Integrated fire fighting truck for high-rise building fire fighting and rescue system thereof

Abstract

The utility model provides an integrated fire fighting truck for high-rise building fire fighting and a rescue system thereof, the integrated fire fighting truck comprises a carriage, the front end of the carriage body of the carriage is provided with a standing workbench, the rear end of the carriage body is provided with a vehicle-mounted multimedia display screen, the standing workbench comprises a bottom supporting frame, the upper end of the bottom supporting frame is provided with a standing platform, and the lower end of the standing platform is provided with a vehicle-mounted multimedia display screen. A fence is arranged at the upper end of the bottom supporting frame around the standing platform, a control system of the vehicle-mounted multimedia display screen is connected with a vehicle-mounted electric control system, a fire-fighting ammunition storage frame is arranged on a bottom plate in the compartment body, a plurality of unmanned aerial vehicle lifting platforms are arranged above the fire-fighting ammunition storage frame, and a support for installing the unmanned aerial vehicle lifting platforms is arranged in the compartment body. A sliding door set matched with the unmanned aerial vehicle lifting platform to be opened and closed is arranged at the top of the compartment body. The unmanned aerial vehicle cluster intelligent fire extinguishing system solves the problem of fire extinguishing and rescue of urban high-rise buildings through the unmanned aerial vehicle attitude and heading steady state control technology, the precise jet fire extinguishing technology and the body safety guarantee technology under the multi-source disturbance load based on artificial intelligence in combination with the operation tactics and tactics of the high-rise building fire unmanned aerial vehicle cluster intelligent fire extinguishing system.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of fire vehicles, especially an integrated fire vehicle for high-rise building fire extinguishing and a rescue system thereof. BACKGROUND

[0002] In recent years, the national fire safety awareness is enhanced, high-rise and super high-rise buildings are rapidly increasing, and high-rise / super high-rise fire is characterized by functional complexity, multiple fire points, fast spreading speed, and difficult evacuation, which is a common problem faced by the industry; Currently, unmanned aerial vehicle fire brigade, unmanned aerial vehicle fire truck mostly uses tethered fire extinguishing and other methods, this fire extinguishing method is affected by the length of the water hose in the distance, at the same time, due to the problem of unmanned aerial vehicle stability in the air, the water pressure provided by the water hose cannot reach the ground when extinguishing fire, and the fire extinguishing effect is limited; This project optimizes the original basis, uses unmanned aerial vehicle to carry fire extinguishing bomb or fire extinguishing tank for fire extinguishing operation, the flight height of unmanned aerial vehicle is not limited by the water hose, at the same time, it can guarantee that the fire extinguishing effect is not lower than that of traditional unmanned aerial vehicle fire truck, and can carry multiple types of fire ammunition, suitable for more working conditions; Foreign industrialized countries have carried out research and application of high-rise building fire extinguishing mobile devices earlier. Many cities in the United States, Japan, France and other developed countries have established urban aerial fire rescue teams, and helicopters have played a good role in emergency rescue of super high-rise buildings in some countries in the world, and there are cases of using aircraft to participate in emergency rescue of super high-rise buildings in the United States, Brazil and South Korea. In addition, the flexibility of small unmanned aerial vehicles is also the main research and application direction for disaster monitoring. Unmanned aerial vehicle manufacturer InspiredFlight launched IF1200A unmanned aerial vehicle, the payload was increased to 9.07 kilograms, the endurance time was up to 40 minutes, and special fire fighting equipment such as infrared thermal imager was allowed to be integrated to monitor the real-time dynamic of fire. The unmanned aerial vehicle designed by Parrot company according to the characteristics of fire and disaster area is equipped with a 14 million pixel camera and a thermal imaging camera, which can investigate fire and trapped personnel in high temperature and high humidity environment, and provide fire information to rescue personnel.

[0003] In recent years, the technology of large-load multi-rotor fire-fighting unmanned aerial vehicle has developed rapidly, and its key technologies such as load capacity, endurance time, fire-fighting efficiency and system reliability have made major breakthroughs. The United States, Europe and other regions have carried out new exploration in fire-fighting unmanned aerial vehicle technology and equipment. The ALTUS non-tethered electric unmanned aerial vehicle of the First Respone project in the United States can carry 50 kg of foam fire extinguishing agent to carry out fire-fighting operations, and the effective fire-fighting height is 100 m; the BriSky unmanned aerial vehicle of the COMETS project in Europe adopts an 8-axis 16-blade layout, and can carry 8 fire extinguishing balls to carry out fire-fighting operations, with a maximum take-off weight of 120 kg; the tethered electric eight-rotor fire-fighting unmanned aerial vehicle developed by the Aerones company in Latvia can carry a high-pressure water gun to spray fire sources, with a maximum take-off weight of 200 kg and an effective payload of 80 kg. The non-tethered electric multi-rotor unmanned aerial vehicle developed by the Namdak company in South Korea carries high-pressure compressed foam fire extinguishing agent, with a continuous spraying time of 40 min, a maximum take-off weight of 280 kg and an effective payload of 120 kg. The products of the above projects have completed prototype trial production and testing, and there are no real combat application cases.

[0004] In general, the aircraft currently used in actual combat abroad is mainly a helicopter, and the use of unmanned aerial vehicles in high-rise building fire rescue work started early, but the type and functional performance indicators of the developed unmanned aerial vehicle products are lagging behind the domestic progress, and the application in high-rise building fires needs to be fully developed.

[0005] Therefore, in view of the problems of limited system efficiency and insufficient safety and reliability of tethered large-load fire-fighting unmanned aerial vehicles in high-rise building fires, it is urgent to develop an integrated fire-fighting and rescue technology and equipment based on unmanned aerial vehicle clusters and ground fire trucks. Practical new type content

[0006] The purpose of the utility model is to provide an integrated fire truck and rescue system for high-rise building fire fighting, which realizes the purpose of multi-agent cooperative control of complex air-ground fire-fighting system through the unmanned aerial vehicle cluster intelligent fire-fighting system fire truck combined with the intelligent unmanned aerial vehicle cluster combat system of the integrated vehicle machine, thereby improving the efficiency of fire rescue.

