Flow stabilizing device for resisting hot airflow disturbance of fire-fighting unmanned aerial vehicle

Abstract

The flow stabilizer mainly comprises an unmanned aerial vehicle body, an anti-disturbance stabilizing system and a precise injection system, and is characterized in that the anti-disturbance stabilizing system is provided with an annular flow channel horizontal sensing mechanism; the sensing mass body in the sensor can sense the inclination of the machine body without delay and generate a mechanical displacement signal; the signal synchronously drives a jet-propelled anti-interference mechanism to jet gas so as to quickly stabilize the platform, and is linked with a flow guide spray head of a precise injection system to deflect so as to carry out reverse pre-compensation on the jet flow of the fire extinguishing agent; through pure mechanical or electromechanical direct linkage, nearly instantaneous and synchronous platform attitude correction and jet trajectory stabilization on hot air disturbance are realized, the defects of response delay and insufficient reliability of a traditional electric control system are overcome, and the operation precision and survivability of the fire-fighting unmanned aerial vehicle in an extreme fire scene are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of fire-fighting unmanned aerial vehicles, and particularly relates to a device for realizing anti-disturbance and jet self-stabilization through mechanical linkage, in particular to a passive hot air flow anti-disturbance stabilizing device for a fire-fighting unmanned aerial vehicle. BACKGROUND

[0002] As a key equipment for fire-fighting and rescue in complex environments such as urban high-rise buildings and forests, the core of the fire-fighting unmanned aerial vehicle is to quickly reach the top of the fire source and implement accurate delivery of fire extinguishing agents. However, the strong and turbulent upward hot air flow and impact air flow generated at the fire scene pose a serious challenge to the unmanned aerial vehicle in executing the task.

[0003] Such disturbance mainly causes two problems: first, the lateral or sudden hot impact directly acts on the unmanned aerial vehicle platform, causing attitude instability or even overturning, which endangers flight safety; second, the continuous upward and turbulent air flow seriously interferes with and disperses the fire extinguishing agent jet, causing it to deviate from the predetermined trajectory, resulting in a sharp decrease in fire extinguishing efficiency, and even complete failure.

[0004] Currently, the technical solutions in the industry for the above problems mainly follow two paths: one is active anti-disturbance based on flight control algorithms, and the other is passive anti-disturbance based on aerodynamic or structural optimization.

[0005] In terms of active anti-disturbance, the mainstream solution relies on various electronic sensors to sense the attitude and air flow changes in real time, and through a flight controller to quickly solve and drive the motor or rudder to make dynamic compensation.

[0006] Although this method can cope with general wind disturbance, it has inherent limitations in the extreme hot air flow environment of the fire scene: first, there is an unavoidable millisecond delay in sensor data acquisition, processing and motor response, and for sudden strong impact air flow, the system cannot achieve instantaneous cancellation, and there is a period of instability window; second, the reliability and durability of the complex electronic sensing and control system in the high-temperature, high-humidity, smoke-filled and particulate fire scene environment are severely tested, increasing the risk of system failure; finally, this solution focuses on platform stability, and the stability of the jet, which is the final operation effect, is often overlooked or only serves as an indirect result of attitude stability, lacking a direct and rapid compensation mechanism for disturbed jets.

[0007] In terms of passive anti-disturbance and flow stabilization, existing technologies mainly include optimizing the aerodynamic shape of the unmanned aerial vehicle to reduce drag, or adding fixed guide vanes in the launch tube to regularize the initial jet. Although these methods can provide basic stability, they are static and preset optimizations that cannot cope with the dynamically changing disturbances in the fire scene, and lack self-adaptive adjustment capability. For the jet, the fixed guide structure cannot make targeted adjustments according to the real-time disturbance direction in flight, and the flow stabilization effect is limited.

