CN107161328B - Projectile type disaster rescue and fire extinguishing unmanned aerial vehicle - Google Patents
Projectile type disaster rescue and fire extinguishing unmanned aerial vehicle Download PDFInfo
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- CN107161328B CN107161328B CN201710285907.0A CN201710285907A CN107161328B CN 107161328 B CN107161328 B CN 107161328B CN 201710285907 A CN201710285907 A CN 201710285907A CN 107161328 B CN107161328 B CN 107161328B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
- B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention relates to a projectile type disaster rescue and fire extinguishing unmanned aerial vehicle which is characterized by comprising an unmanned aerial vehicle body, a projectile device, a visual aiming, a visual navigation and sensing device, a broadband wireless transmission device and a ground teleoperation control device; the missile throwing device, the visual aiming device, the visual navigation and sensing device, the encoding and decoding module of the broadband wireless transmission device and the signal receiving and transmitting antenna are arranged on the unmanned aerial vehicle body; the ground teleoperation control device is independent of the unmanned aerial vehicle body, transmits an operation instruction to the aircraft through a wireless signal, and simultaneously receives and displays sensor information sent back by the unmanned aerial vehicle; and the ground signal receiving and transmitting antenna of the broadband wireless transmission device is connected with the ground teleoperation control device. The projectile-type disaster rescue and fire extinguishing unmanned aerial vehicle provided by the invention utilizes the advantages of a teleoperation vertical take-off and landing unmanned aerial vehicle to load disaster rescue goods or fire extinguishing bombs to fly to a disaster site, and the onboard aiming device and the projectile throwing device are used for accurately throwing the fire extinguishing bombs to realize fire extinguishing or throwing the rescue goods to implement rescue.
Description
Technical Field
The invention relates to an aircraft, in particular to a projectile type disaster rescue and fire extinguishing unmanned aerial vehicle.
Background
With the explosion development of the unmanned aerial vehicle industry, various unmanned aerial vehicle systems are invented and used for realizing different task operations. Unmanned vehicles are classified according to appearance and flight principles, and there are three main types: fixed wing, helicopter, many rotors. Wherein fixed wing section unmanned aerial vehicle can't VTOL and hover, helicopter and many rotor unmanned aerial vehicle all can VTOL and hover.
Many rotor unmanned aerial vehicle, also known as multiaxis aircraft, including 4 rotor unmanned aerial vehicle, 6 rotor unmanned aerial vehicle and 8 rotor unmanned aerial vehicle etc. a plurality of identical rotors of characterized by rotate in opposite directions in pairs, produce lift. Simultaneously, the speed difference between the different rotors produces the inclination of unmanned aerial vehicle to ground to produce rotatory and forward, backward flight. Therefore, the control principle of the multi-rotor unmanned aerial vehicle is simple, and the four rocker levers of the controller operate the front and back, left and right, up and down and the movement in the yaw direction of the corresponding aircraft. In the aspect of an autopilot, the control method of the autopilot of the multi-rotor unmanned aerial vehicle is simple, and the parameter adjustment of the controller is also simple. Many rotor unmanned aerial vehicle simple structure, control is simple, easily teleoperation.
The basic feature of an unmanned helicopter is that it has one or a pair of large rotors, the area of which rotors is much larger than the total area of the rotors of a multi-rotor unmanned helicopter, and therefore its load capacity and endurance are much larger than that of a multi-rotor unmanned helicopter, and its efficiency is also higher than that of a multi-rotor unmanned helicopter. The size of the rotor wing of the common helicopter can be increased relatively conveniently, the diameter is large, the efficiency is high, and large load and high stability can be realized. The maximum load of the current helicopter can reach dozens of tons. However, there are movable mechanical connection parts between the rotor and the shaft of the helicopter, which results in complex control of the helicopter, complex flight control algorithm and great difficulty in teleoperation.
The above unmanned aerial vehicles have a vertical take-off and landing feature, and have been widely used in various fields. However, as the remote operation of the unmanned aerial vehicle requires overall design from a flight control system of the unmanned aerial vehicle to various aspects such as wireless communication, a remote operation interactive system, an interface and the like, and the situation of a fire disaster or other disaster sites is complicated, at present, no disaster rescue and fire extinguishing unmanned aerial vehicle for the fire disaster or other disaster sites exists.
