CN109436329A - A kind of small drone precisely emits the device and method of relief supplies in the air - Google Patents
A kind of small drone precisely emits the device and method of relief supplies in the air Download PDFInfo
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- CN109436329A CN109436329A CN201811465610.3A CN201811465610A CN109436329A CN 109436329 A CN109436329 A CN 109436329A CN 201811465610 A CN201811465610 A CN 201811465610A CN 109436329 A CN109436329 A CN 109436329A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Mechanical Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses the device and method that a kind of small drone precisely emits relief supplies in the air, which includes: small-sized multi-rotor unmanned aerial vehicle, remote controler, laser radar, laser range finder, single board computer, the mechanical, electrical sparking system of monolithic, emission system, camera and image transmitting receiving module, holder；The present invention is emitted using the Recoilless of model rocket, it ensure that small aircraft attitude stability, the method of configuration sliding block tune center of gravity changes flat pad center of gravity not, influence to emission control performance falls below minimum, air-launched positioning accuracy associativity improves, and realizes that small drone precisely emits article in the air.It is matched with traditional fire extinguishing scheme, blow-off velocity can be increased substantially and reduces the injures and deaths risk of personnel.The present invention, which has, not to be limited by height and road traffic, has the multiple advantages such as flexible, precision is high, and transmitting relief supplies type is more, and launch cost is low.
Description
Technical field
The present invention relates to the device and methods that a kind of small drone precisely emits relief supplies in the air.The device and method
Using transmitting Recoilless model rocket, add adjust center of gravity weight slide block, then be aided with SLAM laser positioning and trajectory control
Method, because center of gravity becomes when its recoil influences stability of aircraft, emits when solving small aircraft air-launched article
Change aircraft balance difference and aircraft emits the not high problem of positioning accuracy in the sky.Belong to small drone air-launched to rescue
Help goods and materials technical field.
Background technique
Fire of high-rise building rescue is a global problem, fire brigade's fire rescue it is difficult, especially
The personnel to be rescued locked into balcony door and window are badly in need of the escape equipment such as rope, mask, cutting and equipment, but because of story height, elevator
Stop transport, fire fighter is hard to reach rescue site, 50 supreme 100 meters aerial ladder quantity it is few, expensive and existing in fire
It is big by such environmental effects such as ground, fire behaviors, bring it is many limited by rescue site, affect the hair of rescue outfit performance
It waves.It in the city that high building is intensive, is rescued using large-scale unmanned plane, is influenced have inconvenience by itself and environment etc..
Transmitting goods and materials are rescued to high level using small aircraft, Three Difficult Issues is solved: stablize, balances, precisely.Because of " hair
Penetrate " this task action is common on small aircraft, and reason is that the recoil that air-launched This move generates will
Cause the huge momentum change of body, easily causes aircraft out of control, it is lower so as to cause launch accuracy.
Some application achievements are obtained to high level rescue currently with small-sized multi-rotor aerocraft.Unmanned plane main task load
It is still all kinds of awareness apparatus, contactless application is carried out using self-contained all kinds of awareness apparatus, such as optical camera, laser
Radar, illumination of propagandaing directed to communicate, this kind of application comparative maturity.Small-sized multi-rotor unmanned aerial vehicle is in fire rescue field, main research
Air rescue application substantially has four classes:
The first kind be monitoring of main research multi-rotor aerocraft (unmanned plane) in high-rise fire rescue, detection, scouting,
Monitoring, tracing, floodlighting and rescue command, unmanned plane make decision-maker grasp disaster in time existing by wireless audio and video transmission
Field situation makes the fire extinguishing disaster relief scheme etc. of science.Such patent is such as: " a kind of high-rise fire unmanned plane deliverance apparatus ", " base
In the fire rescue system of unmanned plane " accommodation space that unmanned plane is provided with receiving traction rope is studied, " one kind is based on unmanned plane skill
The skyscraper life saving system of art exploitation " research UAV system send hawser to high-rise building interior or top, utilizes hawser
Build escaping cableway.
Second class is that research unmanned plane itself is put out a fire using fire extinguisher or high-pressure pump.Patent is such as: " one kind is used for fire
The sprinkling fire-distinguishing of rescue unmanned plane " research and utilization spray head more than 360 °, high-pressure pump are sprayed with ultra-fine dry powder fire extinguishing；" one kind is based on nothing
Man-machine skyscraper fire fighting device and its working method " studies the fire extinguishing of high-pressure hydraulic pump hydraulic giant；" one kind is put out a fire for skyscraper
The unmanned plane device of rescue " uses electromagnetic type heptafluoro-propane fire extinguisher quick extinguishing, " a kind of tall-building fire fighting multi-rotor unmanned aerial vehicle "
Control fire fighting with fire extinguisher.
