Precision-guided fire-extinguishing bomb capable of carrying sub-munitions and guidance method thereof

Abstract

The present invention discloses a precision-guided fire-extinguishing bomb capable of carrying sub-munitions and a guidance method thereof. The fire-extinguishing bomb comprises a fairing, a mid-section, and a tail section connected in sequence; the mid-section comprises a plurality of split housings, one end of each split housing being hinged to the tail section along the circumference of the fire-extinguishing bomb, the other end of each split housing being provided with a baffle, and each baffle being detachably connected via a locking mechanism; the fairing is fixedly connected to one of the split housings; two adjacent split housings are in contact with each other, and the split housings together enclose a chamber in the bomb body that can be filled with fire-extinguishing sub-munitions or fire extinguishing agents. The present invention is applied to the field of firefighting, and can not only achieve precise guidance of the fire-extinguishing bomb and accurate delivery to the fire extinguishing location, but also spread the fire extinguishing agent sub-munitions around the fire point, thereby increasing the coverage of the fire extinguishing agent and achieving a good fire extinguishing effect.

Description

Technical Field

[0001] The present invention relates to the technical field of fire fighting and extinguishing, in particular to a precision-guided fire-extinguishing bomb capable of carrying sub-munitions and a guidance method thereof. Background Art

[0002] Fire extinguisher bombs are consumable firefighting equipment, typically filled with dry powder or explosive dispersion extinguishing agents. They extinguish fires by isolating the fire source from the air with the explosive powder. Currently available fire extinguisher bomb designs include:

[0003] 1. Patent application CN114452569A discloses a fire-extinguishing bomb comprising a cylindrical body and tail fins at the end of the cylindrical body. The outer shell forms a shell cavity filled with a fire extinguishing agent and containing a charge. This fire-extinguishing bomb lacks a streamlined body shape and an optimized design, making it difficult to deploy from a distance. Furthermore, it lacks the ability to carry fire extinguishing agent submunitions and cannot deploy them at the end. It also lacks precision guidance, making it difficult to use in situations requiring high-precision fire extinguishing.

[0004] 2. The utility model patent with publication number CN207466973U discloses a composite guided airborne fire extinguishing bomb, which solves the technical problems of inaccurate guidance and high maintenance cost of existing airborne fire extinguishing bombs. It includes a bomb body with an infrared seeker at the front end, and includes a supercapacitor, a flight controller, a servo, a guidance tail, and a navigation satellite receiving electromechanical device. However, the bomb needs to be dropped by an aircraft, and the drop process is complicated and is greatly affected by weather, the trajectory of the carrier aircraft, etc., and has poor maneuverability. The bomb is not designed to carry fire extinguishing agent submunitions, and the flight controller is not designed to open according to altitude. It does not have the ability to disperse terminal fire extinguishing submunitions, and the fire extinguishing coverage is limited. On the other hand, the bomb uses equipment such as an infrared seeker, and the fire extinguishing bomb is expensive and not economical. At the same time, since it can only be dropped by air, it is difficult to adapt to complex fire scenes.

[0005] The main problems of existing fire extinguishing bombs in the application process are:

[0006] (1) Most existing fire-extinguishing bombs lack precision guidance capabilities and are insufficient in their ability to accurately deliver fire-extinguishing bombs to fire-fighting locations;

[0007] (2) Fire extinguishing bombs lack precision guidance capabilities and are not able to be accurately delivered to the fire extinguishing area;

[0008] (3) Existing ground-launched fire extinguishing bombs are usually launched by cannons. Due to the size of the muzzle, the diameter of the fire extinguishing bomb is small, and the amount of fire extinguishing material it carries is small, usually less than ten kilograms. The fire extinguishing capacity is limited and it is difficult to deal with large fire scenes. In addition, due to the size limitation, it does not have a submunition dispersion method. When carrying a large amount of fire extinguishing agent, the fire extinguishing performance of the fire extinguishing agent cannot be fully utilized;

[0009] (4) For large fires 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 out of direct contact with the fire as much as possible. Although existing fire extinguishing bombs have a large range to escape from the fire, they lack precise guidance capabilities. They cannot adjust the precise position and posture of the landing point of the fire extinguishing bomb and the flight trajectory of the fire extinguishing point in time according to the progress of the fire extinguishing, so as to achieve the best effect of spreading the fire extinguishing agent and accurately extinguish the fire points deep inside the fire scene.