Disclosure of Invention
The invention aims to provide a projectile type disaster rescue and fire extinguishing unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a fire extinguishing bomb or rescue material projectile feeding device, a visual aiming device, a visual navigation and sensing device, a broadband wireless transmission device, a ground remote operation control device and the like.
The vertical take-off and landing unmanned aerial vehicle body is a multi-rotor unmanned aerial vehicle or an unmanned helicopter, provides a flight body for a teleoperation fire-extinguishing and rescue aircraft, and provides a flight carrying body for a launching device, a sighting device and the like; the airborne power supply provides energy for the whole flight system, and the flight control subsystem, the teleoperation subsystem, the missile throwing subsystem and the like of the unmanned aerial vehicle. The onboard power supply is generally a power supply device with relatively high energy density, such as a lithium ion battery, a hydrogen stack engine, and the like. The unmanned aerial vehicle body on install illumination and signal lamp, wherein the signal lamp is with certain frequency scintillation, and the light is used for flying night for personnel near teleoperation personnel and the aircraft are easily observed.
The visual aiming, visual navigation and sensing device at least comprises a distance measuring sensor, an infrared/visible light visual sensor, a temperature sensor, a wind speed sensor and other sensors, and is additionally provided with a sensor for observing and measuring a fire or disaster site according to actual needs.
The broadband wireless communication device comprises an airborne coding module, a signal transmitting module, a decoding module and a receiving module on the ground, and is used for transmitting sensor information such as vision and the like to a teleoperation control subsystem on the ground after being coded, so that ground operators can master the field situation in real time, and meanwhile, operation information on the ground is also transmitted to an aircraft after being coded and used for operating and controlling the whole aircraft and system.
The ground teleoperation control device comprises a control lever for controlling, various operation switches and one or more display screens, wherein the display screens are used for displaying field videos transmitted back by the vision sensors, field conditions transmitted back by the sensors such as temperature and wind speed, and information such as the attitude, the flying speed, the course, the position and the state of an airborne power supply of the aircraft transmitted back by the aircraft body sensors. One configuration mode of the ground teleoperation control device is that the ground teleoperation control device is installed on a professional vehicle, and the roof of the ground teleoperation control device can provide a takeoff and landing place for the teleoperation aircraft, so that a ground transportation tool is provided for the teleoperation aircraft. The ground teleoperation control device is configured in a manner that the teleoperation device and the detachable battery are integrated into a special suitcase, so that rapid transportation is realized, and after the battery is taken out, the teleoperation device can be shipped in a common aviation manner.
After a disaster such as a fire disaster occurs, the teleoperation disaster rescue and fire extinguishing aircraft system is transported to a relatively safe place near the disaster or the fire scene through a road, an airplane and the like, after the system is unfolded and installed, the ground teleoperation control device is electrified firstly, after self-checking is correct, the aircraft is electrified, after the aircraft passes the self-checking, the teleoperation device and the aircraft are connected, loads such as disaster rescue goods and materials or fire extinguishing bombs can be loaded on the aircraft, the aircraft enters a take-off preparation state, a warning lamp of the aircraft begins to flash, and if the aircraft is in a night navigation state, a marker lamp of the aircraft is also started at the same time.
And operating the aircraft to take off and execute disaster rescue or fire extinguishing tasks by the trained teleoperators. During the takeoff phase of the aircraft, the lift rotor wing gradually accelerates to provide lift force of the aircraft, and the flight control system controls the stability and the posture of the aircraft according to needs. As the speed of the lifting rotor increases, the aircraft rises vertically from the ground, flying to the disaster site. Meanwhile, airborne optical and temperature sensors begin to transmit field situation and flight state information back to the ground teleoperation control device through wireless communication after being encrypted by an airborne computer. In the task execution stage, after the flight vehicle arrives at the site, the teleoperation personnel adopt the airborne aiming device to aim at the target and launch rescue goods or fire extinguishing bombs. Because the aircraft carries a plurality of rescue goods or fire extinguishing bombs, the remote operation personnel can repeatedly throw the rescue goods or fire extinguishing bombs according to the needs, and the operation of flying one frame, multi-point rescue or fire extinguishing is realized.
