CN110624189B - Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method - Google Patents
Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method Download PDFInfo
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- CN110624189B CN110624189B CN201910969249.6A CN201910969249A CN110624189B CN 110624189 B CN110624189 B CN 110624189B CN 201910969249 A CN201910969249 A CN 201910969249A CN 110624189 B CN110624189 B CN 110624189B
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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; 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
- B64D1/16—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
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Abstract
The invention discloses an unmanned aerial vehicle-mounted fire extinguishing bomb device, a fire-fighting unmanned aerial vehicle and a launching control method, which comprise the following steps: an N-joint emission cylinder unit which is hung on the unmanned plane body; the triaxial servo stabilizing unit is used for isolating attitude disturbance when a machine body flies or hovers and guaranteeing the stability of the N-joint transmitting cylinder unit; the fire control unit generates coordinates of a firing point of the fire extinguishing bomb under the current flight attitude condition, and meanwhile, the fire control unit is provided with a firing wave door, and when the firing point falls into the firing wave door, an automatic fire extinguishing bomb firing signal is generated according to a set firing sequence; and the fire extinguishing bomb launching controller is used for generating fire extinguishing bomb igniting and launching actions according to the automatic fire extinguishing bomb launching signals so as to realize the fire extinguishing bomb launching. The invention adopts the triaxial servo stabilizing unit to isolate disturbance, thereby improving the aiming and shooting precision and the intelligent degree.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-mounted fire extinguishing bomb device, a fire-fighting unmanned aerial vehicle and a launching control method.
Background
Unmanned aerial vehicle has now wide application in the fire control field, and unmanned aerial vehicle carries the fire extinguishing bomb that is equipped with fire extinguishing agent, aims the fire source through viewing device and launches to accomplish fire extinguishing task. However, the existing unmanned aerial vehicle-mounted fire extinguishing bomb launching devices are fixedly connected with an unmanned aerial vehicle, and the launching devices cannot isolate disturbance caused by the gesture of the unmanned aerial vehicle, so that fire extinguishing bomb launching can only be carried out in a hovering state, fire control calculation is not carried out, shorter fire extinguishing bomb launching can only be carried out, the hit precision of the fire extinguishing bomb is not guaranteed, the hit rate is low, and moving targets cannot be accurately aimed and launched; meanwhile, the fire extinguishing bomb is launched in a manual mode, so that the intelligent degree is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle-mounted fire extinguishing bomb device, a fire-fighting unmanned aerial vehicle and a launching control method, wherein a triaxial servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flight process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertial space is ensured; the photoelectric pod is utilized to automatically track the fire point, and the triaxial servo stabilizing unit is highly accurately driven by the photoelectric pod, so that the aiming and shooting accuracy is improved; meanwhile, the fire control algorithm and the shooting wave gate technology are adopted, so that the automatic emission of the fire extinguishing bomb is realized, and the hit precision of the unmanned aerial vehicle for emitting the fire extinguishing bomb in any flight state and the intelligent degree of the fire extinguishing bomb emission are improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
in one aspect, there is provided an unmanned aerial vehicle-mounted fire extinguishing bomb device, comprising: the N-joint emission tube unit is mounted on the unmanned aerial vehicle body, at least one fire extinguishing bomb is contained in the N-joint emission tube unit, and N is a positive integer; the triaxial servo stabilizing unit is connected with the N-joint transmitting cylinder unit and is used for isolating attitude disturbance when a machine body flies or hovers and guaranteeing the stability of the N-joint transmitting cylinder unit in an inertial space; the fire control unit generates coordinates of a fire extinguishing bomb striking point under the current flight attitude condition in real time through the received fire control information, and meanwhile, a transmitting wave door is arranged, and when the striking point falls into the transmitting wave door, an automatic fire extinguishing bomb transmitting signal is generated according to a set transmitting sequence; and the fire extinguishing bomb launching controller is used for receiving the fire extinguishing bomb automatic launching signal and generating fire extinguishing bomb igniting launching actions 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 of the unmanned aerial vehicle body and a fire scene, automatically tracking an image 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 triaxial servo stabilizing unit; and/or transmitting the fire control information to the fire control unit such that the fire control information is received by the fire control unit.
