CN108744355A - A kind of more burning things which may cause a fire disaster fire extinguishing guided missile system and extinguishing method based on unmanned plane - Google Patents
A kind of more burning things which may cause a fire disaster fire extinguishing guided missile system and extinguishing method based on unmanned plane Download PDFInfo
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- CN108744355A CN108744355A CN201810412958.XA CN201810412958A CN108744355A CN 108744355 A CN108744355 A CN 108744355A CN 201810412958 A CN201810412958 A CN 201810412958A CN 108744355 A CN108744355 A CN 108744355A
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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
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a kind of, and more burning things which may cause a fire disaster fire extinguishing guided missile system based on unmanned plane includes UAV system, ground control station and fire extinguisher bomb flat pad, the UAV system includes unmanned plane, thermal imaging and visible light photographic device, unmanned plane main control module, GPS positioning module and picture recognition module, the fire extinguisher bomb flat pad includes pedestal, caisson, the Ammunition Feed mechanism being located in the caisson, transmitter pedestal, the support pointing device being vertically mounted on the transmitter pedestal, transmitting tube mounted on the support pointing device upper end, the caisson and the transmitter pedestal are fixed on the pedestal, igniter is equipped in the transmitting tube, flat pad main control module is equipped in the pedestal, Ammunition Feed control module is equipped in the caisson, transmitter control module is equipped in the transmitter pedestal.The present invention can effectively put out the extensive forest fire that more burning things which may cause a fire disaster cause.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of fire extinguishing guided missile system of more burning things which may cause a fire disaster based on unmanned plane and goes out
Ignition method.
Background technology
When fire occurs for forest, since the various factors such as road environment, tool influence, fire fighter cannot reach in time
Fire generation area carries out effective action, excessive and generate and stretch so as to cause the intensity of a fire, increases fire to deep woods
Harmfulness.Current deep woods fire rescue still leans on the sea of faces to take action, and rescue mode is single, and the area to the highly dense woods of Yushan Hill is even more hardly possible
To enter, while prodigious injury is also resulted in the personal safety of rescue personnel.
Although the unmanned plane being currently known carries the mode that fire extinguisher bomb is put out a fire has prodigious improvement to the above problem,
And scene of fire can be reached in time, and reduce the matter of time caused by distance, but unmanned plane filling fire extinguisher bomb is limited, it is right
It is large-scale in some, range is larger, multizone fire, can not effectively put out a fire.
Application No. is the utility model patents of CN201720929370.2 to provide a kind of forest extinguishing unmanned plane, by nothing
Man-machine carrying fire extinguisher bomb is put out a fire.Although the patent has prodigious improvement to the above problem, and can reach fire in time
Calamity scene reduces the matter of time caused by distance, but unmanned plane filling fire extinguisher bomb is limited, for some large sizes, range
Larger, multizone fire, can not effectively put out a fire.
Invention content
The fire extinguishing guided missile system and extinguishing method of the purpose of the present invention is to provide a kind of more burning things which may cause a fire disaster based on unmanned plane, with
Solve in the extensive forest fire that more burning things which may cause a fire disaster cause in the prior art, because conflagration area is excessive, more than burning things which may cause a fire disaster due to unmanned plane is shot
It is limited and the problem of cause effectively put out the intensity of a fire.
The fire extinguishing guided missile system of more burning things which may cause a fire disaster based on unmanned plane includes UAV system, ground control station and fire extinguishing
Flat pad is played, the UAV system includes unmanned plane, thermal imaging and visible light photographic device, unmanned plane main control module, GPS
Locating module and picture recognition module,
Ground control station described in the unmanned plane main control module is wirelessly connected, for controlling unmanned plane during flying, storage data
Information sends out control information；
The thermal imaging and visible light photographic device are mounted below the body, are connected with described image identification module,
The image information of thermal imaging and visible light for obtaining scene of fire；
Described image identification module is connected with the unmanned plane main control module, for identifying high temperature source according to image information
Direction, and recognition result and image information are sent to the unmanned plane main control module；
The GPS positioning module is mounted on the unmanned plane to be connected with the unmanned plane main control module, for providing nothing
Man-machine location information；
The fire extinguisher bomb flat pad includes pedestal, caisson, the Ammunition Feed mechanism being located in the caisson, transmitting
Device pedestal, the support pointing device being vertically mounted on the transmitter pedestal, mounted on the support pointing device upper end
Transmitting tube, the igniter being located in the transmitting tube, the flat pad main control module being connect with the ground control station signal, with
The connected Ammunition Feed control module of the flat pad main control module and transmitter control module, the caisson and the hair
Emitter pedestal is fixed on the pedestal, and the ammunition upper box part is equipped with the bomb tube that send that bullet is sent against the transmitting tube, the bullet
Medicine supply control module is connected to the Ammunition Feed mechanism, and the transmitter control module is connected to the support pointing device
With the igniter；
The ground control station includes information processing and the control centre for being wirelessly connected to the unmanned plane main control module, institute
It states information processing and control centre and analyzes fire location and intensity of a fire size, design fire extinguishing scheme and will be described for auxiliary operation person
Fire extinguishing scheme is converted into corresponding control information and is sent to the flat pad main control module.
