Water-carrying fire-fighting rocket and water-carrying fire-fighting rocket attitude control method

Abstract

The invention provides a water-carrying fire-fighting rocket and a water-carrying fire-fighting rocket attitude control method, and relates to the technical field of civil fire-fighting rockets, and the method comprises the steps: inputting a launching position, a fire point, a fire area, a gradient, a wind direction and a wind speed into a flight path simulation system, obtaining a rocket launching angle and an ignition lead length, and sequentially igniting an ignition lead and a booster rocket, the water injection nozzle, the explosion package and the ignition lead are all located at the bottom of the main water-carrying rocket, after the main water-carrying rocket and the booster rocket reach a fire area, the explosion package is ignited, the water injection nozzle is opened through explosion, and fire-fighting dispersed water is sprayed to a fire scene. The technical problem that in the prior art, traditional fire fighting equipment is poor in throwing effect in a complex environment due to poor thrust stability can be solved, lift force is provided for a rocket through tension, data are input according to site conditions, the rocket launching angle and the ignition lead length are accurately calculated, and the fire fighting effect is improved. The technical effect of improving the putting accuracy is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of civilian firefighting rockets, and in particular to a water-carrying firefighting rocket and a method for controlling the attitude of a water-carrying firefighting rocket. Background Art

[0002] Fire fighting is a complex and arduous task, especially in complex environments. Due to external factors, the fire spreads rapidly and is difficult to fight. Existing firefighting technologies have certain limitations when dealing with fires. For example, manual water sprinkling, helicopter water sprinkling, and drone firefighting all have certain limitations. Traditional water-carrying firefighting rockets are simple in design and have a high thrust-to-weight ratio. They have achieved good results in terms of accuracy and effectiveness of firefighting. However, traditional rockets use thrust to generate lift, but the thrust stability is very poor. A complex variable flight control system is required to keep the rocket in stable flight, and there is a problem of inaccurate delivery.

[0003] In summary, the prior art has a technical problem that the traditional fire-fighting equipment has poor thrust stability, resulting in poor deployment effect in complex environments. Summary of the invention

[0004] The purpose of this application is to provide a water-carrying fire-fighting rocket and a water-carrying fire-fighting rocket attitude control method, so as to solve the technical problem in the prior art that traditional fire-fighting equipment has poor thrust stability, resulting in poor delivery effect in complex environments.

[0005] In view of the above problems, the present application provides a water-carrying fire-fighting rocket and a water-carrying fire-fighting rocket attitude control method.

[0006] In the first aspect, the present application provides a water-carrying fire-fighting rocket, wherein the water-carrying fire-fighting rocket comprises: a booster rocket, a main water-carrying rocket, a water nozzle, an explosion pack, an ignition fuse, and a flight trajectory simulation system; a soft connection or a hard connection is adopted between the booster rocket and the main water-carrying rocket, and the connection point between the booster rocket and the main water-carrying rocket is located above the total center of gravity of the booster rocket and the main water-carrying rocket, providing an upward pulling force for the main water-carrying rocket; the launch position, fire point, fire area, slope, wind direction, and wind speed are input into the flight according to the on-site conditions; A trajectory simulation system is provided to obtain a rocket launch angle and an ignition fuse length; based on the rocket launch angle and the ignition fuse length, the ignition fuse and the booster rocket are ignited in sequence, wherein the ignition fuse is gunpowder, and the fuse of the booster rocket is gunpowder, an electrical signal or a detonator; the water spray nozzle, the explosion pack and the ignition fuse are all located at the bottom of the main water-carrying rocket, and when the main water-carrying rocket and the booster rocket reach the fire area, the ignition fuse ignites the explosion pack, and the explosion opens the water spray nozzle, spraying the fire-fighting dispersion water to the fire scene.

