CN115999093A - Accurate guided fire extinguishing bullet capable of carrying ammunition belt and guiding method thereof - Google Patents

Abstract

The utility model discloses an accurate guided fire extinguishing bomb capable of carrying belted ammunition and a guiding method thereof, wherein the fire extinguishing bomb comprises a fairing, a fuselage middle section and a fuselage tail section which are connected in sequence; the middle section of the machine body comprises a plurality of split shells, one end of each split shell is hinged with the tail section of the machine body along the circumferential direction of the fire extinguishing bomb, the other end of each split shell is provided with a baffle, the baffles are detachably connected through a locking mechanism, and the fairing is fixedly connected with one of the split shells; the two adjacent split shells are in contact connection, and the split shells jointly enclose an elastomer middle chamber which can be filled with fire extinguishing sub-ammunition or fire extinguishing agent. The utility model is applied to the field of fire extinguishing, not only can realize the accurate guidance of the fire extinguishing bullet and the accurate throwing of the fire extinguishing part, but also can spread the extinguishing agent ammunition around the fire point, improves the coverage range of the extinguishing agent and has good fire extinguishing effect.

Description

Accurate guided fire extinguishing bullet capable of carrying ammunition belt and guiding method thereof

Technical Field

The utility model relates to the technical field of fire extinguishing, in particular to an accurate guided fire extinguishing bullet capable of carrying belted ammunition and a guiding method thereof.

Background

Fire extinguishing bomb is a expendable material for fire extinguishing, and is filled with fire extinguishing agent such as dry powder and the like and explosive powder and the like. The fire source and the air are isolated by the dry powder flying by explosion, so as to achieve the aim of extinguishing fire. The existing fire extinguishing bomb design scheme at present is as follows:

1. the utility model patent application with publication number of CN114452569A discloses a fire extinguishing bomb which comprises a columnar fire extinguishing bomb body and a tail wing positioned at the tail end of the columnar fire extinguishing bomb body, wherein a shell inner cavity is formed in the shell body, the shell inner cavity is filled with fire extinguishing agent, and a grain accommodating cavity is formed in the shell body. The fire extinguishing bomb does not have a good streamline bomb body shape, does not have an optimized shape design, and is unfavorable for remote throwing. On the other hand, the fire extinguishing bomb does not have the carrying capacity of the extinguishing agent sub-ammunition, cannot spread the sub-ammunition at the tail end, does not have the accurate guidance capacity, and is difficult to use in occasions needing high-precision ignition point extinguishing.

2. The utility model patent with publication number of CN207466973U discloses a composite guided airborne fire extinguishing bomb, which solves the technical problems of inaccurate guidance and high maintenance cost of the existing airborne fire extinguishing bomb, and comprises a bomb body, wherein the front end of the bomb body is provided with an infrared guide head, and the infrared guide head comprises a super capacitor, a flight controller, a steering engine, a guidance tail wing, a navigation satellite receiver and the like; the bullet is not designed with the ammunition carrying the extinguishing agent, meanwhile, the flight controller is not designed according to the height cabin opening, the terminal extinguishing agent ammunition spreading capability is not provided, and the extinguishing coverage is limited; on the other hand, the fire extinguishing bomb adopts equipment such as an infrared guide head and the like, so that the fire extinguishing bomb has high manufacturing cost and poor economy, and meanwhile, the fire extinguishing bomb can only be put on the air, so that the fire extinguishing bomb is difficult to adapt to a complex fire scene.

The main problems of the existing fire extinguishing bomb in the application process at present are as follows:

(1) Most of the existing fire extinguishing bombs lack of accurate guidance capability and have insufficient accurate throwing capability on fire extinguishing parts;

(2) The fire extinguishing bomb lacks accurate guidance capability and has insufficient accurate throwing capability on fire extinguishing parts;

(3) The existing ground-emission fire extinguishing bomb adopts a fire-emission mode generally, is limited by the size of a muzzle, has small diameter, is small in carrying fire extinguishing materials, has fire extinguishing capability of usually less than ten kilograms, and is difficult to cope with a large-scale fire scene. The receptor volume is limited, the sub ammunition scattering mode is not provided, and the fire extinguishing performance of the fire extinguishing agent can not be fully exerted under the condition of carrying more fire extinguishing agent;

