CN108969930A - Sighting device and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system - Google Patents
Sighting device and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system Download PDFInfo
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- CN108969930A CN108969930A CN201810659439.3A CN201810659439A CN108969930A CN 108969930 A CN108969930 A CN 108969930A CN 201810659439 A CN201810659439 A CN 201810659439A CN 108969930 A CN108969930 A CN 108969930A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0214—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires for buildings or installations in fire storms
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
- A62C3/0228—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires with delivery of fire extinguishing material by air or aircraft
- A62C3/025—Fire extinguishing bombs; Projectiles and launchers therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
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Abstract
The present invention relates to skyscraper fire-fighting technique field more particularly to a kind of sighting devices and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system.The sighting device includes the aerological sounding module being mounted on rotor wing unmanned aerial vehicle, for acquiring the image of the linear distance parameter between fire extinguisher bomb and ignition point, ignition point, and is wirelessly transmitted to floor treatment module；Floor treatment module, for receiving the image of the linear distance parameter between fire extinguisher bomb and ignition point, ignition point, and transfer the height of drop of fire extinguisher bomb corresponding with the linear distance parameter, imaging position of the aiming point of fire extinguisher bomb in the image of ignition point is calculated according to the transformational relation after the height of drop and optical calibrating, after the imaging position is carried out coordinate transformation, position coordinates of the aiming point in the image of ignition point are obtained, and the position coordinates are shown.The present invention can accurately calculate the aiming point of fire extinguisher bomb, help fast and efficiently to put out a fire.
Description
Technical field
The present invention relates to skyscraper fire-fighting technique fields more particularly to a kind of for rotor wing unmanned aerial vehicle fire extinguisher bomb system
Sighting device and method of sight.
Background technique
Modern city skyscraper is universal, and fire safety of high building also becomes increasingly conspicuous.For super high-rise building, one
Fire occurs for denier, and when carrying out external rescue often due to fire fighting truck arm strength length is inadequate, fire-fighting lance is difficult to reach or supply water
The reasons such as deficiency, and the intensity of a fire is caused not control in time, loss is difficult to situations such as minimizing.Therefore, high-rise is once
Fire occurs, consequence will be hardly imaginable.The fire attack of high-rise, it has also become the sternness faced during each urban development
Test.With existing fire-fighting fire extinguishing means, it cannot be adapted to the demand of China city high-rise building fire-fighting fire extinguishing.It is former by work
Reason and physics limit influence, and the special type fire control vehicle for hundred meters or more super high-rise building external rescues equips generally existing car body
Thus the features such as roomy, developed area is big, supply and Support Equipment are complicated is brought and many is limited by rescue site.
With the further expansion of unmanned air vehicle technique to reach its maturity with air photo technique, the civilian unmanned plane application in China
Field is increasingly extensive, mainly includes photogrammetric, emergency disaster relief, public safety, resource exploration, environmental monitoring, natural calamity prison
It surveys and assessment, urban planning and municipal administration, the protection of forest fires pest and disease damage and monitoring etc..Unmanned plane has light-weight, maintenance cost
Low, no one was injured risk, survival ability is strong, mobility is good, the advantages such as easy to use, while using unpiloted mode
The limitation for getting rid of driver's own physiological condition greatly reduces the degree of danger of operator, can complete general someone
The task that machine cannot be completed so that unmanned plane is taken pictures in aviation, geological survey, ultra-high-tension power transmission line tour, oil filed pipeline inspection,
The civil fields application prospects such as freeway management, forest fire protection inspection, poison gas prospecting, drug law enforcement and emergency management and rescue, rescue are extremely
It is wide.
As a kind of new fire extinguishing scheme in such a way that unmanned plane carries fire extinguisher bomb, one is provided for high building fire fighting
The new approach of kind.It is the project to begin one's study in recent years using unmanned aerial vehicle elevation building fire fighting and rescue action, although fire extinguishing
The technology of bullet and unmanned plane all comparative maturities, but in the existing emission system for carrying fire extinguisher bomb using unmanned plane, exist and go out
Fire plays the not accurate problem of aiming point.