Preferably, the triaxial servo stabilizing unit receives the attitude information sent by the photoelectric pod and then performs triaxial motion control, so that the included angle between the bullet axis of the fire extinguishing bomb and the optical axis of the photoelectric pod is 0-0.1 degrees.
Preferably, the triaxial servo stabilizing unit includes: the device comprises a triaxial gyroscope, an azimuth control motor, a pitching control motor, a rolling control motor and a servo control driving plate; the three-axis gyroscope is used for acquiring attitude information of an unmanned aerial vehicle body; the servo control driving plate receives the attitude information of the unmanned aerial vehicle body and the attitude information sent by the photoelectric pod and obtained by the triaxial gyroscope, and correspondingly controls the running of the azimuth control motor and/or the pitching control motor and/or the rolling control motor after comparing the attitude information and the attitude information, so as to realize triaxial motion control and ensure triaxial stability of the N-joint transmitting cylinder unit connected with the unmanned aerial vehicle body in an inertial space.
Preferably, the triaxial motion range of the triaxial servo stabilizing unit is equal to (+/-) (3-10) °.
On the other hand, still provide a fire control unmanned aerial vehicle, it includes unmanned aerial vehicle organism and above-mentioned unmanned aerial vehicle airborne fire extinguishing bullet device, it connects on the unmanned aerial vehicle organism.
Preferably, the fire-fighting unmanned aerial vehicle further comprises: the flight control unit is used for acquiring environment information and controlling the flight attitude and/or track of the machine body in the air according to the environment information; the fire control system comprises a ground station and a data transmission unit, wherein the data transmission unit is used for receiving image information and/or audio information of a fire scene and/or the distance between a 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 control 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 processing unit is connected with the unmanned aerial vehicle-mounted fire extinguishing bomb device and is used for generating a 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.
Preferably, the fire-fighting unmanned aerial vehicle further comprises: the lifting unit is used for lifting the machine body, the transporting unit is used for transporting the machine body, and the guaranteeing unit is used for guaranteeing maintenance of the machine body.
On the other hand, the invention also provides a method for controlling the emission of the unmanned aerial vehicle-mounted fire extinguishing bomb device, which comprises the following steps:
s1, acquiring distance information between a machine body and a fire scene through a photoelectric pod, automatically tracking an image of a fire point and attitude information of the photoelectric pod when an unmanned aerial vehicle flies or hovers, and sending the attitude information to the triaxial servo stabilizing unit;
s2, the triaxial servo stabilizing unit receives the attitude information of the photoelectric pod and then performs triaxial motion control so that an included angle between a bullet shaft of the fire extinguishing bomb and a bullet shaft of the photoelectric pod is 0-0.1 degrees;
s3, loading fire control information by the fire control unit, generating coordinates of a point of impact of the fire extinguishing bomb under the current flight attitude condition in real time according to a fire control model, and simultaneously setting a transmitting wave gate, wherein a region to be extinguished is positioned in the transmitting wave gate; when the impact point falls into the emission wave gate, an automatic emission signal of the fire extinguishing bomb is generated according to a set emission sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal and generates fire extinguishing bomb igniting launching actions according to the fire extinguishing bomb automatic launching signal so as to launch the fire extinguishing bomb.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the three-axis servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flight process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertial space is ensured, and a photoelectric pod is utilized to automatically track a fire point, and the three-axis servo stabilizing unit is high-precision follow-up to the photoelectric pod, so that the aiming and shooting precision is improved; meanwhile, the fire control algorithm and the shooting wave gate technology are adopted, so that the automatic emission of the fire extinguishing bomb is realized, and the hit precision of the unmanned aerial vehicle for emitting the fire extinguishing bomb in any flight state and the intelligent degree of the fire extinguishing bomb emission are improved.