After the rescue or fire extinguishing task is carried out, the aircraft flies back to the designated place. In the landing stage, the lifting rotor gradually reduces the speed, and the aircraft vertically lands to the ground from the air along with the reduction of the rotating speed of the lifting rotor without sliding or using equipment such as a parachute. After the aircraft descends, new rescue goods or fire extinguishing bombs are loaded through loading fuel or replacing batteries, and then the tasks can be executed again.
The invention discloses a teleoperation disaster rescue and fire-extinguishing vertical take-off and landing aircraft system, which integrates an intelligent flight control algorithm, a teleoperation algorithm, an aircraft body, a rescue load, a fire-extinguishing load, a communication coder and decoder, a ground teleoperation device and the like into a whole to realize the teleoperation rescue and fire-extinguishing system. The teleoperation aircraft can be used for hanging various loads and performing various tasks such as disaster rescue, fire extinguishment, battlefield support and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
(1) a projectile type disaster rescue and fire extinguishing unmanned aerial vehicle comprises an unmanned aerial vehicle body (capable of taking off and landing vertically), a projectile device (used for launching rescue materials or fire extinguishing projectiles), a visual aiming device, a visual navigation and sensing device, a broadband wireless transmission device and a ground teleoperation control device; the missile throwing device, the visual aiming device, the visual navigation and sensing device, the encoding and decoding module of the broadband wireless transmission device and the signal receiving and transmitting antenna are arranged on the unmanned aerial vehicle body; the ground teleoperation control device is independent of the unmanned aerial vehicle body, transmits an operation instruction to the aircraft through a wireless signal, and simultaneously receives and displays sensor information sent back by the unmanned aerial vehicle; the ground signal receiving and transmitting antenna of the broadband wireless transmission device is connected with the ground teleoperation control device, and signals of the ground teleoperation control device are coded and decoded by a signal coding and decoding module in the ground teleoperation control device and then communicated with the unmanned aerial vehicle body.
(2) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle is characterized in that the unmanned aerial vehicle body is a four-axis or six-axis or eight-axis multi-rotor unmanned aerial vehicle which can take off and land vertically, and a flight carrying body is provided for the projectile device, the visual aiming, the visual navigation and sensing device, the encoding and decoding module of the broadband wireless transmission device, the signal receiving and transmitting antenna and the like.
(3) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle is characterized in that the unmanned aerial vehicle body is an unmanned helicopter composed of a single rotor wing or double rotor wings and a tail rotor wing, and provides a flight carrying body for the rescue goods or fire extinguishing bomb projectile throwing device, the visual aiming, the visual navigation and sensing device, the encoding and decoding module of the broadband wireless transmission device, the signal receiving and transmitting antenna and the like.
(4) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle according to any one of (1) to (3), wherein the unmanned aerial vehicle body comprises an onboard power supply and an undercarriage, the onboard power supply is generally a power supply device with high energy density, such as a lithium ion battery, a hydrogen stack engine and the like, and the onboard power supply provides energy for a flight body, a flight control subsystem, a teleoperation subsystem, a projectile subsystem and the like; VTOL unmanned aerial vehicle body on install illumination and signal lamp, wherein the signal lamp is with certain frequency scintillation, and the light is used for flying night for personnel near teleoperation personnel and aircraft easily observe.
(5) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle comprises a main body, a plurality of unmanned aerial vehicles, a plurality of projectile type disaster rescue and fire extinguishing unmanned aerial vehicles, a plurality of mounting brackets, a plurality of fire extinguishing devices and a plurality of fire extinguishing devices, wherein the projectile type disaster rescue and fire extinguishing unmanned aerial vehicles are arranged in the main body, the fire extinguishing devices.
(6) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle according to any one of (1) to (5), wherein the projectile device comprises a streamline fairing, a suspension hook and an electromagnetic switch; the streamline fairing is of a streamline hollow thin-wall structure and is used for reducing wind resistance and providing waterproof and windproof protection for an electromagnetic switch, a fire extinguishing bomb and the like in the streamline fairing; the suspension hook and the electromagnetic switch are arranged in the streamline fairing; the fire extinguishing bomb or the rescue goods and materials are arranged in the streamline fairing and hung on a hanging hook controlled by the electromagnetic switch, after receiving a transmitting instruction, the electromagnetic switch controls the hanging hook to be loosened, and the rescue goods and materials or the fire extinguishing bomb fall off from the hanging hook and vertically fall to a place aimed by a remote operator.
