CN108969930B - Aiming device and aiming method for rotor unmanned aerial vehicle fire extinguishing bomb system - Google Patents
Aiming device and aiming method for rotor unmanned aerial vehicle fire extinguishing bomb system Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0214—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for buildings or installations in fire storms
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
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Abstract
The invention relates to the technical field of high-rise building fire extinguishing, in particular to a sighting device and a sighting method for a rotor unmanned aerial vehicle fire extinguishing bomb system. The sighting device comprises a high-altitude detection module arranged on the rotor unmanned aerial vehicle, a ground processing module and a control module, wherein the high-altitude detection module is used for acquiring linear distance parameters between the extinguishing bomb and the ignition point and images of the ignition point and wirelessly transmitting the linear distance parameters and the images of the ignition point to the ground processing module; the ground processing module is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point, retrieving the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image of the ignition point according to the falling height and the conversion relation after optical calibration, converting the imaging position into coordinates, obtaining the position coordinates of the aiming point in the image of the ignition point, and displaying the position coordinates. The invention can accurately calculate the aiming point of the fire extinguishing bomb, and is beneficial to quick and efficient fire extinguishing.
Description
Technical Field
The invention relates to the technical field of high-rise building fire extinguishing, in particular to a sighting device and a sighting method for a rotor unmanned aerial vehicle fire extinguishing bomb system.
Background
Modern urban high-rise buildings are common, and the fire safety problem of the high-rise buildings is increasingly outstanding. For super high-rise buildings, once a fire disaster occurs, when external rescue is carried out, the fire gun is difficult to reach or insufficient in water supply due to insufficient arm strength length of the fire truck, so that the fire disaster cannot be controlled in time, and loss is difficult to be minimized. Thus, the consequences of a fire in a tall building are not to be expected. Fire suppression in high-rise buildings has become a serious challenge in the development of various cities. The existing fire-fighting means cannot be suitable for the fire-fighting demands of high-rise buildings in China. The special fire-fighting vehicle equipment for external rescue of super high-rise buildings above hundred meters is affected by the working principle and physical limit, and has the characteristics of wide vehicle body, large unfolding area, complex supply and guarantee equipment and the like, so that the special fire-fighting vehicle equipment is limited by rescue sites.
With the gradual maturation of unmanned aerial vehicle technology and the further expansion of aerial photography technology, domestic unmanned aerial vehicle application fields in China are increasingly wide, and mainly comprise photogrammetry, emergency disaster relief, public safety, resource exploration, environment monitoring, natural disaster monitoring and evaluation, city planning and municipal administration, forest fire and insect pest protection and monitoring and the like. The unmanned aerial vehicle has the advantages of light weight, low maintenance cost, unmanned casualties risk, strong survivability, good maneuvering performance, convenient use and the like, and meanwhile, the unmanned mode is adopted to get rid of the limitation of the physiological conditions of the driver, so that the dangerous degree of operators is greatly reduced, the task which cannot be completed by the common unmanned aerial vehicle can be completed, and the unmanned aerial vehicle has extremely wide application prospects in the civil fields of aviation photographing, geological measurement, high-voltage transmission line inspection, oilfield pipeline inspection, expressway management, forest fire prevention inspection, toxic gas investigation, emergency rescue, rescue and the like.
The mode that unmanned aerial vehicle carried fire extinguishing bomb is adopted as a new fire extinguishing scheme, and a new approach is provided for high-rise building fire control. The adoption of unmanned aerial vehicle to implement the fire-extinguishing rescue operation of high-rise buildings is the subject of research in recent years, and although the technology of fire-extinguishing bomb and unmanned aerial vehicle is mature, in the existing emission system adopting unmanned aerial vehicle to carry fire-extinguishing bomb, the problem of inaccurate aiming point of fire-extinguishing bomb exists.
Accordingly, there is an urgent need for an aiming device and method for a rotary-wing unmanned aerial vehicle fire extinguishing bullet system that can accurately determine the aiming point of the fire extinguishing bullet.
Disclosure of Invention
The invention provides a sighting device and a sighting method for a fire extinguishing bomb system of a rotor unmanned aerial vehicle, which are used for solving the problem that in the prior art, the aiming point of the fire extinguishing bomb in the fire extinguishing bomb system is inaccurate.