[0007] In order to solve the above technical problems, the technical scheme of the utility model is as follows:

[0008] Technical scheme one:

[0009] The utility model provides an integrated fire engine for high building fire extinguishing, including the compartment of car, the front end of compartment body is equipped with standing workstation, the rear end of compartment body is equipped with on -vehicle multimedia display screen, standing workstation includes bottom support frame, the upper end of bottom support frame is equipped with standing platform, the upper end of bottom support frame is equipped with fence around standing platform, the control system of on -vehicle multimedia display screen is connected with on -vehicle electric control system, the bottom plate in the compartment is equipped with fire ammunition storage rack, the top of fire ammunition storage rack is equipped with a plurality of unmanned aerial vehicle lifting platform, the bracket of installing unmanned aerial vehicle lifting platform is equipped in the compartment, the top of compartment is equipped with the sliding door group that opens and closes with unmanned aerial vehicle lifting platform cooperation, the unmanned aerial vehicle is unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles form, the bottom of unmanned aerial vehicle cluster is equipped with ammunition quick plug device, the quick plug type charging box of unmanned aerial vehicle is equipped in the compartment.

[0010] The improvement of the above technical solution: the fire ammunition storage rack includes a support plate, the panels on both sides of the support plate are respectively provided with ammunition fixing seats, the bottom of the support plate is connected with the bottom plate of the compartment through a slide rail, the upper edge of the support plate is provided with a towing rope, one end of the towing rope is provided with a latch perpendicular to the slide rail, the side surface of the slide rail is sequentially provided with a plurality of limiting holes from front to back, the other end of the towing rope is provided with a handle for pulling out the latch.

[0011] The improvement of the above technical solution: the ammunition fixing seat is a clamp, and a plurality of clamps are evenly distributed on the panel of the support plate.

[0012] The improvement of the above technical solution: the middle part of the clamp is provided with an arc-shaped clamping groove, and the upper end of the clamp is hinged to the support frame, the fire ammunition is fixed on the support frame through the clamp and locked by its own weight.

[0013] The improvement of the above technical solution: the sliding door set includes a slide rail assembly, a door panel, and a door panel pulling mechanism, the slide rail assembly is arranged on both sides of the door panel, the bottom of the door panel is provided with a slide way corresponding to the slide rail assembly, the middle part of the door panel is provided with a support plate, the door panel pulling mechanism is arranged on the support plate, the door panel pulling mechanism is parallel to the slide rail on both sides, one end of the door panel pulling mechanism is fixed on the support plate, and the other end is connected with the door panel.

[0014] The improvement of the above technical solution: the door panel pulling mechanism includes a lead screw and a motor, the motor is arranged at one end of the lead screw, a plurality of supports are arranged on the support plate, the lead screw is installed on the support plate through the supports, and the center of the support is provided with a bearing matched with the lead screw.

[0015] The improvement of the above technical solution: the door panel is composed of two left and right door panels, the lead screw is a bidirectional driving lead screw, and the two ends of the lead screw are respectively connected and fixed with the two door panels.

[0016] The improvement on the above technical solution is that the bottom of the door plate is provided with a base, the bottom of the base is provided with a sliding groove matched with the sliding rail, a plurality of guide rods are arranged in parallel on the base, and the door plate is slidably connected with the base through the guide rods.

[0017] The improvement on the above technical solution is that the edge of the closed door plate is provided with a sealing strip.

[0018] The improvement on the above technical solution is that the cross-sectional shape of the sealing strip comprises a protruding portion in the middle and horizontal edges on both sides of the protruding portion, and the edge on one side is provided with a vertical downward extending side edge.

[0019] The improvement on the above technical solution is that the rear end of the compartment body is provided with a fixed frame, the vehicle-mounted multimedia display screen is fixed on the rear end of the compartment body through the fixed frame, the rear end of the compartment body is provided with a UAV detection platform above the vehicle-mounted multimedia display screen, and a fence is arranged around the operation platform at the rear end of the compartment body.

[0020] The improvement on the above technical solution is that the centering device is arranged on the UAV lifting platform, the centering device comprises a motor control box, a stepping motor, a brake mechanism and a limit switch, the motor control box is arranged at the bottom of the UAV lifting platform, the motor control box comprises a UAV detection module, the motor control box is linked with the control system through a CAN bus, the stepping motor, the brake mechanism and the limit switch are arranged at the upper part of the UAV lifting platform, a plurality of sensors are arranged at the upper part of the UAV lifting platform, the sensors are arranged at the four corners and the center position of the lifting platform, and the sensors arranged at the four corners correspond to the positions directly below the unfolded wings of the UAV.

[0021] The improvement on the above technical solution is that the UAV detection module is used to judge whether the wings of the UAV are folded and whether the UAV is parked, and the detection signal is connected to the motor control box of the centering device.

[0022] The improvement on the above technical solution is that the side edge of the support frame at the bottom of the standing platform is provided with a telescopic ladder, the inner ladder frame of the telescopic ladder is fixed on the support frame, and the outer ladder frame which can slide up and down is arranged on the inner ladder frame of the telescopic ladder.

[0023] The improvement on the above technical solution is that the rear end of the compartment body is provided with a ladder, the upper end and the lower end of the ladder are connected with the rear end of the compartment body through fixed bases respectively, the fixed base at the lower end of the ladder is further provided with an inclined support base which is inclined upward, and the ladder and the compartment body are inclined at an angle with the lower part being wide and the upper part being narrow.

[0024] The utility model discloses a for high -rise building fire -fighting integrated fire engine of fire -fighting, the reasonable arrangement of compartment body has the workbench, vehicle -mounted multimedia display screen, unmanned aerial vehicle lifting platform etc., makes fire vehicle have quick response ability, can form the temporary command department after reaching the fire scene, through unmanned aerial vehicle carries out on -the -spot investigation, and then through the magnification of the on -the -spot condition of multimedia display, can be convenient for the rescue personnel to formulate the rescue scheme rapidly, effectively improves the fire -fighting and rescue ability.

[0025] Through the cooperation of the sliding opening and closing door structure and the unmanned aerial vehicle lifting platform,

[0026] Meanwhile, the convex sealing strip can effectively fit the edge of the opposite door when the door is closed, so that the compartment maintains good sealing performance. The door is connected to the base arranged on the compartment through the slide rail assembly, forming a reasonable opening and closing structure, and the use experience is improved through the arrangement of the door pull rod.