[0007] In the second aspect, the present application also provides a water-carrying fire-fighting rocket attitude control method, which is applied to the water-carrying fire-fighting rocket, wherein the water-carrying fire-fighting rocket attitude control method includes: obtaining a rocket attitude control model according to the flight trajectory simulation system, the rocket attitude control model including a launch angle control model and a fuse burning time control model; based on the rocket attitude control model, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are controlled and analyzed, and the rocket launch angle and ignition fuse burning time are output; according to the ignition fuse burning time, the ignition fuse length is determined.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] The water-carrying firefighting rocket comprises a booster rocket, a main water-carrying rocket, a water nozzle, an explosive pack, an ignition fuse, and a flight trajectory simulation system; the booster rocket and the main water-carrying rocket are connected by a soft connection or a hard connection, and the connection point between the booster rocket and the main water-carrying rocket is located above the total center of gravity of the booster rocket and the main water-carrying rocket, providing an upward pulling force for the main water-carrying rocket; the launch position, the ignition point, the ignition area, the slope, the wind direction, and the wind speed are input into the flight trajectory simulation system according to the on-site conditions to obtain the rocket The main water-carrying rocket is equipped with a launch angle and an ignition fuse length; based on the rocket launch angle and the ignition fuse length, the ignition fuse and the booster rocket are ignited in sequence, wherein the ignition fuse is gunpowder, and the fuse of the booster rocket is gunpowder, an electrical signal or a detonator; the water spray port, the explosion bag and the ignition fuse are all located at the bottom of the main water-carrying rocket, and when the main water-carrying rocket and the booster rocket reach the fire area, the ignition fuse ignites the explosion bag, and the explosion opens the water spray port, spraying the fire-fighting dispersion water body to the fire scene. In other words, the pulling force is used to provide lift for the rocket, and the data is input according to the on-site situation to accurately calculate the rocket launch angle and the ignition fuse length, thereby achieving the technical effect of improving the accuracy of the delivery.

[0010] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0012] Figure 1 This is a schematic diagram of the structure of a water-carrying firefighting rocket for this application;

[0013] Figure 2 This is a flow chart of a method for controlling the attitude of a water-carrying firefighting rocket in the present application.

[0014] Explanation of the reference numerals: booster rocket 1, main water-carrying rocket 2, water nozzle 3, explosion pack 4, ignition fuse 5. DETAILED DESCRIPTION

[0015] The present application provides a water-carrying firefighting rocket and a water-carrying firefighting rocket attitude control method, which solves the technical problem in the prior art that the traditional firefighting equipment has poor thrust stability, resulting in poor delivery effect in complex environments. The rocket is provided with lift by pulling force, and data is input according to the on-site situation to accurately calculate the rocket launch angle and the length of the ignition fuse, thereby achieving the technical effect of improving delivery accuracy.

[0016] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0017] For example, please refer to the attached Figure 1 The present application provides a water-carrying firefighting rocket, comprising:

[0018] A booster rocket 1, a main water-carrying rocket 2, a water nozzle 3, an explosive pack 4, an ignition fuse 5, and a flight trajectory simulation system; a soft connection or a hard connection is used between the booster rocket 1 and the main water-carrying rocket 2, and the connection point between the booster rocket 1 and the main water-carrying rocket 2 is located above the total center of gravity of the booster rocket 1 and the main water-carrying rocket 2, providing an upward pull for the main water-carrying rocket 2; according to the on-site conditions, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are input into the flight trajectory simulation system to obtain the rocket launch angle and ignition The length of the fuse 5; based on the rocket launch angle and the length of the ignition fuse 5, the ignition fuse 5 and the booster rocket 1 are ignited in sequence, wherein the ignition fuse 5 is gunpowder, and the fuse of the booster rocket 1 is gunpowder, an electrical signal or a detonator; the water nozzle 3, the explosion bag 4 and the ignition fuse 5 are all located at the bottom of the main water-carrying rocket 2. When the main water-carrying rocket 2 and the booster rocket 1 reach the fire area, the ignition fuse 5 ignites the explosion bag 4, and the explosion opens the water nozzle 3, spraying the fire-fighting dispersion water to the fire scene.

