CN110496325A - It is a kind of that rope device is put based on aircraft - Google Patents
It is a kind of that rope device is put based on aircraft Download PDFInfo
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- CN110496325A CN110496325A CN201910588260.8A CN201910588260A CN110496325A CN 110496325 A CN110496325 A CN 110496325A CN 201910588260 A CN201910588260 A CN 201910588260A CN 110496325 A CN110496325 A CN 110496325A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 31
- 238000010191 image analysis Methods 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B1/00—Devices for lowering persons from buildings or the like
- A62B1/06—Devices for lowering persons from buildings or the like by making use of rope-lowering devices
- A62B1/16—Life-saving ropes or belts
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B1/00—Devices for lowering persons from buildings or the like
- A62B1/06—Devices for lowering persons from buildings or the like by making use of rope-lowering devices
- A62B1/18—Other single parts for rope lowering-devices, e.g. take-up rollers for ropes, devices for shooting ropes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Emergency Lowering Means (AREA)
Abstract
Rope device is put based on aircraft the present invention provides a kind of, should include aircraft module, put rope device module, element of work acquisition module, working condition determining module based on the rope device of putting of aircraft；Wherein, the aircraft module puts rope device module for carrying this, element of work acquisition module is used to obtain the aircraft module and/or this puts the corresponding ambient condition element of rope device module, the working condition determining module is used for according to the ambient condition element, generate at least one about the aircraft module and/or this put the corresponding working condition mode of rope device module, the aircraft module is used for according to the working condition mode, this is put into rope device module and is transported to target area, this is put rope device module and is used for according to the working condition mode, the throwing that rope executes adaptability is put and is operated with transmission.
Description
Technical field
The present invention relates to the technical fields of fire-fighting and rescue, in particular to a kind of to put rope device based on aircraft.
Background technique
With the progress of social economy, all there is high-rise or high-rise building in many cities, these buildings are not
Only include commercial mansion, and also covers residential building.Any building requires to test by corresponding fire-fighting after construction
It just can be carried out use after receipts, fire control acceptance is mainly to examine whether the internal structure of building and the distribution in channel meet fire-fighting item
Part, and examine the fire-fighting equipment of interior of building whether intact.Although high-rise and super high-rise building is before the use all
Have to pass through stringent fire control acceptance, but in the subsequent use process, inevitably due to resident with fiery electricity consumption it is lack of standardization or
Situations such as aging, occurs for the power circuit of interior of building, and leads to the generation of fire.Once this high-rise and super high-rise building
Fire occurs, fire behavior is easy to spread, and this requires fire fighters can just go out trapped person within the shortest time
With stamp out a fire.
In some fire incidents, since normal channel is blocked, in order to rescue the trapped person in the scene of a fire, it usually needs borrow
It helps corresponding rope equipment of putting that rope extension is put into sue and labour to trapped person in the scene of a fire, and puts the superiority and inferiority of rope equipment performance
Property directly influence rescue trapped person speed.Currently, existing rope equipment of putting can all be matched with aircraft such as unmanned planes
It uses, rope equipment will be put and be installed in aircraft, then rope equipment will be put by aircraft and be transported to behind corresponding target area again
It carries out putting rop exercise work, but this mode for putting rop exercise work can only control the state of flight of aircraft and be put according to preset mode
Rope equipment puts rop exercise work, can not meet actual rescue requirement, for weather such as scene of fire, heavy rain or typhoons
Disaster scene will lead to if aircraft and putting rope equipment and not considering that the actual environment condition and directly carrying out at scene puts rop exercise work
Rope can not be thrown and be put into target area, to delay rescue operations.As it can be seen that existing aircraft and put rope equipment can not
The flight of adaptability is carried out according to the environmental condition of practical matter and puts rope adjusting, so that improving rope throws the accuracy put.
In fire-fighting and rescue field, adaptability flight can be carried out according to actual environment condition and put the base that rop exercise makes adjustments by being badly in need of one kind
Rope device is put in aircraft.