(7) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle comprises the unmanned aerial vehicle, wherein the visual aiming, visual navigation and sensing device at least comprises a distance measuring sensor, an infrared/visible light visual sensor, a temperature sensor or an air speed sensor, and other sensors for observing and measuring a fire disaster or a disaster site can be additionally arranged according to actual needs, are arranged on the unmanned aerial vehicle body and are powered by an airborne power supply of the unmanned aerial vehicle body; the signal that multiple sensor acquireed send the information processing module in the unmanned aerial vehicle body in, after compression and code, send ground teleoperation device in through airborne wireless communication module.
(8) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle comprises the projectile type disaster rescue and fire extinguishing unmanned aerial vehicle according to any one of (1) to (7), wherein the broadband wireless communication device comprises an airborne coding and decoding module, a signal amplification and receiving module, an airborne antenna, a coding and decoding module, a signal amplification and receiving module and a ground antenna in a ground teleoperation control device.
(9) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle according to any one of (1) to (8), wherein the airborne antenna and the ground antenna are omnidirectional antennas and are used for short-distance broadband communication within hundreds of meters between the unmanned aerial vehicle body and the ground teleoperation control device; the broadband wireless communication device is used for coding sensor information such as vision and the like and then sending the coded sensor information to the teleoperation control subsystem on the ground, so that ground operators can master the field situation in real time, and meanwhile, the coded operation information on the ground is sent to the aircraft and is used for operating and controlling the whole aircraft and system.
(10) According to the projectile type disaster rescue and fire extinguishing unmanned aerial vehicle in any one of the steps (1) to (9), the airborne antenna and the ground antenna are automatic tracking directional antennas, and the direction of the directional antennas is automatically adjusted according to the GPS position of the ground antenna and the current GPS position of the unmanned aerial vehicle body, so that the airborne antenna and the ground antenna always keep a face-to-face communication state. The airborne antenna and the ground antenna are automatic tracking directional antennas and are used for long-distance broadband communication between the unmanned aerial vehicle body and the ground teleoperation control device within tens of kilometers; the broadband wireless communication device is used for coding sensor information such as vision and the like and then sending the coded sensor information to the teleoperation control subsystem on the ground, so that ground operators can master the field situation in real time, and meanwhile, the coded operation information on the ground is sent to the aircraft and is used for operating and controlling the whole aircraft and system.
(11) The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle comprises the unmanned aerial vehicle, and is characterized in that the ground teleoperation control device comprises an operating lever, an operating switch and a display screen, wherein the display screen is used for displaying field videos transmitted back by the vision sensor, information such as the attitude, the flight speed, the course, the position and the onboard power state of the aircraft transmitted back by the aircraft body sensor, and field conditions transmitted back by sensors such as the temperature and the wind speed transmitted back by other sensors.
(12) According to the projectile type disaster rescue and fire extinguishing unmanned aerial vehicle in any one of the items (1) to (11), the ground remote operation control device and the detachable battery are integrally integrated in the suitcase, so that the rapid transportation is realized, and after the battery is taken out, the remote operation device can be shipped in a common aviation mode.
(13) According to the projectile type disaster rescue and fire extinguishing unmanned aerial vehicle in any one of the steps (1) to (12), the ground teleoperation control device is installed in a carriage of the special vehicle, the roof of the special vehicle provides a take-off and landing place for the teleoperation aircraft, the vehicle-mounted power supply provides a power supply for the ground teleoperation device, and the vehicle provides a ground transportation tool for the projectile type disaster rescue and fire extinguishing unmanned aerial vehicle.
