CN110937112A - Forest fire control guidance flight system and operation method - Google Patents
Forest fire control guidance flight system and operation method Download PDFInfo
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- CN110937112A CN110937112A CN201911108904.5A CN201911108904A CN110937112A CN 110937112 A CN110937112 A CN 110937112A CN 201911108904 A CN201911108904 A CN 201911108904A CN 110937112 A CN110937112 A CN 110937112A
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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
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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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
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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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
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/12—Propulsion using turbine engines, e.g. turbojets or turbofans
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/15—Propulsion using combustion exhausts other than turbojets or turbofans, e.g. using rockets, ramjets, scramjets or pulse-reactors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention relates to a forest fire control guidance flight system and an operation method, belongs to the technical field of forest fire control rescue, and solves the problems that in the prior art, a forest fire control fire extinguishing system is small in operation range and small in carrying load capacity. A forest fire control guidance flight system and a carrier in an operation method comprise: the system comprises a power device section, a communication and flight control section, a load section and a detection sensing section; the power plant section uses a rocket engine, a turbojet engine or electric drive as a power source; the communication and flight control section comprises: the ground command control communication module, the carrier guidance control module and the deceleration landing device module; the load section is provided with a load cabin; the load cabin carries loads comprising water-based fire extinguishing agents and rescue goods; the detection sensing section comprises an infrared detector, a heat-sensitive infrared detector for detecting a fire source and a beacon device in the carrier recovery process. The invention realizes the technical effects of long material throwing distance, large load capacity and high safety in fire extinguishing operation.
Description
Technical Field
The invention relates to the technical field of forest fire control, in particular to a forest fire control guidance flight system and an operation method.
Background
The forest fire has great destructiveness to the forest, deep harm and difficulty in rescue, which causes serious economic loss and influences social stability. The forest fire has the characteristics of large coverage area, strong outburst and high spreading speed, is limited by terrain and forest vegetation, and some large ground equipment cannot be close to a fire scene, so the forest fire is generally difficult to suppress. With the development of economic technology, some new equipment and solution approaches are proposed. The existing equipment mainly comprises a forest fire-fighting robot and a fire-fighting water pump which are close in distance, a ground platform for long-distance launching and an aerial airborne platform which is relatively far away, and mainly comprises a rocket tube, a mortar, a rocket bomb, a multi-rotor unmanned aerial vehicle for launching the fire extinguishing bomb, a heavy-load helicopter carrying a water tank and the like. The equipment has a certain effect on forest fire fighting, but has great defects in the aspects of load, range, emission precision, fire extinguishing effect, cost control and the like, and the development application is greatly limited.
A comprehensive fire extinguishing system consisting of a reconnaissance vehicle, an ammunition vehicle, an unmanned aerial vehicle and fire extinguishing bombs is provided in the existing forest fire fighting technology, and large-scale fires occurring in forests, grasslands, high-rise buildings, factory and mining enterprises, petrochemical enterprises, industrial areas, ports, logistics distribution areas and the like are suppressed, covered and extinguished within a range of 2-6 kilometers. The equipment can quickly deliver the fire extinguishing agent in the initial stage of the fire to a certain extent to preliminarily restrain the fire and manufacture the isolation strip, but as the equipment for delivering the fire at a long distance and a fixed point, the weight of the fire extinguishing agent carried by the fire extinguishing bomb is limited, and the fire extinguishing bomb is an explosive type fire extinguishing agent spraying agent, and when the fire extinguishing agent is released, the generated sparks or high temperature brings new potential safety hazards to the surrounding forest environment. On the other hand, the fire extinguishing bomb which is launched cannot be recycled, so that the cost is high. Therefore, this limits the application expansion thereof to some extent.
The forest fire fighting needs to develop a novel fire extinguishing agent and rescue material launching and throwing platform and a method thereof with long distance, high precision, multiple purposes, low cost and high safety, which are used for supplementing or replacing the prior other ground and air delivery platforms.