Summary of the invention
In view of the defects existing in the prior art, the present invention provide it is a kind of rope device is put based on aircraft, should based on flight
The rope device of putting of device includes aircraft module, puts rope device module, element of work acquisition module, working condition determining module；Wherein,
The aircraft module for carry this put rope device module, the element of work obtain module for obtain the aircraft module and/or
This puts the corresponding ambient condition element of rope device module, which is used to be generated according to the ambient condition element
At least one about the aircraft module and/or this put the corresponding working condition mode of rope device module, which is used for
According to the working condition mode, this is put into rope device module and is transported to target area, this is put rope device module and is used for according to the work shape
Morphotype formula is put the throwing that rope executes adaptability and is operated with transmission.As it can be seen that rope device should be put by that will rescue based on aircraft
Environment distribution of obstacles state and real-time weather state carry out flight operation and put rope device to carry out putting rope as aircraft in scene
The adjusting of operation according to, can be improved in this way put rope device to it is different rescue occasions applicabilities, to avoid in the prior art
Rope device of putting based on aircraft can only be using the single defect put rope mode and put rop exercise work.As it can be seen that aircraft should be based on
Rope device of putting can be realized rope and can carry out adjustable flight operation for different external environmental conditions and put rop exercise work, with this
It improves and puts rope device to the applicability of different rescue occasions.
The present invention, which provides, a kind of puts rope device based on aircraft, it is characterised in that:
The rope device of putting based on aircraft includes aircraft module, puts rope device module, element of work acquisition module, work
Make state determining module；Wherein,
The aircraft module puts rope device module described in being used to carry；
The element of work obtains module for obtaining the aircraft module and/or described putting the corresponding ring of rope device module
Border state element；
The working condition determining module is used to generate at least one about the flight according to the ambient condition element
Device module and/or described put the corresponding working condition mode of rope device module；
The aircraft module is used for according to the working condition mode, and the rope device module of putting is transported to target area
Domain；
The rope device module of putting is used to put the throwing that rope executes adaptability according to the working condition mode and grasp with transmission
Make；
Further, the aircraft module includes bearing support, state of flight control submodule and the first communication submodule；
Wherein,
The bearing support includes hanger bar and locking buckle；
The hanger bar is used to provide the described aircraft module and the hanging buckle connection structure put between rope device module；
The locking buckle is used to carry out snap-lock to the hanger bar, so that the aircraft module puts rope device with described
Detachable locking connection is realized between module；
The state of flight control submodule is used to control the state of flight of the aircraft module；
The first communication submodule obtains the work for connecting with the working condition determining module signal with this
The working condition mode that state determining module determines；
Further, the first communication submodule obtains the working condition mode tool that the working condition determining module determines
Body includes at least one in flight track, flight attitude, heading and the flying speed obtained in the working condition mode
Person；
The state of flight that the state of flight control submodule controls the aircraft module specifically includes the flight shape
Flight track, flight attitude, flight side of the state control submodule based on aircraft module described in the working condition mode adjustment
To at least one of with flying speed；
Further, the rope device module of putting includes fixed frame, puts rope form state control submodule and the second communication submodule；
Wherein,
The fixed frame includes accommodating cavity and fixed hook；
The accommodating cavity is used to accommodate the main structure for putting rope device module；
The fixed hanging buckle is arranged on the accommodating cavity, for realizing the accommodating cavity and the aircraft module it
Between detachable locking connection；
The rope form state control submodule of putting is for controlling several movements ginseng put rope device module execution and put rop exercise work
Number；
The second communication submodule obtains the work for connecting with the working condition determining module signal with this
The working condition mode that state determining module determines；
Further, the second communication submodule obtains the working condition mode tool that the working condition determining module determines
Body include obtain rope counterweight in the working condition mode, orientation is put in rope throwing, dynamics, rope conveying length are put in rope throwing
At least one of with rope transmission speed；
Described put puts several action parameters tool that rop exercise work is put in rope device module execution described in the control of rope form state control submodule
Body includes the rope form state control submodule of putting based on Suo Peichong, the rope for putting rope device module described in the working condition mode adjustment
Orientation is put in rope throwing, at least one of dynamics, rope conveying length and rope transmission speed are put in rope throwing；
Further, it includes that geographic barrier zone state acquisition submodule, state of weather obtain that the element of work, which obtains module,
Take submodule, elements affect factor computational submodule and element of work judging submodule；Wherein,
The geographic barrier zone state acquisition submodule for obtain within the scope of target area about building, vegetation and
The geographic barrier element of at least one of terrain obstruction；
The state of weather acquisition submodule is for obtaining corresponding several different types of weather within the scope of target area