[0027] Technical scheme two:

[0028] A rescue system of an integrated fire engine for high-rise building fire fighting, comprising an unmanned aerial vehicle cluster lifting and recycling module, a fire extinguishing agent rapid loading module, a fire scene monitoring module, a target automatic identification module, a aiming and launching operation module, a cluster intelligent command and dispatching module, a flight safety guarantee module, and a power supply module.

[0029] Improvement on the above technical scheme: the unmanned aerial vehicle cluster lifting and recycling module, the whole vehicle is equipped with an unmanned aerial vehicle special lifting platform, realizing vehicle and machine integration and unmanned aerial vehicle rapid take-off and recycling. The module can realize automatic opening of the machine box cover, automatic lifting of the lifting platform, automatic execution of rescue operation, and precise return of the unmanned aerial vehicle,

[0030] The automatic opening of the machine box cover can realize integrated control of the machine box cover opening, and the lifting platform and the top sliding door group are jointly controlled by a motion control logic system;

[0031] The automatic lifting of the lifting platform is provided with a lifting platform electric hydraulic lifting device, and is matched with a safety detection sensor to avoid collision between the unmanned aerial vehicle and the machine box cover;

[0032] The automatic execution of rescue operation is to lift the unmanned aerial vehicle to the highest point by the lifting platform, and the unmanned aerial vehicle takes off automatically according to the instruction of the flight control system;

[0033] The precise return of the unmanned aerial vehicle has a one-key recycling function, and is matched with a return device for fixing and quickly returning the flight control system and the lifting platform.

[0034] Improvement on the above technical scheme: the cluster intelligent command and dispatching module comprises a multi-stage platform linkage module, an AI intelligent auxiliary system module, an automatic aiming and launching module, and an unmanned aerial vehicle mutual communication module,

[0035] The multi-stage platform linkage module comprises a fire truck and a command center, multiple command centers, and can fuse video, position, data and control technology to feed back the shooting picture of the unmanned aerial vehicle in real time;

[0036] The AI intelligent auxiliary system module comprises AI temperature sensing and identification and AI personnel auxiliary discovery, and can complete identification, tracking and rescue suggestion scheme according to characteristic objects;

[0037] The automatic aiming and launching module comprises a launcher, the launcher is provided with a laser sight, and through thermal imaging heat source tracking, precise striking and automatic identification of the fire source are realized;

[0038] The unmanned aerial vehicle mutual communication module comprises a reconnaissance machine and a fire-fighting unmanned aerial vehicle, the reconnaissance machine and the fire-fighting unmanned aerial vehicle can communicate with each other according to instructions, cooperatively carry out rescue actions, and can simultaneously and continuously work in steps;

[0039] The homing device comprises an Ethernet module and a wireless communication module, data interaction is carried out through a software protocol, the data interaction comprises data interaction between a vehicle system and a flight control system, vehicle data is transmitted to the unmanned aerial vehicle through the flight control system, and data interaction is carried out between the vehicle system and the unmanned aerial vehicle.

[0040] The improvement of the above technical scheme is that the target automatic identification module can accurately identify people and objects, and accurately identify people and objects through the unmanned aerial vehicle camera and intelligent AI technology auxiliary, thereby supporting the rescue scheme.

[0041] The improvement of the above technical scheme is that the fire field monitoring module comprises a unmanned aerial vehicle system monitoring unit arranged at the tail of the whole vehicle, the flight state is monitored in real time, the flight state of the unmanned aerial vehicle is detected through the background flight control system, and the MCU double main control is matched, and the fault automatic cruising recovery technology is matched.

[0042] The improvement of the above technical scheme is that the unmanned aerial vehicle is provided with double insurance, one insurance is redundancy design, multiple motors, MCUs and IMUs are matched, and automatic and manual operation two operation modes are configured, and the other insurance is a matching parachute, and the parachute is matched with the unmanned aerial vehicle, and is automatically opened in the out-of-control state.

[0043] Beneficial effects:

[0044] The integrated fire fighting vehicle for high-rise building fire fighting and the rescue system thereof disclosed by the utility model solve the high-rise building fire fighting and rescue problems in cities through the unmanned aerial vehicle attitude stable control technology under the multi-source disturbance load based on artificial intelligence, the precise spraying fire extinguishing technology and the body safety guarantee technology, and the high-rise building fire unmanned aerial vehicle cluster intelligent fire extinguishing system operation tactics and battle tactics.

[0045] Through developing complex air-ground fire extinguishing system multi-agent collaborative control theory, breaking through unmanned aerial vehicle attitude steady control technology, precise spraying fire extinguishing technology and body safety guarantee technology under multi-source disturbance load based on artificial intelligence, a high-rise building fire extinguishing and rescue multi-rotor electric unmanned aerial vehicle is researched and developed, and a vehicle and machine integrated unmanned aerial vehicle cluster intelligent fire extinguishing system fire engine is developed.

[0046] The unmanned aerial vehicle cluster intelligent fire extinguishing system fire engine is composed of an unmanned aerial vehicle cluster hangar, a lifting system, a fire extinguishing agent storage system and a monitoring and command cabin, carries multiple unmanned aerial vehicles, realizes unmanned aerial vehicle cluster lifting and recovery, convenient storage and rapid mounting of fire extinguishing agents, real-time ground monitoring of fire field situation environment, precise operation of fire extinguishing and rescue, cluster intelligent command and dispatch, flight safety guarantee and other functions.

[0047] The fire extinguishing agents are various, three fire extinguishing machines can respectively and independently mount powder, water agent and foam, and can also mutually and universally mount; multi-level communication is seamlessly connected between unmanned aerial vehicles, between unmanned aerial vehicles and vehicle-mounted command systems, and between unmanned aerial vehicles and backends; an intelligent flight control system guarantees cluster intelligent automatic lifting, automatic monitoring of flight safety state, automatic identification, aiming and launching of targets, and realizes indexes such as early, accurate and successful fire extinguishing.

[0048] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0050] Figure 1 It is a structural schematic view of the sliding door group.