Disclosure of Invention
In view of the above analysis, the embodiment of the invention aims to provide a forest fire control guidance flight system and an operation method, so as to solve the problems of short material throwing distance, small load capacity and poor fire extinguishing safety in the existing forest fire control field.
The invention is realized by the following technical scheme:
a forest fire control guidance flight system, guidance flight system includes: a carrier; the carrier includes: the system comprises a power device section, a communication and flight control section, a load section and a detection sensing section;
the power plant section uses a rocket engine, a turbojet engine or electric drive as a power source; the communication and flight control section comprises: the ground command control communication module, the carrier guidance control module and the deceleration landing device module; the load section is provided with a load cabin; the load cabin carries loads comprising water-based fire extinguishing agents and rescue goods; the detection sensing section comprises an infrared detector, a heat-sensitive infrared detector for detecting a fire source and a beacon device in the carrier recovery process.
Furthermore, the guidance flight system also comprises an emission platform, a command vehicle, an unmanned aerial vehicle and a detection vehicle; the detection vehicle is used for evaluating the fire scene condition; the unmanned aerial vehicle is used for transmitting back the scene fire in real time; the command vehicle is used for receiving the detection vehicle report and the scene fire condition returned by the unmanned aerial vehicle and sending the position coordinate of the fire scene to the transmitting platform; the launching platform comprises a ground launching platform or an air launching platform, and the launching platform is used for launching the carrier with the large load.
Further, the ground command control communication module transmits a control instruction to the carrier; the control instruction comprises a launching control instruction of the ground command control communication module to the carrier, a carrier guidance control instruction and a carrier return control instruction; the carrier guidance control module is provided with a steering engine, control wings and driving wings; the deceleration landing device module is provided with a deceleration parachute.
Further, the carrier and the launching platform are connected in a sliding rail mode.
Further, the operation method of the forest fire control guidance flight system comprises the following steps:
step 1: fire detection, locking a fire point and obtaining the position of the fire point;
step 2: launching the carrier by the launching platform;
and step 3: the carrier is guided to fly and reaches a fire point;
and 4, step 4: spraying water-based fire extinguishing agent and throwing rescue goods by the carrier;
and 5: the carrier is decelerated and landed;
step 6: and recycling the carrier.
Further, the operation method of the forest fire control guidance flight system comprises the following steps:
step 31: calculating a vehicle trajectory;
the command vehicle receives the on-site fire condition report transmitted back by the detection vehicle and the unmanned aerial vehicle, and transmits the position coordinates of the fire point to the launching platform, and the ground command control communication module carries out flight trajectory calculation according to the obtained on-site fire condition and the position coordinates of the fire point, the launching direction of the carrier and the launching pitching angle of the carrier.
Step 32: the carrier actively climbs;
step 33: the middle section of the carrier is guided to fly;
according to the image information of the fire scene, the real-time position and the flight state information of the carrier detected by the detection sensing section of the carrier, the ground command control communication module sends a control instruction to the carrier, and the middle section of the carrier guides and flies.
Step 34: when the carrier reaches the ignition point, the water-based fire extinguishing agent is thrown and the materials are thrown.
Further, the fire detection in the step 1 is completed by a detection vehicle and the unmanned aerial vehicle, the detection vehicle evaluates the fire scene condition, and the unmanned aerial vehicle returns the scene fire in real time.
Further, in the step 2, the launching platform launches the carrier, and the effective range is preliminarily calculated based on calculating the distance between the ignition point position and the launching platform; and determining the launching direction of the carrier according to the position of the ignition point and the position of the launching platform within the effective range.
Further, the spraying of the water-based fire extinguishing agent and the delivery of rescue goods in step 4 are performed based on the calculation result of the flight trajectory of the load.