Preferably, the fire extinguisher bomb flat pad has multiple, and the ground control station further includes control information distribution module,
The input terminal of the control information distribution module is connected with described information processing and control centre, the control information distribution module
Output end have multiple, be connected respectively corresponding flat pad main control module.
Preferably, the Ammunition Feed mechanism includes being mounted on folder bullet manipulator at the top of the caisson, sending with described
Opposite automatically controlled of bomb tube send elastic rod and is equipped with the wheel belt lifting mechanism of single fire extinguisher bomb per lattice, the folder bullet manipulator, described
It is automatically controlled that the electronic control module of elastic rod and the wheel belt lifting mechanism and sensor is sent to be connected to the Ammunition Feed control module.
Preferably, the sensor includes the recognizable camera being located on the folder bullet manipulator, is mounted on the folder
Play mechanical paw end pressure sensor, it is described it is automatically controlled send elastic rod external part close to inductive switching device and be mounted on the wheel belt
Pressure inductor on the load-bearing pawl of lifting mechanism.
Preferably, the support pointing device includes the automatically controlled turntable being mounted on the transmitter pedestal, right angle setting
It electric-controlled hydraulic telescopic rod on the automatically controlled turntable and is mounted on the electric-controlled hydraulic telescopic rod by automatically controlled horizontal rotating shaft
Hold the transmitting pipe support for installing the transmitting tube, the automatically controlled turntable, the electric-controlled hydraulic telescopic rod and the automatically controlled water
The electronic control module and inductor of flat turn axis are connected to the transmitter control module.
Preferably, the inductor include the level angle inductor being located on the automatically controlled turntable, be located at it is described automatically controlled
Position sensor on the extension of hydraulic telescopic rod and the vertical corner inductor being located on the automatically controlled horizontal rotating shaft.
Preferably, the support pointing device further includes that both ends are respectively hinged on the downside of the transmitting tube and the automatically controlled liquid
The auxiliary telescopic bar for pressing telescopic rod extension, the electronic control module of the auxiliary telescopic bar and is located at the auxiliary telescopic bar extension
Position sensor be connected to the transmitter control module.
Preferably, the thermal imaging and visible light photographic device are equipped with is directed toward unidirectional laser range finder with it,
The thermal imaging and visible light photographic device downwards, the unmanned plane be equipped with altimeter, the altimeter and it is described swash
Optar is connected to the unmanned plane main control module, for providing by the elevation information of imaging area.
The present invention provides a kind of a kind of fire extinguishing sides of the fire extinguishing guided missile system of more burning things which may cause a fire disaster based on unmanned plane using above-mentioned
Method includes the following steps：
S1：Fire fighter learns allows several UAV system behind the region that fire occurs by the ground control station
Unmanned plane fly to occur fire region；
S2：After the unmanned plane reaches the region that fire occurs, thermal imaging and visible light photographic device obtain thermal imaging and
The image information of visible light, picture recognition module is by image recognition high temperature source direction, and by recognition result and image information
It is sent to the unmanned plane main control module, the unmanned plane master control module controls unmanned plane is gone at burning things which may cause a fire disaster；
S3：When unmanned plane reaches at burning things which may cause a fire disaster by for show the thermal imaging at burning things which may cause a fire disaster and the image information of visible light, nobody
Machine location information and ground control station is sent to by the elevation information of imaging area；
S4：Described information processing and control centre reach the information analysis sent at burning things which may cause a fire disaster according to each unmanned plane and go out burning things which may cause a fire disaster number
Amount, the intensity of a fire size of each burning things which may cause a fire disaster and specific location, fire fighter formulates under the auxiliary of described information processing and control centre goes out
Fiery scheme, the fire extinguishing scheme include that correspondence target, launch data parameter, bullet number and the use of each fire extinguisher bomb flat pad are gone out
Fire plays type, and the fire extinguishing scheme is converted into control information and is sent to control information distribution module, controls information distribution module
Information decomposition will be controlled as the control information of each fire extinguisher bomb flat pad and be sent to the corresponding flat pad master control mould
Block；
S5：The flat pad main control module of each fire extinguisher bomb flat pad is broken down into ammunition after receiving control information
Supply information and transmitter control information, and Ammunition Feed information is sent to Ammunition Feed control module, the Ammunition Feed control
The fire extinguisher bomb of respective type is sent into the transmitting tube, Ammunition Feed after fire extinguisher bomb is sent out by module accordingly by Ammunition Feed mechanism
The inductor of mechanism send information to flat pad main control module；
S6：Transmitter control information is sent to by the flat pad main control module after receiving the information that fire extinguisher bomb is sent out
Emitter control module, the transmitter control module control the transmitting tube by the support pointing device and aim at burning things which may cause a fire disaster,
And the launch time provided in transmitter control information lights a fire to fire extinguisher bomb and emits；
Step S3 to S6 is repeated later until the image information at the display burning things which may cause a fire disaster that information processing and control centre receive is aobvious
Show that no burning things which may cause a fire disaster carries out step S7；
S7：It recalls unmanned plane and restores the fire extinguisher bomb flat pad to armed state.
