CN116531690B - Forest fire extinguishing bomb with throwing device and throwing control method - Google Patents
Forest fire extinguishing bomb with throwing device and throwing control method Download PDFInfo
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- CN116531690B CN116531690B CN202310746829.5A CN202310746829A CN116531690B CN 116531690 B CN116531690 B CN 116531690B CN 202310746829 A CN202310746829 A CN 202310746829A CN 116531690 B CN116531690 B CN 116531690B
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- extinguishing bomb
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000945 filler Substances 0.000 claims abstract description 42
- 239000000463 material Substances 0.000 claims abstract description 21
- 239000003721 gunpowder Substances 0.000 claims abstract description 16
- 239000000126 substance Substances 0.000 claims abstract description 4
- 238000005474 detonation Methods 0.000 claims description 50
- 230000000007 visual effect Effects 0.000 claims description 22
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 14
- 239000000843 powder Substances 0.000 claims description 12
- 239000000446 fuel Substances 0.000 claims description 11
- 239000003795 chemical substances by application Substances 0.000 claims description 8
- 238000005266 casting Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000005422 blasting Methods 0.000 claims description 3
- 238000004880 explosion Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000012856 packing Methods 0.000 claims description 2
- 230000002889 sympathetic effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 19
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000012876 topography 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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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The invention discloses a forest fire extinguishing bomb with a throwing device and a throwing control method, and relates to the technical field of guidance and throwing control of forest fire extinguishing bombs, wherein the forest fire extinguishing bomb comprises a bomb body assembly, an automatic propulsion assembly, a guidance module, a gunpowder throwing assembly and fire extinguishing bomb fillers; the automatic propulsion assembly is arranged at the tail part of the projectile body assembly and is used for providing controllable thrust for forest fire extinguishing bombs; the gunpowder throwing assembly is arranged in the middle of the projectile body assembly and is used for bearing fire extinguishing bomb fillers and controlling fire extinguishing substances to be uniformly dispersed when the fire extinguishing bomb fillers explode. According to the invention, the automatic propulsion assembly and the guidance module are added, the automatic propulsion assembly provides autonomous flight power for the forest fire extinguishing bomb, and the accurate throwing of the forest fire extinguishing bomb can be realized under the control of the guidance module; the fire extinguishing bomb filling material is carried by adopting the gunpowder scattering assembly, and the fire extinguishing bomb filling material is controlled to be dispersed more uniformly, so that the fire scene area covered by the fire extinguishing bomb filling material is larger, and the fire extinguishing effect is better.
Description
Technical Field
The invention relates to the technical field of guidance and throwing control of forest fire extinguishing bombs, in particular to a forest fire extinguishing bomb with a throwing device and a throwing control method.
Background
Forest fires are the most dangerous enemies of the forest and may bring the most serious and devastating consequences to the forest. Most of forest fires occur in remote areas, mountain heights Lin Mi, and conventional fire-fighting facilities and forces are difficult to reach. In recent years, forest fire extinguishing bombs are thrown remotely as an effective fire extinguishing means, and are valued by various countries, and various forest fire extinguishing equipment are sequentially brought into use.
Compared with a general small-sized hand-throwing fire extinguishing bomb, the large-sized airborne forest fire extinguishing bomb on the market has the advantage of high fire extinguishing power, mainly throws against an aircraft fire scene, has great significance for solving forest fires, can extinguish fires with an area of not less than 200 square meters by filling 100 kg of superfine dry powder, and becomes a sharp weapon for extinguishing forest fires in a large area.
However, the forest fire extinguishing bomb generally does not have the functions of automatic propulsion and guidance, the throwing precision is realized by completely depending on airplane throwing, and when a large-area forest fire disaster occurs, the airplane throwing height is not too high, the forest fire extinguishing bomb is greatly influenced by air flow in the falling process, so the defect of poor precision exists, and the fire extinguishing effect is influenced.
Disclosure of Invention
In order to solve the technical problems of the forest fire extinguishing bomb, the invention provides a forest fire extinguishing bomb with a throwing device and a throwing control method. The following technical scheme is adopted:
the forest fire extinguishing bomb comprises a bomb body assembly, an automatic propulsion assembly, a guidance module, a gunpowder scattering assembly and a fire extinguishing bomb filler;
the automatic propulsion assembly is arranged at the tail part of the projectile body assembly and is used for providing controllable thrust for forest fire extinguishing bombs;
the guidance module is in control connection with the automatic propulsion assembly, acquires the position data of a fire scene target, GPS data and the topographic data of a fire disaster area, is used for generating a front-stage navigation plan, controls the execution action of the automatic propulsion assembly to drive a forest fire extinguishing bomb to the position above the vicinity of the fire scene target, acquires the fire scene visual data, performs visual analysis, generates a final-stage navigation plan according to an analysis result, and controls the automatic propulsion assembly to execute a bomb throwing operation according to the final-stage navigation plan of the forest fire extinguishing bomb;
the gunpowder throwing assembly is arranged in the middle of the projectile body assembly and is used for bearing fire extinguishing bomb fillers and controlling fire extinguishing substances to be uniformly dispersed when the fire extinguishing bomb fillers explode.