Therefore, it is badly in need of a kind of aiming for rotor wing unmanned aerial vehicle fire extinguisher bomb system that can accurately determine fire extinguisher bomb aiming point
Device and method of sight.
Summary of the invention
The present invention provides a kind of sighting devices and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system, existing to solve
With the presence of the not accurate problem of fire extinguisher bomb aiming point in fire extinguisher bomb system in technology.
One aspect of the present invention provides a kind of sighting device for rotor wing unmanned aerial vehicle fire extinguisher bomb system, comprising:
The aerological sounding module being mounted on rotor wing unmanned aerial vehicle, for acquiring the linear distance between fire extinguisher bomb and ignition point
The image of parameter, ignition point, and it is wirelessly transmitted to floor treatment module；
Floor treatment module, for receiving the image of the linear distance parameter between fire extinguisher bomb and ignition point, ignition point, and
The height of drop for transferring fire extinguisher bomb corresponding with the linear distance parameter is closed according to the conversion after the height of drop and optical calibrating
System calculates imaging position of the aiming point of fire extinguisher bomb in the image of ignition point, after which is carried out coordinate transformation,
Position coordinates of the aiming point in the image of ignition point are obtained, and the position coordinates are shown.
Further, aerological sounding module includes linear distance parameter acquisition unit, ignition point image acquisition units, control
Device and on-air radio Transmit-Receive Unit, floor treatment module include terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, take aim at
Imaging position computing unit, aiming point position coordinates computing unit and display screen on schedule, wherein
Linear distance parameter acquisition unit for acquiring the linear distance parameter between fire extinguisher bomb and ignition point, and is sent
To controller；
Image acquisition units for acquiring the image of ignition point, and are sent to controller；
Controller for receiving the image of linear distance parameter and ignition point between fire extinguisher bomb and ignition point, and is sent
To on-air radio Transmit-Receive Unit；
On-air radio Transmit-Receive Unit, for by the linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
Image be sent to terrestrial wireless Transmit-Receive Unit；
Terrestrial wireless Transmit-Receive Unit goes out for the linear distance parameter between received fire extinguisher bomb and ignition point to be sent to
Fire plays aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
Fire extinguisher bomb aiming point computing unit for receiving the linear distance parameter between fire extinguisher bomb and ignition point, and is transferred
The height of drop of fire extinguisher bomb corresponding with the linear distance parameter in preset trajectory interpolation table, according to the lower drop height of the fire extinguisher bomb
Degree calculates the aiming point of fire extinguisher bomb, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
Aiming point imaging position computing unit for receiving the aiming point of fire extinguisher bomb and the image of ignition point, and utilizes light
It learns calibrated transformational relation and calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and the aiming point of fire extinguisher bomb is existed
Imaging position in image is sent to aiming point position coordinates computing unit；
Aiming point position coordinates computing unit, for the imaging position of the aiming point of fire extinguisher bomb in the picture to be carried out coordinate
Conversion, obtains the position coordinates of aiming point on the display screen, and the position coordinates of aiming point on the display screen are sent to
Display screen is shown.
Further, aerological sounding module further includes power supply, for being linear distance parameter acquisition unit, Image Acquisition list
Member, controller and the power supply of on-air radio Transmit-Receive Unit.
Further, linear distance parameter acquisition unit is radar range finder or infrared range-measurement system or laser range finder
In any.
Further, on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit are using appointing in 3G/4G/WIFI/ bluetooth
One mode connects.