[0010] (5) For large fires such as high-rise buildings, chemical plants, ports, and forests, the burned area is large and the fire situation is complex. Existing fire extinguishing bombs are usually pre-loaded as a whole, and it is difficult to adjust the type and weight of the fire extinguishing materials according to the requirements of the fire scene, making it difficult to achieve flexible response;

[0011] (6) Existing fire-extinguishing bombs lack altitude control and hatch opening control equipment, making it difficult to implement the deployment of fire-extinguishing submunitions at a specified altitude and location based on flight trajectory and altitude information, thereby achieving optimal submunition distribution and good performance of the fire-extinguishing agent.

[0012] (7) Existing ground-launched fire-extinguishing bombs lack navigation guidance equipment and radio communication equipment, making it difficult to achieve secondary optimization and modification of trajectories during actual flight. Summary of the Invention

[0013] In response to the above-mentioned deficiencies in the prior art, the present invention provides a precision-guided fire-extinguishing bomb capable of carrying sub-munitions and a guidance method thereof, which can not only achieve precise fire extinguishing at the fire point, but also spread the fire extinguishing agent sub-munitions around the fire point, thereby increasing the coverage range of the fire extinguishing agent and having a good fire extinguishing effect.

[0014] To achieve the above-mentioned object, the present invention provides a precision-guided fire-extinguishing bomb capable of carrying sub-munitions, comprising a fairing, a middle fuselage section, and a tail fuselage section connected in sequence;

[0015] The middle section of the fuselage comprises a plurality of split casings, two adjacent split casings are in contact with each other, and the split casings together form a body chamber which can be filled with fire extinguishing sub-munitions or fire extinguishing agents.

[0016] In one embodiment, a plurality of control surfaces are provided on the shell of the tail section of the fuselage at intervals along the circumferential direction, a battery and a plurality of servos are provided in the shell of the tail section of the fuselage, and the servos correspond to the control surfaces one by one, and the battery is electrically connected to each of the servos.

[0017] In one embodiment, one end of each of the split housings is hinged to the tail section of the fuselage along the circumference of the fire extinguishing bomb, and the other end of each of the split housings is provided with a baffle, and each of the baffles is detachably connected via a locking mechanism;

[0018] The fairing is fixedly connected to one of the split casings.

[0019] In one embodiment, the fuselage tail section includes a mounting plate and a tail section shell of a rotating body structure;

[0020] One end of the tail section shell is fixedly connected to one side of the mounting plate, and the other end is a sealing structure. The flap shell is hinged at the edge position of the other side of the mounting plate.

[0021] In one embodiment, the tail section housing includes a truncated cone wall and a dome wall;

[0022] The large surface end of the truncated cone wall is fixedly connected to the mounting plate, and the dome wall is fixedly covered on the small surface end of the truncated cone wall.

[0023] In one embodiment, a through hole is provided on the tail section shell at a position corresponding to the rudder surface, and a connecting piece is provided at the root of the rudder surface. One end of the connecting piece 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, or the output end of the servo passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connecting piece.

[0024] In one embodiment, each baffle is provided with a lock hole, the locking mechanism is provided with a lock core, and the lock core has a linear displacement stroke;

[0025] When the locking mechanism is locked, the baffles are stacked in sequence along the axial direction of the fire extinguishing bomb, the lock holes are coaxial, and the lock core passes through the lock holes in sequence.

[0026] In one embodiment, the fire extinguishing bomb further includes a fuselage hub of a tubular structure, one end of the fuselage hub is connected to the fuselage tail section, and the other end is in contact with and connected to the baffle;

[0027] A cable is provided in the central part of the fuselage, one end of the cable is electrically connected to the battery, and the other end is electrically connected to the locking mechanism.

[0028] In one embodiment, the profile of the split shell is a streamline structure, one end of the split shell is smoothly connected to the fairing, and the other end is smoothly connected to the tail section of the fuselage.