By adopting the technical scheme, the automatic propulsion assembly and the guidance module are added to the forest fire extinguishing bomb, the automatic propulsion assembly provides autonomous flight power for the forest fire extinguishing bomb, and the forest fire extinguishing bomb can be accurately put in under the control of the guidance module;
when the fire extinguishing bomb is put in a specific control mode, the generation of front-stage navigation data of the guidance module can be based on the fire scene target position data, GPS data and the topographic data of a fire disaster area, the fire scene target position data and the topographic data of the fire disaster area can be recorded by a remote control center or external equipment, when the terminal navigation needs to be carried out when the forest extinguishing bomb reaches the upper part near the fire scene, the real picture information of the fire scene is acquired by means of a remote high-precision shooting device, after the picture information is subjected to visual analysis, the fire scene maximum area can be more accurately repositioned to be a new bomb target point, and a final-stage navigation plan is generated, and of course, the remote sensing data of forest monitoring satellites can be acquired in real time to carry out visual analysis under the condition of permission, so that the terminal positioning can realize real-time update of the fire scene information, realize more accurate fire extinguishing of the fire scene maximum area, and greatly improve the effectiveness of the forest extinguishing bomb;
the fire extinguishing bomb filling material is carried by adopting the gunpowder scattering assembly under the scattering control of the specific fire extinguishing bomb filling material, the fire extinguishing bomb filling material is controlled to be more uniformly dispersed, the fire scene area covered by the fire extinguishing bomb filling material is larger, and the fire extinguishing effect is better.
Optionally, the self-propelled assembly includes propulsion casing, engine and fuel silo, the one end of propulsion casing is docked with the projectile body subassembly, engine and fuel silo set up in propulsion casing, and the engine provides propulsion power for the projectile body subassembly.
Through adopting above-mentioned technical scheme, the fuel that self-propelled subassembly adopted engine burning fuel silo provides, and specific setting is at the afterbody of projectile body subassembly, realizes the autonomous flight of forest fire extinguishing bomb under the control of preparation module.
Optionally, the guidance module comprises a GPS module, a gyroscope, an acceleration sensor, a wireless transceiver module, a guidance chip, a camera module and a main control chip;
the GPS module, the gyroscope and the acceleration sensor are respectively in communication connection with the guidance chip, and the wireless transceiver module, the guidance chip and the camera module are respectively in communication connection with the main control chip;
the system comprises a GPS module, an acceleration sensor, a wireless transceiver module, a remote control center and a camera module, wherein the GPS module is used for acquiring GPS positioning data of forest fire extinguishing bombs, the gyroscope is used for monitoring gesture data of the forest fire extinguishing bombs, the acceleration sensor is used for monitoring speed data of the forest fire extinguishing bombs, the wireless transceiver module is used for receiving task data transmitted by the remote control center, the task data comprises target GPS data and control instruction data, and video pictures shot by the camera module are transmitted to the remote control center;
the guidance chip generates front-section navigation planning data according to the target GPS data, the GPS positioning data, the gesture data and the speed data, and transmits the front-section navigation planning data to the main control chip, and the main control chip is in control connection with the automatic propulsion component and controls the automatic propulsion component to propel the forest fire extinguishing bomb to fly according to the front-section navigation planning data;
when the forest fire extinguishing bomb flies to the periphery of the target for 5 kilometers, front navigation is completed, a camera module arranged at the end part of the bomb body component collects fire scene visual data and transmits the fire scene visual data to a main control chip, the main control chip performs visual analysis by adopting an image feature algorithm based on forest fire features, a maximum fire area is identified, GPS coordinate data of a central point of the maximum fire area is generated, GPS coordinate data of the central point of the maximum fire area is transmitted to a guidance chip, the guidance chip takes the GPS coordinate data of the central point of the maximum fire area as a terminal navigation target point, final navigation planning data is generated and fed back to the main control chip, and the main control chip controls the automatic propulsion component to execute bomb throwing operation according to the final navigation planning data.
Through adopting above-mentioned technical scheme, the guidance module is equipped with GPS module, the gyroscope, acceleration sensor, GPS module is used for gathering the GPS positioning data of forest fire extinguishing bullet, the gyroscope is used for monitoring the gesture data of forest fire extinguishing bullet, acceleration sensor is used for monitoring the speed data of forest fire extinguishing bullet, wireless transceiver module is used for receiving the task data of remote control center transmission, can realize the video picture that the transmission camera module was shot to remote control center, the camera module is the remote fire monitoring camera of special design, the main control chip can analyze the scene of a fire according to the video picture that the camera module was shot, and according to the analysis result, the guidance chip produces last section navigation data again, can also be according to telemetry data real-time update scene of a fire information when the camera module picture became invalid, and through wireless transceiver module transmission reset target data, thereby realize more accurate projection bullet.
Optionally, the powder is thrown the subassembly and is thrown the device including shell body, upper end cover, lower end cover, four breaker, four auxiliary breaker and center, the shell body sets up the middle part at the body subassembly, and upper end cover and lower end cover are installed respectively at the both ends of shell body, center is thrown the device and is set up the central part at the shell body, four breaker and four auxiliary breaker interval array setting are around central throwing the device, and the fire extinguishing bomb filler is filled to the inner wall of shell body, four breaker, four auxiliary breaker and the mid portion of central throwing the device.
