CN111561840A

CN111561840A - Ground attack method and system based on unmanned aerial vehicle investigation

Info

Publication number: CN111561840A
Application number: CN202010380452.2A
Authority: CN
Inventors: 蔡茂林; 郭向群; 舒伟略; 李群; 常建; 杨承章; 刘凡宾; 辛浩达; 马国鹏; 余猛
Original assignee: Beijing Zhuang Long Uav Technology Co ltd
Current assignee: Beijing Zhuang Long Uav Technology Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2020-08-21

Abstract

The invention relates to a ground attack method and a ground attack system based on unmanned aerial vehicle investigation, wherein the method comprises the following steps: the unmanned aerial vehicle for flying investigation inspects the unknown area through the unmanned aerial vehicle for investigation and returns an inspection result to the ground end; when the inspection result shows that the first target appears, according to the position information in the inspection result, the unmanned aerial vehicle is released to attack the ground; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the first target is eliminated; when the inspection result shows that the second target appears, reporting the position information in the inspection result to adjust and collect the fire power for striking; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the second target is eliminated. The unmanned aerial vehicle-based fire fighting detection method can solve the problems of detection of shift-rank attack and stiffness fighting and fire support based on the unmanned aerial vehicle, and effectively reduces casualties of the fighter.

Description

Ground attack method and system based on unmanned aerial vehicle investigation

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a ground attack method and system based on unmanned aerial vehicle investigation.

Background

In recent years, along with the rapid development of science and technology, the application and development of unmanned aerial vehicles in various industries are increasingly wide, and at the present stage, the application of the unmanned aerial vehicles relates to the application in the fields of aerial photography, agriculture and forestry plant protection, geological exploration, electric power inspection, oil and gas pipeline inspection, highway accident management, forest fire prevention inspection, polluted environment inspection, emergency rescue and rescue, rescue and relief, coastline inspection and the like.

The existing ground-to-ground attacking unmanned aerial vehicles are all high-altitude long-endurance unmanned aerial vehicles, carry ground weapons to carry out attacking tasks, and are not equipped with corresponding tactical attacking unmanned aerial vehicles and schemes for class-scheduling ground troops.

Disclosure of Invention

The invention aims to provide a ground attack method and system based on unmanned aerial vehicle detection, which can solve the detection problem of shift-rank attack-stiffness warfare and the problem of firepower support based on unmanned aerial vehicles and effectively reduce the casualties involved in battle.

In a first aspect, the invention discloses a ground attack method based on unmanned aerial vehicle investigation, which comprises the following steps:

step 1, flying an unmanned aerial vehicle for investigation, inspecting an unknown area through the unmanned aerial vehicle for investigation, and returning an inspection result to a ground terminal;

step 2, when the inspection result shows that a first target appears, according to the position information in the inspection result, the unmanned aerial vehicle is released to attack the ground; meanwhile, the unmanned aerial vehicle for investigation is controlled to continuously feed back the striking result until the first target is eliminated;

when the inspection result shows that a second target appears, reporting position information in the inspection result to adjust and collect fire power for striking; and meanwhile, controlling the unmanned aerial vehicle for investigation to continuously feed back the striking result until the second target is eliminated.

Further, in the above ground attack method, in step 1, the unmanned aerial vehicle for investigation is provided with an airborne terminal infrared imaging device;

the data and graphic transmission equipment transmits data comprising longitude and latitude coordinates and a thermal infrared image acquired by the airborne terminal infrared imaging equipment to a ground terminal in real time; and when the unknown area including temperature abnormality is found according to the thermal infrared image, prompting the abnormality of the target to the ground end.

Further, in the above ground attack method, in step 1, the unmanned aerial vehicle for reconnaissance sets an airborne visible light imaging device, and the airborne visible light imaging device is used for acquiring a physical image of an unknown area in real time.

Further, in the above ground attack method, in step 1, the unmanned aerial vehicle for investigation returns an inspection result to the ground terminal through the first relay system and/or the second relay system; wherein,

the first relay system is characterized in that an airborne terminal relay is arranged on the investigation unmanned aerial vehicle, the airborne terminal relay of the investigation unmanned aerial vehicle is networked with an airborne terminal relay of a friend investigation unmanned aerial vehicle related to the unknown area to form a first relay system, so that the inspection result is shared to a friend investigation machine of the unknown area in real time;

the second relay system is used for setting a relay on a ground-end vehicle-mounted system; the second relay system is used for ensuring the transmission of the data link between the reconnaissance unmanned aerial vehicle and the ground terminal.

Further, in the above ground attack method, in the step 2, the controlling the unmanned aerial vehicle for investigation to continuously feed back the striking result includes:

sending out longitude and latitude coordinate values of the first target or the second target in real time; and

and sending out the hit effect of the first target or the second target in real time.

In a second aspect, the present invention also discloses a ground attack system based on unmanned aerial vehicle investigation, which includes:

the ground control system is used for flying the unmanned aerial vehicle for investigation and inspecting the unknown area through the unmanned aerial vehicle for investigation;

the unmanned aerial vehicle for investigation is used for receiving a flight instruction of the ground control system and sending an inspection result obtained in the unknown area back to the ground control system in real time;

the ground attacking unmanned aerial vehicle is used for receiving a flight instruction of the ground control system and flying to the unknown area to strike the first target when the ground control system finds the first target according to the inspection result;

and the reconnaissance unmanned aerial vehicle is also used for continuously feeding back the striking result until the first target is eliminated.

Further, the ground attacking system also comprises auxiliary offensive power, which is used for receiving the instruction of the ground control system and collecting the offensive power for striking when the ground control system finds a second target according to the inspection result; and the reconnaissance unmanned aerial vehicle is also used for continuously feeding back the striking result until the second target is eliminated.