The second aspect of the invention provides a kind of sighting device method for rotor wing unmanned aerial vehicle fire extinguisher bomb system,
The following steps are included:
Utilize the linear distance between the aerological sounding module acquisition fire extinguisher bomb being mounted on rotor wing unmanned aerial vehicle and ignition point
The image of parameter and ignition point, and it is wirelessly transmitted to floor treatment module；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using floor treatment module, and
The height of drop for transferring fire extinguisher bomb corresponding with the linear distance parameter is closed according to the conversion after the height of drop and optical calibrating
System calculates the imaging position of the aiming point of fire extinguisher bomb in the picture and is aimed at after the imaging position is carried out coordinate transformation
The position coordinates of point in the picture, and the position coordinates are shown.
Further, aerological sounding module includes linear distance parameter acquisition unit, ignition point image acquisition units, control
Device and on-air radio Transmit-Receive Unit, floor treatment module include terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, take aim at
Imaging position computing unit, aiming point position coordinates computing unit and display screen on schedule, wherein
The linear distance parameter between fire extinguisher bomb and ignition point is acquired using linear distance parameter acquisition unit, and is sent to
Controller；
Using the image of image acquisition units acquisition ignition point, and it is sent to controller；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using controller, and is sent to
On-air radio Transmit-Receive Unit；
Using on-air radio Transmit-Receive Unit by the linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
Image be sent to terrestrial wireless Transmit-Receive Unit；
The linear distance parameter between received fire extinguisher bomb and ignition point is sent to using terrestrial wireless Transmit-Receive Unit and is gone out
Fire plays aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
The linear distance parameter between fire extinguisher bomb and ignition point is received using fire extinguisher bomb aiming point computing unit, and is transferred pre-
If trajectory interpolation table in fire extinguisher bomb corresponding with the linear distance parameter height of drop, according to the height of drop of the fire extinguisher bomb
The aiming point of fire extinguisher bomb is calculated, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
The aiming point of fire extinguisher bomb and the image of ignition point are received using aiming point imaging position computing unit, and utilize optics
Calibrated transformational relation calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and the aiming point of fire extinguisher bomb is being schemed
Imaging position as in is sent to aiming point position coordinates computing unit；
The imaging position of the aiming point of fire extinguisher bomb in the picture is subjected to coordinate using aiming point position coordinates computing unit
Conversion, obtains the position coordinates of aiming point on the display screen, and the position coordinates of aiming point on the display screen are sent to
Display screen is shown.
Further, aerological sounding module further includes power supply, for being linear distance parameter acquisition unit, Image Acquisition list
Member, controller and the power supply of on-air radio Transmit-Receive Unit.
Further, linear distance parameter acquisition unit is radar range finder or infrared range-measurement system or laser range finder
In any.
Further, on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit are using appointing in 3G/4G/WIFI/ bluetooth
One mode connects.
Provided by the present invention for the sighting device and method of sight of rotor wing unmanned aerial vehicle fire extinguisher bomb system, with prior art phase
Than with following progress:
(1) fire extinguisher bomb is calculated using the linear distance parameter between the fire extinguisher bomb and ignition point of the acquisition of aerological sounding module
Aiming point, recycle aiming point position coordinates computing unit according to the image of ignition point to calculate aiming point on the display screen
Position coordinates, the aiming point of fire extinguisher bomb can be accurately calculated, be conducive to fast and efficiently put out a fire.
(2) linear distance parameter acquisition unit is times in radar range finder or infrared range-measurement system or laser range finder
One, these distance mearuring equipments are relatively common, technology maturation, and cost is relatively low, is easy to the acquisition and subsequent maintenance of parameter.
(3) on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit are using formula either in 3G/4G/WIFI/ bluetooth
Connection realizes aerial and ground data wireless transmission, has the advantages that transmission mode is simple, transmission speed is fast.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is that the device in the embodiment of the present invention for the sighting device of rotor wing unmanned aerial vehicle fire extinguisher bomb system connects block diagram.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Present embodiments provide a kind of sighting device and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system.