Third class is the main projection studied in high-rise fire or launches fire extinguisher bomb and fire-fighting goods and materials, using ground downwards
Launch i.e. vertically falling using terrestrial gravitation.According to the fire extinguisher bomb self-destruction height being set in advance, throw to the ground, dispensing is gone out
Fiery bullet and fire service inventory, or jettisoning to the ground.Patent is such as: " a kind of unmanned plane precisely drop a bomb fire extinguishing system " utilizes flame and cigarette
The signal control fire extinguisher bomb delivery device of mist sensor launches fire extinguisher bomb；" one kind based on unmanned plane accurately jettisoning control system ",
" a kind of fire-fighting and rescue apparatus based on unmanned plane ", " the vertical delivery device of UAV system fire extinguisher bomb ", " one kind is based on more rotors
The high-rise building fire extinguishing system of unmanned plane ", " unmanned plane fire extinguisher bomb emission system ", " one kind can be in building fire to captive
Unmanned plane device of dispensing fire service inventory " etc. utilizes gravity, ground is launched downwards to fly to the scene of a fire.
The above three classes are mainly used for the monitoring investigation of the condition of a disaster and to carrying out throwing article such as extinguishing chemical etc., task below
Without using air-launched action, the movement for only grabbing and putting down mainly is acted on using terrestrial gravitation for movement.
4th class mainly studies the projection in high-rise fire or emits fire extinguisher bomb and fire-fighting goods and materials, mainly utilizes compressed pneumatic pump
Fire extinguisher bomb or goods and materials are thrown or emitted to pneumatic or mechanical force.Such as: " a kind of UAV system fire extinguishing bullet launching device " utilizes bullet
The transmitting of spring piston, " airborne pneumatic lifesaving goods and materials grenade instrumentation " air pump provide air pressure and project to monomer, a kind of " unmanned plane rescue
Packet emitter " pushes transmitting piston to launch rescue packet by spring using air accumulator high pressure gas.Such throwing transmitting can produce
Raw recoil will affect unmanned plane during flying posture to influence to project precision.
In terms of for air-launched relief goods, since the limited multi-rotor aerocraft of power is difficult to resist the recoil of transmitting
Influence of the power to the flight attitude of unmanned plane can seriously affect stability when multi-rotor unmanned aerial vehicle transmitting.Currently in high building
Do not enter in the case of disaster field in fire rescue, relief goods or fire extinguisher bomb etc. are precisely emitted by the window of skyscraper and appointed
Business has limitation.
How will load in the non-contact directional transmissions of relief goods to specified skyscraper room, and unmanned plane during flying can be made
Posture influence is smaller, and improving transmitting precision becomes urgent problem to be solved.Such as face skyscraper, can by relief goods from away from
More than ten meters or tens meters of window precisely emits.
Relief supplies are emitted in the sky for small aircraft, improve transmitting precision the technical problem to be solved is that:
So that aircraft is emitted goods and materials in the sky while overcoming influence of its recoil to unmanned plane during flying posture, improves unmanned plane
The precision accuracy of stability and transmitting when air-launched becomes urgent problem to be solved.Its core solves the problems, such as three: empty
Because gravity center shift makes that aircraft balance is poor, aircraft is sent out in the air when recoil influences stability of aircraft, transmitting when middle transmitting
Penetrate the not high problem of positioning accuracy.
(1) recoil influences stability of aircraft problem when air-launched, refers to and necessarily produces to the momentum for being launched article
Raw recoil can seriously affect stability when multi-rotor aerocraft transmitting, lower so as to cause launch accuracy.
(2) lead to aircraft balance difference problem because of gravity center shift when emitting, refer to emission system as variable mass system,
Movement when emitting article influences the variation of whole center of gravity, can seriously affect the balance of unmanned plane transmitting.
(3) the not high problem of air-launched positioning accuracy refers to that aircraft itself relies on satellite positioning precision and is not able to satisfy and appoints
It is not high to inject precision when distance transmission article for business demand.
For this feelings, we have invented model rockets to load relief supplies, adds the weight slide block for adjusting center of gravity, then be aided with SLAM
The method of laser positioning and trajectory control, its recoil influences stability of aircraft, because of weight when solving air-launched article
Heart variation transmitting balance difference and the not high problem of aircraft air-launched positioning accuracy, the whole essence for improving transmitting relief supplies
Accuracy.In the case where high building alien invasion does not enter scene of fire, accurately emits fire extinguisher bomb to high building fire source or fire-fighting is rescued
Help goods and materials, the article that is used to rescue, escape precisely be transmitted within the shortest time and needs the people that rescues, be fire rescue and
It saves life and has striven for the time, utmostly reduce the risk of casualties and property loss.
Summary of the invention
The object of the present invention is to provide the device and methods that a kind of small drone precisely emits relief supplies in the air.Its skill
Art solves the problems, such as: the limited small drone of power, and recoil is to unmanned plane during flying posture when emitting relief supplies in the sky
Influence, transmitting article make aircraft cause emission control balance poor as variable mass system gravity center shift, airborne aircraft and
Rocket launching positioning accuracy is not high, solves the problems, such as that precision is not high when small drone air-launched article, is unmanned plane
Aerial precisely transmitting relief goods provide a kind of new method and apparatus.