[0051] Figure 2 It is a sectional view of the sealing strip.

[0052] Figure 3 It is Figure 1 It is an enlarged view of A part.

[0053] Figure 4 It is Figure 1 It is an enlarged view of B part.

[0054] Figure 5 It is a structural schematic view of the vehicle compartment.

[0055] Figure 6 It is a structural schematic view of the unmanned aerial vehicle lifting platform.

[0056] Figure 7 It is a structure schematic view of fire-fighting ammunition storage rack.

[0057] Figure 8 It is a quick plug structure of unmanned aerial vehicle bottom.

[0058] Figure 9 It is a whole vehicle structure schematic view.

[0059] Figure 10 It is a structure schematic view of unmanned aerial vehicle lifting platform bottom.

[0060] In the figure: slide rail assembly 1, door plate 2, door plate push-pull mechanism 3, support plate 4, base 5, sealing strip 6, compartment body 7, slide rail 1-1, lead screw 3-1, motor 3-2, bearing 3-3, support 4-1, sliding groove 5-1, guide rod 5-2, base 7-1, vehicle door pull rod 7-2, standing workbench 8, vehicle-mounted multimedia display screen 9, bottom support frame 10, standing platform 8-1, fence 8-2, fire-fighting ammunition storage rack 11, unmanned aerial vehicle lifting platform 12, support 13, fixed frame 14, unmanned aerial vehicle investigation platform 15, fence 15-1, telescopic ladder 16, climbing ladder 17, support plate 11-1, ammunition fixing seat 11-2, slide rail 11-3, traction rope 11-4, bolt 11-5, limiting hole 11-6, handle 11-7, clamping groove 11-8, motor control box 18, stepping motor 19, brake holding mechanism 20, limit switch 21, sensor 22. DETAILED DESCRIPTION

[0061] The embodiments of the present application will be described in detail below with reference to the drawings, wherein the same or similar components are denoted by the same reference numerals throughout the drawings. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be interpreted as a limitation of the present application.

[0062] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless otherwise defined.

[0063] In order to facilitate the understanding of the embodiments of the present application, the following will be further explained and described with several specific embodiments as examples in conjunction with the drawings, and each embodiment does not constitute a limitation of the embodiments of the present application.

[0064] As Figure 5 ,10 The integrated fire fighting truck for high-rise building fire fighting shown comprises a truck cabin, a standing workbench 8 is arranged at the front end of the cabin body 7, a vehicle-mounted multimedia display screen 9 is arranged at the rear end of the cabin body 7, the standing workbench 8 comprises a bottom support frame 10, the upper end of the bottom support frame 10 is provided with a standing platform 8-1, a fence 8-2 is arranged around the standing platform 8-1 at the upper end of the bottom support frame 10, the control system of the vehicle-mounted multimedia display screen 9 is connected with the vehicle-mounted electric control system, the vehicle-mounted multimedia display screen 9 simultaneously communicates with the command center, a fire-fighting ammunition storage rack 11 is arranged on the bottom plate inside the cabin body 7, a plurality of unmanned aerial vehicle lifting platforms 12 are arranged above the fire-fighting ammunition storage rack 11, a support 13 for installing the unmanned aerial vehicle lifting platform 12 is arranged in the cabin body 7, a sliding door set cooperating with the unmanned aerial vehicle lifting platform 12 is arranged at the top of the cabin body 7; the rear end of the cabin body 7 is provided with a fixed frame 14, the vehicle-mounted multimedia display screen 9 is fixed at the rear end of the truck cabin 7 through the fixed frame 14, an unmanned aerial vehicle detection platform 15 is arranged above the vehicle-mounted multimedia display screen 9 at the rear end of the cabin body 7, a fence 15-1 is arranged around the unmanned aerial vehicle detection platform 15 at the rear end of the cabin body 7; a retractable ladder 16 is arranged at the side edge of the bottom support frame 10 of the standing platform 8-1, an inner ladder frame of the retractable ladder 16 is fixed on the bottom support frame 10, an outer ladder frame that can slide up and down is arranged on the inner ladder frame of the retractable ladder 16; a climbing ladder 17 is arranged at the rear end of the cabin body 7, the upper end and the lower end of the climbing ladder 17 are respectively connected with the rear end of the cabin body through fixed bases, the fixed base at the lower end of the climbing ladder 17 is further provided with an upwardly inclined inclined support base, the climbing ladder 17 and the cabin body 7 form an inclined angle with the lower part being wider and the upper part being narrower.

[0065] As shown in the figure Figure 7 The fire-fighting ammunition storage rack 11 shown comprises a support plate 11-1, ammunition fixing seats 11-2 are respectively arranged on the panels at both sides of the support plate 11-1, the bottom of the support plate 11-1 is connected with the bottom plate of the truck cabin through a slide rail 11-3, a traction rope 11-4 is arranged at the upper edge of the support plate 11-1, one end of the traction rope 11-4 is provided with a plug 11-5 perpendicular to the slide rail 11-3, a plurality of limiting holes 11-6 are sequentially arranged on the side surface of the slide rail 11-3 from front to back, the other end of the traction rope 11-4 is provided with a handle 11-7 for pulling out the plug 11-5, the ammunition fixing seat 11-2 is a clamp, a plurality of clamps are uniformly distributed on the panel of the support plate 11-1, the middle part of the clamp is provided with an arc-shaped clamping groove 11-8, the upper end of the clamp is hinged on the support plate 11-1, the fire-fighting ammunition is fixed on the support plate 11-1 through the clamp and locked by its own weight.

[0066] As shown in the figure Figures 1-4The sliding door set comprises a sliding rail assembly 1, a door plate 2, and a door plate sliding mechanism 3, the sliding rail assembly 1 is arranged on both sides of the door plate 2 respectively, the bottom of the door plate 2 is provided with a sliding groove corresponding to the sliding rail assembly 1, the middle part of the door plate 2 is provided with a support plate 4, the door plate sliding mechanism 3 is arranged on the support plate 4, the door plate sliding mechanism 3 is parallel to the sliding rail 1-1 on both sides, one end of the door plate sliding mechanism 3 is fixed on the support plate 4, and the other end is connected with the door plate 2.