Through adopting above-mentioned technical scheme, the gunpowder throws the subassembly and is shell body, upper end cover, lower extreme cover, fire extinguishing bomb filler, breaker, auxiliary breaker, center throwing device from outermost to innermost in proper order, and shell body, upper end cover and lower extreme cover are as fire extinguishing bomb filler, breaker, auxiliary breaker, center throwing device's container on the one hand, and on the other hand provides sufficient bulk strength for throwing device. In order to give consideration to the overall strength of the throwing device and the throwing effect of the filler, the following measures can be adopted to optimize the outer shell: the connection strength between the upper end cover and the lower end cover and the outer shell is superior to that of the material of the upper end cover and the lower end cover; the whole long cylindrical structure is adopted, the length-diameter ratio of the outer shell is larger than one, the auxiliary crushing device can be reasonably increased and decreased according to the actual size of the fire extinguishing bomb filler, when specific explosion is thrown, the crushing and dispersing effects of detonation waves for the same fire extinguishing bomb filler are utilized, so that the agglomerate distribution of the fire extinguishing bomb filler after being thrown is effectively avoided, a good throwing effect is provided for the fire extinguishing bomb filler, the fire extinguishing bomb filler is more uniformly covered on a larger area, and the fire extinguishing effect is greatly improved.
Optionally, the center is thrown and is spilt the device and include inner casing, upper cover plate, lower apron, inside powder charge, detonating device and wireless detonation controller, the inner casing sets up the central part at the shell body, and upper cover plate and lower apron set up respectively at the both ends of inner casing, and the inside powder charge is filled to the inside of inner casing, and lower apron department sets up the detonating device for detonating inside powder charge, and main control chip detonates inside powder charge through wireless detonation controller.
By adopting the technical scheme, the central throwing device is a cylindrical cartridge, and consists of a cylindrical inner shell with two open ends, an upper cover plate, a lower cover plate, an inner charge and an inner detonating device. Wherein, breaker, auxiliary breaker, center throw the device and all place in the fire extinguishing bomb filler, breaker is placed between shell body and the auxiliary breaker, and auxiliary breaker is placed between breaker and the center and throws the device, and center throw the device and place the shell body axis central point in the position. Four peripheral cartridges in the crushing device, four peripheral cartridges in the auxiliary crushing device and cartridges in the central throwing device are used as containers for inner charges and the detonating device of the nine cartridges, wherein the inner shell and the upper cover plate and the lower cover plate of the nine cartridges are used as containers for the inner charges and the detonating device, the inner charges and the detonating device are separated from each other on one hand, and the detonating device is detonated successively under the control of detonating on the other hand, so that a more uniform throwing effect can be realized.
Alternatively, the crushing device and the auxiliary crushing device are cylindrical cartridges, the internal structure is the same as that of the central throwing device, the shell diameter of the crushing device is d1, the shell diameter of the auxiliary crushing device is d ', the shell diameter of the central throwing device is d2, and d2 is larger than d' > d1.
Optionally, the fire extinguishing bomb charge is ABC dry powder fire extinguishing agent.
By adopting the technical scheme, the fire extinguishing bomb filler can be ABC dry powder fire extinguishing agent, is more suitable for forest fire, and can also be other fire extinguishing agents suitable for forest fire extinguishment.
The method for controlling the forest fire extinguishing bomb throwing device comprises the following specific steps:
the size and the interval of each device are controlled, the inner diameter D of the outer shell is set, and the interval between the outer shell and the crushing device is X 0 Distance X between crushing device and auxiliary crushing device 1 Distance X between auxiliary crushing device and central throwing device 2 Then
X 0max Is the maximum distance that the detonation wave causes the breaking device to break completely with the fire extinguishing bomb filler and the outer shell itself; x is X 1min Is the minimum distance that the auxiliary crushing device is not sympathetically exploded by the crushing device; x is X 1max Is the detonation wave to cause assistanceMaximum distance between the auxiliary crushing device and the full crushing of the filler in the crushing device; x is X 2min Is the minimum distance that the central throwing device is not sympathetically exploded by the auxiliary crushing device; x is X 2max Is the maximum distance between the central throwing device and the auxiliary crushing device for completely crushing the filler caused by detonation wave.
Optionally, the control of the detonation time is as follows:
the main control chip detonates the crushing device firstly through the wireless detonation controller, and the interval time t 1 Detonation auxiliary crushing device with interval time t 2 The detonation center casting device, v, is the propagation velocity of detonation waves in the charge.
Optionally, when controlling detonation, the main control chip controls the four blasting devices to detonate simultaneously through the wireless detonation controller, and controls the interval time t of the four auxiliary crushing devices 1 And then detonating simultaneously.
By adopting the technical scheme, detonation waves generated after the detonation of the cartridge can be attenuated in the fire extinguishing bomb filler, so that the inner-layer cartridge can not be detonated after the detonation of the outer-layer cartridge, and the surrounding filler is sufficiently disintegrated, and the distance X between the outer shell and the crushing device is required to be reasonably controlled 0 Distance X between crushing device and auxiliary crushing device 1 Distance X between auxiliary crushing device and central throwing device 2 Initiation delay time t 1 、t 2 . If the overall size of the throwing device is too small, the auxiliary crushing device can be removed to simplify the whole structure; if the overall size of the throwing device is too large, a multistage auxiliary crushing device can be considered to be additionally arranged to optimize the throwing effect.