Further, in the above ground attack system, the unmanned aerial vehicle for investigation is provided with an airborne terminal infrared imaging device and an airborne terminal visible light imaging device;

the airborne terminal infrared imaging equipment is used for acquiring a thermal infrared image of an unknown area, and the thermal infrared image is used for prompting the abnormality of a target through the temperature abnormality of the unknown area;

the airborne end visible light imaging device is used for acquiring a physical image of an unknown area in real time.

Further, the ground attack system further comprises a first relay system;

the first relay system is characterized in that an airborne terminal relay is arranged on the investigation unmanned aerial vehicle, the airborne terminal relay of the investigation unmanned aerial vehicle is networked with an airborne terminal relay of a friend investigation unmanned aerial vehicle related to the unknown region to form a first relay system, so that the inspection result is shared to the friend investigation aircraft of the unknown region in real time.

Further, the ground attack system further comprises a second relay system;

the second relay system is used for setting a relay on a ground-end vehicle-mounted system and ensuring the transmission of a data link between the unmanned aerial vehicle for investigation and the ground end.

In the ground attack method and system based on unmanned aerial vehicle investigation, the unknown area is inspected by the unmanned aerial vehicle for investigation, and an inspection result is returned to the ground terminal; when the inspection result shows that the first target appears, according to the position information in the inspection result, the unmanned aerial vehicle is released to attack the ground; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the first target is eliminated; when the inspection result shows that the second target appears, reporting the position information in the inspection result to adjust and collect the fire power for striking; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the second target is eliminated. The first target may be a small, light ground target and the second target may be a large, heavy ground target.

When the device is specifically combined with the application of tactics to ground attack, the device can realize the investigation and strike of the prior class-ranking ground troops or investigation troops, can provide the inspection result of enemy targets to backward artillery and aviation soldier in real time, is convenient for attacking an unmanned aerial vehicle to directly strike or is convenient for a back firepower support troop to adjust coordinate deviation to carry out secondary strike. Obviously, adopt for the investigation unmanned aerial vehicle to monitor unknown region, can effectively reduce the personnel casualties of participating in the battle, can accomplish even the zero casualties of earlier stage, agree with many arms kind and fight theory in coordination, played many arms kind and fight advantage.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a flowchart illustrating steps of an embodiment of a ground attack method based on unmanned aerial vehicle detection according to the present invention;

fig. 2 is a schematic view of the working principle of the ground attack method based on unmanned aerial vehicle investigation of the embodiment of the invention, in which the unmanned aerial vehicle is used for investigation to inspect an unknown area and return information to the ground;

fig. 3 is a schematic diagram of an attack method when an unmanned aerial vehicle for investigation finds that an enemy target is a small amount of light first target in the embodiment of the ground attack method based on unmanned aerial vehicle investigation of the invention;

fig. 4 is a schematic diagram of an attack method when an unmanned aerial vehicle for investigation finds that an enemy target is a second large-scale and heavy-scale target in the embodiment of the ground attack method based on unmanned aerial vehicle investigation of the invention;

FIG. 5 is a block diagram of a ground attack system according to an embodiment of the present invention based on unmanned aerial vehicle detection;

fig. 6 is a schematic view of the overall structure of a projectile mechanism of an unmanned aerial vehicle for ground attack in an embodiment of a ground attack system based on unmanned aerial vehicle investigation of the present invention;

FIG. 7 is a schematic diagram showing a state in which a rocker arm of a projectile launching mechanism of an unmanned aerial vehicle for ground attack is clamped with a capsule cover in an embodiment of a ground attack system based on unmanned aerial vehicle investigation of the present invention;

fig. 8 is a schematic diagram illustrating a state in which a rocker arm of a projectile launching mechanism in an unmanned aerial vehicle for ground attack is separated from a capsule cover in an embodiment of a ground attack system based on unmanned aerial vehicle investigation according to the present invention;

FIG. 9 is a top view of a missile launching mechanism of an unmanned aerial vehicle for ground attack in an embodiment of a ground attack system based on unmanned aerial vehicle investigation according to the present invention;

fig. 10 is a schematic perspective view of a missile launching mechanism of an unmanned aerial vehicle for ground attack in an embodiment of a ground attack system based on unmanned aerial vehicle investigation according to the present invention;

FIG. 11 is a front view of a missile launching mechanism of an unmanned aerial vehicle for ground attack in an embodiment of a ground attack system based on unmanned aerial vehicle reconnaissance according to the present invention; and

FIG. 12 is a rear view of a missile launching mechanism of an unmanned aerial vehicle for ground attack in an embodiment of a ground attack system based on unmanned aerial vehicle investigation according to the present invention;

fig. 13 is a schematic perspective view of a support arm folding mechanism of a ground attack drone in an embodiment of a ground attack system based on drone detection;

FIG. 14 is a top view of a support arm folding mechanism of a ground attacking UAV, in an embodiment of a ground attacking system based on UAV detection;

FIG. 15 is a front view of a support arm folding mechanism of a ground attacking UAV, in an embodiment of the ground attacking system based on UAV detection;

FIG. 16 is a front view of the arm folding mechanism with the inner and outer arm mounts open;

FIG. 17 is a perspective view of the outer arm latch and the first locking assembly in a locked position;

FIG. 18 is a front view of FIG. 17;

fig. 19 is a schematic structural view of the locking assembly.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a flowchart illustrating steps of an embodiment of a ground attack method based on unmanned aerial vehicle reconnaissance, including:

and step S110, flying the unmanned aerial vehicle for investigation to an unknown area at the ground end.

