Bombing methods, equipment and storage media

Abstract

This application relates to the field of bombing and discloses a method for dropping fire extinguishing bombs by a drone, including: acquiring bombing mission information; flying to the target area according to the bombing mission information and acquiring data collected by the drone relative to the target area; acquiring the bombing trigger condition status and the status of the fire extinguishing bomb; and determining whether to carry out the bombing mission based on the bombing mission information, the data collected, the bombing trigger condition status and the status of the fire extinguishing bomb.

Description

Technical Field

[0001] This application relates to the field of bombing, and more particularly to a bombing method, device and storage medium. Background Technology

[0002] With the rapid development of drones, their application scenarios are also increasing, such as patrolling, irrigating farmland, fighting fires, and rescue operations. However, as the application scenarios expand, the requirements for drone use are also becoming more stringent. In urban and forest fire fighting and disaster relief, existing drones that deliver fire extinguishing bombs generally only support single or dual launches and are usually operated manually. If human error occurs, delivery errors can occur, affecting the effectiveness of the rescue operation. Summary of the Invention

[0003] The purpose of this application is to provide a method for dropping fire extinguishing bombs using a drone. This method can autonomously collect relevant information and, based on that information and control logic, autonomously drop the bombs, eliminating the risk of failure associated with manual bombing.

[0004] To address the aforementioned technical problems, this application provides a method for dropping fire extinguishing bombs using a drone, comprising:

[0005] Obtain bombing mission information;

[0006] After flying to the target area according to the bombing mission information, the UAV obtains the data collected relative to the target area.

[0007] Get the status of the bombing trigger condition and the status of the fire extinguishing bomb;

[0008] Based on the bombing mission information, the collected information, the bombing trigger condition status, and the fire extinguishing grenade status, determine whether to carry out the bombing mission.

[0009] Preferably, the bombing mission information includes at least the drone bombing location, the fire extinguishing bomb detonation altitude, the drone bombing time, the number of fire extinguishing bombs dropped, the fire extinguishing bomb delivery method, and one of the target areas.

[0010] Preferably, the UAV is equipped with a shooting device and a flight data measurement device. The shooting device is used to collect real-time aerial images of the UAV vertically downwards from the ground, and the flight data measurement device is used to measure the UAV's altitude above the ground, its speed above the ground, and its pitch attitude.

[0011] Preferably, the bomb-dropping triggering condition includes a first bomb-dropping triggering condition, the fire extinguishing bomb includes an ignition device, the ignition 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 bombing triggering condition includes a second bombing triggering condition, the fire extinguishing bomb includes a detonation device, the detonation device includes a communication module, the fire extinguishing bomb is connected to the drone through the communication module, the second bombing triggering condition is that the communication module is disconnected from the drone, and a timer starts counting down 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 detonation device, the detonation device includes a detonation signal transmitting module, the detonation signal transmitting module is connected to a safety pin, the third bomb-dropping triggering condition is that the safety pin is disconnected from the detonation signal transmitting module, and the detonation signal transmitting module sends a detonation current signal.

[0014] Preferably, the state of the fire extinguishing bomb includes at least whether the fire extinguishing bomb leaks or deforms.

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

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

[0017] Preferably, if the number of fire extinguishing bombs is greater than one, the fire extinguishing bombs are deployed in a manner that is either deployed all at once or deployed sequentially, with a minimum interval of 2 seconds between deployments.

[0018] To address the aforementioned technical problems, this application also provides an apparatus, the apparatus comprising: one or more processors;

[0019] A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the delivery method as described in the above scheme.

[0020] To address the aforementioned technical problems, this application also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the delivery method described in the above scheme.

[0021] The beneficial effects of this application are:

[0022] 1. The bombing method in this application 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.

