CN113008087A - Laser guidance projection fire extinguishing bomb - Google Patents
Laser guidance projection fire extinguishing bomb Download PDFInfo
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- CN113008087A CN113008087A CN202110411656.2A CN202110411656A CN113008087A CN 113008087 A CN113008087 A CN 113008087A CN 202110411656 A CN202110411656 A CN 202110411656A CN 113008087 A CN113008087 A CN 113008087A
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- 238000005474 detonation Methods 0.000 claims abstract description 101
- 238000000034 method Methods 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 239000004065 semiconductor Substances 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000010304 firing Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 29
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims description 4
- 230000010365 information processing Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
- F42B12/46—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information for dispensing gases, vapours, powders or chemically-reactive substances
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
A laser guidance projection fire extinguishing bomb comprises a hardware part and a system part, wherein the hardware part comprises an airborne part and a missile-borne part, and the system part comprises a detonation module and a distance measuring module; the airborne part comprises a semiconductor laser and a serial communication interface; a semiconductor laser for emitting and receiving a laser signal; a serial communication interface for transmitting data to the payload section; the missile-borne part comprises a control chip, a safety battery and an ignition head; the control chip is used for controlling the distance measurement and the detonation functions of the missile-borne part; a safety battery for supplying power to the control chip and the ignition head; a firing head for detonating the projectile portion; the system part comprises a detonation module and a distance measuring module; the detonation module is used for carrying out detonation in a timing mode or a height-fixing mode; the distance measurement module is used for measuring current flight height information; the method has the advantages of detonation in a timing mode or a height-fixing mode, information display and permanent storage of detonation setting data.
Description
The technical field is as follows:
the invention relates to the technical field of fire-fighting unmanned aerial vehicles, in particular to a laser guidance projection fire extinguishing bomb.
Background art:
unmanned aerial vehicle fire control has been widely used in various fields as a novel industrial technology, has used unmanned aerial vehicle to successfully carry out attempts such as scene of a fire investigation monitoring, throwing rescue goods and materials at home in many existing fire control institutions, and the effect is very obvious.
Fire control unmanned aerial vehicle still has very big not enough in the aspect of detonating control, mainly detonates untimely, detonates time height incorrect, leads to the diffusion range control of fire extinguishing agent not accurate enough behind the fire extinguishing bomb explosion to fire extinguishing efficiency has been influenced.
The invention content is as follows:
in order to solve the problems and overcome the defects of the prior art, the invention provides the laser guidance projection fire extinguishing bomb which can be detonated in two ways of timing way or height fixing way, can display information and can permanently store detonation setting data.
In order to achieve the purpose, the laser guidance projection fire extinguishing bomb provided by the invention comprises a hardware part and a system part, wherein the hardware part comprises an airborne part and a missile-borne part, and the system part comprises a detonation module and a distance measuring module;
the airborne part comprises a semiconductor laser and a serial communication interface;
a semiconductor laser for emitting and receiving a laser signal;
a serial communication interface for transmitting data to the payload section;
the missile-borne part comprises a control chip, a safety battery and an ignition head;
the control chip is used for controlling the distance measurement and the detonation functions of the missile-borne part;
a safety battery for supplying power to the control chip and the ignition head;
a firing head for detonating the projectile portion;
the system part comprises a detonation module and a distance measuring module;
the detonation module is used for carrying out detonation in a timing mode or a height-fixing mode;
and the distance measurement module is used for measuring the current flight height information.
Further, the control chip comprises
The central processing unit is used for data acquisition, information processing and program control;
the FLASH chip is used for storing information such as a preset detonation time value, a preset height value during detonation and the like;
the LED high-brightness nixie tube is used for sequentially displaying the acquired height information, the set detonation time, the set height and other information in turn;
a power switch for turning on and off a main power supply;
a microswitch for setting the detonation height or time;
the safety switch is used for switching on and off the 14.5V power supply of the ignition head;
the LED lamp and the buzzer are used for indicating the working state of the system;
a drop port for detecting whether the projectile body is detached from the platform;
and the boosting chip is used for boosting the battery voltage of 3V to 14.5 by matching with an external LC boosting circuit and is used for detonating the ignition head.
Furthermore, the central processing unit adopts an STM32F103 series chip based on a 32-bit ARM Cortex-M3 core.
Further, the laser wavelength of the semiconductor laser is 905 nm.
Furthermore, the ranging module adopts a TOF ranging method.
Further, the detonation module adopts a timing detonation method or a constant-height detonation method.
Further, the timing detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processing unit reads the detonation time preset value stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the detonation time preset value is considered to be invalid, namely a default value is called, detonation time is added or subtracted according to S1 and S2 and displayed on the digital tube, and the real-time height measurement and the preset value are displayed at intervals of 2 seconds;
step three: an internal timer is adopted, the countdown time interval is 1ms, after the detonation time is set, the central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit immediately subtracts the delay countdown of the ignition head according to a preset value, when the countdown is 0, the IO port outputs high electrical level to a Q1 (MOS tube) to be conducted, a 14.5V loop of the ignition head is conducted, and the ignition head detonates.