Element；
The elements affect factor computational submodule is wanted for calculating about the geographic barrier element or the weather
The impact factor of element；
The element of work judging submodule is used for corresponding about the geographic barrier element or the Weather Elements
Impact factor carry out validity judgement processing；
Further, the geographic barrier zone state acquisition submodule includes the first visible images acquisition unit and first
Image analysis processing unit；Wherein,
The first visible images acquisition unit is used to obtain several different first images about the target area；
The first image analytical unit is used to carry out the first image analysis processing to several different first images, with
This obtains parallax information and space object distributed intelligence about several different first images, and according to the parallax information
With the space object distributed intelligence, the 3-dimensional image model about the target area is constructed, in the 3-D image mould
In type determine its present in difference building and terrain obstruction correlation distribution information, to be wanted as the geographic barrier
Element；
Further, the geographic barrier zone state acquisition submodule includes the second visible images acquisition unit and second
Image analysis processing unit；Wherein,
The second visible images acquisition unit is used to obtain several different second images about the target area；
The second image analysis processing unit is used to carry out at the second image analysis several different second images
Reason, obtains the HSV information about several different second images with this, and according to the HSV information, the mesh is calculated
The vegetation distributed intelligence in region is marked, thus as the geographic barrier element；
Further, the state of weather acquisition submodule includes satellite radar figure acquisition unit and third image analysis processing
Unit；Wherein,
The satellite radar figure acquisition unit is used to obtain the real-time satellite radar image about the target area；
The third image analysis processing unit is used to carry out at third image analysis the real-time satellite radar image
Reason, obtains the target area at least one of corresponding wind speed, wind direction, Temperature and rainfall in real time with this, thus conduct
The Weather Elements；
Further, the working condition determining module includes that aircraft working condition determines submodule and puts rope device work shape
State determines submodule；Wherein,
The aircraft working condition determine submodule for according in the environmental element geographic barrier element and/or
Weather Elements determine several state of flight modes with different flight tracks and flight parameter；
It is described put rope device working condition determine submodule for according in the environmental element geographic barrier element and/or
Weather Elements, which determine, several puts rope state model with different rope transmission speeds and rope conveying length；
The rope device of putting based on aircraft further includes middle control module, if the middle control module is for calculating dry run shape
Morphotype formula and several match informations put between rope state model, and it is current according to the match information to be determined for compliance with target area
The state of flight mode of actual conditions is set with the optimal collocation for putting rope state model.
Compared with the prior art, the rope device of putting based on aircraft is somebody's turn to do to include aircraft module, put rope device module, work and want
Element obtains module, working condition determining module；Wherein, which puts rope device module, the element of work for carrying this
Acquisition module is used to obtain the aircraft module and/or this puts the corresponding ambient condition element of rope device module, and the working condition is true
Cover half block be used for according to the ambient condition element, generate at least one about the aircraft module and/or this put rope device module pair
The working condition mode answered, the aircraft module are used to that this to be put rope device module and is transported to target according to the working condition mode
Region, this is put rope device module and is used to put the throwing that rope executes adaptability according to the working condition mode and operate with transmission.It can
See, should based on aircraft put rope device by using environment distribution of obstacles state in rescue site and real-time weather state as
Aircraft carries out flight operation and puts rope device put the adjusting of rop exercise work according to can be improved in this way and put rope device and rescue difference
Help the applicability of occasion, thus avoid in the prior art based on aircraft put rope device can only using it is single put rope mode progress
Put the defect of rop exercise work.As it can be seen that should can be realized rope based on the rope device of putting of aircraft and can be directed to different external environmental conditions
It carries out adjustable flight operation and puts rop exercise work, so as to improve rope device is put to the applicability of different rescue occasions.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram for putting rope device based on aircraft provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It refering to fig. 1, is a kind of structural schematic diagram for putting rope device based on aircraft provided in an embodiment of the present invention.The base
In aircraft put rope device include aircraft module, put rope device module, element of work obtains module, working condition and determines mould
Block；Wherein, which puts rope device module for carrying this；The element of work obtains module for obtaining the aircraft mould
Block and/or this put the corresponding ambient condition element of rope device module；The working condition determining module according to the ambient condition for wanting
Element, generate at least one about the aircraft module and/or this put the corresponding working condition mode of rope device module；The aircraft mould
Block is used to that this to be put rope device module and is transported to target area according to the working condition mode；This puts rope device module should for basis
Working condition mode is put the throwing that rope executes adaptability and is operated with transmission.