[0008] In summary, the prior art solution in response to the strong hot air flow disturbance in the fire, the active control exists delay and reliability bottleneck and passive structure lack of dynamic response ability of the double dilemma, often lose both sides, lack of a kind of can both efficient, fast collaborative unified solution, therefore, the field needs a kind of not dependent on complex electric control delay, can instantaneous disturbance and synchronous trigger platform and jet double stable innovative device, to fundamentally improve the fire-fighting unmanned aerial vehicle in the extreme fire environment under the operation efficiency and survivability. SUMMARY

[0009] In view of the technical problems in the background art that the existing fire-fighting unmanned aerial vehicle in the face of strong hot air flow disturbance in the fire, the electronic active control response delay, poor environmental reliability, and passive structure cannot dynamically respond, it is difficult to synchronously realize the two goals of platform impact resistance and jet anti-interference, the present application provides an anti-hot air flow disturbance flow stabilizing device for a fire-fighting unmanned aerial vehicle, which aims to realize near-instantaneous perception and synchronous compensation of hot air flow disturbance through mechanical or electromechanical linkage, so as to improve the platform stability and fire extinguishing agent injection precision of the unmanned aerial vehicle in the fire environment.

[0010] To achieve the above object, the technical scheme is as follows: An anti-hot air flow disturbance flow stabilizing device for a fire-fighting unmanned aerial vehicle, comprising a unmanned aerial vehicle body, and an anti-disturbance stabilizing system and a precision injection system integrated thereon.

[0011] The anti-disturbance stabilizing system is responsible for resisting air flow impact to maintain the platform attitude, and the core is a mechanical sensing mechanism and an attitude adjusting mechanism. When the hot air flow disturbance causes the body attitude to tilt, the mechanical sensing mechanism can directly respond to the physical change and generate a corresponding mechanical displacement signal, and the attitude adjusting mechanism receives the signal and generates an anti-disturbance force in the opposite direction to actively correct the body attitude.

[0012] The precision injection system is responsible for the storage and directional injection of fire extinguishing agent. A flow guide mechanism is provided at the injection outlet of the system, which is directly connected with the mechanical sensing mechanism in the anti-disturbance stabilizing system through mechanical transmission. When the sensing mechanism generates a displacement signal due to disturbance, the signal is synchronously transmitted to the flow guide mechanism to drive it to make a corresponding deflection action, thereby making real-time and reverse compensation adjustment to the direction of the fire extinguishing agent jet about to be injected or being injected, so that the platform attitude adjustment and jet trajectory correction can be triggered collaboratively based on the same physical signal source.

[0013] Further, a preferred embodiment of the mechanical sensing mechanism is a ring-shaped flow channel horizontal sensing mechanism, which internally accommodates a freely movable sensing mass, and any change in the attitude of the unmanned aerial vehicle will cause the relative displacement of the sensing mass in the ring-shaped flow channel, and this displacement constitutes the mechanical displacement signal.

[0014] Based on the above-mentioned sensing mechanism, a specific implementation of the attitude adjusting mechanism includes a jet anti-disturbance mechanism and an integrated air chamber for the gas source of the jet anti-disturbance mechanism, and the jet anti-disturbance mechanism draws high-pressure gas from the integrated air chamber and sprays it in a specific direction according to the disturbance direction and intensity represented by the displacement of the sensing mass, so that the resulting reaction force constitutes a rapid and accurate anti-disturbance force; to enhance the early warning capability, the anti-disturbance stability system can also be circumferentially arranged with an infrared thermal imaging early warning window for early sensing of the direction of high-temperature gas flow.

[0015] On the side of the precision jetting system, the flow guiding mechanism is specifically implemented as a flow guiding nozzle, which is connected with the ring-shaped flow channel horizontal sensing mechanism through mechanical transmission components such as connecting rods and universal wheels, so that the displacement of the sensing mass can be converted into the fine deflection angle of the exit direction of the flow guiding nozzle, and for further improving the jet flow bunching and anti-disturbance, multiple independent flow guiding channels can be constructed inside the flow guiding nozzle.

