CN115709801A - Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method - Google Patents
Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method Download PDFInfo
- Publication number
- CN115709801A CN115709801A CN202211422762.1A CN202211422762A CN115709801A CN 115709801 A CN115709801 A CN 115709801A CN 202211422762 A CN202211422762 A CN 202211422762A CN 115709801 A CN115709801 A CN 115709801A
- Authority
- CN
- China
- Prior art keywords
- bomb
- fire
- projectile
- magazine
- measuring device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a fire-fighting bomb-throwing device, which comprises a bomb bay, a photographing holder and a height measuring device, wherein the photographing holder and the height measuring device are arranged at the bottom of the bomb bay, a bomb storage cavity is arranged in the bomb bay, a bomb-throwing hole communicated with the bomb storage cavity is arranged at the bottom of the bomb bay, the height measuring device is used for detecting the distance between the height measuring device and the ground and generating height data, and the photographing holder is used for photographing an image below the bomb bay and aiming at a predicted bomb-striking point on the ground; combine the altitude distance, the virtual expected impact point that appears in the photographic cloud platform for the control personnel of distal end can judge the position of falling to the ground that the fire extinguishing bomb was expected this moment fast, have improved the bullet of throwing and hit the degree of accuracy.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a fire-fighting bomb-throwing device, an aircraft and a fire-fighting bomb-throwing aiming method.
Background
The forest fire-fighting unmanned aerial vehicle is an unmanned aerial vehicle which carries fire extinguishing agents or fire extinguishing bombs and is used for extinguishing forest fires, and when the forest fire-fighting unmanned aerial vehicle flies above a fire place, the fire extinguishing agents or the fire extinguishing bombs carried by the forest fire-fighting unmanned aerial vehicle can be thrown down. However, the forest fire-fighting unmanned aerial vehicle is thrown by the fire-fighting bomb completely depending on experience and feeling of an operator who remotely controls the unmanned aerial vehicle, that is, the operator throws the fire-fighting bomb by the experience according to an image returned by the forest fire-fighting unmanned aerial vehicle, and there is no clear target reference object during the throwing, so that the probability that the fire-fighting bomb accurately hits the target object is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a fire-fighting bomb-throwing device, an aircraft and a fire-fighting bomb-throwing aiming method, so as to solve the problem that the existing fire-fighting unmanned aerial vehicle bomb-throwing lacks a target reference.
The purpose of the invention is realized by adopting the following technical scheme:
a fire-fighting bomb-throwing device comprises a bomb chamber, a photographic holder and a height measuring device;
the shooting cloud deck and the height measuring device are both arranged at the bottom of the magazine;
the magazine is internally provided with a bullet storage cavity, and the bottom of the magazine is provided with a bullet shooting hole communicated with the bullet storage cavity; the height measuring device is used for detecting the distance between the height measuring device and the ground and generating height data, and the photographing holder is used for photographing an image below the magazine and aiming at a predicted impact point of the ground.
In some optional embodiments, the photography holder and the height measuring device are respectively arranged at two ends of the magazine.
In some optional embodiments, a blocking mechanism is arranged in the bomb storage cavity, the blocking mechanism comprises a blocking block which is connected to the inner wall of the bomb storage cavity in a sliding mode, the blocking block is arranged adjacent to the bomb throwing hole, and the blocking block is used for preventing fire extinguishing bombs from entering the bomb throwing hole from the bomb storage cavity.
In some optional embodiments, a communication module is arranged on the magazine, the communication module is electrically connected with the photographing holder and the height measuring device respectively, the photographing holder sends image data, pitch angle information and course angle information generated by the photographing holder to the communication module, and the height measuring device sends the height data to the communication module.
In some optional embodiments, the photography tripod head comprises a three-axis tripod head and a camera, and two ends of the three-axis tripod head are respectively connected to the magazine and the camera.
In order to solve the same technical problem, the invention also provides an aircraft, which comprises the fire-fighting projectile shooting device, wherein the magazine of the fire-fighting projectile shooting device is connected to the bottom of the aircraft.
In some optional embodiments, the robot further comprises a machine body and a plurality of machine arms, wherein the plurality of machine arms are connected to the machine body, and the tail ends of the machine arms are provided with propellers.
In some optional embodiments, the fire fighting equipment further comprises a landing gear having a top end and a bottom end, the top end of the landing gear is fixedly connected to the machine body, the bottom end of the landing gear extends towards the lower side of the machine body, and the landing gear is located on the side of the fire fighting equipment.