[0023] 2. The bombing method in this application has three bombing trigger conditions. The drone will only enter the bombing procedure when all three bombing trigger conditions are met, thus ensuring that the drone will not accidentally drop bombs. Attached Figure Description

[0024] Figure 1 The flowchart shown is the bombing method of this application;

[0025] Figure 2 The diagram shown is a schematic of the bomb-triggered safety device of this application. Detailed Implementation

[0026] The following embodiments further illustrate the technical solutions of this application. It is understood that the specific embodiments described herein are merely illustrative of this application and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not all of them.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The embodiments of this application are described below with reference to the accompanying drawings. As shown in the drawings, this application provides a method for dispensing a human-machine fire extinguishing grenade, including:

[0030] S101: Obtain bombing mission information;

[0031] S102: After flying to the target area according to the bombing mission information, the UAV obtains the data collected relative to the target area;

[0032] S103: Obtain the status of the bombing trigger condition and the status of the fire extinguishing bomb;

[0033] S104: Based on the bombing mission information, the collected information, the bombing trigger condition status, and the fire extinguishing bomb status, determine whether to carry out the bombing mission.

[0034] Specifically, the drone flies to the fire source area in fixed-wing mode. The location information can come from drone patrol alarms, on-site monitoring probes, on-site personnel alarms, etc. After confirming the specific location of the fire source by circling at an altitude of 300 meters, it switches to rotor mode. At this time, the operator manually adjusts the drone's position to be directly above the fire source based on the image information from the electro-optical pod, descends to an altitude of 50-300 meters to drop bombs, and after dropping bombs, ascends to an altitude of 300 meters, switches to fixed-wing mode, circles again to confirm the fire source situation after the fire extinguishing bombs are dropped, and then flies away and returns.

[0035] Furthermore, the bombing mission information should include at least the drone bombing location, the fire extinguishing bomb detonation altitude, the drone bombing time, the number of fire extinguishing bombs dropped, the method of dropping the fire extinguishing bombs, and one of the target areas.

[0036] The drone can drop the bomb at the location of the fire, and the minimum detonation height of the fire extinguishing bomb is set to 6 meters. Preferably, the drone's drop position is at least 25 meters above the fire extinguishing bomb. A laser module is used to measure the drone's altitude above the ground. The difference between the laser module's distance measurement and the detonation height setting must be greater than 25 meters. This ensures that the safe distance between the fire extinguishing bomb and the drone is greater than 25 meters when the fire extinguishing bomb detonates; otherwise, the fire extinguishing bomb will not detonate.

[0037] Furthermore, the drone is equipped with a camera and a flight data measurement device. The camera is used to collect real-time aerial images of the drone pointing vertically downwards at the ground, while the flight data measurement device is used to measure data such as the drone's altitude above the ground, its speed above the ground, and its pitch attitude.

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

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

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

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

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

[0043] Specifically, the drone makes timely adjustments based on the pitch and roll angles during bomb dropping. When both pitch and roll angles are close to 0, the drone reaches its optimal dropping state, improving dropping accuracy. At this point, the bomb dropping-related parameter information collected by the drone can be displayed intuitively on the ground station software for reference by the bomb dropping control personnel.

[0044] Furthermore, the bomb-dropping triggering condition includes a first bomb-dropping triggering condition, the fire extinguishing bomb includes an ignition device, the ignition 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 bombing triggering condition includes a second bombing triggering condition. The fire extinguishing bomb includes an ignition device, which includes a communication module 200. The fire extinguishing bomb is connected to the drone through the communication module 200. The second bombing triggering condition is that the communication module 200 is disconnected from the drone. After the communication module 200 is disconnected from the drone, a timer starts counting down.

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

[0047] When all three triggering conditions are met simultaneously, the drone initiates the bombing procedure.

[0048] First, the condition of the fire extinguishing bomb includes at least whether it has leaked or deformed.

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

[0050] Secondly, the drone's bomb-dropping position includes its altitude; the drone's bomb-dropping position must be at least 25 meters above the fire extinguishing bomb. This is to ensure the fire extinguishing bomb has sufficient altitude to detonate.

[0051] Specifically, if the fire extinguishing bomb is a water-based fire extinguishing bomb, the detonation height should be no less than 6 meters above the ground; if the fire extinguishing bomb is a dry powder fire extinguishing bomb, the detonation height should be no less than 8 meters above the ground.

[0052] Furthermore, if the number of fire extinguishing grenades is greater than one, the fire extinguishing grenades can be deployed in one go or in sequence, with an interval of at least 2 seconds between deployments.