Further, in step 5, the carrier is decelerated by forward air injection of the engine, the speed reducing parachute is opened, and the carrier stably and safely lands at a specified place.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
1. the forest fire control guidance flight system provided by the invention has the advantages that a carrier is a main working device, the carrier is provided with a power device section, a communication and flight control section, a load section and a detection sensing section, the power device section uses a rocket engine, a turbojet or an electric drive as flight power, the load throwing of 6 km-10 km can be realized, and the range of the traditional fire extinguishing system is within 5 km; the load section is provided with a load cabin which can carry 30 kg-50 kg of rescue goods, while the traditional fire-extinguishing rescue system can only carry 3 kg-5 kg of load; the communication and flight control section of the carrier is provided with a steering engine, control wings and driving wings, the flight attitude and the trajectory of the carrier are adjusted through the steering engine and the driving wings, the driving wings adjust the flight attitude of the carrier under the driving of the steering engine, the pneumatic stability is ensured, and the guidance flight control precision is improved. The forest fire control guidance flight system and the operation method provided by the invention have the technical characteristics of large carrying capacity, long flight distance, high safety and low operation cost.
2. The invention relates to a carrier launching principle and a guided flight method, namely a guide rail type launching principle, a GPS and radio instruction guided composite guidance means, a heat-sensitive infrared composite detection means for detecting a fire source based on infrared and optical means, and a method for adjusting and correcting a flight trajectory based on a steering engine driving empennage, so that accurate detection of the position of a fire point and accurate release of rescue goods and materials are realized.
3. The heavy-load carrier can be recycled. If a deceleration parachute is arranged on the carrier, after the load carried by the carrier is delivered and released, the carrier can realize further guided flight and reach a specified target landing point, and then the carrier can be recycled. The carrier is recycled after being repaired, so that the cost is greatly reduced. The other function of the recycling carrier is to ensure that the carrier is smaller to the forest environment, and secondary disasters can not be brought, so that secondary combustion of the forest is caused, and fragments and garbage can not be generated to the forest. In addition, the multiple-engine carrier is launched for multiple times, so that the rescue and fire-extinguishing efficiency can be greatly improved, and good forest fire-fighting rescue effect and social and economic effect are achieved.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic view of a large load carrier remote guidance flight and material delivery process for forest fire fighting;
FIG. 2 is a work flow diagram of a large-load carrier remote guidance flight and material delivery method for forest fire fighting.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1:
a forest fire fighting guidance flight system comprising: launching platform, command car, unmanned aerial vehicle, investigation car and delivery vehicle. The detection vehicle is used for evaluating the fire scene condition, and the unmanned aerial vehicle is used for transmitting back the scene fire condition in real time; the command vehicle is used for receiving the detection vehicle report and the scene fire condition returned by the unmanned aerial vehicle and sending the position coordinate of the fire scene to the transmitting platform; the launching platform comprises a ground launching platform or an air launching platform, and the launching platform is used for launching the carrier with the large load. The launching platform launches the carrier, is based on calculating the distance between fire source and launching platform, calculate the effective range preliminarily; and determining the launching direction of the carrier according to the position of the fire source and the position of the launching platform within the effective range. The carrier is used for loading fire-extinguishing materials, including novel water-based fire extinguishing agents for forest fire suppression or related rescue materials (breathing equipment, individual protection devices and the like) for forest fire rescue. The carrier and the launching platform are connected in a sliding rail manner. The sliding rail type connection reduces recoil in the launching process and reduces damage to the ground platform and the aerial platform in the launching process of the carrier.
The carrier includes: the device comprises a power device section, a communication and flight control section, a load section and a detection sensing section.
The power plant section uses a rocket engine, a turbojet or an electric drive as flight power, and provides flight power for launching, guided flight and recovery of the carrier.
The communication and flight control section comprises: the ground command control communication module, the carrier guidance control module and the deceleration landing device module.