[0029] In one embodiment, the fire extinguishing bomb further includes a flight control system, the flight control system including:

[0030] Wireless transmission station, used to receive ground control instructions and preset flight routes;

[0031] The guidance and control module is used to generate corresponding control signals based on the control instructions of autonomous navigation, the ground-end control instructions received by the wireless transmission radio station, or the preset flight route.

[0032] In one embodiment, the flight control system further includes:

[0033] The navigation module is used to measure the position and posture information of the fire-extinguishing bomb and transmit it to the guidance and control module, so that the guidance and control module calculates the posture information that needs to be adjusted according to the position and posture information of the fire-extinguishing bomb and the location of the ignition point, and controls the movement of the control surface according to the set guidance law and control law;

[0034] an altitude module, configured to measure altitude information of the fire-extinguishing bomb and transmit the information to the guidance and control module, so that the guidance and control module generates a cabin opening instruction according to the altitude information of the fire-extinguishing bomb;

[0035] The cabin opening control module is used to control the locking mechanism to unlock according to the cabin opening instruction of the guidance control module.

[0036] In one embodiment, the altitude module is an altitude sensor provided at the front end of the fairing.

[0037] To achieve the above object, the present invention further provides a guidance method for the fire extinguishing bomb, which is characterized by comprising the following steps:

[0038] Fire extinguishing bombs are launched by electromagnetic catapult, elastic catapult, external engine launch or aircraft drop;

[0039] During the flight of the fire extinguisher bomb:

[0040] First, the ignition point target parameters and initial flight control parameters are bound to the guidance and control module. The position information of the fire extinguishing bomb is calculated in real time based on the navigation module. Then, the guidance and control module calculates the attitude information that needs to be adjusted based on the position information of the fire extinguishing bomb and the location of the ignition point according to the set guidance and control laws, and controls the movement of the control surfaces.

[0041] Based on the real-time measurement of the altitude information of the fire-extinguishing bomb by the altitude module, when the fire-extinguishing bomb reaches the target and meets the hatch opening altitude, the guidance control module sends a hatch opening command to the hatch opening control module. The hatch opening control module controls the locking mechanism to unlock and separate the various petal shells, thereby allowing the fire-extinguishing sub-munitions or fire-extinguishing agents filled in the middle chamber of the bomb body to be dispersed out of the mother bomb through the hatch.

[0042] The present invention has the following beneficial technical effects:

[0043] 1. It can realize the precise guidance of fire extinguishing bombs and accurately deliver them to the fire extinguishing parts;

[0044] 2. Carrying a lot of fire extinguishing materials at a time, ranging from ten kilograms to hundreds of kilograms;

[0045] 3. With a good aerodynamic shape, it can release fire bombs from hundreds to thousands of meters away from the fire scene, avoiding direct contact between personnel and equipment and the fire scene, thus improving the safety of personnel and equipment;

[0046] 4. Fire extinguishing agent submunitions can be spread around the fire point, the fire extinguishing agent covers a large area and has a good fire extinguishing effect;

[0047] 5. Based on the flight trajectory and altitude information, the hatch can be opened at a specified altitude and position to achieve the best distribution of submunitions and the best performance of the fire extinguishing agent;

[0048] 6. It is equipped with navigation and guidance equipment and radio communication equipment, which can realize secondary optimization and modification of the trajectory during the actual flight process. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0050] Figure 1 This is an axonometric view of the fire extinguishing bomb in Example 1 of the present invention;

[0051] Figure 2 2 is a cross-sectional view of a fire extinguishing bomb in Example 1 of the present invention;

[0052] Figure 3 This is a schematic diagram of the structure of the fire extinguishing bomb after unlocking in Example 1 of the present invention;

[0053] Figure 4 This is a module diagram of the flight control system in Example 2 of the present invention.

