CN110329509A - The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method - Google Patents
The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method Download PDFInfo
- Publication number
- CN110329509A CN110329509A CN201910599764.XA CN201910599764A CN110329509A CN 110329509 A CN110329509 A CN 110329509A CN 201910599764 A CN201910599764 A CN 201910599764A CN 110329509 A CN110329509 A CN 110329509A
- Authority
- CN
- China
- Prior art keywords
- fire extinguisher
- extinguisher bomb
- signal
- video
- character
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 7
- 210000004209 hair Anatomy 0.000 claims description 63
- 238000012545 processing Methods 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 19
- 239000011521 glass Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 238000010304 firing Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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; Bomb doors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
- H04N5/08—Separation of synchronising signals from picture signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Emergency Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
A kind of the fire extinguisher bomb aiming launching control system and control method of high building fire fighting unmanned plane.It includes Air Launched Platform, ground mobile phone controlling terminal and terrestrial wireless signal transmitter that the fire extinguisher bomb of the high building fire fighting unmanned plane, which aims at launching control system,.Ground mobile phone controlling terminal is connect with the microcontroller communication in the Air Launched Platform.Terrestrial wireless signal transmitter aims at launching control system for the fire extinguisher bomb and provides wifi signal.Air Launched Platform includes single-chip microcontroller, laser range sensor and camera, and the signal output end of the camera is connected to the picture signal input terminal on the single-chip microcontroller.The present invention has obtained the deflection data of fire extinguisher bomb by detailed calculating and repeatedly test calibration, data information is imported into single-chip microcontroller and is converted to character signal and is added on the video of ground mobile phone controlling terminal by character adding module, with pointing accuracy height, feature easy to operate.
Description
Technical field
The present invention relates to unmanned plane fire-fighting technique fields, are directed primarily to a kind of fire extinguisher bomb of high building fire fighting unmanned plane
Aim at launching control system and control method.
Background technique
As China's skyscraper quantity and height are constantly soaring, fire-fighting and rescue pressure increasingly increases, and existing fire-fighting is gone out
Fiery means have not adapted to the demand of China city high-rise building fire-fighting fire extinguishing.High building fire fighting fire-fighting unmanned plane is based on
This demand generates, and unmanned plane by height limitation, can not reach scene quickly, is put out a fire by emitting into high-rise room on fire
Bullet is put out a fire.
The present invention is based on a kind of high building fire fighting unmanned planes for emitting fire extinguisher bomb to provide a kind of fire extinguisher bomb aiming hair control
System and control method, it makes this reliably to be protected by transmitting fire extinguisher bomb come the launch accuracy for the unmanned plane put out a fire
Card.It is a ring critically important in whole system design that the fire extinguisher bomb of high building fire fighting unmanned plane, which aims at launching control system design,
Section, it directly affects the launch accuracy of fire extinguisher bomb, and then influences extinguishing effect, generates in entire fire extinguishing procedure vital
It influences.
Application No. is 201610165872.2, the patent of invention of entitled unmanned plane fire extinguisher bomb emission system describes nothing
The overall structure of man-machine fire extinguishing system, and the structure of unmanned plane and fire extinguisher bomb hanger is explained in detail, do not introduce nobody
The control method of machine fire extinguisher bomb emission system.
Application No. is 201810445958.X, disclosed in the innovation and creation of entitled unmanned plane high building transmitting fire extinguisher bomb device
A kind of fire extinguisher bomb device, describes the overall structure of fire extinguisher bomb device, and be explained in detail to firing box and fire extinguisher bomb.It should
The great advantage of invention is that the remote controler of the mission controller of fire extinguisher bomb and unmanned plane is combined togather, and a people can grasp
Work entirely shoots, aims at and fire extinguishing procedure, but the invention has the drawback that and only relies only on infrared machine, laser machine and locator function
It can be aimed at, due to not considering the deflection of fire extinguisher bomb, pointing accuracy is lower.
Application No. is 201721712107.4, the utility model patent of entitled fire extinguisher bomb and its emission system is described
A kind of novel fire extinguisher bomb, and the emission process of entire fire extinguisher bomb is explained in detail.The great advantage of the invention is the hair
Bright use first launch pusher into radiation pattern, interference to unmanned plane when can reduce fire extinguisher bomb transmitting to greatest extent,
But this radiation pattern of the invention, release position and the bad assurance of propulsion point due to fire extinguisher bomb, so it is difficult to ensure that higher
Emit hit rate.
Summary of the invention
To overcome the shortcomings of that launch accuracy existing in the prior art is low, the invention proposes a kind of high building fire fighting without
Man-machine fire extinguisher bomb aims at launching control system and control method.
It includes Air Launched Platform, ground hand that a kind of fire extinguisher bomb of high building fire fighting unmanned plane, which aims at launching control system,
Machine controlling terminal and terrestrial wireless signal transmitter.List in mobile phone controlling terminal in ground therein and the Air Launched Platform
Piece machine communication connection.The terrestrial wireless signal transmitter aims at launching control system for the fire extinguisher bomb and provides wifi signal.The sky
Middle flat pad includes single-chip microcontroller, laser range sensor and camera.The wherein signal output end of camera and the monolithic
Picture signal input terminal connection on machine.
The data signal output of the laser range sensor is connected to the data signal input on the single-chip microcontroller；
The control signal input of the laser range sensor is connected to the control signal output on the single-chip microcontroller.The single-chip microcontroller
In be integrated with video pre-filtering module, Video Character Superpose module, videodataclus tearing module, video processing module, relay
Module, wifi module wherein mainly include character overlap chip and two channel high-speed analog switch in Video Character Superpose module.
The ground mobile phone controlling terminal is communicated with single-chip microcontroller.The ground mobile phone controlling terminal receives camera and claps
The vision signal for the real-time video taken the photograph, and control Air Launched Platform.
The transmitting signal of fire extinguisher bomb is controlled by the control signal switching push button of fire extinguisher bomb.
The single-chip microcontroller receives the control signal that mobile phone controlling terminal in ground issues, and receives and processes laser range sensor
The data that transmit, the switch for controlling laser range sensor, the character overlap chip and two in control Video Character Superpose module
Channel high-speed analog switch, the on-off for controlling relay module, the igniting and transmitting for controlling fire extinguisher bomb.
