CN115430084B - High-rise building indoor rescue system and use method thereof - Google Patents
High-rise building indoor rescue system and use method thereof Download PDFInfo
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- CN115430084B CN115430084B CN202211109506.7A CN202211109506A CN115430084B CN 115430084 B CN115430084 B CN 115430084B CN 202211109506 A CN202211109506 A CN 202211109506A CN 115430084 B CN115430084 B CN 115430084B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B3/00—Devices or single parts for facilitating escape from buildings or the like, e.g. protection shields, protection screens; Portable devices for preventing smoke penetrating into distinct parts of buildings
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/05—Nozzles specially adapted for fire-extinguishing with two or more outlets
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/22—Nozzles specially adapted for fire-extinguishing specially adapted for piercing walls, heaped materials, or the like
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The invention discloses an indoor rescue system for a high-rise building, which comprises a flight control unit, a main transportation unit, a main control unit, a monitoring unit and a rescue unit, wherein the flight control unit is used for controlling the flight control unit to perform the main transportation; the flight control unit controls the main transportation unit and the rescue unit to move to the designated positions; the flight control unit comprises a movable platform, a main comprehensive pipeline, a lifting platform, a power assembly and a first jet lifting assembly; the main transportation unit comprises a branch comprehensive pipeline, a main transportation bin and a second air injection lifting assembly; the rescue unit comprises a movable support frame, an auxiliary comprehensive pipeline, a third air injection lifting assembly, a window breaking gun, a fire extinguishing gun, a mechanical claw and a cutter; the monitoring unit comprises a gyroscope, a camera, a distance sensor and a smoke measuring instrument. The system can rapidly convey rescue equipment or professional rescue personnel to the position of a fire disaster for rescue without depending on crawling equipment, can be applied to rescue operation of variable cross-section buildings, is high in rescue efficiency, reduces property loss caused by the fire disaster, and is high in practicability and wide in application prospect.
Description
Technical Field
The invention relates to the technical field of fire rescue devices, in particular to an indoor rescue system for a high-rise building and a using method thereof.
Background
The existing fire-fighting and fire-extinguishing rescue modes of modern urban buildings are generally divided into two categories, wherein the first category is fire-fighting facilities of the buildings, and the second category is professional fire-fighting and rescue depending on external assistance. First building self fire protection: in the initial stage of fire, the fire can be quickly extinguished and rescued, but if the fire is too large and exceeds the fire extinguishing capability, the fire department of the second type of external aid needs to be relied on for professional extinguishment and rescue. The adoption of an external rescue system for fire-fighting and fire-extinguishing rescue also has certain defects, for example, when the fire position is too high, most of the conventional aerial ladders for fire fighting have the rescue height of about 40-50 meters, and the maximum rescue height of only a few aerial ladders for fire fighting is about 100 meters, so the aerial ladders for fire fighting are expensive and inconvenient to carry; at present, a lot of vehicles are parked on the road surface, a lot of fire fighting channels are occupied by the vehicles parked in disorder, and the roads of some fire scene are too narrow, so that fire fighting aerial ladder vehicles and the like can not be close to the fire scene for rescue in time; the adopted fire rescue helicopters (and other aircrafts) cannot directly approach to windows of buildings from the horizontal direction to rescue people or convey fire fighter equipment and the like to enter the buildings to extinguish fire, and the existing problems seriously affect fire rescue operation and control on fire behavior of fire scene.