Preferably, after the step S3 further includes fire extinguisher bomb transmitting, the unmanned plane is imaged by thermal imaging and visible light
The image information that device obtained and be sent to the ground control cabinet further includes showing the image information of fire extinguisher bomb drop point；
The step S4 further includes, before control information is sent to control information distribution module, described information processing and control
Center processed will be compared at the fire extinguisher bomb drop point shown in image information and the burning things which may cause a fire disaster of display, be emitted in Correction and Control information all
First parameter and use fire extinguisher bomb type.
The advantage of the invention is that：By unmanned function reach in time scene of fire and obtain include burning things which may cause a fire disaster number of locations,
The field datas such as intensity of a fire size.Ground control station can use the more fully information processing of volume bigger function and control centre to carry out
Analysis and auxiliary formulate fire extinguishing scheme.Fire extinguisher bomb flat pad according to fire extinguishing Scheme Choice fire extinguisher bomb model and can provide enough
Fire extinguisher bomb quantity.Therefore the extensive forest fire that more burning things which may cause a fire disaster cause can effectively be put out using the fire extinguishing guided missile system.
Description of the drawings
Fig. 1 is the functional module structure figure of fire extinguishing guided missile system in the present invention；
Fig. 2 is the functional module structure figure of UAV system in the present invention；
Fig. 3 is the functional module structure figure of fire extinguisher bomb flat pad in the present invention；
Fig. 4 is the structural schematic diagram of unmanned plane in the present invention；
Fig. 5 is the structural schematic diagram of fire extinguisher bomb flat pad in the present invention；
Fig. 6 is the structural schematic diagram of ammunition supply structure in the present invention；
Fig. 7 is the flow chart of extinguishing method in the present invention.
Wherein, 1, information processing and control centre, 2, control information distribution module, 3, GPS locating modules, 4, unmanned plane
Main control module, 5, picture recognition module, 6, thermal imaging and visible light photographic device, 7, flat pad main control module, 8, ammunition supplies
To control module, 9, transmitter control module, 10, igniter, 11, laser range finder, 12, unmanned plane, 13, pedestal, 14, send bullet
Pipe, 15, caisson, 16, transmitter pedestal, 17, automatically controlled turntable, 18, electric-controlled hydraulic telescopic rod, 19, auxiliary telescopic bar, 20, hair
Penetrate pipe, 21, automatically controlled horizontal rotating shaft, 22, it is automatically controlled send elastic rod, 23, folder play manipulator, 24, wheel belt lifting mechanism, 25, load-bearing pawl,
26, fire extinguisher bomb.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making further details of theory to the specific embodiment of the invention
It is bright, to help those skilled in the art to have more complete, accurate and deep reason to the inventive concept of the present invention, technical solution
Solution.
The fire extinguishing guided missile system of the present invention provides a kind of more burning things which may cause a fire disaster based on unmanned plane, including UAV system, ground
Control station and fire extinguisher bomb flat pad.Wherein, UAV system includes unmanned plane 12, thermal imaging and visible light photographic device 6, nothing
Man-machine main control module 4, GPS positioning module 3 and picture recognition module 5.
Ground control station described in unmanned plane main control module 4 is wirelessly connected, for controlling the flight of unmanned plane 12, storage data
Information sends out control information.
Thermal imaging and visible light photographic device 6 are mounted below body, are connected with picture recognition module 5, for obtaining fire
The image information of the thermal imaging and visible light at calamity scene.