[0016] The precision jetting system also includes a fire extinguishing agent storage tank and a rotary jetting mechanism communicating therewith, and the rotary jetting mechanism can drive the entire flow guiding nozzle assembly to rotate horizontally by 360 degrees, thereby expanding the fire extinguishing coverage range, and preferably, the rotation axis of the rotary jetting mechanism coincides with the vertical central axis of the unmanned aerial vehicle body to ensure the system balance during rotation.

[0017] Compared with the prior art, the present application has the following remarkable beneficial effects: 1. By the core design of mechanical sensing, the delay between sensing and execution is minimized, overcoming the lag problem caused by electronic signal acquisition, processing and calculation, and enabling near-instantaneous response to sudden strong airflow impact, greatly shortening the instability window period of the unmanned aerial vehicle.

[0018] 2. The two control loops of platform attitude stabilization and jet trajectory stabilization are integrated into a synchronous response system based on the same physical signal source, ensuring the immediate reverse compensation of the jet flow through the flow guiding mechanism, and always pointing to the target fire source.

[0019] 3. The absolute dependence on external power and complex electronic control systems is reduced, making the device have higher reliability and durability in the harsh environment of high temperature, high humidity, dust and serious electromagnetic interference in the fire field.

[0020] 4. By integrating an infrared thermal imaging early warning window, the device is endowed with the ability to predict and perceive threats from hot air currents, transforming anti-disturbance actions from post-event remediation to pre-event or in-event intervention, further enhancing safety margins and operational efficiency.

[0021] In summary, this invention, through innovative mechanical linkage and system integration design, effectively solves the core problems of firefighting drones being prone to platform instability and jet scattering under the disturbance of hot airflow in a fire scene, providing a reliable technical solution for improving the combat effectiveness and survivability of firefighting drones. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the fire-fighting drone flow stabilization device described in this invention.

[0023] Figure 2 for Figure 1 Side view.

[0024] Figure 3 This is a partial structural cross-sectional view of the anti-disturbance stabilization system of the present invention.

[0025] Figure 4 This is a partially enlarged schematic diagram of the guide nozzle in the precision injection system of the present invention.

[0026] Figure 5 This is a flowchart of the self-stabilizing control logic of the device of the present invention.

[0027] Figure 6 This is a schematic diagram illustrating the working principle of the annular flow channel horizontal sensing mechanism of the present invention.

[0028] The labels in the diagram indicate: 1. Anti-disturbance stabilization system; 101. Annular flow channel horizontal sensing mechanism; 102. Jet-type anti-disturbance mechanism; 103. Integrated gas chamber; 104. Infrared thermal imaging early warning window; 105. Sensing mass body; 2. Precision spraying system; 201. Extinguishing agent storage tank; 202. Rotary spraying mechanism; 203. Guide nozzle; 3. UAV body. Detailed Implementation

[0029] To enhance understanding of the present invention, the invention will be further described in detail below with reference to embodiments and accompanying drawings. These embodiments are only for explaining the invention and do not constitute a limitation on the scope of protection of the invention.

[0030] like Figures 1 to 6As shown, the present application provides a kind of flow stabilizing device for fire-fighting unmanned aerial vehicle to resist hot air flow disturbance, its core improvement is in the basis of unmanned aerial vehicle body 3 Integrated two subsystems that work cooperatively: anti-disturbance stabilization system 1 for maintaining flight platform stability and precision injection system 2 for ensuring fire extinguishing agent accurate delivery, the two systems realize the instantaneous synchronous closed loop to hot air flow disturbance through direct mechanical linkage.

[0031] As shown in the overall structure of Figure 1 And Figure 2 Anti-disturbance stabilization system 1 and precision injection system 2 are fixedly installed on unmanned aerial vehicle body 3 in rigid connection mode, unmanned aerial vehicle body 3 includes conventional rotor, flight control module, battery and landing gear and other basic components, the present application is just the functional enhancement and improvement of such general fire-fighting unmanned aerial vehicle platform.