Disclosure of Invention
The invention aims to provide an indoor rescue system for a high-rise building and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
an indoor rescue system for a high-rise building comprises a flight control unit, a main transportation unit, a main control unit, a monitoring unit and a rescue unit; the flight control unit controls the main transportation unit and the rescue unit to move to specified positions, the main transportation unit drives the rescue unit to perform flight movement, and the main transportation unit and the rescue unit are used for performing rescue operation;
the flight control unit comprises a movable platform, a main comprehensive pipeline, a lifting platform, a power assembly and a first jet lifting assembly; the power assembly comprises a ducted fan and a power supply, the ducted fan is used for providing flight power for the first air injection lifting assembly, the main transportation unit and the rescue unit, the power supply is used for supplying power for the main control unit and the rescue unit, and the ducted fan and the power supply are both arranged on the movable platform; the main comprehensive pipeline comprises a main air pipe, a main comprehensive cable and a main fire extinguishing pipe, one end of the main air pipe is hermetically connected with the ducted fan, the other end of the main air pipe is hermetically connected with the main transportation unit, the main comprehensive cable is electrically connected with the power supply, the main control unit and the rescue unit, and a fire extinguishing agent is arranged in the main fire extinguishing pipe; the lifting platform is arranged at one end of the main air pipe, the first air injection lifting assembly is arranged on the lifting platform and comprises an air valve, an air nozzle and a regulator, the air valve and the regulator are arranged on the air nozzle, the air valve is used for controlling the air injection amount of the air nozzle, and the regulator is used for regulating the air injection direction of the air nozzle;
the main transportation unit comprises a branch comprehensive pipeline, a main transportation bin and a second jet lifting assembly, one end of the branch comprehensive pipeline is arranged on the lifting platform, the branch comprehensive pipeline comprises a gas distribution pipe, a branch comprehensive cable and a branch fire extinguishing pipe, the gas distribution pipe, the branch comprehensive cable and the branch fire extinguishing pipe are respectively connected with the main gas pipe, the main comprehensive cable and the main fire extinguishing pipe in a sealing mode, and the main transportation bin is arranged at one end of the gas distribution pipe; the second air injection lifting assembly is arranged on the main transportation cabin and is used for lifting the main transportation cabin;
the rescue unit comprises a movable support frame, an auxiliary comprehensive pipeline, a third air injection lifting assembly, a window breaking gun, a fire extinguishing gun, a mechanical claw and a cutter; the auxiliary comprehensive pipeline comprises an auxiliary air pipe, an auxiliary comprehensive cable and an auxiliary fire extinguishing pipe, the auxiliary air pipe, the auxiliary comprehensive cable and the auxiliary fire extinguishing pipe are respectively connected with the air distribution pipe, the sub comprehensive cable and the sub fire extinguishing pipe in a sealing mode, and the other end of the auxiliary air pipe is connected with the third air injection lifting assembly in a sealing mode; the third air injection lifting assembly is arranged on the movable support frame and used for lifting the movable support frame; the window breaking gun is movably arranged at the tail end of the movable support frame through a first swing assembly, the fire extinguishing gun is movably arranged at the front end of the movable support frame through a second swing assembly, and the mechanical claw and the cutter are arranged on the movable support frame through a mechanical arm;
the monitoring unit comprises a gyroscope, a camera, a distance sensor and a smoke measuring instrument, the gyroscope is used for detecting the position and posture information of the movable support frame, the camera is used for shooting a real-time picture on site, the distance sensor is used for measuring the distance between the front end of the movable support frame and an obstacle, and the smoke measuring instrument is used for measuring the smoke concentration on the rescue site;
the main control unit is arranged on the ground, electrically connected with the flight control unit, the main transportation unit, the monitoring unit and the rescue unit, and used for controlling rescue operation of the high-rise building indoor rescue system and displaying real-time rescue pictures.
Preferably, the movable platform comprises a carrying vehicle and a mounting bracket, one end of the ducted fan is hinged to the mounting bracket, and the other end of the ducted fan is adjustably mounted on the carrying vehicle through a hydraulic cylinder; the power supply is arranged on the carrier loader and is a generator or a battery.
Preferably, the number of the air nozzles in the first air injection lifting assembly is four, the four air nozzles are respectively arranged at the corners of the lifting platform, and the air valve and the regulator are arranged on each air nozzle.
Preferably, the regulator comprises a universal joint, and a first driving motor and a second driving motor which are arranged on the universal joint, and output shafts of the first driving motor and the second driving motor are respectively in power connection with two rotating shafts of the universal joint.
Preferably, the main transportation bin comprises a bin body, a first bin door movably arranged on one side of the bin body, a fence arranged on the top of the bin body and a second bin door arranged on the top of the bin body, and the bottom of the first bin door is hinged with the bin body through a hinge.
Preferably, the bottoms of the main transportation bin and the lifting platform are provided with supporting legs; a plurality of auxiliary nozzles are arranged on the main transport bin and the lifting platform, and the auxiliary nozzles are connected with the main air pipe or the air distribution pipe through electromagnetic valves.
Preferably, the movable support frame is further provided with a telescopic assembly, the front end of the telescopic assembly is provided with a rescue bag, and a safety strap and a hook are arranged in the rescue bag.
Preferably, the mechanical arm comprises a first power motor, a second power motor, a first connecting rod, a second connecting rod, a first swing motor and a second swing motor, one end of the first swing motor is fixedly mounted on the movable support frame, an output shaft of the first swing motor can drive the first power motor to swing, and an output shaft of the first power motor is connected with the first connecting rod and used for driving the first connecting rod to rotate; the other end of the first connecting rod is fixedly provided with the second power motor, and an output shaft of the second power motor is in power connection with the second connecting rod and is used for driving the second connecting rod to rotate; the other end of the second connecting rod is provided with the second swing motor, and an output shaft of the second swing motor is connected with the mechanical claw and the cutter and used for adjusting the positions of the mechanical claw and the cutter.