Drawings
Fig. 1 is a general structural diagram of an unmanned aerial vehicle-mounted fire extinguishing bomb device in a first embodiment of the present invention;
FIG. 2 is a diagram showing an overall structure of a triaxial servo stabilizing unit according to an embodiment of the present invention;
FIG. 3 is a side view of a fire drone in accordance with a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fire-fighting unmanned aerial vehicle in a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a flight control unit according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of the fire control unit generating the coordinates of the point of impact and providing the transmitting gate in the third embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
as shown in fig. 1, the unmanned aerial vehicle-mounted fire extinguishing bomb device in the present invention includes: an N-joint emission tube unit 1 (for example, a triple emission tube unit 1) which is mounted on the unmanned aerial vehicle body 100, wherein at least one fire extinguishing bomb is contained in the N-joint emission tube unit 1, and N is a positive integer; the triaxial servo stabilizing unit 2 is connected with the N-joint transmitting cylinder unit 1 and is used for isolating attitude disturbance when a machine body flies or hovers and guaranteeing the stability of the N-joint transmitting cylinder unit 1 in an inertial space; the fire control unit 3 generates coordinates of the fire extinguishing bomb striking points under the current flight attitude condition in real time through the received fire control information, and meanwhile, sets a transmitting wave gate, and generates automatic fire extinguishing bomb transmitting signals according to a set transmitting sequence when the striking points fall into the transmitting wave gate; the fire extinguishing bomb launching controller 4 is connected with the N-joint launching cylinder unit 1 and is used for receiving the fire extinguishing bomb automatic launching signal, completing fire extinguishing bomb insurance contact according to the fire extinguishing bomb automatic launching signal and generating fire extinguishing bomb igniting launching actions so as to realize the fire extinguishing bomb launching; and a photoelectric pod 5 connected to the unmanned aerial vehicle body for acquiring image information and/or audio information of a fire scene and/or distance information from the fire scene in real time, performing automatic image tracking on the fire scene, acquiring attitude information (such as azimuth angle and/or pitch angle and/or roll angle information, etc.) of the photoelectric pod 5 itself when the unmanned aerial vehicle body 100 flies or hovers, and transmitting to the triaxial servo-stabilization unit 2, and/or transmitting 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 optoelectronic pod 5 in the present embodiment includes: an optical imaging unit and/or a laser ranging unit; the optical imaging unit comprises an infrared thermal imager, a high-definition daylight imaging unit and the like. From this, the accessible infrared thermal imaging, high definition daylight imaging carry out fire detection and pursuit to distance information of fire scene distance unmanned aerial vehicle organism is measured through laser rangefinder unit, is used for accurate positioning and firepower control calculation.
Wherein, the set transmitting sequence comes from the ground station, and the fire control information comprises: one or more of the distance between the machine body and the fire scene, the initial speed of fire extinguishing bomb launching, the wind speed and the flying height.
The triaxial servo stabilizing unit 2 receives the attitude information sent by the photoelectric pod 5 and then performs triaxial motion control, and the triaxial motion ranges are all + -3-10 degrees (preferably + -5 degrees), so that the included angle between the bullet axis of the fire extinguishing bullet and the optical axis of the photoelectric pod 5 is 0-0.1 degrees. Specifically, as shown in fig. 2, the triaxial servo stabilizing unit 2 is rigidly connected to the unmanned aerial vehicle body, and includes: a triaxial gyroscope 21, an azimuth control motor 22, a pitch control motor 23, a roll control motor 24, and a servo control drive plate 25; the triaxial 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 driving board 25 receives the attitude information of the unmanned aerial vehicle body obtained by the triaxial gyroscope 21 and the 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, such as azimuth angle and/or pitch angle and/or roll angle information, of the unmanned aerial vehicle body, so as to realize triaxial motion control, and enable the attitude change information (such as azimuth angle and/or pitch angle and/or roll angle information) generated by triaxial motion control to be as close to or equal to the attitude change information of the unmanned aerial vehicle body as possible, but opposite in motion direction, thereby isolating the disturbance of the unmanned aerial vehicle body, and ensuring triaxial stability of the N-joint transmitting cylinder unit connected with the unmanned aerial vehicle body in an inertial space.