In order to solve the same technical problem, the invention also provides a fire-fighting missile aiming method, which comprises the following steps:
s10, acquiring reference distance data between a camera and a central point of a projectile throwing hole of fire-fighting projectile throwing equipment, and detecting height data between the central point of the projectile throwing hole and the ground;
step S20, calculating target pitching angle information of the holder according to the reference distance data and the height data;
and S30, the cradle head adjusts the pitch angle of the cradle head according to the target pitch angle information, so that the optical axis of the camera, the reference vertical line and the ground are intersected at the predicted impact point.
In some optional embodiments, before the step S10, the method further includes:
s1, adjusting the course angle of the holder to enable the optical axis of the camera to be intersected with the reference vertical line.
Compared with the prior art, the invention has the beneficial effects that:
the height finding device can detect its and the ground between the high distance, and the photographic cloud platform is used for shooting the image of magazine below and aims the prediction impact point on ground, combines the high distance, and a virtual prediction impact point in the photographic cloud platform for the control personnel of distal end can judge the position of falling to the ground that the bullet of putting out a fire was predicted this moment fast, has improved the bullet of throwing and hit the degree of accuracy.
Drawings
FIG. 1 is a schematic view of the overall structure of the fire-fighting projectile apparatus of the present invention;
FIG. 2 is a schematic structural view of embodiment 3 of the present invention;
in the figure: 10. a magazine; 11. a bullet storage cavity; 12. a projectile throwing hole; 13. a blocking block; 20. a photographic pan-tilt; 21. a three-axis pan-tilt; 22. a camera; 30. a height measuring device; 40. a body; 50. a boom; 51. a propeller; 60. a landing gear; v, reference distance data; H. height data; a. a pitch angle; beta, deflection angle; p, predicted impact point.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1, a fire fighting bomb unit according to the present invention is schematically shown, including a magazine 10, a camera head 20 and a height measuring device 30.
The shooting pan-tilt 20 and the height measuring device 30 are both arranged at the bottom of the magazine 10, the shooting pan-tilt 20 comprises a triaxial pan-tilt 21 and a camera 22, two ends of the triaxial pan-tilt 21 are respectively connected to the magazine 10 and the camera 22, and the triaxial pan-tilt 21 can adjust the direction of the camera 22 so that the camera 22 can shoot images or videos at different angles. The height measuring device 30 is preferably a millimeter wave radar capable of measuring its height from the ground and generating height data H.
A cartridge chamber 11 for accommodating fire extinguishing bombs is arranged in the cartridge 10, a bomb throwing hole 12 communicated with the cartridge chamber 11 is arranged at the bottom of the cartridge 10, and the fire extinguishing bombs can be discharged out of the cartridge 10 from the cartridge chamber 11 through the bomb throwing hole 12. Wherein, the shooting cloud platform 20 is used for shooting the image of magazine 10 below and aims at the expected impact point P on ground, consequently, the virtual one that appears in shooting cloud platform 20 expects impact point P for the control personnel of distal end can judge the anticipated position of falling to the ground of fire extinguishing bomb this moment fast, have improved the bullet shooting and hit the degree of accuracy.
In the present embodiment, the photographing tripod head 20 and the height measuring device 30 are respectively disposed at two ends of the magazine 10, specifically, the magazine 10 has a front end and a rear end, the photographing tripod head 20 is disposed at the front end, and the height measuring device 30 is disposed at the rear end.
Further, store up and be equipped with blocking mechanism in the bullet chamber 11, blocking mechanism includes that slidable connects in the stopper 13 of the inner wall of storage bullet chamber 11, stops that stopper 13 and throws the adjacent setting in bullet hole 12, and stopper 13 is used for preventing the fire extinguishing bomb to throw bullet hole 12 by storage bullet chamber 11 entering, and slides and let lie in the fire extinguishing bomb when stopping 13 relative storage bullet chamber 11, then the fire extinguishing bomb can be by throwing bullet hole 12 discharge storage bullet chamber 11. Of course, the blocking mechanism may further include a piston cylinder, two ends of the piston cylinder are respectively connected to the inner wall of the bomb storage cavity 11 and the blocking block 13, the piston cylinder is extended to drive the blocking block 13 to block the fire extinguishing bomb, and conversely, the piston cylinder is contracted to drive the blocking block 13 to give way to the fire extinguishing bomb.
