阅读说明：本技术 无人机灭火装置及灭火方法 (Unmanned aerial vehicle fire extinguishing device and fire extinguishing method ) 是由 陈武记 陈志玮 于 2018-08-14 设计创作，主要内容包括：本发明提出一种无人机灭火装置及灭火方法,灭火装置包括中央控制器、无线通信模块、热能显像仪及灭火装置。中央控制器控制无人机载具在室内环境飞行靠近火源。无线通信模块电性连接中央控制器,用于接收浓烟探测器传送的浓烟信号或接收温度探测器传送的温度信号。热能显像仪电性连接中央控制器,热能显像仪用于撷取热能图像以搜寻火源位置。灭火装置电性连接中央控制器,灭火装置设有灭火药剂,灭火装置根据热能显像仪撷取的热能图像将灭火药剂投向或喷洒火源。(The invention provides an unmanned aerial vehicle fire extinguishing device and a fire extinguishing method. The central controller controls the unmanned aerial vehicle carrier to fly close to a fire source in an indoor environment. The wireless communication module is electrically connected with the central controller and is used for receiving the dense smoke signals transmitted by the dense smoke detector or receiving the temperature signals transmitted by the temperature detector. The heat energy imaging instrument is electrically connected with the central controller and is used for capturing heat energy images to search the position of the fire source. The fire extinguishing device is electrically connected with the central controller and is provided with a fire extinguishing agent, and the fire extinguishing device throws or sprays the fire extinguishing agent to a fire source according to a heat energy image captured by the heat energy imaging instrument.)

1. The utility model provides an unmanned aerial vehicle extinguishing device, has an unmanned aerial vehicle carrier, and this unmanned aerial vehicle carrier includes a plurality of flying device for the flight path of controlling this unmanned aerial vehicle carrier is in order to be close to the fire source, and this unmanned aerial vehicle extinguishing device includes:

the central controller is used for controlling the unmanned aerial vehicle carrier to fly to be close to a fire source in an indoor environment in a plurality of flying modes;

the wireless communication module is electrically connected with the central controller and is used for receiving a dense smoke signal transmitted by a dense smoke detector and/or receiving a temperature signal transmitted by a temperature detector, and when the dense smoke signal is higher than a dense smoke default value and/or the temperature signal is higher than a temperature default value, the central controller controls the unmanned aerial vehicle carrier to fly close to a fire source;

the heat energy imaging instrument is electrically connected with the central controller and is used for capturing a heat energy image to search the position of the fire source; and

and the fire extinguishing device is electrically connected with the central controller and is provided with a fire extinguishing agent, and the fire extinguishing device throws or sprays the fire extinguishing agent to a fire source according to the heat energy image captured by the heat energy imaging instrument.

2. The fire suppression apparatus of claim 1, wherein the fire suppression apparatus directs or sprays the fire extinguishing agent toward a fire source when the thermal energy imager searches for a location of the fire source directly below the fire suppression vehicle; when the heat energy imaging instrument searches that the position of the fire source is not positioned under the unmanned aerial vehicle fire extinguishing carrier, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source in a parabolic manner; the central controller controls the unmanned aerial vehicle carrier to fly in a spiral mode, a zigzag mode, a side-following mode or a random mode.

3. The fire suppression drone of claim 1, the thermal imaging instrument having at least one wide angle lens for capturing panoramic images of the thermal energy to determine fire source location.

4. The unmanned aerial vehicle fire suppression apparatus of claim 1, further comprising:

a photographic cloud platform, this central controller of electric connection, this photographic cloud platform have a plurality of hydraulic means for the fixed orientation fire source position of the direction of the camera lens with this heat energy image display appearance.

5. The unmanned aerial vehicle fire suppression apparatus of claim 1, the unmanned aerial vehicle starts flying from a start point to search for a fire source location.

6. The fire suppression apparatus of claim 1, wherein the unmanned vehicle first flies under the smoke detector and/or the temperature detector and then searches for a fire source.

7. The unmanned aerial vehicle fire suppression apparatus of claim 4, further comprising:

an automatic charging device for providing electrical energy to the electronic components of the unmanned aerial vehicle carrier, when the automatic charging device provides electrical energy to the unmanned aerial vehicle carrier, the foot rests of the unmanned aerial vehicle carrier are automatically retracted or expanded.