In summary, the present invention includes at least one of the following beneficial technical effects:
the invention can provide a forest fire extinguishing bomb with a throwing device and a throwing control method, an automatic propulsion assembly and a guidance module are added, the automatic propulsion assembly provides autonomous flight power for the forest fire extinguishing bomb, and the accurate throwing of the forest fire extinguishing bomb can be realized under the control of the guidance module;
the fire extinguishing bomb filling material is carried by adopting the gunpowder scattering assembly, and the fire extinguishing bomb filling material is controlled to be dispersed more uniformly, so that the fire scene area covered by the fire extinguishing bomb filling material is larger, and the fire extinguishing effect is better.
Drawings
Fig. 1 is a schematic view of a forest fire extinguishing bomb with a throwing device according to the present invention;
fig. 2 is a schematic diagram of the connection principle of an electric device of a forest fire extinguishing bomb with a throwing device according to the present invention;
FIG. 3 is a schematic view of a partial cross-sectional structure of a forest fire extinguishing bomb crushing device with a throwing device of the present invention;
FIG. 4 is a schematic cross-sectional view of section A-A of FIG. 3;
FIG. 5 is a schematic cross-sectional view of a central sprinkler of a forest fire extinguishing bomb with a sprinkler according to the present invention;
fig. 6 is a schematic illustration of the internal dimensioning of a forest fire extinguishing bomb crushing device with a throwing device according to the invention.
Reference numerals illustrate: 1. a projectile body assembly; 21. a propulsion housing; 22. an engine; 23. a fuel bin; 31. a GPS module; 32. a gyroscope; 33. an acceleration sensor; 34. a wireless transceiver module; 35. a guidance chip; 36. a camera module; 37. a main control chip; 41. an outer housing; 42. an upper end cap; 43. a lower end cap; 44. fire extinguishing bomb filler; 45. a crushing device; 46. an auxiliary crushing device; 47. a central spreading device; 471. an inner housing; 472. an upper cover plate; 473. a lower cover plate; 474. an internal charge; 475. a detonation device; 476. and a wireless detonation controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a forest fire extinguishing bomb with a throwing device and a throwing control method.
Referring to fig. 1-6, a forest fire extinguishing bomb with a throwing device, the forest fire extinguishing bomb comprises a bomb body assembly 1, a self-propelled assembly, a guidance module, a gunpowder throwing assembly and a fire extinguishing bomb filler 44;
the automatic propulsion assembly is arranged at the tail part of the projectile body assembly and is used for providing controllable thrust for forest fire extinguishing bombs;
the guidance module is in control connection with the automatic propulsion assembly, collects position data of a fire scene target, GPS data and topographic data of a fire disaster area, and is used for generating a front-stage navigation plan, controlling the execution action of the automatic propulsion assembly to drive a forest fire extinguishing bomb to the position above the vicinity of the fire scene target, collecting fire scene visual data, carrying out visual analysis, generating a final-stage navigation plan according to an analysis result, and controlling the automatic propulsion assembly to execute a bomb throwing operation according to the final-stage navigation plan of the forest fire extinguishing bomb;
the gunpowder throwing assembly is arranged in the middle of the projectile body assembly and is used for bearing the fire extinguishing bomb filling material 44 and controlling the fire extinguishing substances to be uniformly dispersed when the fire extinguishing bomb filling material 44 explodes.
The automatic propulsion assembly and the guidance module are added to the forest fire extinguishing bomb, the automatic propulsion assembly provides autonomous flight power for the forest fire extinguishing bomb, and the forest fire extinguishing bomb can be accurately put in under the control of the guidance module;
when the fire extinguishing bomb is put in a specific control mode, the generation of front-stage navigation data of the guidance module can be based on the fire scene target position data, GPS data and the topographic data of a fire disaster area, the fire scene target position data and the topographic data of the fire disaster area can be recorded by a remote control center or external equipment, when the terminal navigation needs to be carried out when the forest extinguishing bomb reaches the upper part near the fire scene, the real picture information of the fire scene is acquired by means of a remote high-precision shooting device, after the picture information is subjected to visual analysis, the fire scene maximum area can be more accurately repositioned to be a new bomb target point, and a final-stage navigation plan is generated, and of course, the remote sensing data of forest monitoring satellites can be acquired in real time to carry out visual analysis under the condition of permission, so that the terminal positioning can realize real-time update of the fire scene information, realize more accurate fire extinguishing of the fire scene maximum area, and greatly improve the effectiveness of the forest extinguishing bomb;
in the specific fire extinguishing bomb filling material 44 throwing control, the gunpowder throwing assembly is adopted to carry, the fire extinguishing bomb filling material 44 is controlled to be more uniformly dispersed, the fire scene area covered by the fire extinguishing bomb filling material 44 is larger, and the fire extinguishing effect is better.