In order to send image data, pitch angle information and course angle information generated by the photographing tripod head 20 and altitude data H generated by the height measuring device 30 to a remote ground control station, a communication device is arranged on the photographing tripod head 20, the communication device CAN send the image data, the pitch angle information and the course angle information of the camera 22 to the remote ground control station, when the fire-fighting missile throwing equipment is hung on an aircraft, the height measuring device 30 is connected with a flight controller of the aircraft through a CAN bus, and the altitude data H generated by the height measuring device 30 is sent to the remote ground control station through a communication module of the flight controller.
Example 2
Referring to fig. 1 and 2, a fire fighting bomb unit of the present invention is schematically shown, including a magazine 10, a camera head 20, and a height measuring device 30.
The shooting pan-tilt 20 and the height measuring device 30 are both arranged at the bottom of the magazine 10, the shooting pan-tilt 20 comprises a three-axis pan-tilt 21 and a camera 22, two ends of the three-axis pan-tilt 21 are respectively connected to the magazine 10 and the camera 22, and the three-axis pan-tilt 21 can adjust the direction of the camera 22 so that the camera 22 can shoot images or videos at different angles. The height measuring device 30 is preferably a millimeter wave radar capable of measuring its height from the ground and generating height data H.
A cartridge chamber 11 for accommodating fire extinguishing bombs is arranged in the cartridge 10, a bomb throwing hole 12 communicated with the cartridge chamber 11 is arranged at the bottom of the cartridge 10, and the fire extinguishing bombs can be discharged out of the cartridge 10 from the cartridge chamber 11 through the bomb throwing hole 12. Wherein, the shooting cloud platform 20 is used for shooting the image of magazine 10 below and aims at the expected impact point P on ground, consequently, imitates a virtual expected impact point P in shooting cloud platform 20 for the control personnel of distal end can judge the anticipated landing position of fire extinguishing bomb this moment fast, has improved the bullet of throwing and has hit the degree of accuracy.
In this embodiment, the photographing tripod head 20 and the height measuring device 30 are respectively disposed at two ends of the magazine 10, specifically, the magazine 10 has a front end and a rear end, the photographing tripod head 20 is disposed at the front end, and the height measuring device 30 is disposed at the rear end.
Further, store up and be equipped with blocking mechanism in the bullet chamber 11, blocking mechanism includes that slidable connects in the piece 13 that blocks of the inner wall of storing up bullet chamber 11, blocks that piece 13 and throws the adjacent setting in bullet hole 12, blocks that piece 13 is used for preventing the fire extinguishing bomb to throw bullet hole 12 by storing up bullet chamber 11 entering, and when blocking that piece 13 is stored up bullet chamber 11 relatively and is slided and let and be located the fire extinguishing bomb, then the fire extinguishing bomb can be stored up bullet chamber 11 by throwing bullet hole 12 discharge. Of course, the blocking mechanism can also comprise a piston cylinder, two ends of the piston cylinder are respectively connected with the inner wall of the bomb storage cavity 11 and the blocking block 13, the piston cylinder extends to drive the blocking block 13 to block the fire extinguishing bomb, and conversely, the piston cylinder contracts to drive the blocking block 13 to give way to the fire extinguishing bomb.
Specifically, the magazine 10 is provided with a communication module, the communication module is electrically connected with the photographing pan-tilt 20 and the height measuring device 30, the photographing pan-tilt 20 sends the generated image data, pitch angle information and course angle information to the communication module, and the height measuring device 30 sends the height data H to the communication module. The communication module may be a 4G communication module for transmitting data generated by the photographing head 20 and the height measuring device 30 to a remote control station. The fire fighting launch device can be carried on aircrafts with different flight forms.
Example 3
In order to solve the same technical problem, the present embodiment provides an aircraft comprising a fire-fighting projection device as described in embodiment 1 or embodiment 2, the magazine 10 of which is attached to the bottom of the aircraft. The aircraft further comprises an aircraft body 40 and a plurality of aircraft arms 50, the aircraft arms 50 are connected to the aircraft body 40, and propellers 51 are arranged at the tail ends of the aircraft arms 50 to form the multi-rotor aircraft.