Fig. 1 diagrammatically illustrates a kind of sighting device and aiming for rotor wing unmanned aerial vehicle fire extinguisher bomb system in the present embodiment
The device of method connects block diagram.Referring to Fig.1, the sighting device for rotor wing unmanned aerial vehicle fire extinguisher bomb system of the present embodiment, including
The aerological sounding module being mounted on rotor wing unmanned aerial vehicle, for acquire the linear distance parameter between fire extinguisher bomb and ignition point,
The image of fire point, and it is wirelessly transmitted to floor treatment module；
Floor treatment module, for receiving the image of the linear distance parameter between fire extinguisher bomb and ignition point, ignition point, and
The height of drop for transferring fire extinguisher bomb corresponding with the linear distance parameter is closed according to the conversion after the height of drop and optical calibrating
System calculates imaging position of the aiming point of fire extinguisher bomb in the image of ignition point, after which is carried out coordinate transformation,
Position coordinates of the aiming point in the image of ignition point are obtained, and the position coordinates are shown.
Wherein, aerological sounding module is mounted on rotor wing unmanned aerial vehicle, can also will be high other than using rotor wing unmanned aerial vehicle
Empty detecting module, which is mounted on, stops the unmanned plane of other patterns of function, on helicopter with rotation, specific when according to specific implementation
Situation is voluntarily selected.Aerological sounding module is connect with floor treatment modular radio.
The sighting device for rotor wing unmanned aerial vehicle fire extinguisher bomb system of the present embodiment utilizes going out for aerological sounding module acquisition
Linear distance parameter between fiery bullet and ignition point calculates the aiming point of fire extinguisher bomb, recycles aiming point position coordinates to calculate single
Member calculates the position coordinates of aiming point on the display screen according to the image of ignition point, can accurately calculate taking aim at for fire extinguisher bomb
On schedule, be conducive to fast and efficiently put out a fire.
Aerological sounding module includes linear distance parameter acquisition unit, ignition point image acquisition units, controller and aerial
Wireless transmit/receive units, floor treatment module include terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, aiming point imaging
Position calculation unit, aiming point position coordinates computing unit and display screen, wherein
Linear distance parameter acquisition unit for acquiring the linear distance parameter between fire extinguisher bomb and ignition point, and is sent
To controller；
Image acquisition units for acquiring the image of ignition point, and are sent to controller；
Controller for receiving the image of linear distance parameter and ignition point between fire extinguisher bomb and ignition point, and is sent
To on-air radio Transmit-Receive Unit；
On-air radio Transmit-Receive Unit, for by the linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
Image be sent to terrestrial wireless Transmit-Receive Unit；
Terrestrial wireless Transmit-Receive Unit goes out for the linear distance parameter between received fire extinguisher bomb and ignition point to be sent to
Fire plays aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
Fire extinguisher bomb aiming point computing unit for receiving the linear distance parameter between fire extinguisher bomb and ignition point, and is transferred
The height of drop of fire extinguisher bomb corresponding with the linear distance parameter in preset trajectory interpolation table, according to the lower drop height of the fire extinguisher bomb
Degree calculates the aiming point of fire extinguisher bomb, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
Aiming point imaging position computing unit for receiving the aiming point of fire extinguisher bomb and the image of ignition point, and utilizes light
It learns calibrated transformational relation and calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and the aiming point of fire extinguisher bomb is existed
Imaging position in image is sent to aiming point position coordinates computing unit；
Aiming point position coordinates computing unit, for the imaging position of the aiming point of fire extinguisher bomb in the picture to be carried out coordinate
Conversion, obtains the position coordinates of aiming point on the display screen, and the position coordinates of aiming point on the display screen are sent to
Display screen is shown.
Wherein, controller is electric with linear distance parameter acquisition unit, image acquisition units, on-air radio Transmit-Receive Unit respectively
Connection, terrestrial wireless Transmit-Receive Unit is respectively with on-air radio Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, aiming point at image position
Set computing unit electrical connection, aiming point imaging position computing unit respectively with fire extinguisher bomb aiming point computing unit, aiming point position
Coordinate calculating unit electrical connection, aiming point position coordinates computing unit are electrically connected with display screen.