[0054] Figure 5This is the flight trajectory diagram of the fire extinguishing bomb in simulation 1 of the present invention;

[0055] Figure 6 This is a fire extinguishing bomb speed curve diagram in simulation 1 of the present invention;

[0056] Figure 7 This is a curve diagram of the velocity component of the fire extinguishing bomb in simulation 1 of the present invention;

[0057] Figure 8 This is a curve diagram of the trajectory inclination angle of the fire extinguishing bomb in simulation 1 of the present invention;

[0058] Figure 9 This is the flight trajectory diagram of the fire extinguishing bomb in simulation 2 of the present invention;

[0059] Figure 10 This is a fire extinguishing bomb speed curve diagram in simulation 2 of the present invention;

[0060] Figure 11 This is a curve diagram of the velocity component of the fire extinguishing bomb in simulation 2 of the present invention;

[0061] Figure 12 This is a curve diagram of the trajectory inclination angle of the fire extinguishing bomb in simulation 2 of the present invention.

[0062] Figure numbers: fairing 1, front chamber 101 of the projectile, middle section of the fuselage 2, split casing 201, baffle 202, middle chamber 203 of the projectile, lock hole 204, tail section of the fuselage 3, mounting plate 301, cone wall 302, dome wall 303, rear chamber 304 of the projectile, control surface 4, connector 401, servo 5, locking mechanism 6, lock cylinder 601, fire extinguishing submunition 7, fuselage hub 8, altitude module 9, battery 10, flight control system 11.

[0063] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0065] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0066] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0067] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0069] Example 1

[0070] like Figure 1-3 The present embodiment discloses a precision-guided fire-extinguishing bomb capable of carrying submunitions. It primarily comprises a fairing 1, a mid-section 2, and a tail section 3. The fairing 1 has a conical overall shape, with a projectile front chamber 101 located within. Both the mid-section 2 and tail section 3 are revolving structures. The mid-section 2 has a streamlined profile, with one end smoothly connected to the fairing 1 and the other to the tail section 3. This streamlined shape ensures low wind resistance and excellent maneuverability during flight, allowing for long-range launch and minimizing direct contact between firefighters and the fire scene.

[0071] In this embodiment, the fuselage tail section 3 is composed of a mounting plate 301 and a tail section shell of a rotating body structure. The tail section shell includes a conical wall surface 302 and a dome wall surface 303. The conical wall surface 302 is a conical structure with both ends open, and contains the projectile rear chamber 304; the dome wall surface 303 is a spherical structure. The large end of the conical wall surface 302 is fixedly connected to the mounting plate 301 by welding or bolting, and the dome wall surface 303 is fixedly covered on the small end of the conical wall surface 302 by welding or bolting. In other words, the tail end of the fuselage tail section 3 is a sealed structure, and the cross-sectional area of ​​the fuselage tail section 3 gradually decreases in the direction away from the fairing 1. In the specific implementation process, a flat flange can be selected as the mounting plate 301.

[0072] More specifically, the tail section housing is provided with multiple rudder surfaces 4 spaced circumferentially. When not deflected, these surfaces 4 are parallel to the axis of the fire extinguishing bomb. Multiple servos 5 are bolted securely to the tail section housing, with each servo 5 corresponding to each rudder surface 4. Through holes are provided on the conical wall 302 at locations corresponding to the rudder surfaces 4. A connector 401 is bolted or welded to the base of each rudder surface 4. Connector 401 is a rod-shaped or block-shaped structure. One end of connector 401 is fixedly connected to the rudder surface 4, while the other end passes through the corresponding through hole and is fixedly connected to the output end of the corresponding servo 5. Alternatively, the output end of the servo 5 passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connector 401. The servos 5 can deflect the corresponding rudder surface 4, thereby changing the attitude of the fire extinguishing bomb and achieving control of its posture and trajectory. In this embodiment, there are four rudder surfaces 4, arranged in an "X" or "cross" pattern on the tail section housing.