Therefore, the automatic image tracking is carried out on the fire point through the photoelectric pod 5, and the attitude information of the photoelectric pod 5 and the attitude information of the unmanned aerial vehicle body are sent to the servo control driving plate 25 in real time, so that real-time closed-loop control is carried out on the three-axis control motor, the included angle between the bullet axis of the fire extinguishing bullet mounted on the unmanned aerial vehicle body and the optical axis of the photoelectric pod 5 is always 0-0.1 degree (namely, the bullet axis of the fire extinguishing bullet is almost parallel to the optical axis of the photoelectric pod 5), the tight follow-up of the N-joint emission cylinder unit 1 and the photoelectric pod 5 is realized, and the aiming and shooting precision of the fire extinguishing bullet 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 is a brushless motor.
Embodiment two:
this embodiment improves a fire fighting unmanned aerial vehicle (preferably a fire fighting unmanned helicopter), as shown in fig. 3-4, comprising: the unmanned aerial vehicle body 100 is provided with a flight control system, a power system, an electrical system, a transmission system, a communication system and the like, so as to complete the whole autonomous or manual flight control of the unmanned aerial vehicle body 100; the unmanned aerial vehicle-mounted fire extinguishing bomb device 200 of the first embodiment is connected to the unmanned aerial vehicle body 100; a flight control unit 6, configured to acquire environmental information, and control a flight attitude and/or a trajectory of the unmanned aerial vehicle body 100 in the air according to the environmental information, where in this embodiment, as shown in fig. 5, the flight control unit 6 includes: the obstacle avoidance sensor 61 includes one or more of a visual obstacle avoidance sensor, a radar obstacle avoidance sensor, and a sonar obstacle avoidance sensor, for acquiring obstacle information in real time; a path planning unit 62 for receiving the obstacle information, constructing a real-time environment three-dimensional map according to the obstacle information, and completing positioning and/or flight path planning, thereby realizing intelligent flight through the above-mentioned flight control unit 6; the fire control system comprises a ground station 7, a data transmission unit 8 and a fire 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 the flight attitude and/or track information, and transmitting the image information and/or audio information of the fire scene to a fire control command platform 10 (such as a fire engine and the like) outside the fire scene in real time, so that the fire control command platform 10 acquires the real-time information of the fire scene in real time, the fire control command platform 10 generates and displays alarm information and/or generates a first fire processing scheme according to the image information and/or audio information of the fire scene, the data transmission unit 8 also transmits the flight attitude and/or 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 control command platform 10 to a photoelectric pod 5 and/or a fire extinguishing bomb emission controller and/or a flight control unit 4 so as to realize remote control of the photoelectric pod 5 and/or the fire extinguishing bomb emission controller and/or the flight control unit 4;
preferably, the data transmission unit 8 further has a multi-point access function, which can play a role of relay and support a plurality of fire-fighting unmanned aerial vehicle networks; the fire processing unit 9 is connected with the photoelectric pod 5 of the unmanned aerial vehicle-mounted 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, further, the fire processing unit 9 transmits the second fire processing scheme to the fire command platform 10 and displays the second fire processing scheme through signal transmission with the fire command platform 10, and personnel can acquire a first or in-process scheme and/or a second fire processing scheme through the command prevention platform 8 and judge and select the first or in-process scheme and/or the second fire processing scheme.
Therefore, the fire-fighting unmanned aerial vehicle can integrate each task load (such as the unmanned aerial vehicle-mounted fire extinguishing bomb device 200, the flight control unit 4 and the like) with the ground station 7, the fire-fighting command platform 10 and the like through the data transmission unit 8 into a complete system, so that the intelligent degree of fire-fighting rescue equipment is improved, and the fire-fighting and fire-fighting rescue problem in special occasions can be systematically solved.