[0019] Specifically, the water-carrying firefighting rocket includes a booster rocket 1, a main water-carrying rocket 2, a water nozzle 3, an explosive pack 4, an ignition fuse 5, and a flight trajectory simulation system. The booster rocket 1 is used to provide the initial power for takeoff and flight, and its performance directly affects the rocket's takeoff speed, flight altitude, and distance. The main water-carrying rocket 2 is the main body of the rocket and is used to carry water for firefighting. Its design needs to consider the water capacity, distribution, and connection method with the booster rocket 1 to ensure stability during flight and efficient use of water. The water nozzle 3 is a key component for releasing water for firefighting and is located at the bottom of the main water-carrying rocket 2. The design of the water nozzle 3 needs to consider the range, speed, and distribution of the water spray so that the fire source can be effectively covered and extinguished when arriving at the fire scene. The explosive pack 4 is an explosive device used to open the water nozzle 3 after reaching the fire area to spray the fire-fighting dispersion water body to the fire scene. The design of the explosive pack 4 needs to ensure that it can be reliably detonated at a safe distance without causing harm to the surrounding environment and personnel. The flight trajectory simulation system is an advanced navigation and control system used to calculate and simulate the flight trajectory of the rocket. It needs to consider multiple factors such as launch position, ignition point, ignition area, slope, wind direction and wind speed, and quickly and accurately calculate the launch angle and fuse burning time.

[0020] A soft connection can be used between the booster rocket 1 and the main water-carrying rocket 2, using elastic or retractable materials to allow the booster rocket 1 and the main water-carrying rocket 2 to move relative to each other to a certain extent, which helps to absorb vibrations and shocks during flight and improve overall flight stability. A hard connection can also be used, usually using rigid materials to ensure the structural stability between the booster rocket 1 and the main water-carrying rocket 2. Hard connections are more effective when the rocket's attitude needs to be precisely controlled. The connection point is located above the total center of gravity, which helps to provide an upward pull to help the main water-carrying rocket 2 maintain a predetermined flight trajectory after the boost phase. Reduce the center of gravity shift of the rocket during flight, improve flight stability, and ensure that the main water-carrying rocket 2 is in the correct position and attitude when releasing the firefighting load. At the same time, the upward pull helps to increase the rocket's flight height and distance, ensuring that the firefighting water can effectively cover high-rise buildings or distant fires.

[0021] The flight trajectory simulation system is installed on a mobile phone, tablet or computer. The staff inputs the location of the rocket launch, the fire point, the fire area, the slope, the wind direction and the wind speed according to the on-site situation to build a mathematical model to simulate the rocket's flight trajectory under different conditions. According to the mathematical model, the optimal launch angle and the length of the ignition fuse 5 are quickly calculated to ensure that the rocket can accurately fly to the target area and ignite and separate at the right time. According to the simulation results, the launch parameters are optimized and adjusted to cope with possible changes, such as changes in meteorological conditions or dynamic changes in the fire scene.

[0022] According to the calculated rocket launch angle and the length of the ignition fuse 5, the ignition fuse 5 is ignited. The ignition fuse 5 is a fuse filled with gunpowder, which is used to ignite the booster rocket 1. When the ignition fuse 5 is ignited, it will burn at a predetermined speed, thereby igniting the booster rocket 1 after a period of time. It is ensured that sufficient time is provided during the burning process so that the operator can evacuate the launch area and ensure that the rocket obtains thrust at the right time and position. When the ignition fuse 5 burns to the predetermined position, the fuse of the booster rocket 1 will be ignited. The fuse of the booster rocket 1 is gunpowder, an electrical signal or a detonator, which is used to ignite the engine of the booster rocket 1, provide thrust at the appropriate time, and launch the main water-carrying rocket 2 into the air. After the booster rocket 1 is ignited, it will quickly provide thrust to lift the main water-carrying rocket 2 from the launch pad. The thrust of the booster rocket 1 is sufficient to overcome the gravity of the main water-carrying rocket 2 and push it to the predetermined flight trajectory. Once the booster rocket 1 completes its mission, it will separate from the main water-carrying rocket 2. At this point, the main water-carrying rocket 2 will continue to fly until it reaches over the fire site, and then release the firefighting payload according to a preset procedure.

