CN208775019U - Unmanned plane drops a bomb system - Google Patents
Unmanned plane drops a bomb system Download PDFInfo
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- CN208775019U CN208775019U CN201820742242.1U CN201820742242U CN208775019U CN 208775019 U CN208775019 U CN 208775019U CN 201820742242 U CN201820742242 U CN 201820742242U CN 208775019 U CN208775019 U CN 208775019U
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Abstract
A kind of unmanned plane drops a bomb system, is related to air vehicle technique field.The unmanned plane system of dropping a bomb includes: unmanned unit, delivery device, gondola, figure passes device in real time, Differential positioning device and ground control station, delivery device and gondola are provided on every frame unmanned plane of unmanned unit, gondola is equipped with photographic device, for collection site image information, it includes that figure passes airborne station in real time and figure passes land station in real time that figure, which passes device, in real time, figure passes airborne station and is arranged on each frame unmanned plane in real time, it is connect with gondola, figure passes land station and connect with ground control station in real time, Differential positioning device is connect with unmanned plane, control of the unmanned plane by ground control station, control delivery device drops a bomb.The above-mentioned unmanned plane system of dropping a bomb can be used for improving unmanned plane and drop a bomb the accuracy of fire extinguishing.
Description
Technical field
It drops a bomb system the utility model relates to air vehicle technique field more particularly to a kind of unmanned plane.
Background technique
With the progress that current cityization is built, the high buildings and large mansions of various regions quickly constantly build up, bring to fire-fighting work
Challenge.Solution about tall-building fire fighting is constantly referred in recent years.Currently, strong applicability, the high fire extinguishing of fire-fighting efficiency
Bullet, in high building fire extinguishing, utilization rate is higher and higher.Using the mode of fire extinguisher bomb when high building is put out a fire, ground launch and nothing are mainly used
Man-machine projection two ways.Wherein, the high-storey that unmanned plane can reach, it is shorter to rise to the time required for position of catching fire,
Whether open without having to worry about traffic above-ground situation and place, the safety of fire fighter can also be protected, and can facilitate progress
Detecting, fire extinguishing, rescue work.
But when being put out a fire due to the direct projection fire extinguisher bomb of unmanned plane short distance, since there are still one for fire extinguisher bomb itself
Fixed destructiveness, therefore, when dispensing, is necessary to ensure that while fire extinguishing, does not reproduce surrounding at secondary destruction, then needs nobody
Machine detecting data is accurate, existing unmanned plane drop a bomb system detecting data precision it is inadequate, go out to dropping a bomb under high-precision occasion
Firer is not possible to guarantee success rate.
Utility model content
It drops a bomb system in view of this, the utility model embodiment provides a kind of unmanned plane, it can be by ignition point and nobody
The accurate detection that seat in the plane is set improves the success rate for fire extinguishing of dropping a bomb.
The utility model embodiment provides a kind of unmanned plane and drops a bomb system, comprising:
Unmanned unit, delivery device, gondola, figure passes device, Differential positioning device and ground control station in real time；
Wherein, the delivery device and the gondola are provided on every frame unmanned plane of the unmanned unit；
The gondola is equipped with photographic device, and the photographic device is used for collection site image information；
It includes that figure passes airborne station in real time and figure passes land station, the real-time figure biography machine in real time that the real-time figure, which passes device,
Radio station setting is carried on the unmanned plane described in each frame, the real-time figure passes airborne station and connect with the gondola, and the real-time figure passes
Land station is connect with the ground control station；
The Differential positioning device is connect with the unmanned plane；
The ground control station is connect with the unmanned plane, control of the unmanned plane by the ground control station, control
The delivery device drops a bomb.
Various embodiments of the utility model controls the gondola acquisition of unmanned plane by using the mode of team control multiple UAVs
To the realtime graphic at the scene of catching fire, the positioning correcting value that unmanned plane is measured according to Differential positioning device obtains oneself and accurate determines
Position, multiple UAVs mutual cooperation detect fire location, obtain the more accurately position of fire behavior information and unmanned plane
Information, and then fire extinguishing of precisely dropping a bomb is carried out to kindling point, improve the success rate of fire extinguishing.
Detailed description of the invention
Fig. 1 is that the unmanned plane that provides of an embodiment of the present invention drops a bomb the structural schematic diagram of system；
Fig. 2 is that the unmanned plane that provides of another embodiment of the utility model drops a bomb the structural schematic diagram of system.
Specific embodiment
Further to illustrate technical means and efficacy that the utility model is taken by the predetermined purpose of utility model of realization,
Below in conjunction with attached drawing and preferred embodiment, to foundation specific embodiment of the present utility model, structure, feature and its effect, in detail
It describes in detail bright as after.