Preferably, the main air pipe is formed by hermetically splicing a plurality of sections of air pipe units, and the diameters of the air pipe units are sequentially reduced from one end of the ducted fan to one end of the lifting platform; a plurality of auxiliary fire extinguishing guns are arranged on the main transport bin and the lifting platform, and are communicated with the main fire extinguishing pipes or the sub fire extinguishing pipes.
A use method of an indoor rescue system of a high-rise building comprises the following steps:
firstly, rescue preparation, namely moving the system to a fire scene through a carrier loader, opening a main comprehensive pipeline, and checking whether a monitoring unit and a rescue unit are in normal states;
secondly, rescue is implemented, the main transportation unit, the monitoring unit and the rescue unit are transported to the height of a fire occurrence point of the high-rise building through the flight control unit, then the main transportation unit is controlled to transport the rescue unit to the fire occurrence point, the rescue unit is used for breaking a window and removing obstacles to enter a room for fire extinguishing and rescue operation, and the monitoring unit is matched with the rescue operation and transmits a scene picture of the fire to the main control unit in real time; the main transportation unit can horizontally approach to an ignition point to carry out fire extinguishing and rescue operation, and trapped people are directly rescued through a window of a building or fire fighters are directly sent into a room through the window of the building to carry out fire extinguishing and rescue operation;
and step three, recovering the device, and gradually recovering the main transportation unit, the monitoring unit and the rescue unit to the ground through the flight control unit after the rescue is finished, so as to recover the initial state.
According to the invention, the main transportation unit can horizontally approach to a fire point to carry out fire extinguishing and rescuing operation, trapped people can be directly rescued out through a window of a building or fire fighters can be directly sent into a room through the window of the building to carry out fire extinguishing and rescuing operation, the arranged rescuing unit can enter the room to carry out fire extinguishing and rescuing operation, wherein a window breaking gun can emit shot to break and disassemble the window or a glass curtain wall, so that the system can provide a convenient condition for entering the room; the fire extinguishing gun can extinguish fire of an indoor ignition point, and is beneficial to rescue operation of the system; the mechanical claw can grab some more important finances or guide the direction of the trapped person; the cutter can cut off doors or other barriers in the room, and provides convenient conditions for indoor walking of the device. The arranged mechanical arm can adjust the positions and postures of the mechanical claw and the cutter, and the operability is high.
Adopt the duct fan as the main power of promotion, it sets up subaerial, and the lift process need not creep along building outer wall or other vertical supporting structure, directly transports rescue unit to the position that takes place for the conflagration, does not receive building structure and the time limit of ignition point height, has stronger adaptability. The flight attitude and the height of the whole structure can be controlled by the arranged first jet lifting assembly, the second jet lifting assembly and the third jet lifting assembly, and the whole position attitude of the device can be conveniently adjusted. The movable platform can drive the rescue unit to move indoors, so that the mobility of the device is improved, and the indoor large-area rescue operation is facilitated.
The monitoring unit can acquire the position and the posture of the movable platform and the distance information between the movable platform and the obstacle, and can shoot a scene real-time picture, so that an operator can know the real-time condition of a fire scene and can conveniently perform rescue operation. The arranged main control unit is arranged on the ground, so that an operator can conveniently perform rescue operation on the ground, and the safety is better.