It is unknown for disaster area terrain information, for the ease of calculating landform, in thermal imaging and visible light photographic device 6
Equipped with unidirectional laser range finder 11 is directed toward with it, thermal imaging and visible light photographic device 6 are downwards.On unmanned plane 12
Equipped with altimeter, altimeter and laser range finder 11 are connected to unmanned plane main control module 4, for providing by the height of imaging area
Information.The elevation information of shooting image-region can be calculated by laser range finder 11 and altimeter in this way.
Picture recognition module 5 is connected with unmanned plane main control module 4, for identifying high temperature source direction according to image information,
And recognition result and image information are sent to unmanned plane main control module 4.Unmanned plane main control module 4 passes through the high-temperature region identified
Domain direction controls unmanned plane 12 and flies towards the direction, if highest temperature area (i.e. fire's point of origin) is immediately below unmanned plane 12
Then unmanned plane 12 hovers here, and information herein is sent to ground control station.
GPS positioning module 3 is mounted on unmanned plane 12 to be connected with unmanned plane main control module 4, for providing unmanned plane 12
Location information.When unmanned plane 12 reaches right over fire's point of origin, this is the information of position at burning things which may cause a fire disaster.
Ground control station includes information processing and the control centre 1 for being wirelessly connected to unmanned plane main control module 4.Information processing
UAV system, which is received, with control centre 1 reaches the location information of the burning things which may cause a fire disaster of transmission at burning things which may cause a fire disaster, elevation information, comprising thermal imaging
With the image information of visible light, it can also show that the heat therefore generated at the drop point and burning things which may cause a fire disaster of fire extinguisher bomb 26 becomes in image information
Change.Fire fighter analyzes fire location and intensity of a fire size by information processing and control centre 1, and further designs fire extinguishing side
Case, information processing and control centre 1 convert fire extinguishing scheme to corresponding control information and send.
Since fire extinguisher bomb flat pad is typically provided with several to cope with the extinguishment requirement of multiple burning things which may cause a fire disaster.Ground control station is also
Including controlling information distribution module 2, the input terminal of control information distribution module 2 is connected with information processing and control centre 1, controls
The output end of information distribution module 2 has multiple, is connected respectively corresponding flat pad main control module 7.
Each fire extinguisher bomb flat pad includes pedestal 13, caisson 15, the Ammunition Feed mechanism being located in caisson 15, hair
Emitter pedestal 16, support pointing device, the hair mounted on support pointing device upper end being vertically mounted on transmitter pedestal 16
Penetrate pipe 20.Caisson 15 and transmitter pedestal 16 are fixed on pedestal 13.Flat pad main control module 7 is equipped in pedestal 13.
15 top of caisson be equipped with when shooting against transmitting tube 20 enter bullet mouth send bomb tube 14, set in caisson 15
There is the Ammunition Feed control module 8 being connected for controlling Ammunition Feed mechanism with flat pad main control module 7.Ammunition Feed mechanism
Including including being mounted on the folder at the top of caisson 15 to play manipulator 23, opposite with bomb tube 14 is sent automatically controlled send elastic rod 22 and every lattice
The wheel belt lifting mechanism 24 of single fire extinguisher bomb 26 is installed.
It includes that it can be allowed to move to the track of 26 top of respective model fire extinguisher bomb, be mounted on track travel that folder, which plays manipulator 23,
The telescopic arm that can be stretched vertically below mechanism and the folder elastic claw mounted on telescopic arm lower end.It is automatically controlled send elastic rod 22 include air pump, with
The electronic control cylinder and push away diving board mounted on electronic control cylinder external part that air pump is connected.Wheel belt lifting mechanism 24 includes conveyer chain turbine
Structure and the load-bearing pawl 25 on conveyer chain carrier bar.The electric chain of transmission chain-wheel mechanism is mounted in caisson 15 pacifies vertically
The upper and lower ends of loading board, load-bearing pawl 25 are mounted on the extension of conveyer chain carrier bar by hinged shaft, and hinged shaft is equipped with and enables load-bearing pawl 25
The torsional spring being bonded with conveyer chain carrier bar under no bullet state.The 26 model phase of fire extinguisher bomb loaded on one group of wheel belt lifting mechanism 24
Together, manipulator 23 is played convenient for folder to take.