The video pre-filtering module is for pre-processing video, the base for the video input signals that camera is transmitted
Line is promoted to 2V.The line synchronising signal of video and field sync signal are synchronized point by the videodataclus tearing module
From that camera is clapped and to isolate line synchronising signal, field by the vision signal after video pre-filtering resume module same
Walk signal.
Two pins of the character overlap chip in Video Character Superpose module receive the line synchronising signal and field synchronization
Signal, the overlaying character signal for exporting the Video Character Superpose chip are synchronous with vision signal；The three of the character overlap chip
Pin receives the instruction of single-chip microcontroller, controls the character overlap chip output character signal and impulsive switched signal by single-chip microcontroller.
The character signal that the vision signal and character overlap chip generate is input in two channel high-speed analog switch, the video figure
It exports as replacing under given frequency with character signal and is transmitted to video processing module.
The video processing module is used for the word of the two channel high-speed analog switch output in Video Character Superpose module
Symbol is reduced into baseline with mixed video signal and is the video output signals of 0V, and then is transferred to wifi module.
Relay module is used to control the on-off of unlock with firing circuit.
The local area network signal that wifi module connection terrestrial wireless signal transmitter is issued, and controlled with the ground mobile phone
Terminal connection enables the video image of the camera shooting to be real-time transmitted to the ground mobile phone controlling terminal, and ground
Operator can carry out real-time control to Air Launched Platform by the ground mobile phone controlling terminal.
The measurement accuracy of the communication interface of the laser range sensor is ± 2mm, and measurement range is 0.02~100m, is surveyed
Measuring the time is 0.3~3 second, and laser levels are II grade.
By measuring distance of target central point with reference to cross hairs, fire extinguisher bomb deflection with reference to cross hairs and Air Launched Platform with
Real-time range between target is added on the real-time video of camera shooting by Video Character Superpose module.
The relay release circuit of fire extinguisher bomb is controlled by the unblock button of fire extinguisher bomb；Pass through the button ignition switch control of fire extinguisher bomb
The make-and-break ignition circuit of fire extinguisher bomb processed.
The control process that the fire extinguisher bomb proposed by the present invention aims at launching control system is:
Step 1, Air Launched Platform and terrestrial wireless signal transmitter are powered；
Step 2, mobile phone controlling terminal in ground is networked；
Step 3, the real-time range between the Air Launched Platform surveyed and target is transmitted to by laser range sensor
Single-chip microcontroller obtains the position coordinates that fire extinguisher bomb deflection refers to cross hairs.The real-time video that camera is clapped simultaneously is also transmitted to list
Piece machine, and after video pre-filtering module and videodataclus tearing resume module, obtain line synchronising signal and field sync signal.
The fire extinguisher bomb deflection refers to the position of cross hairs with reference to the position coordinates and measuring distance of target central point of cross hairs
The difference of coordinate is h, and the real-time range between the Air Launched Platform that laser range sensor measures and target is s；The h and s
Between relationship meet rule of horizontal projectile movement, relational expression are as follows:
2h=g (s/v0)2
In formula: v0It leaves the right or normal track initial velocity for fire extinguisher bomb；G is acceleration of gravity.
The fire extinguisher bomb provided by missilery personnel is left the right or normal track initial velocity v0It is previously implanted the FLASH memory of single-chip microcontroller
In, when real-time range s changes between the Air Launched Platform and target measured, the fire extinguisher bomb deflection is obtained with reference to cross
The position coordinates and measuring distance of target central point of line sink with reference to the difference h of the position coordinates of cross hairs to obtain the fire extinguisher bomb
Amount refers to the position coordinates of cross hairs.
Step 4: position coordinates of the single-chip microcontroller by fire extinguisher bomb deflection with reference to cross hairs are issued in Video Character Superpose module
Character overlap chip, while obtained line synchronising signal and field sync signal are transferred to character overlap chip, by character
After the processing of chip superposed, character signal and impulsive switched signal are obtained.
The character signal includes that measuring distance of target central point is passed with reference to the character and position signal of cross hairs, laser ranging
The character and position signal and fire extinguisher bomb deflection of real-time range refer to ten between the Air Launched Platform that sensor is surveyed and target
The character and position signal of wordline.
Step 5: obtained character signal and impulsive switched signal and camera are clapped and process video pre-filtering mould
Vision signal after block processing is input to two channel high-speed analog switch together, by the processing of two channel high-speed analog switch
Afterwards, character and mixed video signal are obtained.
Step 6: character obtained in step 5 and mixed video signal being transferred to video processing module, handled through video
After resume module, then it is transmitted to wifi module, is transmitted to ground mobile phone controlling terminal finally by local area network.
Step 7: ground handling operator is made between Air Launched Platform and target by changing the skyborne position of unmanned plane
Distance be maintained at 8~12m, and make measuring distance of target central point with reference to cross hairs be located at glass top wall while, make ground
Fire extinguisher bomb deflection on mobile phone controlling terminal screen refers to the intermediate position of reticle alignment window.
Step 8: the unblock button of the fire extinguisher bomb on operating handset interface is clicked, the button ignition switch of fire extinguisher bomb is then clicked,
Carry out the transmitting of No. 1 fire extinguisher bomb.Current fire extinguisher bomb is unlocked and after battery has fired of lighting a fire, it is determined whether needs continue transmitting fire extinguishing
Bullet.If desired, the control signal switching push button for clicking fire extinguisher bomb, makes the control of the unblock button of the fire extinguisher bomb on operating handset interface
Signal processed and the control signal of the button ignition switch of fire extinguisher bomb be switched to respectively the corresponding unlock relay of Next Serial Number fire extinguisher bomb with
In ignition relay, the unblock button of fire extinguisher bomb and the igniting of fire extinguisher bomb then successively clicked again on operating handset interface are pressed
Button carries out the igniting transmitting of current fire extinguisher bomb, repeats the switching, clicks process, successively emit remaining each fire extinguisher bomb.