Specifically, the aircraft further includes a landing gear 60 having a top end and a bottom end, the top end of the landing gear 60 being fixedly connected to the airframe 40, the bottom end of the landing gear 60 extending towards the underside of the airframe 40, and the landing gear 60 being located outside the fire-fighting projectile shooting device, and a plurality of foot rests of the landing gear 60 being distributed over the extension support mechanism for securing the fire-fighting projectile shooting device.
Example 4
Referring to fig. 1, in order to solve the same technical problem, the present embodiment further provides a fire-fighting projectile aiming method, including the following steps:
and S1, adjusting the course angle of a holder of the fire-fighting missile throwing equipment to ensure that the optical axis of the camera 22 is intersected with a reference vertical line passing through the central point of a missile throwing hole 12 of the fire-fighting missile throwing equipment.
S10, acquiring reference distance data V between a camera 22 and the central point of a projectile hole 12 of the fire-fighting projectile throwing equipment, and detecting height data H between the central point of the projectile hole 12 and the ground; when the aircraft stably hovers in the air, the deflection angle beta between the plane of the projectile shooting hole 12 and a reference vertical line passing through the center point of the projectile shooting hole 12 is 90 degrees, namely the plane of the projectile shooting hole 12 is a horizontal plane.
Step S20, calculating target pitching angle information of the holder according to the reference distance data V and the height data H; taking the example that the aircraft is stably suspended in the air, the angle of the deflection angle β between the plane of the projectile hole 12 and the reference perpendicular line passing through the center point of the projectile hole 12 is 90 °, that is, the plane of the projectile hole 12 is a horizontal plane, known reference data and height data H are two right-angled sides of a right triangle, an included angle b between a connecting line of the intersection point between the camera 22 and the reference perpendicular line and the ground and the reference perpendicular line can be obtained, a pitch angle a of the centering state of the camera 22 (the yaw angle and the pitch angle of the camera 22 at the moment are both 0) can be obtained, and then a target deflection angle (including the pitch angle and the yaw angle) of the camera 22 can be obtained by combining a preset algorithm according to the actual state angle returned by the camera 22. Of course, in practice, when the aircraft is stably suspended in the air, the height measuring device 30, the camera 22 and the projectile shooting hole 12 are not in the same plane, but since the positions of the height measuring device 30, the camera 22 and the projectile shooting hole 12 are fixed and known, the height data H measured by the height measuring device 30 can be calculated by the existing algorithm to obtain the height distance between the plane of the projectile shooting hole 12 and the ground.
And S30, the cradle head adjusts the deflection angle of the camera 22 under the control of ground control station software according to the target deflection angle information, so that the optical axis, the reference vertical line and the ground of the camera 22 are intersected with the predicted impact point P. A virtual crosshair aimed at the predicted impact point P is displayed at the center of the screen captured by the camera 22.
In summary, the height measuring device 30 can detect the height distance between the height measuring device and the ground, the photographing tripod head 20 is used for photographing the image below the magazine 10 and aiming at the expected impact point P of the ground, and in combination with the height distance, the photographing tripod head 20 virtualizes the expected impact point P, so that the remote operator can quickly judge the expected landing position of the fire extinguishing bomb at the moment, and the bomb projecting hit accuracy is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A fire-fighting bomb-throwing device is characterized by comprising a bomb bin, a shooting cloud deck and a height measuring device;
the shooting cloud deck and the height measuring device are both arranged at the bottom of the magazine;
the magazine is internally provided with a bullet storage cavity, and the bottom of the magazine is provided with a bullet throwing hole communicated with the bullet storage cavity; the height measuring device is used for detecting the distance between the height measuring device and the ground and generating height data, and the shooting cloud platform is used for shooting images below the magazine and aiming at the expected impact point of the ground.
2. A fire fighting bomb unit according to claim 1, wherein the camera head and height measuring device are provided at each end of the magazine.
3. A fire fighting projectile apparatus as defined in claim 1, wherein a blocking mechanism is provided in the projectile storage chamber, the blocking mechanism including a blocking block slidably connected to an inner wall of the projectile storage chamber, the blocking block being disposed adjacent to the projectile aperture for blocking fire extinguishing projectiles from entering the projectile aperture from the projectile storage chamber.
4. A fire fighting bomb disposal device according to claim 1, wherein a communication module is provided on the magazine, the communication module is electrically connected with the photography cloud deck and the altimeter, the photography cloud deck sends the image data, the pitch angle information and the course angle information generated by the photography cloud deck to the communication module, and the altimeter sends the altitude data to the communication module.