Further, the constant-height detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processor firstly reads the height preset value at the time of detonation stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the central processor considers an invalid value, namely a default value is called, the detonation height is increased or decreased according to S1 and S2 and displayed on the digital tube, and the real-time measurement height and the preset value are displayed at intervals of 2 second round streams.
Step three: an internal timer is adopted, the countdown time interval is 1ms, after the setting of the detonation height is completed, a central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit subtracts the preset value of the detonation height from the current measured flying height, the time from the free falling body to the preset value of the detonation height is automatically calculated, the self time delay of the igniter is subtracted, when the numerical value countdown is 0, the IO port outputs the high electrical level to Q1 (MOS tube) to be conducted, a 14.5V loop of the igniter is conducted, and the igniter is detonated.
The invention has the beneficial effects that:
the laser guidance projection fire extinguishing bomb provided by the invention has the advantages that detonation is carried out in two modes of detonation in a timing mode or a height-fixing mode, information can be displayed, and detonation setting data can be stored permanently.
1. The system measures distance in real time through a TOF distance measurement method, packs data and sends the data to the projectile body part, achieves accurate and effective height data, and guarantees accurate control of height during detonation.
2. The FLASH chip and the central processing unit are adopted, and pre-stored data can be permanently stored.
3. Set up boost chip and safety battery, the voltage of control chip and ignition head is different, promotes 3V battery voltage to 14.5 through boost chip cooperation boost circuit when needs are igniteed and is used for the ignition, uses safelyr.
4. When the ignition head is in virtual connection, short circuit or open circuit, the central processing unit detects that the resistance value of the ignition head is wrong through the electric bridge, and the state of the ignition head is displayed through the LED lamp.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in more detail below.
The invention provides a laser guidance projection fire extinguishing bomb which comprises a hardware part and a system part, wherein the hardware part comprises an airborne part and a missile-borne part, and the system part comprises a detonation module and a distance measuring module;
the airborne part comprises a semiconductor laser and a serial communication interface;
a semiconductor laser for emitting and receiving a laser signal;
a serial communication interface for transmitting data to the payload section;
the missile-borne part comprises a control chip, a safety battery and an ignition head;
the control chip is used for controlling the distance measurement and the detonation functions of the missile-borne part;
a safety battery for supplying power to the control chip and the ignition head;
a firing head for detonating the projectile portion;
the system part comprises a detonation module and a distance measuring module;
the detonation module is used for carrying out detonation in a timing mode or a height-fixing mode;
and the distance measurement module is used for measuring the current flight height information.
Further, the control chip comprises
The central processing unit is used for data acquisition, information processing and program control;
the FLASH chip is used for storing information such as a preset detonation time value, a preset height value during detonation and the like;
the LED high-brightness nixie tube is used for sequentially displaying the acquired height information, the set detonation time, the set height and other information in turn;
a power switch for turning on and off a main power supply;
a microswitch for setting the detonation height or time;
the safety switch is used for switching on and off the 14.5V power supply of the ignition head;
the LED lamp and the buzzer are used for indicating the working state of the system;
a drop port for detecting whether the projectile body is detached from the platform;
and the boosting chip is used for boosting the battery voltage of 3V to 14.5 by matching with an external LC boosting circuit and is used for detonating the ignition head.
The central processing unit adopts an STM32F103 series chip based on a 32-bit ARM Cortex-M3 core.
The laser wavelength of the semiconductor laser is 905 nm.
The ranging module adopts a TOF ranging method.
The detonation module adopts a timing detonation method or a constant-height detonation method.
The timing detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processing unit reads the detonation time preset value stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the detonation time preset value is considered to be invalid, namely a default value is called, detonation time is added or subtracted according to S1 and S2 and displayed on the digital tube, and the real-time height measurement and the preset value are displayed at intervals of 2 seconds;
step three: an internal timer is adopted, the countdown time interval is 1ms, after the detonation time is set, the central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit immediately subtracts the delay countdown of the ignition head according to a preset value, when the countdown is 0, the IO port outputs high electrical level to a Q1 (MOS tube) to be conducted, a 14.5V loop of the ignition head is conducted, and the ignition head detonates.
Further, the constant-height detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processor firstly reads the height preset value at the time of detonation stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the central processor considers an invalid value, namely a default value is called, the detonation height is increased or decreased according to S1 and S2 and displayed on the digital tube, and the real-time measurement height and the preset value are displayed at intervals of 2 second round streams.