Preferably, which includes bearing support, state of flight control submodule and the first communication submodule；
Preferably, which includes hanger bar and locking buckle；
Preferably, which is used to provide the aircraft module and this puts the hanging buckle connection structure between rope device module；
Preferably, which is used to carry out snap-lock to the hanger bar, so that the aircraft module puts rope device with this
Detachable locking connection is realized between module；
Preferably, which is used to control the state of flight of the aircraft module；
Preferably, which obtains the work for connecting with the working condition determining module signal with this
Make the working condition mode that state determining module determines；
Preferably, which obtains the working condition mode that the working condition determining module determines and specifically wraps
Include at least one of flight track, flight attitude, heading and the flying speed obtained in the working condition mode；
Preferably, the state of flight which controls the aircraft module specifically includes the flight shape
Flight track of the state control submodule based on the working condition mode adjustment aircraft module, flight attitude, heading and
At least one of flying speed；
Preferably, this is put rope device module and includes fixed frame, puts rope form state control submodule and the second communication submodule；
Preferably, which includes accommodating cavity and fixed hook；
Preferably, which is used to accommodate the main structure for putting rope device module；
Preferably, which is arranged on the accommodating cavity, for realizing the accommodating cavity and the aircraft module it
Between detachable locking connection；
Preferably, this is put rope form state control submodule and puts several movements that rop exercise work is put in rope device module execution for controlling this
Parameter；
Preferably, which obtains the work for connecting with the working condition determining module signal with this
Make the working condition mode that state determining module determines；
Preferably, which obtains the working condition mode that the working condition determining module determines and specifically wraps
Include the rope counterweight obtained in the working condition mode, orientation is put in rope throwing, dynamics, rope conveying length and rope are put in rope throwing
At least one of transmission speed；
Preferably, this put rope form state control submodule control this put rope device module execute put rop exercise work several action parameters
This is specifically included to put rope form state control submodule this puts the rope Suo Peichong of device module, rope is thrown based on the working condition mode adjustment
Put orientation, at least one of dynamics, rope conveying length and rope transmission speed are put in rope throwing；
Preferably, it includes geographic barrier zone state acquisition submodule, state of weather acquisition which, which obtains module,
Submodule, elements affect factor computational submodule and element of work judging submodule；
Preferably, the geographic barrier zone state acquisition submodule for obtain within the scope of target area about building,
The geographic barrier element of at least one of vegetation and terrain obstruction；
The state of weather acquisition submodule is wanted for obtaining corresponding several different types of weather within the scope of target area
Element；
Preferably, which wants for calculating about the geographic barrier element or the weather
The impact factor of element；
Preferably, which is used for corresponding about the geographic barrier element or the Weather Elements
Impact factor carry out validity judgement processing；
Preferably, which includes the first visible images acquisition unit and the first figure
As analysis and processing unit；
Preferably, which is used to obtain several different first figures about the target area
Picture；
Preferably, which is used to carry out at the first image analysis several different first images
Reason obtains parallax information and space object distributed intelligence about several different first images with this, and is believed according to the parallax
Breath and the space object distributed intelligence construct the 3-dimensional image model about the target area, in the 3-dimensional image model
The correlation distribution information for determining difference building and terrain obstruction present in it, thus as the geographic barrier element；
Preferably, which includes the second visible images acquisition unit and the second figure
As analysis and processing unit；
Preferably, which is used to obtain several different second figures about the target area
Picture；
Preferably, which is used to carry out the second image analysis to several different second images
Processing, obtains the HSV information about several different second images with this, and according to the HSV information, the target area is calculated
Vegetation distributed intelligence in domain, thus as the geographic barrier element；
Preferably, which includes satellite radar figure acquisition unit and third image analysis processing list
Member；
Preferably, which is used to obtain the real-time satellite radar image about the target area；
Preferably, which is used to carry out third image analysis to the real-time satellite radar image
Processing, obtains the target area at least one of corresponding wind speed, wind direction, Temperature and rainfall in real time with this, thus conduct
The Weather Elements；
Preferably, which includes that aircraft working condition determines submodule and puts rope device working condition
Determine submodule；
Preferably, which determines submodule for according to the geographic barrier element in the environmental element
And/or Weather Elements determine several state of flight modes with different flight tracks and flight parameter；
Preferably, this is put rope device working condition and determines that submodule is used for according to the geographic barrier element in the environmental element
And/or Weather Elements determine and several put rope state model with different rope transmission speeds and rope conveying length；
Preferably, being somebody's turn to do the rope device of putting based on aircraft further includes middle control module, and control module is for calculating several fly in this
Row state model and several match informations put between rope state model, and target area is determined for compliance with according to the match information and is worked as
The state of flight mode of preceding actual conditions is set with the optimal collocation for putting rope state model.
