Bullet dropping method and device and storage medium

Abstract

The invention relates to the field of bomb dropping, and discloses an unmanned aerial vehicle fire extinguishing bomb dropping method which comprises the following steps: acquiring bomb dropping task information; after the unmanned aerial vehicle flies to the target area according to the bomb dropping task information, acquiring acquisition information of the unmanned aerial vehicle relative to the target area; acquiring a bomb dropping trigger condition state and a fire extinguishing bomb state; according to the bomb dropping task information, the collection information, the bomb dropping triggering condition state and the fire extinguishing bomb state, whether the bomb dropping task is carried out or not is judged.

Description

Technical Field

[0001] The present application relates to the field of bombing, and in particular to a bombing method, device and storage medium. Background Art

[0002] With the rapid development of drones, the application scenarios of drones are also increasing, such as using drones for patrolling, irrigating farmland, extinguishing fires, and rescue. As the application scenarios of drones increase, the application conditions are also becoming higher and higher. In urban and forest firefighting and disaster relief, existing drones that deliver fire-extinguishing bombs generally only support single-shot or double-shot, and are usually operated manually. Once a manual operation error occurs, a delivery error will occur, affecting the rescue effect. Summary of the invention

[0003] The purpose of this application is to provide a method for dropping fire extinguishing bombs from a drone. The method can autonomously collect relevant information and autonomously drop bombs according to the corresponding information and control logic, without the risk of failure caused by manual dropping bombs.

[0004] In order to solve the above technical problems, the present application provides a method for dropping fire extinguishing bombs by a drone, comprising:

[0005] Get bombing mission information;

[0006] After flying to the target area according to the bombing mission information, obtaining the collection information of the UAV relative to the target area;

[0007] Get the status of bomb triggering conditions and fire extinguishing bombs;

[0008] Whether to carry out the bombing mission is determined according to the bombing mission information, the collected information, the bombing trigger condition status and the fire extinguishing bomb status.

[0009] Preferably, the bombing mission information includes at least one of the drone bombing position, the fire extinguishing bomb detonation height, the drone bombing time, the number of fire extinguishing bombs, the fire extinguishing bomb delivery method, and the target area.

[0010] Preferably, the UAV is provided with a photographing device and a flight data measuring device. The photographing device is used to collect real-time aerial images of the UAV pointing vertically downward to the ground, and the flight data measuring device is used to measure data of the UAV's height above the ground, the UAV's speed above the ground, and the UAV's pitch attitude.

[0011] Preferably, the bomb-dropping triggering condition includes a first bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a power supply module, and the first bomb-dropping triggering condition is that the power supply module is powered on.

[0012] Preferably, the bomb-dropping trigger condition includes a second bomb-dropping trigger condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a communication module, the fire-extinguishing bomb is connected to the drone via the communication module, the second bomb-dropping trigger condition is that the communication module is disconnected from the drone, and the timer countdown is started after the communication module is disconnected from the drone.

[0013] Preferably, the bomb-dropping triggering condition includes a third bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a detonating signal sending module, the detonating signal sending module is connected to a safety pin, and the third bomb-dropping triggering condition is that the safety pin is disconnected from the detonating signal sending module, and the detonating signal sending module sends a detonating current signal.

[0014] Preferably, the state of the fire extinguishing bomb at least includes whether the fire extinguishing bomb is leaking or deformed.

[0015] Preferably, the drone bombing position includes a drone bombing height, and the height of the drone bombing position from the fire extinguishing bomb is at least 25 meters.

[0016] Preferably, if the fire extinguishing bomb is a water-based fire extinguishing bomb, the detonation height is not less than 6 meters from the ground; if the fire extinguishing bomb is a dry powder fire extinguishing bomb, the detonation height is not less than 8 meters from the ground.

[0017] Preferably, if the number of fire extinguishing bombs is greater than one, the fire extinguishing bomb is delivered in a manner of delivering all of them or delivering them sequentially, and the interval time for delivering them sequentially is at least 2 seconds.

[0018] To solve the above technical problem, the present application also provides a device, the device comprising: one or more processors;

[0019] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the delivery method as described in the above scheme.

[0020] In order to solve the above technical problems, the present application also provides a storage medium containing computer executable instructions, which are used to execute the delivery method described in the above solution when executed by a computer processor.

[0021] Beneficial effects of this application:

[0022] 1. The bombing method in this application can autonomously collect relevant information and autonomously drop bombs according to the corresponding information and control logic, without the risk of failure caused by manual bombing.