And step S120, the unmanned aerial vehicle for investigation inspects the unknown area and returns an inspection result to the ground terminal.

Preferably, in this step, the reconnaissance unmanned aerial vehicle sets an onboard terminal infrared imaging device; the data and graphic transmission equipment transmits the data comprising longitude and latitude coordinates and the thermal infrared image acquired by the airborne terminal infrared imaging equipment to the ground terminal in real time; and when the unknown area including temperature abnormality is found according to the thermal infrared image, the target abnormality is prompted to the ground end.

Meanwhile, the unmanned aerial vehicle for investigation is also provided with an airborne end visible light imaging device, and the airborne end visible light imaging device is used for acquiring a physical image of an unknown region in real time.

In addition, the unmanned aerial vehicle for investigation returns an inspection result to the ground terminal through the first relay system and/or the second relay system.

The first relay system is characterized in that an airborne terminal relay is arranged on the unmanned aerial vehicle for investigation, the airborne terminal relay of the unmanned aerial vehicle for investigation is networked with an airborne terminal relay of a friend unmanned aerial vehicle for investigation associated with an unknown region to form the first relay system, so that an inspection result is shared to a friend investigation machine of the unknown region in real time. For example, the small-sized unmanned aerial vehicle for investigation is equipped with an airborne terminal relay, and all the unmanned aerial vehicles for investigation of the air friend can be networked, so that the data of the whole battlefield can be shared to the troops in each area in real time.

The second relay system is used for setting relays on the ground-end vehicle-mounted system; the second relay system is used for ensuring the transmission of the data link between the unmanned aerial vehicle for investigation and the ground terminal. In one embodiment, when a large-scale ground target is found, the second relay system is used as a relay station of the small reconnaissance unmanned aerial vehicle and a cannon soldier or aviation soldier army above a rear group level, and data link transmission between the small reconnaissance unmanned aerial vehicle and the rear is guaranteed.

And step S130, analyzing the inspection result by the ground end, confirming whether a target is found, and striking in different modes according to different targets.

Specifically, when the inspection result shows that the first target appears, the unmanned aerial vehicle is attacked by flying according to the position information in the inspection result; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the first target is eliminated.

When the inspection result shows that the second target appears, reporting the position information in the inspection result to adjust and collect the fire power for striking; meanwhile, the unmanned aerial vehicle for controlling investigation continuously feeds back the striking result until the second target is eliminated.

Wherein, above-mentioned control for investigation unmanned aerial vehicle lasts to carry out the feedback with hitting the result and includes: sending out longitude and latitude coordinate values of the first target or the second target in real time; and sending out the hit effect of the first target or the second target in real time. In one embodiment, longitude and latitude coordinate values of the moving target are sent backward in real time to conduct target guidance for a rear artillery army or an aviation army, and a hit effect of an enemy target is sent backward in real time to provide a hit effect reference or coordinate reference for the rear artillery army or the aviation army.

The first target in this embodiment may be a light, small-scale target, and the second target may be a heavy, large-scale, or large-cluster target.

Specifically, different striking modes are selected according to different targets, for example, in one embodiment, a light and small-scale target is struck to the ground by a vehicle-mounted striking type unmanned aerial vehicle; and the heavy and large-scale large cluster target transmits the coordinate value and the related information of the hitting target to a rear artillery or an aviation soldier army through a data transmission link, and the artillery army or the aviation soldier army can hit the target according to the guidance of specific coordinate parameters.

The embodiment is used for tactics attack on the ground, can realize investigation and strike of the current class-rank ground forces or investigation forces, can provide the inspection result of enemy targets for ground terminals or artillery and aviation soldier in real time, is convenient for attacking unmanned aerial vehicles to directly strike or is convenient for rear firepower support forces to adjust coordinate deviation to strike for the second time. Obviously, adopt for the investigation unmanned aerial vehicle to monitor unknown region, can effectively reduce the personnel casualties of participating in the battle, can accomplish even the zero casualties of earlier stage, agree with many arms kind and fight theory in coordination, played many arms kind and fight advantage.

Reference is made to fig. 2, 3 and 4.

Fig. 2 shows a schematic diagram of the working principle of the unmanned aerial vehicle for investigation to inspect an unknown area and return the information to the ground in a specific embodiment. In this embodiment, when a ground-end shift platoon team is in a firm attack battle or is about to enter an unknown area, a small-sized unmanned aerial vehicle for investigation is released, and can be a multi-axis unmanned aerial vehicle, a vertical fixed wing unmanned aerial vehicle, an unmanned aerial vehicle helicopter and other various forms.

Fig. 3 shows a schematic diagram of an attack method when a reconnaissance drone finds an enemy target as a first small, lightweight target, in one particular embodiment. When a small amount of light ground targets are found, the shift-ranking troops can fly the small unmanned aerial vehicle for ground attack, the targets are accurately hit according to longitude and latitude coordinates returned by the unmanned aerial vehicle for investigation and the ground real-time conditions provided by the unmanned aerial vehicle for ground attack, and meanwhile, the small unmanned aerial vehicle for investigation overhead on the enemy targets continues to provide information such as hit results for the rear until the targets are eliminated.

Fig. 4 shows a schematic diagram of an attack method when a reconnaissance drone finds an enemy target as a second target that is massive and heavy, in a particular embodiment. When a large number of heavy ground targets are found, the team ranking troops can report the returned ground longitude and latitude coordinates, artillery troops or aviation troops above the team ranking can accurately strike enemy targets according to the provided longitude and latitude coordinates, and meanwhile, small-sized unmanned aerial vehicles for investigation above the enemy targets can continue to provide information such as striking results for the rear until the targets are eliminated.