The present invention designs the device and method that a kind of small drone precisely emits relief supplies in the air.Its design philosophy
It is: on the basis of small-sized six rotor wing unmanned aerial vehicle, first using the model rocket of Recoilless transmitting article as loading rescue
The carrier of article；Then the method for design configurations sliding block tune center of gravity and dual openings duct type emitter, inside it preposition mould
Type rocket, postposition weight slide block；Then it is aided with SLAM laser positioning and carries out the aerial self poisoning precision raising of aircraft；Finally open
Ballistic computation program is sent out, the precision of distance transmission rocket is improved.
A kind of small drone precisely emits the device of relief supplies in the air, specifically includes: small-sized multi-rotor unmanned aerial vehicle, distant
Control device, laser radar, laser range finder, single board computer, the mechanical, electrical sparking system of monolithic, emission system, camera and image transmitting connect
Receive module, holder.Fig. 4 is device hardware connection structure schematic diagram.
Small-sized multi-rotor unmanned aerial vehicle is the power device flown in the sky of whole device, include at least flight controller,
Receiver, electron speed regulator, motor, rack and power supply etc..
Remote controler is by being wirelessly connected and manipulating small-sized multi-rotor unmanned aerial vehicle, holder of the control with camera, control transmitting
System aims at transmitting target and carries out transmitting operation.
Laser radar is connected with single board computer, for the aerial horizontal positioning of small-sized multi-rotor unmanned aerial vehicle.
Laser range finder is connected with single board computer, for measuring the height of small-sized multi-rotor unmanned aerial vehicle from the ground.
Single board computer is used to receive the data of laser radar, laser range finder, camera video, carries out laser positioning and trajectory
It calculates, and is communicated with the flight controller of small-sized multi-rotor unmanned aerial vehicle.
Single-chip microcontroller is connected with the mechanical, electrical sparking system of veneer and receiver, parses the data of receiver, controls electric sparking system
Ballistic computation program is run with control single board computer.
Electric sparking system is used to receive the electric igniter that model rocket engine in emission system is connected after single-chip microcomputer signal,
Emit model rocket.
Emission system is suspended below multi-rotor unmanned aerial vehicle, specifically includes transmitting hanger, weight slide block, model rocket；Hair
Penetrating hanger is double openings type pipeline, is internally provided with sliding rail, cooperates with the guide pipe being arranged on model rocket, makes model rocket can
To be moved along sliding rail；Weight slide block is coupled by the sliding rail and can be moved along sliding rail.Model rocket is for loading rescue object
Product, and it is transmitted to designated position.The model rocket mainly includes load storehouse, model rocket engine and igniter, is somebody's turn to do
Igniter is electric igniter, can put fire extinguisher bomb or relief supplies inside load storehouse.
Camera and image transmitting receiving module are used to the picture of camera passing back to ground based terminal display screen.
Holder adjusts the camera lens visual angle up and down of camera by remote control control.
A kind of small drone precisely emits the device of relief supplies, communication plan are as follows: in single board computer in the air
Portion runs two programs, one be laser SLAM task ROS program, the other is the program of ballistic computation, by Python language
Speech is write.The ROS program and ballistic computation program for executing laser SLAM task run on single board computer, single-chip microcontroller Controlling model fire
The electricity sparking of arrow engine.Flight controller is used and is communicated between Mavlink communication protocol and single board computer.Flight control
Communication network is constituted between device, single board computer, single-chip microcontroller and remote controler, receiver, realizes the Collaborative Control to whole device.
The working principle of apparatus of the present invention is two steps: the first step, selectes transmitting target.Personnel are adjusted by remote controler and are imaged
Head setting launch point, stirs the driving lever for being defined as " determining target " on a remote control, and receiver receives signal and is transmitted to single-chip microcontroller, single
Piece machine is transmitted to single board computer, and the ROS program and ballistic computation program of the laser SLAM inside single board computer by laser range finder and swashs
The data of optical radar calculate the position of small-sized multi-rotor unmanned aerial vehicle, and information, which is transmitted to flight controller, revolves its adjust automatically mostly
The flight position of wing unmanned plane.Its brief process: remote controler --- receiver --- single-chip microcontroller --- single board computer (laser SLAM and
Ballistic computation) --- flight controller --- position of aircraft.
Second step adjusts small-sized multi-rotor unmanned aerial vehicle position, is remotely controlled electricity sparking and fires a rocket.Under multi-rotor unmanned aerial vehicle
Side's suspension emission system, built-in model rocket stir the driving lever for being defined as " emission switch " on remote controler, and trigger signal, which is transmitted to, to be connect
Receipts machine, receiver are transmitted to single-chip microcontroller, and single-chip microcontroller output signal triggers electric sparking system, makes the engine electric igniter of model rocket
It connects, model rocket is launched.
The course of work of apparatus of the present invention are as follows: by remote controler wireless remote control electricity sparking system Launching Model rocket, by it
Article in load storehouse is sent to scene of fire.It is realized accurately emits high building fire source fire extinguisher bomb and rescue object in the air
Money realizes fighting and rescue operations article makeup function.This radiation pattern, not only Recoilless, but also without horizontal mass centre changing, to transmitting
The influence of control performance falls below minimum, improves the precision of transmitting.