The main transportation unit that sets up can be transported rescue unit horizontal direction for have certain safe distance between main comprehensive pipeline and the building body, can also improve the adaptability to the building body of variable cross section, strengthen rescue operation's ability under the complex environment, avoided main comprehensive pipeline and the building body object on the outer wall to contact each other, improve the security of operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a partial structure of a flight control unit according to the present invention;
FIG. 3 is a partial schematic view of the present invention;
FIG. 4 is a schematic structural view of a main transport unit according to the present invention;
FIG. 5 is a schematic view of a first jet lift assembly according to the present invention;
FIG. 6 is a schematic sectional view of the main integrated piping structure of the present invention;
FIG. 7 is a schematic view of a rescue unit according to the present invention;
FIG. 8 is a schematic structural view of the rescue unit of the present invention in a working state;
FIG. 9 is a schematic view of the gas circuit connection of the present invention;
in the figure: 1. a flight control unit; 2. a main transport unit; 3. a main control unit; 4. a monitoring unit; 5. a rescue unit; 6. supporting legs; 7. an auxiliary nozzle; 8. a fire extinguishing nozzle; 9. a retractable assembly; 10. a movable platform; 11. a main integrated pipeline; 12. lifting the platform; 13. a power assembly; 14. a first jet lift assembly; 20. dividing a comprehensive pipeline; 21. a main transport bin; 22. a second jet lift assembly; 40. a gyroscope; 41. a camera; 42. a distance sensor; 43. a smoke measuring instrument; 50. a movable support frame; 51. an auxiliary integrated pipeline; 52. a third jet lift assembly; 53. a window breaking gun; 54. a fire extinguishing gun; 55. a gripper; 56. a cutter; 57. a mechanical arm; 90. a rescue bag; 100. a carrier loader; 101. mounting a bracket; 102. a hydraulic cylinder; 110. a main air pipe; 111. a main composite cable; 112. a main fire extinguishing pipe; 113. a fire barrier layer; 130. a ducted fan; 131. a power source; 140. an air valve; 141. an air tap; 142. a regulator; 143. a universal joint; 144. a first drive motor; 145. a second drive motor; 210. a bin body; 211. a first bin gate; 212. a fence; 213. a second door; 570. a first power motor; 571. a second power motor; 572. a first link; 573. a second link; 574. a first swing motor; 575. a second swing motor.
Detailed Description
The invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 9, the indoor rescue system for high-rise buildings comprises a flight control unit 1, a main transportation unit 2, a main control unit 3, a monitoring unit 4 and a rescue unit 5. The flight control unit 1 controls the main transportation unit 2 and the rescue unit 5 to move to the specified positions, the main transportation unit 2 controls the rescue unit 5 to move transversely, and the rescue unit 5 is used for rescue operation.
The flight control unit 1 comprises a movable platform 10, a main integrated pipeline 11, a lifting platform 12, a power assembly 13 and a first jet lifting assembly 14. The power assembly 13 comprises a ducted fan 130 and a power supply 131, the ducted fan 130 is used for providing flight power for the first air injection lifting assembly 14, the main transportation unit 2 and the rescue unit 5, the power supply 131 is used for supplying power for the main control unit 3 and the rescue unit 5, and the ducted fan 130 and the power supply 131 are both installed on the movable platform 10. In one embodiment, the movable platform 10 includes a carrier vehicle 100 and a mounting bracket 101, one end of the ducted fan 130 is hinged to the mounting bracket 101 through a shaft, the other end of the ducted fan 130 is mounted on the carrier vehicle 100 through a hydraulic cylinder 102 with an adjustable angle, and when the expansion amount of the hydraulic cylinder 1022 is adjusted, the inclination angle of the air inlet of the ducted fan 130 can be adjusted. The power source 131 is fixedly mounted on the carrier 100, and the power source 131 is a lead-acid battery, a lithium battery or a generator, but it is also possible to use electricity in a fire scene power grid. The user can manipulate the cart 100 to move the system quickly.
The main integrated pipeline 11 comprises a main air pipe 110, a main integrated cable 111 and a main fire extinguishing pipe 112, one end of the main air pipe 110 is connected with an air outlet of the ducted fan 130 in a sealing mode, the other end of the main air pipe 110 is connected with the main transportation unit 2 in a sealing mode, specifically, a tee joint is arranged on the lifting platform 12, an air inlet end of the tee joint is connected with the main air pipe 110 in a sealing mode, the tee joint is provided with two air outlet ends, one air outlet end is connected with the first air injection lifting assembly 14 in a sealing mode, and the other air outlet end is connected with a gas distribution pipe in the branch integrated pipeline 20 in a sealing mode. Main composite cable 111 and power 131, main control unit 3 and rescue unit 5 electric connection are equipped with the fire extinguishing agent in main fire extinguishing pipe 112, and the one end of main fire extinguishing pipe 112 is connected with high-pressure fire extinguishing equipment, and accessible high-pressure fire extinguishing equipment fills the fire extinguishing agent to main fire extinguishing pipe 112, realizes carrying the fire extinguishing agent to the high altitude. In one embodiment, the main air pipe 110 is formed by hermetically splicing multiple sections of air pipe units, the diameters of the multiple air pipe units are sequentially reduced from one end of the ducted fan 130 to one end of the lifting platform 12, that is, the diameter of the top end is smaller than that of the bottom end, and the gas pressure at the top can be ensured to be sufficiently large by adopting the reducing arrangement. The outside winding of main comprehensive pipeline 11 sets up flame retardant coating 113, and this flame retardant coating 113 is high strength fiber canvas, and high strength fiber canvas is with main trachea 110, main cable 111 and the main fire tube 112 of putting out a fire closely winding, improves main comprehensive pipeline 11's fire behavior and wearability. During the in-service use, 11 windings of main pipeline of synthesizing on the spool under the normality, expand main pipeline of synthesizing 11 by the spool during use, and can adjust main pipeline of synthesizing 11's length according to the height of transportation, or set up the main pipeline of synthesizing 11 of different length and choose for use. When the height of the fire point exceeds 1000m, the number of the first jet lifting units 14 can be increased on the main integrated pipeline 11, and the flying capability is improved.
