CN110624189A - Unmanned aerial vehicle airborne fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and launching control method - Google Patents
Unmanned aerial vehicle airborne fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and launching control method Download PDFInfo
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- CN110624189A CN110624189A CN201910969249.6A CN201910969249A CN110624189A CN 110624189 A CN110624189 A CN 110624189A CN 201910969249 A CN201910969249 A CN 201910969249A CN 110624189 A CN110624189 A CN 110624189A
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Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses an airborne fire extinguishing bomb device of an unmanned aerial vehicle, a fire-fighting unmanned aerial vehicle and a launching control method, wherein the method comprises the following steps: the N-joint launch canister units are mounted on the unmanned aerial vehicle body; the three-axis servo stabilizing unit is used for isolating attitude disturbance when the machine body flies or suspends and ensuring the stability of the N-connected launch canister unit; the fire control unit generates coordinates of fire extinguishing bomb impact points under the current flight attitude condition, is provided with a launching wave gate, and generates fire extinguishing bomb automatic launching signals according to a set launching sequence when the impact points fall into the launching wave gate; and the fire extinguishing bomb launching controller is used for generating a fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the launching of the fire extinguishing bomb. The three-axis servo stabilizing unit is adopted to isolate disturbance, so that the aiming and shooting precision and the intelligent degree are improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an airborne fire extinguishing bomb device of an unmanned aerial vehicle, a fire-fighting unmanned aerial vehicle and a launching control method.
Background
Unmanned aerial vehicle now wide application in the fire control field, unmanned aerial vehicle carry the fire extinguishing bomb that is equipped with the fire extinguishing agent, aim the burning things which may cause a fire disaster through watching the device of aiming and launch to accomplish the task of putting out a fire. However, the existing onboard fire extinguishing bomb launching devices of the unmanned aerial vehicle are fixedly connected with the unmanned aerial vehicle, and the launching devices cannot isolate disturbance caused by the attitude of the unmanned aerial vehicle, so that fire extinguishing bomb launching can be carried out only in a hovering state, fire control calculation is not carried out, only the launching of a fire extinguishing bomb at a short distance can be carried out, the hitting precision of the fire extinguishing bomb is not guaranteed, the hitting rate is low, and accurate aiming and launching of a moving target cannot be carried out; meanwhile, the fire extinguishing bomb is launched in a manual control launching mode, and the intelligent degree is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an airborne fire extinguishing bomb device of an unmanned aerial vehicle, a fire-fighting unmanned aerial vehicle and a launching control method, wherein a three-axis servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flying process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertia space is ensured; the photoelectric pod is used for automatically tracking fire points, and the three-axis servo stabilizing unit is in high-precision follow-up with the photoelectric pod, so that the aiming and shooting precision is improved; meanwhile, a fire control algorithm and a shooting wave gate technology are adopted, automatic fire extinguishing bomb launching is achieved, and the hitting precision of the unmanned aerial vehicle for launching the fire extinguishing bombs in any flight state and the intelligent degree of fire extinguishing bomb launching are improved.
In order to achieve the purpose, the invention provides the following technical scheme:
in one aspect, an unmanned aerial vehicle machine carries fire extinguishing bomb device is provided, it includes: the N-connected launch canister unit is mounted on the unmanned aerial vehicle body, at least one fire extinguishing bomb is contained in the N-connected launch canister unit, and N is a positive integer; the three-axis servo stabilizing unit is connected with the N-connected launch canister units and is used for isolating attitude disturbance when the machine body flies or suspends and ensuring the stability of the N-connected launch canister units in an inertial space; the fire control unit generates the coordinates of fire extinguishing bomb impact points under the current flight attitude condition in real time through the received fire control information, and is also provided with a launching wave gate, and when the impact points fall into the launching wave gate, automatic fire extinguishing bomb launching signals are generated according to a set launching sequence; and the fire extinguishing bomb launching controller is used for receiving the fire extinguishing bomb automatic launching signal and generating a fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the launching of the fire extinguishing bomb.