A kind of method that small drone precisely emits relief supplies in the air, specifically comprises the following steps:
Step 1: defining the channel of remote controler by remote controler driving lever etc.
The driving lever of " determining target " and " emission switch " is defined on a remote control, can be 0-1 grades, and one is " to determine mesh
Mark ", one is " emission switch ", determines the rocking bar for adjusting holder, is continuously adjustable.
Step 2: the model rocket with relief supplies and weight slide block, which are packed into double openings type pipeline, emits hanger
S21, the load storehouse that relief supplies are packed into model rocket, nose cone empennage install；
S22, the engine of model rocket is installed in tail portion；
S23, model rocket is packed into transmitting hanger；
S24, it is put into a weight slide block behind；
Step 3: determining air-launched target, the driving lever of " the determining target " of remote controler is dialled
Remote controler starts small-sized multi-rotor unmanned aerial vehicle and flies in the air, by being remotely controlled camera on holder, finds to be emitted
Target entries (such as window).Then the driving lever of " the determining target " of remote controler is dialled.
Step 4: control by laser radar and trajectory finder, make small-sized multi-rotor unmanned aerial vehicle from main modulation position,
Remote controler " determining target " driving lever information passes to receiver, and information is transmitted to single-chip microcontroller by receiver, and single-chip microcontroller is transmitted to single board computer, single
Trigger runs laser SLAM program and ballistic computation program, and it is high to calculate small-sized multi-rotor unmanned aerial vehicle when emitting using trajectory program
Degree, and multi-rotor unmanned aerial vehicle is automatically controlled by flight controller and adjusts air position.
Step 5: determining transmitting, the driving lever of " emission switch " of remote controler is dialled, model rocket is launched.
After seeing that small-sized multi-rotor unmanned aerial vehicle position adjustment is stablized, the driving lever of " emission switch " of remote controler is stirred, is received
Machine passes through single-chip microcontroller trigger signal after receiving signal, connects the electric igniter of the engine of model rocket, will be equipped with rescue object
The model rocket of product is launched, while weight slide block moves backward.
The realization of apparatus of the present invention fire-extinguishing function concurrently is pair flown at high-rise building kindling by small-sized multi-rotor unmanned aerial vehicle
Face is directed at target at kindling by being remotely controlled small-sized multi-rotor unmanned aerial vehicle Launch System, and wireless remote control will have fire extinguisher bomb
Model rocket is emitted to interior by door and window etc., and fire extinguisher bomb heat automatic sensing sprays extinguishing chemical, effectively stamps out the flames.
The realization of apparatus of the present invention relief supplies makeup function is to fly to by small-sized multi-rotor unmanned aerial vehicle high-rise building
Opposite at fire, remote control alignment need to feed target, and wireless remote control will have the mould of the relief supplies such as rescue rope, mask or fire smothering blanket
Type rocket is emitted to interior by door and window etc., carries out relief supplies supply.
A kind of small drone of the present invention precisely emits the device and method of relief supplies in the air, and advantage and effect exist
In:
The present invention is emitted using the Recoilless of model rocket, ensure that small aircraft attitude stability, configures sliding block
The method for adjusting center of gravity changes flat pad center of gravity not, and the influence to emission control performance falls below minimum, air-launched positioning
Precision associativity improves, and realizes that small drone precisely emits article in the air.
In the event of a fire in a high-rise building, the device of the invention to internal precisely transmitting fire extinguisher bomb or disappears outside scene of fire
Anti- articles such as lifesaving rope, fire smothering blanket etc..It is matched with traditional fire extinguishing scheme, blow-off velocity can be increased substantially and reduces personnel
Injures and deaths risk.
It, which has, limit by height and road traffic, has that flexible, precision is high, it is more to emit relief supplies type
Etc. multiple advantage, and launch cost is low, social and economic benefit with higher.It is to solve previous long-standing problem people
Fire of high-rise building rescue problem provides a brand-new idea and method.
Detailed description of the invention
Fig. 1 precisely emits the method and step of article in the air.
Fig. 2 is emission system and its physical model.
The outline structural diagram of Fig. 3 apparatus of the present invention；In figure: A, rack B, emission system C, model rocket.
(each component all connects power supply to Fig. 4 hardware device connection schematic diagram, and line omits；In figure: wired connection-；Nothing
Line connection ---).
Fig. 5 is the model rocket structural schematic diagram of repacking；1, rocket body 2, nose cone 3, empennage 4, engine (can substitute) in figure
5, flame-retardant layer 6, load cabin (dress relief goods) 7, guide pipe.
Fig. 6 is device working principle and its communication plan.
Fig. 7 is the job information process that transmitting target adjustment position of aircraft is selected after taking off.
Fig. 8 is to determine the job information process for emitting and executing.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, to the embodiment of the present invention make into
One step is described in detail.
Below with reference to shown in Fig. 1, the technical thought of this method is specifically introduced.