Lifting platform 12 fixed mounting is in the one end of main trachea 110, and first jet-propelled lifting unit 14 fixed mounting is on lifting platform 12, and first jet-propelled lifting unit 14 includes pneumatic valve 140, air cock 141 and modulator 142, all is equipped with pneumatic valve 140 and modulator 142 on every air cock 141, and pneumatic valve 140 is used for controlling the gas injection volume of air cock 141, and modulator 142 is used for adjusting the jet-propelled direction of air cock 141. In one embodiment, four air nozzles 141 are provided in the first air jet lift assembly 14, and four air nozzles 141 are respectively provided at four corners of the lift platform 12, and the air nozzles 141 are normally disposed downward. In one embodiment, the controller 142 includes a universal joint 143, and a first driving motor 144 and a second driving motor 145 disposed on the universal joint 143, wherein output shafts of the first driving motor 144 and the second driving motor 145 are respectively in power connection with two rotating shafts of the universal joint 143. The first driving motor 144 and the second driving motor 145 can also be in power connection with two rotating shafts of the universal joint 143 through gears. The air injection amount and direction of the air nozzle 141 are controlled by adjusting the rotation amounts of the first driving motor 144 and the second driving motor 145, so that the adjustment of the flying height and direction is realized.
The main transportation unit 2 comprises a branch comprehensive pipeline 20, a main transportation bin 21 and a second jet lifting assembly 22, one end of the branch comprehensive pipeline 20 is fixedly mounted on the lifting platform 12, the branch comprehensive pipeline 20 comprises a gas distribution pipe, a branch comprehensive cable and a branch fire extinguishing pipe, the gas distribution pipe, the branch comprehensive cable and the branch fire extinguishing pipe are respectively connected with a main gas pipe 110, a main comprehensive cable 111 and a main fire extinguishing pipe 112 in a sealing mode, and the main transportation bin 21 is fixedly mounted at one end of the gas distribution pipe. The second air injection lifting assembly 22 is fixedly arranged on the main transportation cabin 21 and used for lifting the main transportation cabin 21. The specific structure of the second air-jet lifting assembly 22 is the same as that of the first air-jet lifting assembly 14, and four air nozzles 141 in the second air-jet lifting assembly 22 are also arranged, and are respectively arranged at four corners of the main transport bin 21. In one embodiment, the main transport bin 21 comprises a bin body 210, a first bin door 211 movably mounted at one side of the bin body 210, a fence 212 arranged at the top of the bin body 210, and a second bin door 213 arranged at the top of the bin body 210, wherein the bottom of the first bin door 211 is hinged with the bin body 210 through a hinge. When the first door 211 and the second door 213 are closed, the cabin 210 has a space for enclosing, which is convenient for the controlled person to evacuate, and the controlled person can enter the cabin 210 through the first door 211 and/or the second door 213. The provision of the pens 212 provides containment for personnel located at the top of the cartridge body 210. When the first door 211 is opened at 90 °, the first door 211 can be used as a bridge, and when the first door 211 is opened at 180 °, the cartridge body 210 can be directly attached to the surface of a building.
The supporting feet 6 are fixedly arranged at the bottom of the main transportation bin 21 and the bottom of the lifting platform 12. A plurality of auxiliary nozzles 7 are arranged on the main transport bin 21 and the side surface of the lifting platform 12, and the auxiliary nozzles 7 are connected with the main air pipe 110 or the air distribution pipe through electromagnetic valves. Specifically, four auxiliary nozzles 7 are respectively arranged on the left and right side surfaces of the main transport bin 21, and four auxiliary nozzles 7 are respectively arranged on the left and right side surfaces of the lifting platform 12. A plurality of fire extinguishing nozzles 8 are fixedly installed on both the main transport bin 21 and the lifting platform 12, and the plurality of fire extinguishing nozzles 8 are communicated with the main fire extinguishing pipes 112 or the sub fire extinguishing pipes.
