CN104950904B - Mine emergency management and rescue aircraft autonomous flight method - Google Patents
Mine emergency management and rescue aircraft autonomous flight method Download PDFInfo
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Abstract
The present invention provides a kind of mine emergency management and rescue aircraft autonomous flight control method, can autonomous flight using the aircraft of this method, aircraft Eulerian angles and acceleration magnitude are calculated during hovering, all directions and obstacle distance are tested by distance measuring sensor, with reference to aircraft flight trend and Distance Judgment aircraft current position state, and using position signalling as a control signal；Then algorithm is combined with fuzzy control using Trend judgement, realizes attitude of flight vehicle, speed and position control, ensure the reliable and stable autonomous flight of aircraft.By gathering the ambient parameter in the certain distance of tunnel in real time during hovering, data message is wirelessly sent to portable terminal in real time.Portable terminal carries out Real-Time Evaluation to environment danger classes in tunnel, and is shown and alarmed.Rescue personnel judges the security in certain distance, the iterative method under security situation, until reaching catastrophe scene according to analysis result.
Description
Technical field
The present invention relates to a kind of control method of aircraft flight, more particularly, to a kind of mine emergency management and rescue aircraft from
Main flying method.
Background technology
1st, mine emergency rescue situation analysis：
Coal mine working environment is complicated, and accident is easily sent out.All the time, after mine generation accident, due to the original information in underground
Collecting device is cut off completely, and incident area ambient parameter needs rescue team member directly to arrive collection in worksite, and it is unnecessary often to bring
Life cost.And after data acquisition, it is impossible to analysis in real time, after the completion of rescue team member's data acquisition and data analysis, accident
The real-time condition in region can may change again, and analysis result can not report situations in real time, still with the presence of unsafe factor,
The life security of rescue team member still can not reliably be ensured.The real-time collection site mass data of aircraft, can be pre- to rescuing
Generation, accidents classification classification, the accident responsibility analysis of case provide data reference.
2nd, current mine emergency and rescue equipment state of development：
After mine accident occurs, power supply is cut off, and all available information equipments can not all use, and allows the rescue work to be difficult
Carry out, therefore replace personnel to detect scene of the accident situation tool in time with equipment and have very important significance.Current external robot skill
Art is quickly grown, and rescue robot is used in mine emergency management and rescue abroad.Robot is provided with various sensors, can be timely
The various ambient parameters of the scene of the accident are gathered, and analytical equipment is transferred data to by wireless transmission method WIFI modes.Machine
Device people is moved with motor-driven caterpillar tracks, but the structure limitation of the size and crawler belt because of machine in itself, makes its avoidance poor.
In the multiple mine disaster rescue and recovery tasks of U.S.'s mine safety and administration of health office (MSHA) tissue, the Disaster Relief Robot disaster relief
Ability and disaster relief effect are simultaneously bad.
3rd, current vehicle technology development and applicable cases：
Aircraft is mainly used in outdoor and the work such as taken photo by plane, transported at present.This technology ground zero abroad.Fly at present
The flight of row device is mainly used in the outdoor open space with gps signal, and 3-axis acceleration sensor, top are provided with aircraft
The sensors such as spiral shell instrument sensor, magnetometer, barometer, by gathering the data of sensor, and combine complicated algorithm and realize and fly
The gesture stability of row device.The flight path control and flight attitude control of aircraft can be accurately positioned by gps signal, fixed
Position error is 2m.Aircraft is furnished with remote control simultaneously, the sporting flying of aircraft can be adjusted and be controlled.
4th, the main flight algorithm research situation of current aircraft：
Being presently available for the control algolithm of four rotor wing unmanned aerial vehicles has a many kinds, for example, pid control algorithm, PD control algorithm,
LQ control algolithms, Backstepping control algolithms, sliding mode control algorithm, Neural Network Control Algorithm, Robust Control Algorithm etc.
Deng.These algorithms must be combined with GPS location signal and remote control, could realize the stabilized flight of aircraft.
The system aircraft is low speed short distance flight, by being combined algorithm control to aircraft flight trend and distance
Aircraft flight position, and adopt Euler conversion formula, calculates aircraft flight posture, with reference to sonic sensor ranging technology,
Realize aircraft avoidance autonomous flight control.The control mode of conventional aircraft is totally different from, opens what aircraft used
Precedent, solves the problems, such as the unmanned real-time testing of mine rescue ambient parameter.