Step 1: carrier-model rocket of approximate Recoilless transmitting article is designed, and relief supplies can be loaded
For the problem that problem one, recoil influences stability of aircraft when air-launched article.In conjunction with physical analysis, root
According to the law of conservation of momentum, the article launched will generate an opposite momentum, if this momentum acts on aircraft (machine
The ejection of tool formula), then it will seriously affect the stabilization of flying vehicles control, lead to the variation of attitude of flight vehicle in emission process, and then make
Article trajectory must be emitted and generate deviation.The momentum for being launched object necessarily leads to recoil, can seriously affect multi-rotor unmanned aerial vehicle
Stability when transmitting.The solution of so Recoilless is exactly that this power is allowed to be applied to other object, without being applied to hair
Penetrate platform.
For this purpose, present invention uses the methods of the solid propellant of chemical substance transmitting, that is, use current aerospace
The model rocket delivery of model match is launched the mode of article.Model rocket is adapted as with load storehouse and rocket engine
The effect object of carrier, transmitting chemical propellant is air, and the momentum change for being launched object generates recoil and do not apply
Air is acted on to aircraft.The recoil amount of chemical propulsion is sprayed backward in the form of combustion gas, will not be generated to aircraft
Biggish power, almost without active force, to realize Recoilless transmitting.And if emitting generation using mechanical device
Recoil is that aircraft is difficult to resist.Model rocket chemical propulsion radiation pattern, that is, Recoilless radiation pattern of the invention,
It ensure that attitude of flight vehicle stability.
Step 2: the method and double openings type pipeline of design configurations sliding block tune center of gravity emit hanger, system water when making to emit
Flat center of gravity approximation is kept constant
For problem two, rocket-firing system is a variable mass system, and influence of the variable mass for flying vehicles control
It is very big, especially for the kinetic character of six rotorcraft, influence of the variation of horizontal center of gravity for control aircraft balance
It is especially huge.In order to allow transmitting to influence to reduce for the control of aircraft, need to send out center of gravity in emission process not
Changing, the invention are designed using weight slide block, realize this target.Specifically devise a double openings type pipeline transmitting
Hanger, inside it preposition model rocket, postposition weight slide block.It is integrated according to the law of conservation of momentum, and to this formula, it is known that
The center of gravity of any time system does not change.
Fig. 2 is emission system and its physical model, we carry out mathematical modeling, available conservation of momentum formula to the system
Above formula is integrated, it is available
It can further obtain
Above formula shows that the horizontal center of gravity of system is kept constant.
As shown in the above, when model rocket moves in pipeline, weight slide block moves round about, so that hair
Total system center of gravity horizontal direction approximation does not change during penetrating, the balance of system when ensure that transmitting, to improve
Precision when transmitting.
Step 3: aerial positioning accuracy is improved using laser SLAM technology and trajectory suite
For problem three, the not high problem of air-launched positioning accuracy can be divided into two aspect problems, on the one hand be flight
Device in the sky when itself position the satellite positioning precision of dependence and be not able to satisfy the demand of task；On the other hand be from entry portal compared with
Distance transmission is inaccurate.
1, for aircraft in the sky when itself position the satellite positioning precision of dependence and be not able to satisfy the demand of task and ask
Topic, using laser SLAM technology, point of use realizes the ICP algorithm of dimension amount on the limited airborne platform of computing resource
The decimeter grade laser positioning of aircraft level.
Laser SLAM be also referred to as simultaneous localization and mapping (Simultaneous Localization And Mapping,
Abbreviation SLAM), it typically refers in robot or other carriers, by the way that various sensing datas are acquired and are calculated,
It generates to the positioning of its own position and attitude and the system of scene cartographic information.SLAM technology is for robot or other intelligent bodies
Action and interaction capabilities it is most crucial because it represents the basis of this ability: where knowing oneself, it is known that surrounding ring
Border is how, so know in next step this how autonomous actions.
The collected object information of laser radar shows a series of dispersions, with precise angle and range information
Point, referred to as point cloud.In general, laser SLAM system by matching to different moments two panels point cloud with compare, calculate laser thunder
Up to the change of the distance and posture of relative motion, the positioning to itself is also just completed.
The present invention is handled using the data that laser radar obtains, and is obtained the posture information of aircraft, is used base
It is communicated in the asynchronous flow of Topic.A laser radar is controlled, can star the driving of this laser radar, this driving can
The information of sensor_msgs/LaserScan is engaged in the dialogue and can issued at this topic of scan to give laser.
In order to handle data, the information of this topic of scan is subscribed to using this node of laser_filters.After subscription, we
Filter will automatically begin to receive laser radar information.Notice that both sides are work of how breaking off relations.All hokuyo_
The node of node can all complete publication " scanning ", and whether require no knowledge about has node subscribed.All filters all can be complete
At the subscription of " scanning ", no matter knowing or not known whether node in publication " scanning ".In the feelings for not causing any mistake
Under condition, the sequence starting that the two nodes can be any terminates, or restarts.