[0023] 2. The bombing method in this application has triple bombing trigger conditions. Only when the triple bombing trigger conditions are met will the drone enter the bombing program, ensuring that the drone will not make an accidental bombing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a flow chart of the bombing method of the present application;

[0025] Figure 2 Shown is a schematic diagram of the bomb-triggering safety device of the present application. DETAILED DESCRIPTION

[0026] The following embodiments further illustrate the technical solution of the present application. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] The following describes an embodiment of the present application with reference to the accompanying drawings. As shown in the accompanying drawings, the present application provides a method for dropping a man-machine fire extinguishing bomb, including:

[0030] S101: Obtain bombing mission information;

[0031] S102: After flying to the target area according to the bombing mission information, obtaining the collection information of the UAV relative to the target area;

[0032] S103: Obtaining the bomb-dropping triggering condition status and the fire-extinguishing bomb status;

[0033] S104: Determine whether to perform the bombing mission according to the bombing mission information, the collected information, the bombing trigger condition status and the fire extinguishing bomb status.

[0034] Specifically, the UAV flies to the fire source area in fixed-wing state. The location information can come from UAV patrol alarms, on-site monitoring probes, on-site personnel alarms, etc. It hovers at an altitude of 300 meters to confirm the specific location of the fire source and then switches to rotor posture. At this time, the operator manually adjusts the position of the UAV to directly above the fire source based on the optoelectronic pod image information, descends to an altitude of 50-300 meters to drop bombs, and after the bombing is completed, raises the altitude to 300 meters, switches to fixed-wing mode, hovers again to confirm the fire source situation after the fire extinguishing bomb is dropped, and then flies away and returns.

[0035] Furthermore, the bombing mission information includes at least one of the drone bombing position, the fire extinguishing bomb detonation height, the drone bombing time, the number of fire extinguishing bombs, the fire extinguishing bomb delivery method, and the target area.

[0036] The drone bombing position can be the location where the fire occurs, and the minimum setting value of the detonation height of the fire extinguishing bomb is 6 meters. Preferably, the drone bombing position is at least 25 meters away from the fire extinguishing bomb, and the laser module is used to measure the height of the drone above the ground. The laser module distance measurement value minus the detonation height setting value must be greater than 25 meters, that is, to ensure that the fire extinguishing bomb is at a safe distance of more than 25 meters from the drone when it is detonated, otherwise the fire extinguishing bomb will not be detonated.

[0037] Furthermore, the UAV is provided with a photographing device and a flight data measuring device. The photographing device is used to collect real-time aerial images of the UAV vertically downward to the ground, and the flight data measuring device is used to measure data of the UAV's height above the ground, the UAV's speed above the ground, and the pitch attitude of the UAV.

[0038] Specifically, the drone collects real-time aerial images of the ground vertically downward from the drone. At this time, the operator determines whether the current location is the location of a fire based on the graphics. If a fire is confirmed, the drone is controlled to fly above the fire.

[0039] It is worth noting that the ground speed of a drone mainly includes the speed of the aircraft relative to the ground, while the aircraft attitude of a drone mainly includes:

[0040] Yaw angle, the angle between the projection of the longitudinal axis of the aircraft body on the horizontal plane and the parameter line on the plane;

[0041] Pitch angle, the angle between the longitudinal axis of the aircraft body and the horizontal plane;

[0042] Roll angle is the angle between the aircraft's symmetry plane and the vertical plane passing through the aircraft's longitudinal axis.

[0043] Specifically, when the drone is dropping bombs, it makes timely adjustments based on the pitch and roll angle parameters. When the pitch and roll angles are close to 0, the drone reaches the best delivery state and the bombing accuracy is improved. At this time, the bombing-related parameter information collected by the drone can be intuitively displayed on the ground station software for reference by the bombing control personnel.

[0044] Furthermore, the bomb-dropping triggering condition includes a first bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a power supply module 100, and the first bomb-dropping triggering condition is that the power supply module 100 is powered on.

[0045] Furthermore, the bomb-dropping triggering condition includes a second bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a communication module 200, the fire-extinguishing bomb is connected to the drone through the communication module 200, and the second bomb-dropping triggering condition is that the communication module 200 is disconnected from the drone, and the timer countdown is started after the communication module 200 is disconnected from the drone.

[0046] Furthermore, the bomb-dropping triggering condition includes a third bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a detonating signal sending module 300, the detonating signal sending module 300 is connected to a safety pin, the third bomb-dropping triggering condition is that the safety pin is disconnected from the detonating signal sending module 300, and the detonating signal sending module 300 sends a detonating current signal.

[0047] When all three trigger conditions are met at the same time, the drone starts the bombing procedure.

[0048] First, the state of the fire extinguisher bomb at least includes whether the fire extinguisher bomb is leaking or deformed.

[0049] If the fire extinguishing bomb leaks or deforms, the ground station control software will issue an alarm, and the loading personnel can reload a new fire extinguishing bomb.