5th, the system vehicle technology difficult point and advantage：
Span length and limited height are very high to the avoidance Capability Requirement of aircraft.The system aircraft passes through complexity
Algorithm, ensure central space of the aircraft in tunnel, collision free, realize aircraft autonomous stabilisation in the closing confined space
Flight.
Because aircraft is to realize lift variation by changing variable rotor speed, it can so cause its dynamic instability, so
Need a kind of control method that can be steady in a long-term.Quadrotor only has four input powers, but has six state outputs, it is
A kind of under-actuated systems.Under-actuated systems refer to that the independent control variable number of system is less than a kind of non-of degree of freedom in system number
Linear system, it is exactly briefly to input the system fewer than the amount to be controlled, is saving energy, reducing cost, mitigation weight, increasing
The all more complete drive system of strong system flexibility ratio etc. is superior, but its algorithm is complicated, and flight attitude is difficult control
The content of the invention
The invention provides a kind of mine emergency management and rescue aircraft autonomous flight method, is to realize to fly by the algorithm of complexity
Row device autonomous flight.During for solving mine emergency management and rescue, the real-time acquisition problems of ambient parameter are carried out using aircraft, its is specific
Technical scheme it is as described below：
A kind of mine emergency management and rescue aircraft autonomous flight method, comprises the following steps：
(1) aircraft staging flight is allowed using the set time, and the accelerometer and top of aircraft is corrected during hovering
Spiral shell instrument, draws the attitude parameter of aircraft using euler algorithm, the attitude parameter include roll angle, the angle of pitch, yaw angle plus
Speed, so as to draw attitude of flight vehicle and movement tendency；
(2) during aircraft hovers by the obstacle distances of distance measuring sensor testing flying vehicle all directions, with reference to
Attitude of flight vehicle and movement tendency and obstacle distance judge the current location status of aircraft；
(3) control signal using position of aircraft signal as aircraft navigation algorithm, utilizes Trend judgement and mould
Paste control is combined algorithm, realizes the autonomous flight of attitude of flight vehicle, speed and position control.
The aircraft is initialized to accelerometer and gyroscope before take-off, and temperature-compensating and drift are carried out to gyroscope
Correction.
In step (1), the gravity acceleration value of aircraft is 9.30-10.30, and roll angle and the angle of pitch are -10 ° to 10 °,
The axle speed of aircraft three is in -1m/s between 1m/s, then judgement aircraft is floating state, now, to accelerometer and gyro
Instrument carries out return-to-zero amendment.
In step (1), during aircraft hovers, the change of euler algorithm computer body coordinate system and earth axes is utilized
Change, so as to draw 3-axis acceleration of the aircraft with respect to ground.
In step (2), the flying speed and every section of autonomous flight of aircraft are calculated according to speed and displacement calculation formula
Distance, total distance of aircraft flight are segmented apart from sum to be each.
During the aircraft autonomous flight, before first determining whether that the distance of direction of advance barrier, existing barrier influence
When entering direction, according to attitude of flight vehicle, speed and position adjustment aircraft direction of advance.
The flying speed of the aircraft is less than 3m/s, and flying speed is more than sonic sensor test request movement speed
Degree, the set time of the aircraft staging flight is 1s, subsequently into Hovering control.
The aircraft uses quadrotor, the three-dimensional coordinate that its flight coordinate is to determine, head is aircraft
Front, four rotor motors are controlled by four road PWM, and master control borad is according to aircraft flight trend and distance, by adjusting PWM
Pulse amplitude and pulsewidth change four rotor motors rotating speed, the flight attitude of change of flight device.
During aircraft hovers, carry-on detection sensor gathers the ambient parameter in certain distance in real time, bag
Methane concentration, carbonomonoxide concentration, oxygen concentration, presumptive area environment temperature are included, it is wirelessly that data message is real-time
It is sent to portable terminal.
The detection sensor includes temperature sensor, CH4Methane transducer, O2Sensor, CO sensors.
Mine emergency management and rescue application aircraft autonomous flight algorithm provided by the invention, after mine generation accident, own
Device power supply (DPS) is cut off, and can be explored automatically when scene of the accident situation can not distinguish.This aircraft can lead to after entering tunnel
Autonomous flight algorithm autonomous flight is crossed, gathers the ambient parameter in the certain distance of tunnel in real time：Methane concentration, carbon monoxide are dense
Degree, oxygen concentration, presumptive area environment temperature, are wirelessly sent to portable terminal in real time by data message.