8. The fire suppression drone of claim 7, wherein the automatic charging device is a wired/wireless charging device or a magnetic-type charging device.

9. The unmanned aerial vehicle fire suppression apparatus of claim 7, wherein the unmanned aerial vehicle generates a map data for an indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system; the central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data; the central controller sets the unmanned aerial vehicle to fly between a first height and a second height according to the map data, wherein the first height is adjacent to a ceiling of the indoor environment, and the second height is adjacent to a floor of the indoor environment; the central controller relatively adjusts the unmanned aerial vehicle carrier to fly between the first height and the second height according to the obstacle distribution displayed by the map data.

10. The fire suppression device of claim 1, wherein the smoke detector and the temperature detector are wirelessly or wiredly connected to a transceiver, and the transceiver transmits the smoke signal and/or the temperature signal to the wireless communication module, a mobile device or a remote control panel; the wireless communication module is used for receiving a control signal transmitted by the mobile device, and the control signal is used for controlling the flight path of the unmanned aerial vehicle carrier and the fire extinguishing device to throw or spray the fire extinguishing agent to a fire source; the fire extinguishing agent is detachably arranged on the fire extinguishing device.

11. The unmanned aerial vehicle fire suppression apparatus of claim 9, further comprising:

a detection module, this central controller of electric connection, this detection module is used for detecting this central controller, this wireless communication module, this heat energy video picture appearance, this extinguishing device, this photography cloud platform, range unit or this automatic charging device's operation function whether maintains a good state.

12. The fire-extinguishing apparatus for unmanned aerial vehicle of claim 9, wherein the wireless communication module is configured to receive a detection signal transmitted from a mobile device, and the detection signal is configured to control a base station to detect whether the operation function of the central controller, the wireless communication module, the thermal imaging instrument, the fire-extinguishing apparatus, the camera platform, the distance-measuring apparatus or the automatic charging apparatus is in a good state.

13. A fire extinguishing method for an unmanned fire extinguishing apparatus having an unmanned vehicle including a plurality of flying apparatuses for controlling a flight path of the unmanned vehicle to approach a fire source, the fire extinguishing method comprising:

a wireless communication module receives a dense smoke signal transmitted by a dense smoke detector and/or receives a temperature signal transmitted by a temperature detector, and when the dense smoke signal is higher than a dense smoke default value and/or the temperature signal is higher than a temperature default value, the central controller controls the unmanned aerial vehicle carrier to fly close to a fire source in a plurality of flying modes;

capturing a heat image by a heat imaging instrument to search the position of the fire source; and

the fire extinguishing device is used for projecting or spraying the fire extinguishing agent to a fire source according to the heat energy image captured by the heat energy imaging instrument, wherein the fire extinguishing device is provided with the fire extinguishing agent.

14. The fire extinguishing method of claim 13, wherein the fire extinguishing device directs or sprays the fire extinguishing agent toward a fire source when the thermal energy imager searches for the location of the fire source directly below the unmanned aerial vehicle fire extinguishing vehicle; when the heat energy imaging instrument searches that the position of the fire source is not positioned under the unmanned aerial vehicle fire extinguishing carrier, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source in an object throwing mode, and the central controller controls the unmanned aerial vehicle carrier to fly in a spiral mode, a zigzag mode, a side-following mode or a random mode.

15. The fire suppression method of claim 13, wherein the drone vehicle generates a map data for an indoor environment through an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system; the central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data; the central controller sets the unmanned aerial vehicle to fly between a first height and a second height according to the map data, wherein the first height is adjacent to a ceiling of the indoor environment, and the second height is adjacent to a floor of the indoor environment; the central controller relatively adjusts the unmanned aerial vehicle carrier to fly between the first height and the second height according to the obstacle distribution displayed by the map data.

16. The fire extinguishing method of claim 13, wherein the smoke detector and the temperature detector are wirelessly or wiredly connected to a transceiver, and the transceiver transmits the smoke signal and/or the temperature signal to the wireless communication module, a mobile device or a remote control panel; the wireless communication module is used for receiving a control signal transmitted by the mobile device, and the control signal is used for controlling the flight path of the unmanned aerial vehicle carrier and the fire extinguishing device to throw or spray the fire extinguishing agent to a fire source; the fire extinguishing agent is detachably arranged on the fire extinguishing device.

