阅读说明：本技术 一种无人机专用空中爆开灭火弹、投放装置及投放方法 (Aerial bursting fire extinguishing bomb special for unmanned aerial vehicle, throwing device and throwing method ) 是由 汪洋 余琴琴 于 2021-06-30 设计创作，主要内容包括：本发明公开了本发明一种无人机专用空中爆开灭火弹、投放装置及投放方法,灭火弹是在空中爆开的,不会滚动,因此可以精准的消灭火点；灭火弹在空中爆开,只要精准的控制爆开时间,那么就能够精准的控制灭火范围,且灭火剂分布相对更加均匀；本发明能够精准的定位地面目标位置,增加了抛投的准确性,减小了浪费和风险,增加了救援效率。解决了灭火弹滚动导致灭火不精准的难题。空中爆开可以使得灭火剂分散更加均匀,灭火效果更好。空中爆开可以一定程度增加有效灭火范围。空中爆开的灭火弹,不会对地面人员造成风险。灭火弹需要人工开启并获得控制信号才会爆开,运输使用更加安全。精准投放可以减少灭火弹浪费。(The invention discloses a special aerial explosion fire extinguishing bomb for an unmanned aerial vehicle, a throwing device and a throwing method, wherein the fire extinguishing bomb is exploded in the air and cannot roll, so that fire points can be eliminated accurately; the fire extinguishing bomb explodes in the air, so that the fire extinguishing range can be accurately controlled as long as the explosion time is accurately controlled, and the distribution of the fire extinguishing agent is relatively more uniform; the invention can accurately position the ground target position, increases the accuracy of throwing, reduces waste and risk and increases the rescue efficiency. The problem of fire extinguishing is not accurate because the fire extinguishing bomb rolls is solved. The air explosion can lead the fire extinguishing agent to be dispersed more evenly and the fire extinguishing effect to be better. The effective fire extinguishing range can be increased to a certain extent by explosion in the air. The fire extinguishing bomb exploded in the air can not cause risks to ground personnel. The fire extinguishing bomb needs to be manually opened and obtains a control signal to burst, and the transportation and the use are safer. The accurate throwing can reduce the fire extinguishing bomb waste.)

1. A fire extinguishing bomb special for unmanned aerial vehicle, comprising: a protective shell (8); the wireless receiving and controlling device is characterized in that wireless receiving and controlling devices (1) are arranged on two sides, close to the inner wall, of the inner portion of the protective shell (8), driving media (6) are further arranged in the protective shell (8), a trigger fuse (5) used for igniting the driving media (6) is arranged on the driving media (6), a battery box (4) is arranged on the outer wall of the protective shell (8), and a power switch (2) is arranged on the battery box (4); the wireless receiving and controlling device is characterized in that the battery box (4) supplies power to the wireless receiving and controlling device (1), the wireless receiving and controlling device (1) controls the trigger fuse (5), and a fire extinguishing agent (7) is further arranged inside the protective shell (8).

2. The fire extinguishing bomb special for unmanned aerial vehicle of claim 1, further comprising: an indicator light (3); the indicating lamp (3) is connected with the battery box (4) and the wireless receiving and controlling device (1) at the same time, and the working state of the fire extinguishing bomb is prompted through different flashing states.

3. A special throwing control device for an unmanned aerial vehicle is characterized by comprising a cradle head pod module and a throwing cabin (24), wherein the cradle head pod module comprises a camera (17), a camera lens (18) and a range finder (19);

a fire extinguishing bomb according to any one of claims 1-2 is placed in the throwing bin (24); the camera lens (18) and the range finder (19) are arranged on the camera (17);

the unmanned aerial vehicle special aerial bursting fire extinguishing bomb comprises a data processing module (21), a signal receiving and transmitting module (22), a ground control end (25) of the unmanned aerial vehicle, a wireless receiving and controlling device (1) and a throwing cabin control panel (23) in the unmanned aerial vehicle special aerial bursting fire extinguishing bomb according to claim 1;

the data processing module (21) is in communication connection with the range finder (19) and the camera (17); the data processing module (21) is in communication connection with the signal receiving and transmitting module (22); the ground control end (25) of the unmanned aerial vehicle is in communication connection with the signal receiving and transmitting module (22); the wireless receiving and transmitting controller (1) is in communication connection with the signal receiving and transmitting module (22); the throwing cabin control panel (23) is in communication connection with the signal receiving and transmitting module (22), and the throwing cabin control panel (23) is electrically connected with the throwing cabin (24).

4. A special launch control device for unmanned aerial vehicles according to claim 3, characterised by further comprising shock-absorbing connecting balls (9) and mounting plates (10); the shock absorption connecting balls (9) are uniformly arranged on the top surface of the hanging support plate (10), and the cradle head pod further comprises a cradle head stabilizer which is arranged on the bottom surface of the hanging support plate (10).

5. The special launch control device for unmanned aerial vehicle of claim 4, wherein the pan-tilt stabilizer comprises: the hanging and carrying device comprises a first connecting piece (111), a second connecting piece (112), a third connecting piece (113), an X-axis motor (12), a Y-axis motor (13) and a Z-axis motor (14), wherein the middle part of the bottom surface of the hanging and carrying plate (10) is connected with one side of the first connecting piece (11), one side, far away from the hanging and carrying plate (10), of the first connecting piece (111) is connected with one side of the Z-axis motor (14), the other side of the Z-axis motor (14) is connected with one side of the X-axis motor (12) through the second connecting piece (112), and the other side of the X-axis motor (12) is connected with one side of the Y-axis motor (13) through the third connecting piece (113); the camera (17) is arranged on the lower side of the Y-axis motor (13).

6. A launch control device, in particular for unmanned aerial vehicles, according to claim 4, characterised in that said shock-absorbing connection balls (9) are in flexible fixed connection with said suspension plate (10).

7. The special launch control device for unmanned aerial vehicles according to claim 5, wherein the cradle head pod further comprises an electrical tuning unit (15) and a gyroscope cradle head control board (16), and the gyroscope cradle head control board (16) sends a control signal to drive the electrical tuning unit (15); the electric adjusting group (15) sends out control signals according to the gyroscope pan-tilt control panel (16) to control the Z-axis motor (14), the X-axis motor (12) and the Y-axis motor (13) to rotate in Z, X and Y axial directions and indirectly control the camera (17) and the range finder (19) to stably rotate, and the shaking of the camera (17) and the range finder (19) is eliminated.

8. The special launch control device for unmanned aerial vehicle as claimed in claim 3, wherein the cradle head pod further comprises an image transmission and data transmission integrated module (20), the image transmission and data transmission integrated module (20) is communicatively connected with the camera (17) and the range finder (19), and the image transmission and data transmission integrated module (20) is used for transmitting the image and distance information collected by the camera (17) and the range finder (19) to the ground control end (25) of the unmanned aerial vehicle.

9. The special throwing control device for the unmanned aerial vehicle as claimed in claim 3, wherein the range finder (19) adopts a laser range finder, the laser range finder emits a laser beam to the ground, receives a reflected signal, calculates the distance S between a measurement position and the unmanned aerial vehicle according to the time difference between the emitted and received signals, when the laser range finder faces vertically downwards, the measured distance is the vertical height H between the unmanned aerial vehicle and the ground, calculates the explosion time T1 from the current height of the unmanned aerial vehicle to the free falling body of the ground fire extinguishing bomb by the trigger data processing module (21), the laser beam emitted by the laser range finder forms a light spot on the ground, when the laser range finder faces vertically downwards, the light spot is the projection of the unmanned aerial vehicle on the ground, and the position of the unmanned aerial vehicle projected on the ground can be assisted and positioned according to the position of the light spot.

10. An aerial delivery method special for an unmanned aerial vehicle, characterized in that the aerial delivery method special for the unmanned aerial vehicle is based on the aerial delivery control system special for the unmanned aerial vehicle of any one of claims 3 to 9, and the aerial delivery method special for the unmanned aerial vehicle executes the following steps:

s1: after the unmanned aerial vehicle takes off, the camera (17) and the range finder (19) start to work to collect image information and distance information S, and the image information and the distance information S are sent back to the ground control end (25) by the aid of the image transmission and data transmission integrated module (20) and are consulted by ground personnel. After the unmanned aerial vehicle arrives above a target object, the ground surface target position is accurately positioned by utilizing the light spot vertically projected downwards on the ground by the range finder (19), ground personnel confirm that the target position is overlapped with the light spot through the returned image, and at the moment, the unmanned aerial vehicle accurately arrives above a reserved target position. When the distance meter is vertically downward, the triggering acquisition height information H is sent to a data processing module for preprocessing, and the hypothetical touchdown explosion time T1 is obtained;

s2: the data processing module (21) sends the virtual ground explosion time T1 to a ground control end (25) of the unmanned aerial vehicle through the signal receiving and transmitting module (22);

s3: the ground control end (25) of the unmanned aerial vehicle judges the actual requirement according to the virtual ground contact and explosion time T1 calculated in the step S1, namely whether the actual ground contact and explosion time T2 is obtained by judging whether the actual ground contact and explosion time is delayed or accelerated;

s4: after the actual ground-contacting explosion-opening time T2 is obtained, the ground control end (25) of the unmanned aerial vehicle sends an instruction for opening the throwing cabin (24) to the throwing cabin control panel (23) through the signal receiving and transmitting module (22);

s5: the throwing bin control panel (23) controls the throwing bin (24) to be opened, if the throwing bin control panel is successfully opened, the throwing bin control panel (23) feeds back an opening success signal to be sent to the wireless receiving and transmitting controller (1) through the signal receiving and transmitting module (22); if the throwing cabin fails to be opened, the throwing cabin control panel (23) feeds back an opening failure signal to be sent to the wireless receiving and transmitting controller (1) through the signal receiving and transmitting module (22).

S6, the wireless receiving and controlling device (1) receives the signal that the door is opened successfully, and triggers the self controlling part to start to count down T2, namely, the electric trigger fuse (5) is triggered after the time T2; if a signal of the failure of opening the bin gate is received, the countdown is not triggered, and the electric trigger fuse (5) is not triggered;

s7: the control signal of the wireless receiving and controller (1) triggers the electric trigger fuse (5), the electric trigger fuse (5) detonates the driving medium (6), and the driving medium (6) enables the protective shell (8) to break and pushes the fire extinguishing agent (7) to uniformly spread to cover the target position, so that the fire source is extinguished.

Technical Field

The invention relates to the field of fire extinguishing bombs, in particular to an aerial bursting fire extinguishing bomb special for an unmanned aerial vehicle, a throwing device and a throwing method.

Background

The existing unmanned aerial vehicle fire extinguishing mode mainly adopts a throwing fire extinguishing bomb, but the conventional fire extinguishing bomb is mainly circular or in other shapes, is easy to collide and burst in the transportation process, can roll on the ground after being thrown from high altitude, and can burst only by igniting a fuse in a burning fire source, the mode can take several seconds, the fire extinguishing bomb can roll out of a flame area early, and therefore the fire extinguishing bomb cannot accurately extinguish the fire point in practical application.

The fire extinguishing bomb exploded on the ground has a relatively small fire extinguishing range and uneven distribution of fire extinguishing agents. If the bomb is changed into a ground explosion type fire extinguishing bomb, the fire extinguishing bomb can be exploded due to collision during transportation or use, is very unsafe, and can cause danger to ground personnel when being thrown.

The fire extinguishing bomb thrown by the conventional mode is difficult to accurately throw, the using time and materials are increased, and waste and more risks are caused.

Disclosure of Invention

The invention aims to solve the technical problems that fire extinguishing bombs cannot accurately extinguish fire, are easy to collide and burst in the transportation process, cannot realize timing explosion of the fire extinguishing bombs and the like in the prior art, and aims to provide the aerial burst fire extinguishing bomb, the throwing device and the throwing method special for the unmanned aerial vehicle. The fire extinguishing bomb needs to be manually opened and obtains a control signal to burst, and the transportation and the use are safer.

The invention is realized by the following technical scheme:

a special aerial explosion fire extinguishing bomb for unmanned aerial vehicle comprises: a protective shell; the wireless receiving and controlling device is arranged on two sides, close to the inner wall, of the interior of the protective shell, the driving medium is further arranged in the protective shell, an electric trigger fuse for igniting the driving medium is arranged on the driving medium, a battery box is arranged on the outer wall of the protective shell, and a power switch and an indicator light are arranged on the battery box; the battery case supplies power in wireless receiving and controller, wireless receiving and controller control the trigger fuse, the trigger fuse adopts the electricity to trigger the fuse, the inside of protective housing still is provided with fire extinguishing agent. Furthermore, the wireless receiving and control devices are symmetrically distributed, and the two wireless receiving and control devices are symmetrically distributed, so that the aircraft signals (mainly including the signal whether the throwing bin is successfully opened or not and the explosion time T2) can be accurately received; the fire extinguishing ball circuit is activated when the power switch is turned on, but still needs a corresponding control signal to detonate, and the indicating lamp is connected with the wireless receiving and controlling device and the battery box and indicates the current working state of the fire extinguishing ball through different flashing states; the protective shell is used for protecting each element in the structure and is also a container for fire extinguishing agents and the like; the fire extinguishing agent is a main working unit of the fire extinguishing bomb and is used for extinguishing fire, and meanwhile, the fire extinguishing agent is also a buffering agent and protects all units in the structure from being exploded due to collision and the like.

The driving medium is a power driving medium for bursting the fire extinguishing bomb, the distribution condition of the driving medium is determined by the fire extinguishing effect, and the driving medium can be intensively placed or uniformly distributed in the fire extinguishing bomb; the electrically triggered fuze will detonate the drive medium in response to the received signal. The protective housing is spherical.

Further, the pilot lamp is connected battery case and wireless receiving and controller simultaneously, through the operating condition of the scintillation state suggestion fire extinguishing bomb of difference.

A special throwing control device for an unmanned aerial vehicle is characterized in that any one fire extinguishing bomb is arranged in a throwing bin; the device comprises a cradle head pod module and a throwing bin, wherein the cradle head pod module comprises a camera, a camera lens and a range finder; the fire extinguishing bomb is placed in the throwing bin; the camera lens and the range finder are arranged on the camera. The distance meter transmits a laser beam to the ground, receives a reflected signal, and calculates the distance S between a measurement position and the unmanned aerial vehicle according to the time difference between the transmitted signal and the received signal; when the distancer was vertical downwards, the distance that records this moment was the vertical height H of unmanned aerial vehicle and ground, will trigger data processing module this moment and calculate the time T1 that explodes of current unmanned aerial vehicle height to ground fire extinguishing bomb free fall. The laser beam that the distancer transmitted can form the light spot on ground, and when the distancer was vertical decurrent, this light spot was the subaerial projection of unmanned aerial vehicle for, and the ground personnel confirm target location and light spot overlap through the image that passes back, and unmanned aerial vehicle has arrived promptly accurately at this moment and has booked the target location overhead. The position according to this facula can assistance-localization real-time unmanned aerial vehicle in the projected position in ground to it is more accurate to make the fire extinguishing bomb put in.

The system also comprises a data processing module, a signal receiving and transmitting module, a picture transmission and data transmission integrated module, a ground control end of the unmanned aerial vehicle, the wireless receiving and controller in the aerial bursting fire extinguishing bomb special for the unmanned aerial vehicle and a throwing cabin control panel; the data processing module is in communication connection with the range finder and the camera; the data processing module is in communication connection with the signal receiving and transmitting module; the image transmission and data transmission integrated module transmits images and data to the ground control end through wireless signals; the ground control end of the unmanned aerial vehicle is in communication connection with the signal receiving and transmitting module; the wireless receiving and transmitting controller is in communication connection with the signal receiving and transmitting module; the throwing cabin control panel is in communication connection with the signal receiving and transmitting module, and the throwing cabin control panel is electrically connected with the throwing cabin.

Further, the shock absorption connecting ball and the hanging support plate are further included; the shock absorption connecting balls are evenly arranged on the top surface of the hanging plate, and the cradle head pod further comprises a cradle head stabilizer which is arranged on the bottom surface of the hanging plate. Further shock attenuation is connected the ball and is set up four angles at the hanging board top surface, the cloud platform stabilizer is installed on hanging the board bottom surface.

The cradle head stabilizer comprises a damping connecting ball, a first connecting piece, a second connecting piece, a third connecting piece, an X-axis motor, a Y-axis motor and a Z-axis motor, wherein the middle part of the bottom surface of the hanging and carrying plate is connected with one side of the first connecting piece, one side, far away from the hanging and carrying plate, of the first connecting piece is connected with one side of the Z-axis motor, the other side of the Z-axis motor is connected with one side of the X-axis motor through the second connecting piece, and the other side of the X-axis motor is connected with one side of the Y-axis motor through the third connecting piece; the camera is disposed at a lower side of the Y-axis motor.

Further, the ball is connected in the shock attenuation with the flexible fixed connection of carry board reduces the vibrations transmission between unmanned aerial vehicle and the carry board, realizes absorbing function.

Further, the cradle head pod also comprises an electric adjusting unit and a gyroscope cradle head control board, and the gyroscope cradle head control board sends a control signal to drive the electric adjusting unit; the electric adjusting group sends out control signals according to the control panel of the gyroscope holder to control the Z-axis motor, the X-axis motor and the Y-axis motor to rotate in three axial directions of Z, X and Y, indirectly control the camera and the range finder to stably rotate, and eliminate the shaking of the camera and the range finder.

Further, the cradle head pod further comprises an image transmission and data transmission integrated module, the image transmission and data transmission integrated module is in communication connection with the camera and the range finder, and the image transmission and data transmission integrated module is used for transmitting images and distance information collected by the camera and the range finder to a ground control end of the unmanned aerial vehicle.

Further, the distance measuring instrument adopts a laser distance measuring instrument, the laser distance measuring instrument transmits laser beams to the ground, receives reflected signals, and calculates the distance S between the measuring position and the unmanned aerial vehicle according to the time difference of the transmitted and received signals;

the special aerial delivery method for the unmanned aerial vehicle is based on any one of the special aerial delivery control systems for the unmanned aerial vehicle, and executes the following steps:

s1: after the unmanned aerial vehicle takes off, the camera and the range finder start working to collect image information and distance information S, and the image information and the distance information S are sent back to the ground control end by the image transmission and data transmission integrated module for ground personnel to look up. After the unmanned aerial vehicle arrives above a target object, the ground surface target position is accurately positioned by utilizing the light spot vertically projected downwards on the ground by the range finder, ground personnel confirm that the target position is overlapped with the light spot through the transmitted image, and the unmanned aerial vehicle accurately arrives above a reserved target position at the moment. When the distance meter is vertically downward, the triggering acquisition height information H is sent to a data processing module for preprocessing, and the hypothetical touchdown explosion time T1 is obtained;

s2: the data processing module sends the supposed ground explosion time T1 to a ground control end of the unmanned aerial vehicle through a signal receiving and transmitting module;

s3: the ground control end of the unmanned aerial vehicle judges the actual requirement according to the virtual ground contact and explosion time T1 calculated in the step S1, namely whether the actual ground contact and explosion time T2 is obtained by judging whether the actual ground contact and explosion time is delayed or accelerated;

s4: after the actual ground-touching explosion time T2 is obtained, the ground control end of the unmanned aerial vehicle sends a throwing bin opening instruction to a throwing bin control panel (23) through a signal receiving and transmitting module;

s5: the throwing bin control panel controls the throwing bin to be opened, and if the throwing bin control panel is successfully opened, the throwing bin control panel feeds back an opening success signal to be sent to the wireless receiving and transmitting controller through the signal receiving and transmitting module; if the throwing bin fails to be opened, the throwing bin control panel feeds back an opening failure signal to be sent to the wireless receiving and transmitting controller through the signal receiving and transmitting module.

S6, the wireless receiving and control device receives the signal that the door is opened successfully, and triggers the self control part to start to count down T2, namely, the electric trigger fuse is triggered after the time T2; if a signal of the failed opening of the bin gate is received, the countdown is not triggered, and the electric trigger signal is not triggered;

s7: the control signal of the wireless receiving and controller triggers the electric trigger fuse, the electric trigger fuse detonates the driving medium, and the driving medium enables the protective shell to break and pushes the fire extinguishing agent to uniformly spread and cover the target position, so that the fire source is extinguished.

Compared with the prior art, the invention has the following advantages and beneficial effects:

the invention relates to a special aerial bursting fire extinguishing bomb for an unmanned aerial vehicle, a throwing device and a throwing method, wherein the fire extinguishing bomb bursts in the air and cannot roll, so that fire points can be eliminated accurately; the fire extinguishing bomb explodes in the air, so that the fire extinguishing range can be accurately controlled as long as the explosion time is accurately controlled, and the distribution of the fire extinguishing agent is relatively more uniform; the fire extinguishing bomb exploded in the air is not contacted with the ground, so that people on the ground which are not found are relatively safe and cannot be hit by the fire extinguishing bomb; the fire extinguishing bomb exploded in the air cannot be detonated in the transportation process and the use process, so that the fire extinguishing bomb is very safe; the invention can accurately position the ground target position, increases the accuracy of throwing, reduces waste and risk and increases the rescue efficiency.

The invention adopts laser spot overlapping positioning, so that the positioning of the throwing is more accurate, and the misthrowing is avoided. The problem of the fire extinguishing bullet roll lead to putting out a fire inaccurate is solved. The air explosion can lead the fire extinguishing agent to be dispersed more evenly and the fire extinguishing effect to be better. The effective fire extinguishing range can be increased to a certain extent by air explosion. The fire extinguishing bomb exploded in the air can not cause risks to ground personnel. The fire extinguishing bomb needs to be manually opened and obtains a control signal to burst, and the transportation and the use are safer. The accurate throwing can reduce the fire extinguishing bomb waste.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic view of the construction of a fire extinguishing bomb according to the present invention;

fig. 2 is a schematic diagram of a fire extinguishing bomb control system.

Reference numerals

1-a wireless receiving and control unit; 2-a power switch; 3-an indicator light; 4-a battery box; 5-triggering a fuse; 6-a drive medium; 7-a fire extinguishing agent; 8-protective shell; 9-shock-absorbing connecting balls; 10-hanging a carrier plate; 111-a first connector; 112-a second connector; 113-a third connection; 12-X axis motors; 13-Y axis motor; a 14-Z axis motor; 15-driving the electric regulating group; 16-a gyroscope pan-tilt control panel; 17-a camera; 18-a camera lens; 19-laser rangefinder; 20-a graph transmission and data transmission integrated module; 21-a data processing module; 22-signal receiving and transmitting module; 23-a throwing cabin control panel; 24-a throwing bin; 25-ground control end of unmanned plane.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not used as limitations of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations and positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.

Example one

As shown in fig. 1, a fire extinguishing bomb dedicated for unmanned aerial vehicle in air burst comprises: a protective shell 8; the wireless receiving and control device 1 is symmetrically arranged in the protective shell 8, the driving medium 6 is further arranged in the protective shell 8, the driving medium 6 is provided with an electric trigger fuse 5 used for igniting the driving medium 6, the outer wall of the protective shell 8 is provided with a battery box 4, and the battery box 4 is provided with a power switch 2 and an indicator lamp 3; the battery case 4 supplies power in wireless receiving and controller 1, and wireless receiving and controller 1 control electricity triggers fuse 5, and the inside of protective housing 8 still is provided with fire extinguishing agent 7. The two wireless receiving and controlling devices which are symmetrically distributed ensure that aircraft signals (mainly including the opening time of a throwing bin and the distance measured by a distance measuring instrument) can be accurately received, and the unit controls an electric trigger fuse 5 of a fire extinguishing bomb by receiving the signals from the aircraft so as to control the bursting time; the battery box 4 is provided with a detachable battery and used for providing electric power for driving all parts of the fire extinguishing bomb to work, a power switch 2 is arranged on the battery box 4 to cut off or turn on the power supply, when the power switch 2 is turned off, the fire extinguishing bomb cannot be started and cannot explode, when the power switch 2 is turned on, a fire extinguishing ball circuit is activated and still needs a corresponding control signal to detonate, the indicating lamp 3 is connected with the wireless receiving and control device 1 and the battery box 4, and the working state of the current fire extinguishing bomb is indicated through different flashing states; the protective shell 8 is used for protecting each element in the structure and is also a container for fire extinguishing agents and the like; the fire extinguishing agent 7 is the main working unit of the fire extinguishing bomb and is used for extinguishing fire, and is also a buffering agent to protect each unit in the structure from being exploded due to impact and the like.

The driving medium is a power driving medium for bursting the fire extinguishing bomb, the distribution condition of the driving medium is determined by the fire extinguishing effect, and the driving medium can be intensively placed or uniformly distributed in the fire extinguishing bomb; the electrically triggered fuze 5 will detonate the drive medium 6 upon receipt of a signal. The protective shell 8 is spherical.

The indicator light 3 is connected with the battery box 4 and the wireless receiving and controlling device 1 at the same time, and prompts the working state of the fire extinguishing bomb through different flashing states.

As shown in fig. 2, a dedicated launch control device for an unmanned aerial vehicle, which can be fixed below the wings of the unmanned aerial vehicle or below the abdomen of the unmanned aerial vehicle, includes a cradle head pod module and a launch cabin 24, wherein the cradle head pod module includes a camera 17, a camera lens 18 and a range finder 19; the fire extinguishing bomb is arranged in the throwing bin 24; the camera lens 18 and the range finder 19 are provided on the camera 17.

The distance meter 19 transmits a laser beam to the ground, receives the reflected signal, and calculates the distance S between the measurement position and the unmanned aerial vehicle according to the time difference between the transmitted and received signals; the unmanned aerial vehicle aerial bursting fire extinguishing bomb further comprises a data processing module 21, a signal receiving and transmitting module 22, a ground control end 25 of the unmanned aerial vehicle, the wireless receiving and controller 1 in the aerial bursting fire extinguishing bomb special for the unmanned aerial vehicle and a throwing cabin control panel 23; the data processing module 21 is in communication connection with the range finder 19 and the camera 17; the data processing module 21 is in communication connection with the signal receiving and transmitting module 22; the ground control end 25 of the unmanned aerial vehicle is in communication connection with the signal receiving and transmitting module 22; the wireless receiving and controlling device 1 is connected with the signal receiving and transmitting module 22 in a communication way; the throwing cabin control board 23 is in communication connection with the signal receiving and transmitting module 22, and the throwing cabin control board 23 is electrically connected with the throwing cabin 24.

It can be understood that: the fire extinguishing bomb explodes in the air and cannot roll, so that fire points can be accurately extinguished; the fire extinguishing bomb explodes in the air, so that the fire extinguishing range can be accurately controlled as long as the explosion time is accurately controlled, and the distribution of the fire extinguishing agent is relatively more uniform; the fire extinguishing bomb exploded in the air is not contacted with the ground, so that personnel on the ground which are not found can be relatively safe and cannot be hit by the fire extinguishing bomb; the fire extinguishing bomb exploded in the air cannot be detonated in the transportation process and the use process, so that the fire extinguishing bomb is very safe; the invention can accurately position the ground target position, increases the accuracy of throwing, reduces waste and risk and increases the rescue efficiency.

The shock absorption connecting ball 9 and the mounting plate 10 are also included; the shock absorption connecting balls 9 are uniformly arranged on the top surface of the hanging plate 10, and the cradle head pod further comprises a cradle head stabilizer which is arranged on the bottom surface of the hanging plate 10.

The holder stabilizer includes: the vibration-damping connecting ball 9 is arranged at four corners of the top surface of the hanging and carrying plate 10, the middle part of the bottom surface of the hanging and carrying plate 10 is connected with one side of the connecting piece 11, one side of the first connecting piece 111, far away from the hanging and carrying plate 10, is connected with one side of the Z-axis motor 14, the other side of the Z-axis motor 14 is connected with one side of the X-axis motor 12 through the second connecting piece 112, and the other side of the X-axis motor 12 is connected with one side of the Y-axis motor 13 through the third connecting piece 113; the camera 17 is disposed on the lower side of the Y-axis motor 13.

The shock attenuation is connected ball 9 and the flexible fixed connection of carry board 10, reduces the vibrations transmission between unmanned aerial vehicle and the carry board, realizes the function of shock attenuation.

The cradle head pod also comprises an electric adjusting unit 15 and a gyroscope cradle head control board 16, and the gyroscope cradle head control board 16 sends a control signal to drive the electric adjusting unit 15; the electric adjusting group 15 sends out control signals according to the control panel 16 of the gyroscope pan-tilt head to control the Z-axis motor 14, the X-axis motor 12 and the Y-axis motor 13 to rotate in three axial directions of Z, X and Y, indirectly control the camera 17 and the range finder 19 to stably rotate, and eliminate the shaking of the camera 17 and the range finder 19. The cradle head pod further comprises an image transmission and data transmission integrated module 20, the image transmission and data transmission integrated module 20 is in communication connection with the camera 17 and the range finder 19, and the image transmission and data transmission integrated module 20 is used for transmitting images and distance information collected by the camera 17 and the range finder 19 to a ground control end 25 of the unmanned aerial vehicle.

The distance measuring instrument 19 adopts a laser distance measuring instrument, the laser distance measuring instrument transmits laser beams to the ground, receives reflected signals and calculates the distance S between a measuring position and the unmanned aerial vehicle according to the time difference of the transmitted and received signals; when the distancer was for perpendicular when downwards, the distance that records this moment is the vertical height H of unmanned aerial vehicle and ground, will trigger data processing module this moment and calculate the time T1 that explodes of current unmanned aerial vehicle height to ground fire extinguishing bomb free fall. The laser beam of distancer transmission can form the facula on ground, and when the perpendicular decurrent time of distancer, this facula is unmanned aerial vehicle projection subaerial promptly, and the position according to this facula can assistance-localization real-time unmanned aerial vehicle in the projected position in ground to it is more accurate to make the fire extinguishing bomb put in.

The aerial delivery method special for the unmanned aerial vehicle comprises the following steps:

s1: after the unmanned aerial vehicle takes off, the camera 17 and the range finder 19 start to work to collect image information and distance information S, and the image information and distance information S are sent back to the ground control end 25 by the image transmission and data transmission integrated module 20 for ground personnel to look up. After the unmanned aerial vehicle arrives above the target object, the light spot vertically projected downwards on the ground by the distance meter 19 is used for accurately positioning the target position on the ground surface, ground personnel confirm that the target position is overlapped with the light spot through the returned image, and at the moment, the unmanned aerial vehicle accurately arrives above the reserved target position. When the distance meter is vertically downward, the triggering acquisition height information H is sent to a data processing module for preprocessing, and the hypothetical touchdown explosion time T1 is obtained;

s2: the data processing module 21 sends the virtual ground explosion time T1 to the ground control end 25 of the unmanned aerial vehicle through the signal receiving and transmitting module 22;

s3: the ground control terminal 25 of the unmanned aerial vehicle performs actual demand judgment, that is, whether to delay or accelerate according to the virtual ground contact and explosion time T1 calculated in step S1, so as to obtain actual ground contact and explosion time T2;

s4: after the actual ground-contacting explosion-opening time T2 is obtained, the ground control end 25 of the unmanned aerial vehicle sends an instruction for opening the throwing cabin 24 to the throwing cabin control plate 23 through the signal receiving and transmitting module 22;

s5: the throwing bin control panel 23 controls the throwing bin 24 to be opened, if the throwing bin control panel 23 is successfully opened, the throwing bin control panel 23 feeds back an opening success signal which is sent to the wireless receiving and transmitting controller 1 through the signal receiving and transmitting module 22; if the opening fails, the throwing cabin control panel 23 feeds back an opening failure signal to be sent to the wireless receiving and transmitting controller 1 through the signal receiving and transmitting module 22.

S6, the wireless receiving and control device 1 receives the signal that the door is opened successfully, and triggers the self control part to start to count down T2, namely, the electric trigger fuse 5 is triggered after the time T2; if a signal of the failed opening of the bin gate is received, the countdown is not triggered, and the electric trigger fuse 5 is not triggered;

s7: the control signal of the wireless receiving and controlling device 1 triggers the electric trigger fuse 5, the electric trigger fuse 5 detonates the driving medium 6, the driving medium 6 enables the protective shell 8 to break and pushes the fire extinguishing agent 7 to uniformly spread and cover the target position, and the fire source is extinguished.

Example two:

the second embodiment is applied to the first embodiment, as shown in fig. 1, the fire extinguishing bomb has the following composition structure and functions:

1. the two wireless receiving and controlling devices which are symmetrically distributed ensure that aircraft signals (mainly comprising the opening time of a throwing bin and the distance measured by a distance measuring instrument) can be accurately received, and the unit controls an electric trigger fuse 5 of a fire extinguishing bomb by receiving the signals from the aircraft so as to control the bursting time;

2. the battery box 4 is provided with a detachable battery and used for providing electric power for driving all parts of the fire extinguishing bomb to work, the battery box 4 is provided with a switch 2 for cutting off or turning on a power supply, when the switch 2 is turned off, the fire extinguishing bomb cannot be started and cannot explode, when the switch 2 is turned on, a fire extinguishing ball circuit is activated and still needs a corresponding control signal to detonate, and the indicating lamp 3 is connected with the wireless receiving and control device 1 and the battery box 4 and indicates the working state of the current fire extinguishing bomb through different flickering states;

3. the protective shell 8 is used for protecting each element in the structure and is also a container for fire extinguishing agents and the like;

4. the fire extinguishing agent 7 is a main working unit of the fire extinguishing bomb and is used for extinguishing fire, and is also a buffering agent to protect each unit in the structure from bursting due to impact and the like;

5. the driving medium is a power driving medium for bursting the fire extinguishing bomb, the distribution condition of the driving medium is determined by the fire extinguishing effect, and the driving medium can be intensively placed or uniformly distributed in the fire extinguishing bomb;

6. the electrically triggered fuze 5 will detonate the drive medium 6 upon receipt of a signal.

As shown in fig. 2, the control system has functions of:

shock-absorbing connecting ball 9: generally, four connecting balls are respectively arranged at four corners of the hanging and carrying plate 10, the unmanned aerial vehicle is flexibly connected with the hanging and carrying plate 10, the distance between the connecting balls is adjustable, the connecting balls are adaptive to different connecting distances, and vibration transmission is reduced.

Hanging the carrier plate 10: for mounting other equipment elements.

The connecting piece 11: for connecting the respective parts, the material and shape may be changed depending on the appearance of the connected parts.

X-axis motor 12, Y-axis motor 13, and Z-axis motor 14: according to the driving control signals, the three axes X, Y, Z are precisely rotated, so that the camera 17 below can precisely steer and control the angle.

Electric regulation 15 (electric regulation group): according to the control signal, the motor is driven to rotate (actually, three electric regulators correspond to the motor 12, the motor 13 and the motor 14 respectively, and one electric regulator controls the rotating speed and the rotating direction of one motor).

Gyroscope pan/tilt control panel 16: the equipment mainly integrates a gyroscope and a circuit of a related compensation algorithm, the gyroscope acquires the attitude of a control system in real time and calculates an attitude compensation command, and the command is converted into a control signal to control and drive the electronic controller 15.

Camera 17 and lens 18: for collecting images and transmitting the images to the image transmission and data transmission integrated module 20.

Laser range finder 19: the rangefinder emits a laser beam onto the ground, receives the reflected signal, and calculates the distance S between the survey location and the aircraft based on the time difference between the emitted and received signals (when the rangefinder is oriented vertically downward, the vertical height H between the aircraft and the ground is measured). The laser beam emitted by the rangefinder also produces a visible spot on the surface, the target point from which the distance is measured. When camera 17 and laser range finder vertically down, this facula can fix a position the actual position behind unmanned aerial vehicle vertical projection to the earth's surface to help judge whether accurate fire extinguishing bomb throws the position.