In addition, the fire-fighting unmanned aerial vehicle further includes: rescue apparatus 11 housed within said unmanned aerial vehicle body 100 and/or connected to said unmanned aerial vehicle body 100 and which can be thrown to leave said unmanned aerial vehicle body 100, preferably said rescue apparatus 11 comprises: the megaphone, the lighting lamp, the gas detector, the fireproof mask, the fireproof blanket, the portable parachute and the like can be thrown according to the site situation so as to rescue trapped people;
and/or, a landing unit 12 to complete the landing of the body, comprising: the unmanned helicopter parking apron and/or the unmanned helicopter hangar are used for the autonomous take-off, landing and parking of the fire-fighting unmanned aerial vehicle;
and/or a transport unit 13, such as a work transport vehicle or the like, for transporting the machine body and/or the supply materials of fire extinguishing bombs, oil or the like;
and/or a safeguard unit 14 for performing regular maintenance and servicing of the unmanned aerial vehicle body 100.
The fire-fighting unmanned aerial vehicle integrates the existing task load with a ground station, a fire-fighting command platform and the like through a data transmission unit to form a fire-fighting unmanned aerial vehicle system with the integration of 'inspection, extinguishing and rescuing', and meanwhile, a multi-mode intelligent sensor is adopted, so that the intelligent degree of the fire-fighting unmanned aerial vehicle is greatly improved, the response speed of fire scene distinguishing and treatment is improved, accurate fire control calculation is realized, and the fire-fighting and rescuing problems in 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 accurately launched in a long distance under a flight state, and the fire fighting device is suitable for disaster relief requirements of various fire situations.
Embodiment III:
the embodiment also provides a transmission control method according to the first embodiment, which is characterized by comprising the following steps:
s1, an N-joint emission cylinder unit, a triaxial servo stabilizing unit, a firepower control unit, a fire extinguishing bomb emission controller and an optoelectronic pod are arranged on an unmanned aerial vehicle body, and electric zero calibration of a pod optical axis and a fire extinguishing bomb shaft is carried out when the unmanned aerial vehicle body leaves a factory, so that an included angle between the bomb shaft of the fire extinguishing bomb and the optical axis of the optoelectronic pod is 0-0.1 degree;
after the unmanned aerial vehicle is lifted off, acquiring image information and/or audio information and/or distance information between the unmanned aerial vehicle and a fire scene in real time through the photoelectric pod, carrying out automatic image tracking on the fire point of the fire scene and attitude information of the photoelectric pod when the unmanned aerial vehicle body flies or hovers, and sending the attitude information to the triaxial servo stabilizing unit;
s2, the triaxial servo stabilizing unit receives the attitude information of the photoelectric pod and then performs triaxial motion control, so that an included angle between a bullet shaft of the fire extinguishing bomb and a bullet shaft of the photoelectric pod is 0-0.1 degrees, and tight follow-up of the N-joint emission cylinder unit 1 and the photoelectric pod 5 is realized; specifically, as shown in embodiment one, the triaxial servo stabilizing unit 2 is rigidly connected to the unmanned aerial vehicle body, and includes: a triaxial gyroscope 21, an azimuth control motor 22, a pitch control motor 23, a roll control motor 24, and a servo control drive plate 25; the triaxial 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 driving board 25 receives the gesture information of the unmanned aerial vehicle body obtained by the triaxial gyroscope 21 and the gesture 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 gesture information and the gesture information with the photoelectric pod 5, so as to perform real-time closed-loop control on the triaxial control motor, ensure that the included angle between the bullet axis of the fire extinguishing bullet mounted on the unmanned aerial vehicle body and the optical axis of the photoelectric pod 5 is always 0-0.1 ° (namely, the bullet axis of the fire extinguishing bullet is almost parallel to the optical axis of the photoelectric pod 5), and realize the tight follow-up of the N-up transmitting cylinder unit 1 and the photoelectric pod 5, thereby further improving the aiming and shooting precision of the fire extinguishing bullet in any flight state;
s3, as shown in FIG. 6, the fire control unit loads fire control information, generates the coordinates of the fire extinguishing bullet points under the current flight attitude condition in real time according to a fire control model, and sets a transmitting wave door, so that the region to be extinguished is positioned in the transmitting wave door; the unmanned aerial vehicle body adjusts the flying position (such as adjusting the flying height and the like) according to the coordinates of the flying points, and when the flying points fall into the transmitting wave door, the fire control unit generates an automatic fire extinguishing bomb transmitting signal according to a set transmitting sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal, and completes the fire extinguishing bomb insurance contact and the fire extinguishing bomb igniting launching action according to the fire extinguishing bomb automatic launching signal so as to realize the automatic launching of the fire extinguishing bomb.