(4) For large fire fields such as high-rise buildings, chemical plants, ports, forests and the like, the fire passing area is large, the danger is high, the safety of fire officers and soldiers is difficult to ensure, personnel equipment and the fire fields are required to be separated from direct contact as far as possible, the existing fire extinguishing bomb has a larger range to separate from the fire fields, but lacks accurate guidance capability, the accurate position and posture of a landing point of the fire extinguishing bomb and the flight track of the fire extinguishing point cannot be timely adjusted according to the fire extinguishing process, so that the optimal effect of throwing fire extinguishing agent is achieved, and the deep fire point in the fire field can be accurately extinguished;

(5) For large fire sites such as high-rise buildings, chemical plants, ports, forests and the like, the fire passing area is large, the fire site condition is complex, the existing fire extinguishing bomb is usually in a pre-integral charging mode, the types and the weights of the carried fire extinguishing materials are difficult to adjust according to the fire site requirements, and flexible strain is difficult to realize;

(6) The existing fire extinguishing bullet lacks height control and cabin opening control equipment, and is difficult to implement fire extinguishing sub-ammunition distribution with specified height and position according to flight trajectory and height information, so that optimal distribution of sub-ammunition and good performance of fire extinguishing agent are realized;

(7) The existing ground-launched fire extinguishing bomb lacks navigation guidance equipment and radio communication equipment, and is difficult to realize secondary optimization and modification of the track in the actual flight process.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model provides the accurate guided fire extinguishing bomb capable of carrying the ammunition with the belt and the guiding method thereof, which not only can realize accurate fire extinguishing on a fire point, but also can spread the extinguishing agent ammunition around the fire point, improve the coverage range of the extinguishing agent and have good fire extinguishing effect.

In order to achieve the above purpose, the utility model provides an accurate guided fire extinguishing bomb capable of carrying belted ammunition, which comprises a fairing, a mid-body section and a tail-body section which are connected in sequence;

the middle section of the machine body comprises a plurality of split shells, two adjacent split shells are in contact connection, and the split shells jointly enclose an elastomer middle chamber which can be filled with fire extinguishing sub-ammunition or fire extinguishing agent.

In one embodiment, a plurality of control surfaces are arranged on the shell of the tail section of the machine body at intervals along the circumferential direction, a battery and a plurality of steering engines are arranged in the shell of the tail section of the machine body, the steering engines are in one-to-one correspondence with the control surfaces, and the battery is electrically connected with each steering engine.

In one embodiment, one end of each split shell is hinged with the tail section of the machine body along the circumferential direction of the fire extinguishing bomb, the other end of each split shell is provided with a baffle, and the baffles are detachably connected through a locking mechanism;

the fairing is fixedly connected with one of the split shells.

In one embodiment, the fuselage tail section comprises a mounting plate and a tail section shell of a revolving structure;

one end of the tail section shell is fixedly connected to one side of the mounting plate, the other end of the tail section shell is of a sealing structure, and the split shell is hinged to the edge position of the other side of the mounting plate.

In one embodiment, the tail section shell comprises a truncated cone wall surface and a dome wall surface;

the large-surface end of the circular truncated cone wall surface is fixedly connected with the mounting plate, and the circular top wall surface is fixedly covered on the small-surface end of the circular truncated cone wall surface.

In one embodiment, a through hole is formed in the tail section shell at a position corresponding to the control surface, a connecting piece is arranged at the root of the control surface, one end of the connecting piece is fixedly connected with the control surface, and the other end of the connecting piece passes through the corresponding through hole and then is fixedly connected with the output end of the steering engine, or the output end of the steering engine passes through the corresponding through hole and is fixedly connected with the other end of the connecting piece.

In one embodiment, each baffle is provided with a lock hole, the locking mechanism is provided with a lock cylinder, and the lock cylinder has a linear displacement stroke;

when the locking mechanism is locked, the baffles are sequentially stacked along the axial direction of the fire extinguishing bomb, the locking holes are coaxial, and the lock cylinder sequentially penetrates through the locking holes.

In one embodiment, the fire extinguishing bomb further comprises a main body center of a tubular structure, one end of the main body center is connected with the tail section of the main body, and the other end of the main body center is connected with the baffle in a contact manner;

and a cable is arranged in the body center, one end of the cable is electrically connected with the battery, and the other end of the cable is electrically connected with the locking mechanism.

In one embodiment, the molded line of the split casing is in a streamline structure, one end of the split casing is smoothly connected with the fairing, and the other end of the split casing is smoothly connected with the tail section of the airframe.