And the ground command communication module is responsible for sending out a control command to the carrier. The control instruction mainly comprises a transmitting instruction of the ground control carrier, a flow control instruction of each link after the carrier is transmitted, and communication data in the whole flight process of the carrier, which mainly comprises a fire scene image, a flight attitude, carrier position information and the like returned by the carrier.
The control command is a control command transmitted by the ground command control communication module to the vehicle, and also comprises control over the transmitting turret, namely control over the transmitting azimuth and the transmitting pitch angle, and a transmitting trigger command, a vehicle guidance control command and a vehicle return control command. The control instruction directly acts on the carrier guidance control module and the deceleration and landing device module.
The carrier guidance control module is provided with a steering engine and driving wings, the flight attitude and the flight track of the carrier are adjusted through the steering engine and the driving wings, and the driving wings adjust the flight attitude of the carrier under the driving of the steering engine, so that the guidance flight control precision is improved while the pneumatic stability is ensured.
The deceleration landing device module is provided with a deceleration parachute and is used for controlling deceleration landing to the ground; the speed reduction landing device starts to work in the carrier recovery process, and the safety of the carrier falling to the ground in high altitude is ensured.
The load section mainly comprises a novel water-based fire extinguishing agent for forest fire suppression or related rescue materials (breathing equipment, individual protection devices and the like) for forest fire rescue. The load section is provided with a load cabin which carries various rescue goods. The rescue goods and materials are also provided with a small speed-reducing landing device. The load compartment also comprises corresponding spreading and throwing and pushing-out devices according to different loads.
The detection sensing section mainly comprises a thermosensitive infrared device for detecting a fire source by infrared and optical means and a beacon device in the recovery process, and is used for sensing a detection target. The infrared and the heat-sensitive infrared for detecting the fire source are mainly used for detecting the fire source accurately by the carrier in the flying process and transmitting the detection sensing result back to the ground command control communication module. Meanwhile, the control device on the carrier directly judges the time for delivering the load according to the result of detecting the fire scene and selects the opportunity to deliver the load. The beacon device is used for the carrier recovery process, and the beacon device is communicated with the target position transponder by emitting electromagnetic signals, so that the accurate positioning of the recovered position target is realized, and the accurate position recovery of the carrier is realized.
The operation method of the forest fire control guidance flight system comprises the following steps:
step 1: fire detection, locking ignition point and obtaining the position of the ignition point
The fire detection can be completed by a detection vehicle and the unmanned aerial vehicle, the detection vehicle evaluates the situation of a fire scene, and the unmanned aerial vehicle returns the scene fire in real time; the command vehicle can send the information to the transmitting platform;
step 2: launching the carrier by the launching platform;
and the launching platform obtains initial and rough position information of the ignition point under the guidance of the positions obtained by detection of the detection vehicle and the unmanned aerial vehicle. The launching carrier calculates the effective range preliminarily based on the distance between the fire source and the launching platform; and determining the launching direction of the carrier according to the position of the fire source and the position of the launching platform within the effective range. The power device section of the carrier provides power for launching of the carrier, and the flight power device takes rocket, vortex jet or electric drive as power to launch in the air or on the ground. The carrier is connected with the launching platform in a sliding rail mode, and micro recoil is generated in the launching process of the connection mode, so that the impact on the launching platform is small.