In one aspect of the invention, there is provided a sighting device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system, comprising:
the high-altitude detection module is arranged on the rotor unmanned aerial vehicle and is used for collecting the linear distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point and wirelessly transmitting the linear distance parameter and the image of the ignition point to the ground processing module;
the ground processing module is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point, retrieving the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image of the ignition point according to the falling height and the conversion relation after optical calibration, converting the imaging position into coordinates, obtaining the position coordinates of the aiming point in the image of the ignition point, and displaying the position coordinates.
Further, the high altitude detection module comprises a straight line distance parameter acquisition unit, a fire point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
the image acquisition unit is used for acquiring an image of the ignition point and sending the image to the controller;
the controller is used for receiving the linear distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point and sending the linear distance parameter and the image of the ignition point to the aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the ground wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point to the fire extinguishing bomb aiming point calculating unit and transmitting the received image of the ignition point to the aiming point imaging position calculating unit;
the fire extinguishing bomb aiming point calculating unit is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in the preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to the aiming point imaging position calculating unit;
the aiming point imaging position calculating unit is used for receiving the images of the aiming point and the ignition point of the fire extinguishing bomb, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by utilizing the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to the aiming point position coordinate calculating unit;
and the aiming point position coordinate calculation unit is used for carrying out coordinate transformation on the imaging position of the aiming point of the fire extinguishing bomb in the image to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display.
Further, the high-altitude detection module further comprises a power supply for supplying power to the linear distance parameter acquisition unit, the image acquisition unit, the controller and the aerial wireless receiving and transmitting unit.
Further, the linear distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder.
Further, the aerial wireless transceiver unit and the ground wireless transceiver unit are connected in any mode of 3G/4G/WIFI/Bluetooth.
In a second aspect of the invention, there is provided a sighting device method for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system, comprising the steps of:
the method comprises the steps that a high-altitude detection module arranged on a rotor unmanned aerial vehicle is used for collecting straight line distance parameters between fire extinguishing bombs and ignition points and images of the ignition points, and the straight line distance parameters and the images of the ignition points are wirelessly transmitted to a ground processing module;
the method comprises the steps of receiving a straight line distance parameter between a fire extinguishing bomb and an ignition point and an image of the ignition point by using a ground processing module, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image according to the falling height and the conversion relation after optical calibration, carrying out coordinate conversion on the imaging position, obtaining the position coordinate of the aiming point in the image, and displaying the position coordinate.
Further, the high altitude detection module comprises a straight line distance parameter acquisition unit, a fire point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
collecting an image of the ignition point by using an image collecting unit and sending the image to a controller;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point and an image of the ignition point by using a controller, and transmitting the straight line distance parameter and the image of the ignition point to an aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the method comprises the steps that a ground wireless receiving and transmitting unit is used for transmitting a linear distance parameter between a received fire extinguishing bomb and an ignition point to a fire extinguishing bomb aiming point calculating unit, and transmitting a received image of the ignition point to an aiming point imaging position calculating unit;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point by using a fire extinguishing bomb aiming point calculating unit, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in a preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to an aiming point imaging position calculating unit;
receiving the images of the aiming point and the ignition point of the fire extinguishing bomb by using an aiming point imaging position calculating unit, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by using the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to an aiming point position coordinate calculating unit;
and converting the imaging position of the aiming point of the fire extinguishing bomb in the image by using an aiming point position coordinate calculating unit to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display.
Further, the high-altitude detection module further comprises a power supply for supplying power to the linear distance parameter acquisition unit, the image acquisition unit, the controller and the aerial wireless receiving and transmitting unit.
Further, the linear distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder.
Further, the aerial wireless transceiver unit and the ground wireless transceiver unit are connected in any mode of 3G/4G/WIFI/Bluetooth.
Compared with the prior art, the aiming device and the aiming method for the rotor unmanned aerial vehicle fire extinguishing bullet system provided by the invention have the following steps:
(1) The aiming point of the fire extinguishing bomb is calculated by utilizing the straight line distance parameter between the fire extinguishing bomb and the ignition point, which is acquired by the high-altitude detection module, and then the position coordinate of the aiming point on the display screen is calculated by utilizing the aiming point position coordinate calculation unit according to the image of the ignition point, so that the aiming point of the fire extinguishing bomb can be accurately calculated, and the quick and efficient fire extinguishing is facilitated.
(2) The linear distance parameter acquisition unit is any one of a radar range finder, an infrared range finder and a laser range finder, and the range finders are common, mature in technology, low in cost and easy to acquire parameters and maintain subsequently.