The self-propelled assembly comprises a propelling shell 21, an engine 22 and a fuel bin 23, wherein one end of the propelling shell 21 is in butt joint with the projectile assembly 1, the engine 22 and the fuel bin 23 are arranged in the propelling shell 21, and the engine 22 provides propelling power for the projectile assembly 1.
The automatic propulsion assembly is provided by combusting fuel in a fuel bin 23 by an engine 22, and is specifically arranged at the tail part of the projectile body assembly 1, so that the autonomous flight of the forest fire extinguishing bomb is realized under the control of the guidance module.
The guidance module comprises a GPS module 31, a gyroscope 32, an acceleration sensor 33, a wireless transceiver module 34, a guidance chip 35, a camera module 36 and a main control chip 37;
the GPS module 31, the gyroscope 32 and the acceleration sensor 33 are respectively in communication connection with the guidance chip 35, and the wireless transceiver module 34, the guidance chip 35 and the camera module 36 are respectively in communication connection with the main control chip 37;
the GPS module 31 is used for collecting GPS positioning data of forest fire extinguishing bomb, the gyroscope 32 is used for monitoring attitude data of the forest fire extinguishing bomb, the acceleration sensor 33 is used for monitoring speed data of the forest fire extinguishing bomb, the wireless transceiver module 34 is used for receiving task data transmitted by the remote control center, the task data comprises target GPS data and control instruction data, and video pictures shot by the camera module 36 are transmitted to the remote control center;
the guidance chip 35 generates front-section navigation planning data according to the target GPS data, the GPS positioning data, the gesture data and the speed data, and transmits the front-section navigation planning data to the main control chip 37, and the main control chip 37 is in control connection with the automatic propulsion component to control the automatic propulsion component to propel the forest fire extinguishing bomb to fly according to the front-section navigation planning data;
when the forest fire extinguishing bomb flies to the periphery of the target for 5 kilometers, front-stage navigation is completed, a camera module 36 arranged at the end part of the bomb body component 1 collects fire scene visual data and transmits the fire scene visual data to a main control chip 37, the main control chip 37 performs visual analysis by adopting an image feature algorithm based on forest fire features, a maximum fire area is identified, GPS coordinate data of a central point of the maximum fire area is generated and transmitted to a guidance chip 35, the guidance chip 35 takes the GPS coordinate data of the central point of the maximum fire area as a terminal navigation target point, terminal navigation planning data is generated and fed back to the main control chip 37, and the main control chip 37 controls the automatic propulsion component to execute bomb throwing operation according to the terminal navigation planning data.
The guidance module is equipped with a GPS module 31, a gyroscope 32 and an acceleration sensor 33, the GPS module 31 is used for collecting GPS positioning data of forest fire extinguishing bombs, the gyroscope 32 is used for monitoring attitude data of the forest fire extinguishing bombs, the acceleration sensor 33 is used for monitoring speed data of the forest fire extinguishing bombs, the wireless transceiver module 34 is used for receiving task data transmitted by a remote control center, video pictures shot by the camera module 36 can be transmitted to the remote control center, the camera module 36 is a specially designed remote fire monitoring camera, the main control chip 37 can analyze a fire scene according to the video pictures shot by the camera module 36 and reproduce end navigation data according to analysis results, the remote control center can update fire scene information in real time according to telemetry data when the picture of the camera module 36 fails and reset target data through the wireless transceiver module 34, and therefore more accurate shooting is achieved.
The gunpowder scattering assembly comprises an outer shell 41, an upper end cover 42, a lower end cover 43, four crushing devices 45, four auxiliary crushing devices 46 and a central scattering device 47, wherein the outer shell 41 is arranged in the middle of the projectile assembly 1, the upper end cover 42 and the lower end cover 43 are respectively arranged at two ends of the outer shell 41, the central scattering device 47 is arranged at the central part of the outer shell 41, the four crushing devices 45 and the four auxiliary crushing devices 46 are arranged around the central scattering device 47 in an array manner at intervals, and fire extinguishing bomb fillers 44 are filled in the inner wall of the outer shell 41, the four crushing devices 45, the four auxiliary crushing devices 46 and the middle part of the central scattering device 47.
The gunpowder scattering assembly comprises an outer shell 41, an upper end cover 42, a lower end cover 43, a fire extinguishing bomb filling material 44, a crushing device 45, an auxiliary crushing device 46 and a central scattering device 47 in sequence from the outermost layer to the innermost layer, wherein the outer shell 41, the upper end cover 42 and the lower end cover 43 serve as containers of the fire extinguishing bomb filling material 44, the crushing device 45, the auxiliary crushing device 46 and the central scattering device 47 on one hand, and provide sufficient overall strength for the scattering device on the other hand. In order to give consideration to the overall strength of the throwing device and the throwing effect of the filler, the following measures can be adopted to optimize the outer shell: the strength of the connection between the upper end cover 42 and the lower end cover 43 and the outer shell 41 is superior to that of the material itself; the whole adopts a long cylindrical structure, the length-diameter ratio of the outer shell 41 is larger than one, the auxiliary crushing device 46 can be reasonably increased or decreased according to the actual size of the fire extinguishing bomb filler 44, when specific explosion is thrown, the crushing and dispersing effects of detonation waves for the same fire extinguishing bomb filler 44 are utilized, so that the agglomerate distribution of the fire extinguishing bomb filler 44 after being thrown is effectively avoided, a good throwing effect is provided for the fire extinguishing bomb filler, the fire extinguishing bomb filler 44 is more uniformly covered on a larger area, and the fire extinguishing effect is greatly improved.