Referring to Fig. 1, Fig. 1 is that the unmanned plane that provides of an embodiment of the present invention drops a bomb the structural schematic diagram of system.It should
The unmanned plane system of dropping a bomb includes:
Unmanned unit 10, delivery device 20, gondola 30, figure passes device 40, Differential positioning device 50 and ground control in real time
Stand 60；
Wherein, unmanned unit 10 includes multiple UAVs, is provided with delivery device 20 and gondola 30 on every frame unmanned plane.
Gondola 30 is equipped with photographic device, and photographic device is used for collection site image information, and scene image information can be anti-
The fact at the scene of catching fire, including Field Force's image and live fire behavior image are reflected, can be caught fire from scene image information
Whether scene has position and the state of personnel and personnel, and quantity and position, the size of fire that can obtain ignition point etc.
Information.
Figure passes device 40 for transmitting image information between unmanned plane and ground control station 60 in real time.Figure passes device in real time
40 include that figure passes airborne station 41 in real time and figure passes land station 42 in real time, and figure passes airborne station 41 and is arranged in unmanned unit in real time
On 10 each frame unmanned plane, figure passes airborne station 42 and connect with gondola 30 in real time, and the scene image information that gondola 30 is obtained is sent out
It gives figure in real time and passes land station 42, figure passes land station 42 and connect with ground control station 60 in real time, by the scene image information
It is sent to ground control station 60.Live image can be directly displayed on the screen on ground control station 60, staff can be straight
The personnel for seeing the scene of catching fire seen and fire behavior.
Differential positioning device 50 is connect with each unmanned plane in unmanned unit 10, and Differential positioning device 50 can be specially
GPS (Global Positioning System) receiver, calculates positioning correcting value according to known coordinate and satellite ephemeris,
The positioning correcting value is sent to unmanned plane, unmanned plane corrects the positioning of oneself according to the positioning correcting value.Specifically at nobody
Increase or subtract positioning correcting value, the locator value after being corrected on the basis of machine initial alignment value.
Ground control station 60 is connect with each unmanned plane in unmanned unit 10, receives the flight speed that multiple UAVs are sent
Degree, position, posture, battery status, the information such as at a distance from point of origin are received in conjunction with passing land station 42 from real-time figure and obtaining
The dispensing parameter of scene image information, delivery device, obtains best placement position, which can be the initial angle of dispensing
Degree, speed etc., and control unmanned plane and drop a bomb, unmanned plane is controlled delivery device 20 and dropped a bomb by the control of ground control station 60.
In the utility model embodiment, by using the mode of team control multiple UAVs, the gondola acquisition of unmanned plane is controlled
To the realtime graphic at the scene of catching fire, the positioning correcting value that unmanned plane is measured according to Differential positioning device obtains oneself and accurate determines
Position, multiple UAVs mutual cooperation detect fire location, obtain the more accurately position of fire behavior information and unmanned plane
Information, and then fire extinguishing of precisely dropping a bomb is carried out to kindling point, improve the success rate of fire extinguishing.
Fig. 2 is that the unmanned plane machine that provides of another embodiment of the utility model drops a bomb the structural schematic diagram of system.The unmanned plane
The system of dropping a bomb includes:
Unmanned unit 10, delivery device 20, gondola 30, figure passes device 40, Differential positioning device 50 and ground control in real time
Stand 60；
Wherein, unmanned unit 10 includes multiple UAVs, is provided with delivery device 20 and gondola 30 on every frame unmanned plane.
Unmanned plane can be multi-rotor unmanned aerial vehicle or helicopter, and according to fire behavior size, unmanned unit 10 can be more by multi rack
Rotor wing unmanned aerial vehicle and/or direct lifting mechanism are at such as 3 frame unmanned planes and 3 frame helicopters, alternatively, 3 frame unmanned planes or 5 framves are gone straight up to
Machine etc..When fire behavior is general, the multi-rotor unmanned aerial vehicle that 5~10kg of multi rack load-carrying can be used carries out fire extinguishing of dropping a bomb, when fire behavior is serious, then
Fire extinguishing of dropping a bomb is carried out using the higher helicopter of load-carrying.Compared to other kinds of unmanned plane, more rotors and helicopter are to rising
Fly place almost without requiring, flying speed is stablized, and can hover, can be detected and be put out a fire in the more complicated place of environment
Work.