LaserScanMatcher is a laser radar data matching tool packet, this packet is for matching sensor_
The information of msgs/LaserScan solves the posture information of laser radar by PL-ICP algorithm.LaserScanMatcher
Receive this topic of sensor_msgs/LaserScan, resolving processing after, with geometry_msgs/Pose2D or tf this
The form of one of two topic is issued.The project uses Pose2D, the information of this topic include two-dimensional position coordinate with
Rotation angle obtains the x of aircraft, y-coordinate by laser SLAM.
2, for from entry portal, compared with the problem that distance transmission is not allowed, ballistic computation program is developed, is simplified by solving
Rocket dynamics equation group afterwards, may be implemented accurate trajectory planning.
(1) rocket flight principle
Under normal circumstances, the sporting flying equation of rocket is the universal law based on variable mass and normal quality rigid body and particle
Come what is established.The power and torque for acting on rocket have:
1) motor power: rocket model used by this project is solid fuel, and average thrust 6N, burning time is
0.83 second；
2) gravity: Beijing area normal acceleration of gravity g=9.8015m/s is taken2；
3) air force and torque: air force is decomposed in velocity coordinate system,
Fazc=-CxqSm
Wherein, FazcFor aerodynamic drag, Fazc、FazcFor aerodynamic lift and side force, q is dynamic pressure
4) shake power and torque: if propellant is liquid, shaking during in tank due to rocket flight is generated
Oscillation will usually be shaken power and be replaced by a series of single pendulums or harmonic wave oscillator, available good approximation.It is fired in this project
Material is solid, and there is no need to consider to shake power and torque.
5) engine wobble inertia force and torque: executing agency's oscillating engine, due to engine have rotary inertia and
Quality, it will generate inertia force and torque.
To sum up, the integrated equation group of rocket motion may be expressed as:
This six formulas are exactly the kinetics equation group of general motion of rigid body, first three is that (newton second is fixed for the equation of power
Rule), latter three be torque equation (Eulerian equation).V be speed, F be power, c represents mass center, m mass, J rotary inertia, ω is
Angular speed, M are torque.
(2) assume
1) thrust is along rocket axis direction, i.e. thrust y, z-component 0 in rocket body coordinate system, and control force is 0.
2) influence of wind is not considered when the pilot fight of low latitude, i.e., pneumatic side force is 0.It is in practical application, wind speed can be passed through
Trajectory is corrected in measurement.
3) due to there is the presence of guide rail when transmitting, rocket flight is relatively stable, therefore ignores rolling movement.
4) rocket body can regard rigid body as at each moment of movement, and rocket body Mass Distribution is symmetric about the axis.
5) since rocket body is shorter, it is believed that the pressure heart and mass center are overlapped, and are regarded as particle.
6) since transmitting range is shorter, ground can be considered plane, and gravity direction is constant downward for vertical, ignore earth rotation
And Coriolis force influences.
(3) simplified model
According to above-mentioned (2) it is assumed that following reduced equation group can be obtained
U is the speed of rocket axis direction, and θ is rocket pitch angle, and k is coefficient of air resistance, and g is acceleration of gravity.
(4) Python program solution is write
Reduced equation group according to above-mentioned (3) is standard first-order ordinary differential equation system, can very easily use Python
The library Scipy odeint function realize numerical solution.The algorithm that odeint is used is Fourth order Runge-Kutta, and function input is
Equation group function, initial value, time variable and the parameter value defined, exports the time series for solution vector.According to x and z
Time series, can acquire to make trajectory by window center, aircraft needs the height changed.
In conclusion obtaining the x of aircraft, y-coordinate by laser SLAM, and the z coordinate of laser range finder offer is obtained,
In addition target z variable quantity is also obtained by ballistic computation, this four information pass through Mavlink agreement and are sent to flight control
Device.After aircraft obtains this four information, three-dimensional localization can be realized according to mission requirements, realize air-launched positioning accurate
It spends higher.
Step 4: selecting multi-rotor aerocraft, installs single board computer and chip microcontroller launch accuracy relevant control additional
In order to realize above content, single board computer is installed on multi-rotor aerocraft, built-in ROS operating system realizes laser
SLAM positioning and trajectory program exchange data with the flight controller of aircraft by Mavlink communication protocol, realize to flight
The control of device.ROS (robot operating system, Robot Operating System) is aimed at set by robot software's exploitation
A set of computer operating system framework that meter comes out.
Single-chip microcontroller is installed on multi-rotor aerocraft, the electricity sparking realized to model rocket engine is programmed, makes fire
Arrow transmitting.
Installation camera and holder, holder pass through remote control control.Camera is connected to single board computer, passes through video wireless transmission
Module passes to receiving end and shows.
The driving lever (for 0-1 grades) of " determining target " and " emission switch " is defined on a remote control, it is determined that adjusts shaking for holder
Bar (being continuously adjustable).
Based on above-mentioned theory basis, a kind of small drone of the invention precisely emits the device of relief supplies, tool in the air
Body include: small-sized multi-rotor unmanned aerial vehicle, remote controler, laser radar, laser range finder, single board computer, the mechanical, electrical sparking system of monolithic,
Emission system, camera and image transmitting receiving module, holder.Fig. 4 is device hardware connection structure schematic diagram.