(3) The aerial wireless receiving and transmitting unit and the ground wireless receiving and transmitting unit are connected in any mode of 3G/4G/WIFI/Bluetooth, wireless transmission of aerial and ground data is achieved, and the aerial wireless receiving and transmitting unit and the ground wireless receiving and transmitting unit have the advantages of being simple in transmission mode and high in transmission speed.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a block diagram of the device connections of a sighting device for a rotary-wing unmanned fire extinguishing bomb system in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment provides a sighting device and a sighting method for a rotor unmanned aerial vehicle fire extinguishing bomb system.
Fig. 1 schematically shows a block diagram of the device connection of an aiming device and an aiming method for a rotor unmanned aerial vehicle fire extinguishing bomb system in this embodiment. Referring to fig. 1, the aiming device for a fire extinguishing bomb system of a rotary-wing unmanned aerial vehicle of the present embodiment includes a high-altitude detection module installed on the rotary-wing unmanned aerial vehicle, for acquiring a straight line distance parameter between a fire extinguishing bomb and a firing point, an image of the firing point, and wirelessly transmitting to a ground processing module;
the ground processing module is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point, retrieving the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image of the ignition point according to the falling height and the conversion relation after optical calibration, converting the imaging position into coordinates, obtaining the position coordinates of the aiming point in the image of the ignition point, and displaying the position coordinates.
The high-altitude detection module is arranged on the rotor unmanned aerial vehicle, besides the rotor unmanned aerial vehicle, the high-altitude detection module can be arranged on unmanned aerial vehicles and helicopters with the spin-stop function in other modes, and the high-altitude detection module can be automatically selected according to specific conditions during specific implementation. The high-altitude detection module is in radio connection with the ground processing module.
According to the aiming device for the rotor unmanned aerial vehicle fire extinguishing bomb system, the aiming point of the fire extinguishing bomb is calculated by utilizing the straight line distance parameter between the fire extinguishing bomb and the ignition point, which is acquired by the high-altitude detection module, and the position coordinate of the aiming point on the display screen is calculated by utilizing the aiming point position coordinate calculation unit according to the image of the ignition point, so that the aiming point of the fire extinguishing bomb can be accurately calculated, and quick and efficient fire extinguishing is facilitated.
The high altitude detection module comprises a straight line distance parameter acquisition unit, an ignition point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
the image acquisition unit is used for acquiring an image of the ignition point and sending the image to the controller;
the controller is used for receiving the linear distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point and sending the linear distance parameter and the image of the ignition point to the aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the ground wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point to the fire extinguishing bomb aiming point calculating unit and transmitting the received image of the ignition point to the aiming point imaging position calculating unit;
the fire extinguishing bomb aiming point calculating unit is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in the preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to the aiming point imaging position calculating unit;
the aiming point imaging position calculating unit is used for receiving the images of the aiming point and the ignition point of the fire extinguishing bomb, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by utilizing the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to the aiming point position coordinate calculating unit;
and the aiming point position coordinate calculation unit is used for carrying out coordinate transformation on the imaging position of the aiming point of the fire extinguishing bomb in the image to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display.
The fire extinguishing bomb aiming point imaging position calculating unit is electrically connected with the fire extinguishing bomb aiming point calculating unit and the aiming point position coordinate calculating unit, and the aiming point position coordinate calculating unit is electrically connected with the display screen.
In this embodiment, the high altitude detection module further includes a power supply for supplying power to the linear distance parameter acquisition unit, the image acquisition unit, the controller, and the air wireless transceiver unit. The power supply can be a rechargeable lithium battery, a nickel-hydrogen battery or a battery pack, and can be flexibly selected according to the needs, so that the applicability of the sighting device is improved. In specific implementation, the ground processing module can also comprise a trajectory interpolation table database for storing a preset trajectory interpolation table, wherein the trajectory interpolation table is provided with straight line distance values and falling heights in one-to-one correspondence, so that the trajectory interpolation table is convenient to call and manage.
In this embodiment, the linear distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder. The cost of the range finders is low, and the range finders are easy to realize and maintain. In the specific implementation, an ultrasonic distance meter can be used, and other testers capable of measuring the distance between the fire extinguishing bomb and the ignition point can be used.