Compared with prior art, the advantage that the present invention has pointing accuracy high, easy to operate.The present invention is by detailed
Test calibration calculate and repeatedly has obtained the deflection data of fire extinguisher bomb, and data information is imported into single-chip microcontroller and is converted to
Character signal is added on the video of ground mobile phone controlling terminal by character adding module, and fire extinguisher bomb deflection refers to cross hairs
Position can change with the change of the real-time range between flat pad and target, and fire extinguisher bomb deflection refer to ten
Wordline is the true land horizontal reference point of fire extinguisher bomb, so measuring distance of target central point need to only be made to be located at glass with reference to cross hairs
While the wall of top, the fire extinguisher bomb deflection on the mobile phone controlling terminal screen of ground is enable to be directed at window with reference to cross hairs
Intermediate position, so that it may realize and aim at, in the range of it is convenient to operate, and precision is 60 centimeters up to radius.
Detailed description of the invention
Fig. 1 is that the fire extinguisher bomb of high building fire fighting unmanned plane of the invention aims at launching control system structural schematic diagram；
Fig. 2 is ground mobile phone controlling terminal working interface schematic diagram of the invention；
Fig. 3 is that the fire extinguisher bomb of high building fire fighting unmanned plane of the invention aims at launching control system control method schematic diagram.
In figure: 1. Air Launched Platforms；2. ground mobile phone controlling terminal；3. terrestrial wireless signal transmitter；4. single-chip microcontroller；
5. laser range sensor；6. camera；7. video pre-filtering module；8. Video Character Superpose module；9. videodataclus tearing
Module；10. video processing module；11. relay module；12.wifi module；13. character overlap chip；14. two channels high speed
Analog switch；15. the real-time video that camera is clapped；16. measuring distance of target central point refers to cross hairs；17. fire extinguisher bomb deflection
With reference to cross hairs；18. the real-time range between Air Launched Platform and target；19. the control switch of laser range sensor is pressed
Button；20. the control signal switching push button of fire extinguisher bomb；21. the unblock button of fire extinguisher bomb；22. the button ignition switch of fire extinguisher bomb.
Specific embodiment
The present embodiment is a kind of fire extinguisher bomb aiming launching control system for high building fire fighting unmanned plane, including air-launched
Platform 1, ground mobile phone controlling terminal 2 and terrestrial wireless signal transmitter 3.Ground mobile phone controlling terminal 2 therein and the sky
Microcontroller communication connection in middle flat pad 1.The terrestrial wireless signal transmitter 3 is that fire extinguisher bomb aiming launching control system mentions
For wifi signal.
It include single-chip microcontroller 4, laser range sensor 5 and camera 6 in the Air Launched Platform 1.Wherein camera
Signal output end is connected to the picture signal input terminal on the single-chip microcontroller.The data-signal of the laser range sensor 5 is defeated
Outlet is connected to the data signal input on the single-chip microcontroller；The control signal input of the laser range sensor 5 with
Control signal output connection on the single-chip microcontroller.The single-chip microcontroller uses the prior art, and view is integrated in the single-chip microcontroller
Frequency preprocessing module 7, Video Character Superpose module 8, videodataclus tearing module 9, video processing module 10, relay module
11, wifi module 12 are wherein mainly opened comprising character overlap chip 13 and two channel High Speed Analogs in Video Character Superpose module 8
Close 14.
The 4 model STM32-F429 of single-chip microcontroller, for receive ground mobile phone controlling terminal 2 sending control signal,
Receive and process data that laser range sensor 5 transmits, the switch, the control video character that control laser range sensor 5 it is folded
Character overlap chip 13 and two channel high-speed analog switch 14, the on-off of control relay module 11, control in module 8 is added to go out
The igniting and transmitting of fiery bullet.
The video pre-filtering module 7 is used to pre-process video, the video input signals that camera 6 is transmitted
Baseline is promoted to 2V.The videodataclus tearing module 9 is used to synchronize the line synchronising signal of video with field sync signal
Separation, it is that camera 6 is clapped and by video pre-filtering module 7 handle after vision signal isolate line synchronising signal,
Field sync signal.
Character overlap chip 13 in Video Character Superpose module 8 uses PD6453 chip.The chip passes through two pins
It is same to receive the row for obtaining the video that camera 6 is clapped after video pre-filtering module and videodataclus tearing resume module
Signal and field sync signal are walked, the overlaying character signal to guarantee Video Character Superpose chip output is synchronous with vision signal.
Three pins of the character overlap chip receive the instruction of single-chip microcontroller 4 simultaneously, control character overlap chip output by single-chip microcontroller 4
Character signal and impulsive switched signal.The stacking method used in the Video Character Superpose module 8 for switching method, this method
Main devices are the two channel high-speed analog switch 14 of a M74HC4053.It is that camera 6 is clapped and pass through video pre-filtering
The character signal that vision signal and character overlap chip after resume module generate is input to the two channels high speed mould together
In quasi- switch, which inputs the impulsive switched signal of 50Hz frequency, video image and character
Image alternately exports under given frequency and is transmitted to video processing module 10.
The video processing module 10 is for exporting two channel high-speed analog switch 14 in Video Character Superpose module 8
Character and mixed video signal be reduced into the video output signals that baseline is 0V, and then be transferred to wifi module 12.
The relay module 11 is used to control the on-off of unlock with firing circuit, since the present invention needs primary transmitting four
Piece fire extinguisher bomb, so using 8 relays altogether, wherein 4 are used to control release circuit, in addition 4 are used to control firing circuit.
The wifi module 12 is used to connect the local area network signal that terrestrial wireless signal transmitter 3 is issued, and with it is described
Ground mobile phone controlling terminal 2 is connected to, and the video image for enabling the camera 6 to shoot is real-time transmitted to the ground mobile phone control
Terminal 2 processed, and ground handling operator can control in real time Air Launched Platform 1 by the ground mobile phone controlling terminal 2
System.
The laser range sensor 5 use the prior art, connect with single-chip microcontroller 4, for measure Air Launched Platform 1 and
Real-time range 18 between target, and distance is transmitted to single-chip microcontroller 4.The communication interface of the laser range sensor 5 is RS232
Serial ports, measurement accuracy are ± 2mm, and measurement range is 0.02~100m, and time of measuring is 0.3~3 second, and laser levels are II grade.