It should be noted that the present invention does not limit the types and structures of the unmanned aerial vehicle for investigation and the unmanned aerial vehicle for attack, as long as the above functions can be implemented.

Referring to fig. 5, fig. 5 is a block diagram of a ground attack system based on unmanned aerial vehicle reconnaissance according to an embodiment of the present invention. The embodiment comprises a ground end control system, an unmanned aerial vehicle for investigation and an attack unmanned aerial vehicle to the ground.

Wherein, ground terminal control system is used for letting fly the unmanned aerial vehicle for investigation, inspects unknown region through unmanned aerial vehicle for investigation. The unmanned aerial vehicle for investigation is used for receiving a flight instruction of the ground control system and sending an inspection result obtained in an unknown area back to the ground control system in real time; the ground attack unmanned aerial vehicle is used for receiving a flight instruction of the ground control system and flying to an unknown area to strike the first target when the ground control system finds the first target according to the inspection result; and the reconnaissance unmanned aerial vehicle is also used for continuously feeding back the striking result until the first target is eliminated.

In this embodiment, the ground attacking system may further include assisting offensive power for receiving an instruction from the ground control system and collecting the offensive power for attack when the ground control system finds the second target according to the inspection result; and the reconnaissance unmanned aerial vehicle is also used for continuously feeding back the striking result until the second target is eliminated.

In specific implementation, the unmanned aerial vehicle for investigation is provided with an airborne terminal infrared imaging device and an airborne terminal visible light imaging device; the airborne terminal infrared imaging device is used for acquiring a thermal infrared image of an unknown area, and the thermal infrared image is used for prompting the abnormality of a target through the temperature abnormality of the unknown area; the airborne end visible light imaging device is used for acquiring a physical image of an unknown area in real time.

Preferably, in a ground attack system, a first relay system and a second relay system may be further included. The first relay system is characterized in that an airborne terminal relay is arranged on the investigation unmanned aerial vehicle, the airborne terminal relay of the investigation unmanned aerial vehicle is networked with an airborne terminal relay of a friend investigation unmanned aerial vehicle related to the unknown region to form the first relay system, so that the inspection result is shared to the friend investigation aircraft of the unknown region in real time. For example, the small-sized unmanned aerial vehicle for investigation is equipped with an airborne terminal relay, and all the unmanned aerial vehicles for investigation of the air friend can be networked, so that the data of the whole battlefield can be shared to the troops in each area in real time.

The second relay system is a relay arranged on a ground-end vehicle-mounted system and used for ensuring the transmission of a data link between the unmanned aerial vehicle for investigation and the ground end. In one embodiment, when a large-scale ground target is found, the second relay system is used as a relay station between the small-sized reconnaissance unmanned aerial vehicle and a rear team or an aviation soldier, and data link transmission between the small-sized reconnaissance unmanned aerial vehicle and the rear is guaranteed.

Next, a structure of the ground attacking unmanned aerial vehicle in the embodiment of the present invention is further explained.

First, regarding the missile mechanism that attacks the drone against the ground.

Referring to fig. 6-12, a preferred embodiment of the projectile mechanism of the present invention is shown. FIG. 6 is a schematic diagram of the overall structure of the embodiment of the present invention; FIG. 7 is a schematic diagram illustrating a state in which a rocker arm is engaged with a magazine cover according to an embodiment of the present invention; FIG. 8 is a schematic illustration of an embodiment of the present invention with the rocker arm disengaged from the magazine lid; FIG. 9 is a top view of an embodiment of the present invention; FIG. 10 is a schematic perspective view of an embodiment of the present invention; FIG. 11 is a front view of an embodiment of the present invention; fig. 12 is a rear view of an embodiment of the present invention.

This embodiment bullet shooting mechanism includes: the missile cabin comprises a missile cabin 1, a steering engine 2, a steering engine mounting frame 3, a missile cabin cover 4, a rocker arm 7, an elastic connecting assembly and a missile body; the cartridge 1 comprises a shell and a storage space enclosed by the shell; the projectile body is positioned in the storage space; the steering engine 2 is connected with the capsule 1 through a steering engine mounting frame 3; the bomb cabin cover 4 is movably connected with the bomb cabin 1 through an elastic connecting assembly; the elastic connecting assembly and the steering engine mounting rack 3 are both arranged at the end part of the same side of the capsule 1; the rocker arm 7 is connected with the steering engine 2; after receiving a throwing signal, the steering engine 2 drives the rocker arm 7 to be separated from the capsule cover 4; after receiving the reset signal, the steering engine 2 drives the rocker arm 7 to be clamped with the elastic cabin cover 4; the surface of the shell is provided with lightening holes 8 of a through structure.

The bomb compartment cover 4 is clamped through the rocker arm 7, and the bomb body is locked inside the bomb compartment 1. After the steering engine 2 receives the projectile shooting signal, the steering engine 2 drives the rocker arm 7 to be separated from the projectile cabin cover 4, the rocker arm 7 is opened, the projectile body presses open the projectile cabin cover 4 through self gravity, and the projectile body falls out of the projectile cabin 1. The magazine lid 4 is reset under the action of the elastic connection assembly. Then, when the steering engine 2 receives a reset signal, the steering engine 2 drives the rocker arm 7 to be clamped with the elastic cabin cover 4. The lightening holes 8 of the through structure are formed in the surface of the shell, so that the whole weight of the bullet throwing mechanism is lightened, and the structure optimization and carrying are facilitated.