In the present embodiment, aerological sounding module further includes power supply, for being linear distance parameter acquisition unit, Image Acquisition
Unit, controller and the power supply of on-air radio Transmit-Receive Unit.Power supply can be rechargeable lithium battary, be also possible to nickel-metal hydride battery,
It is also possible to battery pack, is flexibly selected as needed, improves the applicability of sighting device.When it is implemented, floor treatment
Module can also include trajectory interpolation table database, be one a pair of in trajectory interpolation table for storing preset trajectory interpolation table
The linear distance value and height of drop answered, convenient for transferring and managing.
In the present embodiment, linear distance parameter acquisition unit is radar range finder or infrared range-measurement system or laser ranging
Any in instrument.Cost is relatively low for these types of rangefinder, it is easy to accomplish and maintenance.When it is implemented, ultrasonic wave also can be used
Rangefinder, other, which also can be used, may be implemented the tester of distance between measurement fire extinguisher bomb and ignition point.
In the present embodiment, on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit are using in 3G/4G/WIFI/ bluetooth
Either type connection.These types of wireless transmission method is relatively common, and cost is relatively low, can be realized aerial and ground data wireless
Transmission, and have the advantages that transmission mode is simple, transmission speed is fast.When it is implemented, can also realize wireless pass using other
Defeated mode.On-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit can be digital image transmission system, be mounted on rotor without
Digital image transmission system on man-machine and the digital image transmission system on ground use wireless protocols or standard for IEEE802.11 agreement,
Bluetooth technology, HiperLAN standard, TrDA technology or Wi-Fi technology etc. carry out number, the mutual biography of image data.
When it is implemented, floor treatment module is also used to remotely control rotor wing unmanned aerial vehicle, the method for control is ground
Surface treatment module changes position, direction etc. to sending instructions under aerial controller, by controller control rotor wing unmanned aerial vehicle.Complete fire extinguishing
Aiming and emission process of the bullet to ignition point region.The distance between floor treatment module and rotor wing unmanned aerial vehicle are preferably 2KM-
10KM, generally 2KM, 4KM, 6KM, 10KM, the transmission used according to on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit
Mode, the distance between floor treatment module and rotor wing unmanned aerial vehicle can be increased or decreased suitably.
The present embodiment additionally provides a kind of method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system, comprising the following steps:
Utilize the linear distance between the aerological sounding module acquisition fire extinguisher bomb being mounted on rotor wing unmanned aerial vehicle and ignition point
The image of parameter and ignition point, and it is wirelessly transmitted to floor treatment module；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using floor treatment module, and
The height of drop for transferring fire extinguisher bomb corresponding with the linear distance parameter is closed according to the conversion after the height of drop and optical calibrating
System calculates the imaging position of the aiming point of fire extinguisher bomb in the picture and is aimed at after the imaging position is carried out coordinate transformation
The position coordinates of point in the picture, and the position coordinates are shown.
Aerological sounding module includes linear distance parameter acquisition unit, ignition point image acquisition units, controller and aerial
Wireless transmit/receive units, floor treatment module include terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, aiming point imaging
Position calculation unit, aiming point position coordinates computing unit and display screen, wherein
The linear distance parameter between fire extinguisher bomb and ignition point is acquired using linear distance parameter acquisition unit, and is sent to
Controller；
Using the image of image acquisition units acquisition ignition point, and it is sent to controller；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using controller, and is sent to
On-air radio Transmit-Receive Unit；
Using on-air radio Transmit-Receive Unit by the linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
Image be sent to terrestrial wireless Transmit-Receive Unit；
The linear distance parameter between received fire extinguisher bomb and ignition point is sent to using terrestrial wireless Transmit-Receive Unit and is gone out
Fire plays aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
The linear distance parameter between fire extinguisher bomb and ignition point is received using fire extinguisher bomb aiming point computing unit, and is transferred pre-
If trajectory interpolation table in fire extinguisher bomb corresponding with the linear distance parameter height of drop, according to the height of drop of the fire extinguisher bomb
The aiming point of fire extinguisher bomb is calculated, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
The aiming point of fire extinguisher bomb and the image of ignition point are received using aiming point imaging position computing unit, and utilize optics
Calibrated transformational relation calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and the aiming point of fire extinguisher bomb is being schemed
Imaging position as in is sent to aiming point position coordinates computing unit；
The imaging position of the aiming point of fire extinguisher bomb in the picture is subjected to coordinate using aiming point position coordinates computing unit
Conversion, obtains the position coordinates of aiming point on the display screen, and the position coordinates of aiming point on the display screen are sent to
Display screen is shown.