The central throwing device 47 comprises an inner shell 471, an upper cover plate 472, a lower cover plate 473, an internal charge 474, a detonation device 475 and a wireless detonation controller 476, wherein the inner shell 471 is arranged at the central part of the outer shell 41, the upper cover plate 472 and the lower cover plate 473 are respectively arranged at two ends of the inner shell 471, the internal charge 474 is filled in the inner shell 471, the detonation device 475 is arranged at the lower cover plate 473 and used for detonating the internal charge 474, and the main control chip 37 detonates the internal charge 474 through the wireless detonation controller 476.
The central dispensing device 47 is a cylindrical cartridge that is formed of a cylindrical inner housing 471 open at both ends, an upper cover 472, a lower cover 473, an inner charge 474, and an inner primer 475. Wherein, crushing device 45, auxiliary crushing device 46, central throwing device 47 are all arranged in extinguishing bomb filler 44, crushing device 45 is arranged between shell body 41 and auxiliary crushing device 46, auxiliary crushing device 46 is arranged between crushing device 45 and central throwing device 46, and central throwing device 47 is arranged at the central position of the central axis of shell body 41. The four peripheral cartridges in the crushing device 45, the four peripheral cartridges in the auxiliary crushing device 46 and the cartridges in the central throwing device 47, the inner shells and the upper and lower cover plates of the nine cartridges serve as containers for the inner charges and the detonating devices, on one hand, the inner charges and the detonating devices are separated from each other, and on the other hand, the detonating devices are detonated successively under the control of detonation, so that a more uniform throwing effect can be realized.
The crushing device 45 and the auxiliary crushing device 46 are cylindrical cartridges, and have the same internal structure as the central throwing device 47, and the diameter of the shell of the crushing device 45 is d1, the diameter of the shell of the auxiliary crushing device 46 is d ', and the diameter of the shell of the central throwing device is d2, wherein d2 is larger than d' > d1.
The fire extinguishing bomb charge 44 is ABC dry powder fire extinguishing agent.
The fire extinguishing bomb packing 44 may be ABC dry powder fire extinguishing agent, more suitable for forest fires, or other fire extinguishing agents suitable for forest fires may be used.
The method for controlling the forest fire extinguishing bomb throwing device comprises the following specific steps:
the size and spacing of the devices are controlled, the inner diameter D of the outer shell is set, and the spacing between the outer shell 41 and the crushing device 45 is X 0 Distance X between crushing device 45 and auxiliary crushing device 46 1 Distance X between auxiliary crushing device 46 and central throwing device 47 2 Then
X 0max Is the maximum distance that the detonation wave causes the breaking device 45 to break completely with the extinguishing bomb charge 44 and the outer casing 41 itself; x is X 1min Is the minimum distance at which the auxiliary crushing device 46 is not sympathetically exploded by the crushing device 45; x is X 1max Is the maximum distance that the detonation wave causes the auxiliary crushing device 46 to completely crush the filler in the crushing device 45; x is X 2min Is the minimum distance at which the central casting device 47 is not sympathetically exploded by the auxiliary crushing device 46; x is X 2max Is the maximum distance that the detonation wave causes the central casting device 47 to break completely with the charge in the auxiliary breaking device 46.
The control of the detonation time is as follows:
the main control chip 37 detonates the crushing device 45 through the wireless detonation controller 476 at intervals of time t 1 Detonation auxiliary breaker 46, again at intervals t 2 The detonation center casting device 47, v is the propagation velocity of detonation waves in the charge.
When controlling the detonation, the main control chip 37 controls the four blasting devices 45 to detonate simultaneously through the wireless detonation controller 476, and controls the interval time t of the four auxiliary crushing devices 46 1 And then detonating simultaneously.
Detonation waves generated after the detonation of the cartridge are attenuated in the fire extinguishing bomb filler 44, and in order to ensure that the inner cartridge is not detonated after the detonation of the outer cartridge, and that surrounding fillers are sufficiently disintegrated, the distance X between the outer shell 41 and the crushing device 45 needs to be reasonably controlled 0 Distance X between crushing device 45 and auxiliary crushing device 46 1 Distance X between auxiliary crushing device 46 and central throwing device 47 2 Initiation delay time t 1 、t 2 . If the overall size of the casting device is too small, it is contemplated that the removal of the additional breaker 46 simplifies the overall structure; if the overall size of the dispensing device is too large, it is contemplated that multiple additional stages of additional crushing devices 46 may be added to optimize the dispensing effect.