[0050] Secondly, the drone bombing position includes the drone bombing height, and the drone bombing position is at least 25 meters away from the fire extinguishing bomb. This is to ensure that the fire extinguishing bomb has enough height to detonate.

[0051] Specifically, if the fire extinguishing bomb is a water-based fire extinguishing bomb, the detonation height shall not be less than 6 meters from the ground; if the fire extinguishing bomb is a dry powder fire extinguishing bomb, the detonation height shall not be less than 8 meters from the ground.

[0052] Furthermore, if the number of fire extinguishing bombs is greater than one, the fire extinguishing bombs are delivered in a manner of delivering all of them or in sequence, and the interval between the sequential delivery is at least 2 seconds.

[0053] The present application also provides a device, the device comprising: one or more processors;

[0054] A storage device is used to store one or more programs. When the one or more programs are executed by one or more processors, the one or more processors implement the delivery method recorded in the above scheme.

[0055] The present application also provides a storage medium containing computer executable instructions, which are used for the delivery method described in the above scheme when executed by a computer processor.

[0056] The bombing method in this application has triple bombing trigger conditions. Only when the triple bombing trigger conditions are met will the drone enter the bombing program, ensuring that the drone will not make mistakes. It can autonomously collect relevant information and autonomously drop bombs based on the corresponding information and control logic, without the risk of failure caused by manual bombing.

[0057] The above embodiments are merely illustrative of the principles and effects of the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the purpose of the present application. Therefore, all equivalent modifications or changes made by a person with ordinary knowledge in the relevant technical field without departing from the purpose disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for dropping fire extinguishing bombs from a drone, characterized in that: include: Get bombing mission information; After flying to the target area according to the bombing mission information, obtaining the collection information of the UAV relative to the target area; Get the status of bomb triggering conditions and fire extinguishing bombs; Whether to carry out the bombing mission is determined according to the bombing mission information, the collected information, the bombing trigger condition status and the fire extinguishing bomb status.

2. The bombing method according to claim 1, characterized in that: The bombing mission information includes at least one of the drone bombing position, the fire extinguishing bomb detonation height, the drone bombing time, the number of fire extinguishing bombs, the fire extinguishing bomb delivery method, and the target area.

3. The bombing method according to claim 1, characterized in that: The drone is provided with a photographing device and a flight data measuring device. The photographing device is used to collect real-time aerial images of the drone vertically downward to the ground, and the flight data measuring device is used to measure data of the drone's height above the ground, the drone's speed above the ground, and the drone's pitch attitude.

4. The bombing method according to claim 1, characterized in that: The bomb-dropping triggering condition includes a first bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a power supply module, and the first bomb-dropping triggering condition is that the power supply module is powered on.

5. The bombing method according to claim 1, characterized in that: The bomb-dropping trigger condition includes a second bomb-dropping trigger condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a communication module, the fire-extinguishing bomb is connected to the drone via the communication module, the second bomb-dropping trigger condition is that the communication module is disconnected from the drone, and the timer countdown is started after the communication module is disconnected from the drone.

6. The bombing method according to claim 1, characterized in that: The bomb-dropping triggering condition includes a third bomb-dropping triggering condition, the fire-extinguishing bomb includes a detonating device, the detonating device includes a detonating signal sending module, the detonating signal sending module is connected to a safety pin, the third bomb-dropping triggering condition is that the safety pin is disconnected from the detonating signal sending module, and the detonating signal sending module sends a detonating current signal.

7. The bombing method according to claim 1, characterized in that: The state of the fire extinguishing bomb at least includes whether the fire extinguishing bomb is leaking or deformed.

8. The bombing method according to claim 2, characterized in that: The drone bombing position includes the drone bombing height, and the drone bombing position is at least 25 meters away from the fire extinguishing bomb.

9. The bombing method according to claim 2, characterized in that: If the fire extinguishing bomb is a water-based fire extinguishing bomb, the detonation height shall not be less than 6 meters from the ground; if the fire extinguishing bomb is a dry powder fire extinguishing bomb, the detonation height shall not be less than 8 meters from the ground.

10. The bombing method according to claim 2, characterized in that: If the number of fire extinguishing bombs is greater than one, the fire extinguishing bomb delivery method is to deliver all of them or to deliver them in sequence, and the interval time for delivering them in sequence is at least 2 seconds.

11. A device, characterized in that: The device includes: one or more processors; A storage device, used to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the bombing method as described in any one of claims 1-10.

12. A storage medium comprising computer executable instructions, wherein the computer executable instructions are used to perform the bombing method according to any one of claims 1 to 10 when executed by a computer processor.

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