The projectile type disaster rescue and fire extinguishing unmanned aerial vehicle provided by the invention is an aerial disaster rescue and fire extinguishing system which is composed of parts such as vertical take-off and landing unmanned aerial vehicle carrying, high-bandwidth communication, ground teleoperation control and the like, expands disaster rescue from the ground to the air, and can be used for high-rise rescue and fire extinguishing which are difficult to reach on the ground, forest fire, or sea surface accident rescue and fire extinguishing and the like. According to the teleoperation scheme adopted by the invention, the downlink sensor information and the uplink operation instruction are transmitted by adopting an encryption algorithm and a broadband, so that the efficiency and the anti-interference performance of uplink and downlink signal transmission are ensured. The device for throwing the rescue goods and the fire extinguishing bomb provided by the invention is a universal device, and can be used for throwing various rescue and fire extinguishing goods and materials such as the fire extinguishing bomb and the like. The horizontal projectile device pushed by the rocket can also be provided with a window breaker, is used for breaking glass curtain walls, glass windows and the like during high-rise rescue, and is beneficial to high-rise rescue and escape.
In the prior art, the operation of a multi-rotor unmanned aerial vehicle or a helicopter is carried out visually, the multi-rotor unmanned aerial vehicle or the helicopter can only be used in a visual range, and the encrypted broadband transmission of downlink sensor information and uplink teleoperation information is not available, so that the method is essentially different from the technology disclosed by the invention. In the prior art, a fire truck on the ground and a rescue helicopter in the air are operated by people, and the technology of the invention is essentially different from the technology of the invention.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIGS. 1-A and 1-D are schematic top views of a six-rotor disaster rescue and fire extinguishing unmanned aerial vehicle with six projectile devices;
fig. 1-B is a schematic top view of a six-rotor disaster relief and fire suppression drone with three projectile apparatus;
fig. 1-C is a schematic top view of a six-rotor disaster relief and fire suppression drone with four projectile apparatus;
fig. 2 is a schematic front view of a six-rotor disaster relief and fire suppression drone with six projectile throwing devices;
FIG. 3 is a schematic side view of a six-rotor disaster relief and fire suppression drone with six projectile launchers;
FIG. 4 is a schematic top view of a helicopter disaster relief, fire suppression drone having six projectile apparatus;
FIG. 5 is a schematic view of a front view of a helicopter disaster relief, fire suppression drone having six projectile apparatus;
FIG. 6 is a schematic side view of a helicopter disaster relief, fire suppression drone having six projectile apparatus;
fig. 7 is a schematic structural diagram of the teleoperation platform.
In the figure, 1 is an unmanned aerial vehicle body, 2 is an unmanned aerial vehicle rotor wing, 3 is an airborne power supply, 4 is a visual aiming, visual navigation and sensing device, 5 is a projectile throwing device, 6 is an undercarriage, 9 is an electronic control trigger mechanism in the projectile throwing device, 11 is a communication antenna, 13 is a pattern transmission antenna, 12 and 14 are display screens which respectively display field video and flight parameters of the aircraft; 15 is a flight control key; 16 is a liftable aircraft operating handle, and 17 is a flight control knob; 18 is a traveling case; and 19 is a projectile device mounting bracket.
Detailed Description
Example 1: six-rotor projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle
As shown in fig. 1-a, 1-B, 1-C, 1-D, 2, 3, and 7, a six-rotor projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, six unmanned aerial vehicle rotors 2, and an undercarriage 6; the airborne power supply 3 provides power for the flight of the whole unmanned aerial vehicle body, the teleoperation of an aircraft system, communication and the like; the visual aiming, visual navigation and sensing device 4 provides downward-looking video images and target aiming for teleoperation shooting, so that a teleoperator can accurately shoot according to the site video and the aiming device; the missile throwing devices 5 are fixed on the arms of the unmanned aerial vehicle body, and two to six missile throwing devices (shown in figure 1-A) can be hung in pairs according to the load of the unmanned aerial vehicle, or three missile throwing devices (shown in figure 1-B), four missile throwing devices (shown in figure 1-C) or six missile throwing devices (shown in figure 1-D) are fixed between the two arms; the projectile device is fixed between two adjacent machine arms through a mounting bracket 19 (shown in figures 1-A, 1-B and 1-C) or directly mounted on the machine arms (shown in figures 1-D); the mounting bracket 19 is used for mounting a projectile device and also used for enhancing the strength of the arm of the multi-axis unmanned aerial vehicle, so that the overall strength and load of the unmanned aerial vehicle are improved; a fairing is arranged outside the bomb-throwing device and used for reducing flight resistance, an electric control trigger mechanism 9 is arranged in the bomb-throwing device, and the bomb-throwing device can be opened according to a command of teleoperation to release fire extinguishing bombs or rescue substances; the teleoperation platform comprises a communication antenna 11 and an image transmission antenna 13 and is used for respectively transmitting video images and flight parameters of the unmanned aerial vehicle system; live video and drone flight data returned from the live and drone are displayed on display screens 12 and 14, respectively; the remote operation platform is integrated in the traveling case 18, a battery is arranged in the remote operation platform, and the remote operation platform provides a power supply for the whole operation platform and is convenient to transport; various flight control keys 15 are arranged in the teleoperation platform box body; liftable aircraft operating handle 16, and flight control knob 17 for control to unmanned aerial vehicle and projectile apparatus.
