Strapdown collimation and firing control system for high-rise building window-breaking fire-extinguishing bomb
By combining a binocular camera and a launch controller, and using machine learning algorithms to automatically decide and control the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV, the problems of low aiming accuracy and large launch control error in the existing technology are solved, and high-precision hit and safe launch are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUNAN SHENZHOU DEFENSE TECH CO LTD
- Filing Date
- 2024-03-06
- Publication Date
- 2026-06-12
Smart Images
Figure CN118001649B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of fire extinguishing technology for high-rise buildings, and in particular to a strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings that break windows. Background Technology
[0002] High-rise buildings are common in modern cities, and fire safety issues in these buildings are becoming increasingly prominent. The typical process for fire extinguishing operations involving breaking windows in high-rise buildings is: aiming – firing – flight – breaking the window – entering the room – distributing extinguishing agent – extinguishing the fire. However, considering that if the fire extinguishing projectile fails to hit the target window and instead hits the building wall and falls to the ground, it could potentially damage or injure equipment and personnel on the ground, and given that windows in high-rise or super high-rise buildings are fitted with thick tempered glass, simply hitting the target window is insufficient; the fire extinguishing projectile must break the window to enter the room and effectively extinguish the fire.
[0003] Therefore, when aiming fire extinguishing projectiles for window-breaking operations in high-rise buildings, it is crucial not only to align the launch direction with the target window but also to ensure that the angle of impact relative to the window plane is sufficient to shatter and penetrate the tempered glass. Furthermore, considering that these projectiles are unguided and launched from a multi-rotor drone, the drone's position and attitude stability during hovering significantly impact launch control. If the drone's position and attitude sway beyond a certain range during launch, it will introduce a significant initial error to the trajectory, increasing dispersion and reducing the probability of a hit.
[0004] In summary, the aiming and firing control process of window-breaking fire extinguishing projectiles involves processing, calculating, analyzing, and making decisions regarding multiple aiming parameters. Only by comprehensively addressing the aforementioned issues can high-precision firing of the projectiles be achieved, successfully completing window-breaking fire extinguishing operations.
[0005] However, existing aiming and control devices for window-breaking fire extinguishing projectiles fall into two categories. One type is based on a standard optical camera, which can only observe the target window's position and cannot acquire numerous aiming parameters, thus hindering high-precision aiming. The other type mounts a standard optical camera on a gimbal, using gimbal technology to align the camera with the target window and providing the angle difference between the optical axis and the launch direction. The drone operator adjusts the drone's heading angle based on this angle difference to align the launch direction with the camera's optical axis, thereby improving the accuracy of the launch direction measurement. However, this type of aiming and control device still cannot accurately acquire the aiming parameters for the window-breaking fire extinguishing projectile. Therefore, neither of these two types of aiming and control devices can process, calculate, and analyze multiple aiming parameters, resulting in low aiming accuracy and a low hit rate for the fire extinguishing projectiles. Furthermore, existing fire extinguishing projectile aiming and control devices all employ manual remote control for launch. The stability of the drone during launch is qualitatively determined by the shooter through observation of camera images, rather than quantitatively. This manual remote control launch method has a large control error, which easily increases the initial error of the fire extinguishing projectile's flight trajectory, reduces hit accuracy, and causes the fire extinguishing projectile to miss the target. Summary of the Invention
[0006] Therefore, it is necessary to provide a strapdown aiming and control system for high-rise building fire extinguishing projectiles that can improve the aiming accuracy and reduce the firing control error, in order to address the above-mentioned technical problems.
[0007] A strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings includes: a binocular camera, a launch controller, and a ground launch control display; wherein the binocular camera and the launch controller are connected by a cable and strapdown mounted on the launch rail of a UAV tripod;
[0008] A binocular camera is used to simultaneously capture images of windows in high-rise buildings using two cameras, and then transmits the captured binocular images to a transmission controller via a cable.
[0009] The launch controller is used to calculate and analyze the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV based on the binocular images, and to make decision-making control on the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV.