Technical Field

The invention relates to the field of fire extinguishing devices, in particular to an unmanned aerial vehicle fire extinguishing device and a fire extinguishing method.

Background

In the current social environment, frequent fire accidents are known from newspapers and magazines or television news, such as electric wire fire, firecracker stacking, inflammable stacking or man-made fire and the like, which can cause great damage. Therefore, how to quickly extinguish the fire source is an extremely important issue. Unmanned aerial vehicle is used for outdoor aerial shooting usually to know topography and geomorphology or meeting place number investigation. However, few solutions have been proposed in the prior art for extinguishing fires in a fire scene by unmanned aerial vehicles.

Disclosure of Invention

In view of the defects of the prior art, the invention provides an unmanned aerial vehicle fire extinguishing device and a fire extinguishing method.

The invention provides an unmanned aerial vehicle fire extinguishing device which is provided with an unmanned aerial vehicle carrier, wherein the unmanned aerial vehicle carrier comprises a plurality of flight devices and is used for controlling the flight path of the unmanned aerial vehicle carrier to be close to a fire source. Unmanned aerial vehicle extinguishing device includes central controller, wireless communication module, heat energy display appearance and extinguishing device. The central controller controls the unmanned aerial vehicle carrier to fly in an indoor environment to be close to a fire source in a plurality of flying modes. The wireless communication module electric connection central controller, the temperature signal that the wireless communication module is used for receiving the dense smoke signal of dense smoke detector conveying and/or receiving the temperature detector conveying, when dense smoke signal is higher than dense smoke default and/or temperature signal is higher than the temperature default, central controller control unmanned aerial vehicle carrier flight is close to the fire source. The heat energy imaging instrument is electrically connected with the central controller and is used for capturing heat energy images to search the position of the fire source. The fire extinguishing device is electrically connected with the central controller and is provided with a fire extinguishing agent, and the fire extinguishing device throws or sprays the fire extinguishing agent to a fire source according to a heat energy image captured by the heat energy imaging instrument.

In one embodiment, when the thermal energy imaging instrument searches that the fire source position is located right below the unmanned aerial vehicle fire extinguishing vehicle, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source. When the heat energy imaging instrument searches for the fire source position and is not located under the unmanned aerial vehicle fire extinguishing carrier, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source in a parabolic mode. The central controller controls the unmanned aerial vehicle carrier to fly in a spiral mode, a zigzag mode, a side-following mode or a random mode.

In one embodiment, the thermal imaging instrument has at least one wide-angle lens for capturing panoramic thermal images to determine the location of the fire source.

In one embodiment, the fire extinguishing apparatus for unmanned aerial vehicle further comprises:

the photographic cloud platform, electric connection central controller, photographic cloud platform have a plurality of hydraulic means for the fixed orientation fire source position of the direction of the camera lens with heat energy development appearance.

In one embodiment, the drone vehicle is flown from a starting point to search for a location of a fire source.

In one embodiment, the drone vehicle first flies under the smoke detector and/or temperature detector and then searches for a fire source.

In one embodiment, the fire extinguishing apparatus for unmanned aerial vehicle further comprises:

automatic charging device for provide the electronic component of electric energy to unmanned aerial vehicle carrier, when automatic charging device provided electric energy to unmanned aerial vehicle carrier, the foot rest of unmanned aerial vehicle carrier was packed up or was expanded automatically.

In one embodiment, the automatic charging device is a wired/wireless charging device or a magnetic-type charging device.

In one embodiment, the unmanned aerial vehicle generates map data for the indoor environment by an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. The central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data. The central controller sets the unmanned aerial vehicle to fly between a first height and a second height according to the map data, wherein the first height is adjacent to a ceiling of the indoor environment, and the second height is adjacent to a floor of the indoor environment. The central controller relatively adjusts the unmanned aerial vehicle carrier to fly between a first height and a second height according to the obstacle distribution displayed by the map data.

In one embodiment, the smoke detector and the temperature detector are connected with the transceiver wirelessly or by wire, and the transceiver transmits the smoke signal and/or the temperature signal to the wireless communication module, the mobile device or the remote control panel. The wireless communication module is used for receiving the control signal that the mobile device conveys, and control signal is used for controlling the flight path of unmanned aerial vehicle carrier and extinguishing device will put out a fire the medicament and throw or spray the fire source. The fire extinguishing agent is detachably arranged on the fire extinguishing device.