[0067] Further, the door plate sliding mechanism 3 comprises a lead screw 3-1 and a motor 3-2, the motor 3-2 is arranged at one end of the lead screw 3-1, a plurality of supports 4-1 are arranged on the support plate 4, the lead screw 3-1 is installed on the support plate 4 through the supports 4-1, and the center of each support 4-1 is provided with a bearing 3-3 matched with the lead screw 3-1.

[0068] Still further, the door plate 2 comprises two door plates, and the lead screw 3-1 is a bidirectional driving lead screw, and the two ends of the lead screw 3-1 are connected and fixed with the two door plates 2 respectively.

[0069] Still further, the bottom of the door plate 2 is provided with a base 5, the bottom of the base 5 is provided with a sliding groove 5-1 matched with the sliding rail 1-1, a plurality of guide rods 5-2 are arranged on the base 5 in parallel, and the door plate 2 is slidably connected with the base 5 through the guide rods 5-2.

[0070] The edge of the closed door plate 2 is provided with a sealing strip 6, the cross-sectional shape of the sealing strip 6 comprises a convex portion in the middle and horizontal edges on both sides of the convex portion, and the convex portion in the middle is an arc-shaped convex portion.

[0071] In actual production, the door plate can be single or two or more according to requirements.

[0072] In the embodiment, the door plate comprises two door plates, and the two door plates are simultaneously controlled to open and close through the bidirectional driving lead screw, and in actual production, the door plate can be driven by the driving lead screw respectively according to requirements, so as to achieve the purpose of individual control.

[0073] As shown in the figure, Figure 6 The unmanned aerial vehicle lifting platform 12 is provided with a centering device, the centering device comprises a motor control box 18, a stepping motor 19, a brake mechanism 20, and a limit switch 21, the motor control box 18 is arranged at the bottom of the unmanned aerial vehicle lifting platform 12, the motor control box 18 comprises an unmanned aerial vehicle detection module, the motor control box is linked with a control system through a CAN bus, the stepping motor 19, the brake mechanism 20, and the limit switch 21 are arranged at the upper part of the unmanned aerial vehicle lifting platform 12, a plurality of sensors 22 are further arranged at the upper part of the unmanned aerial vehicle lifting platform 12, the sensors 22 are arranged at four corners and a central position of the unmanned aerial vehicle lifting platform 12, and the sensors 22 arranged at the four corners correspond to positions directly below the unfolded wings of the unmanned aerial vehicle.

[0074] Furthermore: the drone detection module is used to determine whether the drone wings are folded and whether the drone is parked, and the detection signal is connected to the motor control box of the return-to-center device.

[0075] like Figure 9 The standard quick-connect interface for drone ammunition shown allows for the loading of various types of ammunition; it also includes interfaces for tethered water hoses and power supply; and a quick-connect battery interface for rapid battery swapping.

[0076] like Figure 8 The rescue system shown is an integrated fire truck for high-rise building fire fighting, which includes a drone swarm take-off and recovery module, a fire extinguishing agent rapid loading module, a fire scene monitoring module, an automatic target identification module, an aiming and launching operation module, a swarm intelligent command and dispatch module, a flight safety assurance module, and a power supply module.

[0077] The drone swarm take-off and recovery module is equipped with a dedicated drone lifting platform on the vehicle, achieving vehicle-machine integration and rapid drone take-off and recovery. This module can automatically open the chassis cover, automatically raise the lifting platform, automatically perform rescue operations, and accurately return the drones to base.

[0078] The automatic opening of the chassis cover enables integrated vehicle-machine control. The chassis cover is equipped with a joint motion control logic system for the lifting platform and the top sliding door assembly.

[0079] The lifting platform is equipped with an electric hydraulic lifting device and a safety detection sensor to prevent the drone from colliding with the chassis cover.

[0080] Automated rescue operations are carried out by automatically lifting a drone to the highest point via a lift platform, and the drone takes off automatically according to the instructions of the flight control system.

[0081] The drone's precise return-to-home feature has a one-click recovery function and is equipped with a centering device for fixing and quickly returning the drone to its original position, which is linked with the flight control system and the lifting platform.

[0082] The cluster intelligent command and dispatch module includes a multi-level platform linkage module, an AI intelligent assistance system module, an automatic aiming and launching module, and a UAV mutual communication module.

[0083] The multi-level platform linkage module includes fire trucks and command centers, multiple command centers, and can integrate video, location, data and control technologies to provide real-time feedback of drone footage;

[0084] The AI ​​intelligent assistance system module includes AI temperature sensing and labeling, and AI personnel assistance in discovery, which can identify, track, and provide rescue suggestions based on the characteristics of objects.

[0085] The automatic aiming and launching module comprises a launcher equipped with a laser sight, and realizes accurate attack and automatic identification of a fire source through thermal imaging heat source tracking.

[0086] The unmanned aerial vehicle mutual communication module comprises a reconnaissance machine and a fire-fighting unmanned aerial vehicle, and the reconnaissance machine and the fire-fighting unmanned aerial vehicle can communicate with each other according to instructions and cooperatively carry out rescue operations, and can simultaneously and continuously operate in steps.

[0087] The homing device comprises an Ethernet module and a wireless communication module, and data interaction is carried out through a software protocol, and the data interaction comprises data interaction between a vehicle system and a flight control system and data interaction between the vehicle system and the unmanned aerial vehicle.

[0088] The homing device comprises an Ethernet module and a wireless communication module, and data interaction is carried out through a software protocol, and the data interaction comprises data interaction between a vehicle system and a flight control system and data interaction between the vehicle system and the unmanned aerial vehicle.

[0089] The target automatic identification module can accurately identify people and objects, and accurately identify people and objects through an unmanned aerial vehicle camera and intelligent AI technology assistance, and support a rescue plan.

[0090] The fire field monitoring module comprises a whole vehicle tail part equipped with an unmanned aerial vehicle system monitoring unit, and the flight state is monitored in real time, the flight state of the unmanned aerial vehicle is detected through a background flight control system, and an MCU double main control is matched, and a fault automatic cruising recovery technology is matched.