[0032] Anti-disturbance stabilization system 1 is the core of the device to realize active anti-disturbance, specifically, as shown in the sectional view of Figure 3 The system mainly includes a ring-shaped flow channel horizontal sensing mechanism 101 as a sensing basis, the mechanism is a closed ring-shaped pipeline horizontally arranged around the center of gravity of unmanned aerial vehicle, which is filled with liquid with specific damping coefficient as sensing mass 105, when unmanned aerial vehicle body 3 occurs attitude tilt due to lateral hot air flow impact, due to inertia, sensing mass 105 will generate displacement relative to pipe wall in ring-shaped flow channel, the direction and amplitude of the displacement directly and without delay reflect the direction and intensity of disturbance, constitute the most original mechanical displacement signal.

[0033] To further improve the predictability of the system, a plurality of infrared thermal imaging early warning windows 104 are uniformly provided on the circumferential shell of unmanned aerial vehicle body 3, the windows 104 are connected with built-in infrared sensor array, which can non-contact scanning and detecting high temperature area and ascending hot air flow front below and around, providing early warning signal for subsequent compensation action.

[0034] The execution part of anti-disturbance stabilization system 1 is jet anti-disturbance mechanism 102, which is composed of a series of micro high-speed electromagnetic valves and vector nozzles, and its gas source comes from integrated gas chamber 103, which can maintain pressure by pre-filled compressed gas or unmanned aerial vehicle engine bleed air; jet anti-disturbance mechanism 102 is linked with sensing mass 105 inside ring-shaped flow channel horizontal sensing mechanism 101 through a set of precise mechanical link, when sensing mass 105 occurs displacement, it will directly drive connecting rod, and then trigger the opening of electromagnetic valve in corresponding direction, high-pressure gas is immediately sprayed from integrated gas chamber 103 through specific vector nozzles of jet anti-disturbance mechanism 102 at high speed, according to the principle of action and reaction, an immediate compensation moment directly acting on unmanned aerial vehicle body in the opposite direction of hot air flow disturbance is generated, so as to quickly correct the attitude of machine body and resist its continued tilting or rolling.

[0035] The second core improvement of the device is embodied in the precise spraying system 2, as shown in Figure 1 and Figure 4 , which includes a fire extinguishing agent storage tank 201 for storing fire extinguishing agents, and a rotary spraying mechanism 202 connected below the fire extinguishing agent storage tank 201. The mechanism 202 is internally provided with a motor-driven rotary platform, so that the entire nozzle assembly can rotate 360 degrees without dead angle in the horizontal plane, greatly expanding the fire extinguishing coverage, and its rotation axis is preferably coincident with the vertical axis of the unmanned aerial vehicle body 3 to ensure the balance of rotation.

[0036] The most creative linkage design of the present application is in the nozzle part, the end of the rotary spraying mechanism 202 is installed with a specially designed flow guide nozzle 203, as shown in the enlarged schematic view of Figure 4 and Figure 6 , which is internally provided with multiple independent flow guide channels composed of complex curved surfaces, and the whole nozzle is connected with a deflection mechanism, especially, the deflection mechanism is also linked with the annular flow channel horizontal sensing mechanism 101 in the anti-disturbance stabilization system 1 through a transmission rod, which means that when the hot air disturbance causes the sensing mass 105 to displace and trigger the attitude compensation, this displacement signal is also synchronously transmitted to the flow guide nozzle 203.