The window breaking gun 53 is movably mounted on the top of the tail end of the movable support frame 50 through a first swing assembly, and the window breaking gun can 20 shoot a shot to break and disassemble a window or a glass curtain wall. One end of the fire extinguishing gun 54 is connected with the auxiliary fire extinguishing pipe in a sealing manner, the fire extinguishing gun 54 is movably mounted on the top of the front end of the movable support frame 50 through a second swing assembly, and the fire extinguishing gun 54 can extinguish fire at an indoor ignition point. The gripper 55 and cutter 56 are mounted on the movable support 50 by a robotic arm 57. The gripper 55 and the cutter 56 are disposed opposite to each other via a link. Specifically, the first swing assembly and the second swing assembly are both motors, and the first swing assembly and the second swing assembly respectively adjust the operation directions of the window breaking gun 53 and the fire extinguishing gun 54. In one embodiment, the robot arm 57 includes a first power motor 570, a second power motor 571, a first link 572, a second link 573, a first swing motor 574 and a second swing motor 575, wherein one end of the first swing motor 574 is fixedly mounted on the top of the moveable supporting frame 50, an output shaft of the first swing motor 574 can drive the first power motor 570 to swing, and an output shaft of the first power motor 570 is connected to the first link 572 for driving the first link 572 to rotate. A second power motor 573 is fixedly arranged at the other end of the first connecting rod 572, and an output shaft of the second power motor 571 is connected with the second connecting rod power 573 and used for driving the second connecting rod 573 to rotate. The other end of the second link 573 is fixedly mounted with a second swing motor 575, and an output shaft of the second swing motor 575 is connected with the gripper 55 and the cutter 56 for adjusting the positions of the gripper 55 and the cutter 56.
The movable support frame 50 is composed of a support frame and a driving wheel installed on the support frame, and the forward and backward movement of the movable support frame 50 is controlled by controlling the rotation of the driving wheel. In one embodiment, a telescopic assembly 9 is also fixedly arranged on the bottom of the front end of the movable support frame 50, a rescue bag 90 is fixedly arranged at the front end of the telescopic assembly 9, and a safety harness and a hook are arranged in the rescue bag 90. Specifically, scalable subassembly 9 is the screw-nut linear motion pair, and scalable subassembly 9 includes the screw of fixed mounting on portable support frame 50 bottom, ann lead screw and the drive lead screw pivoted motor on the screw, and motor slidable mounting is on controlling platform 1 bottom, and the one end rotatable mounting of lead screw is on rescue package 9, and when the motor got the electricity and drives the lead screw rotation, lead screw and motor fore-and-aft slip (the motion of lead screw is for rotating and move forward or backward) under the effect of screw. In the actual rescue process, the trapped people in the fire scene can be hung from the building by the main transport bin to escape after the people can wear the safety braces in the rescue bag 9.
The monitoring unit 4 comprises a gyroscope 40, a camera 41, a distance sensor 42 and a smoke measuring instrument 43, wherein the gyroscope 40 is used for detecting the position and posture information of the movable support frame 50, the camera 41 is used for shooting a real-time scene picture, the distance sensor 42 is used for measuring the distance between the front end of the movable support frame 50 and an obstacle, and the smoke measuring instrument 43 is used for measuring the smoke concentration of a rescue scene. The monitoring unit 4 transmits the detected information to the main control unit 3 for an operator to observe, know rescue information and arrange the next rescue work.
The main control unit 3 is arranged on the ground, the main control unit 3 is electrically connected with the flight control unit 1, the main transportation unit 2, the monitoring unit 4 and the rescue unit 5, and the main control unit 3 is used for controlling rescue operation of the high-rise building indoor rescue system and displaying real-time rescue pictures.
The use method of the indoor rescue system for the high-rise building as shown in fig. 1 to 9 comprises the following steps:
the first step is rescue preparation, the system is moved to a fire scene through a carrier loader 100, the main comprehensive pipeline 11 is opened, whether the monitoring unit 4 and the rescue unit 5 are in a normal state or not is checked, and the next operation is carried out after all the components are confirmed to be in normal filling.