Specifically, delivery device 20 is installed on center immediately below multi-rotor unmanned aerial vehicle if unmanned plane is multi-rotor unmanned aerial vehicle
Position can keep balance when unmanned plane during flying, conducive to dropping a bomb.Gondola 30 is specially twin shaft gondola, and twin shaft gondola can deviate from voyage route
To axis and pitch axis move change camera shooting the visual field, can acquisition on-the-spot circumstance image that is comprehensive, having emphasis, gondola 30 be inverted peace
Loaded on center right above multi-rotor unmanned aerial vehicle.
If unmanned plane is helicopter, delivery device 20 is installed below helicopter, so that the fire extinguisher bomb in delivery device 20
Position of centre of gravity below helicopter, the position of centre of gravity are generally center, and delivery device 20 will not be beaten on the position
The flight balance of broken helicopter.Gondola 30 is twin shaft gondola, is installed on the positive front end of helicopter, obtains convenient for helicopter in flight
The live image in front.
Photographic device is installed on gondola 30, which is used for collection site image information, the scene image information
It can reflect the fact at the scene of catching fire, including Field Force's image and live fire behavior image.
Specifically, which is double optical detection cameras, including visible optical module, thermal imaging module and Laser Measuring
Away from module.Wherein, double optical detection cameras are parallel installs with this for the port of laser ranging module, to ensure measured position for scene
The central point of image.The visible image capturing head Observable scene fire behavior, the thermal imaging module can return scene image information to
Ground control station 60, because the different region of temperature height, temperature highest can be distinguished in graphic images by different colours
Region be then current ignition point, the high region of temperature time may be next ignition point, thus in ground control station 60 can
Ignition point is precisely searched according to graphic images, to be prevented, which can measure unmanned plane and ignition center point
Distance carries out precise fire extinguishing after convenient.
It includes that figure passes airborne station 41 in real time and figure passes land station 42 in real time that figure, which passes device 40, in real time, and figure passes airborne in real time
Radio station 41 is arranged on each frame unmanned plane, and figure passes the setting of land station 42 on the ground in real time, and figure passes 41 He of airborne station in real time
Figure passes land station 42 and is communicated by microwave signal in real time.Figure passes airborne station 42 and connect with gondola 30 in real time, gondola 30
Pass through high-definition multimedia interface (High Definition Multimedia Interface, HDMI) and real-time figure biography machine
It carries radio station 41 to connect, to realize image transmitting, data-interface is defined by RS-422 and real-time figure passes airborne station 41 and realizes number
According to connection.The scene image information that gondola 30 obtains is sent to figure in real time and passes land station 42.Figure passes land station 42 in real time
It is connect with ground control station 60, which is sent to ground control station 60.
Differential positioning device 50 is connect with each unmanned plane in unmanned unit 10, and Differential positioning device 50 can be specially
GPS (Global Positioning System) receiver, calculates positioning correcting value according to known coordinate and satellite ephemeris,
The positioning correcting value is sent to unmanned plane, unmanned plane corrects the positioning of oneself according to the positioning correcting value.Differential positioning device
50 can accurately position unmanned plane, and error is up to Centimeter Level.
Ground control station 60 is connect with each unmanned plane in unmanned unit 10, receives the flight speed that multiple UAVs are sent
Degree, position, posture, battery status, the information such as at a distance from point of origin are received in conjunction with passing land station 42 from real-time figure and obtaining
The dispensing parameter of scene image information, delivery device, obtains best placement position, and controls unmanned plane and drop a bomb, unmanned plane
By the control of ground control station 60, controls delivery device 20 and drop a bomb.
It should be noted that two axis gondolas of control are directed at temperature highest point, pitch angle and the course of the two axis gondola are obtained
Angle, in addition distance and the calculated positioning correcting value of Differential positioning device 50 that range finder module obtains, just available after calculating
The position of the point of origin.
Specifically, ground control station 60 includes terminal 61, unmanned aerial vehicle (UAV) control device 62, ground data radio station 63 and gondola prison
Visual organ 64.Terminal 61 is connect with unmanned aerial vehicle (UAV) control device 62, wherein unmanned aerial vehicle (UAV) control device 62 includes the distant bar of unmanned aerial vehicle (UAV) control
621 and gondola control distant bar 622, terminal 61 controls distant bar 622 with the distant bar 621 of unmanned aerial vehicle (UAV) control and gondola respectively and connect, terminal
61 control the state of flight of each unmanned plane by the distant bar 621 of unmanned aerial vehicle (UAV) control, can control multi rack simultaneously using ground control station 60
Unmanned plane obtains accurately ignition point orientation and distance from floor different directions ranging.The distant control of bar 622 is controlled by gondola to hang
The rotation mode and rotation angle in cabin 30, to pass through the posture of control point gondola 30, to control 30 photographs device of gondola
Shooting angle.