Secondly, in the projectile mechanism of the embodiment, the elastic connecting assembly comprises a spring hinge 5 and a hinge mounting block 6; the bomb cabin cover 4 is connected with a spring hinge 5; the spring hinge 5 is connected with the capsule 1 through a hinge mounting block 6.

Make the capsule lid 4 be connected with capsule 1 through spring hinge 5, simple structure can effectively realize falling out the mesh of capsule 1 when rocking arm 7 breaks away from the back body with capsule lid 4, is convenient for reset capsule lid 4 simultaneously.

The spring hinge 5 is one of elastic structures for realizing recovery deformation, and can ensure that after all the elastic bodies fall out of the bomb bay 1, the hinge drives the automatic reset of the bomb bay cover 4, the increase of accessories is reduced to a certain extent, and the whole weight of the elastic mechanism is reduced.

Further, in the projectile launching mechanism of the present embodiment, the surface area of the magazine cover 4 is smaller than the cross-sectional area of the storage space in the projectile launching direction.

By adopting the structure, the structure of the bomb compartment cover 4 is optimized on the premise that the bomb body cannot leak out when the rocker arm 7 is in a locked state, the weight of the bomb compartment cover 4 is reduced, and the spring hinge 5 is favorably reset.

In the projectile mechanism of the present embodiment, the spring hinge 5 and the hinge mounting block 6 are connected by bolts.

The spring hinge 5 and the hinge mounting block 6 which are connected through the bolts are of detachable structures, are easy to operate and easy to realize, and are favorable for mounting, replacing and maintaining the elastic mechanism.

In the projectile shooting mechanism of the present embodiment, the magazine 1 has a cylindrical structure.

The bullet cabin 1 of cylinder structure is favorable to reducing the windage of unmanned aerial vehicle at the flight in-process, simultaneously because it does not have outstanding edge, can degrade the risk of colliding with damage or personnel's injury.

Furthermore, in the projectile shooting mechanism of the present embodiment, the lightening hole 8 is a circular structure; the passage area of the lightening holes 8 is smaller than the maximum cross-sectional area of the projectile body.

By adopting the structure, the throwing route of the projectile body can be limited, the projectile body is prevented from leaking from the lightening hole 8, and the storage of the projectile body before throwing is ensured to be more controllable.

In the projectile shooting mechanism of the present embodiment, there are a plurality of lightening holes 8; a plurality of lightening holes 8 are evenly distributed in the shell.

The evenly distributed of lightening hole 8 can make the focus of mechanism of throwing bullet more regular, installs in unmanned aerial vehicle back, guarantees whole focus and does not squint, is favorable to unmanned aerial vehicle's normal flight.

In addition, in this embodiment's bullet shooting mechanism, bullet cabin 1 and steering wheel mounting bracket 3 are non-metallic composite.

The non-metal composite material is adopted, so that the high-strength high-plasticity combined ball has the characteristics of high strength, high plasticity and low density, and is further favorable for reducing the weight of a throwing mechanism.

In addition, in the projectile shooting mechanism of the embodiment, the projectile cabin 1 and the steering engine mounting frame 3 are bonded by resin.

The resin bonding mode is simple to operate, other structures are not needed, and optimization of the whole structure and weight reduction are facilitated.

Referring again to fig. 6 to 12, during the firing process:

controlling a signal of the steering engine 2, driving the rocker arm 7 to rotate towards the outer side, so that the locking limit of the bomb compartment cover 4 is cancelled, and at the moment, a bomb body presses the bomb compartment cover 4 to be opened by means of self gravity to fall out of the bomb compartment 1;

when the projectile body falls out of the projectile cabin 1, the projectile cabin cover 4 rebounds by means of the elastic force of the spring hinge 5, the steering engine 2 is controlled to send a signal at the moment, the rocker arm 7 of the steering engine 2 returns to the initial position, and therefore the projectile cabin cover 4 is longitudinally limited and locked, and the resistance of the aircraft in the air is reduced;

after the plane returns to the landing after the bomb is thrown, the bomb can be added again without other operations, thereby reducing the operation time and improving the efficiency.

It should be noted that, in the invention, the missile compartment and the steering engine mounting rack are made of non-metal composite materials, and other materials can be selected according to the weight of the missile body and the environment requirement, for example, when the weight of the missile body is large, the missile compartment and the steering engine mounting rack can be made of 6061-T6 weldable aluminum alloy, so that the missile requirement is further ensured.

In addition, the connection mode of the hinge and the hinge mounting block can be other modes besides the bolt connection mode, for example, the hinge and the hinge mounting block can be inserted, and the hinge mounting block can be effectively fixed.

Besides the cylindrical body, the structure of the bullet cabin can be other structures, such as a rectangular parallelepiped cylindrical structure, as long as the bullet cabin can accommodate bullets and is favorable for flying.

Besides, the shape of the lightening hole can be round, and the lightening hole can be in other structures, such as square, so long as the lightening hole can lighten the weight of the bullet cabin and is convenient to carry.

In addition, the lightening hole can be arranged at other positions besides the shell of the bomb compartment, such as a bomb compartment cover, so long as the overall mass of the bomb throwing mechanism is reduced, and the loading and throwing of the bomb body can be guaranteed.

In summary, the material selection of the missile compartment and the installation frame of the steering engine, the connection mode of the hinge and the hinge installation block, the structure selection of the missile compartment, the shape selection of the lightening hole and the arrangement position of the lightening hole are all within the protection scope of the invention as long as the concept of controlling the projectile body to be thrown out and locking the missile compartment cover by controlling the opening and closing of the steering engine is adopted.