Portable terminal such as is stored, analyzed, being shown at the operation to parameter, and Real-Time Evaluation is carried out to environment danger classes in tunnel, and
Shown and alarmed.Rescue personnel judges the security in certain distance according to analysis result, is progressively pushed away under security situation
Enter, until reaching catastrophe scene.
Brief description of the drawings
Fig. 1 is the application drawing using mine emergency management and rescue application aircraft autonomous flight algorithmic system provided by the invention；
Fig. 2 is the principle frame using mine emergency management and rescue application aircraft autonomous flight algorithmic system provided by the invention
Figure；
Fig. 3 is aircraft mechanical structural figure；
Fig. 4 is aircraft flight posture schematic diagram；
Fig. 5 is the coordinate definition schematic diagram of body axis system and earth axes；
Fig. 6 is that body axis system converts schematic diagram to earth axes；
General flow chart when Fig. 7 is aircraft autonomous flight；
Flight Control Algorithm flow chart when Fig. 8 is aircraft autonomous flight；
Fig. 9 is Hovering control flow chart of the aircraft in autonomous flight.
Embodiment
As shown in figure 1, after mine generation accident, all devices power supply is cut off, and the scene of the accident is in confused situation, can not be carried out
Exploration.It can lead to after entering tunnel using the aircraft of mine emergency management and rescue application aircraft autonomous flight algorithm provided by the invention
Autonomous flight algorithm autonomous flight is crossed, gathers the ambient parameter in the certain distance of tunnel in real time：Methane concentration, carbon monoxide are dense
Data message, is wirelessly sent to as valuator device just by degree, oxygen concentration, presumptive area environment temperature in real time
Take formula terminal device, the operations such as the portable terminal is stored to parameter, analyzed, shown, to environmental hazard in tunnel etc.
Level carries out Real-Time Evaluation, and is shown and alarmed.Rescue personnel judges the security in certain distance according to analysis result,
Iterative method under security situation, until reaching catastrophe scene.
The present invention is to realize aircraft autonomous flight by the algorithm of complexity, and the system that algorithm is provided using the present invention is related to
Technology has：Aircraft manufacturing technology euler algorithm, Trend judgement and fuzzy control in aircraft automatic control technology, the confined space
Combination algorithm, mobile ranging technology, aircraft movement locus record, mine emergency management and rescue wireless communication technology in the confined space,
The technologies such as coal mine environment security parameter parser, data real-time collection method, artificial intelligence.System principle diagram such as Fig. 2 institutes
Show.
The aircraft is provided with magnetometer, gyroscope, accelerometer, for gathering attitude of flight vehicle and movement tendency
Data message, after filtering, after AD samplings, Attitude Calculation is carried out by algorithm and navigation calculates, and combines the acceleration of aircraft
Degree and Distance Judgment data, PWM (pulse width modulation) outputs are carried out, and then control aircraft motor.
Aircraft Distance Judgment data are realized by the data acquisition of range sensor, and the range sensor includes
Preceding sonic sensor, lower sonic sensor, left sonic sensor, right sonic sensor, the signal of same each sensor collection enter
Data processing is carried out again after row filtering.
Environment detection sensor, including temperature sensor, CH are provided with the aircraft4Methane transducer, O2Sensing
Device, CO sensors, the signal of each sensor collection after filtering, AD samplings, data processing, then the data of collection are passed through logical
Letter module is sent to reception device, that is, portable terminal.
Wherein, the data processing of each sensor is carried out in the processor of aircraft.
Linking frame Fig. 2 is understood, using flying for mine emergency management and rescue application aircraft autonomous flight algorithm provided by the invention
Row device, calculating aircraft Eulerian angles and acceleration magnitude using euler algorithm first in operation, (i.e. attitude of flight vehicle and motion becomes
Gesture), all directions and obstacle distance are tested by distance measuring sensor, with reference to aircraft flight trend and Distance Judgment aircraft
Current position state, and a control signal using position signalling as aircraft navigation algorithm；Then using Trend judgement with
Fuzzy control is combined algorithm, realizes attitude of flight vehicle, speed and position control, ensures the reliable and stable autonomous flight of aircraft.