The specific control method of the six-rotor projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle is as follows:
(1) and (3) system transportation: due to the uncertainty of disaster occurrence, the flight distance and flight time of the unmanned aerial vehicle body are limited. Therefore, before rescue is really implemented, the six-rotor projectile teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle needs to be transported to a place near a site safely and with a wide field, few air obstacles and easy taking-off and landing of the aerial vehicle by other vehicles, and the unmanned aerial vehicle is unfolded and deployed to wait for the completion of self-checking of the system.
(2) Rescue flight: after the teleoperator waits for the system to finish self-check and all the systems are normal, the teleoperator starts to charge or rescue goods and materials for the six-rotor-wing projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle, and for the unmanned aerial vehicle in the mode of the graph 1-A, as the rescue goods and materials suspension device is positioned on the arm, the rescue goods and materials are suspended in pairs, and the aircrafts are automatically thrown in pairs; for the unmanned aerial vehicle in the mode of fig. 1-B, as the rescue goods suspension device is positioned between the two arms, the rescue goods must be automatically and simultaneously released in three times; the remote operator enters a take-off operation program after checking that no fault exists.
(3) Teleoperation flight: after confirming that all the systems are normal and defining the GPS coordinates of the flight destination and the rescue task, the remote operator slowly pushes the accelerator of the aircraft to enable the aircraft to take off slowly, further checks that all the video images, flight parameters and the like returned by the aircraft are normal, flies the aircraft to a specified height and does not reach the rescue place, puts in fire extinguishing bombs or rescue goods according to the video images and the aiming place returned by the aircraft, and meanwhile flies away from the site in time after confirmation.
(4) Multiple flights: after the teleoperator finishes the task, confirming that all the systems are normal, loading fire extinguishing or rescue goods for the unmanned aerial vehicle again, updating system energy, determining the GPS coordinate of the flight destination and the rescue task again, slowly pushing the accelerator of the aircraft to enable the aircraft to take off slowly, further checking that all the video images, flight parameters and the like returned by the aircraft are normal, flying the aircraft to a specified height and not reaching the rescue place, putting fire extinguishing bombs or rescue goods according to the video images and the aiming place returned by the aircraft, and simultaneously flying away from the site in time after confirmation.
The traditional multi-rotor unmanned aerial vehicle is operated by a remote controller, does not have the functions of bomb shooting, real-time video transmission, teleoperation and the like, does not form a teleoperation flying bomb shooting system, and is completely different from the aspects of the constitution principle, the bomb shooting principle and the like of the six-rotor bomb shooting type teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle.
The traditional ground fire scene rescue or fire extinguishing robot is operated by a remote controller, does not have the functions of flying bomb projection, real-time video transmission, teleoperation and the like, does not form a teleoperation flying bomb projection system, and is completely different from the aspects of the six-rotor projectile throwing type teleoperation disaster rescue and fire extinguishing vertical take-off and landing unmanned aerial vehicle, such as the composition principle, the projectile principle and the like.