In one embodiment, the fire extinguishing bomb further comprises a flight control system, the flight control system comprising:

the wireless transmission radio station is used for receiving the ground end control instruction and a preset flight route;

the guidance control module is used for generating corresponding control signals according to the control instructions of autonomous navigation, the ground end control instructions received by the radio transmission radio station or the preset flight route.

In one embodiment, the flight control system further comprises a control module communicatively coupled to the guidance control module:

the navigation module is used for measuring and calculating the pose information of the fire extinguishing bomb and transmitting the pose information to the guidance control module so that the guidance control module calculates the pose information to be adjusted according to the pose information and the ignition point position of the fire extinguishing bomb and the set guidance law and control law and controls the movement of a control surface;

the height module is used for measuring and calculating the height information of the fire extinguishing bomb and transmitting the height information to the guidance control module so that the guidance control module generates a cabin opening instruction according to the height information of the fire extinguishing bomb;

and the cabin opening control module is used for controlling the locking mechanism to unlock according to the cabin opening instruction of the guidance control module.

In one embodiment, the altitude module is an altitude sensor provided at a front end of the fairing.

In order to achieve the above purpose, the utility model also provides a guiding method of the fire extinguishing bomb, which is characterized by comprising the following steps:

fire extinguishing bombs are launched in a mode of electromagnetic ejection, elastic ejection, external engine launching or aircraft launching;

during the flight of the fire extinguishing bomb:

firstly, loading ignition point target parameters and flight control initial parameters into a guidance control module, measuring and calculating pose information of fire extinguishing bombs in real time based on a navigation module, calculating pose information to be adjusted according to set guidance laws and control laws through the guidance control module according to the pose information and ignition point positions of the fire extinguishing bombs, and controlling the movement of a control surface;

based on the height information of the fire extinguishing bomb measured and calculated in real time by the height module, when the fire extinguishing bomb reaches the upper air of a target and accords with the cabin opening height, the guidance control module sends a cabin opening instruction to the cabin opening control module, and the cabin opening control module controls the locking mechanism to unlock so as to separate each split shell, so that fire extinguishing sub-ammunition or fire extinguishing agent filled in the middle chamber of the bomb body is thrown out of the mother bomb through the hatch.

The utility model has the following beneficial technical effects:

1. the accurate guidance of the fire extinguishing bomb can be realized, and the fire extinguishing part is accurately put in;

2. the fire extinguishing materials are carried for a time, and each time, the fire extinguishing materials can be carried for ten kilograms to hundreds of kilograms;

3. the fire extinguishing bomb has a good pneumatic appearance, can be put in from hundreds to thousands of meters away from a fire scene, avoids personnel and equipment from directly contacting the fire scene, and improves the safety of the personnel and the equipment;

4. the extinguishing agent sub-ammunition can be scattered around the ignition point, the coverage area of the extinguishing agent is large, and the extinguishing effect is good;

5. the method can implement the cabin opening with specified height and position according to the flight trajectory and the height information, so as to realize the optimal distribution of the sub ammunition and the good performance exertion of the extinguishing agent;

6. the navigation guidance device and the radio communication device are arranged, so that the secondary optimization and modification of the track in the actual flight process can be realized.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an isometric view of a fire extinguishing bomb according to example 1 of the present utility model;

fig. 2 is a sectional view of the fire extinguishing bomb according to embodiment 1 of the present utility model;

FIG. 3 is a schematic diagram of the structure of the fire extinguishing bomb according to the embodiment 1 of the present utility model after being unlocked;

fig. 4 is a schematic block diagram of a flight control system according to embodiment 2 of the present utility model.

FIG. 5 is a diagram of the flight trajectory of the fire extinguishing bomb in the simulation 1 of the present utility model;

FIG. 6 is a graph of the velocity of the fire extinguishing bomb according to the present utility model in simulation 1;

FIG. 7 is a graph of velocity components of the fire extinguishing bomb according to the present utility model in simulation 1;

FIG. 8 is a graph of the inclination of the trajectory of the fire extinguishing bullet in the simulation 1 of the present utility model;

FIG. 9 is a diagram of the flight trajectory of the fire extinguishing bomb in the simulation 2 of the present utility model;

FIG. 10 is a graph of the velocity of the fire extinguishing bomb in accordance with the present utility model in simulation 2;

FIG. 11 is a graph of velocity components of the fire extinguishing bomb in accordance with the present utility model in simulation 2;

fig. 12 is a graph of the inclination of the trajectory of the fire extinguishing bullet in the simulation 2 of the present utility model.