Preferably, the unmanned aerial vehicle fire extinguishing bomb device further comprises: the photoelectric pod is connected with the unmanned aerial vehicle body, is used for acquiring distance information between the unmanned aerial vehicle body and a fire scene, automatically tracking images of the fire scene and attitude information of the photoelectric pod when the unmanned aerial vehicle body flies or hovers, and sends the attitude information to the three-axis servo stabilizing unit; and/or sending the fire control information to the fire control unit so that the fire control information is received by the fire control unit.
Preferably, the three-axis servo stabilizing unit receives attitude information sent by the photoelectric pod and then performs three-axis motion control, so that an included angle between a fire extinguishing bomb axis and an optical axis of the photoelectric pod is 0-0.1 °.
Preferably, the three-axis servo stabilization unit includes: the system comprises a three-axis gyroscope, an azimuth control motor, a pitching control motor, a rolling control motor and a servo control drive board; the three-axis gyroscope is used for acquiring attitude information of the unmanned aerial vehicle body; the servo control drive plate receives attitude information of the unmanned aerial vehicle body acquired by the three-axis gyroscope and attitude information sent by the photoelectric pod, and after the attitude information and the attitude information are compared, the servo control drive plate correspondingly controls the operation of the azimuth control motor and/or the pitch control motor and/or the roll control motor so as to realize three-axis motion control and ensure that three axes of the N-joint launching canister unit connected with the unmanned aerial vehicle body are stable in an inertial space.
Preferably, the three-axis motion range of the three-axis servo stabilizing unit is +/-3-10 degrees.
On the other hand, still provide a fire control unmanned aerial vehicle, it includes unmanned aerial vehicle organism and above-mentioned unmanned aerial vehicle machine carries fire extinguishing bomb device, and it is connected on the unmanned aerial vehicle organism.
Preferably, the fire-fighting unmanned aerial vehicle further comprises: the flight control unit is used for acquiring environmental information and controlling the flight attitude and/or the flight track of the machine body in the air according to the environmental information; the data transmission unit is used for receiving the image information and/or the audio information of the fire scene and/or the distance between the machine body and the fire scene and/or the flight attitude and/or the flight track information, transmitting the image information and/or the audio information of the fire scene to a fire-fighting command platform in real time, and transmitting the flight attitude and/or the flight track information to the ground station.
Preferably, the fire-fighting unmanned aerial vehicle further comprises: and the fire condition processing unit is connected with the unmanned aerial vehicle airborne fire extinguishing bomb device and is used for generating a fire condition processing scheme according to the image information and/or the audio information of the fire scene and/or the distance between the body and the fire scene.
Preferably, the fire-fighting unmanned aerial vehicle further comprises: the machine body lifting and descending device comprises a lifting and descending unit for finishing the lifting and descending of the machine body and/or a transportation unit for transporting the machine body and/or a guarantee unit for guaranteeing and maintaining the machine body.
On the other hand, still provide the launch control method of above-mentioned unmanned aerial vehicle airborne fire extinguishing bomb device, it includes following step:
s1, acquiring distance information between the body and a fire scene through the photoelectric pod, automatically tracking a fire point and attitude information of the photoelectric pod when the unmanned aerial vehicle body flies or hovers, and sending the attitude information to the three-axis servo stabilizing unit;
s2, the three-axis servo stabilizing unit receives attitude information of the photoelectric pod and then performs three-axis motion control, so that an included angle between a fire extinguishing bomb axis and a photoelectric pod axis is 0-0.1 degrees;
s3, loading fire control information by the fire control unit, generating fire extinguishing bullet point coordinates under the current flight attitude condition in real time according to a fire control model, and meanwhile, setting a launch wave door and enabling an area to be extinguished to be located in the launch wave door; when the impact point falls into the launching wave gate, generating an automatic fire extinguishing bomb launching signal according to a set launching sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal and generates a fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the launching of the fire extinguishing bomb.