From above-described embodiment as can be seen that this based on aircraft put rope device include aircraft module, put rope device module,
Element of work obtains module, working condition determining module；Wherein, which puts rope device module, the work for carrying this
Make element and obtains module for obtaining the aircraft module and/or this puts the corresponding ambient condition element of rope device module, the work
State determining module be used for according to the ambient condition element, generate at least one about the aircraft module and/or this put rope device
The corresponding working condition mode of module, the aircraft module are used to that this to be put rope device module and is transported according to the working condition mode
To target area, this is put rope device module and is used to put the throwing that rope executes adaptability according to the working condition mode and grasp with transmission
Make.As it can be seen that rope device should be put by by environment distribution of obstacles state in rescue site and real-time weather shape based on aircraft
State as aircraft carries out flight operation and puts rope device put the adjusting of rop exercise work according to can be improved put rope device pair in this way
The applicabilities of difference rescue occasions, to avoid putting rope device and can only put rope mould using single based on aircraft in the prior art
Formula put the defect of rop exercise work.As it can be seen that should based on aircraft put rope device can be realized rope can be for different extraneous rings
Border condition carries out adjustable flight operation and puts rop exercise work, so as to improve rope device is put to the applicability of different rescue occasions.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of put rope device based on aircraft, it is characterised in that:
The rope device of putting based on aircraft includes aircraft module, puts rope device module, element of work acquisition module, work shape
State determining module；Wherein,
The aircraft module puts rope device module described in being used to carry；
The element of work obtains module for obtaining the aircraft module and/or described putting the corresponding environment shape of rope device module
State element；
The working condition determining module is used to generate at least one about the aircraft mould according to the ambient condition element
Block and/or described put the corresponding working condition mode of rope device module；
The aircraft module is used for according to the working condition mode, and the rope device module of putting is transported to target area；
The rope device module of putting is used to put the throwing that rope executes adaptability according to the working condition mode and operate with transmission.
2. putting rope device based on aircraft as described in claim 1, it is characterised in that:
The aircraft module includes bearing support, state of flight control submodule and the first communication submodule；
Wherein,
The bearing support includes hanger bar and locking buckle；
The hanger bar is used to provide the described aircraft module and the hanging buckle connection structure put between rope device module；
The locking buckle is used to carry out snap-lock to the hanger bar, so that the aircraft module puts rope device module with described
Between realize detachable locking connection；
The state of flight control submodule is used to control the state of flight of the aircraft module；
The first communication submodule obtains the working condition for connecting with the working condition determining module signal with this
The working condition mode that determining module determines.
3. putting rope device based on aircraft as claimed in claim 2, it is characterised in that:
The first communication submodule obtains the working condition mode that the working condition determining module determines and specifically includes acquisition
At least one of flight track, flight attitude, heading and flying speed in the working condition mode；
The state of flight that the state of flight control submodule controls the aircraft module specifically includes the state of flight control
Flight track of the system module based on aircraft module described in the working condition mode adjustment, flight attitude, heading and
At least one of flying speed.
4. putting rope device based on aircraft as described in claim 1, it is characterised in that:
The rope device module of putting includes fixed frame, puts rope form state control submodule and the second communication submodule；
Wherein,
The fixed frame includes accommodating cavity and fixed hook；
The accommodating cavity is used to accommodate the main structure for putting rope device module；
The fixed hanging buckle is arranged on the accommodating cavity, for realizing between the accommodating cavity and the aircraft module
Detachable locking connection；
The rope form state control submodule of putting is for controlling several action parameters put rope device module execution and put rop exercise work；
The second communication submodule obtains the working condition for connecting with the working condition determining module signal with this
The working condition mode that determining module determines.