The camera uses existing finished product, is the high-performance image sensors of a 1/4 inch, 5 mega pixels, supports
DVP and MIPI interface can be used in the main camera of 5 mega pixel of mobile phone and the main camera of 5 mega pixel of tablet computer.The camera shooting
First 6 connect with single-chip microcontroller 4, are transmitted to single-chip microcontroller 4 for shooting the real time status of scene of fire, and by vision signal.
The ground mobile phone controlling terminal 2 is communicated with single-chip microcontroller 4.The ground mobile phone controlling terminal, which can receive, to be taken the photograph
The real-time video 15 clapped as first 6, and control Air Launched Platform 1.The control system of the ground mobile phone controlling terminal is Android
6.0。
It is real-time to show that the camera of Air Launched Platform is clapped on the working interface of the ground mobile phone controlling terminal 2
The unlock for controlling signal switching push button 20, fire extinguisher bomb of video 15, the control switch button 19 of laser range sensor, fire extinguisher bomb
The button ignition switch 22 of button 21, fire extinguisher bomb.
Fig. 2 is ground mobile phone controlling terminal working interface schematic diagram.Measuring distance of target central point in Fig. 2 refers to cross hairs
16, the real-time range 18 between the Air Launched Platform that laser range sensor is surveyed and target and fire extinguisher bomb deflection refer to ten
Wordline 17 is then added on the real-time video 15 that camera 6 is clapped by Video Character Superpose module 8.
The terrestrial wireless signal transmitter 3 using the existing finished product terrestrial wireless signal transmitter with transmitting local
Net signal, the transmission for being video image captured by the camera 6 and the ground mobile phone controlling terminal 2 are to the aerial hair
Penetrate platform 1 control signal transmission provide approach, thus make ground handling operator by the ground mobile phone controlling terminal 2 just
It is able to achieve aiming and the emission process of entire fire extinguisher bomb.
The measuring distance of target central point can be added in real time described with reference to cross hairs 16 by Video Character Superpose technology
Above the real-time video 15 that the camera 6 of Air Launched Platform 1 is clapped, and it is real-time transmitted to the ground mobile phone controlling terminal 2.
The measuring distance of target central point is with reference to cross hairs 16, the geometric center on the mobile phone controlling terminal interface of ground, actually
The laser of laser range sensor 5 lands horizontal reference point, shows since the sent out laser of laser range sensor 5 can penetrate fire
The glass of field, therefore must assure that the laser land horizontal reference point of laser range sensor 5 is located on the wall above glass, with
Guarantee 5 rangings of laser range sensor from the actual distance between Air Launched Platform 1 and target.
The fire extinguisher bomb deflection can be added in real time the sky with reference to cross hairs 17 by Video Character Superpose technology
Above the real-time video 15 that the camera 6 of middle flat pad 1 is clapped, and it is real-time transmitted to the ground mobile phone controlling terminal 2.By
In gravity, fire extinguisher bomb has deflection during the launch process, and the fire extinguisher bomb deflection refers to cross hairs 17 actually
It is the true land horizontal reference point of fire extinguisher bomb.The fire extinguisher bomb deflection is located at the measuring distance of target center with reference to cross hairs 17
Point refers to the underface of cross hairs 16, and the fire extinguisher bomb deflection can be with the Laser Measuring with reference to the position coordinates of cross hairs 17
Change away from the real-time range 18 between the Air Launched Platform 1 surveyed of sensor 5 and target and change.The fire extinguisher bomb
Deflection refers to the difference h of the position coordinates of cross hairs 16 with reference to the position coordinates of cross hairs 17 and the measuring distance of target central point,
The relation character of real-time range s between the two between the Air Launched Platform 1 surveyed of laser range sensor 5 and target
Close the rule of level throw motion, relational expression are as follows: 2h=g (s/v0)2, v in formula0For the initial velocity that leaves the right or normal track of fire extinguisher bomb, g is gravity acceleration
Degree.Therefore, in practical operation fire-fighting unmanned plane, measuring distance of target central point need to only be made to be located at wall above glass with reference to cross hairs 16
While body, the fire extinguisher bomb deflection on 2 screen of ground mobile phone controlling terminal is enable to be aligned in window with reference to cross hairs 17
Between position, provide more convenient accurate reference frame for ground handling operator.
The control switch button 19 of the laser range sensor 5 is used to the switch of long-range control laser range sensor 5.
In fire extinguishing scene, if laser range sensor 5 is in the open state for a long time, or can not due to certain improper factors
Measure apart from when, range-measurement system is it is possible that abnormal condition, at this point, the control for clicking the laser range sensor 5 is opened
Button 19 is closed, laser range sensor 5 is restarted once, problems can be solved.
By ground mobile phone controlling terminal pair when the control signal switching push button 20 of the fire extinguisher bomb is for emitting each fire extinguisher bomb
The control signal of fire extinguisher bomb switches over.Since the present invention is at best able to continuously emit four pieces of fire extinguisher bombs, by four pieces of fire extinguisher bombs according to
Secondary number.When carrying out fire extinguisher bomb transmitting for the first time, the control signal switching push button of the fire extinguisher bomb in ground mobile phone controlling terminal 2
Digital " 1 " is shown on 20, i.e., may only currently emit No. 1 fire extinguisher bomb.After No. 1 fire extinguisher bomb igniting battery has fired, institute is clicked
The control signal switching push button 20 of fire extinguisher bomb is stated, the number above the control signal switching push button 20 of the fire extinguisher bomb becomes later
" 2 " can currently implement igniting transmitting to No. 2 fire extinguisher bombs.It repeats the switching, click process, successively emit remaining each fire extinguisher bomb.
The unblock button 21 of the fire extinguisher bomb is used to control the relay release circuit of fire extinguisher bomb.It puts out a fire in the unlocked state
Bullet can just light a fire transmitting, after unlock, if encountering non-ideal emission state, will be worked as by again tapping on the unblock button
Preceding fire extinguisher bomb is locked, to prevent ground handling operator from hand mistake occur, to guarantee the safety of entire fire-fighting UAV system
Property.