Reference numerals: fairing 1, projectile forward chamber 101, mid-body section 2, split casing 201, baffle 202, projectile middle chamber 203, keyhole 204, aft section 3, mounting plate 301, frustoconical wall 302, dome wall 303, projectile aft chamber 304, control surface 4, connector 401, steering engine 5, locking mechanism 6, lock cylinder 601, extinguishing ammunition 7, fuselage center 8, altitude module 9, battery 10, flight control system 11.

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; the device can be mechanically connected, electrically connected, physically connected or wirelessly connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present utility model may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present utility model.

Example 1

An accurate guided fire extinguishing bomb capable of carrying belted ammunition is disclosed in the embodiment shown in fig. 1-3, and mainly comprises a fairing 1, a mid-body section 2 and a tail-body section 3. Wherein the fairing 1 is conical in overall shape and has an elastomeric front chamber 101 inside. The middle fuselage section 2 and the tail fuselage section 3 are both in a revolving structure, the molded line of the middle fuselage section 2 is in a streamline structure, one end of the middle fuselage section 2 is smoothly connected with the fairing 1, the other end of the middle fuselage section 2 is smoothly connected with the tail fuselage section 3, namely, the whole appearance of the fire extinguishing bomb is streamline, so that the fire extinguishing bomb has small wind resistance and good operability in the flying process, can be launched remotely, and reduces the direct contact between firefighters and a fire scene.

In this embodiment, the tail section 3 of the fuselage is composed of a mounting plate 301 and a tail section shell of a revolving body structure, the tail section shell comprises a truncated cone wall surface 302 and a dome wall surface 303, the truncated cone wall surface 302 is of a truncated cone structure, two ends of the truncated cone wall surface are open, and an elastomer rear chamber 304 is arranged in the truncated cone wall surface; the dome wall 303 has a spherical structure. The large surface end of the truncated cone wall surface 302 is fixedly connected with the mounting plate 301 by welding or bolting, and the dome wall surface 303 is fixedly covered on the small surface end of the truncated cone wall surface 302 by welding or bolting, i.e. the tail end of the tail section 3 of the fuselage is of a sealing structure, and the cross-sectional area of the tail section 3 of the fuselage gradually decreases along the direction opposite to the fairing 1. In an implementation, a planar flange may be used as the mounting plate 301.

Further specifically, a plurality of control surfaces 4 are arranged on the tail section shell at intervals along the circumferential direction, and the control surfaces 4 are parallel to the axial direction of the fire extinguishing bomb when the control surfaces 4 are not deflected. A plurality of steering engines 5 are fixedly arranged in the tail section shell through bolts, and the steering engines 5 are in one-to-one correspondence with the control surfaces 4. The position on the round platform wall surface 302 corresponding to the control surface 4 is provided with a through hole, the root of the control surface 4 is fixedly connected with a connecting piece 401 in a bolt connection or welding mode, the connecting piece 401 is of a rod-shaped or block-shaped structure, one end of the connecting piece 401 is fixedly connected with the control surface 4, the other end of the connecting piece passes through the corresponding through hole and then is fixedly connected with the output end of the corresponding steering engine 5, or the output end of the steering engine 5 passes through the corresponding through hole and is fixedly connected with the other end of the corresponding connecting piece 401. The steering engine 5 can deflect with the corresponding control surface 4, so that the gesture of the fire extinguishing bomb is changed, and the gesture and track control of the fire extinguishing bomb is realized. In this embodiment, the number of control surfaces 4 is four, and the four control surfaces 4 are distributed in an "X" shape or a "ten" shape on the tail section housing.