In this embodiment, the air wireless transceiver unit and the ground wireless transceiver unit are connected by any mode of 3G/4G/WIFI/bluetooth. The wireless transmission modes are common, have low cost, can realize wireless transmission of air and ground data, and have the advantages of simple transmission mode and high transmission speed. In the specific implementation, other wireless transmission modes can be adopted. The aerial wireless receiving and transmitting unit and the ground wireless receiving and transmitting unit can be both digital image transmission systems, and the digital image transmission systems arranged on the rotor unmanned aerial vehicle and the digital image transmission systems arranged on the ground adopt wireless protocols or standards of IEEE802.11 protocols, bluetooth technology, hiperLAN standard, trDA technology or Wi-Fi technology to mutually transmit digital and image data.
In specific implementation, the ground processing module is also used for remotely controlling the rotary wing unmanned aerial vehicle, and the control method is that the ground processing module issues an instruction to an air controller, and the controller controls the rotary wing unmanned aerial vehicle to change positions, directions and the like. The aiming and launching process of the fire extinguishing bomb to the ignition point area is completed. The distance between the ground processing module and the rotor unmanned aerial vehicle is preferably 2KM-10KM, generally 2KM, 4KM, 6KM and 10KM, and the distance between the ground processing module and the rotor unmanned aerial vehicle can be properly increased or reduced according to the transmission mode adopted by the aerial wireless transceiver unit and the ground wireless transceiver unit.
The embodiment also provides a sighting method for the rotor unmanned aerial vehicle fire extinguishing bomb system, which comprises the following steps:
the method comprises the steps that a high-altitude detection module arranged on a rotor unmanned aerial vehicle is used for collecting straight line distance parameters between fire extinguishing bombs and ignition points and images of the ignition points, and the straight line distance parameters and the images of the ignition points are wirelessly transmitted to a ground processing module;
the method comprises the steps of receiving a straight line distance parameter between a fire extinguishing bomb and an ignition point and an image of the ignition point by using a ground processing module, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image according to the falling height and the conversion relation after optical calibration, carrying out coordinate conversion on the imaging position, obtaining the position coordinate of the aiming point in the image, and displaying the position coordinate.
The high altitude detection module comprises a straight line distance parameter acquisition unit, an ignition point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
collecting an image of the ignition point by using an image collecting unit and sending the image to a controller;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point and an image of the ignition point by using a controller, and transmitting the straight line distance parameter and the image of the ignition point to an aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the method comprises the steps that a ground wireless receiving and transmitting unit is used for transmitting a linear distance parameter between a received fire extinguishing bomb and an ignition point to a fire extinguishing bomb aiming point calculating unit, and transmitting a received image of the ignition point to an aiming point imaging position calculating unit;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point by using a fire extinguishing bomb aiming point calculating unit, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in a preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to an aiming point imaging position calculating unit;
receiving the images of the aiming point and the ignition point of the fire extinguishing bomb by using an aiming point imaging position calculating unit, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by using the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to an aiming point position coordinate calculating unit;
and converting the imaging position of the aiming point of the fire extinguishing bomb in the image by using an aiming point position coordinate calculating unit to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display.
According to the aiming method for the rotor unmanned aerial vehicle fire extinguishing bomb system, aiming points of the fire extinguishing bomb are calculated by using the straight line distance parameters between the fire extinguishing bomb and the ignition point, which are acquired by the high-altitude detection module, and then the position coordinates of the aiming points on the display screen are calculated by using the aiming point position coordinate calculation unit according to the images of the ignition points, so that the aiming points of the fire extinguishing bomb can be accurately calculated, and quick and efficient fire extinguishing is facilitated.
In this embodiment, the high altitude detection module further includes a power supply for supplying power to the linear distance parameter acquisition unit, the image acquisition unit, the controller, and the air wireless transceiver unit. The power supply can be a rechargeable lithium battery, a nickel-hydrogen battery or a battery pack, and can be flexibly selected according to the needs, so that the applicability of the sighting device is improved.
In this embodiment, the linear distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder. The cost of the range finders is low, and the range finders are easy to realize and maintain. In the specific implementation, an ultrasonic distance meter can be used, and other testers capable of measuring the distance between the fire extinguishing bomb and the ignition point can be used.