[0091] The unmanned aerial vehicle is provided with double insurance, one of which is redundancy design, and the other of which is matched with multiple motors, MCUs and IMUs, and is configured with automatic and manual operation two operation modes, and the other of which is matched with a parachute, and the parachute is automatically opened in an out-of-control state.

[0092] The unmanned aerial vehicle is provided with double insurance, one of which is redundancy design, and the other of which is matched with multiple motors, MCUs and IMUs, and is configured with automatic and manual operation two operation modes, and the other of which is matched with a parachute, and the parachute is automatically opened in an out-of-control state. Figure 10 The unmanned aerial vehicle cluster is composed of multiple unmanned aerial vehicles, and the bottom of the unmanned aerial vehicle cluster is provided with a quick insertion device of ammunition.

[0093] The main research content and technical route of the utility model are as follows:

[0094] (1) Complex air-ground fire extinguishing system multi-agent cooperative control theory research

[0095] The intelligent individual motion model and energy model of unmanned aerial vehicle cluster, such as take-off and recovery, rapid loading of fire extinguishing ammunition, fire monitoring, target automatic identification, aiming and launching operation, cluster intelligent command and dispatch, flight safety guarantee, power supply, etc. are studied to reveal the influence mechanism of intelligent agent itself dynamics, system topology and communication mode on the collaborative behavior of intelligent agent. The unmanned aerial vehicle attitude stability control and precise spraying control technology under the condition of multi-source disturbance based on AI are researched, and the multi-source disturbance model of airflow in severe fire environment such as high-temperature and high-pressure smoke turbulence around buildings and ammunition injection is established. The master-slave integrated collaborative control strategy is researched, and the distributed multi-agent linkage control theory, method and strategy are constructed. The flight control software is developed, and the semi-physical simulation and flight test are carried out for test and verification.

[0096] (II) Research on unmanned aerial vehicle safety protection technology

[0097] The safety risk perception and research and judgment technology of unmanned aerial vehicle whole machine power failure are researched, and the air early warning and ultra-low altitude unmanned aerial vehicle slow descent equipment are developed based on the safety analysis of air-ground strong coupling system to effectively reduce the safety risk of unmanned aerial vehicle.

[0098] (III) Research on fire truck technology of "unmanned aerial vehicle cluster intelligent fire extinguishing system"

[0099] 1. Research on unmanned aerial vehicle cluster and fire extinguishing ammunition loading technology

[0100] (1) Technical route: customize special chassis for emergency vehicles, improve the power of the whole vehicle and the space of the fire truck box body, and increase the loading and carrying capacity;

[0101] (2) Technical scheme:

[0102] 1) Customize the special chassis for emergency vehicles with extended wheelbase (5700mm) and 360ps horsepower, with durability of more than 1.2 million kilometers, which is convenient for increasing the design space of the upper box body and ensuring the loading capacity of the whole vehicle, while effectively ensuring the stability, durability and power of the whole vehicle in use;

[0103] 2) Innovative design of upper structure, using square box structure design for the upper part to improve space utilization, and setting unmanned aerial vehicle flight control platform and ammunition special loading tools in the vehicle compartment, which can carry 3 combat unmanned aerial vehicles, 1 reconnaissance unmanned aerial vehicle and more than 50 fire extinguishing ammunition; the reconnaissance unmanned aerial vehicle is placed on the special placement platform at the top of the box body, which is convenient for the free take-off and recovery of the reconnaissance unmanned aerial vehicle and the early survey of the site;

[0104] 3) Configure multiple equipment boxes and equipment racks in the box body for loading different types of ammunition and fire fighting equipment;

[0105] 2. Research on unmanned aerial vehicle cluster take-off and recovery technology

[0106] (1) Technology path: whole vehicle carries special flight control platform for unmanned aerial vehicle, realizes quick take-off and recovery of unmanned aerial vehicle;

[0107] (2) Technical solution:

[0108] 1) The hydraulic lifting platform is carried in the box, the unmanned aerial vehicle automatic centering device is configured above the platform, which is used for fixing and quick returning of the unmanned aerial vehicle, and the automatic sliding door group is used at the top, which can be opened and closed by one key;

[0109] 2) The lifting platform and the top sliding door group are configured to realize one-key control, after the sliding door is opened to the appropriate position, the lifting platform automatically carries the unmanned aerial vehicle to the highest point, controls the unmanned aerial vehicle to take off, and one-key recovery is realized after the operation is completed;

[0110] 3) Configuration of unmanned aerial vehicle cluster automatic take-off and landing system;

[0111] 3. Research on complex air-ground fire extinguishing system cooperative control technology based on "vehicle-machine integration"

[0112] (1) Technology path: carry unmanned aerial vehicle cluster flight control system and monitoring system.

[0113] (2) Technical solution:

[0114] 1) Configuration of automatic operation and manual operation, increase the operability of unmanned aerial vehicle cluster, select operation mode according to site conditions;

[0115] 2) Carry unmanned aerial vehicle cluster flight control system, multi-machine cluster management; multi-stage platform linkage (vehicle and command center, multiple command centers); fusion video, fusion position, fusion data, fusion control; real-time flight monitoring; multi-command center video distribution technology; flight control remote control; on-site sensing and recording; AI temperature sensing and identification; AI personnel assisted discovery;

[0116] 3) The unmanned aerial vehicle system monitoring unit is arranged at the tail of the whole vehicle, which can feedback the shooting picture of the unmanned aerial vehicle in real time, the feedback delay is less than 1s, and quick decision and judgment can be made according to the on-site conditions.

[0117] (Four) Research on operation tactics of unmanned aerial vehicle cluster intelligent fire extinguishing system

[0118] Based on single loading application, multiple coupling and other operation modes, the automatic planning of multi-machine cooperative task and the multi-machine multi-task cooperative operation method are researched; the tactics and operation methods of quick deployment, cooperative action, command action and operation support of fire extinguishing unmanned aerial vehicle cluster and fire fighting vehicle multi-task mode are proposed, and the operation tactics and methods of super high-rise building fire extinguishing unmanned aerial vehicle are formed.