The method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system of the present embodiment utilizes going out for aerological sounding module acquisition
Linear distance parameter between fiery bullet and ignition point calculates the aiming point of fire extinguisher bomb, recycles aiming point position coordinates to calculate single
Member calculates the position coordinates of aiming point on the display screen according to the image of ignition point, can accurately calculate taking aim at for fire extinguisher bomb
On schedule, be conducive to fast and efficiently put out a fire.
In the present embodiment, aerological sounding module further includes power supply, for being linear distance parameter acquisition unit, Image Acquisition
Unit, controller and the power supply of on-air radio Transmit-Receive Unit.Power supply can be rechargeable lithium battary, be also possible to nickel-metal hydride battery,
It is also possible to battery pack, is flexibly selected as needed, improves the applicability of sighting device.
In the present embodiment, linear distance parameter acquisition unit is radar range finder or infrared range-measurement system or laser ranging
Any in instrument.Cost is relatively low for these types of rangefinder, it is easy to accomplish and maintenance.When it is implemented, ultrasonic wave also can be used
Rangefinder, other, which also can be used, may be implemented the tester of distance between measurement fire extinguisher bomb and ignition point.
In the present embodiment, on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit are using in 3G/4G/WIFI/ bluetooth
Either type connection.These types of wireless transmission method is relatively common, and cost is relatively low, can be realized aerial and ground data wireless
Transmission, and have the advantages that transmission mode is simple, transmission speed is fast.When it is implemented, can also realize wireless pass using other
Defeated mode.On-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit can be digital image transmission system, be mounted on rotor without
Digital image transmission system on man-machine and the digital image transmission system on ground use wireless protocols or standard for IEEE802.11 agreement,
Bluetooth technology, HiperLAN standard, TrDA technology or Wi-Fi technology etc. carry out number, the mutual biography of image data.
When it is implemented, floor treatment module is also used to remotely control rotor wing unmanned aerial vehicle, the method for control is ground
Surface treatment module changes position, direction etc. to sending instructions under aerial controller, by controller control rotor wing unmanned aerial vehicle.Complete fire extinguishing
Aiming and emission process of the bullet to ignition point region.The distance between floor treatment module and rotor wing unmanned aerial vehicle are preferably 2KM-
10KM, generally 2KM, 4KM, 6KM, 10KM, the transmission used according to on-air radio Transmit-Receive Unit and terrestrial wireless Transmit-Receive Unit
Mode, the distance between floor treatment module and rotor wing unmanned aerial vehicle can be increased or decreased suitably.
The sighting device and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system of the present embodiment is in specifically used and behaviour
In work, the linear distance parameter between laser range finder acquisition fire extinguisher bomb and ignition point can be used, using with night vision function
Camera acquisition ignition point image, according to preset trajectory interpolation table (corresponding relationship of distance and height of drop), interpolation
Height of drop is obtained, by the transformational relation after optical calibrating, calculates setting point, i.e., the aiming point of fire extinguisher bomb is in camera CCD
(charge-coupled device) imaging position, according to the transformational relation between display screen and camera CCD, after coordinate transformation
To the position coordinates of aiming point on the display screen, finally aiming point is shown on the display screen, it, can according to the coordinate
To control the transmitting of fire extinguisher bomb.
