged in the guardrail frame 3;

[0057] A control module, wherein the control module is respectively connected to the signals of each coaxial twin-propeller vertical power duct 2 and the coaxial twin-propeller horizontal power duct 4.

[0058] Specifically, the coaxial twin-propeller vertical power duct 2 includes:

[0059] The first annular shell 21, the second annular shell 22 and the third annular shell 23 are welded and fixed in sequence from top to bottom, and the diameter of the annular shell is the first annular shell 21 < the second annular shell 22 < the third annular shell 23; the stability of the drone is improved by continuously expanding the air outlet from top to bottom;

[0060] In another embodiment, the first annular shell 21 = the second annular shell 22 = the third annular shell 23 can be regarded as a whole.

[0061] The wind blades 24 are fixedly disposed in the duct formed by the first annular shell 21 , the second annular shell 22 and the third annular shell 23 .

[0062] A plurality of coaxial twin-propeller vertical power ducts 2 are evenly distributed under the rescue platform 1, and each coaxial twin-propeller vertical power duct 2 is fixed to each other and to the rescue platform 1 by a support frame 5, wherein the support frame 5 comprises:

[0063] A first bracket 51, wherein the first bracket 51 is arranged longitudinally;

[0064] The second bracket 52 is in a square frame shape and is horizontally placed and fixedly connected to the first bracket 51 . Each frame edge of the second bracket 52 is connected in series to each coaxial double-propeller vertical power duct 2 .

[0065] In one embodiment, the high-rise fire rescue aircraft includes six or eight coaxial twin-propeller vertical power ducts 2 spaced side by side.

[0066] In one embodiment, a backup battery 6 and a tethering cable 7 connected to the backup battery 6 are also fixedly mounted on the support frame 5 .

[0067] The guardrail frame 3 is composed of three surfaces, namely a first cross surface 31, a second cross surface 32 and a top cross surface 33, wherein:

[0068] One end of each of the first cross surface 31 and the second cross surface 32 is fixedly connected to the rescue platform 1, and the other end of each of them is fixedly connected to the top cross surface 33;

[0069] The plurality of coaxial twin-propeller horizontal power ducts 4 are composed of a first horizontal power group 41, a second horizontal power group 42, a third horizontal power group 43 and a fourth horizontal power group 44, wherein:

[0070] The first cross surface 31 is fixed with a first horizontal power group 41 and a second horizontal power group 42;

[0071] The second cross surface 32 is fixed with a third horizontal power group 43 and a fourth horizontal power group 44;

[0072] The top cross surface 33 is connected to the top of the first horizontal power group 41, the second horizontal power group 42, the third horizontal power group 43 and the fourth horizontal power group 44 respectively.

[0073] Among them, the first horizontal power group 41, the second horizontal power group 42, the third horizontal power group 43 and the fourth horizontal power group 44, a total of 8 horizontal power ducts, are used to control the horizontal movement of the UAV. In addition, the horizontal power ducts take in air from the outside to the inside, so that the air on the rescue platform 1 is always saturated;

[0074] Furthermore, the rescue platform 1 is designed as a hollow type, so that the air above the rescue platform 1 is transported downward through the vertical power duct to ensure the power output of the UAV in the vertical direction.

[0075] Specific:

[0076] (I) Multi-redundant ducted motor design

[0077] Bottom vertical power duct: The 6 coaxial twin-propeller vertical power ducts at the bottom are the main flight power source of the UAV. Each duct is a coaxial twin-propeller configuration, and the power and torque are carefully designed. Through the flight position and attitude control unit, the passengers can move around freely on the aircraft, and the aircraft can remain horizontal. The propeller cover of the coaxial twin-propeller horizontal power duct is inside the duct shell, which is very safe for personnel. At the same time, the 6 coaxial twin-propeller ducts have flight safety redundancy, so even if some of the motors fail, the UAV can still fly safely.