Using the sensing such as 3-axis acceleration sensor, gyro sensor, magnetometer in aircraft flight control module
Device, and attitude of flight vehicle angle (roll angle, the angle of pitch, yaw angle, acceleration) is resolved by improved euler algorithm.
Method is combined by acceleration and attitude angle, realizes that aircraft flies at low speed, and make aircraft in certain time
In the range of staging flight (being hovered after flight certain distance), during hovering, ensure sound ranging sensor test performance, it is and right
Accelerometer and gyroscope are corrected, and basic guarantee is provided for the stabilized flight next time of aircraft.
Aircraft uses distance measuring sensor, in testing flying vehicle flight course all directions and its with barrier away from
From.Flight position control is realized by distance and Trend judgement (acceleration and Eulerian angles), while uses fuzzy control and trend
Evaluation algorithm, binding site signal realize aircraft manufacturing technology.
The structure design of aircraft is as shown in figure 3, quadrotor uses direct driving force of four rotors as flight
Source, four direction, four rotors around that rotor is symmetrically distributed in body are in sustained height plane, and four rotors
Structure and radius will be identical, rotor 1 and the rotate counterclockwise of rotor 3, rotor 2 and rotor 4 turn clockwise, four motors pair
The bracket end installed in aircraft claimed, support intermediate space lay flight-control computer and external equipment.
As follows described in aircraft flight gesture stability principle, quadrotor is changed by adjusting four motor drivings
Become motor speed, the change of lift is realized, so as to control the posture of aircraft and position.What the flight coordinate of aircraft was to determine
Three-dimensional coordinate, head are the front of aircraft.Four motors are controlled by 4 road PWM, and master control borad is according to aircraft flight trend
And distance, the wherein several rotating speed of 4 motors, the flight attitude of change of flight device are changed by the pulse amplitude and pulsewidth that adjust PWM.
Aircraft is flown by changing the velocity interpolation of four rotors, but no matter how rotor changes, and its total life is kept
It is constant.Flight attitude changes as shown in the table with rotor：
The autonomous flight control method of aircraft includes the following aspects：(1) attitude algorithm；(2) speed, displacement calculate
And control；(3) Flight Control Algorithm.
Wherein, described (1) attitude algorithm includes 1. aircraft flight posture explanation, 2. accelerometer and gyroscope initialization
And hover correction, 3. three parts of coordinate definition and transition matrix.
1. aircraft flight posture explanation：
This aircraft applications is less than 3m/s in colliery emergency management and rescue, endurance ＜ 300m, flying speed, and aircraft is ultralow
Speed flight.In order to preferably ensure the stability of aircraft, this algorithm uses set time staging flight, i.e., in a Δ t
Interior one PWM (pulse width modulation) increment of given aircraft, allows aircraft forward flight certain distance, adjusts aircraft appearance
State and position, make its hovering, accelerometer and gyroscope (zero, and carry out initialization correction) are corrected during hovering, concurrently
Send business datum.
As shown in figure 4, aircraft proceeds by autonomous flight after taking off, the time of each autonomous flight is 1 second, then
Into floating state, autonomous flight is carried out after adjustment again, constantly circulation, landed or because of it until receiving landing instruction
His factor is landed.
2. accelerometer and gyroscope initialization and hovering correction：
Accelerometer and gyroscope initialization：Accelerometer and gyroscope can be varied with temperature and changed, and gyroscope
It is very big that drift increases change over time, therefore must carry out temperature-compensating and zero shift rectifying to it before aircraft takeoff.
Temperature compensation curve is drawn by actual test.Test interval is 10 DEG C.Aircraft is after the power-up, it is impossible to moves, needs to wait for
After at least 40s, indicator lamp instruction starts under normal circumstances.
Floating state accelerometer and gyroscope correction：Accelerometer and gyroscope, which are deposited, all has accumulated error, especially
Gyroscope, therefore aircraft is after flight certain distance, into floating state.Flown by the regulation of position, attitude angle and acceleration
Row device, reaches floating state.If gravity acceleration value changes back and forth 9.30~10.30 or so；Attitude angle (roll angle
And the angle of pitch) change back and forth at -10 °~10 ° or so；The axle speed of aircraft three changes in -1m/s~1m/s or so, you can sentences
It is floating state to determine aircraft.Now, return-to-zero is carried out to accelerometer and gyroscope.