The electronic control module that folder plays control track running mechanism, telescopic arm and folder elastic claw in manipulator 23 is connected to Ammunition Feed
Control module 8.The electronic control module that chain-wheel mechanism, air pump and electronic control cylinder are transmitted in wheel belt lifting mechanism 24 is also connected to ammunition confession
To control module 8.It presss from both sides elastic claw interconnecting piece center at the top of it and is equipped with downward recognizable camera for identification on fire extinguisher bomb 26
Type information, pawl end be equipped with pressure sensor.It is automatically controlled that the external part of elastic rod 22 is sent to push away diving board equipped with close switch sense
Answer device.Load-bearing pawl 25 is equipped with pressure inductor.Recognizable camera, pressure sensor, close to inductive switching device and feeling of stress
Device is answered to be all connected to Ammunition Feed control module 8.
Ammunition Feed control module 8 first allows track running mechanism to reach the upper of respective model fire extinguisher bomb 26 when supplying ammunition
Side is identified by recognizable camera.Telescopic arm is controlled after arrival declines and folder elastic claw is enabled to clamp fire extinguisher bomb 26, passes through pressure
The information of force snesor is fed back, and Ammunition Feed control module 8, which clamps the fire extinguisher bomb 26 to move on to, send bomb tube 14 position.It holds
Pressure inductor on weight pawl 25 sends the information that pressure reduces, and Ammunition Feed control module 8 enables the operation of transmission chain-wheel mechanism will
Next fire extinguisher bomb 26 is sent to transmission chain-wheel mechanism upper end.The load-bearing pawl 25 for losing 26 pressure of fire extinguisher bomb is bonded biography under the effect of torsion spring
Send chain carrier bar.The same time, automatically controlled send sensed that fire extinguisher bomb 26, Ammunition Feed control mould on elastic rod 22 close to inductive switching device
Block 8, which receives after inductor sends information, enables electronic control cylinder release, and fire extinguisher bomb 26 is attached in transmitting tube 20.Close to inductive switching device
Information that fire extinguisher bomb 26 is released is sent to Ammunition Feed control module 8, which is fed back to transmitting by Ammunition Feed control module 8
Platform main control module 7, the latter send control information to transmitter control module 9 accordingly again.
By above-mentioned Ammunition Feed control module 8 and Ammunition Feed mechanism can realize automatically to 26 model of fire extinguisher bomb selection,
Bullet, upper bullet and fire extinguisher bomb to be taken 26 is taken to rise, it is increasingly automated, it above bounces journey rapidly, accurately, conveniently, improves this system
Upper bullet efficiency and reliability.
It is equipped with igniter 10 in transmitting tube 20, is used in transmitter pedestal 16 equipped with being connected with flat pad main control module 7
The transmitter control module 9 of control support pointing device and igniter 10.The support pointing device includes being mounted on transmitter
The automatically controlled turntable 17 of 16 upper horizontal of pedestal rotation, passes through the electric-controlled hydraulic telescopic rod 18 being vertically mounted on automatically controlled turntable 17
Automatically controlled horizontal rotating shaft 21 is mounted on 18 upper end of electric-controlled hydraulic telescopic rod and is used to install 20 bearing of transmitting tube of transmitting tube 20 and auxiliary
Help telescopic rod 19.19 both ends of auxiliary telescopic bar are respectively hinged to 20 downside of the transmitting tube and the electric-controlled hydraulic telescopic rod 18 is stretched
Go out portion.
The electronic control module of automatically controlled turntable 17, electric-controlled hydraulic telescopic rod 18 and automatically controlled horizontal rotating shaft 21 is connected to transmitter control
Module 9.Automatically controlled turntable 17 is equipped with the level angle inductor for obtaining its rotational angle.Electric-controlled hydraulic telescopic rod 18 and auxiliary are stretched
The position sensor for obtaining respective external part extension elongation is designed in contracting bar 19.Automatically controlled horizontal rotating shaft 21, which is equipped with, obtains its turn
The vertical corner inductor of dynamic angle.Above-mentioned each position inductor, level angle inductor and vertical corner inductor all connect
To transmitter control module 9.After transmitter control module 9 receives the information comprising launch data and launch time, Schilling is automatically controlled
Hydraulic telescopic rod 18 extends, and transmitting tube 20 is lifted to the height convenient for rotation, then allow automatically controlled turntable 17, automatically controlled horizontal rotating shaft 21
It is operated according to launch data with auxiliary telescopic bar 19, realizes the aiming of transmitting tube 20.Transmitter controls mould after reaching launch time
Block 9 controls igniter 10 and lights a fire, and emits fire extinguisher bomb 26.
It is realized according to transmitter control letter by above-mentioned transmitter control module 9, igniter 10 and support pointing device
Breath be automatically performed transmitter at burning things which may cause a fire disaster automatic aiming and automatic ignition emit.Pointing accuracy is higher, is convenient for ground control station
Adjustment, securely and reliably.