[0010] The launch controller includes a computing unit, a transmission module, and an aiming and launch control program module. The computing unit identifies the target window in the binocular image and applies image processing algorithms to process the binocular image after target window identification, obtaining the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV. The transmission module transmits the binocular image to the ground launch control display and, after the computing unit completes target window identification, sends a target window locking command to the ground launch control display and receives aiming control commands from the ground launch control display. The aiming and launch control program module makes decisions and controls the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters and the UAV hovering stability parameters. It automatically sends a launch ignition command to the window-breaking fire extinguishing projectile after the transmission module receives the aiming control command from the ground launch control display, controlling the ignition and launch of the projectile.
[0011] The ground control display is used to receive and display binocular images, and lock the target window in the binocular image by receiving the target window locking command sent by the transmission module. After the drone pilot controls the drone to aim at the target window by observing the display screen, the drone pilot manually sends the aiming control command to the transmission module in the launch controller.
[0012] Furthermore, the optical axis of the binocular camera is aligned with the firing direction of the UAV launch rail.
[0013] Furthermore, the launch controller and the ground launch control display transmit information and commands to each other via wireless data transmission.
[0014] Furthermore, the launch controller and the window-breaking fire extinguishing bomb transmit information and commands to each other via a disconnect cable.
[0015] Furthermore, the launch controller also includes a power module for supplying power to the computing unit, transmission module, and aiming and launch control program module.
[0016] Furthermore, the aiming parameters for the window-breaking fire extinguishing projectile include: projectile-target distance, target window geometry, perpendicularity of the binocular camera's optical axis to the target window plane, aiming circle radius, terminal trajectory tilt angle, and impact angle; the hovering stability parameters for the UAV include the sway value of the binocular camera's crosshair and the fluctuation value of the perpendicularity of the binocular camera's optical axis to the target window plane.
[0017] Furthermore, the targeting and control program module is also used for:
[0018] The model uses a pre-built simulation-based judgment model to determine whether the aiming parameters of the window-breaking fire extinguishing projectile meet the preset accuracy requirements, and whether the hovering stability parameters of the UAV meet the preset launch and control requirements. The output of the simulation-based judgment model is divided into two categories: the first category is that the window-breaking fire extinguishing projectile can break the target window and enter the room, and the second category is that the window-breaking fire extinguishing projectile cannot break the target window and enter the room.
[0019] When the output of the simulation thinking judgment model is of the first type and is maintained continuously for a set time, it is determined that the aiming parameters of the window-breaking fire extinguishing projectile at the current moment meet the preset accuracy requirements, and the hovering stability parameters of the UAV at the current moment meet the preset launch control requirements.
[0020] Furthermore, the simulated thinking judgment model is constructed using logistic regression, a machine learning algorithm, based on UAV simulated aiming and control test data and aiming and control simulation calculation data.
[0021] Furthermore, the launch controller will only enter the launch control process for the window-breaking fire extinguishing grenade after receiving the aiming control command sent by the ground launch control display.
[0022] Furthermore, the ground control display is also used to allow the drone operator to send a stop command to the launch controller at any time, thereby remotely controlling the launch controller to terminate the launch process.
[0023] The strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings, as described above, has the following technical advantages compared to existing technologies:
[0024] 1. By using two cameras with different perspectives to capture images of windows in high-rise buildings, richer three-dimensional information about the target windows can be obtained, which improves the accuracy of subsequent calculations of aiming parameters for window-breaking fire extinguishing projectiles and hovering stability parameters for drones.
[0025] 2. The launch controller uses the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV to make decisions and control the launch timing of the window-breaking fire extinguishing projectile. The UAV pilot is only responsible for controlling the UAV to aim. The aiming and launch control program is responsible for when to launch the window-breaking fire extinguishing projectile. After the aiming parameters of the window-breaking fire extinguishing projectile meet the preset accuracy requirements and the hovering stability parameters of the UAV meet the preset launch control requirements, and after the transmission module receives the aiming control command sent by the ground launch control display, it automatically sends the launch ignition command to the window-breaking fire extinguishing projectile to control the ignition and launch of the window-breaking fire extinguishing projectile, thereby improving the aiming accuracy of the window-breaking fire extinguishing projectile and eliminating launch control errors.
[0026] 3. The fire extinguishing grenade will not be launched if the aiming parameters do not meet the preset accuracy requirements, or if the drone's hovering stability parameters do not meet the preset launch control requirements, truly achieving "guaranteed hit." Furthermore, the launch control process only begins when the drone pilot confirms the target window via the ground control display, issues an aiming command to the launch controller, and aims at the target window. Under no circumstances will the launch controller issue a launch ignition command to the fire extinguishing grenade if it does not receive an aiming command. This eliminates the influence of human factors on launch control, prevents misses, and completely solves the problem of fire extinguishing grenade falling to the ground and threatening the safety of ground personnel and equipment. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the structural composition of a strapdown aiming and control system for a fire-extinguishing grenade used in high-rise buildings, as described in one embodiment. Detailed Implementation
[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0029] In one embodiment, such as Figure 1 As shown, a strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings is provided, the system comprising:
[0030] The system includes a binocular camera, a launch controller, and a ground launch control display. The binocular camera and launch controller are connected by cables and strapped-on mounted on the launch rail of the UAV tripod.
[0031] A binocular camera is used to simultaneously capture images of windows on tall buildings using two cameras, and then transmits the acquired binocular images to a transmission controller via cable. In essence, a binocular camera is a stereoscopic vision system composed of two cameras. It simultaneously captures images of an object using both cameras, obtaining "left and right binocular images." By utilizing these images taken from different perspectives, richer three-dimensional information about the object can be obtained.
[0032] The launch controller is used to calculate and analyze the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV based on the binocular images, and to make decision-making control on the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV.
[0033] The launch controller includes a computing unit, a transmission module, and an aiming and launch control program module. The computing unit identifies the target window in the binocular image and applies image processing algorithms to process the binocular image after target window identification, obtaining the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV. The transmission module transmits the binocular image to the ground launch control display and, after the computing unit completes target window identification, sends a target window locking command to the ground launch control display and receives aiming control commands from the ground launch control display. The aiming and launch control program module makes decisions and controls the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters and the UAV hovering stability parameters. It automatically sends a launch ignition command to the window-breaking fire extinguishing projectile after the transmission module receives the aiming control command from the ground launch control display, controlling the ignition and launch of the projectile.
[0034] The ground control display is a handheld device used to receive and display binocular images. It locks onto the target window in the binocular image by receiving a target window lock command from the transmission module. After the drone pilot aims the drone at the target window by observing the display screen, they manually send aiming commands to the transmission module in the launch controller. Specifically, while the ground control display frames the target window with brightly colored lines, it determines a reasonable target size using the geometric center of the target window as the center and referring to the window's geometric dimensions, drawing an "aiming circle" in bright color. The drone pilot can observe the ground control display screen and control the drone to align the camera's crosshair with the aiming circle, directing the launch direction towards the aiming circle.
[0035] Furthermore, the optical axis of the binocular camera is aligned with the firing direction of the UAV launch rail.
[0036] Furthermore, the launch controller and the ground launch control display transmit information and commands to each other via wireless data transmission.
[0037] Furthermore, the launch controller and the window-breaking fire extinguishing bomb transmit information and commands to each other via a disconnect cable.
[0038] Furthermore, the launch controller also includes a power module for supplying power to the computing unit, transmission module, and aiming and launch control program module.
[0039] Furthermore, the aiming parameters for the window-breaking fire extinguishing projectile include: projectile-target distance, target window geometry, perpendicularity of the binocular camera's optical axis to the target window plane, aiming circle radius, terminal trajectory tilt angle, and impact angle; the hovering stability parameters for the UAV include the sway value of the binocular camera's crosshair and the fluctuation value of the perpendicularity of the binocular camera's optical axis to the target window plane.
[0040] It's understandable that aiming at a locked target window requires not only aligning the launch direction with the target's location but also analyzing several other influencing factors. First, the radius of the aiming ring, reflecting the size of the bullseye, must be appropriately determined. A ring that's too small increases the difficulty of aiming and the requirements for the drone's hovering stability; a ring that's too large increases firing error. Therefore, the aiming ring radius must be selected reasonably based on the window's geometry. Second, to break the window, the impact angle of the fire extinguishing projectile must meet the corresponding requirements. The impact angle is related to range and trajectory. Therefore, the impact of range and trajectory on window breaking must also be considered during aiming. Furthermore, the drone's hovering stability significantly affects launch control. Since the camera is strapped to the drone's launch rail, the amount of movement of the crosshair on the binocular camera's display screen and the fluctuation in the perpendicularity of the binocular camera's optical axis to the target window plane reflect the drone's hovering stability. The appropriate launch timing should be determined by comprehensively analyzing the swing time history of the crosshair and the fluctuation time history of the perpendicularity of the optical axis to the window plane.