5. putting rope device based on aircraft as claimed in claim 4, it is characterised in that:
The second communication submodule obtains the working condition mode that the working condition determining module determines and specifically includes acquisition
Rope counterweight, rope throwing in the working condition mode put orientation, rope is thrown dynamics of putting, rope conveying length and rope and transmitted
At least one of speed；
It is described put rope form state control submodule control described in put rope device module execute put rop exercise work several action parameters specifically wrap
The rope form state control submodule of putting is included based on Suo Peichong, the rope throwing for putting rope device module described in the working condition mode adjustment
Put orientation, at least one of dynamics, rope conveying length and rope transmission speed are put in rope throwing.
6. putting rope device based on aircraft as described in claim 1, it is characterised in that:
The element of work, which obtains module, to be included geographic barrier zone state acquisition submodule, state of weather acquisition submodule, wants
Plain impact factor computational submodule and element of work judging submodule；Wherein, the geographic barrier zone state acquisition submodule
For obtaining the geographic barrier element within the scope of target area about at least one of building, vegetation and terrain obstruction；
The state of weather acquisition submodule is for obtaining corresponding several different types of Weather Elements within the scope of target area；
The elements affect factor computational submodule is used to calculate about the geographic barrier element or the Weather Elements
Impact factor；
The element of work judging submodule is used for about the geographic barrier element or the corresponding shadow of the Weather Elements
Ring the judgement processing that the factor carries out validity.
7. putting rope device based on aircraft as claimed in claim 6, it is characterised in that:
The geographic barrier zone state acquisition submodule includes at the first visible images acquisition unit and the first image analysis
Manage unit；Wherein,
The first visible images acquisition unit is used to obtain several different first images about the target area；
The first image analytical unit is used to carry out the first image analysis processing to several different first images, is obtained with this
To about several different first images parallax information and space object distributed intelligence, and according to the parallax information and institute
Space object distributed intelligence is stated, the 3-dimensional image model about the target area is constructed, in the 3-dimensional image model
The correlation distribution information for determining difference building and terrain obstruction present in it, thus as the geographic barrier element.
8. putting rope device based on aircraft as claimed in claim 6, it is characterised in that:
The geographic barrier zone state acquisition submodule includes at the second visible images acquisition unit and the second image analysis
Manage unit；Wherein,
The second visible images acquisition unit is used to obtain several different second images about the target area；
The second image analysis processing unit is used to carry out the second image analysis processing to several different second images, with
This obtains the HSV information about several different second images, and according to the HSV information, the target area is calculated
Vegetation distributed intelligence in domain, thus as the geographic barrier element.
9. putting rope device based on aircraft as claimed in claim 6, it is characterised in that:
The state of weather acquisition submodule includes satellite radar figure acquisition unit and third image analysis processing unit；Wherein,
The satellite radar figure acquisition unit is used to obtain the real-time satellite radar image about the target area；
The third image analysis processing unit is used to carry out third image analysis processing to the real-time satellite radar image, with
This obtains the target area at least one of corresponding wind speed, wind direction, Temperature and rainfall in real time, thus as the day
Gas element.
10. putting rope device based on aircraft as described in claim 1, it is characterised in that:
The working condition determining module includes that aircraft working condition determines that submodule determines submodule with rope device working condition is put
Block；Wherein,
The aircraft working condition determines submodule for according to the geographic barrier element and/or weather in the environmental element
Element determines several state of flight modes with different flight tracks and flight parameter；
The rope device working condition of putting determines submodule for according to the geographic barrier element and/or weather in the environmental element
Element, which determines, several puts rope state model with different rope transmission speeds and rope conveying length；
The rope device of putting based on aircraft further includes middle control module, and the middle control module is for calculating several state of flight moulds
Formula and several match informations put between rope state model, and it is currently practical according to the match information to be determined for compliance with target area
The state of flight mode of situation is set with the optimal collocation for putting rope state model.
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| CN105658519A (en) * | 2013-08-26 | 2016-06-08 | 谷歌公司 | Mechanisms for lowering payload to ground from uav |
| CN207157451U (en) * | 2017-08-24 | 2018-03-30 | 吉林省羽麦科技有限公司 | A kind of water life-saving unmanned plane |
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