The present invention also provides a kind of a kind of extinguishing methods using above-mentioned fire extinguishing guided missile system, include the following steps：
S1：Fire fighter learns allows the unmanned planes of several UAV system behind the region that fire occurs by ground control station
12, which fly to, occurs the region of fire；
S2：After the unmanned plane reaches the region that fire occurs, thermal imaging and visible light photographic device obtain thermal imaging and
The image information of visible light, picture recognition module is by image recognition high temperature source direction, and by recognition result and image information
It is sent to the unmanned plane main control module, the unmanned plane master control module controls unmanned plane 12 is gone at burning things which may cause a fire disaster；
S3：Unmanned plane 12 will be for showing the thermal imaging at burning things which may cause a fire disaster and the image information of visible light, nothing when reaching at burning things which may cause a fire disaster
Man-machine location information and ground control station is sent to by the elevation information of imaging area；
S4：Information processing and control centre 1 reach the information analysis sent at burning things which may cause a fire disaster according to each unmanned plane 12 and go out burning things which may cause a fire disaster number
Amount, the intensity of a fire size of each burning things which may cause a fire disaster and specific location, fire fighter formulate fire extinguishing side under the auxiliary of information processing and control centre 1
Case, fire extinguishing scheme include correspondence target, launch data parameter, bullet number and 26 kinds of the fire extinguisher bomb of use of each fire extinguisher bomb flat pad
Class, fire extinguishing scheme are converted into control information and are sent to control information distribution module 2, and control information distribution module 2 believes control
Breath is decomposed into the control information of each fire extinguisher bomb flat pad and is sent to corresponding flat pad main control module 7；
S5：The flat pad main control module 7 of each fire extinguisher bomb flat pad is broken down into ammunition confession after receiving control information
Information is controlled to information and transmitter, Ammunition Feed information is sent to Ammunition Feed control module 8, Ammunition Feed control module 8
The fire extinguisher bomb 26 of respective type is sent into transmitting tube 20, Ammunition Feed machine after fire extinguisher bomb 26 is sent out accordingly by Ammunition Feed mechanism
The inductor of structure send information to flat pad main control module 7；
S6：Transmitter control information is sent to by flat pad main control module 7 after receiving the information that fire extinguisher bomb 26 is sent out
Emitter control module 9, transmitter control module 9 is aimed at by supporting pointing device to control transmitting tube 20 at burning things which may cause a fire disaster, and is being emitted
The launch time that device controls information offer emits the igniting of fire extinguisher bomb 26；
Step S3 to S6 is repeated later until the image information at the display burning things which may cause a fire disaster that information processing and control centre 1 receive is aobvious
Show that no burning things which may cause a fire disaster carries out step S7；
S7：It recalls unmanned plane 12 and restores fire extinguisher bomb flat pad to armed state.
Launch data is further adjusted according to 26 drop point of fire extinguisher bomb after emitting fire extinguisher bomb 26 for the ease of every wheel.Step S3
Further include after fire extinguisher bomb 26 emits, unmanned plane 12 includes display fire extinguisher bomb 26 by thermal imaging and the acquisition of visible light photographic device 6
The image information of drop point is simultaneously sent to ground control cabinet.
Step S4 further includes before control information is sent to control information distribution module 2, and information processing and control centre 1 will
It is compared at 26 drop point of fire extinguisher bomb and the burning things which may cause a fire disaster of display shown in image information, launch data parameter in Correction and Control information
With use 26 type of fire extinguisher bomb.
Other burning things which may cause a fire disaster are omitted in order to avoid 12 concentrations of unmanned plane to certain burning things which may cause a fire disaster, in step s 2, work as unmanned plane
Information is sent to ground control station behind the region of 12 arrival generation fire, by fire zone after information processing and the collection of letters of control centre 1
Domain is divided into several plot, and each unmanned plane 12 is allowed to go to accordingly block search burning things which may cause a fire disaster.
After above-mentioned fire extinguishing missile release system and extinguishing method, unmanned plane 12 can reach scene of fire in time and obtain
Including field datas such as burning things which may cause a fire disaster number of locations, intensity of a fire sizes.Ground control station can use volume bigger function more fully information
Processing and control centre 1 are analyzed and are assisted to formulate fire extinguishing scheme.Fire extinguisher bomb flat pad can go out according to fire extinguishing Scheme Choice
26 model of fiery bullet fire extinguisher bomb 26 quantity enough with offer.And the situation after capable of being dropped a bomb according to the scene that unmanned plane 12 obtains is believed
Breath further adjusts the fire extinguishing scheme of next step.Therefore it can more quickly and effectively be put out using the fire extinguishing guided missile system mostly fiery
The extensive forest fire that source is caused, while ensureing the safety of fire fighter, reduce 12 round-trip number of unmanned plane.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, it is or not improved as long as using the method for the present invention design and the improvement of various unsubstantialities that technical solution carries out
Present inventive concept and technical solution are directly applied into other occasions, within the scope of the present invention.