[0078] Top horizontal position control duct: The 8 horizontal position control ducts on the top are used to control the forward, backward and left and right movement of the drone in the air. The configuration of 8 high-performance coaxial twin-propeller ducts can make the entire drone highly wind-resistant to meet the stable control requirements of the drone. The propellers of these 8 coaxial twin-propeller ducts are also covered in the ducts to ensure flight safety.

[0079] 2. Mission Payload System Design

[0080] The mission payload system includes a rescue platform and rescue equipment, which are used to carry trapped personnel and perform rescue missions. The rescue platform is made of mesh composite materials to ensure that the space for personnel activities has sufficient carrying capacity and stability. The edge of the platform is designed with pedals for approaching high-rise buildings, and personnel can step on the pedals to board the rescue platform. The mesh rescue platform can ensure that the coaxial twin-propeller duct intake below is normal and the power is not affected. At the same time, it protects personnel from harm by propellers, and ensures the safety of personnel and the safety of trapped personnel during the rescue process. Rescue equipment includes rescue ropes, rescue tools, etc., which can meet the rescue needs in different situations.

[0081] (III) Design of moored power supply system

[0082] The drone of the present invention adopts a tethered power supply method, and provides a continuous power supply to the drone through a tethered cable to achieve unlimited endurance flight. The tethered power supply system has high reliability and stability, and can ensure the long-term execution of rescue missions at the fire scene. The tethered cable is made of high-strength lightweight materials, has good electrical conductivity and tensile strength, and can ensure the stability and safety of power transmission. In addition, the drone is also equipped with a backup battery power supply. When there is a problem with the tethered power supply, the backup battery can be seamlessly switched for power supply. The backup power supply can temporarily maintain the flight of the aircraft and ensure the safe landing of the drone.

[0083] The working principle process of the present invention is as follows:

[0084] Takeoff

[0085] When a fire occurs, the UAV flight position and attitude control module receives the fire alarm from the building and immediately starts the tethered power supply system to provide power to the UAV through the tethered cable. The flight position and attitude control unit controls the 6 coaxial twin-propeller power ducts at the bottom to start, providing upward lift and allowing the UAV to take off vertically. During takeoff, the flight position and attitude control module monitors the flight status in real time to ensure safe and stable flight.

[0086] Flight process

[0087] After takeoff, the flight position and attitude control module controls the eight horizontal position control ducts on the top, allowing the drone to fly to the window on the fire floor according to the preset flight path. During the flight, the flight position and attitude control module monitors the flight status and environmental changes in real time, automatically adjusts the control parameters, and ensures safe and stable flight. At the same time, the tethered power supply system continues to provide power to the drone to ensure the endurance of the flight.

[0088] Multiple redundant stability control and independent position and attitude control

[0089] The drone is equipped with 8 position control ducts, which are distributed in the front, back, left and right directions of the aircraft, with 2 ducts in each direction, forming a symmetrical and balanced layout. And each duct is a coaxial double-propeller configuration.

[0090] Equipped with a self-developed flight position and attitude controller, it can control the horizontal position control duct to operate independently, allowing the drone to achieve horizontal movement in the X and Y directions while the inclination of the horizontal manned rescue platform does not exceed 5 degrees.

[0091] When the drone needs to adjust its attitude or move, the flight position and attitude controller will quickly send instructions to each position control duct according to the pre-set program and the real-time feedback data from the sensor. By accurately adjusting the propeller speed of each duct, the inclination of the horizontal manned rescue platform never exceeds 5 degrees. This is essential for manned rescue and close to the stairs for fire rescue.

[0092] Thanks to the coaxial twin-propeller configuration, the aircraft has a total of 16 propellers for horizontal control, with position power redundant control. Failure of any position control duct will not affect position control.

[0093] Rescue process

[0094] When the drone reaches the window of the fire floor, the aircraft steps on the pedal to stick close to the building, and the rescuers step on the pedal to pick up the trapped people on the drone's rescue platform. During the rescue process, the flight position and attitude control module monitors the flight status and load in real time, automatically adjusts the control parameters, and ensures safe and stable flight. After the trapped people are safely fixed on the rescue platform, the flight position and attitude control module controls the drone to return to the ground and safely transport the trapped people to the ground.