In this embodiment, the mid-body section 2 includes three split casings 201, one end of each split casing 201 is hinged to the mounting plate 301 along the circumferential direction of the fire extinguishing bomb, the other end of each split casing 201 is provided with a vertical baffle 202, each baffle 202 is detachably connected through the locking mechanism 6, and the fairing 1 is fixedly connected with one of the split casings 201. Adjacent split casings 201 are connected in contact, and each split casing 201 encloses together an in-projectile chamber 203 that can be filled with extinguishing agent or extinguishing agent 7. If the extinguishing sub-ammunition 7 is loaded in the in-projectile chamber 203, the shape of the extinguishing sub-ammunition 7 is designed and optimized according to the extinguishing agent filled in the inside, the extinguishing requirement, the volume of the in-projectile chamber 203 and the loading mode of the extinguishing sub-ammunition 7, and the preferable shape is a cylinder and a cuboid. After the locking mechanism 6 is unlocked, the front ends of the split shells 201 are disconnected, the middle section 2 of the machine body is in an open cabin state under the action of aerodynamic force and a hinge, the split shells 201 are respectively scattered at a certain angle, and the fire extinguishing sub-ammunition 7 loaded in the split shells can be separated from the fire extinguishing main ammunition through the hatch, so that large-scale fire spreading and extinguishing can be realized. In the specific process, the number and the types of the extinguishing sub-ammunition 7 can be changed according to the fire extinguishing requirements, so that the extinguishing sub-ammunition is suitable for various scenes. If the fire extinguishing agent is loaded in the elastomer chamber 203, the filling manner is the same as that of the patent application of the utility model with publication number CN114452569a, so that the description of this embodiment will not be repeated. When the locking mechanism 6 is unlocked, the fire suppressant may also be spread around the fire.

Specifically, each baffle 202 is provided with a lock hole 204 with the same size, and the lock holes 204 pass through the corresponding baffle 202 along the axial direction of the fire extinguishing bomb. The locking device is fixedly arranged in the fairing 1 through bolts, the locking mechanism 6 is provided with a lock cylinder 601, and the lock cylinder 601 has a linear displacement stroke. When the locking mechanism 6 is locked, the baffles 202 are sequentially stacked along the axial direction of the fire extinguishing bomb, the locking holes 204 are coaxial, and the lock cylinder 601 sequentially passes through the locking holes 204. The locking device is in a locking state in normal state, when the locking mechanism 6 is unlocked, the lock cylinder 601 linearly displaces towards the direction of the fairing 1, and in the process, the lock cylinder 601 and each baffle 202 are sequentially separated, so that the airframe middle section 2 can be in an open cabin state under the action of aerodynamic force and a hinge. In a specific application process, an electric cylinder can be directly selected as the locking mechanism 6, and the lock cylinder 601 is a telescopic rod on the electric cylinder. Or can also adopt steering wheel 5 as locking mechanical system 6, connect steering wheel 5 output and lock core 601 through a crank for lock core 601 becomes the slider under steering wheel 5's drive, can realize the switching of locking state to unlocking state in the slip in-process.

As a preferred embodiment, a main body center 8 with a tubular structure is further arranged in the fire extinguishing bomb, one end of the main body center 8 is connected with the mounting plate 301 and is communicated with the main body tail section 3, the other end of the main body center 8 is in an open horn shape and is connected with the baffle 202 in a contact manner, namely, the elastomer middle chamber 203 is positioned between the outer wall of the main body center 8 and the inner wall of each split casing 201, and the main body center 8 is used as a part of the main body middle section 2, so that the bearing performance of the main body middle section 2 on the fire extinguishing ammunition 7 or the fire extinguishing agent is effectively improved. Meanwhile, the battery 10 is carried in the elastomer rear chamber 304 of the fuselage tail section 3, and the battery 10 is an environment-friendly and non-flammable battery, such as a lead-acid battery, a zinc-silver battery, a cadmium-nickel battery, a lithium titanate battery and the like. A cable is arranged in the body center 8, one end of the cable is electrically connected with the battery 10, and the other end is electrically connected with the locking mechanism 6.

In this embodiment, the shells of the fairing 1, the mid-body section 2, the tail section 3 and the control surface 4 are made of fireproof materials or flame retardant materials, and may be made of common metal materials, such as steel, iron, aluminum, etc. The body hub 8 and the mounting plate 301 are made of hard materials, and can play a supporting role, and can be made of aluminum materials, steel materials, carbon fibers and the like.

Example 2

This embodiment discloses an accurate guided fire extinguishing bomb capable of carrying belted ammunition, which is basically the same as the implementation structure of embodiment 1, except that:

the fire extinguishing bomb in the embodiment further comprises a flight control system 11, wherein the flight control system 11 comprises a radio transmission radio station, a guidance control module, a navigation module, a height module 9, an opening control module, a steering engine control module and an energy module. The height module 9 is mounted at the head position of the projectile body front chamber in the fairing, the wireless transmission radio station, the guidance control module, the navigation module, the cabin opening control module, the steering engine control module and the energy module are all mounted in the tail end of the airframe, and are electrically connected with the battery 10 and the guidance control module through cables in the airframe center to be in communication connection, and the wireless transmission radio station, the navigation module, the cabin opening control module, the steering engine control module and the energy module are all in communication connection with the guidance control module to be in communication connection, and the cabin opening control module is in communication connection with the locking mechanism to be used for controlling the unlocking of the locking mechanism.