The button ignition switch 22 of the fire extinguisher bomb is used to control the make-and-break ignition circuit of fire extinguisher bomb.It is unlocked in current fire extinguisher bomb
And after transmitting of lighting a fire, unlock relay automatically controls current fire extinguisher bomb tripper and locks, and need to be switched to next number
Fire extinguisher bomb, then carry out subsequent unlock and ignition operation again.
A kind of fire extinguisher bomb of high building fire fighting unmanned plane aims at the control method of launching control system, comprising the following steps:
Step 1: being powered to Air Launched Platform 1 and terrestrial wireless signal transmitter 3.Using two pieces of 3S lithium polymer batteries
Be powered respectively to the Air Launched Platform 1 and terrestrial wireless signal transmitter 3, make single-chip microcontroller 4 on Air Launched Platform 1,
Laser range sensor 5 and camera 6 can work normally, while ground wireless signal transmitter 3 can normally issue local
Net signal.
Step 2: connecting the local area network of the sending of terrestrial wireless signal transmitter 3 with ground mobile phone controlling terminal 2, open mobile phone
On APP, input and access network address, just will appear working interface schematic diagram as shown in Figure 2 on mobile phone.
Step 3: when the skyborne front-rear position of ground handling operator's change unmanned plane, Air Launched Platform 1 and target
The distance between can change correspondingly, at this point, laser range sensor 5 is by the reality between the Air Launched Platform 1 surveyed and target
When distance 18 be transmitted to single-chip microcontroller 4, calculated by the CPU of single-chip microcontroller 4, obtain fire extinguisher bomb deflection refer to cross hairs 17 position
Set coordinate.The real-time video 15 that camera 6 is clapped simultaneously is also transmitted to single-chip microcontroller 4, and same by video pre-filtering module 7 and video
After walking the processing of separation module 9, line synchronising signal and field sync signal are obtained.
The fire extinguisher bomb deflection is located at the underface that measuring distance of target central point refers to cross hairs 16 with reference to cross hairs 17, surveys
It is located at the geometric center of ground mobile phone controlling terminal 2 with reference to cross hairs 16 away from target's center's point.The fire extinguisher bomb deflection reference
The position coordinates of cross hairs 17 can between the Air Launched Platform 1 surveyed of laser range sensor 5 and target it is real-time away from
Change from 18 and change, and measuring distance of target central point then will not be with air-launched with reference to the position coordinates of cross hairs 16
The change of real-time range 18 between platform 1 and target changes.The fire extinguisher bomb deflection refers to the position of cross hairs 17
The difference that coordinate and measuring distance of target central point refer to the position coordinates of cross hairs 16 is h, the aerial hair that laser range sensor 5 is surveyed
The real-time range penetrated between platform 1 and target is s；The h and the relationship of s between the two meet the rule of level throw motion, relationship
Formula are as follows: 2h=g (s/v0)2, v in formula0For the initial velocity that leaves the right or normal track of fire extinguisher bomb, g is acceleration of gravity.It will be mentioned by missilery personnel
The fire extinguisher bomb of confession leaves the right or normal track initial velocity v0It is previously implanted in the FLASH memory of single-chip microcontroller, is surveyed when laser range sensor 5
When real-time range s between Air Launched Platform 1 and target changes, singlechip CPU is according to formula 2h=g (s/v0)2, obtain institute
State fire extinguisher bomb deflection with reference to cross hairs 17 position coordinates and measuring distance of target central point with reference to cross hairs 16 position coordinates it
Poor h refers to the position coordinates of cross hairs 16 further according to measuring distance of target central point, obtains the fire extinguisher bomb deflection with reference to cross hairs
17 position coordinates.
After the real-time video 15 that camera 6 is clapped is transmitted to single-chip microcontroller 4, first passes through video pre-filtering module 7 and is pre-processed,
The baselines of the video input signals that camera 6 is transmitted is promoted to 2V, then again through videodataclus tearing module 9 by the row of video
Synchronization signal is synchronized with field sync signal and is separated, after camera 6 is clapped and process video pre-filtering module 7 is handled
Vision signal isolate line synchronising signal, field sync signal.
Step 4: position coordinates of the single-chip microcontroller 4 by fire extinguisher bomb deflection with reference to cross hairs 17 issue Video Character Superpose module
Character overlap chip 13 in 8, while line synchronising signal, field sync signal obtained in step 3 are also transmitted to character adding core
Piece 13 obtains character signal and impulsive switched signal after the processing of character overlap chip 13.
Character overlap chip 13 in Video Character Superpose module 8 uses PD6453 chip.The chip passes through two pins
It is same to receive the row for obtaining the video that camera 6 is clapped after video pre-filtering module and videodataclus tearing resume module
Signal and field sync signal are walked, the overlaying character signal to guarantee Video Character Superpose chip output is synchronous with vision signal.
Three pins of the character overlap chip receive the instruction of single-chip microcontroller 4 simultaneously, control character overlap chip output by single-chip microcontroller 4
Character signal and impulsive switched signal.Here character signal includes character and position of the measuring distance of target central point with reference to cross hairs
It the character and position signal of real-time range between the Air Launched Platform that signal, laser range sensor are surveyed and target and goes out
Fire plays the character and position signal that deflection refers to cross hairs.
Step 5: that character signal obtained in step 4 and impulsive switched signal and camera 6 are clapped and by video
Vision signal after preprocessing module processing is input to two channel high-speed analog switch 14 together, by two channel High Speed Analogs
After the processing of switch 14, character and mixed video signal are obtained.
For the stacking method used in Video Character Superpose module 8 for switching method, the main devices of this method are one
The two channel high-speed analog switch 14 of M74HC4053.After camera 6 is clapped and process video pre-filtering resume module
Vision signal and character overlap chip generate character signal be input in the two channels high-speed analog switch together, the two-way
Road high-speed analog switch control terminal inputs the impulsive switched signal of 50Hz frequency, and video image and character picture are under given frequency
It alternately exports, obtains the mixed signal of character and video.
Step 6: character obtained in step 5 and mixed video signal being transmitted to video processing module 10, handled through video
After the processing of module 10, then it is transmitted to wifi module 12, is transmitted to ground mobile phone controlling terminal 2 finally by local area network.