[0095] Landing process

[0096] When the drone returns to the ground, the flight position and attitude control module controls the deceleration of the six coaxial propellers at the bottom to make the drone land slowly. During the landing process, the flight position and attitude control module monitors the flight status in real time to ensure safe and stable flight. After the landing is completed, the rescuers safely transfer the trapped people from the drone and complete the rescue mission.

[0097] Reference Figure 3 , is a flow chart of a high wind resistance control method proposed by the present invention, the high wind resistance control method comprising:

[0098] S1, real-time acquisition of the current drone’s location and attitude information;

[0099] S2, determining whether the corresponding values ​​of the position information and the posture information are equal to preset values;

[0100] S3, if not, activating the position control unit and the posture control unit to identify the deviation between the position information and the posture information and the preset values;

[0101] S4, uses the six-degree-of-freedom dynamics model to adjust the current position and attitude of the drone based on the deviation value.

[0102] In one embodiment, the step of adjusting the current position and attitude of the drone based on the deviation value using the six-degree-of-freedom dynamics model includes:

[0103] By adopting a six-degree-of-freedom dynamics model, the position deviation and attitude deviation are used as input parameters to calculate the adjustment force required by the UAV. According to the adjustment force, control instructions are generated to adjust the rotation speed of the coaxial twin-propeller vertical power duct and the coaxial twin-propeller horizontal power duct of the high-rise fire rescue aircraft.

[0104] Monitor the adjusted position information and attitude information in real time, obtain the updated position deviation and attitude deviation, if the updated position deviation and attitude deviation still exist, repeat the steps and make iterative adjustments, when the corresponding values ​​of the updated position information and attitude information are equal to the preset values, stop the adjustment and maintain the current position and attitude of the drone.

[0105] The position information and attitude information of the high-rise fire rescue aircraft are obtained in real time. The longitude and latitude are (30.6586°N, 104.0648°E), the altitude is 120 meters, and the pitch angle is 2.5°, the roll angle is 1.8°, and the yaw angle is 3.0° through the inertial measurement unit. Determine whether the corresponding values ​​of the position information and attitude information are equal to the preset values. The preset target position is (30.6590°N, 104.0650°E), the target altitude is 100 meters, and the target attitude angle is 0° pitch angle, 0° roll angle, and 0° yaw angle. If the corresponding values ​​of the position information and attitude information are not equal to the preset values, start the position control unit and the attitude control unit. Identify the deviation between the position information and attitude information and the preset values. The position deviation is 50 meters in horizontal distance, 20 meters in altitude, and the attitude deviation is 2.5° pitch angle, 1.8° roll angle, and 3.0° yaw angle. The six-degree-of-freedom dynamics model is adopted, and the position deviation and attitude deviation are used as input parameters. The adjustment force required by the UAV is calculated by the Newton-Euler equation, where the horizontal adjustment force is 10 Newtons, the vertical adjustment force is 5 Newtons, the attitude adjustment torque is 2 Newton meters for pitching torque, 1.5 Newton meters for rolling torque, and 1.8 Newton meters for yaw torque. According to the adjustment force, the control command is generated to adjust the speed of the coaxial twin-propeller vertical power duct of the high-rise fire rescue aircraft. The left front duct speed increases by 200 rpm, the right rear duct speed decreases by 150 rpm, and the angle is adjusted to reduce the pitch angle by 2.5°, the roll angle by 1.8°, and the yaw angle by 3.0°. The adjusted position information and attitude information are monitored in real time, and the updated position deviation is 10 meters for horizontal distance, 5 meters for height deviation, and the attitude deviation is 0.5° for pitch angle, 0.3° for roll angle, and 0.4° for yaw angle. If the updated position deviation and attitude deviation still exist, the six-degree-of-freedom dynamics model is repeatedly used to calculate the adjustment force, generate control instructions, and further adjust the duct speed and angle. When the corresponding values ​​of the updated position information and attitude information are equal to the preset values, the adjustment is stopped, and the current position of the drone is maintained at (30.6590°N, 104.0650°E), the altitude is 100 meters, and the attitude angles are pitch angle 0°, roll angle 0°, and yaw angle 0°.