Specifically:

the wireless transmission radio station receives the ground end control instruction and the preset flight route through wireless signals and transmits the ground end control instruction and the preset flight route to the guidance control module, the guidance control module is used for generating corresponding control signals according to the ground end control instruction and the preset flight route received by the wireless transmission radio station, and meanwhile the guidance control module returns gesture position data of the fire extinguishing bomb to the ground display end of the wireless transmission radio station for display;

the navigation module is used for measuring and resolving pose information such as the position, speed, acceleration, angle and angular speed of the fire extinguishing bomb, transmitting the pose information to the guidance control module, calculating pose information to be adjusted according to the set guidance law and control law according to the position, speed, angle, angular speed and ignition point position of the current point of the fire extinguishing bomb, and controlling the steering engine to drive the steering surface to move;

the steering engine control module is in communication connection with the steering engine, the guidance control module is electrically connected with the steering engine control module and in signal connection, and the guidance control module rotates through the steering engine control module with a corresponding movable steering engine according to the data value calculated in real time, so that the angle of 4 control surfaces is adjusted, the accurate guidance of the projectile body control is achieved, and the ignition target is accurately hit;

the height module 9 can sense or measure the height information of the fire extinguishing bomb from the ground in real time, the guidance control module only receives the height information transmitted by the height module 9 in the initial stage of flight and does not perform data processing, when the fire extinguishing bomb approaches to a target point (can be determined according to the pose information calculated by the navigation module), the guidance control module calculates the height information transmitted by the height module 9 in real time, when the altitude reaches the upper space of a target and accords with the cabin opening height, the guidance control module sends a cabin opening instruction to the cabin opening control module, the cabin opening control module controls the locking mechanism to unlock, the three shells are disconnected with the fairing, and fire extinguishing ammunition is thrown out of a mother bomb through the hatch;

the energy module is positioned between the battery 10 and the power supply circuit of each electrical device on the missile, and is used for ensuring the power supply required by the guidance control module, the navigation module, the steering engine control module, the altitude module 9, the cabin opening control module and the like in flying, controlling the voltage and the current, ensuring the voltage and the current required by the guidance control module, the cabin opening control module, the steering engine and the steering engine control module in action and preventing the damage of possible impact current to the missile-borne device. During daily storage, the energy module can prevent the battery 10 from being overcharged and overdischarged, and monitor the state of the battery 10. When the fire extinguishing bomb is tested or used, the energy module realizes the functions of power supply, voltage conversion, interference isolation, power supply voltage stabilization and the like of the battery 10 for the electric equipment on the bomb.

In this embodiment, the navigation module may use satellite+inertial navigation, or pure inertial navigation, where a gyroscope and an accelerometer in inertial navigation use strapdown. The height module 9 contains a height sensor which can dynamically and real-timely measure the height of the ground, and the height sensor can be a radio sensor, an ultrasonic sensor or an optical flow sensor, which can dynamically and real-timely measure the relative height, and the measurement accuracy is higher than 5 cm.

Example 3

On the basis of the embodiment of the fire extinguishing bomb in the example 2, the example discloses a guiding method of the fire extinguishing bomb, which mainly comprises the following steps:

fire extinguishing bombs are launched in a mode of electromagnetic ejection, elastic ejection, external engine launching or aircraft launching;

during the flight of the fire extinguishing bomb:

firstly, loading ignition point target parameters and flight control initial parameters into a guidance control module, measuring and calculating pose information of fire extinguishing bombs in real time based on a navigation module, calculating pose information to be adjusted according to set guidance laws and control laws through the guidance control module according to the pose information and ignition point positions of the fire extinguishing bombs, and controlling the movement of a control surface;

and the height information of the fire extinguishing bomb is calculated in real time based on the height module 9, and judgment is carried out based on pose information measured by the navigation module, when the fire extinguishing bomb reaches the upper air of a target and accords with the cabin opening height, the guidance control module sends a cabin opening instruction to the cabin opening control module, and the cabin opening control module controls the locking mechanism to unlock so as to separate each split shell, so that fire extinguishing ammunition or fire extinguishing agent filled in a bomb body chamber is thrown out of the mother bomb through the hatch.