Compared with the prior art, the structure has the following advantages:

firstly, the structural design is simpler, the process difficulty is greatly reduced, and the production cost is reduced.

Secondly, the overall safety and reliability of the mechanism are higher.

Thirdly, the lightening holes are formed in the bullet cabin, so that the weight of the whole mechanism is further lightened, the whole weight is light, and the bullet cabin is convenient to carry.

Fourthly, can directly add the bullet after unmanned aerial vehicle returns to landing, need not do other operations, reduce operating time, increase efficiency.

Fifthly, the unmanned aerial vehicle with the fixed wings, the multi-axis unmanned aerial vehicle, the unmanned helicopter and the like can be used.

Next, the arm structure of the ground attacking drone will be explained. In one embodiment of the present invention,

referring to fig. 13, 14, 15, 16, 17, 18 and 19, there is shown a perspective view of the arm folding mechanism of the ground attacking drone.

Attack unmanned aerial vehicle to ground and set up the support arm, support arm wherein includes support arm folding mechanism, and support arm folding mechanism includes interior support arm installed part, outer support arm installed part and locking assembly, and interior support arm installed part is used for with 50 fixed connection of interior support arm, outer support arm installed part be used for with outer support arm fixed connection, and interior support arm installed part is articulated with outer support arm installed part. Specifically, the inner boom mount comprises an inner boom sleeve 10 and the outer boom mount comprises an outer boom sleeve 20. The bottom of the inner arm casing 10 is hinged to the outer arm casing 20.

Before the unmanned aerial vehicle is used, the inner support arm sleeve 10 and the inner support arm 50 can be riveted together by using the inner support arm rivet 13, and the outer support arm sleeve 20 and the outer support arm can be riveted together by using the outer support arm rivet 21.

The locking assembly is located the different side of the articulated department of interior support arm installed part and outer support arm installed part, and the locking assembly includes first locking component and outer support arm hasp 40, outer support arm hasp 40 and outer support arm installed part fixed connection. Specifically, in this embodiment, the outer arm lock 40 is directly mounted to the top end of the outer arm sleeve 20 by screws, and the first locking member is mounted to the top of the inner arm sleeve 10. Whereas the inner arm sleeve 10 and the outer arm sleeve 20 are articulated at the bottom, i.e. in this embodiment the locking assembly is located on the opposite side of the inner arm sleeve 10 and the outer arm sleeve 20.

Specifically, as shown in fig. 17, the first locking component includes an inner arm lock catch 35, a self-locking component, an articulated seat 32 and a swing arm 34, the articulated seat 32 is mounted on the inner arm sleeve 10, specifically, the two components may be integrally formed, the articulated seat 32 may also be welded to the top of the inner arm sleeve 10, and the two components may also be fixedly connected in a threaded connection manner. The first hook portion 352 is used for locking with the outer arm lock catch 40 to limit the relative distance between the first locking component and the outer arm lock catch 40, and the inner arm lock catch 35 is hinged to the swing arm 34, specifically, the inner arm lock catch 35 is substantially plate-shaped, one side edge of the plate is a first end of the inner arm lock catch 35, and the side edge where the first end is located is the opposite side of one side edge where the inner arm lock catch 35 is hinged to the swing arm 34. The first end of the inner arm lock catch 35 has a first hook portion 352 bent downward in the drawing, and the outer arm lock catch 40 has a second hook portion 41 capable of hooking the first hook portion 352 to prevent the first and second hook portions from being disengaged.

The swing arm 34 and the inner supporting arm mounting piece are arranged in a relatively rotating mode, specifically, the swing arm 34 is in a shape of a Chinese character 'ri' with an opening at the bottom, and each foot of the Chinese character 'ri' is hinged to one hinge lug of the hinge seat 32 respectively. Furthermore, the hinge mount 32 and the inner boom sleeve 10 are fixedly connected so that the swing arm 34 and the inner boom mount are hinged relative to each other.

The self-locking assembly is fixedly mounted on the inner support arm 50, and since the inner support arm mounting member is fixedly connected with the inner support arm 50, the self-locking assembly and the inner support arm mounting member are also fixedly arranged relatively, and when the inner support arm lock catch 35 is locked on the outer support arm lock catch 40, the self-locking assembly is used for the relative rotation angle of the swing arm 34 and the inner support arm mounting member. In the present embodiment, as shown in the figure, the self-locking component is disposed at the second end of the inner arm lock catch 35, i.e. in the hollow part of the upper half of the open japanese-character-shape of the swing arm 34, when the upper horizontal part of the japanese-character-shape is locked and is away from the inner arm 50, the swing arm 34 cannot rotate, the inner arm lock catch 35 is also fixed, and therefore the inner arm lock catch 35 and the outer arm lock catch 40 cannot be opened, thereby significantly improving the reliability of locking.

The support arm folding mechanism that this embodiment provided, through will can with 50 fixed connection's of interior support arm inner support arm installed part, articulated with outer support arm installed part of outer support arm fixed connection, can realize the relative rotation of interior support arm 50 and outer support arm in the transportation, and then reduce the volume that occupies of unmanned aerial vehicle support arm through folding. Further, the inner and outer boom latches 35, 40 of the first locking assembly are utilized to limit the relative distance of the first locking assembly and the outer boom latch 40 so that the inner and outer boom mounts cannot be opened. Through the relative rotation angle of swing arm 34 and interior support arm installed part in the restriction of auto-lock subassembly for swing arm 34 can't swing, and then makes the unable motion of interior support arm hasp 35, can't break away from outer support arm hasp 40, and then has guaranteed the reliable locking of outer support arm hasp 40 with interior support arm hasp 35, thereby finally ensures the relative fixation of interior support arm 50 and outer support arm when unmanned aerial vehicle uses.