Further, terminal 61 passes land station 42 with ground data radio station 63 and real-time figure respectively and connect, and ground number passes
Radio station 63 is used to receive the field data of catching fire of each unmanned plane passback in unmanned unit 10, and terminal 61 is specifically as follows PC
The end (personal computer) connects figure in real time by Serial Port Line and passes land station 42, ground data radio station 63, from ground
Data radio station 63 obtains the field data of catching fire, which may include unmanned plane during flying speed, position, posture, electricity
Pond electricity, point of origin distance, two axis of gondola rotate the data such as angle, pass land station 43 from real-time figure and obtain live image letter
Breath, and the image and data for catching fire more than can show on the screen of terminal 61 live.
Gondola monitor 64 passes land station 63 with real-time figure and connect, and obtains the collected scene image information of gondola 30,
And show corresponding live image, to determine to catch fire situation and whether having trapped person.
Further, delivery device 20 includes:
Spring laying tube and dispensing control box, are placed with fire extinguisher bomb in the spring laying tube, which controls box control
The spring laying tube launches the fire extinguisher bomb.The control switching plate for launching control box is connected with the flight control system of each unmanned plane.
The core that control box is delivery device 20 is launched, using stm32 single-chip microcontroller flying as the control panel power switch of core and unmanned plane
Row control system is connected.The flight data radio station of unmanned plane receives the control of dropping a bomb that terminal 61 is sent by ground data radio station
Instruction, and the control instruction of dropping a bomb is transmitted to UAV Flight Control System, flight control system is opened control switching plate, is passed through
Delay procedure opens the dispensing that spring laying tube carries out fire extinguisher bomb after being delayed 1 second.
Spring laying tube according to laying tube spring-compressed potential energy (the compression potential energy is controllable) and fire extinguisher bomb model, (go out by correspondence
Fire play weight), by calculate and survey can be obtained each model fire extinguisher bomb initially go out cylinder speed, determine the initial of each model
Out after cylinder speed, it is more advantageous to launch it and accurately controls.
Further, terminal 61 can according to the fire extinguisher bomb initially go out cylinder speed, the ignition point that multiple UAVs are passed back away from
From gondola dual-axis rotation angle, the data such as unmanned plane height obtain optimal placement position, are sent out by ground data radio station 63
Unmanned aerial vehicle (UAV) control instruction is given, control unmanned plane emits fire extinguisher bomb, and then realizes the accurate strike fire extinguishing of short distance.
In practical application scene, ground control station 60 plans the flight road of each frame unmanned plane in unmanned unit 10 in advance
Line controls the target position that each frame unmanned plane flies to the scene of catching fire according to respective flight path.It catches fire, then controls if it is high building
It makes each frame unmanned plane and hovers over high building and catch fire the different direction of position.Ground control station 60 is controlled using gondola control rocking bar 621
Gondola 30 is moved around course axis and pitch axis, checks that gondola 30 passes what device 40 returned by figure in real time on gondola monitor 64
Live image, whether comprehensive monitoring field has trapped person, and is rescued according to expansion the case where trapped person.It is being ready for
It drops a bomb when putting out a fire, ground control station 60, which controls gondola 30, makes its be directed at point of origin, and the live image that each gondola 30 acquires passes through
Figure passes device 40 and is passed directly on cabin monitor 64 in real time, is checked by split screen, switches thermal imaging mode, makes temperature highest point position
In the picture centre currently checked, pass through the rotation angle of 30 two axial directions of gondola at this time, ranging distance, unmanned plane GPS positioning
And height sensor positioning, it calculates and the accurate positionin risen at fire center in this direction can be obtained, longitude and latitude at Ji Qi fire center,
It rises at fire center away from ground level, apart from unmanned plane horizontal distance and vertical height etc., the unmanned plane of multi rack different directions is simultaneously
It is monitored, can further obtain the position in most serious region on fire, fixed gauge can be selected in spring laying tube in delivery device 20
Lattice material, calculates in advance and repeatedly actual measurement obtains the initial cylinder speed out of different weight fire extinguisher bomb, adjusts dropping a bomb for unmanned plane
Position, control unmanned plane drop a bomb, and realize precisely strike fire extinguishing to ignition point.
There is no the part being described in detail in the utility model embodiment, the embodiment of system retouches reference can be made to aforementioned unmanned plane drops a bomb
It states, details are not described herein again.