The fire extinguishing bullet and the guidance method according to the utility model are further described below with reference to specific simulation examples.

The fire extinguishing bomb designed by the utility model is subjected to experimental simulation, when the diameter of the fire extinguishing bomb is 10 cm, the bomb is 15 kg, 12 kg of fire extinguishing agent or 40 fire extinguishing agent sub-ammunition can be carried, and when the fire extinguishing bomb is opened at a high altitude of 10 meters, the spreading range of the fire extinguishing agent sub-ammunition can be not less than 50 square meters; when the diameter of the fire extinguishing bomb is 20 cm, the bomb weighs 56 kg, 50 kg of fire extinguishing agent or 168 fire extinguishing agent sub-ammunition can be carried, and the spreading range of the fire extinguishing agent sub-ammunition can be not less than 314 square meters.

Under the above conditions, when the emission speed is 100m/s, the maximum range can reach more than 900m, the emission height can reach 250 m, the parent bomb is opened at a fixed height and ground clearance of 20 m, and the accuracy of the opening point is within 10 m. When the emission speed is 150m/s, the maximum range can reach over 1900m, the emission height can reach 660 m, the parent bullet is opened at a fixed height and ground clearance of 20 m, and the accuracy of the opening point is within 10 m.

Simulation 1: under the conditions that the diameter of the fire extinguishing bomb is 20 cm, the bomb weight is 56 kg, 168 extinguishing agent ammunition is carried, the initial position of the fire extinguishing bomb is (0.0 m,0.0m and 0.0 m), the target position of the fire extinguishing bomb is (910 m,20.0m and 250.0 m), the throwing speed is 100m/s, and the sector emission mode is adopted, no off-axis angle is adopted, and the initial ballistic inclination angle is 45 degrees. The fire extinguishing bomb is opened 20 meters above the ignition point.

The simulation results are shown in fig. 5-8: the flight time was 14.21 seconds, the cabin opening point positions were (907.889723, 19.515338, 249.532864) m, and the cabin opening point speed was 94.847249m/s.

Simulation 2: the initial positions of the fire extinguishing bombs are set to be (0.0 m,0.0m and 0.0 m), the target positions are set to be (190 m,0.0m and 0.0 m), the throwing speed is 150m/s, a sector emission mode is adopted, no off-axis angle is adopted, and the initial ballistic inclination angle is 45 degrees.

The simulation results are shown in fig. 9-12: the flight time was 24.60 seconds, the drop point position was (1896.275769, -0.106927,0.000992) m, and the opening speed was 122.185950m/s.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims (13)

1. An accurate guided fire extinguishing bomb capable of carrying belted ammunition is characterized by comprising a fairing (1), a middle fuselage section (2) and a tail fuselage section (3) which are connected in sequence;

the mid-body section (2) comprises a plurality of split shells (201), two adjacent split shells (201) are in contact connection, and the split shells (201) jointly enclose an elastomer middle chamber (203) which can be filled with fire extinguishing agent or fire extinguishing ammunition (7).

2. The precision guidance fire extinguishing bomb capable of carrying belted ammunition according to claim 1, wherein a plurality of control surfaces (4) are arranged on a shell of a tail section (3) of the fuselage at intervals along the circumferential direction, a battery (10) and a plurality of steering engines (5) are arranged in the shell of the tail section (3) of the fuselage, the steering engines (5) are in one-to-one correspondence with the control surfaces (4), and the battery (10) is electrically connected with each steering engine (5).

3. The precision guidance fire extinguishing bomb capable of carrying belted ammunition according to claim 2, characterized in that one end of each split casing (201) is hinged with the tail section (3) of the fuselage along the circumferential direction of the fire extinguishing bomb, the other end of each split casing (201) is provided with a baffle (202), and each baffle (202) is detachably connected through a locking mechanism (6);

the fairing (1) is fixedly connected with one of the split shells (201).

4. -precision guided fire extinguishing bullet capable of carrying belted ammunition according to claim 3, characterized in that the fuselage tail section (3) comprises a mounting plate (301) and a tail section housing of revolution structure;

one end of the tail section shell is fixedly connected to one side of the mounting plate (301), the other end of the tail section shell is of a sealing structure, and the split casing (201) is hinged to the edge position of the other side of the mounting plate (301).