[0053] This application also provides an apparatus comprising: one or more processors;

[0054] A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the delivery method described in the above scheme.

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

[0056] The bombing method in this application has three bombing trigger conditions. The drone will only enter the bombing program when all three bombing trigger conditions are met, ensuring that the drone will not make accidental bombings. It autonomously collects relevant information and autonomously drops bombs according to 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 this application. Any person skilled in the art can modify or alter the above embodiments without departing from the purpose of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the purpose disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for unmanned aerial vehicle fire extinguishing bomb launching, characterized in that, The method comprises: obtaining a bomb-throwing task information; after flying to a target area according to the bomb-throwing task information, obtaining collection information of the unmanned aerial vehicle relative to the target area; obtaining a bomb-throwing trigger condition state and a fire extinguishing bomb state; judging whether to perform a bomb-throwing task according to the bomb-throwing task information, the collection information, the bomb-throwing trigger condition state and the fire extinguishing bomb state; the bomb-throwing trigger condition comprises a first bomb-throwing trigger condition, the fire extinguishing bomb comprises an igniter, the igniter comprises a power supply module, and the first bomb-throwing trigger condition is that the power supply module is powered on; the bomb-throwing trigger condition comprises a second bomb-throwing trigger condition, the fire extinguishing bomb comprises an igniter, the igniter comprises a communication module, the fire extinguishing bomb is connected with the unmanned aerial vehicle through the communication module, the second bomb-throwing trigger condition is that the communication module is disconnected with the unmanned aerial vehicle, and the communication module starts a timer countdown after being disconnected with the unmanned aerial vehicle; the bomb-throwing trigger condition comprises a third bomb-throwing trigger condition, the fire extinguishing bomb comprises an igniter, the igniter comprises an igniter signal sending module, the igniter signal sending module is connected with a safety fuse pin, the third bomb-throwing trigger condition is that the safety fuse pin is disconnected with the igniter signal sending module, and the igniter signal sending module sends a to-be-ignited current signal; when the three trigger conditions are met at the same time, the unmanned aerial vehicle starts a bomb-throwing program.

2. The method of Claim 1, wherein, The bomb-throwing task information at least comprises one of the unmanned aerial vehicle bomb-throwing position, the fire extinguishing bomb detonation height, the unmanned aerial vehicle bomb-throwing time, the number of fire extinguishing bombs, the fire extinguishing bomb throwing mode and the target area.

3. The method of Claim 1, wherein, The unmanned aerial vehicle is provided with a shooting device and a flight data measuring device, the shooting device is used to collect real-time aerial image of the unmanned aerial vehicle vertically downward to the ground, and the flight data measuring device is used to measure the data of the unmanned aerial vehicle height, the unmanned aerial vehicle speed and the unmanned aerial vehicle pitch attitude.

4. The method of Claim 1, wherein, The fire extinguishing bomb state at least comprises whether the fire extinguishing bomb leaks or deforms.

5. The method of claim 2, wherein, The unmanned aerial vehicle bomb-throwing position comprises an unmanned aerial vehicle bomb-throwing height, and the height of the unmanned aerial vehicle bomb-throwing position from the fire extinguishing bomb is at least 25 meters.

6. The method of Claim 2, wherein, If the fire extinguishing bomb is a water-based fire extinguishing bomb, the detonation height is not less than 6 meters from the ground, and if the fire extinguishing bomb is a dry powder fire extinguishing bomb, the detonation height is not less than 8 meters from the ground.

7. The method of Claim 2, wherein, If the number of fire extinguishing bombs is greater than 1, the fire extinguishing bomb throwing mode is all throwing or sequential throwing, and the interval time of the sequential throwing is at least 2 seconds.

8. An apparatus, comprising: The device comprises one or more processors; a storage device for storing one or more programs, the one or more programs being executed by the one or more processors, so that the one or more processors implement the bomb-throwing method as claimed in any one of claims 1-7.

9. A storage medium containing computer executable instructions for executing the bomb-throwing method as claimed in any one of claims 1-8 when executed by a computer processor.

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