And step 3: the carrier is guided to fly to the ignition point
Step 31: vehicle trajectory calculation
The command vehicle receives the on-site fire condition report transmitted back by the detection vehicle and the unmanned aerial vehicle and transmits the position coordinates of the fire point to the launching platform, and the ground command control communication module carries out flight trajectory calculation according to the obtained on-site fire condition and the position coordinates of the fire point, the launching direction of the carrier and the launching pitching angle of the carrier;
step 32: the carrier actively climbs;
step 33: guided flight in the middle of the vehicle
According to the fire scene image information, the real-time position and the flight state information of the carrier detected by the detection sensing section of the carrier, the ground command control communication module sends a control instruction to the carrier, and the middle section of the carrier guides to fly;
step 34: when the carrier reaches the ignition point, the water-based fire extinguishing agent is ready to be sprinkled and the materials are put in
And 4, step 4: spraying water-based fire extinguishing agent and putting rescue goods on carrier
The spraying of the water-based fire extinguishing agent and the delivery of rescue goods are carried out based on the calculation result of the flight trajectory of the load;
and 5: speed-reducing landing of carrier
The carrier is decelerated by forward air injection of the engine, the speed-reducing parachute is opened, the carrier stably and safely lands to a designated place, namely, a designated carrier recovery point is arranged, and the carrier autonomously guided flight, decelerated flight and landing to the carrier recovery point are carried out according to the target position of the carrier recovery point obtained by the ground command control communication module;
step 6: recycling of carriers
Example 2:
as shown in fig. 2, based on the forest fire control guidance flight system, the specific operation method comprises the following steps:
1. the detection vehicle detects the fire;
after forest fire detection is carried out by ground patrol personnel and aerial patrol personnel, the fire direction is found and locked, and a detection vehicle is dispatched to carry out fire detection to obtain the specific position of a fire point.
2. The unmanned aerial vehicle transmits back the scene fire in real time;
the aerial unmanned aerial vehicle simultaneously carries out the condition of a fire investigation to combine the specific position of the ignition point of reconnaissance car transmission, carry out the investigation of the condition of a fire ignition and the peripheral actual geographical situation in ignition point position, and return information in real time.
3. The command vehicle receives the detection vehicle report and the scene fire condition returned by the unmanned aerial vehicle, and sends the position coordinates of the fire scene to the transmitting platform;
4. the launching platform launches a large-load carrier;
the launching platform judges the allocation of the fire extinguishing agent carried by the carrier and other materials and the allocation amount of each material according to the position coordinates of the ignition point and the fire condition provided by the command vehicle.
5. The carrier is guided to fly and releases materials;
the direction of the carrier is continuously adjusted under the control of the steering engine and the wings, the flight trajectory of the carrier is corrected, the carrier accurately flies above a fire point, and materials are thrown.
6. Recovering the carrier;
after the material is released, the carrier deceleration descending device starts to work. After the carrier is decelerated and landed to a certain height, the deceleration parachute at the deceleration landing section is opened to enable the carrier to land to a target position stably and safely, and the carrier is recovered, repaired and recycled.
Example 3:
as shown in fig. 2, the embodiment provides a forest fire control guidance flight system and an operation method, including the following steps:
step 1: fire detection, locking a fire point and obtaining the position of the fire point;
after the ground detection vehicle and the aerial unmanned aerial vehicle detect forest fires, the fire point is locked, and the position coordinate of the fire point is obtained. The ground reconnaissance car carries out forest fire scene detection through a remote infrared, laser and visible light detection means or a mode that an aerial unmanned aerial vehicle carries a photoelectric pod, obtains relatively accurate ignition point positions of the forest fire scene, including space azimuth angle, distance information and the like, and uses the ignition point positions as rough target information transmitted by a carrier.
Step 2: launching the carrier by the launching platform;
and the launching platform obtains initial and rough position information of the ignition point under the guidance of the positions obtained by detection of the detection vehicle and the unmanned aerial vehicle. The launching carrier calculates the effective range preliminarily based on the distance between the fire source and the launching platform; and determining the launching direction of the carrier according to the position of the fire source and the position of the launching platform within the effective range. The operation system can realize remote launching of the carrier, and the range can be controlled within 5 km-10 km. The power device section of the carrier provides power for launching of the carrier, and the flight power device takes rocket, vortex jet or electric drive as power to launch in the air or on the ground. The carrier is connected with the launching platform in a sliding rail mode, and micro recoil is generated in the launching process of the connection mode, so that the impact on the launching platform is small.