3. coordinate definition and transition matrix：
Aircraft is in hovering, it is necessary to which the coordinate system of itself is converted into earth axes.As shown in Figure 5, Figure 6, wherein
φ represents roll angle, and θ represents the angle of pitch, and ψ represents yaw angle.(x y z) represents body axis system, and alphabetical b represents body coordinate
System, (X Y Z) represent earth axes, and alphabetical e represents earth axes.According to euler algorithm, coordinate system transformation matrix is as follows
It is shown：
... ... ... ... ... ... .. formulas (1)
Euler transformation matrix is
It can be obtained by above transformation for mula, body axis system is to earth axes transformation matrix：
... ... ... formula (2)
Exported for geographic coordinate system 3-axis acceleration,For the output of body axis system acceleration, (i.e. measurement adds
Speedometer and gyro apparatus measuring value.)
Body coordinate system is to geographical coordinates system euler transformation matrix：
Applying equation 2 can calculate aircraft with respect to ground 3-axis acceleration.
(2) speed, displacement are calculated and controlled
This aircraft carries out ranging by sonic sensor, and position of aircraft is adjusted when aircraft hovers,
Ensure the barrier avoiding function of aircraft.And the translational speed of the test request object of sonic sensor is not above 1m/s, therefore will
The speed of aircraft is controlled, it is kept low-speed operations.The system aircraft uses set time staging flight,
During autonomous flight, to ensure that aircraft does not collide in short distance, aircraft speed is no more than 3m/s.Simultaneously by speed and
The judgement of attitude angle, controllable aircraft are moved forward and backward.
3-axis acceleration is calculated by attitude algorithm, three axle speeds are calculated by below equation：
According to speed and the basic calculating formula of displacement：
With
Carrying out discretization to it can obtain：
V1=V0+a1*Δt
……
Vt=Vt-1+at* Δ t................. formulas (3)
Carrying out discretization to above formula can obtain：
……
... ... ... ... ... ... ... ... formula (4)
Flying speed can be calculated by (3).Every section of autonomous flight distance S can be calculated according to formula (4)1、S2、S3......,
And always distance S is each segmentation apart from sum.
(3) Flight Control Algorithm of aircraft
Vehicle flight speeds are especially slow in the system, and endurance distance is very short (being less than 300m), therefore, using trend
Judge, distance and fuzzy control are combined algorithm and can realize the autonomous flight control of aircraft.
As shown in fig. 7, during aircraft standby for takeoff, accelerometer, gyroscope are subjected to initial calibration first, then carried out
Take off control, aircraft is under autonomous flight state after the flight set time, hovering, then carry out attitude algorithm, acceleration and
Velocity estimated control, front distance ranging and Distance Judgment, into Hovering control, if receiving landing instruction, landed, it is no
Then continue autonomous flight.
Aircraft autonomous flight state is using the flight of segmentation set time：Aircraft is during automated spacecraft, its speed
Less than 3m/s, but still greater than sonic sensor test request translational speed, therefore during autonomous flight, branch's device passes through posture
Control and fly with distance measuring sensor, control algolithm is combined using posture and all directions distance during Hovering control.It is existing
When barrier influences direction of advance, according to its direction of advance of attitude of flight vehicle, speed and position adjustment.
As shown in figure 8, after aircraft takeoff hovering, first determine whether to whether there is barrier in front direction 5m, without obstacle
Continue autonomous flight during thing, the PWM flown before circulation regulation, control flight forward speed, and PWM is returned to after a certain time
Hovering value, then speed, trend judge up and down to aircraft, circulation adjusts upper and lower, left and right PWM output times and duty
Than upper and lower, left and right PWM returns to central value when being not required to regulation, then judges whether the time have passed through 1 second, continues to hover if being
Control.
Autonomous flight gesture stability：The autonomous flight segmentation set time is 1s, and aircraft enters Hovering control after 1s, in order to
Ensure that aircraft can effectively carry out avoidance obstacle during autonomous flight, reduce its effect of inertia, regulation attitude of flight vehicle ginseng
Number, makes aircraft top to bottom, left and right, front and rear autonomous flight speed be less than 3m/s.