Step three: an internal timer is adopted, the countdown time interval is 1ms, after the setting of the detonation height is completed, a central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit subtracts the preset value of the detonation height from the current measured flying height, the time from the free falling body to the preset value of the detonation height is automatically calculated, the self time delay of the igniter is subtracted, when the numerical value countdown is 0, the IO port outputs the high electrical level to Q1 (MOS tube) to be conducted, a 14.5V loop of the igniter is conducted, and the igniter is detonated.
One of the embodiments of the invention is as follows:
the main functions of the invention are as follows:
1. the control of detonation can be preset;
2. high detonation control can be preset;
3. the device can be used for multiple bullets, and a plurality of bullet loading parts are connected through an airborne part;
4. the missile-borne part can display information through an LED high-brightness nixie tube;
5. the setting number can be permanently saved;
6. a detonation system failure can be detected;
7. the missile-borne uses a safety battery to avoid fire;
the main performance indexes of the invention are as follows:
1. working temperature: -25 to 75 ℃;
2. the airborne working voltage is as follows: DC 7-50V;
3. the airborne current: 50 mA;
4. missile-borne working voltage: DC 3V;
5. missile-borne working current: 60 mA;
6. detonation voltage: DC-DC14.5V:
7. effective throwing height: 5-500 m;
8. timing error: plus or minus 2 ms;
9. height setting error: 50 cm;
10. height measurement refresh rate: 5 Hz;
11. the system starting time is as follows: <05 s;
the airborne part comprises a semiconductor laser, the laser wavelength is 905 nanometers, the integration level is high, the micro power consumption is low, the weight is low, and the airborne part is used for carrying out data communication with the missile-borne part through a serial communication interface.
The distance measurement method is a TOF distance measurement method, and belongs to a two-way distance measurement technology, wherein the time interval between the emission of a data signal by a semiconductor laser and the reception of a response signal of a receiving end is marked as T, and the time interval between the reception of the data signal by the semiconductor laser and the emission of the response signal by the receiving end is marked as Tr; and the one-way flight time Tf = (Tt-Tr)/2, the distance between two points d = c × Tf, wherein c represents the propagation speed of the electromagnetic wave.
The ranging module tries to calculate a measuring structure, packs data through a communication serial port and downloads the data to the missile-borne part at a refresh rate of 5 frames/s.
The missile-borne part comprises a control chip, a central processing unit on the control chip adopts an STM32F103 series chip based on a 32-bit ARM Cortex-M3 core, and the highest working frequency is 72 MHz.
Meanwhile, an LED high-brightness nixie tube is adopted on the control chip and used for sequentially displaying the acquired height information, the set detonation time, the set height and other information in turn; the K1 power switch is used for switching on and off the main power supply; the number of the micro switches is two, and the micro switches are used for setting the detonation height or time; k2 is a safety switch for switching on and off a 14.5V power supply of the ignition head; the LED lamp and the buzzer are used for indicating the working state of the system; the throwing port is used for detecting whether the projectile body is separated from the platform or not; u1 is a boost chip, and cooperates with external LC boost circuit to boost the battery voltage of 3V to 14.5, is used for detonating the ignition head.
The detonation module adopts a timing detonation method or a constant-height detonation method.
The timing detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processing unit reads the detonation time preset value stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the detonation time preset value is considered to be invalid, namely a default value is called, detonation time is added or subtracted according to S1 and S2 and displayed on the digital tube, and the real-time height measurement and the preset value are displayed at intervals of 2 seconds;
step three: an internal timer is adopted, the countdown time interval is 1ms, after the detonation time is set, the central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit immediately subtracts the delay countdown of the ignition head according to a preset value, when the countdown is 0, the IO port outputs high electrical level to a Q1 (MOS tube) to be conducted, a 14.5V loop of the ignition head is conducted, and the ignition head detonates.
Further, the constant-height detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processor firstly reads the height preset value at the time of detonation stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the central processor considers an invalid value, namely a default value is called, the detonation height is increased or decreased according to S1 and S2 and displayed on the digital tube, and the real-time measurement height and the preset value are displayed at intervals of 2 second round streams.
Step three: an internal timer is adopted, the countdown time interval is 1ms, after the setting of the detonation height is completed, a central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit subtracts the preset value of the detonation height from the current measured flying height, the time from the free falling body to the preset value of the detonation height is automatically calculated, the self time delay of the igniter is subtracted, when the numerical value countdown is 0, the IO port outputs the high electrical level to Q1 (MOS tube) to be conducted, a 14.5V loop of the igniter is conducted, and the igniter is detonated.
Ignition head fault detection process:
when the ignition head is in virtual connection, short circuit or open circuit, the CPU detects that the resistance value of the ignition head is wrong through the bridge, and the state of the LED lamp is displayed.