In one embodiment, the fire extinguishing apparatus for unmanned aerial vehicle further comprises:

the detection module is electrically connected with the central controller and is used for detecting whether the operation functions of the central controller, the wireless communication module, the heat energy imaging instrument, the fire extinguishing device, the photographing holder, the distance measuring device and the automatic charging device maintain a good state or not.

In one embodiment, the wireless communication module is configured to receive a detection signal transmitted by the mobile device, and the detection signal is used to control the base station of the unmanned aerial vehicle to detect whether the operation functions of the central controller, the wireless communication module, the thermal imaging instrument, the fire extinguishing device, the camera platform, the distance measuring device, and the automatic charging device are in a good state.

The invention provides a fire extinguishing method, which is suitable for an unmanned aerial vehicle fire extinguishing device and comprises an unmanned aerial vehicle carrier, wherein the unmanned aerial vehicle carrier comprises a plurality of flight devices and is used for controlling a flight path of the unmanned aerial vehicle carrier to be close to a fire source. The fire extinguishing method comprises the following steps: the central controller controls the unmanned aerial vehicle carrier to fly close to a fire source in an indoor environment in a plurality of flying modes; the wireless communication module receives a dense smoke signal transmitted by a dense smoke detector and/or receives a temperature signal transmitted by a temperature detector, and when the dense smoke signal is higher than a dense smoke default value and/or the temperature signal is higher than a temperature default value, the central controller controls the unmanned aerial vehicle carrier to fly close to a fire source; capturing a heat image by a heat imaging instrument to search the position of a fire source; and the fire extinguishing device is used for projecting or spraying fire extinguishing agent to the fire source according to the heat energy image captured by the heat energy imaging instrument, wherein the fire extinguishing device is provided with the fire extinguishing agent.

In one embodiment, when the thermal energy imaging instrument searches that the fire source position is located right below the unmanned aerial vehicle fire extinguishing vehicle, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source. When the heat energy imaging instrument searches for the fire source position and is not located under the unmanned aerial vehicle fire extinguishing carrier, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source in a parabolic mode. The central controller controls the unmanned aerial vehicle carrier to fly in a spiral mode, a zigzag mode, a side-following mode or a random mode.

In one embodiment, the unmanned aerial vehicle generates map data for the indoor environment by an ultrasonic ranging device, an optical ranging device, an infrared ranging device, a laser ranging sensor, or an indoor positioning system. The central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data. The central controller sets the unmanned aerial vehicle carrier to fly between a first height and a second height according to the map data. The first elevation is adjacent a ceiling of the indoor environment and the second elevation is adjacent a floor of the indoor environment. The central controller relatively adjusts the unmanned aerial vehicle carrier to fly between a first height and a second height according to the obstacle distribution displayed by the map data.

In one embodiment, the smoke detector and the temperature detector are connected with the transceiver wirelessly or by wire, and the transceiver transmits the smoke signal and/or the temperature signal to the wireless communication module, the mobile device or the remote control panel. The wireless communication module is used for receiving the control signal that the mobile device conveys, and control signal is used for controlling the flight path of unmanned aerial vehicle carrier and extinguishing device will put out a fire the medicament and throw or spray the fire source. The fire extinguishing agent is detachably arranged on the fire extinguishing device.

By the aid of the unmanned aerial vehicle fire extinguishing device, when the wireless communication module receives that a dense smoke signal is higher than a dense smoke default value and/or a temperature signal is higher than a temperature default value, the central controller controls the unmanned aerial vehicle carrier to fly close to a fire source. The wide-angle lens of the heat energy imaging instrument is used for capturing heat energy images or a shooting holder to search the position of a fire source. Then the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source so as to quickly and accurately extinguish the fire source. The central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data, sets the unmanned aerial vehicle carrier to fly between a first height and a second height according to the map data, and dynamically adjusts the accuracy of the unmanned aerial vehicle carrier flying indoors. In addition, whether the function of the electronic component of the unmanned aerial vehicle carrier is perfect or not is automatically detected through the detection module or the received detection signal, and the functionality is increased.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a block schematic diagram of an unmanned aerial vehicle fire extinguishing apparatus according to an embodiment of the present invention;

fig. 2 is a block diagram of a fire extinguishing apparatus for an unmanned aerial vehicle according to another embodiment of the present invention;

fig. 3 is a flowchart of a method according to an embodiment of the invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				1	Unmanned aerial vehicle extinguishing device	140	Fire extinguishing device
2	Unmanned aerial vehicle extinguishing device	150	Photographic head
				100	Unmanned aerial vehicle carrier	160	Distance measuring device
110	Central controller	170	Detection module
				120	Wireless communication module	200	Automatic charging device
130	Heat energy imaging instrument