Video processing module 10 is used for the word for exporting two channel high-speed analog switch 14 in Video Character Superpose module 8
Symbol is reduced into baseline with mixed video signal and is the video output signals of 0V, and then is transferred to wifi module 12.Then, by monolithic
The video output signals that machine control wifi module 12 obtains after being handled through video processing module by local area network are transmitted to ground
Mobile phone controlling terminal 2.Finally, ground mobile phone controlling terminal working interface schematic diagram as shown in Figure 2 can be obtained.
Step 7: ground handling operator is by changing the skyborne front-rear position of unmanned plane, by Air Launched Platform 1 and mesh
When the distance between mark is maintained within the scope of 8~12m, the upper and lower and left-right position of unmanned plane is then adjusted, is made in measuring distance of target
While heart point is located at wall above glass with reference to cross hairs 16, the fire extinguisher bomb on 2 screen of ground mobile phone controlling terminal is made to sink
Amount can be directed at the intermediate position of window with reference to cross hairs 17.
Measuring distance of target central point refers to cross hairs 16, and the geometric center on the mobile phone controlling terminal interface of ground is practical
On be laser range sensor 5 laser land horizontal reference point, since the sent out laser of laser range sensor 5 can penetrate fire
The glass at calamity scene, therefore must assure that the laser land horizontal reference point of laser range sensor 5 is located at the wall above glass
On, to guarantee 5 rangings of laser range sensor from the actual distance between Air Launched Platform 1 and target.
Due to gravity, fire extinguisher bomb has deflection during the launch process, and the fire extinguisher bomb deflection refers to cross
Line 17 is actually the true land horizontal reference point of fire extinguisher bomb.Therefore, in practical operation fire-fighting unmanned plane, ranging need to only be made
While target's center's point is located at wall above glass with reference to cross hairs 16, make the fire extinguishing on 2 screen of ground mobile phone controlling terminal
The intermediate position that deflection can be directed at window with reference to cross hairs 17 is played, provides more convenient standard for ground handling operator
True reference frame.
Step 8: first clicking the unblock button 21 of the fire extinguisher bomb on operating handset interface, then click the button ignition switch of fire extinguisher bomb
22, carry out the transmitting of No. 1 fire extinguisher bomb.
The unblock button 21 of fire extinguisher bomb on operating handset interface is used to single-chip microcontroller on long-range control Air Launched Platform
Relay is unlocked, and then the tripper for controlling current fire extinguisher bomb can be by current fire extinguisher bomb solution by clicking the unblock button
Lock.Fire extinguisher bomb only can just carry out igniting transmitting in the unlocked state, after unlock, if encountering non-ideal emission state,
Current fire extinguisher bomb can also be locked by again tapping on the unblock button.The point of fire extinguisher bomb on operating handset interface
Fiery button 22 is used to the ignition relay of single-chip microcontroller on long-range control Air Launched Platform, and then controls the igniting of current fire extinguisher bomb
Current fire extinguisher bomb can be lighted a fire and be emitted by clicking the button ignition switch by device.It is unlocked and transmitting of lighting a fire in current fire extinguisher bomb
Afterwards, unlock relay automatically controls current fire extinguisher bomb tripper and locks.
The unblock button 21 of fire extinguisher bomb on operating handset interface and the button ignition switch 22 of fire extinguisher bomb once can only be single respectively
Solely one unlock relay of control and an ignition relay.After the transmitting of No. 1 fire extinguisher bomb, according to scene of a fire actual conditions, really
It is fixed whether to need to continue to emit fire extinguisher bomb.If desired, clicking the control signal switching push button 20 of fire extinguisher bomb, the later fire extinguisher bomb
Control signal switching push button 20 on number become " 2 "；Successively click the unblock button of the fire extinguisher bomb on operating handset interface
21 with the button ignition switch 22 of fire extinguisher bomb, by the control signal and fire extinguisher bomb of the unblock button 21 of the fire extinguisher bomb on operating handset interface
The control signal of button ignition switch 22 be switched in the corresponding unlock relay of Next Serial Number fire extinguisher bomb and ignition relay respectively,
Then the unblock button 21 of the fire extinguisher bomb on operating handset interface and the button ignition switch 22 of fire extinguisher bomb are successively clicked again, are carried out current
The igniting of fire extinguisher bomb emits, and repeats the switching, clicks process, successively emits remaining each fire extinguisher bomb.
Claims (8)
1. the fire extinguisher bomb of high building fire fighting unmanned plane a kind of aims at launching control system, which is characterized in that including Air Launched Platform,
Ground mobile phone controlling terminal and terrestrial wireless signal transmitter；Mobile phone controlling terminal in ground therein and the Air Launched Platform
In microcontroller communication connection；The terrestrial wireless signal transmitter aims at launching control system for the fire extinguisher bomb and provides wifi signal；
The Air Launched Platform includes single-chip microcontroller, laser range sensor and camera；The wherein signal output end of camera and institute
State the picture signal input terminal connection on single-chip microcontroller；
The data signal output of the laser range sensor is connected to the data signal input on the single-chip microcontroller；It is described
The control signal input of laser range sensor is connected to the control signal output on the single-chip microcontroller；Collect in the single-chip microcontroller
At have video pre-filtering module, Video Character Superpose module, videodataclus tearing module, video processing module, relay module,
Wifi module wherein mainly includes character overlap chip and two channel high-speed analog switch in Video Character Superpose module；
The ground mobile phone controlling terminal is communicated with single-chip microcontroller；The ground mobile phone controlling terminal receives camera shooting
The vision signal of real-time video, and control Air Launched Platform；
The transmitting signal of fire extinguisher bomb is controlled by the control signal switching push button of fire extinguisher bomb.
2. the fire extinguisher bomb of high building fire fighting unmanned plane as described in claim 1 aims at launching control system, which is characterized in that the list
Piece machine receives the control signal that mobile phone controlling terminal in ground issues, and receives and processes data, control that laser range sensor transmits
The switch of laser range sensor processed, the character overlap chip controlled in Video Character Superpose module are opened with two channel High Speed Analogs
It closes, the on-off of control relay module, the igniting and transmitting for controlling fire extinguisher bomb.