In the sighting device and method of sight for rotor wing unmanned aerial vehicle fire extinguisher bomb system of the present embodiment, linear distance parameter
The model SKD-50S of acquisition unit, the model H1600201704 of ignition point image acquisition units, the model of controller
C8051F040, the model Flylink HD+HDMI of on-air radio Transmit-Receive Unit, the model of terrestrial wireless Transmit-Receive Unit
Flylink HD+HDMI, the development board of the model STM32F407 of fire extinguisher bomb aiming point computing unit, aiming point imaging position
The development board of the model STM32F407 of computing unit, the model STM32F407's of aiming point position coordinates computing unit opens
Plate is sent out, shows the industry control touch screen of the model CX530H-NF50 of screen, the model 3300mAh 4S 25C of power supply.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of sighting device for rotor wing unmanned aerial vehicle fire extinguisher bomb system characterized by comprising
The aerological sounding module being mounted on rotor wing unmanned aerial vehicle, for acquiring the ginseng of the linear distance between fire extinguisher bomb and ignition point
The image of number, ignition point, and it is wirelessly transmitted to floor treatment module；
Floor treatment module for receiving the image of the linear distance parameter between fire extinguisher bomb and ignition point, ignition point, and is transferred
The height of drop of fire extinguisher bomb corresponding with the linear distance parameter, according to the transformational relation meter after the height of drop and optical calibrating
Imaging position of the aiming point of fire extinguisher bomb in the image of ignition point is calculated to obtain after the imaging position is carried out coordinate transformation
Position coordinates of the aiming point in the image of ignition point, and the position coordinates are shown；
Aerological sounding module is connect with floor treatment modular radio.
2. the sighting device according to claim 1 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that visit in high-altitude
Surveying module includes linear distance parameter acquisition unit, ignition point image acquisition units, controller and on-air radio Transmit-Receive Unit, ground
Surface treatment module includes terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, aiming point imaging position computing unit, takes aim at
Position coordinates computing unit and display screen on schedule, wherein
Linear distance parameter acquisition unit for acquiring the linear distance parameter between fire extinguisher bomb and ignition point, and is sent to control
Device processed；
Image acquisition units for acquiring the image of ignition point, and are sent to controller；
Controller for receiving the image of linear distance parameter and ignition point between fire extinguisher bomb and ignition point, and is sent to sky
Middle wireless transmit/receive units；
On-air radio Transmit-Receive Unit, for by the figure of linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
As being sent to terrestrial wireless Transmit-Receive Unit；
Terrestrial wireless Transmit-Receive Unit, for the linear distance parameter between received fire extinguisher bomb and ignition point to be sent to fire extinguisher bomb
Aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
Fire extinguisher bomb aiming point computing unit for receiving the linear distance parameter between fire extinguisher bomb and ignition point, and is transferred default
Trajectory interpolation table in fire extinguisher bomb corresponding with the linear distance parameter height of drop, according to the height of drop meter of the fire extinguisher bomb
The aiming point of fire extinguisher bomb is calculated, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
Aiming point imaging position computing unit for receiving the aiming point of fire extinguisher bomb and the image of ignition point, and utilizes optics mark
Transformational relation after fixed calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and by the aiming point of fire extinguisher bomb in image
In imaging position be sent to aiming point position coordinates computing unit；
Aiming point position coordinates computing unit turns for the imaging position of the aiming point of fire extinguisher bomb in the picture to be carried out coordinate
Change, obtain the position coordinates of aiming point on the display screen, and the position coordinates of aiming point on the display screen is sent to aobvious
Display screen curtain is shown.
3. the sighting device according to claim 2 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that visit in high-altitude
Surveying module further includes power supply, for receiving and dispatching for linear distance parameter acquisition unit, image acquisition units, controller and on-air radio
Unit power supply.
4. the sighting device according to claim 3 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that straight line away from
From any that parameter acquisition unit is in radar range finder or infrared range-measurement system or laser range finder.