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a block schematic diagram of a fire extinguishing apparatus for an unmanned aerial vehicle according to an embodiment of the invention. The unmanned aerial vehicle fire extinguishing apparatus 1 has an unmanned aerial vehicle carrier 100. The drone vehicle 100 includes a plurality of flying devices, which may be, for example, propellers, for controlling the flight path of the drone vehicle 100 to approach a fire source and extinguish a fire. Unmanned aerial vehicle carrier 100 includes central controller 110, wireless communication module 120, heat energy image appearance 130, extinguishing device 140, photographic cloud platform 150, range unit 160 and detection module 170. The central controller 110 is electrically connected to the wireless communication module 120, the thermal energy imager 130, the fire extinguishing device 140, the camera platform 150, the distance measuring device 160, and the detection module 170.

The central controller 110 is configured to control the drone vehicle 100 to fly in the indoor environment to approach the fire source in a plurality of flight modes. The wireless communication module 120 is configured to receive a smoke signal transmitted by a smoke detector and/or receive a temperature signal transmitted by a temperature detector, for example, the smoke detector may be a smoke detector, and the temperature detector may be a temperature sensor. When the smoke signal is above the smoke default and/or the temperature signal is above the temperature default, the central controller 110 controls the drone vehicle 100 to fly close to the fire source. For example, when the smoke signal is higher than the smoke default value, the central controller 110 controls the drone vehicle 100 to fly close to the fire source. When the temperature signal is higher than the temperature default value, the central controller 110 controls the drone vehicle 100 to fly close to the fire source. When the smoke signal is higher than the smoke default and the temperature signal is higher than the temperature default, the central controller 110 may control the unmanned aerial vehicle carrier 100 to accelerate to fly close to the fire source.

The thermal image generator 130 is used for capturing a thermal image to search for the location of the fire source, for example, the thermal image can be used to distinguish the location of the fire source by different colors on the image. The fire extinguishing device 140 is provided with a fire extinguishing agent, and the fire extinguishing device 140 projects or sprays the fire extinguishing agent to the fire source according to the heat energy image captured by the heat energy imaging instrument 130. Further, the fire extinguishing device 140 may direct or spray the fire extinguishing agent toward the fire source according to the color of the thermal image captured by the thermal imager 130. Fire extinguishing agents generally refer to various fire extinguishing substances or materials, for example, fire extinguishing agents may be fire extinguishing bombs or a substitute for a sea dragon.

When the thermal energy imaging instrument 130 searches that the location of the fire source is located right below the unmanned aerial vehicle fire extinguishing vehicle 100, the fire extinguishing device 140 throws or sprays the fire extinguishing agent toward the fire source. The fire extinguishing device 140 may include one or more automatic switches, and when the thermal imaging instrument searches for the location of the fire source, the fire extinguishing device 140 opens the automatic switch and directs or sprays the fire extinguishing agent toward the fire source. When the thermal energy display instrument 130 searches that the fire source is not located under the unmanned aerial vehicle fire extinguishing vehicle 100, the fire extinguishing device 140 throws or sprays the fire extinguishing agent toward the fire source in a parabolic manner. Further, when the location of the fire source is not directly below the unmanned aerial vehicle fire suppression vehicle 100, the fire suppression device 140 directs or sprays the fire suppression agent at an oblique angle toward the fire source. Central controller 110 controls drone vehicle 100 through a plurality of flight modes including spiral flight, zig-zag flight, edge-following flight, or random flight. Further, the spiral flight is that the flight direction of the drone carrier 100 is spiral, the zigzag flight is that the flight direction of the drone carrier 100 is english Z, the edge-following flight is that the flight direction of the drone carrier 100 surrounds the edge of an indoor wall, and the random flight is that the flight direction of the drone carrier 100 is random.