Compared with the prior art, the invention has the following beneficial effects:
the three-axis servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flying process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertial space is ensured, a fire point is automatically tracked by using the photoelectric pod, and the three-axis servo stabilizing unit follows the photoelectric pod at high precision, so that the aiming and shooting precision is improved; meanwhile, a fire control algorithm and a shooting wave gate technology are adopted, automatic fire extinguishing bomb launching is achieved, and the hitting precision of the unmanned aerial vehicle for launching the fire extinguishing bombs in any flight state and the intelligent degree of fire extinguishing bomb launching are improved.
Drawings
Fig. 1 is an overall structural view of an airborne fire extinguishing bomb device of an unmanned aerial vehicle in an embodiment of the invention;
FIG. 2 is a block diagram of a three-axis servo stabilization unit according to an embodiment of the present invention;
fig. 3 is a side view of a defense drone in a second embodiment of the invention;
fig. 4 is a schematic structural diagram of a defense elimination unmanned aerial vehicle in the second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a flight control unit according to a second embodiment of the present invention;
FIG. 6 is a diagram illustrating the position of the impact point generated by the fire control unit and the launching wave gate according to the third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the airborne fire extinguishing bomb device for unmanned aerial vehicles in the invention comprises: an N-linked launcher unit 1 (e.g., a triple-linked launcher unit 1) mounted on the unmanned aerial vehicle body 100, wherein at least one fire extinguishing bomb is accommodated in the N-linked launcher unit 1, and N is a positive integer; the three-axis servo stabilizing unit 2 is connected with the N-connected launch canister unit 1 and is used for isolating attitude disturbance during flying or suspension of the machine body and ensuring the stability of the N-connected launch canister unit 1 in an inertial space; the fire control unit 3 generates the coordinates of fire extinguishing bomb impact points under the current flight attitude condition in real time through the received fire control information, and is also provided with a launching wave gate, and when the impact points fall into the launching wave gate, automatic fire extinguishing bomb launching signals are generated according to a set launching sequence; the fire extinguishing bomb launching controller 4 is connected with the N-connected launching tube unit 1 and is used for receiving the automatic fire extinguishing bomb launching signal, finishing the safety contact of the fire extinguishing bomb and generating the fire extinguishing bomb ignition launching action according to the automatic fire extinguishing bomb launching signal so as to launch the fire extinguishing bomb; and the photoelectric pod 5 is connected with the unmanned aerial vehicle body and is used for acquiring image information and/or audio information of a fire scene and/or distance information between the image information and the fire scene in real time, automatically tracking an image of a fire point of the fire scene, acquiring attitude information (such as azimuth angle and/or pitch angle and/or roll angle information and the like) of the photoelectric pod 5 when the unmanned aerial vehicle body 100 flies or hovers, and sending the attitude information to the triaxial servo stabilizing unit 2 and/or sending the fire control information to the fire control unit 3 so that the fire control information is received by the fire control unit 3. For example, the photoelectric pod 5 in the present embodiment includes: an optical imaging unit and/or a laser ranging unit; wherein the optical imaging unit comprises an infrared thermal imager, a high-definition daylight imaging unit and the like. From this, accessible infrared thermal imaging, high definition daylight imaging carry out the fire detection and track to measure the distance information of fire distance unmanned aerial vehicle organism through laser range unit, be used for accurate positioning and firepower control calculation.
Wherein, the set transmission sequence comes from a ground station, and the fire control information comprises: one or more items of the distance between the machine body and the fire scene, the initial launching speed of the fire extinguishing bomb, the wind speed and the flying height.