And step 3: guiding and flying the carrier;
after the carrier is launched and leaves the launching platform, the carrier quickly flies to a fire point under the guidance control of a GPS and a radio instruction (belonging to a communication and flight control section, in particular belonging to a carrier guidance control module). In the flight process, the fire scene position information detected by the detection sensing section on the carrier is used as an accurate position information source to adjust the flight trajectory, and the carrier continuously adjusts the direction by controlling the deflection of the steering engine and the wings, corrects the flight trajectory of the carrier and accurately guides the flight.
And 4, step 4: putting materials;
after the carrier reaches the area above the ignition point, the load is sprayed and pushed out based on the calculation result of the flight trajectory of the load carried by the carrier. And a control device of the communication and flight control section of the carrier controls the throwing quantity and the effective throwing position of the load according to the spraying parameters of the load.
When people are trapped in forest fires and need to be rescued, the loads are related rescue supplies such as breathing equipment, rescue and fire protection devices and the like. When the forest fire is not trapped and people only need to extinguish the fire, the load is the water-based fire extinguishing agent. The fire extinguishing agent can be a fire extinguishing ball loaded with superfine dry powder and matched with a water-based fire extinguishing agent, so that the fire extinguishing effect is improved.
And 5: the carrier is decelerated and landed;
after the load is released, the vehicle continues to be propelled by the engine, flying under GPS guidance, towards the planned target location, which is usually located near the launch point. After the carrier flies to the target position, the speed reducing landing device starts to work, the power flying section of the carrier sprays air forward to reduce the speed of the carrier, and after the carrier lands to a certain height, the speed reducing parachute of the speed reducing landing section is opened to enable the carrier to land to the target position stably and safely.
Step 6: recycling the carrier;
and (5) after the carrier descends to the target position, recovering. The carrier is recycled after being repaired, so that the cost is greatly reduced. The other function of the recycling carrier is to ensure that the carrier is smaller to the forest environment, and secondary disasters can not be brought, so that secondary combustion of the forest is caused, and fragments and garbage can not be generated to the forest. In addition, the multiple-engine carrier is launched for multiple times, so that the rescue and fire-extinguishing efficiency can be greatly improved, and good forest fire-fighting rescue effect and social and economic effect are achieved.
Example 4:
as shown in fig. 1, the present embodiment provides a vehicle guidance flight process, including the following steps:
step 31: the launching platform inclines to launch the section, the trajectory of the carrier is calculated;
and according to the position information of the fire point, the launching platform calculates to obtain a launching azimuth and a launching pitching angle. The ground command control communication module of the carrier calculates the flight trajectory according to the acquired site fire condition and the position coordinates of the ignition point, the carrier launching azimuth and the carrier launching pitch angle;
step 32: an active climbing section;
the carrier aims at the fire point of the forest fire scene at the ground in a specific direction and a specific pitching angle, and actively climbs above the fire point under the boosting of the power device section to fly at low altitude.
Step 33: the middle section of the carrier is guided to fly;
the carrier is guided to fly under the radio and GPS instructions of the communication and flight control section, the flight attitude of the carrier is continuously adjusted, and the carrier is accurately ensured to be guided and controlled to fly towards the position of a fire point.
Step 34: material throwing and speed reducing landing;
and the load section of the carrier is calculated according to the fire scene information detected and sensed by the detection sensing section, and the throwing position and the throwing time of the load are calculated based on the distance information and the azimuth information of the carrier and the ignition point and the flight speed and acceleration information of the carrier. After the load is released, the carrier senses the position information of the target point based on the beacon machine, performs guided flight again, and decelerates and lands to recycle after reaching the target position.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A forest fire control guidance flight system, characterized in that, guidance flight system includes: a carrier; the carrier includes: the system comprises a power device section, a communication and flight control section, a load section and a detection sensing section;
the power plant section uses a rocket engine, a turbojet engine or electric drive as a power source;
the communication and flight control section comprises: the ground command control communication module, the carrier guidance control module and the deceleration landing device module;
the load section is provided with a load cabin; the load cabin carries loads comprising water-based fire extinguishing agents and rescue goods;
the detection sensing section comprises an infrared detector, a thermosensitive infrared detector for detecting a fire source and a beacon device in the carrier recovery process.