In the preferred embodiment, the axis of rotation of the inner arm latch 35 relative to the swing arm 34 is a first axis of rotation, and the axis of rotation of the inner arm latch 35 relative to the inner arm mount is a second axis of rotation, with the first axis of rotation being parallel to the second axis of rotation. Specifically, the contact position of the inner arm lock 35 with the outer arm lock 40, and the first rotation axis are located on both sides of the second rotation axis.

When the first rotation axis is parallel to the second rotation axis, the two rotation directions are the same, and as long as the swing arm 34 is moved away from the outer support arm lock catch 40, the inner support arm lock catch 35 can hook the limiting part of the outer support arm lock catch 40 without controlling the precision between the two very accurately, thereby reducing the processing cost.

In a further preferred embodiment, when the inner arm lock 35 is locked to the outer arm lock 40, the outer arm lock 40 generates a first resistance to the first hook 352 that creates a first torque relative to the first axis of rotation that acts to move the first hook 352 toward the outer arm mount. Specifically, the outer arm lock catch 40 includes a second connecting plate and a second hook 41, the second connecting plate is fixed on the outer arm sleeve 20 by a screw, the second hook 41 is located at an end of the second connecting plate facing the first locking component, the second hook 41 and the second connecting plate may be integrally formed, or the second hook 41 may be welded on an edge of the second connecting plate.

The outer support arm lock catch 40 provides a first torque to prevent the inner support arm lock catch 35 from being separated from the outer support arm lock catch 40, and the first locking component can be prevented from being separated from the outer support arm lock catch 40 naturally, so that the aim of reliably locking the locking assembly is fulfilled.

Further preferred embodiments, when the inner arm latch 35 is locked to the outer arm latch 40, the inner arm latch 35 applies a second force to the swing arm 34 at the first axis of rotation, the second force creating a second torque to the second axis of rotation, the second torque acting to move the swing arm 34 toward the inner arm mount.

Since the inner arm lock catch 35 locks the outer arm lock catch 40, the outer arm lock catch 40 must apply a force to the inner arm lock catch 35 that is applied leftward in the drawing, and when the inner arm lock catch 35 applies a second torque to the swing arm 34 to generate a second force, so that the swing arm 34 moves toward the inner arm sleeve 10, the swing arm 34 cannot rotate in the clockwise direction as shown in the drawing due to the blocking effect of the arm connected to the inner arm sleeve 10, and when the inner arm lock catch 35 locks with the outer arm lock catch 40, the swing arm 34 can be self-locked at this position, so that the lock assembly is completely locked.

In a still further preferred embodiment, the contact position of the inner boom latch 35 with the outer boom latch 40 and the first axis of rotation form a first line, and the second axis of rotation and the inner boom mount are located on opposite sides of the first line, respectively. I.e. the second axis of rotation is located above and in the figure below the first line with respect to the first line.

When locked, the first line is below the second axis of rotation, and the second torque generated by the pulling force of the inner arm lock catch 35 on the swing arm 34 is also necessarily a clockwise torque in the figure, and the second torque enables the swing arm 34 to self-lock in this position.

In a preferred embodiment, the self-locking assembly comprises a self-locking base 361, a sliding block 365 and a locking tongue 367, wherein the sliding block 365 is slidably connected to the self-locking base 361, the locking tongue 367 is fixedly installed on the sliding block 365, the sliding block 365 is further connected with the self-locking base 361 through an elastic element 363, and the elastic element 363 is used for driving the sliding block 365 so that the locking tongue 367 is overlapped on the free end of the swing arm 34. Specifically, the self-locking base 361 can be installed on the inner support arm 50, a sliding groove is formed in the self-locking base 361, a sliding groove stop 368 is fixedly installed at one end of the sliding groove, in this embodiment, the elastic element 363 can be a spiral compression spring, one end of the spiral compression spring abuts against the sliding groove stop 368, the other end of the spiral compression spring abuts against the sliding block 365, the spiral compression spring penetrates through the spring guide post 364, the sliding block 365 is slidably installed in the sliding groove, and the lock tongue 367 is fixedly installed at one end, away from the elastic element 363, of the sliding block 365. The other end of the sliding slot is further provided with a limit block 369, and the limit block 369 is fastened on the upper surface of the self-locking base 361 by a screw and is used for preventing the sliding block 365 from being separated from the sliding slot along the direction away from the elastic element 363 or the direction away from the bottom of the sliding slot. A toggle pin 362 is also provided on the top surface of the slider 365. Additionally, a through hole or counterbore should be provided in the slider 365 to accommodate the spring guide post 364.

Through setting up gliding sliding block 365 and spring bolt 367, can be when needing to lock swing arm 34, utilize the elasticity of elastic element 363 to promote sliding block 365 to make spring bolt 367 lock swing arm 34, when needing to relieve the locking, make elastic element 363 move to the direction of warping through stirring sliding block 365, spring bolt 367 breaks away from the swing region of swing arm 34, can make swing arm 34 take place the swing.

In a preferred embodiment, when the locking tongue 367 is overlapped at the free end of the swing arm 34, the tangent value of an included angle between the contact surface of the locking tongue 367 and the free end of the swing arm 34 and a normal plane in which the swing arm 34 rotates is smaller than the friction coefficient between the locking tongue 367 and the swing arm 34.