Small-sized multi-rotor unmanned aerial vehicle is the power device flown in the sky of whole device, include at least flight controller,
Receiver, electron speed regulator, motor, rack A (such as Fig. 3) and power supply.
Remote controler is by being wirelessly connected and manipulating small-sized multi-rotor unmanned aerial vehicle, holder of the control with camera, control transmitting
System aims at transmitting target and carries out transmitting operation.
Laser radar is connected with single board computer, for the aerial horizontal positioning of small-sized multi-rotor unmanned aerial vehicle.
Laser range finder is connected with single board computer, for measuring the height of small-sized multi-rotor unmanned aerial vehicle from the ground.
Single board computer is used to receive the data of laser radar, laser range finder, camera video, carries out laser positioning and trajectory
It calculates, and is communicated with the flight controller of small-sized multi-rotor unmanned aerial vehicle.
Single-chip microcontroller is connected with the mechanical, electrical sparking system of veneer and receiver, parses the data of receiver, controls electric sparking system
Ballistic computation program is run with control single board computer.
Electric sparking system is used to receive the electric igniter that model rocket engine in emission system is connected after single-chip microcomputer signal,
Emit model rocket.
Emission system B (as shown in Figure 3) is suspended below multi-rotor unmanned aerial vehicle, and it is sliding to specifically include transmitting hanger, counterweight
Block, model rocket C (such as Fig. 3)；Transmitting hanger is double openings type pipeline, is internally provided with sliding rail, and is arranged on model rocket
Guide pipe cooperation, moves model rocket along sliding rail；Weight slide block is coupled by the sliding rail and can be moved along sliding rail
It is dynamic.Model rocket is transmitted to designated position for loading relief supplies.The model rocket (such as Fig. 5) mainly includes arrow
Body 1, nose cone 2, empennage 3, engine (can substitute) 4, flame-retardant layer 5 and load storehouse 6 and igniter, the igniter are electric ignition
Head can put fire extinguisher bomb or relief supplies inside load storehouse 6.Further, it is provided in the outside of rocket body 1 and cooperates with sliding rail
Guide pipe 7.
Camera and image transmitting receiving module are used to the picture of camera passing back to ground based terminal display screen.
Holder adjusts the camera lens visual angle up and down of camera by remote control control.
A kind of small drone precisely emits the device of relief supplies, communication plan are as follows: in single board computer in the air
Portion runs two programs, one be laser SLAM task ROS program, the other is the program of ballistic computation, by Python language
Speech is write.The ROS program and ballistic computation program for executing laser SLAM task run on single board computer, single-chip microcontroller Controlling model fire
The electricity sparking of arrow engine.Flight controller is used and is communicated between Mavlink communication protocol and single board computer.Flight control
Communication network is constituted between device, single board computer, single-chip microcontroller and remote controler, receiver, realizes the Collaborative Control to whole device.
Technical solution of the present invention is realized below by way of specific embodiment.
Embodiment 1:
The present embodiment provides a kind of devices based on the aerial precisely transmitting article of small drone high-rise fire rescue.
Its apparatus structure is as shown in Fig. 3,6, and by six rotorcraft, (flight controller containing Pixhawk receives main composition
Machine, 6 electron speed regulators, 6 motors and power supply etc.), remote controler, north sun laser radar (Hokuyo UTM-30LX), Laser Measuring
The mechanical, electrical sparking system of distance meter, RaspberryPi single board computer, Arduino monolithic, emission system (transmitting hanger, weight slide block, mould
Type rocket), the composition such as camera and image passback receiving module, holder.
Wherein six rotorcraft design parameter such as table 1, flight controller Pixhawk are internal using STM32 as main control chip
It is integrated with accelerometer, gyroscope, magnetic compass and barometer, there is Peripheral Interface abundant, used NuttX real-time oss
System.Pixhawk supports two kinds of automated driving systems, and PX4 and Ardupilot, the device use PX4.
| Rack | Leap FY690S |
| Propeller | APC1147 |
| Motor | Bright space V3508 brushless motor |
| Electron speed regulator | It is full of XRotor 40A well |
| Battery | Grignard lithium battery 5300mah 30C 4S |
| Flight controller | Pixhawk |
| Remote control system | China Tech that D10 |
| Wheelbase | 690mm |
| Cruise duration | 12 minutes |
Table 1
Transmitting hanger is designed as front and back dual openings duct type box, inside has sliding rail that can match with model rocket conduit.
Using repacking can load model rocket, consisting of nose cone, rocket body cylinder section (cylinder) be payload segment, endpiece
With the guide pipe of rocket body.Wherein endpiece installs disposable engine and empennage, can put fire extinguisher bomb or rescue inside payload segment
Article.Fig. 5 is the model rocket structural schematic diagram of repacking.