Example 2: helicopter projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle
As shown in fig. 4, 5, 6, and 7, a helicopter projectile-throwing teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, an unmanned aerial vehicle rotor 2, and an undercarriage 6; the airborne power supply 3 provides power for the flight of the whole unmanned aerial vehicle body, the teleoperation of an aircraft system, communication and the like; the visual aiming, visual navigation and sensing device 4 provides downward-looking video images and target aiming for teleoperation shooting, so that a teleoperator can accurately shoot according to the site video and the aiming device; the missile throwing device 5 is fixed on a suspension bracket of an unmanned aerial vehicle body, two to ten missile throwing devices can be hung in pairs according to the load of the unmanned helicopter, a fairing is arranged outside the missile throwing device and used for reducing flight resistance, and an electric control trigger mechanism 9 is arranged in the missile throwing device and can be opened according to a remote operation instruction to release fire extinguishing bombs or rescue substances; the teleoperation platform comprises a communication antenna and image transmission antennas 11 and 13 and is used for respectively transmitting video images and flight parameters of the unmanned aerial vehicle system; live video and drone flight data returned from the live and drone are displayed on display screens 12 and 14, respectively; the remote operation platform is integrated in the traveling case 18, a battery is arranged in the remote operation platform, and the remote operation platform provides a power supply for the whole operation platform and is convenient to transport; various flight control keys 15 are arranged in the teleoperation platform box body; liftable aircraft operating handle 16, and flight control knob 17 for control to unmanned aerial vehicle and projectile apparatus.
The helicopter projectile throwing teleoperation disaster rescue and fire extinguishing vertical take-off and landing unmanned aerial vehicle specifically comprises the following control methods:
(1) and (3) system transportation: due to the uncertainty of disaster occurrence, the flight distance and flight time of the unmanned aerial vehicle body are limited. Therefore, before rescue is really implemented, the helicopter type missile throwing type teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle needs to be transported to a place near a site safely and widely by other vehicles, has few air obstacles and is easy to deploy and deploy in the place where the aircraft takes off and lands, and waits for the system to finish self-checking;
(2) rescue flight: the remote control hand starts to carry out loading or rescue goods and materials on the helicopter type bullet throwing type remote control disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle after the self-checking of the system is finished and all the system is normal, and as the rescue goods and materials suspension device is positioned on the machine arm, the rescue goods and materials must be suspended in pairs, and the aircrafts are automatically thrown in pairs. The remote operator enters a take-off operation program after checking that no fault exists.
(3) Teleoperation flight: after confirming that all the systems are normal and defining the GPS coordinates of the flight destination and the rescue task, the remote operator slowly pushes the accelerator of the aircraft to enable the aircraft to take off slowly, further checks that all the video images, flight parameters and the like returned by the aircraft are normal, flies the aircraft to a specified height and does not reach the rescue place, puts in fire extinguishing bombs or rescue goods according to the video images and the aiming place returned by the aircraft, and meanwhile flies away from the site in time after confirmation.
(4) Multiple flights: after the teleoperator finishes the task, confirming that all the systems are normal, loading fire extinguishing or rescue goods for the unmanned aerial vehicle again, updating system energy, determining the GPS coordinate of the flight destination and the rescue task again, slowly pushing the accelerator of the aircraft to enable the aircraft to take off slowly, further checking that all the video images, flight parameters and the like returned by the aircraft are normal, flying the aircraft to a specified height and not reaching the rescue place, putting fire extinguishing bombs or rescue goods according to the video images and the aiming place returned by the aircraft, and simultaneously flying away from the site in time after confirmation.
The traditional helicopter type unmanned aerial vehicle is operated by using a remote controller, does not have the functions of bomb projection, real-time video transmission, teleoperation and the like, does not form a teleoperation flying bomb projection system, and is completely different from the aspects of the composition principle, the bomb projection principle and the like of the helicopter bomb projecting teleoperation disaster relief and fire extinguishing vertical take-off and landing unmanned aerial vehicle.
The traditional ground fire scene rescue or fire extinguishing robot is operated by a remote controller, does not have the functions of flying bomb projection, real-time video transmission, teleoperation and the like, does not form a teleoperation flying bomb projection system, and is completely different from the aspects of the constitution principle, the bomb projection principle and the like of the helicopter bomb-projection type teleoperation disaster rescue and fire-extinguishing vertical take-off and landing unmanned aerial vehicle.