The thermal imaging instrument 130 has at least one wide-angle lens (not shown) for capturing panoramic thermal images to determine the location of the fire source. For example, a wide-angle lens may be used to capture 180-360O thermal images to determine the location of the fire source. The photographing cradle head 150 has a plurality of hydraulic devices for fixing the direction of the lens of the thermal energy imaging instrument 130 toward the fire source position. Further, the drone vehicle 100 may determine the location of the fire source through the wide-angle lens of the thermal imaging instrument 130, and the drone vehicle 100 may also determine the location of the fire source through the hydraulic device of the photography cloud deck 150.

The drone carrier 100 may fly from a starting point to search for a location of a fire source, for example, the starting point of the drone carrier 100 may be a center point or corner of an indoor environment. The drone vehicle 100 first flies below the smoke detector and/or temperature detector and then searches for a fire source. For example, the drone vehicle 100 may first fly under a smoke detector and then search for a fire source. The drone vehicle 100 may also fly below the temperature detector first and then search for a fire source. The drone vehicle 100 may also fly to the lower side of the proximity smoke detector and temperature detector before searching for a fire source.

Referring to fig. 2, fig. 2 is a block diagram of a fire extinguishing apparatus for an unmanned aerial vehicle according to another embodiment of the present invention. Fire extinguishing device 2 includes unmanned aerial vehicle carrier 100 and automatic charging device 200. Automatic charging device 200 is used for providing the electronic component of electric energy to unmanned aerial vehicle carrier 100, and when automatic charging device 200 provided electric energy to unmanned aerial vehicle carrier 100, the foot rest of unmanned aerial vehicle carrier 100 was packed up or was expanded automatically. For example, when drone carrier 100 receives electrical energy, the foot rests of drone carrier 100 may be automatically stowed away to save the use space of drone carrier 100. For example, the automatic charging device 200 is a wired/wireless charging device or a magnetic-type charging device. The automatic charging device 200 may be an inductive charging device or a magnetic resonance charging device.

Referring back to fig. 1, drone vehicle 100 includes a ranging device 160. For example, the distance measuring device 160 may be an ultrasonic distance measuring device, an optical distance measuring device, an infrared distance measuring device, a laser distance measuring sensor, or an indoor positioning system. Unmanned aerial vehicle carrier 100 can produce map data to indoor environment through ultrasonic ranging device, optical ranging device, infrared ranging device, laser ranging sensor or indoor positioning system, relatively speaking, unmanned aerial vehicle carrier 100 can produce the electronic gate according to map data, and the electronic gate is for example a virtual door and window structure to make unmanned aerial vehicle carrier 100 not fly to outdoor environment. The central controller 110 may relatively limit the flight path of the unmanned aerial vehicle carrier 100 according to the door and window or obstacle distribution displayed by the map data, prohibit the unmanned aerial vehicle carrier 100 from hitting a ceiling, an obstacle, or a wall, and also prohibit the unmanned aerial vehicle carrier 100 from falling down the floor. The central controller 110 sets the unmanned aerial vehicle 100 to fly between a first height and a second height according to the map data, for example, the first height is adjacent to a ceiling of the indoor environment, the second height is adjacent to a floor of the indoor environment, the second height may be adjacent to the ceiling of the indoor environment, and the first height may be adjacent to the floor of the indoor environment. The central controller 110 relatively adjusts the unmanned aerial vehicle 100 to fly between the first height and the second height according to the obstacle distribution displayed by the map data. For example, the central controller 110 dynamically adjusts the unmanned aerial vehicle 100 to fly between a first height and a second height according to the beam-column distribution displayed by the map data.

The smoke concentration detector and the temperature detector of the unmanned aerial vehicle carrier 100 are wirelessly or wiredly connected with the transceiver, the transceiver can be built in the unmanned aerial vehicle carrier 100, and the transceiver can also be positioned on the ceiling of the indoor environment. The transceiver transmits the smoke and/or temperature signals to the wireless communication module 120, the mobile device, or a remote control panel, such as a security center, a government agency, or a fire department reporting center. The mobile device may be a tablet computer, a smart watch, a smart phone, or a notebook computer of the user. Wireless communication module 120 is used for receiving the control signal that the mobile device transmitted, and control signal is used for controlling unmanned aerial vehicle carrier 100's flight path and extinguishing device to throw or spray fire extinguishing agent to the fire source, and for example, the user can download the software of controlling unmanned aerial vehicle carrier 100 through the mobile device, is used for controlling unmanned aerial vehicle carrier 100 to fly to the fire source position and sprays a large amount of fire extinguishing agent in order to put out a fire rapidly. The fire extinguishing agent is detachably disposed on the fire extinguishing apparatus 140, so that the user can conveniently install the fire extinguishing agent, replace the fire extinguishing agent, or directly use the fire extinguishing agent manually.