[0119] 4. Fire extinguishing unmanned aerial vehicle operation tactics and methods

[0120] (1) 3 sets of combat unmanned aerial vehicles are continuously operated, 3 sets of combat unmanned aerial vehicles are released in turn, after a single unmanned aerial vehicle completes the fire extinguishing operation and is recovered, a single unmanned aerial vehicle is released according to the on-site situation to replace a single unmanned aerial vehicle or replace a single unmanned aerial vehicle, 3 sets of combat unmanned aerial vehicles are continuously operated in turn, and the system has a continuous fire extinguishing capacity of 2-4 hours;

[0121] (2) 3 sets of unmanned aerial vehicles are simultaneously operated, all unmanned aerial vehicles are released to perform fire extinguishing operations, and the system instantaneous fire extinguishing area and fire extinguishing capacity are improved;

[0122] (2) Technical path: innovation of unmanned aerial vehicle cluster operation mode, guarantee of operation time, fire extinguishing area, fire extinguishing precision and diversity of use conditions;

[0123] (3) Technical scheme:

[0124] 1) A non-tethered unmanned aerial vehicle cluster system is used, and ammunition is launched by an unmanned aerial vehicle to perform fire extinguishing operations, so that the fire extinguishing height can reach more than 200 m; a plurality of unmanned aerial vehicles can be continuously operated to guarantee the on-site operation time;

[0125] 2) A personnel passage is reserved in the middle of the box body, which can guarantee that the firefighters can quickly pass through to take the ammunition,

[0126] 3) The "fire extinguishing bomb + gas-liquid control bomb launching" technology is configured: the unmanned aerial vehicle launches a window breaking fire extinguishing bomb, which simultaneously achieves the effects of window breaking and fire extinguishing; the fire extinguishing bomb is divided into three types of fire powder launching, carbon dioxide gas launching and liquid fire extinguishing bomb, the fire powder launching fire extinguishing agent has the advantages of small particle size, low fire extinguishing concentration, good flow and diffusion performance, etc., and is suitable for extinguishing full submersion and local fire, and is suitable for high-rise buildings, warehouses, passenger cabins of ships and power distribution stations, etc. The principle of carbon dioxide launching is that after the window breaking enters the fire scene, the supercritical carbon dioxide is excited, the carbon dioxide gasification volume is expanded, the high-pressure carbon dioxide gas is used as the driving force, the fire extinguishing agent is quickly and efficiently dispersed into the fire extinguishing place, and the flame is extinguished by the chemical inhibition and heat absorption cooling mechanism, but if there are people trapped, it is not very suitable. The liquid fire extinguishing bomb is more suitable for parabolic form launching from high to low to the ignition point, and is more suitable for forest fire extinguishing; the ammunition diversity can guarantee the fire extinguishing area and cope with different working conditions;

[0127] 4) The whole vehicle box body is configured with a variety of ammunition carrying devices, including fire extinguishing bombs, high-pressure fire extinguishing tanks, water-based fire extinguishing bombs, smoke collecting bombs and a variety of ammunition, three fire extinguishing machines can flexibly carry different types of fire extinguishing agents such as powder, water and foam, realizing the diversification and complementarity of fire extinguishing means. The diversity of the unmanned aerial vehicle cluster operation mode,

[0128] 5) Equipped with unmanned aerial vehicle infrared guidance + AI control technology: the launcher is equipped with a laser sight, which tracks the heat source through infrared thermal imaging, and is equipped with an AI assisted aiming system to guarantee the fire extinguishing precision and realize accurate strikes.

[0129] The above merely describes a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An integrated fire truck for fire fighting in high-rise buildings, comprising a truck body, characterized in that: The front end of the vehicle body is equipped with a standing work platform, and the rear end of the vehicle body is equipped with an in-vehicle multimedia display screen. The standing work platform includes a bottom support frame, and a standing platform is provided at the upper end of the bottom support frame. A railing is set around the standing platform at the upper end of the bottom support frame. The control system of the in-vehicle multimedia display screen is connected to the vehicle electronic control system. The in-vehicle multimedia display screen also communicates with the command center. A fire ammunition storage rack is provided on the floor inside the vehicle body. Multiple drone lifting platforms are provided above the fire ammunition storage rack. The vehicle body is equipped with brackets for installing drone lifting platforms. The top of the vehicle body is equipped with a sliding door assembly that opens and closes in conjunction with the drone lifting platforms.

2. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The fire ammunition storage rack includes a support plate, and ammunition fixing seats are respectively provided on the panels on both sides of the support plate. The bottom of the support plate is connected to the bottom plate of the carriage through a slide rail. A traction rope is provided on the upper edge of the support plate. One end of the traction rope is provided with a pin perpendicular to the slide rail. Multiple limiting holes are provided on the side of the slide rail from front to back. The other end of the traction rope is provided with a handle for pulling the pin.

3. The integrated fire truck for high-rise building fire fighting according to claim 2, characterized in that: The ammunition fixing seat is a clamp, with multiple clamps evenly distributed on the panel of the support plate. The clamp has an arc-shaped groove in the middle, and the upper end of the clamp is hinged to the support frame. The fire ammunition is fixed to the support frame by the clamp and locked by its own weight.

4. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The sliding door assembly includes a slide rail assembly, a door panel, and a door panel push-pull mechanism. The slide rail assembly is respectively arranged on both sides of the door panel. The bottom of the door panel is provided with a slide rail corresponding to the slide rail assembly. A support plate is provided in the middle of the door panel. The door panel push-pull mechanism is arranged on the support plate. The door panel push-pull mechanism is parallel to the slide rails on both sides. One end of the door panel push-pull mechanism is fixed on the support plate, and the other end is connected to the door panel.

5. The integrated fire truck for high-rise building fire fighting according to claim 4, characterized in that: The door panel push-pull mechanism includes a lead screw and a motor. The motor is located at one end of the lead screw. Multiple supports are arranged on the support plate. The lead screw passes through the supports and is mounted on the support plate. A bearing that cooperates with the lead screw is located at the center of the support.

6. The integrated fire truck for high-rise building fire fighting according to claim 5, characterized in that: The door panel consists of two pieces, left and right, and the lead screw is a bidirectional drive lead screw, with both ends of the lead screw connected and fixed to the two door panels respectively.