5. A fire fighting bomb device according to claim 1, wherein the photography holder includes a three-axis holder and a camera, the two ends of the three-axis holder being connected to the magazine and camera respectively.
6. An aircraft, characterized in that it comprises a fire fighting bomb unit according to any one of claims 1 to 5, the magazine of which is connected to the bottom of the aircraft.
7. The aircraft of claim 6 further comprising a body and a plurality of arms, each of the plurality of arms being connected to the body, the arms having a propeller at a distal end thereof.
8. The aircraft of claim 7, further comprising a landing gear having a top end and a bottom end, the top end of the landing gear being fixedly connected to the airframe, the bottom end of the landing gear extending below the airframe, and the landing gear being located to the side of the fire fighting equipment.
9. A fire-fighting bomb aiming method is characterized by comprising the following steps:
s10, acquiring reference distance data between a camera and a central point of a projectile throwing hole of fire-fighting projectile throwing equipment, and detecting height data between the central point of the projectile throwing hole and the ground;
step S20, calculating target pitching angle information of the holder according to the reference distance data and the height data;
and S30, the cradle head adjusts the pitch angle of the cradle head according to the target pitch angle information, so that the optical axis of the camera, the reference vertical line and the ground are intersected at the predicted impact point.
10. A fire fighting projectile targeting method as recited in claim 9, further comprising, prior to said step S10:
s1, adjusting the course angle of the holder to enable the optical axis of the camera to be intersected with the reference vertical line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211422762.1A CN115709801A (en) | 2022-11-15 | 2022-11-15 | Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211422762.1A CN115709801A (en) | 2022-11-15 | 2022-11-15 | Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115709801A true CN115709801A (en) | 2023-02-24 |
Family
ID=85233223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211422762.1A Pending CN115709801A (en) | 2022-11-15 | 2022-11-15 | Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115709801A (en) |
-
2022
- 2022-11-15 CN CN202211422762.1A patent/CN115709801A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10684099B2 (en) | Magazine, cartridge and method for launching a countermeasure | |
| CN104590562B (en) | A kind of Anti-collision fixed point fire-fighting unmanned plane | |
| CN111123983B (en) | Interception net capture control system and control method for unmanned aerial vehicle | |
| US4787291A (en) | Gun fire control system | |
| KR101997299B1 (en) | Remote weapon station, in particular for aircraft, such as fixed-wing aircraft | |
| WO2015006915A1 (en) | Fire engine suitable for fire-fighting in high-rise and super high-rise buildings | |
| KR20160087388A (en) | Interactive weapon targeting system displaying remote sensed image of target area | |
| CN1628053A (en) | System and method for enhancing the payload capacity, carriage efficiency, and adaptive flexibility of external stores mounted on an aerial vehicle | |
| WO2015006916A1 (en) | Control method of a fire truck for high-rise and super high-rise building firefighting | |
| CN109383806B (en) | Triggering method for launching fire monitor of fire-fighting unmanned aerial vehicle | |
| US11542002B1 (en) | Unmanned aerial vehicle and control systems and methods | |
| CN109305364B (en) | Aiming method of fire-fighting unmanned aerial vehicle | |
| CN110624189B (en) | Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method | |
| US20060219094A1 (en) | Real time dynamically controled elevation and azimuth gun pod mounted on a fixed wing aerial combat vehicle | |
| CN110329515A (en) | It is a kind of to examine the design method and system for making integrated aircraft | |
| US20230106432A1 (en) | Unmanned system maneuver controller systems and methods | |
| WO2023070787A1 (en) | Airdrop forest fire extinguishing bomb | |
| WO2018069920A2 (en) | Method and system for capturing an intruder in-flight | |
| US10683092B2 (en) | Magazine and method for launching countermeasures | |
| CN212332970U (en) | Unmanned aerial vehicle machine carries fire extinguishing bomb device, fire control unmanned aerial vehicle | |
| CN115709801A (en) | Fire-fighting missile throwing equipment, aircraft and fire-fighting missile throwing aiming method | |
| RU2578524C2 (en) | System for controlling integrated methods for combating small-sized unmanned aerial vehicles | |
| CN115779299B (en) | Unmanned aerial vehicle automatic fire extinguishing system and method | |
| CN205405272U (en) | Unmanned aerial vehicle system of arresting | |
| CN211196629U (en) | Unmanned aerial vehicle and unmanned aerial vehicle system for putting tear shells |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |