Electromagnetic ejection fire extinguishing bomb and flight control method thereof

Abstract

This invention discloses an electromagnetic catapult-launched fire extinguishing projectile and its flight control method, comprising an electromagnetic catapult and a fairing, a mid-section fuselage, and a tail section connected in sequence. The mid-section fuselage includes a rotating fuselage housing with a chamber for filling fire extinguishing submunitions or fire extinguishing agents. An ejection bracket is mounted on the outer wall of the fuselage and is detachably connected to the electromagnetic catapult. This invention is applicable to the field of fire fighting, enabling precise fire extinguishing at the fire point, flexible deployment of the launch position, timely adjustment of the launch speed, and increased fire extinguishing agent coverage within the fire area.

Description

Technical Field

[0001] This invention relates to the field of fire extinguishing technology, specifically to an electromagnetic catapult fire extinguishing projectile and its flight control method. Background Technology

[0002] Forests, grasslands, chemical plants, logistics centers, and oil storage bases are characterized by large burned areas, complex terrain, and inconvenient transportation. Once a fire breaks out, existing rescue forces and equipment are difficult to fully utilize, and effectively containing and controlling the spread of fire is a major challenge in emergency rescue worldwide. Traditional artillery-fired fire extinguishing shells typically have a charge of only tens to thousands of grams, covering an area of ​​only about ten square meters, with limited coverage of opposite targets and no ability to accurately hit the fire point.

[0003] Currently, most fire extinguishing grenades on the market are launched from artillery or mortars. These types of grenades have limited extinguishing agent loads, typically less than 10 kg, and lack precision guidance and intelligent control capabilities. Air-guided fire extinguishing grenades have a large payload capacity, but are greatly affected by terrain, operating conditions, and fire scene environment. They are also expensive, limited by the aircraft they are launched from, with only 1-4 grenades deployed per run, resulting in a relatively limited total amount of extinguishing agent.

[0004] The academic journal *High Power Laser and Particle Beams*, in its February 2020 issue (Volume 32, Issue 2), published a paper titled "Research on Electromagnetic Catapult Fire Extinguishing Projectile Firefighting System," proposing the use of an electromagnetic coil launcher to launch fire extinguishing projectiles for fire suppression. Based on the current wire model method, a 10-stage coil launcher model was designed, using a pulse capacitor as the initial energy source and a freewheeling circuit to sequentially discharge the coil, thereby accelerating the projectile within the coil. However, this method suffers from limitations due to the coil diameter, resulting in a limited weight of fire extinguishing agent carried by the projectile, typically less than 10 kg. Furthermore, it usually only allows for a fixed weight of fire extinguishing agent, and the projectile's overload acceleration is limited, resulting in a low maximum ejection velocity and a narrow adjustable velocity range. Additionally, in a strong electromagnetic environment, precision guidance and control components cannot be installed within the projectile.

[0005] The utility model patent "A Composite Guided Airborne Fire Extinguishing Bomb" addresses the technical problems of inaccurate guidance and high maintenance costs of existing airborne fire extinguishing bombs. The bomb includes a body with an infrared seeker at the front, and incorporates a supercapacitor, flight controller, servo motor, guidance tail fins, and navigation satellite receiver electromechanical components. However, this bomb requires aircraft deployment, a complex process significantly affected by weather and aircraft trajectory, resulting in poor maneuverability. It also makes repeated, rapid launches difficult to achieve saturated coverage of the fire. Furthermore, the use of an infrared seeker and other equipment makes the bomb expensive and uneconomical. Additionally, airborne deployment makes it difficult to adjust the amount of extinguishing agent carried.

[0006] The main problems with the current application of fire extinguishing bombs are as follows:

[0007] (1) Most existing fire extinguishing bombs lack precision guidance capabilities and cannot be accurately deployed to the fire extinguishing area;

[0008] (2) They carry little fire extinguishing material, usually less than 10 kilograms, and it is difficult to adjust the type and weight of the fire extinguishing material according to the requirements of the fire scene. Existing fire extinguishing bombs are limited by the launch power, have a large outer shell weight, a small effective load ratio, and a limited weight of fire extinguishing agent, resulting in limited fire extinguishing capacity and difficulty in extinguishing large fires;

[0009] (3) For large fire sites such as high-rise buildings, chemical plants, ports, and forests, the fire area is large and the danger is high. The safety of firefighters is difficult to guarantee. It is necessary to keep personnel and equipment away from the fire site as much as possible. The range of fire extinguishing shells needs to be further increased. At the same time, in large fire sites, it is also necessary to be able to accurately extinguish the fire points deep inside the fire site.

[0010] (4) For large fire sites such as high-rise buildings, chemical plants, ports, and forests, the burned area is large, and the existing fire extinguishing bombs are limited by the amount of bombs and the method of launching, making it difficult to achieve saturation coverage of the fire site.

[0011] (5) Existing fire extinguishing bombs usually use thermal launch and carry pyrotechnic materials, which may cause secondary disasters. They are especially unsuitable for areas with dangerous and explosive materials such as petrochemical products, or areas close to the fire scene. On the other hand, pyrotechnic materials are strictly controlled, and the purchase and use of pyrotechnic materials also require approval from relevant departments. The storage and maintenance requirements are high, which hinders the marketization of fire extinguishing bombs. Summary of the Invention

[0012] To address the shortcomings of the existing technology, this invention provides an electromagnetic catapult fire extinguishing projectile and its flight control method, which can not only achieve precise fire extinguishing at the fire point, but also flexibly configure the launch position, adjust the launch speed in a timely manner, and improve the fire field coverage of the fire extinguishing agent.

[0013] To achieve the above objectives, the present invention provides an electromagnetic catapult fire extinguishing projectile, comprising an electromagnetic catapult and a fairing, a mid-section of the fuselage, and a tail section of the fuselage connected in sequence.

[0014] The fuselage midsection includes a rotating body structure housing, which contains a bomb bay that can be filled with fire extinguishing submunitions or fire extinguishing agents.

[0015] The outer wall of the housing is provided with a catapult bracket, which is detachably connected to the electromagnetic catapult.

[0016] In one embodiment, the tail section of the fuselage has multiple control surfaces spaced circumferentially on its shell, and the tail section of the fuselage has multiple servo motors inside its shell, with each servo motor corresponding to one of the control surfaces.

[0017] In one embodiment, the tail section of the fuselage includes a mounting plate and a tail section housing with a rotating body structure;

[0018] One end of the tail section housing is fixedly connected to one side of the mounting plate, and the other end is a sealed structure. The housing is fixedly connected to the edge of the other side of the mounting plate.

[0019] In one embodiment, the tail section housing includes a frustum wall and a dome wall;

[0020] The large end of the frustum wall is fixedly connected to the mounting plate, and the dome wall is fixedly covered on the small end of the frustum wall.

[0021] In one embodiment, a through hole is provided on the tail section housing corresponding to the position of the rudder surface, and a connector is provided at the root of the rudder surface;

[0022] One end of the connector is fixedly connected to the rudder surface, and the other end passes through the corresponding through hole and is fixedly connected to the output end of the corresponding servo motor.

[0023] The output end of the servo motor passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connector.

[0024] In one embodiment, the mid-fuselage section further includes a tubular fuselage hub, one end of which is connected to the tail section of the fuselage, and the other end of which is connected to the fairing;

[0025] The fuselage is coaxially mounted on the fuselage center, and the bomb bay is located between the fuselage and the fuselage center.

[0026] In one embodiment, the housing has a streamlined shape, with one end of the housing smoothly connected to the fairing and the other end smoothly connected to the tail section of the fuselage.

[0027] In one embodiment, the ejection bracket is a T-shaped structure made of a rigid material, such as steel, aluminum, hard resin, or carbon fiber.

[0028] In one embodiment, the electromagnetic catapult includes an electromagnetic catapult track, a load platform, and a fire extinguishing projectile fixture;

[0029] The load platform is equipped with a mover at the bottom, and the mover extends into the electromagnetic catapult track and is magnetically levitated to the electromagnetic catapult track during operation.

[0030] The fire extinguishing bomb fixture is fixedly connected to the load platform, and the fire extinguishing bomb fixture is rigidly connected to the ejection bracket through a locking mechanism.

[0031] In one embodiment, the electromagnetic catapult further includes:

[0032] A power supply system is used to provide electrical energy;

[0033] An energy storage system, electrically connected to the power supply system, is used to store electrical energy;

[0034] A charging management system, electrically connected to the power supply system, is used for pipeline control of the charging mode and time of the power supply system;

[0035] A power conversion system, electrically connected to the energy storage system, is used to convert the electrical energy in the energy storage system into a corresponding power output.

[0036] A linear motor is electrically connected to the power conversion system and the electromagnetic catapult track. The movement of the linear motor's mover drives the load platform to move.

[0037] The control system is electrically connected to the energy storage system, the power conversion system, the linear motor, and the electromagnetic catapult track. It is used to control the energy storage mode of the energy storage system, the power level of the power conversion system, the operating mode of the linear motor, and the speed of the load platform on the electromagnetic catapult track.

[0038] In one embodiment, the fire extinguishing bomb further includes a flight control system, the flight control system comprising:

[0039] A wireless transmission radio used to receive control commands and preset flight routes from the ground.

[0040] The guidance and control module is used to generate corresponding fire extinguishing bomb flight control signals based on autonomous navigation control commands, ground control commands received by the wireless transmission radio, or preset flight routes.

[0041] In one embodiment, the flight control system further includes a component communicatively connected to the guidance control module:

[0042] The navigation module is used to calculate the position and attitude information of the fire extinguishing bomb and transmit it to the guidance and control module, so that the guidance and control module can calculate the attitude information that needs to be adjusted according to the position and attitude information of the fire extinguishing bomb and the location of the ignition point, based on the set guidance law and control law.

[0043] The attitude servo module is used to generate servo control data values ​​based on the attitude information calculated in real time by the guidance and control module, and control the angle of the control surface deflection, thereby achieving precise control and guidance of the projectile and achieving accurate hit on the burning target.

[0044] The energy module is used to ensure the power required by the guidance and control module, the navigation module, and the attitude servo module during flight.

[0045] To achieve the above objectives, the present invention also provides a flight control method for the aforementioned fire extinguishing projectile, characterized by comprising the following steps:

[0046] Step 101: Control the electromagnetic catapult to be powered on, so that the various devices on the electromagnetic catapult can start working.

[0047] Step 102: Install the fire extinguishing bomb onto the electromagnetic catapult;

[0048] Step 103: Electromagnetic catapult preparation; determine if launch conditions are met.

[0049] If so, proceed to step 104;

[0050] Otherwise, proceed to step 103 again;

[0051] Step 104: Control the linear motor channel in the electromagnetic catapult. Control the linear motor movement through the control system in the electromagnetic catapult to accelerate the load platform on the electromagnetic catapult, thereby accelerating the fire extinguishing bomb.

[0052] Step 105: Determine if the velocity of the fire extinguishing projectile has reached the firing velocity.

[0053] If so, proceed to step 106;

[0054] Otherwise, proceed to step 105 again;

[0055] Step 106: The fire extinguishing projectile fixture on the electromagnetic catapult releases its lock, allowing the fire extinguishing projectile to be ejected from the electromagnetic catapult.

[0056] Step 107: After the fire extinguishing projectile is launched from the electromagnetic catapult, the flight control system on the projectile begins operation, calculating the projectile's position and attitude information in real time, and correcting the projectile's trajectory deviation through control surfaces until the projectile reaches the target point; simultaneously, the electromagnetic catapult's control system controls the load platform on the electromagnetic catapult to decelerate and return to its initial position, and then determines whether there is another fire extinguishing projectile ready to be launched:

[0057] If it exists, return to step 102;

[0058] Otherwise, the electromagnetic catapult will be de-energized, causing all equipment on the electromagnetic catapult to stop working.

[0059] The present invention has the following beneficial technical effects:

[0060] 1. It can achieve precise guidance of fire extinguishing bombs and accurately deliver them to the fire-fighting location;

[0061] 2. It can carry a large amount of fire extinguishing materials at a time, ranging from ten kilograms to several hundred kilograms;

[0062] 3. Fire extinguishing bombs can be deployed from hundreds to thousands of meters away from the fire scene to avoid direct contact between personnel and equipment and the fire scene, thereby improving the safety of personnel and equipment;

[0063] 4. Through electromagnetic catapults, fire extinguishing bombs can be launched repeatedly and rapidly to achieve saturation coverage of the fire scene;

[0064] 5. Safe and reliable, using electromagnetic catapults, avoiding the safety hazards of traditional methods such as gunpowder launching;

[0065] 6. Economically and environmentally friendly: Electromagnetic catapults use electric current as a power source, and the electromagnetic catapult device can be reused repeatedly. The operating cost is low, and it does not produce environmental pollutants such as waste gas and waste residue. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0067] Figure 1 This is an isometric view of the fire extinguishing bomb in Embodiment 1 of the present invention;

[0068] Figure 2 This is an axial cross-sectional view of the fire extinguishing bomb in Embodiment 1 of the present invention;

[0069] Figure 3 This is a schematic diagram of the electromagnetic catapult in Embodiment 1 of the present invention;

[0070] Figure 4 This is a system module diagram of the electromagnetic catapult in Embodiment 2 of the present invention;

[0071] Figure 5 This is a schematic diagram of the flight control system modules in Embodiment 2 of the present invention;

[0072] Figure 6 This is a guidance flowchart for the fire extinguishing bomb in Embodiment 3 of the present invention;

[0073] Figure 7 This is a schematic diagram of the flight trajectory curve of the fire extinguishing projectile in Simulation 1 of the present invention;

[0074] Figure 8 This is a schematic diagram of the flight speed curve of the fire extinguishing projectile in simulation 1 of this invention;

[0075] Figure 9 This is a schematic diagram of the velocity component curves of the fire extinguishing projectile in Simulation 1 of this invention;

[0076] Figure 10This is a schematic diagram of the flight trajectory curve of the fire extinguishing projectile in Simulation 2 of the present invention;

[0077] Figure 11 This is a schematic diagram of the flight speed curve of the fire extinguishing projectile in simulation 2 of this invention;

[0078] Figure 12 This is a schematic diagram of the velocity component curves of the fire extinguishing projectile in Simulation 2 of this invention;

[0079] Figure 13 This is a schematic diagram of the flight trajectory curve of the fire extinguishing projectile in simulation 3 of this invention;

[0080] Figure 14 This is a schematic diagram of the flight speed curve of the fire extinguishing projectile in simulation 3 of this invention;

[0081] Figure 15 This is a schematic diagram of the velocity component curves of the fire extinguishing projectile in simulation 3 of this invention.

[0082] Reference numerals: 1. Fairing; 2. Fuselage tail section; 3. Mounting plate; 301. Tail section housing; 302. Control surface; 4. Connector; 401. Servo; 5. Electromagnetic catapult; 6. Electromagnetic catapult track; 601. Load platform; 602. Fire extinguishing grenade tooling; 603. Fuselage central hub; 7. Fire extinguishing submunition; 8. Catapult support; 9.

[0083] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0084] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0085] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0086] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0087] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0088] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0089] Example 1

[0090] like Figure 1-3 The image shown is an electromagnetic catapult fire extinguishing projectile disclosed in this embodiment, which mainly includes an electromagnetic catapult 6 and a fairing 1, a mid-section fuselage, and a tail section fuselage connected in sequence. The fairing 1 has an overall conical shape, and both the mid-section fuselage and tail section fuselage 3 are rotating structures. The mid-section fuselage has a streamlined profile, with one end smoothly connected to the fairing 1 and the other end smoothly connected to the tail section fuselage 3. This streamlined shape of the fire extinguishing projectile results in low wind resistance and good maneuverability during flight, allowing for long-distance launch and reducing direct contact between firefighters and the fire scene.

[0091] In this embodiment, the fuselage midsection includes a rotating body structure housing 2, which has a bomb bay that can be filled with fire extinguishing submunitions 8 or fire extinguishing agent. One end of the housing 2 is fixedly connected to the fairing 1 by welding or bolting, and the other end is connected to the tail section 3 of the fuselage by welding or bolting.

[0092] In this embodiment, the tail section 3 of the fuselage consists of a mounting plate 301 and a tail section shell 302 of a rotating body structure. The tail section shell 302 includes a frustum wall and a dome wall. The frustum wall is a frustum structure with openings at both ends, and its interior is the rear chamber of the projectile. The dome wall is a spherical structure. The larger end of the frustum wall is fixedly connected to the mounting plate 301 by welding or bolting, and the dome wall is fixedly covered on the smaller end of the frustum wall by welding or bolting. That is, the tail end of the tail section 3 of the fuselage is a sealed structure, and the cross-sectional area of ​​the tail section 3 of the fuselage gradually decreases along the direction away from the fairing 1. In specific implementation, a flat flange can be used as the mounting plate 301.

[0093] More specifically, the tail section shell 302 is provided with multiple control surfaces 4 spaced circumferentially. When the control surfaces 4 are not deflected, they are parallel to the axis of the fire extinguishing projectile. Multiple servo motors 5 are bolted and fixedly installed inside the tail section shell 302, and each servo motor 5 corresponds to one control surface 4. Through holes are provided on the frustum wall corresponding to the position of the control surface 4. A connector 401 is fixedly connected to the root of the control surface 4 by bolts or welding. The connector 401 is a rod-shaped or block-shaped structure. One end of the connector 401 is fixedly connected to the control surface 4, and the other end passes through the corresponding through hole and is fixedly connected to the output end of the corresponding servo motor 5, or the output end of the servo motor 5 passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connector 401. The servo motors 5 can deflect the corresponding control surfaces 4, thereby changing the attitude of the fire extinguishing projectile and realizing attitude and trajectory control of the fire extinguishing projectile. In this embodiment, there are four control surfaces 4, which are distributed in an "X" or "+" shape on the tail section shell 302.

[0094] In a preferred embodiment, the fuselage midsection also includes a tubular fuselage hub 7. One end of the fuselage hub 7 is connected to the mounting plate 301 and communicates with the tail section 3 of the fuselage. The other end is in the shape of an open horn and is in contact with the fairing 1 (or the baffle between the fairing 1 and the housing 2). The housing 2 is coaxially sleeved on the fuselage hub 7. That is, the bomb bay is located between the outer wall of the fuselage hub 7 and the inner wall of each segmented housing 2. By using the fuselage hub 7 as part of the fuselage midsection, the load-bearing capacity of the fuselage midsection for fire extinguishing submunitions 8 or fire extinguishing agents is effectively improved.

[0095] In this embodiment, the outer shells of the fairing 1, mid-fuselage section, tail section 3, and control surfaces 4 are all made of fire-resistant or flame-retardant materials, or they can be made of ordinary metal materials, such as steel, iron, or aluminum. The fuselage hub 7 and mounting plate 301 are made of rigid materials that provide support, and can be made of materials such as aluminum, steel, or carbon fiber.

[0096] In this embodiment, an ejection bracket 9 is fixedly installed on the outer wall of the housing 2 by welding or bolting. The ejection bracket 9 is a T-shaped structural component and can be made of rigid materials such as steel, aluminum, hard resin, and carbon fiber. The ejection bracket 9 is rigidly connected to the fire extinguishing bullet to support the fire extinguishing bullet to be ejected by the electromagnetic ejector 6.

[0097] In this embodiment, the electromagnetic catapult 6 includes an electromagnetic catapult track 601, a load platform 602, and a fire extinguishing projectile fixture 603. The load platform 602 has a mover at its bottom, which extends into the electromagnetic catapult track 601 and is levitated therebetween. The fire extinguishing projectile fixture 603 is bolted to the load platform 602 and rigidly connected to the catapult support 9 via a locking mechanism. When the fire extinguishing projectile is launched, the load platform 602 and the fire extinguishing projectile fixture 603 accelerate the projectile. When the projectile reaches its launch speed, the locking mechanism opens, separating the projectile from the electromagnetic catapult 6.

[0098] In this embodiment, the electromagnetic catapult track 601 adopts a linear motor electromagnetic catapult track, such as a coil linear motor. The electromagnetic catapult track 601 has C-shaped channel steel at both ends. The load platform 602 is restricted at both ends within the C-shaped channel steel. The load platform 602 is connected to the C-shaped channel steel through sliders on both sides. Part of the load platform 602 has a mover at the bottom, and the mover is between the coils on both sides of the electromagnetic track 601. By energizing the coils on the track, the track can be turned into a linear motor.

[0099] In this embodiment, the locking mechanism between the fire extinguishing bomb fixture 603 and the ejection bracket 9 is specifically an electromagnetic lock assembly. Multiple electromagnetic pins are installed inside the fire extinguishing bomb fixture 603, and the ejection bracket 9 has lock holes corresponding to the electromagnetic pins. The electromagnetic pins drive the lock head and restrict the fire extinguishing bomb through the lock holes on the ejection bracket 9. The electromagnetic pins receive the transmission signal to control the release of the fire extinguishing bomb.

[0100] Example 2

[0101] This embodiment discloses an electromagnetic catapult fire extinguishing projectile, which has a basically the same structure as that of Embodiment 1, except that:

[0102] The electromagnetic catapult 6 on the fire extinguishing bomb in this embodiment also includes a power supply system, an energy storage system, a charging management system, a power conversion system, and a linear motor and control system. Specifically, refer to... Figure 4 :

[0103] The power supply system is used to provide electrical energy;

[0104] The energy storage system is electrically connected to the power supply system via cables and is used to store electrical energy;

[0105] The charging management system is electrically connected to the power supply system via a cable and is used to control the charging mode and time of the power supply system through pipeline control.

[0106] The power conversion system and the energy storage system are electrically connected via cables, and the power conversion system is used to convert the electrical energy in the energy storage system into the corresponding power output.

[0107] The linear motor is electrically connected to the power conversion system and the electromagnetic catapult track 601 via cables. The movement of the linear motor's mover drives the load platform 602 to move.

[0108] The control system is electrically connected to the energy storage system, power conversion system, linear motor, and electromagnetic catapult track 601 via signal cables. It is used to control the energy storage mode of the energy storage system, control the power of the power conversion system, control the working mode of the linear motor, and control the speed of the upper load platform 602 of the electromagnetic catapult track 601.

[0109] The fire extinguishing bomb in this embodiment also includes a flight control system, as shown in the reference. Figure 5 The flight control system includes a wireless transmission radio, a guidance and control module, a navigation module, an attitude servo module, and a power module. The wireless transmission radio, guidance and control module, navigation module, attitude servo module, and power module are mounted at the tail of the fuselage, and are all electrically and communicatively connected to the guidance and control module.

[0110] Specifically:

[0111] The wireless transmission radio receives ground control commands and preset flight paths via wireless signals and transmits them to the guidance and control module. The guidance and control module generates corresponding control signals based on the ground control commands and preset flight paths received by the wireless transmission radio. At the same time, the guidance and control module transmits the attitude and position data of the fire extinguishing bomb back to the ground display terminal of the wireless transmission radio for display.

[0112] The navigation module is used to measure and calculate the position, velocity, acceleration, angle, angular velocity and other attitude information of the fire extinguishing projectile and transmit it to the guidance and control module. The guidance and control module calculates the attitude information that needs to be adjusted according to the current position, velocity, angle, angular velocity and the position of the ignition point of the fire extinguishing projectile, and controls the servo motor to drive the control surface 4 to move according to the set guidance law and control law.

[0113] The attitude servo module is connected to the servo for communication, and the guidance control module is connected to the attitude servo module for electrical and signal connection. The guidance control module drives the corresponding servo to rotate through the attitude servo module according to the real-time calculated data value, thereby adjusting the angle of the 4 control surfaces 4 to accurately guide the missile body and achieve accurate hit on the burning target.

[0114] In this embodiment, the navigation module can use either satellite + inertial navigation or pure inertial navigation. The gyroscope and accelerometer in the inertial navigation are connected in strapdown mode.

[0115] Example 3

[0116] Based on the fire extinguishing projectile implementation scheme in Example 2, this example discloses a flight control method for the fire extinguishing projectile.

[0117] Based on the fire extinguishing projectile implementation scheme in Example 2, the electromagnetic catapult 6 is an electromagnetic catapult track 601 with a linear motor as its main body, and also includes auxiliary mechanisms, a control system, a power conversion system, an energy storage system, a charging management system, and a catapult platform. The fire extinguishing projectile can be placed on the fire extinguishing projectile fixture 603 on the load platform 602. The fire extinguishing projectile fixture 603 has a locking mechanism that can lock the fire extinguishing projectile when the load platform 602 moves, causing the fire extinguishing projectile to move together with the load platform 602. After reaching a specified speed, the control system releases the locking mechanism, and the fire extinguishing projectile enters autonomous flight mode. The lower part of the load platform 602 is connected to the mover under the electromagnetic catapult track 601. The mover moves within the stator and support wheels under the control of the auxiliary mechanisms, control system, power conversion system, energy storage system, and charging management system.

[0118] The process of using electromagnetic force to achieve rapid and controllable ejection of fire extinguishing bombs is actually the conversion of stored electrical energy into kinetic energy through magnetic energy in a short period of time. The electromagnetic catapult 6 adopts a linear motor control system, which uses electromagnetic thrust to enable the fire extinguishing bomb to achieve fully controllable acceleration over a short distance. Once the target position of the fire extinguishing projectile is set, the required speed parameters for its launch can be calculated based on the projectile's aerodynamic parameters, weight, wind speed, wind direction, and electromagnetic catapult trajectory inclination. The auxiliary mechanism and control system of the electromagnetic catapult 6 control the movement of the linear motor's mover to accelerate the load platform 602. When the load platform 602 accelerates to the designated speed range, the latch on the fire extinguishing projectile fixture 603 is released, physically separating the fixture from the projectile and releasing it. Simultaneously, the auxiliary mechanism and control system control the linear motor's mover to decelerate and return the mover and catapult platform to the origin. The power conversion system, energy storage system, and charging management system re-accumulate electrical energy, allowing the electromagnetic catapult 6 to launch the next batch of fire extinguishing projectiles.

[0119] refer to Figure 6 The specific implementation steps for the launch guidance of the fire extinguishing projectile in this embodiment are as follows:

[0120] Step 101: Power on the electromagnetic catapult 6 to start the operation of the various devices on the electromagnetic catapult 6.

[0121] Step 102: Install the fire extinguishing bomb on the electromagnetic catapult 6;

[0122] Step 103: Electromagnetic catapult 6 prepares for movement, determining whether launch conditions are met, such as whether the energy storage system has completed energy storage, and / or whether the power conversion system is in an authorized state.

[0123] If so, proceed to step 104;

[0124] Otherwise, proceed to step 103 again;

[0125] Step 104: Control the linear motor channel in the electromagnetic catapult 6, and control the linear motor movement through the control system in the electromagnetic catapult 6 to accelerate the load platform 602 on the electromagnetic catapult 6, thereby accelerating the fire extinguishing bomb.

[0126] Step 105: Determine if the velocity of the fire extinguishing projectile has reached the firing velocity.

[0127] If so, proceed to step 106;

[0128] Otherwise, proceed to step 105 again;

[0129] Step 106: The fire extinguishing projectile fixture 603 on the electromagnetic catapult 6 releases its lock, causing the fire extinguishing projectile to be ejected from the electromagnetic catapult 6.

[0130] Step 107: After the fire extinguishing projectile is launched from the electromagnetic catapult 6, the flight control system on the projectile begins to operate, calculating the projectile's position and attitude information in real time, and correcting the projectile's trajectory deviation through the control surfaces 4 until the projectile reaches the target point; simultaneously, the load platform 602 on the electromagnetic catapult 6 is decelerated and returns to its initial position, and then it is determined whether there is another fire extinguishing projectile to be launched:

[0131] If it exists, return to step 102;

[0132] Otherwise, the electromagnetic catapult 6 will be de-energized, causing all equipment on the electromagnetic catapult 6 to stop working.

[0133] The following section provides further explanation of the fire extinguishing bomb and flight control method in this invention, using specific simulation examples.

[0134] The fire extinguishing projectile designed using this invention has been tested and simulated. With a diameter of 10 cm and a weight of 15 kg, it can carry 12 kg of fire extinguishing agent; with a diameter of 20 cm and a weight of 56 kg, it can carry 50 kg of fire extinguishing agent submunitions.

[0135] Under the above conditions, when using an electromagnetic catapult 6 for launch at a launch speed of 100 m / s, the maximum range can reach over 900 meters, the launch height can reach 250 meters, and the landing accuracy is within 10 meters.

[0136] (1) Simulation 1: The initial position of the fire extinguishing projectile is (0.0m; 0.0m; 0.0m), the target position is (970m; 0.0m; 0.0m), the release speed is 100m / s, the surface launch method is adopted, there is no off-axis angle, and the initial trajectory inclination angle is 45°.

[0137] Simulation results are as follows Figure 7-9As shown: the flight time is 14.71 seconds, the landing point is (962.509309, -0.288381, 0.001498) m, and the terminal velocity is 93.102836 m / s.

[0138] (2) Simulation 2

[0139] The initial position of the fire extinguishing projectile is (0.0m; 0.0m; 0.0m), the target position is (885m; 0.0m; 0.0m), the release velocity is 100m / s, the projectile is launched from a surface, there is no off-axis angle, and the initial trajectory inclination is 45°.

[0140] Simulation results are as follows Figure 10-12 As shown: the flight time is 14.06 seconds, the landing point is (889.166281, -0.322234, -0.000016) m, and the terminal velocity is 93.826587 m / s.

[0141] (3) Simulation 3

[0142] Simulation results are as follows Figure 13-15 As shown: The initial position of the fire extinguishing bomb is (0.0m; 0.0m; 0.0m), the target position is (910m; 20.0m; 250.0m), the release velocity is 100m / s, it is launched from a surface, with no off-axis angle, and the initial trajectory inclination is 45°. The fire extinguishing bomb opens its hatch 20 meters above the ignition point.

[0143] The flight time was 14.21 seconds, the hatch opening point was (907.889723, 19.515338, 249.532864) m, and the hatch opening point speed was 94.847249 m / s.

[0144] Based on the simulation results above, when the launch speed of the electromagnetic catapult 6 is 100 m / s, the longitudinal range of the fire extinguishing projectile is adjustable by approximately 10%. If the angle of attack limitation of the fire extinguishing projectile's flight control system is relaxed, and without considering the adjustable launch speed, the longitudinal coverage area of ​​the fire field exceeds 100 meters. Combined with the adjustable speed of the electromagnetic catapult 6, the longitudinal coverage area can exceed 1000 meters. The launch altitude exceeds 250 meters. The lateral coverage area of ​​the fire extinguishing projectile exceeds 500 meters. It has a fan-shaped launch capability with a fan angle exceeding 30°; combined with the adjustable azimuth angle of the electromagnetic catapult 6, the lateral coverage area will be even greater.

[0145] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An electromagnetic catapult fire extinguishing projectile, characterized in that, It includes an electromagnetic catapult (6) and a fairing (1), mid-section of fuselage and tail section of fuselage (3) connected in sequence. The fuselage midsection includes a rotating body structure housing (2), and the housing (2) has a bomb bay that can be filled with fire extinguishing submunitions (8) or fire extinguishing agents. The outer wall of the housing (2) is provided with a catapult bracket (9), which is detachably connected to the electromagnetic catapult (6); The tail section (3) of the fuselage has multiple control surfaces (4) spaced circumferentially on its shell, and multiple servo motors (5) are provided inside the shell of the tail section (3), and the servo motors (5) correspond one-to-one with the control surfaces (4). The electromagnetic catapult (6) includes an electromagnetic catapult track (601), a load platform (602), and a fire extinguishing bomb fixture (603). The load platform (602) is provided with a mover at the bottom, and the mover extends into the electromagnetic catapult track (601) and is magnetically levitated to the electromagnetic catapult track (601) during operation; The fire extinguishing bomb fixture (603) is fixedly connected to the load platform (602), and the fire extinguishing bomb fixture (603) is rigidly connected to the ejection bracket (9) through a locking mechanism; The fuselage midsection also includes a tubular fuselage hub (7), one end of which is connected to the fuselage tail section (3), and the other end is connected to the fairing (1); The housing (2) is coaxially sleeved on the fuselage central hub (7), and the bomb bay is located between the housing (2) and the fuselage central hub (7); The ejection bracket (9) is a T-shaped structural component. The ejection bracket (9) is rigidly connected to the fire extinguishing bullet to support the fire extinguishing bullet to be ejected in the electromagnetic catapult 6.

2. The electromagnetic catapult fire extinguishing projectile according to claim 1, characterized in that, The tail section (3) of the fuselage includes a mounting plate (301) and a tail section housing (302) with a rotating body structure. One end of the tail section housing (302) is fixedly connected to one side of the mounting plate (301), and the other end is a sealed structure. The housing (2) is fixedly connected to the edge of the other side of the mounting plate (301).

3. The electromagnetic catapult fire extinguishing projectile according to claim 2, characterized in that, The tail section housing (302) includes a frustum wall and a dome wall; The large end of the frustum wall is fixedly connected to the mounting plate (301), and the dome wall is fixedly covered on the small end of the frustum wall.

4. The electromagnetic catapult fire extinguishing projectile according to claim 2, characterized in that, The tail section housing (302) has a through hole at the position corresponding to the rudder surface (4), and the root of the rudder surface (4) has a connector (401). One end of the connector (401) is fixedly connected to the rudder surface (4), and the other end passes through the corresponding through hole and is fixedly connected to the output end of the corresponding servo motor (5), or The output end of the servo motor (5) passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connector (401).

5. The electromagnetic catapult fire extinguishing projectile according to any one of claims 1 to 4, characterized in that, The housing (2) has a streamlined structure. One end of the housing (2) is smoothly connected to the fairing (1), and the other end is smoothly connected to the tail section (3) of the fuselage.

6. The electromagnetic catapult fire extinguishing projectile according to any one of claims 1 to 4, characterized in that, The ejection bracket (9) is a T-shaped structural component made of a rigid material, such as steel, aluminum, hard resin or carbon fiber.

7. The electromagnetic catapult fire extinguishing projectile according to claim 6, characterized in that, The electromagnetic catapult (6) also includes: A power supply system is used to provide electrical energy; An energy storage system, electrically connected to the power supply system, is used to store electrical energy; A charging management system, electrically connected to the power supply system, is used for pipeline control of the charging mode and time of the power supply system; A power conversion system, electrically connected to the energy storage system, is used to convert the electrical energy in the energy storage system into a corresponding power output. A linear motor is electrically connected to the power conversion system and the electromagnetic catapult track (601). The movement of the linear motor's mover drives the load platform (602) to move. The control system is electrically connected to the energy storage system, the power conversion system, the linear motor, and the electromagnetic catapult track (601), and is used to control the energy storage mode of the energy storage system, control the power of the power conversion system, control the working mode of the linear motor, and control the speed of the upper load platform (602) of the electromagnetic catapult track (601).

8. The electromagnetic catapult fire extinguishing projectile according to any one of claims 1 to 4, characterized in that, It also includes a flight control system, which comprises: A wireless transmission radio used to receive control commands and preset flight routes from the ground. The guidance and control module is used to generate corresponding fire extinguishing bomb flight control signals based on autonomous navigation control commands, ground control commands received by the wireless transmission radio, or preset flight routes.

9. The electromagnetic catapult fire extinguishing projectile according to claim 8, characterized in that, The flight control system also includes components that are communicatively connected to the guidance control module: The navigation module is used to calculate the position and attitude information of the fire extinguishing bomb and transmit it to the guidance and control module, so that the guidance and control module can calculate the attitude information that needs to be adjusted according to the position and attitude information of the fire extinguishing bomb and the location of the ignition point, based on the set guidance law and control law. The attitude servo module is used to generate servo (5) control data value based on the attitude information calculated in real time by the guidance and control module, and control the angle of deflection of the control surface (4), thereby realizing precise control and guidance of the projectile and achieving accurate hit on the burning target. The energy module is used to ensure the power required by the guidance and control module, the navigation module, and the attitude servo module during flight.

10. A flight control method for a fire extinguishing projectile according to any one of claims 1 to 9, characterized in that, The steps include: Step 101: Control the electromagnetic catapult to be powered on, so that the various devices on the electromagnetic catapult can start working. Step 102: Install the fire extinguishing bomb onto the electromagnetic catapult; Step 103: Electromagnetic catapult preparation; determine if launch conditions are met. If so, proceed to step 104; Otherwise, proceed to step 103 again; Step 104: Control the linear motor channel in the electromagnetic catapult. Control the linear motor movement through the control system in the electromagnetic catapult to accelerate the load platform on the electromagnetic catapult, thereby accelerating the fire extinguishing bomb. Step 105: Determine if the velocity of the fire extinguishing projectile has reached the firing velocity. If so, proceed to step 106; Otherwise, proceed to step 105 again; Step 106: The fire extinguishing projectile fixture on the electromagnetic catapult releases its lock, allowing the fire extinguishing projectile to be ejected from the electromagnetic catapult. Step 107: After the fire extinguishing projectile is launched from the electromagnetic catapult, the flight control system on the projectile begins operation, calculating the projectile's position and attitude information in real time, and correcting the projectile's trajectory deviation through control surfaces until the projectile reaches the target point; simultaneously, the electromagnetic catapult's control system controls the load platform on the electromagnetic catapult to decelerate and return to its initial position, and then determines whether there is another fire extinguishing projectile ready to be launched: If it exists, return to step 102; Otherwise, the electromagnetic catapult will be de-energized, causing all equipment on the electromagnetic catapult to stop working.

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