Claims (10)
- The guided missile system 1. a kind of more burning things which may cause a fire disaster based on unmanned plane are put out a fire, it is characterised in that：Including UAV system, ground control station With fire extinguisher bomb flat pad, the UAV system include unmanned plane (12), thermal imaging and visible light photographic device (6), nobody Machine main control module (4), GPS positioning module (3) and picture recognition module (5),The unmanned plane main control module (4) is wirelessly connected with the ground control station, for controlling unmanned plane (12) flight, storage Data information sends out control information；The thermal imaging and visible light photographic device (6) are mounted below the body, with described image identification module (5) phase Even, the image information of thermal imaging and visible light for obtaining scene of fire；Described image identification module (5) is connected with the unmanned plane main control module (4), for according to image information identify high temperature come Source direction, and recognition result and image information are sent to the unmanned plane main control module (4)；The GPS positioning module (3) is mounted on the unmanned plane (12) to be connected with the unmanned plane main control module (4), is used for The location information of unmanned plane (12) is provided；The fire extinguisher bomb flat pad includes pedestal (13), caisson (15), the Ammunition Feed being located in the caisson (15) Mechanism, the support pointing device being vertically mounted on the transmitter pedestal (16), is mounted on the branch at transmitter pedestal (16) The transmitting tube (20) of support pointing device upper end, the igniter (10) being located in the transmitting tube (20) and the ground control station The flat pad main control module (7) of signal connection, the Ammunition Feed control module being connected with the flat pad main control module (7) (8) and transmitter control module (9), the caisson (15) and the transmitter pedestal (16) are fixed on the pedestal (13) On, caisson (15) top is equipped with against what the transmitting tube (20) sent bullet and send bomb tube (14), the Ammunition Feed control Module (8) is connected to the Ammunition Feed mechanism, and the transmitter control module (9) is connected to the support pointing device and institute State igniter (10)；The ground control station includes information processing and the control centre (1) for being wirelessly connected to the unmanned plane main control module (4), Described information processing and control centre (1) analyze fire location and intensity of a fire size, design fire extinguishing scheme simultaneously for auxiliary operation person It converts the fire extinguishing scheme to corresponding control information and is sent to the flat pad main control module (7).
- The guided missile system 2. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 1 are put out a fire, it is characterised in that：It is described to go out Fire, which plays flat pad, to be had multiple, and the ground control station further includes control information distribution module (2), control information distribution mould The input terminal of block (2) is connected with described information processing and control centre (1), the output end of the control information distribution module (2) Have multiple, is connected respectively corresponding flat pad main control module (7).
- The guided missile system 3. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 1 are put out a fire, it is characterised in that：The bullet Medicine feed mechanism include be mounted on folder bullet manipulator (23) at the top of the caisson (15), with described send bomb tube (14) opposite The automatically controlled wheel belt lifting mechanism (24) for sending elastic rod (22) and single fire extinguisher bomb (26) is equipped with per lattice, the folder play manipulator (23), described automatically controlled the electronic control module of elastic rod (22) and the wheel belt lifting mechanism (24) and sensor to be sent to be connected to the ammunition Supply control module (8).
- The guided missile system 4. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 3 are put out a fire, it is characterised in that：The biography Sensor includes the recognizable camera being located on the folder bullet manipulator (23), plays manipulator (23) pawl end mounted on the folder Pressure sensor, it is described it is automatically controlled send elastic rod (22) external part close to inductive switching device and be mounted on the wheel belt lifting mechanism (24) the pressure inductor on load-bearing pawl (25).
- The guided missile system 5. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 1 are put out a fire, it is characterised in that：The branch Support pointing device includes the automatically controlled turntable (17) being mounted on the transmitter pedestal (16), is vertically mounted on the automatically controlled turntable (17) electric-controlled hydraulic telescopic rod (18) on and the electric-controlled hydraulic telescopic rod (18) is mounted on by automatically controlled horizontal rotating shaft (21) Upper end is used to install transmitting tube (20) bearing of the transmitting tube (20), and the automatically controlled turntable (17), the electric-controlled hydraulic are flexible The electronic control module and inductor of bar (18) and the automatically controlled horizontal rotating shaft (21) are connected to the transmitter control module (9).