The triaxial servo stabilizing unit 2 receives attitude information sent by the photoelectric pod 5 and then controls triaxial motion, and the triaxial motion ranges are +/-3-10 degrees (preferably +/-5 degrees), so that the included angle between the fire extinguishing bomb axis and the optical axis of the photoelectric pod 5 is 0-0.1 degrees. Specifically, as shown in fig. 2, the servo stabilizing unit 2 of triaxial and unmanned aerial vehicle organism rigid connection, it includes: a three-axis gyroscope 21, an azimuth control motor 22, a pitch control motor 23, a roll control motor 24 and a servo control drive board 25; the three-axis gyroscope 21 is configured to acquire attitude information (such as azimuth angle and/or pitch angle and/or roll angle information) of the unmanned aerial vehicle body; the servo control drive board 25 receives attitude information of the unmanned aerial vehicle body acquired by the three-axis gyroscope 21 and attitude information sent by the photoelectric pod 5, and correspondingly controls the operation of the azimuth control motor 23, the pitch control motor 24 and/or the roll control motor 25 after comparing the attitude information and the attitude information to realize three-axis motion control, and attitude change information (such as azimuth angle, pitch angle and/or roll angle information) generated by the three-axis motion control is as close to or equal to the attitude change information of the unmanned aerial vehicle body as possible, but the motion directions are opposite, so that disturbance of the unmanned aerial vehicle body is isolated, and the three-axis stability of the N joint-mounted launcher unit connected with the unmanned aerial vehicle body in an inertial space is ensured.
Therefore, the fire point is automatically tracked through the photoelectric pod 5, the attitude information of the photoelectric pod 5 and the attitude information of the unmanned aerial vehicle body are sent to the servo control drive plate 25 in real time, the three-axis control motor is controlled in a closed loop in real time, the included angle between the cartridge shaft of the fire extinguishing bomb mounted on the unmanned aerial vehicle body and the optical axis of the photoelectric pod 5 is guaranteed to be 0-0.1 degrees all the time (namely the cartridge shaft of the fire extinguishing bomb is almost parallel to the optical axis of the photoelectric pod 5), the N-connected launch canister unit 1 and the photoelectric pod 5 are closely driven, and the aiming and shooting accuracy of the fire extinguishing bomb in any flight state is further improved.
Preferably, one or more of the azimuth control motor 22, the pitch control motor 23 and the roll control motor 24 are brushless motors.
Example two:
the present embodiment provides a fire-fighting drone (preferably a fire-fighting drone), as shown in fig. 3-4, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body 100, wherein a flight control system, a power system, an electrical system, a transmission system, a communication system and the like are mounted on the unmanned aerial vehicle body 100 so as to complete the autonomous or manual control flight of the whole unmanned aerial vehicle body; the onboard fire extinguishing bomb device 200 of the unmanned aerial vehicle according to the first embodiment is connected to the unmanned aerial vehicle body 100; a flight control unit 6, configured to acquire environment information and control a flight attitude and/or a trajectory of the unmanned aerial vehicle body 100 in the air according to the environment information, in this embodiment, as shown in fig. 5, the flight control unit 6 includes: the obstacle avoidance sensor 61 comprises one or more of a visual obstacle avoidance sensor, a radar obstacle avoidance sensor and a sonar obstacle avoidance sensor, and is used for acquiring obstacle information in real time; a path planning unit 62, configured to receive the obstacle information, construct a real-time environment three-dimensional map according to the obstacle information, and complete positioning and/or flight path planning, so that intelligent flight can be achieved through the flight control unit 6; the system comprises a ground station 7, a data transmission unit 8 and a fire situation processing unit 9, wherein the data transmission unit 7 is used for receiving image information and/or audio information of the fire scene and/or the distance between a machine body and the fire scene and/or flight attitude and/or track information, and transmitting the image information and/or the audio information of the fire scene to a fire command platform 10 (such as a fire engine and the like) outside the fire scene in real time, so that the fire command platform 10 acquires real-time information of the fire scene in real time, the fire command platform 10 generates and displays alarm information and/or generates a first fire processing scheme according to the image information and/or the audio information of the fire scene, the data transmission unit 8 also transmits the flight attitude and/or the track information to the ground station 7 for display and storage, and transmits control signals generated by the ground station 7 and/or the fire command platform 10 to the photoelectric station The pod 5 and/or the fire extinguishing bomb launch controller and/or the flight control unit 4 to enable remote control of the optoelectronic pod 5 and/or the fire extinguishing bomb launch controller and/or the flight control unit 4;
preferably, the data transmission unit 8 further has a multipoint access function, and can play a relay role and support networking of multiple fire-fighting unmanned aerial vehicles; the fire processing unit 9 is connected with the photoelectric pod 5 of the unmanned aerial vehicle onboard fire extinguishing bomb device 200 and is used for generating a second fire processing scheme according to the image information and/or the audio information of the fire scene and/or the distance between the machine body and the fire scene, furthermore, the fire processing unit 9 transmits the second fire processing scheme to the fire command platform 10 through signal transmission with the fire command platform 10 and displays the second fire processing scheme, and personnel can acquire the first or the current processing scheme and/or the second fire processing scheme through the fire command platform 8 and judge and select the first or the current processing scheme and/or the second fire processing scheme.