7. The integrated fire truck for high-rise building fire fighting according to claim 4, 5, or 6, characterized in that: The bottom of the door panel is provided with a base, and the bottom of the base is provided with a sliding groove adapted to the slide rail. Multiple guide rods are arranged in parallel on the base, and the door panel is slidably connected to the base through the guide rods.

8. The integrated fire truck for high-rise building fire fighting according to claim 4, 5, or 6, characterized in that: A sealing strip is provided along the edge of the door panel where it closes.

9. The integrated fire truck for high-rise building fire fighting according to claim 8, characterized in that: The cross-sectional shape of the sealing strip includes a central protrusion and horizontal edges on both sides of the protrusion, with one side edge having a vertically downward extending side edge.

10. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The rear end of the compartment is equipped with a fixed frame, and the vehicle-mounted multimedia display screen is fixed to the rear end of the compartment through the fixed frame. A drone reconnaissance platform is set above the vehicle-mounted multimedia display screen at the rear end of the compartment, and a fence is set around the operating platform at the rear end of the compartment.

11. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The drone lifting platform is equipped with a centering device, which includes a motor control box, a stepper motor, a brake mechanism, and a limit switch. The motor control box is located at the bottom of the drone lifting platform and contains a drone detection module. The motor control box is connected to the control system via a CAN bus. The stepper motor, brake mechanism, and limit switch are located at the top of the drone lifting platform. The top of the drone lifting platform is also equipped with multiple sensors, which are located at the four corners and the center of the lifting platform. The sensors located at the four corners of the lifting platform correspond to the position directly below the drone's wings when they are deployed.

12. The integrated fire truck for high-rise building fire fighting according to claim 1 or 11, characterized in that: The drone detection module is used to determine whether the drone's wings are folded and whether the drone is parked. The detection signal is connected to the motor control box of the return-to-center device.

13. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The support frame at the bottom of the standing platform is equipped with a telescopic ladder. The inner ladder frame of the telescopic ladder is fixed to the support frame, and the inner ladder frame of the telescopic ladder is equipped with an outer ladder frame that can slide up and down.

14. The integrated fire truck for high-rise building fire fighting according to claim 1 or 13, characterized in that: The rear end of the compartment is equipped with a ladder. The upper and lower ends of the ladder are connected to the rear end of the compartment through fixed bases. The fixed base at the lower end of the ladder is also equipped with an upward inclined support base. The ladder and the compartment are inclined at an angle that is wider at the bottom and narrower at the top.

15. The integrated fire truck for high-rise building fire fighting according to claim 1, characterized in that: The drones are a drone swarm consisting of multiple drones. The drone swarm is equipped with a quick-connect ammunition device at the bottom, and the vehicle is equipped with a quick-connect drone charging box inside the compartment.

16. A rescue system for an integrated fire truck used for fire fighting in high-rise buildings, characterized in that: It includes a drone swarm take-off and recovery module, a fire extinguishing agent rapid loading module, a fire site monitoring module, an automatic target identification module, an aiming and launching operation module, a swarm intelligent command and dispatch module, a flight safety assurance module, and a power supply module.

17. The rescue system of the integrated fire truck for high-rise building fire fighting according to claim 16, characterized in that: The drone swarm take-off and recovery module is equipped with a dedicated drone lifting platform on the vehicle, achieving vehicle-machine integration and rapid drone take-off and recovery. This module can automatically open the chassis cover, automatically raise the lifting platform, automatically perform rescue operations, and accurately return the drones to base. The automatic opening of the chassis cover enables integrated vehicle-machine control. The chassis cover is equipped with a joint motion control logic system for the lifting platform and the top sliding door assembly. The lifting platform is equipped with an electric hydraulic lifting device and a safety detection sensor to prevent the drone from colliding with the chassis cover. Automated rescue operations are carried out by automatically lifting a drone to the highest point via a lift platform, and the drone takes off automatically according to the instructions of the flight control system. The drone's precise return-to-home feature has a one-click recovery function and is equipped with a centering device for fixing and quickly returning the drone to its original position, which is linked with the flight control system and the lifting platform.

18. The rescue system of the integrated fire truck for high-rise building fire fighting according to claim 16, characterized in that: The cluster intelligent command and dispatch module includes a multi-level platform linkage module, an AI intelligent assistance system module, an automatic aiming and launching module, and a UAV mutual communication module. The multi-level platform linkage module includes fire trucks and command centers, multiple command centers, and can integrate video, location, data and control technologies to provide real-time feedback of drone footage; The AI ​​intelligent assistance system module includes AI temperature sensing and labeling, and AI personnel assistance in discovery, which can identify, track, and provide rescue suggestions based on the characteristics of objects. The automatic aiming and firing module includes a launcher equipped with a laser sight that uses thermal imaging to track heat sources and achieves precise strikes by automatically identifying fire sources. The drone communication module includes reconnaissance drones and firefighting drones. The reconnaissance drones and firefighting drones can communicate with each other and carry out rescue operations in coordination according to instructions. They can operate simultaneously or in stages and continuously. The return-to-center device includes an Ethernet module and a wireless communication module. Data interaction is achieved through software protocols. The data interaction includes data interaction between the vehicle system and the flight control system, data from the vehicle system being transmitted to the drone through the flight control system, and data interaction between the vehicle system and the drone.

19. The rescue system of the integrated fire truck for high-rise building fire fighting according to claim 16 or 18, characterized in that: The automatic target recognition module can accurately identify people and objects. With the assistance of drone cameras and intelligent AI technology, it can accurately identify people and objects, providing support for rescue plans.

20. The rescue system of the integrated fire truck for high-rise building fire fighting according to claim 16, characterized in that: The fire monitoring module includes a drone system monitoring unit equipped at the rear of the vehicle, which monitors the flight status in real time. The drone's flight status is detected through the background flight control system, and it is matched with dual MCU main control and automatic cruise recovery technology for faults.

21. The rescue system of the integrated fire truck for high-rise building fire fighting according to claim 16, 18, or 20, characterized in that: The drone is equipped with dual safety features. The first safety feature is a design redundancy system with multiple motors, MCUs, and IMUs, and it is configured with both automatic and manual operation modes. The second safety feature is a matching parachute that automatically deploys in the event of a loss of control.

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