3. the fire extinguisher bomb of high building fire fighting unmanned plane as claimed in claim 2 aims at launching control system, which is characterized in that the view
For pre-processing to video, the baseline for the video input signals that camera is transmitted is promoted to 2V frequency preprocessing module；It is logical
It crosses the videodataclus tearing module and synchronizes the line synchronising signal of video with field sync signal and separate, camera is clapped
And isolate line synchronising signal, field sync signal by the vision signal after video pre-filtering resume module；
Two pins of the character overlap chip in Video Character Superpose module receive the line synchronising signal and field sync signal,
The overlaying character signal for exporting the Video Character Superpose chip is synchronous with vision signal；Three pins of the character overlap chip
The instruction for receiving single-chip microcontroller, controls the character overlap chip output character signal and impulsive switched signal by single-chip microcontroller；It will be described
The character signal that vision signal and character overlap chip generate is input in two channel high-speed analog switch, the video image and word
Signal is accorded with alternately to export under given frequency and be transmitted to video processing module；
The video processing module be used for by Video Character Superpose module two channel high-speed analog switch output character with
Mixed video signal is reduced into baseline and is the video output signals of 0V, and then is transferred to wifi module；
Relay module is used to control the on-off of unlock with firing circuit.
4. the fire extinguisher bomb of high building fire fighting unmanned plane as described in claim 1 aims at launching control system, which is characterized in that wifi mould
The local area network signal that block connection terrestrial wireless signal transmitter is issued, and be connected to the ground mobile phone controlling terminal, make institute
The video image for stating camera shooting can be real-time transmitted to the ground mobile phone controlling terminal, and ground handling operator can lead to
It crosses the ground mobile phone controlling terminal and real-time control is carried out to Air Launched Platform.
5. the fire extinguisher bomb of high building fire fighting unmanned plane as claimed in claim 2 aims at launching control system, which is characterized in that described to swash
The measurement accuracy of the communication interface of ligh-ranging sensor is ± 2mm, and measurement range is 0.02~100m, and time of measuring is 0.3~3
Second, laser levels are II grade.
6. the fire extinguisher bomb of high building fire fighting unmanned plane as claimed in claim 2 aims at launching control system, which is characterized in that by ranging
Target's center's point is with reference to cross hairs, fire extinguisher bomb deflection with reference to real-time between cross hairs and Air Launched Platform and target
Distance is added on the real-time video of camera shooting by Video Character Superpose module.
7. the fire extinguisher bomb of high building fire fighting unmanned plane as claimed in claim 2 aims at launching control system, which is characterized in that by going out
The relay release circuit of the unblock button control fire extinguisher bomb of fiery bullet；The relay of fire extinguisher bomb is controlled by the button ignition switch of fire extinguisher bomb
Device firing circuit.
8. the control method that a kind of fire extinguisher bomb as described in claim 1 aims at launching control system, which is characterized in that detailed process is:
Step 1, Air Launched Platform and terrestrial wireless signal transmitter are powered；
Step 2, mobile phone controlling terminal in ground is networked；
Step 3, the real-time range between the Air Launched Platform surveyed and target is transmitted to by monolithic by laser range sensor
Machine obtains the position coordinates that fire extinguisher bomb deflection refers to cross hairs；The real-time video that camera is clapped simultaneously is also transmitted to single-chip microcontroller,
And after video pre-filtering module and videodataclus tearing resume module, line synchronising signal and field sync signal are obtained；
The fire extinguisher bomb deflection refers to the position coordinates of cross hairs with reference to the position coordinates and measuring distance of target central point of cross hairs
Difference be h, real-time range between the Air Launched Platform that laser range sensor measures and target is s；Between the h and s
Relationship meet rule of horizontal projectile movement, relational expression are as follows:
2h=g (s/v0)2
In formula: v0It leaves the right or normal track initial velocity for fire extinguisher bomb；G is acceleration of gravity；
The fire extinguisher bomb provided by missilery personnel is left the right or normal track initial velocity v0It is previously implanted in the FLASH memory of single-chip microcontroller, when
When real-time range s changes between the Air Launched Platform measured and target, the fire extinguisher bomb deflection is obtained with reference to cross hairs
Position coordinates and measuring distance of target central point are joined with reference to the difference h of the position coordinates of cross hairs to obtain the fire extinguisher bomb deflection
Examine the position coordinates of cross hairs；
Step 4: position coordinates of the single-chip microcontroller by fire extinguisher bomb deflection with reference to cross hairs issue the word in Video Character Superpose module
Chip superposed is accorded with, while obtained line synchronising signal and field sync signal are transferred to character overlap chip, by character adding
After the processing of chip, character signal and impulsive switched signal are obtained；
The character signal includes the character and position signal, laser range sensor that measuring distance of target central point refers to cross hairs
The character and position signal and fire extinguisher bomb deflection of real-time range refer to cross hairs between the Air Launched Platform surveyed and target
Character and position signal；
Step 5: at obtained character signal and impulsive switched signal and camera are clapped and process video pre-filtering module
Vision signal after reason is input to two channel high-speed analog switch together, after the processing of two channel high-speed analog switch,
Obtain character and mixed video signal；
Step 6: character obtained in step 5 and mixed video signal being transferred to video processing module, through video processing module
After processing, then it is transmitted to wifi module, is transmitted to ground mobile phone controlling terminal finally by local area network；
Step 7: ground handling operator by change the skyborne position of unmanned plane, make between Air Launched Platform and target away from
While from being maintained at 8~12m, and measuring distance of target central point being made to be located at wall above glass with reference to cross hairs, make ground mobile phone