And step two, rescue is implemented, namely the main transportation unit 2, the monitoring unit 4 and the rescue unit 5 are transported to the same height with the fire occurrence point of the high-rise building through the flight control unit 1. Then the main transportation unit 2 is controlled to convey the rescue unit 5 to the floor where the fire occurs, the window is broken and obstacles are removed through the parts in the rescue unit 5 to enter the room, then fire extinguishing and rescue operation are carried out, the monitoring unit 4 is matched with the rescue operation and transmits the scene picture of the fire to the main control unit 3 in real time, and an operator adjusts the rescue operation in real time according to the feedback information. Of course, when the ignition point is close to the outdoor, the main transportation unit 5 can be directly close to the position corresponding to the ignition point, the fire extinguishing and rescuing operation can be carried out through the rescuing equipment and the personnel installed on the main transportation unit 5, the trapped personnel can be directly rescued through the window of the building, or the fire fighting personnel can be sent into the room through the window of the building to carry out the fire extinguishing and rescuing operation.
And step three, recovering the device, gradually recovering the main transportation unit 2, the monitoring unit 4 and the rescue unit 5 to the ground through the flight control unit 1 after rescue is finished, recovering the initial state, transporting the system away through the carrier loader 100, and waiting for next rescue.
The above embodiments are merely several illustrations of the concept and implementation of the present invention, and do not limit the present invention, and the technical solutions that are not substantially changed are still within the protection scope under the present invention.
Claims (10)
1. The indoor rescue system for the high-rise building is characterized in that: the system comprises a flight control unit, a main transportation unit, a main control unit, a monitoring unit and a rescue unit; the flight control unit controls the main transportation unit and the rescue unit to move to specified positions, the main transportation unit drives the rescue unit to perform flight movement, and the main transportation unit and the rescue unit are used for performing rescue operation;
the flight control unit comprises a movable platform, a main comprehensive pipeline, a lifting platform, a power assembly and a first jet lifting assembly; the power assembly comprises a ducted fan and a power supply, the ducted fan is used for providing flight power for the first air injection lifting assembly, the main transportation unit and the rescue unit, the power supply is used for supplying power for the main control unit and the rescue unit, and the ducted fan and the power supply are both arranged on the movable platform; the main comprehensive pipeline comprises a main air pipe, a main comprehensive cable and a main fire extinguishing pipe, one end of the main air pipe is hermetically connected with the ducted fan, the other end of the main air pipe is hermetically connected with the main transportation unit, the main comprehensive cable is electrically connected with the power supply, the main control unit and the rescue unit, and a fire extinguishing agent is arranged in the main fire extinguishing pipe; the lifting platform is arranged at one end of the main air pipe, the first air injection lifting assembly is arranged on the lifting platform and comprises an air valve, an air nozzle and a regulator, the air valve and the regulator are arranged on the air nozzle, the air valve is used for controlling the air injection quantity of the air nozzle, and the regulator is used for regulating the air injection direction of the air nozzle;
the main transportation unit comprises a branch comprehensive pipeline, a main transportation bin and a second air injection lifting assembly, one end of the branch comprehensive pipeline is arranged on the lifting platform, the branch comprehensive pipeline comprises an air distribution pipe, a branch comprehensive cable and a branch fire extinguishing pipe, the air distribution pipe, the branch comprehensive cable and the branch fire extinguishing pipe are respectively connected with the main air pipe, the main comprehensive cable and the main fire extinguishing pipe in a sealing mode, and the main transportation bin is arranged at one end of the air distribution pipe; the second air injection lifting assembly is arranged on the main transport bin and is used for lifting the main transport bin;
the rescue unit comprises a movable support frame, an auxiliary comprehensive pipeline, a third air injection lifting assembly, a window breaking gun, a fire extinguishing gun, a mechanical claw and a cutter; the auxiliary comprehensive pipeline comprises an auxiliary air pipe, an auxiliary comprehensive cable and an auxiliary fire extinguishing pipe, the auxiliary air pipe, the auxiliary comprehensive cable and the auxiliary fire extinguishing pipe are respectively connected with the air distribution pipe, the branch comprehensive cable and the branch fire extinguishing pipe in a sealing mode, and the other end of the auxiliary air pipe is connected with the third air injection lifting assembly in a sealing mode; the third air injection lifting assembly is arranged on the movable support frame and used for lifting the movable support frame; the window breaking gun is movably arranged at the tail end of the movable support frame through a first swing assembly, the fire extinguishing gun is movably arranged at the front end of the movable support frame through a second swing assembly, and the mechanical claw and the cutter are arranged on the movable support frame through a mechanical arm;
the monitoring unit comprises a gyroscope, a camera, a distance sensor and a smoke measuring instrument, the gyroscope is used for detecting the position and posture information of the movable support frame, the camera is used for shooting a field real-time picture, the distance sensor is used for measuring the distance between the front end of the movable support frame and an obstacle, and the smoke measuring instrument is used for measuring the smoke concentration of a rescue field;
the main control unit is arranged on the ground, electrically connected with the flight control unit, the main transportation unit, the monitoring unit and the rescue unit, and used for controlling rescue operation of the high-rise building indoor rescue system and displaying real-time rescue pictures.