[0023] After the rocket reaches the predetermined position of the fire area, the ignition fuse 5 is ignited, triggering the explosion of the explosive pack 4. The impact force of the explosion quickly and effectively opens the water spray port 3, achieving dispersed spraying of fire water. The fire water will be sprayed to the fire scene at high speed, covering a large area, quickly reducing the temperature of the fire scene and suppressing the fire. In this way, the water-carrying firefighting rocket can quickly and accurately deliver a large amount of fire water to the fire scene, which is very effective for controlling large-scale fires, especially in areas with complex terrain and difficult to reach by traditional firefighting means. The fire can be quickly controlled and the operational risk can be reduced.

[0024] The fuels of the booster rocket 1 and the explosive package 4 are gunpowder, gasoline, kerosene, diesel, alcohol, coal gas, liquefied petroleum gas, and liquefied natural gas, which are ignited by the ignition fuse 5 and are launched once and are not recovered.

[0025] Specifically, the booster rocket 1 and the explosive pack 4 use disposable fuels, including solid fuels (gunpowder), liquid fuels (gasoline, kerosene, diesel), and easily volatile fuels (alcohol, coal gas, liquefied petroleum gas, liquefied natural gas). They will not be recovered after completing the mission and are suitable for rapid deployment in emergency situations. The function of the ignition fuse 5 is to ignite the booster rocket 1 and the explosive pack 4 in sequence. First, the fuel of the booster rocket 1 is ignited to provide an upward thrust to launch the main water-carrying rocket 2 into the air. Once the main water-carrying rocket 2 and the booster rocket 1 reach the predetermined position, the ignition fuse 5 will ignite the explosive pack 4, release the explosive force, open the water nozzle 3, and spray fire water to the fire scene. The one-time launch design reduces costs and ensures that the rocket can be successfully launched according to the predetermined plan through a reliable ignition method, which significantly improves the performance and efficiency of the water-carrying firefighting rocket, especially in fire rescue in high-rise buildings or complex terrain.

[0026] The portion of the main water-carrying rocket 2 close to the booster rocket 1 is made of fireproof material, and the other portions are made of ordinary waterproof material.

[0027] Specifically, the part of the main water-carrying rocket 2 close to the booster rocket 1 is made of fireproof materials to protect the rocket from being burned by the high-temperature gas ejected by the rocket during launch and flight, ensuring the structural integrity and normal function of the rocket. The other parts are made of ordinary waterproof materials, which are made of low-cost materials such as traditional plastic films and waterproof fiber cloth, while meeting the waterproof requirements while maintaining the lightness and cost-effectiveness of the rocket. The use of fireproof materials can reduce the safety risks of the rocket during launch and flight, especially in high temperature and flame environments. Using ordinary waterproof materials in parts that do not require fire protection can reduce the cost of the rocket. The careful consideration of the functional requirements of different parts of the rocket not only ensures the performance of the rocket, but also improves the efficiency of fire extinguishing.

[0028] The angle between the line of action of the resultant pulling force of the booster rocket 1 and the vertical line of gravity is not zero, thus forming a non-zero torque for controlling the flight direction of the rocket.