5. the sighting device according to claim 4 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that aerial nothing
Line Transmit-Receive Unit is connected with terrestrial wireless Transmit-Receive Unit using formula either in 3G/4G/WI F I/ bluetooth.
6. a kind of aiming side realized based on the sighting device described in claim 1 for rotor wing unmanned aerial vehicle fire extinguisher bomb system
Method, which comprises the following steps:
Utilize the linear distance parameter between the aerological sounding module acquisition fire extinguisher bomb being mounted on rotor wing unmanned aerial vehicle and ignition point
With the image of ignition point, and it is wirelessly transmitted to floor treatment module；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using floor treatment module, and is transferred
The height of drop of fire extinguisher bomb corresponding with the linear distance parameter, according to the transformational relation meter after the height of drop and optical calibrating
The imaging position of the aiming point of fire extinguisher bomb in the picture is calculated to obtain aiming point after the imaging position is carried out coordinate transformation and exist
Position coordinates in image, and the position coordinates are shown.
7. the method for sight according to claim 6 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that visit in high-altitude
Surveying module includes linear distance parameter acquisition unit, ignition point image acquisition units, controller and on-air radio Transmit-Receive Unit, ground
Surface treatment module includes terrestrial wireless Transmit-Receive Unit, fire extinguisher bomb aiming point computing unit, aiming point imaging position computing unit, takes aim at
Position coordinates computing unit and display screen on schedule, wherein
The linear distance parameter between fire extinguisher bomb and ignition point is acquired using linear distance parameter acquisition unit, and is sent to control
Device；
Using the image of image acquisition units acquisition ignition point, and it is sent to controller；
The image of the linear distance parameter and ignition point between fire extinguisher bomb and ignition point is received using controller, and is sent to aerial
Wireless transmit/receive units；
Using on-air radio Transmit-Receive Unit by the figure of linear distance parameter and ignition point between received fire extinguisher bomb and ignition point
As being sent to terrestrial wireless Transmit-Receive Unit；
The linear distance parameter between received fire extinguisher bomb and ignition point is sent to fire extinguisher bomb using terrestrial wireless Transmit-Receive Unit
Aiming point computing unit, and the image of received ignition point is sent to aiming point imaging position computing unit；
The linear distance parameter between fire extinguisher bomb and ignition point is received using fire extinguisher bomb aiming point computing unit, and is transferred preset
The height of drop of fire extinguisher bomb corresponding with the linear distance parameter in trajectory interpolation table is calculated according to the height of drop of the fire extinguisher bomb
The aiming point of fire extinguisher bomb out, and the aiming point of fire extinguisher bomb is sent to aiming point imaging position computing unit；
The aiming point of fire extinguisher bomb and the image of ignition point are received using aiming point imaging position computing unit, and utilize optical calibrating
Transformational relation afterwards calculates the imaging position of the aiming point of fire extinguisher bomb in the picture, and in the picture by the aiming point of fire extinguisher bomb
Imaging position be sent to aiming point position coordinates computing unit；
The imaging position of the aiming point of fire extinguisher bomb in the picture is subjected to coordinate transformation using aiming point position coordinates computing unit,
The position coordinates of aiming point on the display screen are obtained, and the position coordinates of aiming point on the display screen are sent to display screen
Curtain is shown.
8. the method for sight according to claim 7 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that visit in high-altitude
Surveying module further includes power supply, for receiving and dispatching for linear distance parameter acquisition unit, image acquisition units, controller and on-air radio
Unit power supply.
9. the method for sight according to claim 8 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that straight line away from
From any that parameter acquisition unit is in radar range finder or infrared range-measurement system or laser range finder.
10. the method for sight according to claim 9 for rotor wing unmanned aerial vehicle fire extinguisher bomb system, which is characterized in that aerial
Wireless transmit/receive units are connected with terrestrial wireless Transmit-Receive Unit using formula either in 3G/4G/WI F I/ bluetooth.
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