2. An indoor rescue system for a high-rise building according to claim 1, characterized in that: the movable platform comprises a carrying vehicle and a mounting bracket, one end of the ducted fan is hinged to the mounting bracket, and the other end of the ducted fan is adjustably mounted on the carrying vehicle through a hydraulic cylinder; the power supply is arranged on the carrier loader and is a generator or a battery.
3. An indoor rescue system for a high-rise building according to claim 1, characterized in that: the four air nozzles in the first air injection lifting assembly are arranged at the corners of the lifting platform respectively, and the air valve and the regulator are arranged on each air nozzle.
4. An indoor rescue system for a high-rise building according to claim 1 or 3, characterized in that: the regulator comprises a universal joint, and a first driving motor and a second driving motor which are arranged on the universal joint, wherein output shafts of the first driving motor and the second driving motor are respectively in power connection with two rotating shafts of the universal joint.
5. The high-rise building indoor rescue system according to claim 1, characterized in that: the main transportation bin comprises a bin body, a first bin door movably arranged on one side of the bin body, a fence arranged on the top of the bin body and a second bin door arranged on the top of the bin body, wherein the bottom of the first bin door is hinged with the bin body through a hinge.
6. The high-rise indoor rescue system according to claim 1 or 5, characterized in that: supporting legs are arranged at the bottoms of the main transportation bin and the lifting platform; a plurality of auxiliary nozzles are arranged on the main transport bin and the lifting platform, and the auxiliary nozzles are connected with the main air pipe or the air distribution pipe through electromagnetic valves.
7. The high-rise building indoor rescue system according to claim 1, characterized in that: the movable support frame is further provided with a telescopic assembly, the front end of the telescopic assembly is provided with a rescue bag, and a safety belt and a hook are arranged in the rescue bag.
8. An indoor rescue system for a high-rise building according to claim 7, characterized in that: the mechanical arm comprises a first power motor, a second power motor, a first connecting rod, a second connecting rod, a first swing motor and a second swing motor, one end of the first swing motor is fixedly mounted on the movable supporting frame, an output shaft of the first swing motor can drive the first power motor to swing, and an output shaft of the first power motor is connected with the first connecting rod and used for driving the first connecting rod to rotate; the other end of the first connecting rod is fixedly provided with the second power motor, and an output shaft of the second power motor is in power connection with the second connecting rod and is used for driving the second connecting rod to rotate; the other end of the second connecting rod is provided with the second swing motor, and an output shaft of the second swing motor is connected with the mechanical claw and the cutter and used for adjusting the positions of the mechanical claw and the cutter.
9. An indoor rescue system for a high-rise building according to claim 1 or 8, wherein: the main air pipe is formed by hermetically splicing a plurality of sections of air pipe units, and the diameters of the air pipe units are sequentially reduced from one end of the ducted fan to one end of the lifting platform; and a plurality of auxiliary fire extinguishing guns are arranged on the main transport bin and the lifting platform, and are communicated with the main fire extinguishing pipes or the sub fire extinguishing pipes.
10. A method for using the high-rise indoor rescue system of any one of claims 1 to 9, comprising the steps of:
firstly, rescue preparation, namely moving the system to a fire scene through a carrier loader, opening a main comprehensive pipeline, and checking whether a monitoring unit and a rescue unit are in normal states;
secondly, rescue is implemented, the main transportation unit, the monitoring unit and the rescue unit are transported to the height of a fire occurrence point of the high-rise building through the flight control unit, then the main transportation unit is controlled to transport the rescue unit to the fire occurrence point, the rescue unit is used for breaking a window and removing obstacles to enter a room for fire extinguishing and rescue operation, and the monitoring unit is matched with the rescue operation and transmits a scene picture of the fire to the main control unit in real time; the main transportation unit can horizontally approach to an ignition point to carry out fire extinguishing and rescue operation, and trapped people are directly rescued through a window of a building or fire fighters are directly sent into a room through the window of the building to carry out fire extinguishing and rescue operation;
and step three, recovering the device, and gradually recovering the main transportation unit, the monitoring unit and the rescue unit to the ground through the flight control unit after the rescue is finished, so as to recover the initial state.
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