2. The forest fire control guidance flight system of claim 1, wherein the guidance flight system further comprises: the system comprises a launching platform, a command vehicle, an unmanned aerial vehicle and a detection vehicle; the investigation vehicle is used for evaluating the fire scene condition; the unmanned aerial vehicle is used for transmitting back the scene fire in real time; the command vehicle is used for receiving the detection vehicle report and the scene fire condition returned by the unmanned aerial vehicle and sending the position coordinate of the fire scene to the transmitting platform; the launching platform comprises a ground launching platform or an air launching platform, and the launching platform is used for launching a large-load carrier.
3. The forest fire control guidance flight system as claimed in claim 1, wherein the ground command control communication module transmits control instructions to the vehicle; the control instruction comprises a launching control instruction of the ground command control communication module to the carrier, a carrier guidance control instruction and a carrier return control instruction;
the carrier guidance control module is provided with a steering engine, control wings and driving wings; the deceleration descending device module is provided with a deceleration parachute.
4. The forest fire control guidance flight system as claimed in claim 1, wherein the vehicle and the launch platform are connected by a sliding rail.
5. An operation method of a forest fire control guidance flight system, which is characterized in that the forest fire control guidance flight system of claims 1-4 is adopted, and the operation method comprises the following steps:
step 1: fire detection, locking a fire point and obtaining the position of the fire point;
step 2: launching the carrier by the launching platform;
and step 3: the carrier is guided to fly and reaches a fire point;
and 4, step 4: spraying water-based fire extinguishing agent and throwing rescue goods by the carrier;
and 5: the carrier is decelerated and landed;
step 6: and recycling the carrier.
6. The operation method of the forest fire control guidance flight system according to claim 5, wherein the step 3 comprises the following steps:
step 31: calculating a vehicle trajectory;
the command vehicle receives the on-site fire condition report transmitted back by the detection vehicle and the unmanned aerial vehicle and transmits the position coordinates of the fire point to the launching platform, and the ground command control communication module carries out flight trajectory calculation according to the obtained on-site fire condition and the position coordinates of the fire point, the launching direction of the carrier and the launching pitching angle of the carrier;
step 32: the carrier actively climbs;
step 33: the middle section of the carrier is guided to fly;
according to the fire scene image information, the real-time position and the flight state information of the carrier detected by the detection sensing section of the carrier, the ground command control communication module sends a control instruction to the carrier, and the middle section of the carrier guides to fly;
step 34: when the carrier reaches the ignition point, the water-based fire extinguishing agent is thrown and the materials are thrown.
7. The operation method of the forest fire control guidance flight system according to claim 5, wherein the fire detection in the step 1 is performed by a detection vehicle and a unmanned aerial vehicle, the detection vehicle evaluates the fire scene condition, and the unmanned aerial vehicle transmits back the scene fire in real time.
8. The operation method of the forest fire control guidance flight system according to claim 5, wherein in the step 2, the launching platform launches the carrier and calculates the distance between the ignition point and the launching platform based on the calculated ignition point position, and calculates the effective range preliminarily; and determining the launching direction of the carrier according to the position of the ignition point and the position of the launching platform within the effective range.
9. The operation method of the forest fire control guidance flight system according to the claim 5, wherein the spraying of the water-based fire extinguishing agent and the delivery of the rescue material in the step 4 are performed based on the calculation result of the flight trajectory of the load.
10. The operation method of the forest fire control guidance flight system as claimed in claim 5, wherein in the step 5, the vehicle is decelerated by the forward jet of the engine, the speed reducing parachute is opened, and the vehicle is stably and safely landed to the designated place.
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