Therefore, by adopting a typical fire control model and a shooting wave gate technology, the hit precision of the unmanned aerial vehicle for launching the fire extinguishing bomb in any flight state and the intelligent degree of the fire extinguishing bomb launching are improved.
In summary, the three-axis servo stabilizing unit is adopted to isolate disturbance caused by attitude change in the flight process of the unmanned aerial vehicle, so that the stability of a fire extinguishing bomb shaft in an inertial space is ensured, and the photoelectric pod is utilized to automatically track fire points, and the three-axis servo stabilizing unit follows the photoelectric pod with high precision, so that aiming and shooting precision is improved; meanwhile, the fire control algorithm and the shooting wave gate technology are adopted, so that the automatic emission of the fire extinguishing bomb is realized, and the hit precision of the unmanned aerial vehicle for emitting the fire extinguishing bomb in any flight state and the intelligent degree of the fire extinguishing bomb emission are improved.
It should be noted that the technical features of the first to third embodiments may be combined arbitrarily, and the combined technical solutions all belong to the protection scope 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 one … …" does not exclude the presence of other like 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. An unmanned aerial vehicle on-board fire extinguishing bomb device, characterized by comprising: the N-joint emission tube unit is mounted on the unmanned aerial vehicle body, at least one fire extinguishing bomb is contained in the N-joint emission tube unit, and N is a positive integer; the triaxial servo stabilizing unit is connected with the N-joint transmitting cylinder unit and is used for isolating attitude disturbance when a machine body flies or hovers and guaranteeing the stability of the N-joint transmitting cylinder unit in an inertial space; the fire control unit generates coordinates of a fire extinguishing bomb striking point under the current flight attitude condition in real time through the received fire control information, and meanwhile, a transmitting wave door is arranged, and when the striking point falls into the transmitting wave door, an automatic fire extinguishing bomb transmitting signal is generated according to a set transmitting sequence; and the fire extinguishing bomb launching controller is used for receiving the fire extinguishing bomb automatic launching signal and generating fire extinguishing bomb igniting launching actions according to the fire extinguishing bomb automatic launching signal so as to realize the fire extinguishing bomb launching;
the unmanned aerial vehicle fire extinguishing bomb device still includes: the photoelectric pod is connected with the unmanned aerial vehicle body, is used for acquiring distance information of the unmanned aerial vehicle body and a fire scene, automatically tracking an image 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 triaxial servo stabilizing unit; and/or transmitting the fire control information to the fire control unit such that the fire control information is received by the fire control unit;
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 bullet shaft of the fire extinguishing bomb and an optical axis of the photoelectric pod is 0-0.1 degrees;
the triaxial servo stabilizing unit is rigidly connected with the unmanned aerial vehicle body, and the triaxial servo stabilizing unit comprises: the device comprises a triaxial gyroscope, an azimuth control motor, a pitching control motor, a rolling control motor and a servo control driving plate; the three-axis gyroscope is used for acquiring attitude information of an unmanned aerial vehicle body; the servo control driving plate receives the attitude information of the unmanned aerial vehicle body and the attitude information sent by the photoelectric pod and obtained by the triaxial gyroscope, and correspondingly controls the running of the azimuth control motor and/or the pitching control motor and/or the rolling control motor after comparing the attitude information and the attitude information, so as to realize triaxial motion control and ensure triaxial stability of the N-joint transmitting cylinder unit connected with the unmanned aerial vehicle body in an inertial space.