From this, above-mentioned fire control unmanned aerial vehicle can be integrated into a complete system with each task load (as unmanned aerial vehicle machine carries fire extinguishing bomb device 200, flight control unit 4 etc.) through data transmission unit 8 and ground station 7, fire control command platform 10 etc. has promoted the intelligent degree of fire rescue equipment, can the systematic solution special occasion fire control rescue problem of putting out a fire.
Furthermore, fire control unmanned aerial vehicle still includes: a rescue apparatus 11 accommodated in the drone body 100 and/or connected to the drone body 100 and throwable to exit the drone body 100, preferably the rescue apparatus 11 comprises: the shouting device, the illuminating lamp, the gas detector, the fireproof mask, the fireproof blanket, the portable parachute and the like can be thrown according to the field condition so as to rescue trapped people;
and/or, the lifting unit 12 for lifting the body comprises: the unmanned helicopter parking apron and/or the unmanned helicopter hangar are/is used for autonomous taking off, landing and parking of the fire-fighting unmanned aerial vehicle;
and/or a transport unit 13, such as a work vehicle or the like, for transporting the body and/or supply materials such as fire extinguishing bombs, oil and the like;
and/or, a safeguard unit 14 for performing routine maintenance and service on the drone body 100.
The fire-fighting unmanned aerial vehicle in the embodiment integrates the existing task load with a ground station, a fire-fighting command platform and the like into a fire-fighting unmanned aerial vehicle system with integration of observation, extinguishment and rescue, and adopts a multi-mode intelligent sensor, so that the intelligent degree of the fire-fighting unmanned aerial vehicle is greatly improved, the response speed of fire scene discrimination and treatment is improved, and accurate fire control calculation is realized, so that the fire-fighting rescue problem of special occasions can be systematically solved; meanwhile, the fire extinguishing bomb launching device with the multi-axis servo stabilizing unit is adopted to improve the hit precision of the fire extinguishing bomb, so that the fire extinguishing bomb can be launched remotely and accurately in a flying state, and the fire extinguishing bomb launching device is suitable for the disaster relief needs of various fire occasions.
Example three:
the embodiment also provides a transmission control method according to the first embodiment, which is characterized by comprising the following steps:
s1, installing an N-linked launch canister unit, a three-axis servo stabilizing unit, a fire control unit, a fire extinguishing bomb launch controller and a photoelectric pod on the unmanned aerial vehicle body, and performing electric zero calibration on the pod optical axis and the fire extinguishing bomb shaft when the unmanned aerial vehicle leaves a factory so that the included angle between the bomb shaft of the fire extinguishing bomb and the optical axis of the photoelectric pod is 0-0.1 degrees;
after the unmanned aerial vehicle is lifted off, acquiring image information and/or audio information of a fire scene and/or distance information between the unmanned aerial vehicle and the fire scene in real time through the photoelectric pod, automatically tracking images of fire points in the fire scene and attitude information of the photoelectric pod when the unmanned aerial vehicle flies or hovers, and sending the attitude information to the three-axis servo stabilizing unit;
s2, the three-axis servo stabilizing unit receives attitude information of the photoelectric pod and then performs three-axis motion control, so that an included angle between a fire extinguishing bomb axis and a fire extinguishing bomb axis of the photoelectric pod is 0-0.1 degrees, and close follow-up of the N-connected launch canister unit 1 and the photoelectric pod 5 is realized; specifically, as shown in the first embodiment, the three-axis servo stabilization unit 2 is rigidly connected to the unmanned aerial vehicle body, and includes: a three-axis gyroscope 21, an azimuth control motor 22, a pitch control motor 23, a roll control motor 24 and a servo control drive board 25; the three-axis gyroscope 21 is configured to acquire attitude information (such as azimuth angle and/or pitch angle and/or roll angle information) of the unmanned aerial vehicle body; the servo control drive board 25 receives attitude information of the unmanned aerial vehicle body acquired by the three-axis gyroscope 21 and attitude information sent by the photoelectric pod 5, and correspondingly controls the operation of the azimuth