[0073] In this embodiment, the mid-body section 2 includes three split housings 201. One end of each split housing 201 is hinged to a mounting plate 301 along the circumference of the fire extinguishing bomb. The other end of each split housing 201 is provided with a vertical baffle 202, and each baffle 202 is detachably connected via a locking mechanism 6. The fairing 1 is fixedly connected to one of the split housings 201. Adjacent split housings 201 are in contact with each other and together enclose a chamber 203 within the projectile body that can be filled with fire extinguishing submunitions 7 or fire extinguishing agent. If the projectile body chamber 203 is loaded with fire extinguishing submunitions 7, the shape of the fire extinguishing submunitions 7 is designed and optimized based on the fire extinguishing agent loaded therein, the fire extinguishing requirements, the volume of the projectile body chamber 203, and the loading method of the fire extinguishing submunitions 7. Preferred shapes are cylindrical and rectangular. The fire extinguishing submunitions 7 are arranged in order in the chamber 203 of the projectile body. When the locking mechanism 6 is unlocked, the front ends of the respective flap housings 201 are disconnected. Under the action of aerodynamic force and the hinge, the fuselage midsection 2 is in an open hatch state. The flap housings 201 are spread out at a certain angle, and the fire extinguishing submunitions 7 loaded therein can be separated from the fire extinguishing bomb through the hatch, thereby achieving a wide range of fire extinguishing. In the specific process, the number and type of fire extinguishing submunitions 7 can also be changed according to the fire extinguishing requirements to make them suitable for various scenarios. If the fire extinguishing agent is loaded into the chamber 203 of the projectile body, its filling method is the same as that of the invention patent application with publication number CN114452569A, so this embodiment will not be described in detail. When the locking mechanism 6 is unlocked, the fire extinguishing agent can also be scattered near the fire point.

[0074] Specifically, each baffle 202 is provided with a lock hole 204 of equal size, which extends through the corresponding baffle 202 along the axial direction of the fire extinguisher. The locking device is fixedly mounted within the fairing 1 via bolts, and the locking mechanism 6 is provided with a lock core 601 having a linear displacement stroke. When the locking mechanism 6 is locked, the baffles 202 are stacked in sequence along the axial direction of the fire extinguisher, the lock holes 204 are coaxial, and the lock core 601 extends through each lock hole 204 in sequence. The locking device is normally locked. When the locking mechanism 6 is unlocked, the lock core 601 undergoes a linear displacement toward the fairing 1. During this process, the lock core 601 sequentially separates from each baffle 202, allowing the mid-section 2 of the fuselage to be opened under the action of aerodynamic forces and the hinge. In specific applications, an electric cylinder can be directly selected as the locking mechanism 6, with the lock core 601 serving as the telescopic rod on the electric cylinder. Alternatively, the servo 5 can be used as the locking mechanism 6, and the output end of the servo 5 is connected to the lock cylinder 601 through a crank, so that the lock cylinder 601 becomes a slider under the drive of the servo 5, and can switch from the locked state to the unlocked state during the sliding process.

[0075] As a preferred embodiment, the fire-extinguishing bomb also includes a tubular fuselage hub 8. One end of the fuselage hub 8 is connected to the mounting plate 301 and communicates with the tail section 3. The other end is open and trumpet-shaped and is in contact with the baffle 202. Specifically, the bomb's central chamber 203 is located between the outer wall of the fuselage hub 8 and the inner walls of each of the sub-shells 201. By making the fuselage hub 8 part of the mid-section 2, the bomb's ability to carry fire-extinguishing submunitions 7 or extinguishing agents is effectively improved. Furthermore, a battery 10 is housed within the rear chamber 304 of the tail section 3. Battery 10 is an environmentally friendly, non-flammable battery, such as a lead-acid battery, zinc-silver battery, nickel-cadmium battery, or lithium titanate battery. A cable is installed within the fuselage hub 8, one end of which is electrically connected to the battery 10 and the other end to the locking mechanism 6.

[0076] In this embodiment, the outer shells of the fairing 1, mid-fuselage section 2, tail section 3, and control surfaces 4 are all made of fireproof or flame-retardant materials, and can also be made of ordinary metal materials such as steel, iron, and aluminum. The fuselage hub 8 and mounting plate 301 are constructed of a rigid material that provides support, such as aluminum, steel, or carbon fiber.