[0106] In one embodiment, after the step of adjusting the current position and attitude of the drone based on the deviation value using the six-degree-of-freedom dynamics model, the method includes:

[0107] Obtain information about trapped persons boarding the rescue platform, and dynamically adjust the working parameters of each propulsion device according to the number and distribution of persons boarding the rescue platform to ensure the force balance of the rescue platform.

[0108] A pressure sensor array is installed on the rescue platform to monitor the stress conditions of each area of ​​the rescue platform in real time. The pressure data of each area of ​​the rescue platform is obtained through the pressure sensor array to determine whether there are people on the rescue platform. If a change in pressure data is detected, the pressure distribution is analyzed to determine the number and position of people on the rescue platform. According to the number and position information of people, the center of gravity offset of the rescue platform is calculated. The center of gravity offset is compared with the preset balance threshold to determine whether the rescue platform is in a force balance state. If the rescue platform is not in a force balance state, the thrust parameters that need to be adjusted for each coaxial twin-propeller vertical power duct are calculated. The adjusted thrust parameters are sent to the control module, and the control module sends control signals to each coaxial twin-propeller vertical power duct respectively. Each coaxial twin-propeller vertical power duct dynamically adjusts its own thrust according to the received control signal to restore the force balance of the rescue platform. Continuously monitor the stress conditions of the rescue platform and repeat the above steps to ensure that the rescue platform always maintains force balance during the rescue process.

[0109] A pressure sensor array is installed on the rescue platform, with a density of 4 sensors per square meter, to monitor the stress conditions of each area of ​​the rescue platform in real time. The sensor accuracy is 0.1 kg. The pressure data of each area of ​​the rescue platform is obtained through the pressure sensor array. If the pressure value of a certain area exceeds the preset threshold of 50 kg, it is judged that someone has boarded the rescue platform. If a change in pressure data is detected, the pressure distribution analysis algorithm is used to calculate the standard deviation of the pressure values ​​in each area to determine the number and position of people who have boarded the rescue platform. For example, if the pressure values ​​are concentrated in the left area, it is judged that one person has boarded. According to the number and position information of the personnel, the center of gravity calculation formula is used to calculate the center of gravity offset of the rescue platform, for example, the center of gravity is offset to the left by 0.5 meters. The center of gravity offset is compared with the preset balance threshold of 0.3 meters. If the offset exceeds the threshold, it is judged that the rescue platform is not in a state of force balance. If the rescue platform is not in a state of force balance, the thrust distribution algorithm is used to calculate the thrust parameters that need to be adjusted for each coaxial twin-propeller vertical power duct, for example, the thrust of the left duct is increased by 20%, and the thrust of the right duct is reduced by 15%. The adjusted thrust parameters are sent to the control module, which sends control signals to each coaxial twin-propeller vertical power duct respectively, with a signal transmission delay of less than 10 milliseconds. Each coaxial twin-propeller vertical power duct dynamically adjusts its own thrust according to the received control signal to restore the force balance of the rescue platform, and the adjustment time is controlled within 2 seconds. The force condition of the rescue platform is continuously monitored, and the above steps are repeated to ensure that the rescue platform always maintains force balance during the rescue process. The monitoring frequency is 10 times per second.

[0110] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0111] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-rise fire rescue aircraft, characterized in that: include: rescue platform; A plurality of coaxial twin-propeller vertical power ducts, wherein the plurality of coaxial twin-propeller vertical power ducts are arranged under the rescue platform, and the rescue platform is fixed to the plurality of coaxial twin-propeller vertical power ducts through a support frame; A guardrail frame, wherein the guardrail frame is fixed on the rescue platform; A plurality of coaxial twin-propeller horizontal power ducts, wherein the plurality of coaxial twin-propeller horizontal power ducts are respectively arranged in the guardrail frame; A control module is respectively connected to the vertical power ducts of the coaxial twin-propellers and the horizontal power ducts of the coaxial twin-propellers.