The graph transmission and data transmission integrated module 20: the camera is used for transmitting images collected by the camera back to the ground for the unmanned aerial vehicle driver and relevant personnel to see.

The data processing module 21: for processing and calculations, this module is triggered to be enabled when the camera 17 and range finder 19 are facing vertically downwards. At the moment, the module can acquire the vertical height H of the ground surface and the aircraft measured by the laser range finder and then calculate according to the formula of gravity acceleration ²H＝(1/2)gtAnd obtaining the accurate ground-contact explosion time t. If the explosion is carried out in the air, if the vertical height of the explosion position and the earth surface is h, the time t of the explosion in the air is t₁According to a calculation formula ₁ ²(H-h)＝(1/2)g(t)And (6) obtaining. In the environment, there may be many factors affecting, such as air resistance, wind, humidity, etc., resulting in t₁With a certain error, the user can be at the far-end APP or the control terminal at the moment₁The explosion or delayed explosion at different heights can be realized by adding or subtracting, so as to achieve the best effect.

Signal reception/transmission module 22: the method mainly comprises two functions: the system comprises a ground control end, a control end and a control end, wherein the ground control end is used for acquiring remote control signals of the ground control end, including a bin door opening control signal, T2 time and the like; and the wireless signal receiver is used for transmitting control signals, controlling the opening and closing of the throwing bin and sending control signals such as explosion time T2 and the like to the wireless signal receiver 1 of the fire extinguishing bomb.

A throwing bin control panel 23: the fire extinguishing bomb is used for controlling the opening and closing of the throwing bin, after the throwing bin is opened, a signal of successful opening is fed back to the data processing module, the opening is failed, failure information is fed back, and the fire extinguishing bomb is prevented from being mistakenly exploded.

The working principle level flow is as follows: before placing the fire extinguishing bomb and getting into unmanned aerial vehicle throwing storehouse, open fire extinguishing bomb battery case switch 2 earlier, pilot lamp red light scintillation (or other states set for) this moment. The control system of the aircraft and the fire extinguishing bomb is started, the wireless signal receiving and transmitting controller 1 of the fire extinguishing bomb is normally connected with the signal receiving/transmitting module 22 of the fire extinguishing bomb control system, the signal receiving/transmitting module 22 is normally connected with the ground control end, and the indicating lamp 3 is normally on (or set in other states) for a green lamp at the moment. At this time, the fire extinguishing bomb can be put into the throwing cabin and the throwing cabin can be closed.

Connect ball 9 through the shock attenuation and link to each other control system and unmanned aerial vehicle flexibility, the shock attenuation is connected the ball and can be reduced vibrations transmission, and the cloud platform gesture below the help is more stable.

After the unmanned aerial vehicle takes off, the gyroscope control board 16 starts to acquire the system attitude and outputs a signal to the electronic controller 15, so that the motors 12, 13 and 14 are driven. The camera 17 and the range finder 19 of the control system are always in a stable posture required by a user under the action of the three-axis motors 12, 13 and 14, and start to acquire image and distance information, the image transmitter 20 transmits the image information and the distance information back to a display screen of a ground control end in real time for ground personnel to watch, the distance information measured by the range finder 19 is judged by the data processing module 21 and transmitted back to the ground control end through the signal receiving/transmitting module 22 for the ground personnel to read.

When the unmanned aerial vehicle reaches the upper space of a target object, the camera 17 and the distance meter 19 can be vertically downward, the data processing module 21 is triggered to calculate the time t of ground contact explosion, the ground user accelerates or delays explosion according to actual requirements and fire extinguishing effects, and the actual explosion time t is obtained₁. When the light spot that the distancer throwed on ground overlaps with the target object, show that unmanned aerial vehicle is directly over the target object, can put in by accurate.

The wireless receiver controller 1 receives the signal that the aircraft successfully opens the throwing cabin and the explosion time t₁And then the fire extinguishing bomb falls down from the throwing bin. At t₁At any moment, the control signal of the wireless receiver controller 1 triggers the electric trigger fuse 5 to detonate the driving medium 6, the driving medium pushes the fire extinguishing agent 7 to disperse and the protective shell 8 to break, and the fire extinguishing agent 7 dispersedly falls in the air or on the ground to cover the target object and extinguish the fire source.

It can be understood that: the invention enables the fire extinguishing bomb thrown by the unmanned aerial vehicle to burst at the desired height (in the air) or on the ground, and covers the target area to realize fire extinguishing.

The invention adopts laser spot overlapping positioning, so that the positioning of the throwing is more accurate, and the misthrowing is avoided. The problem of the fire extinguishing bullet roll lead to putting out a fire inaccurate is solved. The air explosion can lead the fire extinguishing agent to be dispersed more evenly and the fire extinguishing effect to be better. The effective fire extinguishing range can be increased to a certain extent by air explosion. The fire extinguishing bomb exploded in the air can not cause risks to ground personnel. The fire extinguishing bomb needs to be manually opened and obtains a control signal to burst, and the transportation and the use are safer. The accurate throwing can reduce the fire extinguishing bomb waste.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.