[0041] Furthermore, the targeting and control program module is also used for:
[0042] The model uses a pre-built simulation-based judgment model to determine whether the aiming parameters of the window-breaking fire extinguishing projectile meet the preset accuracy requirements, and whether the hovering stability parameters of the UAV meet the preset launch and control requirements. The output of the simulation-based judgment model is divided into two categories: the first category is that the window-breaking fire extinguishing projectile can break the target window and enter the room, and the second category is that the window-breaking fire extinguishing projectile cannot break the target window and enter the room.
[0043] When the output of the simulation thinking judgment model is of the first type and is maintained continuously for a set time, it is determined that the aiming parameters of the window-breaking fire extinguishing projectile at the current moment meet the preset accuracy requirements, and the hovering stability parameters of the UAV at the current moment meet the preset launch control requirements.
[0044] Furthermore, the simulated thinking judgment model is constructed using logistic regression, a machine learning algorithm, based on UAV simulated aiming and control test data and aiming and control simulation calculation data.
[0045] It's understandable that in traditional, purely manual aiming and firing control systems for fire extinguishing projectiles, the drone operator must both control the drone for aiming and observe the aiming results displayed on the control screen, such as the projectile-visual distance data, whether the optical axis is perpendicular to the window, and the movement of the crosshair. The distance data are quantitative parameters, while the perpendicularity of the optical axis to the window and the movement of the crosshair are only qualitative visual judgments. When the operator, based on a pre-determined firing table, judges that the aiming results meet the requirements for hitting the window (actually, when the probability of a hit is considered high by the operator), they manually press the remote launch button to fire the fire extinguishing projectile. This purely manual firing method introduces certain uncertainties. First, there is a time lag between manually judging whether to fire and pressing the button. The drone is a dynamic launch platform, and the aiming results are constantly changing over time. At the moment the operator presses the launch button, the aiming results may no longer meet the accuracy requirements. Second, the aiming results contain qualitative visual judgments, the accuracy of which varies from person to person. Well-trained pilots have a higher accuracy rate in their judgments; novices are less accurate.
[0046] Therefore, to address the issue of inaccurate human judgment in aiming results and eliminate the influence of pilot training level and subjective factors, this application introduces artificial intelligence technology into the aiming and control program module, establishing a simulated thinking judgment model. During the pilot's aiming process, the simulated thinking judgment model program determines whether the aiming result meets the accuracy requirements. That is, the computer program judges whether a hit and window break is possible based on multiple quantitative data that change over time. When the drone pilot completes aiming and sends the aiming control command, and the aiming result meets the accuracy requirements, the launch controller issues an ignition command, automatically launching the fire extinguishing projectile. This avoids the influence of human factors on the fire extinguishing projectile launch control process, improves aiming accuracy, and reduces launch control errors.
[0047] Furthermore, the launch controller will only enter the launch control process for the window-breaking fire extinguishing grenade after receiving the aiming control command sent by the ground launch control display.
[0048] Furthermore, the ground control display is also used to allow the drone operator to send a stop command to the launch controller at any time, thereby remotely controlling the launch controller to terminate the launch process.
[0049] It is understandable that, considering the automatic launch control of the window-breaking fire extinguishing projectile in the strapdown aiming and firing control system for high-rise building fire extinguishing projectiles constructed in this application, this application incorporates an anti-misfire function. The firing process only begins when the UAV pilot confirms the target window via the ground control display, issues an aiming command to the launch controller, and aims at the target window. Under no circumstances will the launch controller issue a firing ignition command to the fire extinguishing projectile if it does not receive the aiming command. Furthermore, the UAV pilot can terminate the firing process at any time via the ground control display to ensure that the fire extinguishing projectile is not misfired, thus preventing safety accidents and improving the safety of the fire extinguishing projectile launch.
[0050] The strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings, as described in this application, has undergone product finalization testing. Tests were conducted on a target window in a fire training building equipped with 12mm thick tempered glass, achieving a 100% hit rate with multiple accurate fire extinguishing projectiles. The technical performance of the strapdown aiming and control system has been fully verified. This system completely solves the current technical problems of low aiming accuracy and large firing control errors in fire extinguishing projectiles used for breaking windows.
[0051] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0052] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A strapdown aiming and control system for fire extinguishing projectiles used in high-rise buildings, characterized in that, The system includes: a binocular camera, a launch controller, and a ground launch control display; wherein, the binocular camera and the launch controller are connected by a cable and strapdown mounted on the launch rail of the UAV tripod; The binocular camera is used to simultaneously capture images of the windows of a high-rise building using two cameras, and then transmits the captured binocular images to the transmission controller via a cable. The launch controller is used to calculate and analyze the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV based on the binocular images, and to make decision-making control on the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters of the window-breaking fire extinguishing projectile and the hovering stability parameters of the UAV. The aiming parameters of the window-breaking fire extinguishing projectile include: projectile-eye distance, target window geometry, perpendicularity of the optical axis direction of the binocular camera to the plane of the target window, aiming circle radius, terminal trajectory tilt angle, and impact angle. The hovering stability parameters of the UAV include the sway value of the crosshair of the binocular camera and the fluctuation value of the perpendicularity of the optical axis direction of the binocular camera to the plane of the target window. The launch controller includes a computing unit, a transmission module, and an aiming and launch control program module. The computing unit identifies the target window in the binocular image and applies an image processing algorithm to process the binocular image after target window identification to obtain aiming parameters for the window-breaking fire extinguishing projectile and hovering stability parameters for the UAV. The transmission module transmits the binocular image to the ground launch control display and, after the computing unit completes target window identification, sends a target window locking command to the ground launch control display and receives aiming control commands from the ground launch control display. The aiming and launch control program module makes decisions and controls the launch timing of the window-breaking fire extinguishing projectile based on the aiming parameters and hovering stability parameters. When the aiming parameters meet preset accuracy requirements and the hovering stability parameters meet preset launch control requirements, and after the transmission module receives the aiming control commands from the ground launch control display, it automatically sends a launch ignition command to the window-breaking fire extinguishing projectile to control its ignition and launch. The ground control display is used to receive and display the binocular image, and to lock and frame the target window in the binocular image by receiving the target window locking command sent by the transmission module. After the UAV pilot controls the UAV to aim at the target window by observing the display screen, the pilot manually sends the aiming control command to the transmission module in the launch controller.
2. The strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The optical axis of the binocular camera is aligned with the firing direction of the UAV launch rail.
3. The strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The transmitter controller and the ground transmitter control display transmit information and instructions to each other via wireless data transmission.
4. The strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The launch controller and the window-breaking fire extinguishing bomb transmit information and commands to each other via a disconnect cable.
5. The strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The launch controller also includes a power supply module, which supplies power to the computing unit, the transmission module, and the aiming and launch control program module.
6. The strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The aiming and firing control program module is also used for: Based on a pre-constructed simulation-based judgment model, the model determines whether the aiming parameters of the window-breaking fire extinguishing projectile meet the preset accuracy requirements, and whether the hovering stability parameters of the UAV meet the preset launch control requirements. The output results of the simulation-based judgment model are divided into two categories: the first category is that the window-breaking fire extinguishing projectile can break the target window and enter the room, and the second category is that the window-breaking fire extinguishing projectile cannot break the target window and enter the room. When the output of the simulated thinking judgment model is of the first type and is maintained continuously for a set time, it is determined that the aiming parameters of the window-breaking fire extinguishing projectile at the current moment meet the preset accuracy requirements, and the hovering stability parameters of the UAV at the current moment meet the preset launch control requirements.
7. A strapdown aiming and control system for a high-rise building window-breaking fire extinguishing grenade according to claim 6, characterized in that, The simulated thinking judgment model is constructed using logistic regression, a machine learning algorithm, based on UAV simulated aiming and control test data and aiming and control simulation calculation data.
8. A strapdown aiming and control system for a high-rise building window-breaking fire extinguishing grenade according to claim 1, characterized in that, The launch controller will only enter the launch control process of the window-breaking fire extinguishing grenade after receiving the aiming control command sent by the ground launch control display.
9. A strapdown aiming and control system for a window-breaking fire extinguishing grenade for high-rise buildings according to claim 1, characterized in that, The ground control display is also used to allow the drone pilot to send a stop command to the launch controller at any time, thereby remotely controlling the launch controller to terminate the launch control process.