The fire extinguishing bomb is characterized by further comprising a bomb body, fire extinguishing agents and explosives are filled in the bomb body, the explosives are detonated through the ignition head, the shell of the bomb body is exploded by the explosives, the fire extinguishing agents filled in the bomb body are simultaneously exploded by the explosives in different directions, and the fire extinguishing agents fall on an ignition point to complete fire extinguishing.
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 (8)
1. A laser guidance projection fire extinguishing bomb is characterized in that: the system comprises a hardware part and a system part, wherein the hardware part comprises an airborne part and an missile-borne part, and the system part comprises a detonation module and a distance measuring module;
the airborne part comprises a semiconductor laser and a serial communication interface;
a semiconductor laser for emitting and receiving a laser signal;
a serial communication interface for transmitting data to the payload section;
the missile-borne part comprises a control chip, a safety battery and an ignition head;
the control chip is used for controlling the distance measurement and the detonation functions of the missile-borne part;
a safety battery for supplying power to the control chip and the ignition head;
a firing head for detonating the projectile portion;
the system part comprises a detonation module and a distance measuring module;
the detonation module is used for carrying out detonation in a timing mode or a height-fixing mode;
and the distance measurement module is used for measuring the current flight height information.
2. The laser guidance projection fire extinguishing bomb according to claim 1, characterized in that: the control chip comprises
The central processing unit is used for data acquisition, information processing and program control;
the FLASH chip is used for storing information such as a preset detonation time value, a preset height value during detonation and the like;
the LED high-brightness nixie tube is used for sequentially displaying the acquired height information, the set detonation time, the set height and other information in turn;
a power switch for turning on and off a main power supply;
a microswitch for setting the detonation height or time;
the safety switch is used for switching on and off the 14.5V power supply of the ignition head;
the LED lamp and the buzzer are used for indicating the working state of the system;
a drop port for detecting whether the projectile body is detached from the platform;
and the boosting chip is used for boosting the battery voltage of 3V to 14.5 by matching with an external LC boosting circuit and is used for detonating the ignition head.
3. The laser guidance projection fire extinguishing bomb according to claim 1, characterized in that: the central processing unit adopts an STM32F103 series chip based on a 32-bit ARM Cortex-M3 core.
4. The laser guidance projection fire extinguishing bomb according to claim 1, characterized in that: the laser wavelength of the semiconductor laser is 905 nanometers.
5. The laser guidance projection fire extinguishing bomb according to claim 1, characterized in that: the distance measurement module adopts a TOF distance measurement method.
6. The laser guidance projection fire extinguishing bomb according to claim 1, characterized in that: the detonation module adopts a timing detonation method or a constant-height detonation method.
7. The laser guidance projection fire extinguishing bomb according to claim 6, characterized in that: the timing detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processing unit reads the detonation time preset value stored for the last time from the FLASH chip, if the value is less than 0 or more than 99, the detonation time preset value is considered to be invalid, namely a default value is called, detonation time is added or subtracted according to S1 and S2 and displayed on the digital tube, and the real-time height measurement and the preset value are displayed at intervals of 2 seconds;
step three: an internal timer is adopted, the countdown time interval is 1ms, after the detonation time is set, the central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit immediately subtracts the delay countdown of the ignition head according to a preset value, when the countdown is 0, the IO port outputs high electrical level to a Q1 (MOS tube) to be conducted, a 14.5V loop of the ignition head is conducted, and the ignition head detonates.
8. The laser guidance projection fire extinguishing bomb according to claim 6, characterized in that: the constant-height detonation method comprises the following steps:
the method comprises the following steps: the power switch is turned on to switch on the main power supply;
step two: the central processor firstly reads the height preset value of the last stored detonation from the FLASH chip, if the value is less than 0 or more than 99, the central processor considers an invalid value, namely a default value is called, the detonation height is increased or decreased according to S1 and S2 and displayed on a digital tube, and the real-time measurement height and the preset value are displayed at intervals of 2 seconds;
step three: an internal timer is adopted, the countdown time interval is 1ms, after the setting of the detonation height is completed, a central processing unit monitors the electrical level of the throwing port, after the projectile is thrown, the jumper wire of the throwing port automatically falls off, the electrical level of the throwing port changes from low to high, the central processing unit subtracts the preset value of the detonation height from the current measured flying height, the time from the free falling body to the preset value of the detonation height is automatically calculated, the self time delay of the igniter is subtracted, when the numerical value countdown is 0, the IO port outputs the high electrical level to Q1 (MOS tube) to be conducted, a 14.5V loop of the igniter is conducted, and the igniter is detonated.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415727A (en) * | 2022-01-21 | 2022-04-29 | 烟台云都海鹰无人机应用技术有限公司 | Intelligent control system of agricultural and forestry unmanned aerial vehicle based on accurate guidance and delayed blasting |
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Application publication date: 20210622 |