In this embodiment, the air wireless transceiver unit and the ground wireless transceiver unit are connected by any mode of 3G/4G/WIFI/bluetooth. The wireless transmission modes are common, have low cost, can realize wireless transmission of air and ground data, and have the advantages of simple transmission mode and high transmission speed. In the specific implementation, other wireless transmission modes can be adopted. The aerial wireless receiving and transmitting unit and the ground wireless receiving and transmitting unit can be both digital image transmission systems, and the digital image transmission systems arranged on the rotor unmanned aerial vehicle and the digital image transmission systems arranged on the ground adopt wireless protocols or standards of IEEE802.11 protocols, bluetooth technology, hiperLAN standard, trDA technology or Wi-Fi technology to mutually transmit digital and image data.
In specific implementation, the ground processing module is also used for remotely controlling the rotary wing unmanned aerial vehicle, and the control method is that the ground processing module issues an instruction to an air controller, and the controller controls the rotary wing unmanned aerial vehicle to change positions, directions and the like. The aiming and launching process of the fire extinguishing bomb to the ignition point area is completed. The distance between the ground processing module and the rotor unmanned aerial vehicle is preferably 2KM-10KM, generally 2KM, 4KM, 6KM and 10KM, and the distance between the ground processing module and the rotor unmanned aerial vehicle can be properly increased or reduced according to the transmission mode adopted by the aerial wireless transceiver unit and the ground wireless transceiver unit.
In specific use and operation, the aiming device and the aiming method for the rotor unmanned aerial vehicle fire extinguishing bomb system can use the laser range finder to obtain the linear distance parameter between the fire extinguishing bomb and the fire point, use the camera with night vision function to collect the image of the fire point, obtain the drop height through interpolation according to the preset ballistic interpolation table (the corresponding relation between the distance and the drop height), calculate the drop point through the conversion relation after optical calibration, namely the aiming point of the fire extinguishing bomb is at the imaging position of the CCD (charge coupled device) of the camera, obtain the position coordinate of the aiming point on the display screen after coordinate conversion according to the conversion relation between the display screen and the CCD of the camera, finally display the aiming point on the display screen, and control the fire extinguishing bomb to emit according to the coordinate.
In the aiming device and the aiming method for the rotor unmanned aerial vehicle fire extinguishing bomb system, the model of the straight line distance parameter acquisition unit is SKD-50S, the model of the ignition point image acquisition unit is H1600201704, the model of the controller is C8051F040, the model of the aerial wireless receiving and transmitting unit is Flylink HD+HDMI, the model of the ground wireless receiving and transmitting unit is Flylink HD+HDMI, the model of the fire extinguishing bomb aiming point calculation unit is STM32F407 development board, the model of the aiming point imaging position calculation unit is STM32F407 development board, the model of the aiming point position coordinate calculation unit is STM32F407 development board, the model of the display screen is CX530H-NF50 industrial control touch screen, and the model of the power supply is 3300mAh 4S 25C.
For the purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated by one of ordinary skill in the art that the methodologies are not limited by the order of acts, as some acts may, in accordance with the methodologies, take place in other order or concurrently. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A sighting device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system, comprising:
the high-altitude detection module is arranged on the rotor unmanned aerial vehicle and is used for collecting the linear distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point and wirelessly transmitting the linear distance parameter and the image of the ignition point to the ground processing module;
the ground processing module is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point, retrieving the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image of the ignition point according to the falling height and the conversion relation after optical calibration, converting the imaging position into coordinates, obtaining the position coordinates of the aiming point in the image of the ignition point, and displaying the position coordinates;
the high-altitude detection module is in radio connection with the ground processing module;
the high altitude detection module comprises a straight line distance parameter acquisition unit, an ignition point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
the image acquisition unit is used for acquiring an image of the ignition point and sending the image to the controller;
the controller is used for receiving the linear distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point and sending the linear distance parameter and the image of the ignition point to the aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the ground wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point to the fire extinguishing bomb aiming point calculating unit and transmitting the received image of the ignition point to the aiming point imaging position calculating unit;
the fire extinguishing bomb aiming point calculating unit is used for receiving the straight line distance parameter between the fire extinguishing bomb and the ignition point, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in the preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to the aiming point imaging position calculating unit;
the aiming point imaging position calculating unit is used for receiving the images of the aiming point and the ignition point of the fire extinguishing bomb, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by utilizing the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to the aiming point position coordinate calculating unit;
the aiming point position coordinate calculation unit is used for carrying out coordinate transformation on the imaging position of the aiming point of the fire extinguishing bomb in the image to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display;
the aerial wireless receiving and transmitting unit and the ground wireless receiving and transmitting unit are both digital image transmission systems.