[0077] Example 2

[0078] This embodiment discloses a precision-guided fire-extinguishing bomb capable of carrying sub-munitions. The fire-extinguishing bomb has a substantially similar structure to that of the first embodiment, with the following differences:

[0079] The fire-extinguishing bomb in this embodiment also includes a flight control system 11, which includes a wireless transmission radio, a guidance and control module, a navigation module, an altitude module 9, a hatch opening control module, a steering gear control module, and an energy module. The altitude module 9 is mounted at the head of the bomb's forward compartment within the fairing. The wireless transmission radio, guidance and control module, navigation module, hatch opening control module, steering gear control module, and energy module are all mounted in the tail end of the fuselage and are electrically and communicatively connected to the battery 10 and the guidance and control module via cables within the fuselage hub. The wireless transmission radio, navigation module, hatch opening control module, steering gear control module, and energy module are all electrically and communicatively connected to the guidance and control module. The hatch opening control module is communicatively connected to the locking mechanism to control its unlocking.

[0080] Specifically:

[0081] The wireless transmission station receives the ground-side control instructions and the preset flight route through wireless signals and transmits them to the guidance control module. The guidance control module is used to generate corresponding control signals based on the ground-side control instructions and the preset flight route received by the wireless transmission station. At the same time, the guidance control module returns the attitude and position data of the fire extinguishing bomb to the ground display terminal of the wireless transmission station for display;

[0082] The navigation module is used to measure and calculate the position, speed, acceleration, angle, angular velocity and other posture information of the fire-extinguishing bomb and transmit it to the guidance and control module. The guidance and control module calculates the posture information that needs to be adjusted according to the current position, speed, angle, angular velocity and ignition point of the fire-extinguishing bomb and the set guidance and control laws, and controls the servo to drive the movement of the control surface;

[0083] The steering gear control module is connected to the steering gear for communication, and the guidance control module is electrically and signal-connected to the steering gear control module. The guidance control module drives the corresponding steering gear to rotate through the steering gear control module according to the data value calculated in real time, thereby adjusting the angles of the four rudder surfaces, accurately guiding the missile body, and accurately hitting the burning target;

[0084] The altitude module 9 can sense or measure the altitude information of the fire extinguishing bomb from the ground in real time. In the initial stage of flight, the guidance and control module only receives the altitude information transmitted by the altitude module 9 and does not process the data. When the fire extinguishing bomb approaches the target point (which can be determined based on the posture information calculated by the navigation module), the guidance and control module calculates the altitude information transmitted by the altitude module 9 in real time. When it reaches the altitude above the target and meets the hatch opening altitude, the guidance and control module sends a hatch opening command to the hatch opening control module. The hatch opening control module controls the locking mechanism to unlock, the three shells are disconnected from the fairing, and the fire extinguishing submunitions are released from the mother bomb through the hatch.

[0085] The energy module, located between the battery 10 and the power supply circuits for the missile's electrical equipment, ensures the power supply required by the guidance and control module, navigation module, servo control module, altitude module 9, and hatch opening control module during flight. It also controls voltage and current to ensure the required voltage and current for the guidance and control module, hatch opening control module, servo, and servo control module during operation, preventing potential surge current damage to the missile's onboard equipment. During routine storage, the energy module prevents overcharging and over-discharging of the battery 10 and monitors its status. During testing or use of the fire extinguishing bomb, the energy module provides power to the battery 10, performs voltage conversion, isolates interference, and stabilizes power supply voltage for the missile's electrical equipment.

[0086] In this embodiment, the navigation module can adopt either satellite + inertial navigation or pure inertial navigation, and the gyroscope and accelerometer in the inertial navigation adopt a strapdown mode. The altitude module 9 contains an altitude sensor, which can dynamically measure the ground height in real time. The altitude sensor can be a radio sensor, an ultrasonic sensor, or an optical flow sensor, and can measure the relative height of the ground in real time and dynamically with a measurement accuracy higher than 5 cm.

[0087] Example 3

[0088] Based on the fire extinguishing bomb implementation scheme in Example 2, this example discloses a guidance method for the fire extinguishing bomb, which mainly includes the following steps:

[0089] Fire extinguishing bombs are launched by electromagnetic catapult, elastic catapult, external engine launch or aircraft drop;

[0090] During the flight of the fire extinguisher bomb:

[0091] First, the ignition point target parameters and initial flight control parameters are bound to the guidance and control module. The position information of the fire extinguishing bomb is calculated in real time based on the navigation module. Then, the guidance and control module calculates the attitude information that needs to be adjusted based on the position information of the fire extinguishing bomb and the location of the ignition point according to the set guidance and control laws, and controls the movement of the control surfaces.