The above embodiments are not intended to be exhaustive or to limit the invention to other embodiments, and the above embodiments are intended to illustrate the invention and not to limit the scope of the invention, and all applications that can be modified from the invention are within the scope of the invention.
Claims (6)
1. A projectile type disaster rescue and fire extinguishing unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, a projectile device, a visual aiming device, a visual navigation and sensing device, a broadband wireless transmission device and a ground teleoperation control device; the missile throwing device, the visual aiming device, the visual navigation and sensing device, the encoding and decoding module of the broadband wireless transmission device and the signal receiving and transmitting antenna are arranged on the unmanned aerial vehicle body; the ground teleoperation control device is independent of the unmanned aerial vehicle body, transmits an operation instruction to the aircraft through a wireless signal, and simultaneously receives and displays sensor information sent back by the unmanned aerial vehicle; the ground signal receiving and transmitting antenna of the broadband wireless transmission device is connected with the ground teleoperation control device;
the projectile throwing device comprises a streamline fairing, a suspension hook and an electromagnetic switch; the streamline fairing is of a streamline hollow thin-wall structure; the suspension hook and the electromagnetic switch are arranged in the streamline fairing; fire extinguishing bombs or rescue goods and materials are arranged in the streamline fairing and hung on a hanging hook controlled by the electromagnetic switch;
the visual aiming, visual navigation and sensing device at least comprises a distance measuring sensor, an infrared/visible light visual sensor, a temperature sensor or an air velocity sensor, is arranged on the unmanned aerial vehicle body and is powered by an airborne power supply of the unmanned aerial vehicle body; signals acquired by the various sensors are sent to an information processing module in the unmanned aerial vehicle body, and are sent to a ground teleoperation device through an airborne wireless communication module after being compressed and encoded;
the broadband wireless communication device comprises an airborne coding and decoding module, a signal amplification and receiving-transmitting module, an airborne antenna, a coding and decoding module, a signal amplification and receiving-transmitting module and a ground antenna in the ground teleoperation control device; the airborne antenna and the ground antenna are automatic tracking directional antennas, and the direction of the directional antenna is automatically adjusted according to the GPS position of the ground antenna and the current GPS position of the unmanned aerial vehicle body, so that the airborne antenna and the ground antenna always keep a face-to-face communication state;
the downlink sensor information and the uplink operation instruction are transmitted by adopting an encryption algorithm and a broadband;
the ground teleoperation control device comprises an operating lever, an operating switch and a display screen, wherein the display screen is used for displaying a field video transmitted back by the vision sensor, the aircraft attitude, the flight speed, the course and the position transmitted back by the aircraft body sensor, the aircraft airborne power state information, the temperature and the wind speed transmitted back by the temperature sensor and the wind speed sensor;
the teleoperation platform comprises a communication antenna and an image transmission antenna and is used for respectively transmitting video images and flight parameters of the unmanned aerial vehicle system; the live video and the unmanned aerial vehicle flight data returned from the live and the unmanned aerial vehicle are respectively displayed on a display screen;
the missile throwing device is a vertical missile throwing device and is installed on two adjacent machine arms of the multi-axis unmanned aerial vehicle through the installation support or is installed below the body of the unmanned helicopter.
2. The projectile-type disaster relief and fire suppression unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle body is a four-axis or six-axis or eight-axis multi-rotor unmanned aerial vehicle.
3. The projectile-type disaster relief and fire extinguishing unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle body is an unmanned helicopter composed of a single rotor or double rotors and a tail rotor.
4. The projectile-type disaster relief and fire extinguishing unmanned aerial vehicle of claim 1 or 2, wherein the unmanned aerial vehicle body comprises an onboard power supply and a landing gear, and illumination and signal lamps are mounted on the unmanned aerial vehicle body.
5. The projectile-type disaster relief and fire suppression unmanned aerial vehicle as claimed in claim 1, wherein the ground teleoperation control device and the detachable battery are integrated together in a suitcase.
6. The projectile-type disaster relief and fire extinguishing unmanned aerial vehicle as claimed in claim 5, wherein the ground teleoperation control device is installed in a carriage of a special vehicle, a roof of the special vehicle provides a takeoff and landing place for the teleoperation aircraft, and a vehicle-mounted power supply provides power for the ground teleoperation device.
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