[0029] Specifically, the line of action of the resultant pulling force of the booster rocket 1 is the line of action of the pulling force generated by the booster rocket 1. During the flight, the thrust generated by the booster rocket 1 has a resultant point. The line of action of this resultant force is the line of action of the resultant pulling force, which is crucial for controlling the flight direction and attitude. The gravity plumb line refers to a straight line perpendicular to the ground, representing the direction of gravity on the rocket. During the flight of the rocket, gravity always points to the center of the earth, forming a vertical line, namely the gravity plumb line. When the line of action of the resultant pulling force of the booster rocket 1 does not coincide with the gravity plumb line, that is, when an angle is formed between the two, a torque is generated. This torque can be used to control the flight direction and attitude of the rocket. By adjusting the angle between the line of action of the resultant pulling force and the gravity plumb line, the size and direction of the torque can be changed, thereby controlling the flight trajectory of the rocket, resisting external disturbances, and maintaining the predetermined flight path. By accurately controlling this torque, the navigation accuracy of the rocket can be improved, so that it can be accurately delivered to the fire scene and improve the efficiency of fire fighting.

[0030] Embodiment 2: Based on the same inventive concept as the water-carrying fire-fighting rocket in the above embodiment, the present application also provides a method for controlling the attitude of a water-carrying fire-fighting rocket. Figure 2 , the water-carrying firefighting rocket attitude control method comprises:

[0031] Step 1: Acquire a rocket attitude control model according to the flight trajectory simulation system, wherein the rocket attitude control model includes a launch angle control model and a fuse burning time control model.

[0032] Specifically, firstly, a large number of rocket attitude control historical data sets were collected using the flight trajectory simulation system, including various environmental factors such as launch location, ignition point, ignition area, slope, wind direction, wind speed, and the corresponding launch angle and fuse burning time. These data are used to train the model so that the model can understand how these factors affect the flight attitude of the rocket. Then, the rocket attitude control historical data set was trained to obtain the initial launch angle model and the initial fuse burning time model, which are responsible for predicting the optimal launch angle and fuse burning time of the rocket under specific field conditions. The launch angle determines the initial direction and flight path of the rocket, and the fuse burning time controls the separation time of the booster rocket, affecting the moment when the rocket reaches the predetermined position. During the training process, a suitable loss function is used to quantify the prediction error of the model, and the model parameters are iteratively updated through the back propagation algorithm to optimize the model performance. Finally, the launch angle control model and the fuse burning time control model are merged to generate the rocket attitude control model. This model comprehensively considers the two key factors of launch angle and fuse burning time, and automatically adjusts the launch angle and fuse burning time according to different launch conditions and environments to ensure that the rocket can accurately reach the target area. By acquiring the rocket attitude control model, the accuracy and success rate of rocket launches in emergency and complex environments can be improved.

[0033] Step 2: Based on the rocket attitude control model, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are controlled and analyzed, and the rocket launch angle and ignition fuse burning time are output.

[0034] Specifically, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are input into the rocket attitude control model, which includes the launch angle control model and the fuse burning time control model. The model analyzes the input field conditions and considers the impact of these conditions on the rocket launch angle and fuse burning time. The optimal launch angle of the rocket and the burning time of the ignition fuse are predicted based on the patterns in the historical data set. By using the rocket attitude control model, operators can quickly and accurately obtain launch parameters, reduce human errors, and improve the success rate and efficiency of launches.

[0035] Step three: Determine the length of the ignition fuse according to the burning time of the ignition fuse.