- The guided missile system 6. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 5 are put out a fire, it is characterised in that：The sense Device is answered to include the level angle inductor being located on the automatically controlled turntable (17), be located at stretching for electric-controlled hydraulic telescopic rod (18) The vertical corner inductor for going out the position sensor in portion and being located on the automatically controlled horizontal rotating shaft (21).
- The guided missile system 7. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 6 are put out a fire, it is characterised in that：The branch Support pointing device further includes that both ends are respectively hinged to stretch out with the electric-controlled hydraulic telescopic rod (18) on the downside of the transmitting tube (20) The auxiliary telescopic bar (19) in portion, the electronic control module of the auxiliary telescopic bar (19) and is located at auxiliary telescopic bar (19) extension Position sensor be connected to the transmitter control module (9).
- The guided missile system 8. a kind of more burning things which may cause a fire disaster based on unmanned plane according to claim 1 are put out a fire, it is characterised in that：The heat Imaging and visible light photographic device (6) are equipped with is directed toward unidirectional laser range finder (11) with it, the thermal imaging and can Downwards depending on light photographic device (6), the unmanned plane (12) is equipped with altimeter, the altimeter and the laser range finder (11) it is connected to the unmanned plane main control module (4), for providing by the elevation information of imaging area.
- 9. using one of a kind of more burning things which may cause a fire disaster fire extinguishing guided missile system based on unmanned plane according to any one of claim 1-8 Kind extinguishing method, it is characterised in that：Include the following steps：S1：Fire fighter learns allows the nothings of several UAV system behind the region that fire occurs by the ground control station Man-machine (12), which are flown to, occurs the region of fire；S2：After the unmanned plane (12) reaches the region that fire occurs, thermal imaging and visible light photographic device (6) obtain thermal imaging And the image information of visible light, picture recognition module (5) is by image recognition high temperature source direction, and by recognition result and image Information is sent to the unmanned plane main control module (4), and unmanned plane main control module (4) the control unmanned plane (12) goes to burning things which may cause a fire disaster Place；S3：When unmanned plane (12) reaches at burning things which may cause a fire disaster by for show the thermal imaging at burning things which may cause a fire disaster and the image information of visible light, nobody Machine location information and ground control station is sent to by the elevation information of imaging area；S4：Described information processing and control centre (1) reach the information analysis sent at burning things which may cause a fire disaster according to each unmanned plane (12) and go out fire Source quantity, the intensity of a fire size of each burning things which may cause a fire disaster and specific location, fire fighter is under the auxiliary of described information processing and control centre (1) Formulate fire extinguishing scheme, the fire extinguishing scheme include the correspondence target of each fire extinguisher bomb flat pad, launch data parameter, bullet number and Using fire extinguisher bomb (26) type, the fire extinguishing scheme is converted into control information and is sent to control information distribution module (2), control Information distribution module (2) will control information decomposition as the control information of each fire extinguisher bomb flat pad and be sent to corresponding described Flat pad main control module (7)；S5：The flat pad main control module (7) of each fire extinguisher bomb flat pad is broken down into ammunition after receiving control information Supply information and transmitter control information, and Ammunition Feed information is sent to Ammunition Feed control module (8), the Ammunition Feed control The fire extinguisher bomb (26) of respective type is sent into the transmitting tube (20), fire extinguisher bomb by molding block (8) accordingly by Ammunition Feed mechanism (26) inductor of Ammunition Feed mechanism send information to flat pad main control module (7) after sending out；S6：The flat pad main control module (7) sends transmitter control information after receiving the information that fire extinguisher bomb (26) is sent out To transmitter control module (9), the transmitter control module (9) controls the transmitting tube by the support pointing device (20) launch time aimed at burning things which may cause a fire disaster, and provided in transmitter control information, which lights a fire to fire extinguisher bomb (26), to be emitted；Step S3 to S6 is repeated later until the image information display shown at burning things which may cause a fire disaster that information processing and control centre (1) receive No burning things which may cause a fire disaster carries out step S7；S7：It recalls unmanned plane (12) and restores the fire extinguisher bomb flat pad to armed state.
- 10. a kind of extinguishing method according to claim 9, it is characterised in that：The step S3 further includes fire extinguisher bomb (26) After transmitting, the unmanned plane (12) is obtained by thermal imaging and visible light photographic device (6) and is sent to the ground control cabinet Image information further include show fire extinguisher bomb (26) drop point image information；The step S4 further includes, before control information is sent to control information distribution module (2), described information processing and control Center (1) will be compared at the fire extinguisher bomb shown in image information (26) drop point and the burning things which may cause a fire disaster of display, in Correction and Control information Launch data parameter and use fire extinguisher bomb (26) type.
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