2. The high-rise fire rescue aircraft according to claim 1, characterized in that: The coaxial twin-propeller vertical power duct comprises: The first annular shell, the second annular shell and the third annular shell are welded and fixed in sequence from top to bottom, and the diameter of the annular shell is less than the second annular shell and less than the third annular shell; The wind blades are fixedly arranged in a duct formed by the first annular shell, the second annular shell and the third annular shell.

3. The high-rise fire rescue aircraft according to claim 2, characterized in that: A plurality of coaxial twin-propeller vertical power ducts are evenly distributed under the rescue platform, and each coaxial twin-propeller vertical power duct is fixed to each other and to the rescue platform by a support frame, wherein the support frame comprises: A first bracket, the first bracket is arranged longitudinally; The second bracket is in a square frame shape and is horizontally placed and fixedly connected to the first bracket. Each frame edge of the second bracket is connected in series with each coaxial double-propeller vertical power duct.

4. The high-rise fire rescue aircraft according to claim 3, characterized in that: It consists of six or eight coaxial twin-propeller vertical power ducts separated side by side.

5. The high-rise fire rescue aircraft according to claim 1, characterized in that: A backup battery and a tethering cable connected to the backup battery are also fixedly arranged on the support frame.

6. The high-rise fire rescue aircraft according to claim 1, characterized in that: The guardrail frame is composed of three surfaces, namely the first cross surface, the second cross surface and the top cross surface, wherein: One end of each of the first cross surface and the second cross surface is fixedly connected to the rescue platform, and the other end of each of the first cross surface and the second cross surface is fixedly connected to the top cross surface; The plurality of coaxial twin-propeller horizontal power ducts are composed of a first horizontal power group, a second horizontal power group, a third horizontal power group and a fourth horizontal power group, wherein: The first cross surface is fixed with a first horizontal power group and a second horizontal power group; The second cross surface is fixed with a third horizontal power group and a fourth horizontal power group; The top cross-surface is respectively connected to the tops of the first horizontal power group, the second horizontal power group, the third horizontal power group and the fourth horizontal power group.

7. The high-rise fire rescue aircraft according to claim 1, characterized in that: The rescue platform is of hollow design.

8. A high wind resistance control method, characterized in that: include: Get the current drone's location and attitude information in real time; Determine whether the corresponding values ​​of the position information and the posture information are equal to preset values; If not, the position control unit and the posture control unit are enabled to identify the deviation between the position information and the posture information and the preset values; The six-degree-of-freedom dynamics model is used to adjust the current position and attitude of the drone based on the deviation value.

9. The high wind resistance control method according to claim 8, characterized in that: The steps of adjusting the current position and attitude of the drone based on the deviation value using the six-degree-of-freedom dynamics model include: By adopting a six-degree-of-freedom dynamics model, the position deviation and attitude deviation are used as input parameters to calculate the adjustment force required by the UAV. According to the adjustment force, control instructions are generated to adjust the rotation speed of the coaxial twin-propeller vertical power duct and the coaxial twin-propeller horizontal power duct of the high-rise fire rescue aircraft. Monitor the adjusted position information and attitude information in real time, obtain the updated position deviation and attitude deviation, if the updated position deviation and attitude deviation still exist, repeat the steps and make iterative adjustments, when the corresponding values ​​of the updated position information and attitude information are equal to the preset values, stop the adjustment and maintain the current position and attitude of the drone.

10. The high wind resistance control method according to claim 9, characterized in that: The steps of adjusting the current position and attitude of the drone based on the deviation value using the six-degree-of-freedom dynamics model include: Obtain information about trapped persons boarding the rescue platform, and dynamically adjust the working parameters of each propulsion device according to the number and distribution of persons boarding the rescue platform to ensure the force balance of the rescue platform.

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