As shown in figure 9, the aircraft flight process floating state control logic figure for the present invention：
Aircraft flies section flight using the set time.Because in flight course, its flying speed passes beyond sound ranging
Sensor ranging rate request, in aircraft in flight course, aircraft is without ranging and distance controlling.In order to avoid flight
Device is collided in flight course, and aircraft speed is controlled in 3m/s, and after flight 1s, control aircraft enters mystery shape
State, distance controlling is carried out, and return-to-zero correction is carried out to accelerometer, gyroscope.After 1s, aircraft attitude parameters, regulation are read
Around aircraft, upper and lower PWM value, aircraft is in floating state.
According to flight attitude parameter, PWM value before and after regulation, increased using gradually increase fuzzy control according to attitude parameter
Or reduce PWM, and flight attitude parameter before and after judgement, if institute can make acceleration and attitude angle fly forward or backward to PWM value
Trend is controlled, and PWM returns to central value, adjusts posture up and down.Measure aircraft distance, and judge to fly up and down
Device attitude parameter, judge aircraft residing locus at present, PWM up and down is adjusted using fuzzy control is gradually increased
Value, aircraft is set to be in space up and down in central space.Circulation adjusts and judges aircraft distance and flight up and down
Device attitude parameter, until judging that aircraft is in floating state, and accelerometer and gyroscope return-to-zero are corrected.
Claims (8)
1. a kind of mine emergency management and rescue aircraft autonomous flight method, comprises the following steps：
(1) aircraft staging flight is allowed using the set time, and the accelerometer and gyroscope of aircraft is corrected during hovering,
The attitude parameter of aircraft is drawn using euler algorithm, the attitude parameter of the aircraft includes roll angle, the angle of pitch, driftage
Angle, acceleration, so as to draw attitude of flight vehicle and movement tendency；The flying speed of the aircraft is less than 3m/s, and speed of flying
Degree is more than sonic sensor test request translational speed, and the set time of the aircraft staging flight is 1s, subsequently into outstanding
Stop controlling；
(2) during the aircraft autonomous flight, the distance of direction of advance barrier is first determined whether, existing barrier influences to advance
During direction, according to other directions of advance of attitude of flight vehicle, speed and position adjustment；Sensed during aircraft hovers by sound wave
The obstacle distance of device testing flying vehicle all directions, judge to fly with reference to attitude of flight vehicle and movement tendency and obstacle distance
The current location status of row device；
(3) control signal using position of aircraft signal as aircraft navigation algorithm, utilizes Trend judgement and Fuzzy Control
System is combined algorithm, realizes the autonomous flight of attitude of flight vehicle, speed and position control.
2. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：The aircraft
Accelerometer and gyroscope are initialized before take-off, temperature-compensating and zero shift rectifying are carried out to gyroscope.
3. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：In step (1),
The gravity acceleration value of aircraft is 9.30-10.30m/s2, roll angle and the angle of pitch are -10 ° to 10 °, the axle speed of aircraft three
In -1m/s between 1m/s, then judging that aircraft is floating state, now, return-to-zero amendment is carried out to accelerometer and gyroscope.
4. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：In step (1),
During aircraft hovers, using the conversion of euler algorithm computer body coordinate system and earth axes, so as to draw aircraft
With respect to the 3-axis acceleration on ground.
5. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：In step (2),
Calculate the flying speed and every section of autonomous flight distance of aircraft according to speed and displacement calculation formula, aircraft flight it is total
Distance is each segmentation apart from sum.
6. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：The aircraft
The three-dimensional coordinate being to determine using quadrotor, its flight coordinate, head be aircraft front, four rotor motors by
Four road PWM are controlled, and master control borad changes four according to aircraft movement tendency and distance by the pulse amplitude and pulsewidth that adjust PWM
The rotating speed of individual rotor motor, the flight attitude of change of flight device.
7. mine emergency management and rescue aircraft autonomous flight method according to claim 1, it is characterised in that：Hanged in aircraft
During stopping, carry-on detection sensor gathers the ambient parameter in certain distance, including methane concentration, carbon monoxide in real time
Concentration, oxygen concentration, presumptive area environment temperature, data message is wirelessly sent to portable terminal in real time and set
It is standby.
8. mine emergency management and rescue aircraft autonomous flight method according to claim 7, it is characterised in that：The detection passes
Sensor includes temperature sensor, CH4Methane transducer, O2Sensor, CO sensors.
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