The detection module 170 is used to detect whether the operation functions of the central controller 110, the wireless communication module 120, the thermal energy display instrument 130, the fire extinguishing apparatus 140, the photographing platform 150, the distance measuring apparatus 160 and the automatic charging apparatus 200 are maintained in a good state. When the detection module 170 detects an abnormal operation of at least one of the central controller 110, the wireless communication module 120, the thermal imaging instrument 130, the fire extinguishing device 140, the camera platform 150, the distance measuring device 160 and the automatic charging device 200, a maintenance signal may be transmitted to the mobile device of the user through the wireless communication module 120. In addition, the wireless communication module 120 is configured to receive a detection signal transmitted by the mobile device, and the detection signal is used to control an unmanned aerial vehicle base station (not shown) to detect whether the operation functions of the central controller 110, the wireless communication module 120, the thermal imaging instrument 130, the fire extinguishing device 140, the photographing platform 150, the distance measuring device 160, and the automatic charging device 200 are in a good state.

Fig. 3 is a method flow diagram of a method of extinguishing a fire in accordance with an embodiment of the present invention. The fire extinguishing method provided by the invention is suitable for an unmanned aerial vehicle fire extinguishing device, and comprises an unmanned aerial vehicle carrier, wherein the unmanned aerial vehicle carrier comprises a plurality of flight devices and is used for controlling the flight path of the unmanned aerial vehicle carrier to be close to a fire source. In step S301, a smoke concentration signal transmitted by a smoke concentration detector and/or a temperature signal transmitted by a temperature detector is received by the wireless communication module. In step S303, when the smoke signal is higher than the smoke default and/or the temperature signal is higher than the temperature default, the central controller controls the unmanned aerial vehicle to fly close to the fire source. In step S305, a thermal image is captured by the thermal imaging instrument to search for the location of the fire source. In step S307, the fire extinguishing apparatus projects or sprays the fire extinguishing agent to the fire source according to the thermal image captured by the thermal imaging instrument, wherein the fire extinguishing apparatus is provided with the fire extinguishing agent.

Wherein, when the heat energy image display appearance searches that the fire source position is located unmanned aerial vehicle carrier of putting out a fire under, extinguishing device will put out a fire the medicament and throw or spray the fire source. When the heat energy imaging instrument searches for the fire source position and is not located under the unmanned aerial vehicle fire extinguishing carrier, the fire extinguishing device throws or sprays the fire extinguishing agent to the fire source in a parabolic mode. Fire extinguishing agents generally refer to various fire extinguishing substances or materials, for example, fire extinguishing agents may be fire extinguishing bombs or a substitute for a sea dragon. The central controller controls the unmanned aerial vehicle carrier to fly in a spiral mode, a zigzag mode, a side-following mode or a random mode. Wherein, the unmanned aerial vehicle carrier passes through ultrasonic ranging device, optics range unit, infrared ray range unit, laser ranging sensor or indoor positioning system to indoor environment production map data. The central controller relatively limits the flight path of the unmanned aerial vehicle carrier according to the door and window distribution displayed by the map data. The central controller sets the unmanned aerial vehicle to fly between a first height and a second height according to the map data, wherein the first height is adjacent to a ceiling of the indoor environment, and the second height is adjacent to a floor of the indoor environment. The central controller relatively adjusts the unmanned aerial vehicle carrier to fly between a first height and a second height according to the obstacle distribution displayed by the map data. The dense smoke detector and the temperature detector are in wireless connection or in wired connection with the transceiver, and the transceiver transmits dense smoke signals and/or temperature signals to the wireless communication module, the mobile device or the remote control panel. The wireless communication module is used for receiving the control signal that the mobile device conveys, and control signal is used for controlling the flight path of unmanned aerial vehicle carrier and extinguishing device will put out a fire the medicament and throw or spray the fire source. The fire extinguishing agent is detachably arranged on the fire extinguishing device.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.