2. The aiming device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system according to claim 1, wherein the high altitude detection module further comprises a power source for powering the linear distance parameter acquisition unit, the image acquisition unit, the controller and the aerial wireless transceiver unit.
3. The aiming device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system according to claim 2, wherein the straight-line distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder.
4. A sighting device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system according to claim 3, wherein the aerial wireless transceiver unit and the ground wireless transceiver unit are connected in any one of 3G/4G/WI F I/bluetooth.
5. A sighting method based on the sighting device for a rotary-wing unmanned aerial vehicle fire extinguishing bomb system according to claim 1, characterized by the following steps:
the method comprises the steps that a high-altitude detection module arranged on a rotor unmanned aerial vehicle is used for collecting straight line distance parameters between fire extinguishing bombs and ignition points and images of the ignition points, and the straight line distance parameters and the images of the ignition points are wirelessly transmitted to a ground processing module;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point and an image of the ignition point by using a ground processing module, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter, calculating the imaging position of the aiming point of the fire extinguishing bomb in the image according to the falling height and the conversion relation after optical calibration, carrying out coordinate conversion on the imaging position to obtain the position coordinate of the aiming point in the image, and displaying the position coordinate;
the high altitude detection module comprises a straight line distance parameter acquisition unit, an ignition point image acquisition unit, a controller and an aerial wireless receiving and transmitting unit, the ground processing module comprises a ground wireless receiving and transmitting unit, a fire extinguishing bomb aiming point calculation unit, an aiming point imaging position calculation unit, an aiming point position coordinate calculation unit and a display screen, wherein,
the linear distance parameter acquisition unit is used for acquiring the linear distance parameter between the fire extinguishing bomb and the ignition point and sending the linear distance parameter to the controller;
collecting an image of the ignition point by using an image collecting unit and sending the image to a controller;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point and an image of the ignition point by using a controller, and transmitting the straight line distance parameter and the image of the ignition point to an aerial wireless receiving and transmitting unit;
the aerial wireless receiving and transmitting unit is used for transmitting the received straight line distance parameter between the fire extinguishing bomb and the ignition point and the image of the ignition point to the ground wireless receiving and transmitting unit;
the method comprises the steps that a ground wireless receiving and transmitting unit is used for transmitting a linear distance parameter between a received fire extinguishing bomb and an ignition point to a fire extinguishing bomb aiming point calculating unit, and transmitting a received image of the ignition point to an aiming point imaging position calculating unit;
receiving a straight line distance parameter between the fire extinguishing bomb and the ignition point by using a fire extinguishing bomb aiming point calculating unit, calling the falling height of the fire extinguishing bomb corresponding to the straight line distance parameter in a preset trajectory interpolation table, calculating the aiming point of the fire extinguishing bomb according to the falling height of the fire extinguishing bomb, and sending the aiming point of the fire extinguishing bomb to an aiming point imaging position calculating unit;
receiving the images of the aiming point and the ignition point of the fire extinguishing bomb by using an aiming point imaging position calculating unit, calculating the imaging position of the aiming point of the fire extinguishing bomb in the images by using the conversion relation after optical calibration, and sending the imaging position of the aiming point of the fire extinguishing bomb in the images to an aiming point position coordinate calculating unit;
and converting the imaging position of the aiming point of the fire extinguishing bomb in the image by using an aiming point position coordinate calculating unit to obtain the position coordinate of the aiming point on the display screen, and sending the position coordinate of the aiming point on the display screen to the display screen for display.
6. The aiming method based on the aiming device for the rotor unmanned aerial vehicle fire extinguishing bomb system according to claim 5, wherein the high altitude detection module further comprises a power supply for supplying power to the linear distance parameter acquisition unit, the image acquisition unit, the controller and the aerial wireless transceiver unit.
7. The aiming method based on the aiming device for the rotor unmanned aerial vehicle fire extinguishing bomb system according to claim 6, wherein the straight line distance parameter acquisition unit is any one of a radar range finder or an infrared range finder or a laser range finder.
8. The aiming method based on the aiming device for the rotor unmanned aerial vehicle fire extinguishing bomb system according to claim 7, wherein the aerial wireless transceiver unit and the ground wireless transceiver unit are connected in any mode of 3G/4G/WI F I/bluetooth.
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| CN115804926B (en) * | 2022-12-27 | 2023-08-22 | 中国人民解放军陆军装甲兵学院 | Unmanned aerial vehicle projection fire extinguishing bomb aiming system and method thereof |
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