control motor 23 and/or the pitch control motor 24 and/or the roll control motor 25 after comparing the attitude information and the attitude information to carry out real-time closed-loop control on the three-axis control motor, so that the included angle between the axis of a fire extinguishing bomb mounted on the unmanned aerial vehicle body and the optical axis of the photoelectric pod 5 is always 0-0.1 degrees (namely the axis of the fire extinguishing bomb is almost parallel to the optical axis of the photoelectric pod 5), the tight follow-up of the N-connected launch canister unit 1 and the photoelectric pod 5 is realized, and the aiming and shooting accuracy of the fire extinguishing bomb in any flight state is further improved;
s3, as shown in FIG. 6, the fire control unit loads fire control information, generates fire extinguishing bullet point coordinates under the current flight attitude condition in real time according to a fire control model, and sets a launch wave gate, and enables an area to be extinguished to be located in the launch wave gate; the unmanned aerial vehicle body adjusts the flight position (such as adjusting the flight height) according to the impact point coordinate, and when the impact point falls into a launch wave gate, the fire control unit generates fire extinguishing bomb automatic launch signals according to a set launch sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal, and completes the fire extinguishing bomb safety contact and generates the fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the automatic launching of the fire extinguishing bomb.
Therefore, the hit precision of the fire extinguishing bomb launched by the unmanned aerial vehicle in any flight state and the intelligent degree of the fire extinguishing bomb launching are improved by adopting a typical fire control model and a shooting wave gate technology.
In conclusion, the three-axis servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flying process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertial space is ensured, a fire point is automatically tracked by using the photoelectric pod, and the three-axis servo stabilizing unit follows the photoelectric pod at high precision, so that the aiming and shooting precision is improved; meanwhile, a fire control algorithm and a shooting wave gate technology are adopted, automatic fire extinguishing bomb launching is achieved, and the hitting precision of the unmanned aerial vehicle for launching the fire extinguishing bombs in any flight state and the intelligent degree of fire extinguishing bomb launching are improved.
It should be noted that the technical features in the first to third embodiments can be combined arbitrarily, and the combined technical solutions all belong to the scope of protection of the present application. And in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An unmanned aerial vehicle machine carries fire extinguishing bomb device which characterized in that includes: the N-connected launch canister unit is mounted on the unmanned aerial vehicle body, at least one fire extinguishing bomb is contained in the N-connected launch canister unit, and N is a positive integer; the three-axis servo stabilizing unit is connected with the N-connected launch canister units and is used for isolating attitude disturbance when the machine body flies or suspends and ensuring the stability of the N-connected launch canister units in an inertial space; the fire control unit generates the coordinates of fire extinguishing bomb impact points under the current flight attitude condition in real time through the received fire control information, and is also provided with a launching wave gate, and when the impact points fall into the launching wave gate, automatic fire extinguishing bomb launching signals are generated according to a set launching sequence; and the fire extinguishing bomb launching controller is used for receiving the fire extinguishing bomb automatic launching signal and generating a fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the launching of the fire extinguishing bomb.
2. The drone airborne grenade apparatus of claim 1, further comprising: the photoelectric pod is connected with the unmanned aerial vehicle body, is used for acquiring distance information between the unmanned aerial vehicle body and a fire scene, automatically tracking images of the fire scene and attitude information of the photoelectric pod when the unmanned aerial vehicle body flies or hovers, and sends the attitude information to the three-axis servo stabilizing unit; and/or sending the fire control information to the fire control unit so that the fire control information is received by the fire control unit.