[0092] Based on the real-time measurement of the altitude information of the fire-extinguishing bomb by the altitude module 9 and the judgment based on the posture information measured by the navigation module, when the fire-extinguishing bomb reaches the target and meets the hatch opening altitude, the guidance control module sends a hatch opening command to the hatch opening control module. The hatch opening control module controls the locking mechanism to unlock and separate the various petal shells, thereby allowing the fire-extinguishing sub-munitions or fire-extinguishing agents filled in the middle chamber of the bomb body to be scattered out of the mother bomb through the hatch.

[0093] The fire extinguishing bomb and guidance method of the present invention are further described below with reference to specific simulation examples.

[0094] After test simulations, the fire extinguishing bomb designed by the present invention has shown that when the diameter of the fire extinguishing bomb is 10 cm, the bomb weighs 15 kg, and can carry 12 kg of fire extinguishing agent or 40 fire extinguishing agent sub-munitions. When the cabin is opened at an altitude of 10 meters, the fire extinguishing agent sub-munitions can be dispersed over a range of not less than 50 square meters. When the diameter of the fire extinguishing bomb is 20 cm, the bomb weighs 56 kg, and can carry 50 kg of fire extinguishing agent or 168 fire extinguishing agent sub-munitions. The fire extinguishing agent sub-munitions can be dispersed over a range of not less than 314 square meters.

[0095] Under the above conditions, at a launch speed of 100 m / s, the maximum range can reach over 900 m, with a firing altitude of up to 250 m. The mother bomb can be opened at a fixed altitude of 20 m above the ground with an accuracy of within 10 m. At a launch speed of 150 m / s, the maximum range can reach over 1900 m, with a firing altitude of up to 660 m. At a fixed altitude of 20 m above the ground, the mother bomb can be opened with an accuracy of within 10 m.

[0096] Simulation 1: A fire extinguishing bomb with a diameter of 20 cm, a weight of 56 kg, and 168 fire extinguishing agent submunitions is launched. The initial position of the bomb is (0.0 m, 0.0 m, 0.0 m), the target position is (910 m, 20.0 m, 250.0 m), the launch velocity is 100 m / s, and the bomb is launched in a fan-shaped pattern with no off-boresight angle and an initial trajectory angle of 45°. The bomb is launched 20 meters above the fire.

[0097] The simulation results are as follows Figure 5-8As shown: the flight time is 14.21 seconds, the opening point position is (907.889723, 19.515338, 249.532864) m, and the opening point speed is 94.847249 m / s.

[0098] Simulation 2: Assume that the initial position of the fire extinguishing bomb is (0.0m, 0.0m, 0.0m), the target position is (1900m, 0.0m, 0.0m), the delivery speed is 150m / s, the fan-shaped launch method is adopted, there is no off-axis angle, and the initial ballistic inclination angle is 45°.

[0099] The simulation results are as follows Figure 9-12 As shown: the flight time is 24.60 seconds, the landing point is (1896.275769, -0.106927, 0.000992) m, and the terminal velocity is 122.185950 m / s.

[0100] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A precision-guided fire-extinguishing bomb capable of carrying sub-munitions, characterized in that: It comprises a fairing (1), a fuselage midsection (2) and a fuselage tail section (3) connected in sequence; the fuselage midsection (2) comprises a plurality of split housings (201), two adjacent split housings (201) are in contact with each other, and the split housings (201) together enclose a body chamber (203) that can be filled with fire extinguishing submunitions (7) or fire extinguishing agents; A plurality of rudder surfaces (4) are provided on the shell of the tail section (3) at intervals along the circumferential direction, a battery (10) and a plurality of steering gears (5) are provided in the shell of the tail section (3), and the steering gears (5) correspond to the rudder surfaces (4) one by one, and the battery (10) is electrically connected to each steering gear (5); one end of each of the split housings (201) is hinged to the tail section (3) along the circumferential direction of the fire extinguishing bomb, and the other end of each of the split housings (201) is provided with a baffle (202), and each of the baffles (202) is detachably connected via a locking mechanism (6); the fairing (1) is fixedly connected to one of the split housings (201); Each of the baffles (202) is provided with a lock hole (204), and the locking mechanism (6) is provided with a lock core (601), and the lock core (601) has a linear displacement stroke; when the locking mechanism (6) is locked, the baffles (202) are stacked in sequence along the axial direction of the fire extinguishing bomb, the lock holes (204) are coaxial, and the lock core (601) passes through the lock holes (204) in sequence; it also includes a fuselage hub (8) of a tubular structure, one end of the fuselage hub (8) is connected to the fuselage tail section (3), and the other end is in contact with and connected to the baffle (202); a cable is provided in the fuselage hub (8), one end of the cable is electrically connected to the battery (10), and the other end is electrically connected to the locking mechanism (6).

2. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to claim 1, characterized in that: The fuselage tail section (3) comprises a mounting plate (301) and a tail section shell of a rotary structure; One end of the tail section shell is fixedly connected to one side of the mounting plate (301), and the other end is a sealing structure. The split housing (201) is hinged at the edge of the other side of the mounting plate (301).

3. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to claim 2, characterized in that: The tail section shell includes a truncated cone wall surface (302) and a dome wall surface (303); The large surface end of the truncated cone wall surface (302) is fixedly connected to the mounting plate (301), and the dome wall surface (303) is fixedly covered on the small surface end of the truncated cone wall surface (302).

4. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to claim 2, characterized in that: A through hole is provided on the tail section housing at a position corresponding to the rudder surface (4), and a connecting piece (401) is provided at the root of the rudder surface (4). One end of the connecting piece (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 steering gear (5), or the output end of the steering gear (5) passes through the corresponding through hole and is fixedly connected to the other end of the corresponding connecting piece (401).

5. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to any one of claims 1 to 4, characterized in that: The profile of the split housing (201) is a streamlined structure; one end of the split housing (201) is smoothly connected to the fairing (1), and the other end is smoothly connected to the fuselage tail section (3).

6. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to any one of claims 1 to 4, characterized in that: Also included is a flight control system (11), the flight control system (11) comprising: Wireless transmission station, used to receive ground control instructions and preset flight routes; The guidance and control module is used to generate corresponding control signals based on the control instructions of autonomous navigation, the ground-end control instructions received by the wireless transmission radio station, or the preset flight route.

7. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to claim 6, characterized in that: The flight control system (11) further includes: A navigation module is used to measure the posture information of the fire extinguishing bomb and transmit it to the guidance control module, so that the guidance control module calculates the posture information that needs to be adjusted according to the posture information of the fire extinguishing bomb and the location of the ignition point, according to the set guidance law and control law, and controls the movement of the control surface (4); A height module (9) is used to measure the height information of the fire extinguishing bomb and transmit it to the guidance control module, so that the guidance control module generates a cabin opening instruction according to the height information of the fire extinguishing bomb; The cabin opening control module is used to control the locking mechanism (6) to unlock according to the cabin opening instruction of the guidance control module.

8. The precision-guided fire-extinguishing bomb capable of carrying sub-munitions according to claim 7, characterized in that: The height module (9) is a height sensor provided at the front end of the fairing (1).

9. A method for guiding a fire extinguishing bomb according to any one of claims 1 to 8, characterized in that: The steps include: Fire extinguishing bombs are launched by electromagnetic catapult, elastic catapult, external engine launch or aircraft drop; During the flight of the fire extinguisher bomb: First, the ignition point target parameters and initial flight control parameters are bound to the guidance and control module. The position information of the fire extinguishing bomb is calculated in real time based on the navigation module. Then, the guidance and control module calculates the attitude information that needs to be adjusted based on the position information of the fire extinguishing bomb and the location of the ignition point according to the set guidance and control laws, and controls the movement of the control surfaces. Based on the real-time measurement of the altitude information of the fire-extinguishing bomb by the altitude module, when the fire-extinguishing bomb reaches the target and meets the hatch opening altitude, the guidance control module sends a hatch opening command to the hatch opening control module. The hatch opening control module controls the locking mechanism to unlock and separate the various petal shells, thereby allowing the fire-extinguishing sub-munitions or fire-extinguishing agents filled in the middle chamber of the bomb body to be dispersed out of the mother bomb through the hatch.

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