[0036] Specifically, the burning speed test of the ignition fuse is carried out to test the burning speed of the ignition fuse under different conditions, such as different ignition fuse materials, lengths, ambient temperatures, humidity, pressures, etc. Through the test, the burning rate data of the ignition fuse under different conditions are obtained, that is, the length burned per unit time. According to the product of the fuse burning rate information and the ignition fuse burning time, the optimal length of the ignition fuse is calculated. The length of the ignition fuse needs to be long enough to ensure that its mission can be completed safely during the rocket launch, but it should not be too long or too short. A too long fuse will cause accidents during the rocket launch, and a too short fuse may not be able to complete its burning mission before the rocket launch. The length of the ignition fuse is positively correlated with the time required for its combustion. The longer the burning time, the greater the required fuse length. Conversely, the shorter the burning time, the smaller the required fuse length. For example, if the acceleration time of the rocket is 2 seconds and the burning rate of the ignition fuse is 0.5 m / s, the ignition fuse needs to burn 1 meter in 2 seconds. Therefore, the length of the ignition fuse should be 1 meter to ensure that the fuse can burn completely during the rocket acceleration phase. By accurately calculating the burning rate and burning time of the ignition fuse, we can determine the optimal ignition fuse length to ensure that the rocket can be launched stably and accurately.

[0037] Furthermore, step one of this application includes:

[0038] Acquire a rocket attitude control historical data set, wherein the rocket attitude control historical data set includes a launch position, a ignition point, a ignition area, a slope, a wind direction, a wind speed, and a corresponding launch angle and a fuse burning time; perform training and verification on the rocket attitude control historical data set to obtain the launch angle control model and the fuse burning time control model; merge the launch angle control model and the fuse burning time control model to generate the rocket attitude control model.

[0039] Specifically, first, the key parameters of past rocket launches are collected. The launch position, ignition point, and ignition area are used to determine the launch point and target point of the rocket, and calculate the launch angle and flight path of the rocket; the slope, wind direction, and wind speed will affect the flight trajectory and stability of the rocket and need to be recorded and analyzed; the corresponding launch angle and fuse burning time are the key parameters of the rocket attitude control. Then, the rocket attitude control historical data sets are trained separately to obtain the initial launch angle model and the initial fuse burning time model. These two models are responsible for predicting the optimal launch angle and fuse burning time of the rocket respectively. Define a suitable loss function to verify the accuracy of the model output, quantify the prediction error of the model, and iteratively update the model parameters through the back propagation algorithm to optimize the model. Finally, the launch angle control model and the fuse burning time control model are merged to generate the rocket attitude control model. The two key factors of launch angle and fuse burning time are comprehensively considered to control the attitude of the rocket more comprehensively. The rocket attitude control model can automatically adjust the launch angle and fuse burning time according to different launch conditions and environments to ensure that the rocket can accurately reach the target area. For example, in the rescue of high-rise building fires, precise rocket attitude control can ensure that fire water can be accurately sprayed to the fire source, thereby quickly and effectively controlling the fire. Through historical data training, model verification and merging, the rocket's attitude control accuracy and flight stability are significantly improved, which helps to improve the rocket's adaptability in complex environments.

[0040] Furthermore, the present application also includes the following steps:

[0041] The rocket attitude control historical data sets are trained respectively to obtain an initial launch angle model and an initial fuse burning time model; a network loss function is defined to verify the output accuracy of the initial launch angle model and the initial fuse burning time model, and a model loss verification result is determined; the model parameters are iteratively updated through a back propagation algorithm and the model loss verification result to obtain the launch angle control model and the fuse burning time control model.

[0042] Specifically, the rocket attitude control historical data set is divided into a training set and a validation set. The training set is used to train the model, and the validation set is used to evaluate the performance of the model. Based on neural networks, decision trees, support vector machines or other machine learning algorithms, the historical data set is used to train the initial launch angle model and the initial fuse burning time model. The initial launch angle model considers multiple factors such as the launch position, ignition point, slope, wind direction, wind speed, etc. to predict and calculate the optimal launch angle of the rocket; the initial fuse burning time model considers factors such as the rocket's flight speed, flight distance, and fuel combustion characteristics to predict and calculate the optimal burning time of the rocket's ignition fuse. The loss function is an indicator that measures the difference between the model output and the actual result. It is used to evaluate the performance of the model. Common loss functions include mean square error and cross entropy. In the rocket attitude control model, the loss function can quantify the error between the launch angle and fuse burning time predicted by the model and the actual value. By defining a suitable loss function, the output accuracy of the model is verified, that is, the accuracy of the model prediction is evaluated to ensure that the model can accurately predict the attitude control parameters of the rocket based on the input data. The value of the loss function is calculated to determine the loss verification result of the model.