The embodiment of the invention relates to a forest fire extinguishing bomb with a throwing device and a throwing control method, which are implemented according to the following principles:
under a specific forest fire application scene, a remote control center performs loading operation, fire scene target position data and topography data of a fire area are input through a data input interface, a GPS module of a guidance module obtains GPS data, a guidance chip 35 generates front-stage navigation planning data according to the data, forest fire extinguishing bombs are launched through a launching device, under the drive of an automatic propulsion component, the forest fire extinguishing bombs fly to the periphery of a target for 5 kilometers according to the front-stage navigation planning data, front-stage navigation is completed, a camera module 36 arranged at the end part of the projectile component 1 collects fire scene visual data, the fire scene visual data is transmitted to a main control chip 37, the main control chip 37 performs visual analysis based on forest fire characteristics by adopting an image characteristic algorithm, a maximum fire area is identified, GPS coordinate data of the center point of the maximum fire area is generated, GPS coordinate data of the center point of the maximum fire area is transmitted to the guidance chip 35, the GPS projection chip 35 takes the GPS coordinate data of the center point of the maximum fire area as a tail navigation target point, the tail navigation planning data is generated and fed back to the main control chip 37, and the main control chip 37 controls the automatic propulsion component to perform planning operation according to the section navigation data;
when the forest fire extinguishing bomb is 100 meters away from the target ground, the main control chip 37 first detonates the crushing device 45 through the wireless detonation controller 476, and the interval time t 1 Detonation auxiliary breaker 46, again at intervals t 2 The detonating center throwing device 47 can throw the filler of ABC dry powder extinguishing agent to the circle center range with the radius larger than 500 meters, and the extinguishing effect is outstanding.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (8)
1. A forest fire extinguishing bomb with a throwing device, which is characterized in that: the forest fire extinguishing bomb comprises a bomb body assembly (1), an automatic propulsion assembly, a guidance module, a gunpowder throwing assembly and a fire extinguishing bomb filling material (44);
the automatic propulsion assembly is arranged at the tail part of the projectile body assembly and is used for providing controllable thrust for forest fire extinguishing bombs;
the guidance module is in control connection with the automatic propulsion assembly, acquires the position data of a fire scene target, GPS data and the topographic data of a fire disaster area, is used for generating a front-stage navigation plan, controls the execution action of the automatic propulsion assembly to drive a forest fire extinguishing bomb to the position above the vicinity of the fire scene target, acquires the fire scene visual data, performs visual analysis, generates a final-stage navigation plan according to an analysis result, and controls the automatic propulsion assembly to execute a bomb throwing operation according to the final-stage navigation plan of the forest fire extinguishing bomb;
the gunpowder throwing assembly is arranged in the middle of the projectile body assembly and is used for bearing the fire extinguishing bomb filler (44) and controlling the fire extinguishing substances to be uniformly dispersed when the fire extinguishing bomb filler (44) explodes;
the automatic propulsion assembly comprises a propulsion shell (21), an engine (22) and a fuel bin (23), one end of the propulsion shell (21) is in butt joint with the projectile body assembly (1), the engine (22) and the fuel bin (23) are arranged in the propulsion shell (21), and the engine (22) provides propulsion power for the projectile body assembly (1);
the guidance module comprises a GPS module (31), a gyroscope (32), an acceleration sensor (33), a wireless transceiver module (34), a guidance chip (35), a camera module (36) and a main control chip (37);
the GPS module (31), the gyroscope (32) and the acceleration sensor (33) are respectively in communication connection with the guidance chip (35), and the wireless transceiver module (34), the guidance chip (35) and the camera module (36) are respectively in communication connection with the main control chip (37);
the system comprises a GPS module (31) for collecting GPS positioning data of forest fire extinguishing bomb, a gyroscope (32) for monitoring gesture data of forest fire extinguishing bomb, an acceleration sensor (33) for monitoring speed data of forest fire extinguishing bomb, and a wireless transceiver module (34) for receiving task data transmitted by a remote control center, wherein the task data comprises target GPS data and control instruction data, and transmitting video pictures shot by a shooting module (36) to the remote control center;
the guidance chip (35) generates front-section navigation planning data according to the target GPS data, GPS positioning data, gesture data and speed data, and transmits the front-section navigation planning data to the main control chip (37), and the main control chip (37) is in control connection with the automatic propulsion component to control the automatic propulsion component to propel the forest fire extinguishing bomb to fly according to the front-section navigation planning data;
when a forest fire extinguishing bomb flies to the periphery of a target by 5 kilometers, front-stage navigation is completed, a camera module (36) arranged at the end part of the bomb body component (1) collects fire scene visual data, the fire scene visual data are transmitted to a main control chip (37), the main control chip (37) performs visual analysis based on forest fire characteristics by adopting an image characteristic algorithm, a maximum fire area is identified, GPS coordinate data of a central point of the maximum fire area are generated, the GPS coordinate data of the central point of the maximum fire area are transmitted to a guidance chip (35), the guidance chip (35) takes the GPS coordinate data of the central point of the maximum fire area as a terminal navigation target point, terminal navigation planning data are generated and fed back to the main control chip (37), and the main control chip (37) controls the automatic propulsion component to execute bomb throwing operation according to the terminal navigation planning data.
2. A forest fire extinguishing bomb with a throwing apparatus according to claim 1, characterized in that: the gunpowder scattering assembly comprises an outer shell (41), an upper end cover (42), a lower end cover (43), four crushing devices (45), four auxiliary crushing devices (46) and a central scattering device (47), wherein the outer shell (41) is arranged in the middle of the projectile body assembly (1), the upper end cover (42) and the lower end cover (43) are respectively arranged at two ends of the outer shell (41), the central scattering device (47) is arranged at the central part of the outer shell (41), four crushing devices (45) and four auxiliary crushing devices (46) are arranged around the central scattering device (47) in an array mode, and fire extinguishing bomb fillers (44) are filled in the middle parts of the outer shell (41), the four crushing devices (45), the four auxiliary crushing devices (46) and the central scattering device (47).