5. The precision guided fire extinguishing bullet capable of carrying belted ammunition according to claim 4, wherein the tail section housing comprises a frustoconical wall surface (302) and a domed wall surface (303);

the large-surface end of the round table wall surface (302) is fixedly connected with the mounting plate (301), and the round table wall surface (303) is fixedly covered on the small-surface end of the round table wall surface (302).

6. The precision guided fire extinguishing bomb capable of carrying belted ammunition according to claim 4, wherein a through hole is formed in the tail section shell at a position corresponding to the control surface (4), a connecting piece (401) is arranged at the root of the control surface (4), one end of the connecting piece (401) is fixedly connected with the control surface (4), the other end of the connecting piece passes through the corresponding through hole and then is fixedly connected with the output end of the steering engine (5), or the output end of the steering engine (5) passes through the corresponding through hole and is fixedly connected with the other end of the connecting piece (401).

7. -precision guided fire extinguishing bomb capable of carrying belt ammunition according to any one of claims 3 to 6, characterized in that each baffle (202) is provided with a locking hole (204), the locking mechanism (6) is provided with a lock cylinder (601), and the lock cylinder (601) has a linear displacement stroke;

when the locking mechanism (6) is locked, the baffles (202) are sequentially stacked along the axial direction of the fire extinguishing bomb, the lock holes (204) are coaxial, and the lock cylinder (601) sequentially penetrates through the lock holes (204).

8. The precision guided fire extinguishing bullet capable of carrying belted ammunition according to claim 7, further comprising a fuselage hub (8) of tubular construction, said fuselage hub (8) being connected at one end to said fuselage tail section (3) and at the other end to said baffle (202) in contact;

a cable is arranged in the body center (8), one end of the cable is electrically connected with the battery (10), and the other end of the cable is electrically connected with the locking mechanism (6).

9. -precision guidance fire extinguishing bomb capable of carrying belted ammunition according to any one of claims 1 to 5, characterized in that the profile of the split casing (201) is of streamlined structure, one end of the split casing (201) being smoothly connected to the fairing (1) and the other end being smoothly connected to the fuselage tail section (3).

10. The precision guidance fire extinguishing bomb capable of carrying a belted ammunition according to any one of claims 1 to 5, further comprising a flight control system (11), the flight control system (11) comprising:

the wireless transmission radio station is used for receiving the ground end control instruction and a preset flight route;

the guidance control module is used for generating corresponding control signals according to the control instructions of autonomous navigation, the ground end control instructions received by the radio transmission radio station or the preset flight route.

11. The precision guided fire extinguishing bullet capable of carrying belted ammunition according to claim 10, wherein the flight control system (11) further comprises in communication with the guidance control module:

the navigation module is used for measuring and calculating the pose information of the fire extinguishing bomb and transmitting the pose information to the guidance control module so that the guidance control module calculates the pose information to be adjusted according to the pose information and the ignition point position of the fire extinguishing bomb and the set guidance law and control law and controls the control surface (4) to move;

the height module (9) is used for measuring and calculating the height information of the fire extinguishing bomb and transmitting the height information to the guidance control module so that the guidance control module generates a cabin opening instruction according to the height information of the fire extinguishing bomb;

and the cabin opening control module is used for controlling the locking mechanism (6) to unlock according to the cabin opening instruction of the guidance control module.

12. The precision guided fire extinguishing bullet capable of carrying belted ammunition according to claim 11, characterized in that the height module (9) is a height sensor provided at the front end of the fairing (1).

13. A method of guiding a fire extinguishing bomb according to any one of claims 1 to 12, including the steps of:

fire extinguishing bombs are launched in a mode of electromagnetic ejection, elastic ejection, external engine launching or aircraft launching;

during the flight of the fire extinguishing bomb:

firstly, loading ignition point target parameters and flight control initial parameters into a guidance control module, measuring and calculating pose information of fire extinguishing bombs in real time based on a navigation module, calculating pose information to be adjusted according to set guidance laws and control laws through the guidance control module according to the pose information and ignition point positions of the fire extinguishing bombs, and controlling the movement of a control surface;

based on the height information of the fire extinguishing bomb measured and calculated in real time by the height module, when the fire extinguishing bomb reaches the upper air of a target and accords with the cabin opening height, the guidance control module sends a cabin opening instruction to the cabin opening control module, and the cabin opening control module controls the locking mechanism to unlock so as to separate each split shell, so that fire extinguishing sub-ammunition or fire extinguishing agent filled in the middle chamber of the bomb body is thrown out of the mother bomb through the hatch.

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