Fire extinguisher bomb deflection on controlling terminal screen refers to the intermediate position of reticle alignment window；
Step 8: clicking the unblock button of the fire extinguisher bomb on operating handset interface, then click the button ignition switch of fire extinguisher bomb, carry out 1
The transmitting of number fire extinguisher bomb；Current fire extinguisher bomb is unlocked and after battery has fired of lighting a fire, it is determined whether needs continue to emit fire extinguisher bomb；If
It needs, clicks the control signal switching push button of fire extinguisher bomb, believe the control of the unblock button of the fire extinguisher bomb on operating handset interface
Number it is switched to the corresponding unlock relay of Next Serial Number fire extinguisher bomb and igniting respectively with the control signal of the button ignition switch of fire extinguisher bomb
On relay, the unblock button of the fire extinguisher bomb on operating handset interface and the button ignition switch of fire extinguisher bomb are then successively clicked again, into
The igniting transmitting of fire extinguisher bomb, repeats the switching, clicks process, successively emit remaining each fire extinguisher bomb before the trade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599764.XA CN110329509A (en) | 2019-07-04 | 2019-07-04 | The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599764.XA CN110329509A (en) | 2019-07-04 | 2019-07-04 | The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110329509A true CN110329509A (en) | 2019-10-15 |
Family
ID=68143089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910599764.XA Pending CN110329509A (en) | 2019-07-04 | 2019-07-04 | The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329509A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930808A (en) * | 2019-12-31 | 2020-03-27 | 张寒冰 | Fire-fighting training simulation device for airplane |
| CN113008087A (en) * | 2021-04-16 | 2021-06-22 | 山东龙翼航空科技有限公司 | Laser guidance projection fire extinguishing bomb |
| CN113648569A (en) * | 2021-07-30 | 2021-11-16 | 北斗时空位置服务(北京)有限公司 | One-key launching command control system for guided fire extinguishing bomb launching |
| CN113758379A (en) * | 2021-07-30 | 2021-12-07 | 北斗时空位置服务(北京)有限公司 | Handheld operation terminal for guidance fire extinguishing bomb |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101691031B1 (en) * | 2015-10-30 | 2017-01-09 | 주식회사 미들테크 | Fire extinguishing system using fire extinguisher mounted robots |
| CN106390331A (en) * | 2016-10-11 | 2017-02-15 | 北京电子工程总体研究所 | High-rise building fire extinguishing system based on multi-rotor-wing unmanned aerial vehicle (UAV) |
| CN106581906A (en) * | 2016-12-13 | 2017-04-26 | 北京电子工程总体研究所 | High-rise building fire extinguishing apparatus based on unmanned aerial vehicle |
| CN108771803A (en) * | 2018-08-10 | 2018-11-09 | 中国人民解放军火箭军工程大学 | Control system and fire extinguishing system for the fire extinguishing of skyscraper rotor wing unmanned aerial vehicle |
-
2019
- 2019-07-04 CN CN201910599764.XA patent/CN110329509A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101691031B1 (en) * | 2015-10-30 | 2017-01-09 | 주식회사 미들테크 | Fire extinguishing system using fire extinguisher mounted robots |
| CN106390331A (en) * | 2016-10-11 | 2017-02-15 | 北京电子工程总体研究所 | High-rise building fire extinguishing system based on multi-rotor-wing unmanned aerial vehicle (UAV) |
| CN106581906A (en) * | 2016-12-13 | 2017-04-26 | 北京电子工程总体研究所 | High-rise building fire extinguishing apparatus based on unmanned aerial vehicle |
| CN108771803A (en) * | 2018-08-10 | 2018-11-09 | 中国人民解放军火箭军工程大学 | Control system and fire extinguishing system for the fire extinguishing of skyscraper rotor wing unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 刘小兵: "视频字符叠加与短距离红外无线传输技术研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930808A (en) * | 2019-12-31 | 2020-03-27 | 张寒冰 | Fire-fighting training simulation device for airplane |
| CN113008087A (en) * | 2021-04-16 | 2021-06-22 | 山东龙翼航空科技有限公司 | Laser guidance projection fire extinguishing bomb |
| CN113648569A (en) * | 2021-07-30 | 2021-11-16 | 北斗时空位置服务(北京)有限公司 | One-key launching command control system for guided fire extinguishing bomb launching |
| CN113758379A (en) * | 2021-07-30 | 2021-12-07 | 北斗时空位置服务(北京)有限公司 | Handheld operation terminal for guidance fire extinguishing bomb |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329509A (en) | The fire extinguisher bomb of high building fire fighting unmanned plane aims at launching control system and control method | |
| CN110180112B (en) | Cooperative reconnaissance fire-extinguishing operation method for unmanned aerial vehicle and fire-fighting robot | |
| CN107607965B (en) | The black winged Navigation of Pilotless Aircraft deception system of one kind and method | |
| CN108257145B (en) | Intelligent unmanned aerial vehicle reconnaissance processing system and method based on AR technology | |
| CN112114668B (en) | Digital twinning-based AR individual soldier accompanying reconnaissance unmanned aerial vehicle system and reconnaissance method thereof | |
| CN202859955U (en) | Remote early warning and fire extinguishing system for forest fire | |
| CN107438804B (en) | It is a kind of for controlling the wearable device and UAV system of unmanned plane | |
| CN107976899B (en) | Accurate target positioning and striking method based on manned/unmanned aerial vehicle cooperative combat system | |
| CN207311836U (en) | A kind of high-rise fire unmanned plane deliverance apparatus | |
| CN105955292B (en) | A kind of method, mobile terminal, aircraft and system for controlling aircraft flight | |
| CN108545192B (en) | Unmanned aerial vehicle bullet throwing system and method | |
| CN105730698B (en) | Small-sized fire extinguishing depopulated helicopter | |
| CN108137153A (en) | For the devices, systems, and methods of unmanned plane | |
| CN104660995A (en) | Disaster relief visual system | |
| CN111475573A (en) | Data synchronization method and device, electronic equipment and storage medium | |
| CN204068025U (en) | Unmanned aerial vehicle platform power-line patrolling system | |
| RU2622505C1 (en) | Method of carrying out search and rescue works | |
| CN105959630B (en) | Aspect short distance observation system and method based on remote photoelectric camera shooting | |
| CN109035665A (en) | A kind of novel forest fire early-warning system and fire alarm method | |
| KR101808273B1 (en) | The apparatus of smart drone with internet of things and visible light communication module | |
| CN109753079A (en) | A kind of unmanned plane precisely lands in mobile platform method | |
| CN107444641A (en) | A kind of launched by airplane system with vision collimation | |
| CN208723929U (en) | A kind of AR remote controler | |
| CN113110110B (en) | Semi-physical simulation system for missile defense and attack confrontation and implementation method thereof | |
| CN110101996A (en) | Fire-fighting robot co-located and AUTONOMOUS TASK method under complex environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191015 |