3. A forest fire extinguishing bomb with a throwing apparatus according to claim 2, characterized in that: the center scattering device (47) comprises an inner shell (471), an upper cover plate (472), a lower cover plate (473), an inner charge (474), a detonation device (475) and a wireless detonation controller (476), wherein the inner shell (471) is arranged at the center of the outer shell (41), the upper cover plate (472) and the lower cover plate (473) are respectively arranged at two ends of the inner shell (471), the inner charge (474) is filled in the inner shell (471), the detonation device (475) is arranged at the lower cover plate (473) and used for detonating the inner charge (474), and the main control chip (37) detonates the inner charge (474) through the wireless detonation controller (476).
4. A forest fire extinguishing bomb with a throwing apparatus according to claim 3, characterized in that: the crushing device (45) and the auxiliary crushing device (46) are cylindrical cartridges, the internal structure is the same as that of the central throwing device (47), the diameter of the shell of the crushing device (45) is d1, the diameter of the shell of the auxiliary crushing device (46) is d ', the diameter of the shell of the central throwing device is d2, and d2 is more than d' more than d1.
5. A forest fire extinguishing bomb with a throwing apparatus according to claim 4, wherein: the fire extinguishing bomb packing (44) is an ABC dry powder fire extinguishing agent.
6. The method for controlling the forest fire extinguishing bomb throwing device is characterized by comprising the following steps of: the forest fire extinguishing bomb with the throwing device as claimed in claim 4 is adopted for control, and the specific method is as follows:
the size and the spacing of the devices are controlled, the inner diameter D of the outer shell is set, and the spacing between the outer shell (41) and the crushing device (45) isThe distance between the crushing device (45) and the auxiliary crushing device (46)>The distance between the auxiliary crushing device (46) and the central throwing device (47)>Then->；
Is a detonation wave-induced crushing device (45), a fire extinguishing bomb filling material (44) and an outer shell (41)Maximum distance of complete body breakage; />Is the minimum distance that the auxiliary crushing device (46) is not subjected to the sympathetic explosion by the crushing device (45); />Is the maximum distance between the auxiliary crushing device (46) and the full crushing of the filler in the crushing device (45) caused by detonation waves; />Is the minimum distance that the central throwing device (47) is not sympathetically exploded by the auxiliary crushing device (46); />Is the maximum distance between the central throwing device (47) and the auxiliary crushing device (46) for completely crushing the filler caused by detonation wave.
7. The method for controlling the throwing of forest fire extinguishing bomb throwing apparatus according to claim 6, wherein: the control of the detonation time is as follows:
；
the main control chip (37) detonates the crushing device (45) firstly through the wireless detonation controller (476), and the interval time isDetonation auxiliary breaking device (46), again at intervals +.>And a detonation center casting device (47), v is the propagation speed of detonation waves in the filler.
8. A fire-extinguishing forest fire-extinguishing bomb throwing apparatus throwing control party as claimed in claim 7The method is characterized in that: when controlling the detonation, the main control chip (37) controls the four blasting devices (45) to detonate simultaneously through the wireless detonation controller (476), and controls the interval time of the four auxiliary crushing devices (46)And then detonating simultaneously.
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| US6470805B1 (en) * | 2001-04-30 | 2002-10-29 | The United States Of America As Represented By The Secretary Of The Navy | Fire retardant bio-friendly practice munition |
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| CN109655058A (en) * | 2018-12-24 | 2019-04-19 | 中国电子科技集团公司第二十研究所 | A kind of inertia/Visual intelligent Combinated navigation method |
| CN113244547A (en) * | 2021-06-21 | 2021-08-13 | 宇称智控(北京)科技有限公司 | Accurate guidance fire extinguishing bomb system applied to forest fire extinguishing |
| CN114432625A (en) * | 2022-02-16 | 2022-05-06 | 宇称智控(北京)科技有限公司 | Remote accurate guidance fire extinguishing bomb |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6470805B1 (en) * | 2001-04-30 | 2002-10-29 | The United States Of America As Represented By The Secretary Of The Navy | Fire retardant bio-friendly practice munition |
| CN108931155A (en) * | 2018-07-09 | 2018-12-04 | 北京航天控制仪器研究所 | One kind not depending on satellite navigation and increases journey guided munition self-contained guidance system |
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Correction item: Classification number Correct: F42B 15/01(2006.01)|F42B 12/46(2006.01)|A62C 19/00(2006.01)|A62C 37/00(2006.01)|A62C 3/02(2006.01) False: A62C 3/02(2006.01)|A62C 19/00(2006.01)|A62C 37/00(2006.01)|F42B 12/46(2006.01) Number: 31-02 Page: The title page Volume: 39 False: A62C 3/02(2006.01)|A62C 19/00(2006.01)|A62C 37/00(2006.01)|F42B 12/46(2006.01) Number: 31-02 Volume: 39 |
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