By setting the angle of the contact surface of the lock tongue 367 and the swing arm 34, the lower surface of the lock tongue 367 becomes a wedge-shaped surface, and friction self-locking is generated between the wedge-shaped surface and the swing arm 34. Even if the elastic element 363 is damaged, when the swing arm 34 swings counterclockwise as shown in the figure, the sliding block 365 and the locking tongue 367 are not moved towards the inside of the self-locking base 361 when the locking tongue 367 is pressed, and the swing arm 34 is not loosened.

In a preferred embodiment, the inner support arm mounting member is hinged to the outer support arm mounting member by a support arm connecting shaft 14, a first side of the outer support arm mounting member facing the inner support arm mounting member is provided with an outer support arm limiting platform 22, the inner support arm 50 is provided with an acute angle portion 11 at the position where the support arm connecting shaft 14 is arranged, when the first locking component is locked with the outer support arm lock catch 40, one side of the acute angle portion 11 departing from the outer support arm mounting member forms the inner support arm limiting platform, and when the inner support arm mounting member and the outer support arm mounting member are opened to a maximum angle, the first side 12 is abutted to the outer support arm limiting platform 22.

The maximum opening angle of the outer arm relative to the inner arm 50 can be limited by the abutment of the outer arm limiting table 22 and the first side 12 of the acute angle part 11 of the inner arm 50, so that the interference and collision of the outer arm and the machine body after folding can be prevented.

The operation principle of the embodiment is as follows:

the inner arm casing 10 and the outer arm casing 20 are in an open state as an initial state.

When the inner support arm sleeve 10 and the outer support arm sleeve 20 need to be locked, the swing arm 34 is firstly rotated in the counterclockwise direction shown in fig. 16 to be lifted. Then, the inner arm sleeve 10 and the outer arm sleeve 20 are rotated along the arm connecting shaft 14, the upper portion of the outer arm sleeve 20 is close to the upper portion of the inner arm sleeve 10, that is, the outer arm lock catch 40 is close to the first locking component, if the outer side surface of the second hook 41 does not contact the first hook 352 of the inner arm lock catch 35 in the process, the first hook 352 of the inner arm lock catch 35 does not need to be further lifted, and if the contact occurs, the first hook 352 needs to be lifted, so that the inner arm sleeve 10 can contact the end surface of the outer arm sleeve 20.

Then, the first hook 352 is placed in the opening direction of the second hook 41, the right end of the swing arm 34 is pushed to the right side, and the swing arm 34 rotates relative to the hinge base 32 along the second axis. The first hook 352 moves into the second hook 41 on the upper surface of the outer arm latch 40 and the angle between the inner arm latch 35 and the swing arm 34 becomes smaller until the first hook 352 moves completely into the second hook 41, at which time the first line is also below the second axis of rotation. In the above process, the sliding block 365 and the locking tongue 367 should be retracted into the self-locking base 361, after the swing arm 34 is completely moved to the right, the toggle pin 362 above the sliding block 365 is released, the sliding block 365 is ejected by the elastic element 363, and the locking tongue 367 is clamped above the end of the swing arm 34, so as to complete the locking.

Because the first line is lower than the second rotation axis, the force applied by the inner arm lock catch 35 to the swing arm 34 causes the swing arm 34 to rotate clockwise in the figure, and the elastic pin 361 also locks the angle between the inner arm lock catch 35 and the swing arm 34, and in addition, the force applied by the outer arm lock catch 40 to the inner arm lock catch 35 is the torque relative to the torque of the first rotation axis, which causes the inner arm lock catch 35 to maintain the locked state, and the three factors cooperate with each other, so that the locking reliability can be remarkably improved, and the outer arm and the inner arm 50 are prevented from being opened in the flying state.

Accordingly, the procedure of opening the inner boom sleeve 10 and the outer boom sleeve 20 is completely reversed from the locking procedure described above, and the operations of the above steps are reversed.

Above-mentioned structure has that structural style is simple, convenient operation, light in weight, safe and reliable, the durability is good, to all the equal usable advantages of multiaxis unmanned aerial vehicle, can increase the reliability of this set of mechanism through the locking assembly in the course of the work, under non-operating condition, can effectively reduce the complete machine volume to reduce the packing box size and conveniently transport and increase same batch product transportation quantity, can effectively reduce operating time at the support arm expansion in-process, conveniently fly the hand operation.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A ground attack method based on unmanned aerial vehicle investigation is characterized by comprising the following steps:

2. The ground attack method according to claim 1,

in the step 1, the unmanned aerial vehicle for investigation is provided with an airborne terminal infrared imaging device;

3. The ground attack method according to claim 2,

in the step 1, the unmanned aerial vehicle for investigation is provided with an airborne end visible light imaging device, and the airborne end visible light imaging device is used for acquiring a physical image of an unknown area in real time.

4. The ground attack method according to claim 3,

in the step 1, the unmanned aerial vehicle for investigation returns an inspection result to the ground terminal through the first relay system and/or the second relay system; wherein,

5. The ground attack method according to claim 4,

in step 2, the controlling the unmanned aerial vehicle for investigation to continuously feed back the striking result includes:

6. A ground attack system based on unmanned aerial vehicle reconnaissance, comprising:

7. The ground attack system according to claim 6, further comprising,

the auxiliary offensive power is used for receiving an instruction of the ground control system and adjusting the offensive power to strike when the ground control system finds a second target according to the inspection result;

and the reconnaissance unmanned aerial vehicle is also used for continuously feeding back the striking result until the second target is eliminated.

8. The ground attack system according to claim 7,

the unmanned aerial vehicle for investigation is provided with an airborne terminal infrared imaging device and an airborne terminal visible light imaging device;

9. The ground attack system according to claim 8,

the system also comprises a first relay system;

10. The ground attack system according to claim 9,

a second relay system is also included;