3. An unmanned aerial vehicle airborne fire extinguishing bomb device according to claim 2, wherein the triaxial servo stabilizing unit receives attitude information sent by the photoelectric pod and then performs triaxial motion control so that an included angle between a bomb axis of the fire extinguishing bomb and an optical axis of the photoelectric pod is 0-0.1 °.
4. The drone airborne grenade device of claim 3, wherein the three-axis servo stabilization unit comprises: the system comprises a three-axis gyroscope, an azimuth control motor, a pitching control motor, a rolling control motor and a servo control drive board; the three-axis gyroscope is used for acquiring attitude information of the unmanned aerial vehicle body; the servo control drive plate receives attitude information of the unmanned aerial vehicle body acquired by the three-axis gyroscope and attitude information sent by the photoelectric pod, and after the attitude information and the attitude information are compared, the servo control drive plate correspondingly controls the operation of the azimuth control motor and/or the pitch control motor and/or the roll control motor so as to realize three-axis motion control and ensure that three axes of the N-joint launching canister unit connected with the unmanned aerial vehicle body are stable in an inertial space.
5. The unmanned aerial vehicle-mounted fire extinguishing bomb device of claim 3, wherein three-axis motion ranges of the three-axis servo stabilizing unit are all +/- (3-10) °.
6. The utility model provides a fire control unmanned aerial vehicle, its includes the unmanned aerial vehicle organism, its characterized in that, fire control unmanned aerial vehicle still includes: the drone airborne fire extinguishing bomb unit of any one of claims 1-8, attached to said drone body.
7. The fire fighting drone of claim 6, wherein the fire fighting drone further comprises: the flight control unit is used for acquiring environmental information and controlling the flight attitude and/or the flight track of the machine body in the air according to the environmental information; the data transmission unit is used for receiving the image information and/or the audio information of the fire scene and/or the distance between the machine body and the fire scene and/or the flight attitude and/or the flight track information, transmitting the image information and/or the audio information of the fire scene to a fire-fighting command platform in real time, and transmitting the flight attitude and/or the flight track information to the ground station.
8. The fire fighting drone of claim 7, wherein the fire fighting drone further comprises: and the fire condition processing unit is connected with the unmanned aerial vehicle airborne fire extinguishing bomb device and is used for generating a fire condition processing scheme according to the image information and/or the audio information of the fire scene and/or the distance between the body and the fire scene.
9. The fire fighting drone of claim 7, wherein the fire fighting drone further comprises: the machine body lifting and descending device comprises a lifting and descending unit for finishing the lifting and descending of the machine body and/or a transportation unit for transporting the machine body and/or a guarantee unit for guaranteeing and maintaining the machine body.
10. A fire extinguishing bomb device launch control method for an unmanned aerial vehicle as claimed in claim 3, characterized by comprising the following steps:
s1, acquiring distance information between the body and a fire scene through the photoelectric pod, automatically tracking a fire point and attitude information of the photoelectric pod when the unmanned aerial vehicle body flies or hovers, and sending the attitude information to the three-axis servo stabilizing unit;
s2, the three-axis servo stabilizing unit receives attitude information of the photoelectric pod and then performs three-axis motion control, so that an included angle between a fire extinguishing bomb axis and a photoelectric pod axis is 0-0.1 degrees;
s3, loading fire control information by the fire control unit, generating fire extinguishing bullet point coordinates under the current flight attitude condition in real time according to a fire control model, and meanwhile, setting a launch wave door and enabling an area to be extinguished to be located in the launch wave door; when the impact point falls into the launching wave gate, generating an automatic fire extinguishing bomb launching signal according to a set launching sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal and generates a fire extinguishing bomb ignition launching action according to the fire extinguishing bomb automatic launching signal so as to realize the launching of the fire extinguishing bomb.
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