2. The unmanned aerial vehicle-mounted fire extinguishing bomb device according to claim 1, wherein the triaxial servo stabilizing units have triaxial movement ranges of ± (3-10) °.
3. The utility model provides a fire control unmanned aerial vehicle, its includes unmanned aerial vehicle organism, its characterized in that, fire control unmanned aerial vehicle still includes: the unmanned aerial vehicle-mounted fire extinguishing bomb device as claimed in any one of claims 1-2, which is attached to the unmanned aerial vehicle body.
4. The fire fighting unmanned aerial vehicle of claim 3, wherein the fire fighting unmanned aerial vehicle further comprises: the flight control unit is used for acquiring environment information and controlling the flight attitude and/or track of the machine body in the air according to the environment information; the fire control system comprises a ground station and a data transmission unit, wherein the data transmission unit is used for receiving image information and/or audio information of a fire scene and/or the distance between a 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 control command platform in real time and transmitting the flight attitude and/or the flight track information to the ground station.
5. The fire fighting unmanned aerial vehicle of claim 4, wherein the fire fighting unmanned aerial vehicle further comprises: and the fire processing unit is connected with the unmanned aerial vehicle-mounted fire extinguishing bomb device and is used for generating a 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.
6. The fire fighting unmanned aerial vehicle of claim 4, wherein the fire fighting unmanned aerial vehicle further comprises: the lifting unit is used for lifting the machine body, the transporting unit is used for transporting the machine body, and the guaranteeing unit is used for guaranteeing maintenance of the machine body.
7. A method of controlling the firing of an unmanned aerial vehicle-mounted fire extinguishing bomb device according to claim 1, comprising the steps of:
s1, acquiring distance information between a machine body and a fire scene through a photoelectric pod, automatically tracking an image of a fire point and attitude information of the photoelectric pod when an unmanned aerial vehicle flies or hovers, and sending the attitude information to the triaxial servo stabilizing unit;
s2, the triaxial servo stabilizing unit receives the attitude information of the photoelectric pod and then performs triaxial motion control so that an included angle between a bullet shaft of the fire extinguishing bomb and a bullet shaft of the photoelectric pod is 0-0.1 degrees;
s3, loading fire control information by the fire control unit, generating coordinates of a point of impact of the fire extinguishing bomb under the current flight attitude condition in real time according to a fire control model, and simultaneously setting a transmitting wave gate, wherein a region to be extinguished is positioned in the transmitting wave gate; when the impact point falls into the emission wave gate, an automatic emission signal of the fire extinguishing bomb is generated according to a set emission sequence;
and S4, the fire extinguishing bomb launching controller receives the fire extinguishing bomb automatic launching signal and generates fire extinguishing bomb igniting launching actions according to the fire extinguishing bomb automatic launching signal so as to launch the fire extinguishing bomb.
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| CN111443636A (en) * | 2020-04-14 | 2020-07-24 | 中国人民解放军32180部队 | Unmanned aerial vehicle carries photoelectricity nacelle stable control system based on two DSP |
| CN113716045B (en) * | 2021-09-28 | 2022-09-27 | 上海翼枭航空科技有限公司 | Laser positioning mounting method, system and device for unmanned aerial vehicle and storage medium |
| CN115779299B (en) * | 2022-11-15 | 2024-05-03 | 亿航智能设备（广州）有限公司 | Unmanned aerial vehicle automatic fire extinguishing system and method |
| CN115804926B (en) * | 2022-12-27 | 2023-08-22 | 中国人民解放军陆军装甲兵学院 | Unmanned aerial vehicle projection fire extinguishing bomb aiming system and method thereof |
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