[0037] The working process disclosed by the logic flow chart of Figure 5 and the working principle schematic diagram of Figure 6 is as follows: when the left side of the unmanned aerial vehicle encounters strong hot air surge, causing the aircraft body to have a tendency to tilt to the right, the sensing mass 105 in the annular flow channel will be displaced to the right due to inertia, and this displacement is transmitted mechanically, on the one hand, commanding the right side of the jet anti-disturbance mechanism 102 to jet, generating a left restoring moment; on the other hand, synchronously driving the internal flow channel of the flow guide nozzle 203 or the whole nozzle to adjust an angle to the left, so that the fire extinguishing agent jet from the flow guide nozzle 203 obtains a pre-compensated velocity component opposite to the expected disturbance direction, therefore, even if the aircraft body slightly shakes due to the compensation action, or the jet is blown by the left hot air stream after leaving the nozzle, its final integrated trajectory can still be greatly corrected, so as to accurately hit the predetermined target fire point.

[0038] In summary, through the annular flow channel horizontal sensing mechanism 101, a pure mechanical sensor, the attitude correction function of the anti-disturbance stabilization system 1 and the jet guiding function of the precise spraying system 2 are deeply coupled in the physical layer and the action timing, abandoning the inherent delay brought by the traditional scheme of relying on the central processor to process multiple sensor signals, then separately calculating and issuing instructions to different actuators, realizing the nearly instantaneous direct response from sensing disturbance to completing the platform and jet double compensation, significantly improving the operation robustness and fire extinguishing efficiency of the fire-fighting unmanned aerial vehicle in extreme fire fields.

[0039] Implementation Example The following section will use a specific fire scene application scenario to further illustrate the implementation method and beneficial effects of this device.

[0040] Imagine a fire-fighting drone equipped with this flow stabilization device is tasked with extinguishing a fire on the middle floor of a high-rise building. The drone flies over the fire and hovers at the designated delivery position outside the fire source. At this time, the intense flames shooting out of the building windows generate a violent and unstable upward hot airflow and lateral overflow.

[0041] When a strong lateral hot airflow suddenly impacts the drone's fuselage from the left front side, traditional drones mainly rely on inertial measurement units to sense changes in the fuselage's attitude angular velocity, and then the flight control computer calculates and adjusts the motor speeds to resist it. This process has a delay of tens to hundreds of milliseconds, which may cause the drone to experience significant positional drift during this period. However, the response of this device is much more direct: at the moment of impact, the sensing mass 105 in the annular flow channel horizontal sensing mechanism 101 of the anti-disturbance stabilization system 1 immediately displaces to the opposite side of the airflow impact direction due to inertia. This mechanical displacement signal is transmitted synchronously and without delay to the two sets of actuators through rigid linkages.

[0042] In the first path, the displacement signal directly drives the corresponding solenoid valve of the jet anti-jamming mechanism 102 located on the right rear side of the UAV to open. The high-pressure gas in the integrated gas chamber 103 is instantly ejected, generating an instant thrust pointing to the left front side, which effectively suppresses the rotation trend of the fuselage and maintains the overall stability of the hovering platform.

[0043] In the parallel second path, the same displacement signal drives the guide nozzle 203 at the end of the precision spray system 2 synchronously through another set of linkages, causing its internal flow channel or nozzle direction to be slightly adjusted to the left front by a predicted angle. At this time, the extinguishing agent pumped out from the extinguishing agent tank 201, oriented by the rotating spray mechanism 202, and about to be shot towards the fire point, obtains an initial deflection speed pointing to the right rear the moment it leaves the guide nozzle 203. This pre-compensation is exactly opposite to the direction of the hot airflow disturbance of the jet. Therefore, despite the strong interference in the external environment, the actual trajectory of the extinguishing agent jet is highly corrected, and it can still accurately pass through the turbulence and continuously pour water onto the target fire source without being seriously deviated due to the anti-interference maneuver of the UAV itself or the external airflow.

[0044] During this process, the infrared thermal imaging early warning window 104 located on the fuselage continues to work. If a new and stronger heat surge is detected below, an early warning signal can be sent to the flight control system in advance, so that the UAV can adjust its altitude or position in advance. It also works in conjunction with the mechanical flow stabilization device to form a multi-layer protection system.