In the utility model embodiment, by using the mode of team control multiple UAVs, the gondola acquisition of unmanned plane is controlled
To the realtime graphic at the scene of catching fire, the positioning correcting value that unmanned plane is measured according to Differential positioning device obtains oneself and accurate determines
Position, multiple UAVs mutual cooperation detect fire location, obtain the more accurately position of fire behavior information and unmanned plane
Information, and then fire extinguishing of precisely dropping a bomb is carried out to kindling point, improve the success rate of fire extinguishing.
In above-described embodiment, all emphasizes particularly on different fields to the description of each embodiment, may refer to other realities in some embodiment
Apply the associated description of example.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or the device that include a series of elements not only include those elements, but also including
Other elements that are not explicitly listed, or further include for this process, method, article or the intrinsic element of device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, there is also other identical elements in article or device.
Claims (7)
- The system 1. a kind of unmanned plane drops a bomb characterized by comprisingUnmanned unit, delivery device, gondola, figure passes device, Differential positioning device and ground control station in real time；Wherein, the delivery device and the gondola are provided on every frame unmanned plane of the unmanned unit；The gondola is equipped with photographic device, and the photographic device is used for collection site image information, and the photographic device is double Optical detection camera, including visible optical module, thermal imaging module and laser ranging module, the port of the laser ranging module It is parallel with double optical detection cameras to install, to ensure central point of the measured position as live image；It includes that figure passes airborne station in real time and figure passes land station in real time that the real-time figure, which passes device, and the real-time figure passes airborne electricity Platform is arranged on the unmanned plane described in each frame, and the real-time figure passes airborne station and connect with the gondola, and the real-time figure passes ground Radio station is connect with the ground control station；The Differential positioning device is connect with the unmanned plane；The ground control station is connect with the unmanned plane, the unmanned plane by the ground control station control, described in control Delivery device drops a bomb.
- 2. system according to claim 1 of dropping a bomb, which is characterized in that the unmanned plane is multi-rotor unmanned aerial vehicle；The delivery device is installed on center immediately below the multi-rotor unmanned aerial vehicle；The gondola is twin shaft gondola, and the center right above the multi-rotor unmanned aerial vehicle is inversely installed.
- 3. system according to claim 1 of dropping a bomb, which is characterized in that the unmanned plane is helicopter；The delivery device is installed below the helicopter, so that the fire extinguisher bomb in the delivery device is in the helicopter The position of centre of gravity of lower section；The gondola is twin shaft gondola, is installed on the positive front end of the helicopter.
- 4. system according to claim 1 of dropping a bomb, which is characterized in that the ground control station includes:Terminal, unmanned aerial vehicle (UAV) control device, ground data radio station and gondola monitor；Wherein, the terminal passes ground with the unmanned aerial vehicle (UAV) control device, the ground data radio station and the real-time figure respectively The connection of face radio station；The gondola monitor passes land station with the real-time figure and connect.
- 5. system according to claim 4 of dropping a bomb, which is characterized in that the unmanned aerial vehicle (UAV) control device includes: unmanned plane control Make distant bar and gondola control rocking bar.
- 6. system according to claim 1 of dropping a bomb, which is characterized in that the real-time figure passes airborne station and passes through fine definition Multimedia interface is connect with the gondola.
- 7. system according to claim 1 of dropping a bomb, which is characterized in that the delivery device includes:Spring laying tube and dispensing control box；Fire extinguisher bomb is placed in the spring laying tube；The dispensing control box controls the spring laying tube and launches the fire extinguisher bomb；The control switching plate for launching control box is connected with the flight control system of the unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820742242.1U CN208775019U (en) | 2018-05-18 | 2018-05-18 | Unmanned plane drops a bomb system |
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| CN201820742242.1U CN208775019U (en) | 2018-05-18 | 2018-05-18 | Unmanned plane drops a bomb system |
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| CN208775019U true CN208775019U (en) | 2019-04-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545192A (en) * | 2018-05-18 | 2018-09-18 | 深圳市易飞方达科技有限公司 | Unmanned plane drops a bomb system and method |
| CN110775275A (en) * | 2019-10-28 | 2020-02-11 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle rescue goods and materials release method and device, computer equipment and storage medium |
-
2018
- 2018-05-18 CN CN201820742242.1U patent/CN208775019U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545192A (en) * | 2018-05-18 | 2018-09-18 | 深圳市易飞方达科技有限公司 | Unmanned plane drops a bomb system and method |
| CN108545192B (en) * | 2018-05-18 | 2023-11-03 | 深圳市易飞方达科技有限公司 | Unmanned aerial vehicle bullet throwing system and method |
| CN110775275A (en) * | 2019-10-28 | 2020-02-11 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle rescue goods and materials release method and device, computer equipment and storage medium |
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