[0043] The gradient of the loss function to the model parameters is calculated by the back propagation algorithm, and the parameters of the model are updated. In each iteration, the model parameters are fine-tuned according to the gradient of the loss function to reduce the difference between the predicted value and the actual value. This process is repeated until the loss of the model reaches a satisfactory level or the predetermined number of iterations is reached. The back propagation algorithm is an algorithm used in neural networks to calculate the gradient of the loss function to the model parameters. It is one of the most commonly used algorithms when training models in multi-layer neural networks. It can effectively calculate gradients in large and complex networks, which is crucial for adjusting model parameters to reduce the value of the loss function. In the model training of water-carrying firefighting rockets, the back propagation algorithm is used to optimize the parameters of the launch angle control model and the fuse burning time control model to improve their prediction accuracy and the attitude control performance of the rocket. By training and optimizing the launch angle control model and the fuse burning time control model, the attitude control accuracy and flight stability of the rocket can be significantly improved.

[0044] Further, step three of this application includes:

[0045] A burning speed test is performed on the ignition lead to obtain lead burning rate information; and the length of the ignition lead is determined based on the product of the lead burning rate information and the ignition lead burning time.

[0046] Specifically, a series of test conditions are set, including different ignition fuse materials, temperature, humidity, pressure and other environmental factors, to simulate the real environment that may be encountered during rocket launch and ensure the accuracy of the test results. The ignition fuse burning speed test is to measure the burning speed of the ignition fuse under different conditions through experiments. The length, diameter, material and other characteristics of the fuse will affect the burning speed, so this information needs to be accurately recorded during the test. Light one end of the fuse and use a timer to record the burning time. At the same time, use a camera or other measuring equipment to record the change in the length of the fuse during the burning process and calculate the burning speed. Through testing, the burning rate data of the ignition fuse under different conditions can be obtained.

[0047] The burning rate of the fuse refers to the length of the fuse burning per unit time, and the fuse burning time refers to the time required from igniting the fuse to the complete burning of the fuse. Multiply the burning rate of the ignition fuse by the burning time to obtain the total length required for the ignition fuse to burn completely. This length is the optimal length of the ignition fuse, ensuring that the fuse can burn completely within the ignition time. For example, in the test, different lengths of ignition fuses are used to perform combustion tests at different ambient temperatures and pressures. Through these tests, burning rate data under different conditions can be obtained, such as the length burned per second at different temperatures. These data will be used for rocket design and launch control to ensure that the rocket can accurately reach the expected speed and altitude during launch. After determining the length of the ignition fuse, its performance needs to be verified through actual launch tests. If the test results do not meet expectations, adjust the fuse length and retest until the appropriate fuse length is found. Through the ignition fuse burning rate test, key technical parameters can be obtained to ensure that the ignition fuse can complete its mission safely and accurately during the rocket launch process.

[0048] In summary, the water-carrying firefighting rocket attitude control method provided in this application has the following technical effects:

[0049] By obtaining a rocket attitude control model according to the flight trajectory simulation system, the rocket attitude control model includes a launch angle control model and a fuse burning time control model; based on the rocket attitude control model, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are controlled and analyzed, and the rocket launch angle and ignition fuse burning time are output; according to the ignition fuse burning time, the ignition fuse length is determined. In other words, by training the rocket attitude control model with the rocket attitude control historical data set, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are input into the model, and the rocket launch angle and ignition fuse length are accurately calculated, thereby achieving the technical effect of improving the accuracy of delivery.

[0050] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0051] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A water-carrying firefighting rocket, characterized in that: The water-carrying firefighting rocket comprises a booster rocket, a main water-carrying rocket, a water nozzle, an explosion package, an ignition fuse, and a flight trajectory simulation system; The booster rocket and the main water-carrying rocket are connected by a soft connection or a hard connection, and the connection point between the booster rocket and the main water-carrying rocket is located above the total center of gravity of the booster rocket and the main water-carrying rocket, providing an upward pulling force for the main water-carrying rocket; According to the on-site conditions, the launch position, fire point, fire area, slope, wind direction, and wind speed are input into the flight trajectory simulation system to obtain the rocket launch angle and ignition fuse length; Based on the rocket launch angle and the length of the ignition fuse, the ignition fuse and the booster rocket are ignited in sequence, wherein the ignition fuse is gunpowder, and the fuse of the booster rocket is gunpowder, an electrical signal or a detonator; The water spray port, the explosion pack and the ignition fuse are all located at the bottom of the main water-carrying rocket. When the main water-carrying rocket and the booster rocket reach the fire area, the ignition fuse ignites the explosion pack, and the explosion opens the water spray port, spraying the fire-fighting dispersion water toward the fire scene.

2. A water-carrying firefighting rocket as claimed in claim 1, characterized in that: The fuels of the booster rocket and the explosive package are gunpowder, gasoline, kerosene, diesel, alcohol, coal gas, liquefied petroleum gas, and liquefied natural gas, which are ignited by the ignition fuse and are launched once and are not recovered.

3. A water-carrying firefighting rocket as claimed in claim 1, characterized in that: The portion of the main water-carrying rocket close to the booster rocket is made of fireproof material, and the other portions are made of ordinary waterproof material.

4. A water-carrying firefighting rocket as claimed in claim 1, characterized in that: The angle between the line of action of the resultant pulling force of the booster rocket and the plumb line of gravity is not zero, thus forming a non-zero torque for controlling the flight direction of the rocket.

5. A method for controlling the attitude of a water-carrying firefighting rocket, characterized in that: The water-carrying fire-fighting rocket attitude control method is applied to the water-carrying fire-fighting rocket according to any one of claims 1 to 4, comprising: Acquire a rocket attitude control model according to the flight trajectory simulation system, wherein the rocket attitude control model includes a launch angle control model and a fuse burning time control model; Based on the rocket attitude control model, the launch position, ignition point, ignition area, slope, wind direction, and wind speed are controlled and analyzed, and the rocket launch angle and ignition fuse burning time are output; The length of the ignition lead is determined according to the burning time of the ignition lead.

6. A method for controlling the attitude of a water-carrying firefighting rocket as claimed in claim 5, characterized in that: The step of obtaining the rocket attitude control model comprises: Acquiring a rocket attitude control historical data set, wherein the rocket attitude control historical data set includes a launch position, a fire point, a fire area, a slope, a wind direction, a wind speed, and a corresponding launch angle and a fuse burning time; The rocket attitude control historical data set is trained and verified respectively to obtain the launch angle control model and the fuse burning time control model; The launch angle control model and the fuse burning time control model are combined to generate the rocket attitude control model.

7. A method for controlling the attitude of a water-carrying firefighting rocket as claimed in claim 6, characterized in that: The step of acquiring the emission angle control model and the fuse burning time control model comprises: The rocket attitude control historical data sets are trained respectively to obtain an initial launch angle model and an initial fuse burning time model; Define a network loss function to verify the output accuracy of the initial launch angle model and the initial fuse burning time model, and determine the model loss verification result; The model parameters are iteratively updated through a back-propagation algorithm and the model loss verification result to obtain the emission angle control model and the lead burning time control model.

8. A method for controlling the attitude of a water-carrying firefighting rocket as claimed in claim 5, characterized in that: Determining the length of the ignition lead includes: Performing a burning speed test on the ignition fuse to obtain fuse burning rate information; The ignition lead length is determined based on the product of the lead burning rate information and the ignition lead burning time.

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