[0045] This implementation example demonstrates that the present invention, through mechanical linkage design, integrates platform stability with operational stability, providing a faster-responding, more reliable, and truly effective flow stabilization solution in fire environments.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A thermal airflow disturbance stabilization device for firefighting drones, comprising the drone body, characterized in that, Also includes: Anti-disturbance stabilization system and precision injection system; The anti-disturbance stabilization system is installed on the UAV body and resists the impact of hot airflow to stabilize the attitude of the UAV platform. The precision spraying system is installed on the drone body, which stores and sprays fire extinguishing agent; The disturbance-resistant stabilization system includes a mechanical sensing mechanism and an attitude adjustment mechanism. The mechanical sensing mechanism generates a mechanical displacement signal in response to the hot airflow disturbance. The attitude adjustment mechanism is connected to the mechanical sensing mechanism to generate disturbance-resistant force based on the mechanical displacement signal. The precision spraying system has a flow guiding mechanism at the spray outlet, which is connected to the mechanical sensing mechanism to compensate and adjust the direction of the sprayed extinguishing agent jet according to the mechanical displacement signal.

2. The anti-thermal airflow disturbance stabilizing device according to claim 1, characterized in that, The mechanical sensing mechanism includes an annular flow channel horizontal sensing mechanism and a sensing mass body housed therein. When the hot airflow disturbance causes a change in the attitude of the UAV body, the sensing mass body generates displacement within the horizontal sensing mechanism of the annular flow channel to form the mechanical displacement signal.

3. The anti-thermal airflow disturbance stabilizing device according to claim 2, characterized in that, The attitude adjustment mechanism includes a jet-type anti-jamming mechanism and an integrated air chamber that provides an air source for the jet-type anti-jamming mechanism; The jet-type anti-interference mechanism draws gas from the integrated gas chamber and ejects it to generate the anti-interference power based on the mechanical displacement signal.

4. The anti-thermal airflow disturbance stabilizing device according to claim 2 or 3, characterized in that, The anti-disturbance stabilization system also includes an infrared thermal imaging early warning window, which is set around the circumference of the UAV body to sense the direction of the incoming high-temperature airflow.

5. The anti-thermal airflow disturbance stabilizing device according to claim 2, characterized in that, The flow guiding mechanism is a flow guiding nozzle, which is connected to the annular flow channel horizontal sensing mechanism through a mechanical transmission component, so that the displacement of the sensing mass can directly drive the deflection angle of the flow guiding nozzle.

6. The anti-thermal airflow disturbance stabilizing device according to claim 5, characterized in that, The flow guide nozzle has at least two independent flow channels inside to divide and guide the passing fire extinguishing agent jet.

7. The anti-thermal airflow disturbance stabilizing device according to claim 1, characterized in that, The precision spraying system includes a fire extinguishing agent storage tank and a rotary spraying mechanism connected to the fire extinguishing agent storage tank. The rotary spraying mechanism can drive the flow guiding mechanism to rotate in the horizontal direction.

8. The anti-thermal airflow disturbance stabilizing device according to claim 7, characterized in that, The rotation axis of the rotary jet mechanism coincides with the vertical axis of the UAV body.

9. A current stabilization control method based on the device of claim 2, characterized in that, Includes the following steps: The attitude tilt of the UAV caused by the thermal airflow disturbance is sensed by the displacement of the sensing mass within the horizontal sensing mechanism of the annular flow channel. The displacement signal is synchronously transmitted to the attitude adjustment mechanism and the flow guiding mechanism; The attitude adjustment mechanism generates reverse anti-disturbance force based on the displacement signal to correct the attitude of the UAV; The flow guiding mechanism deflects the flow according to the displacement signal to compensate for the reverse direction of the extinguishing agent jet.

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