Device working principle and its communication plan uniquely need to consider as shown in fig. 6, the communication between hardware is all more convenient
Be communication between single board computer and flight controller.Using Mavlink communication protocol inside flight controller Pixhawk,
Its communication between RaspberryPi single board computer, it is also desirable to use Mavlink agreement, it is therefore desirable to write inside single board computer
The IMU data that one program encapsulation needs the location information sent and parsing to receive.
Inside RaspberryPi single board computer, two programs are run, the ROS program of a laser SLAM task, another
It is the program of ballistic computation, is write by Python.
There is a set of customized distribution subscription inside ROS (robot operating system, Robot Operating System)
Formula communication protocol, use.And the communication protocol for the ballistic computation Python engineering developed is that (pipeline, one kind are basic by Pipe
Inter-process communication mechanisms).
Aircraft main controller is Pixhawk open source flight controller, executes the ROS program and trajectory of laser SLAM task
Calculation procedure runs on RaspberryPi single board computer, the electricity sparking of Arduino single-chip microcontroller Controlling model rocket engine.
It is constituted between Pixhawk aircraft main controller, RaspberryPi single board computer, Arduino single-chip microcontroller and remote controler, receiver logical
Communication network realizes the Collaborative Control to entire emitter.
Embodiment 2:
Complete unit is built, and in a simulation rescue scene, the square window for arranging 1 meter of side length or so is
Analogue window has carried out emission test, and rocket successfully passes through " window ", success of the test.Specific practice is as follows:
One, the channel of remote controler is defined by remote controler driving lever etc.
Driving lever (for 0-1 grades) one for defining determining target and transmitting on a remote control is " determining target ", and one is " hair
Penetrate switch ", determine the rocking bar (being continuously adjustable) for adjusting holder.One channel of remote controler actually is used to carry out by the driving lever for defining transmitting
To the wireless control of model rocket engine electricity sparking.
Two, the model rocket with relief supplies and sliding block are packed into dual openings duct type transmitting hanger
1, the rope of rescue, fire smothering blanket are packed into the load storehouse of model rocket, installed end to end.
2, the engine of model rocket is installed in tail portion
3, model rocket is packed into duct type transmitting hanger cylinder
4, it is put into square weight slide block behind
Three, six rotorcraft is flown in the air, is directed at analogue window, dials the driving lever that remote controler sets the goal really
Personnel are flown in the air using remote controler starting six rotorcraft, and by camera on remote control holder, finding will be sent out
Then target entries-the analogue window penetrated dials the driving lever that remote controler determines target.
Four, it is controlled by laser radar and trajectory finder, makes aircraft from main modulation position
Receiver receives determining target information and is transmitted to Arduino single-chip microcontroller, and Arduino single-chip microcontroller is transmitted to RaspberryPi
Single board computer, laser SLAM and ballistic computation program inside single board computer are calculated by the data of laser range finder and laser radar
The position of aircraft, information, which is transmitted to flight controller, makes the transmitting position of its adjust automatically aircraft be higher than launch window.Such as
Fig. 7, for the job information process for selecting transmitting target adjustment position of aircraft after taking off.
Five, it determines transmitting, dials the driving lever for determining transmitting of remote controler, model rocket is launched.
After seeing that position of aircraft adjustment is stablized, the driving lever for defining emission switch of remote controler is stirred, receiver receives letter
By Arduino single-chip microcontroller trigger signal after number, the electric ignition of the engine of model rocket is connected, relief supplies will be housed
Rocket launching goes out successfully to pass through analogue window.If Fig. 8 is to determine the job information process for emitting and executing.
Claims (3)
1. the device that a kind of small drone precisely emits relief supplies in the air, it is characterised in that: the device specifically includes: small-sized
Multi-rotor unmanned aerial vehicle, remote controler, laser radar, laser range finder, single board computer, monolithic mechanical, electrical sparking system, are taken the photograph emission system
As head and image transmitting receiving module, holder；
Small-sized multi-rotor unmanned aerial vehicle is the power device that whole device is flown in the sky, includes at least flight controller, receives
Mechanical, electrical sub- governor, motor, rack and power supply；
Remote controler is by being wirelessly connected and manipulating small-sized multi-rotor unmanned aerial vehicle, holder of the control with camera, control emission system
It aims at transmitting target and carries out transmitting operation；
Laser radar is connected with single board computer, for the aerial horizontal positioning of small-sized multi-rotor unmanned aerial vehicle；
Laser range finder is connected with single board computer, for measuring the height of small-sized multi-rotor unmanned aerial vehicle from the ground；
Single board computer is used to receive the data of laser radar, laser range finder, camera video, carries out laser positioning and trajectory meter
It calculates, and is communicated with the flight controller of small-sized multi-rotor unmanned aerial vehicle；
Single-chip microcontroller is connected with the mechanical, electrical sparking system of veneer and receiver, parses the data of receiver, controls electric sparking system and control
Single board computer processed runs ballistic computation program；
Electric sparking system is used to receive the electric igniter that model rocket engine in emission system is connected after single-chip microcomputer signal, makes mould
Type rocket launching；
Emission system is suspended below small-sized multi-rotor unmanned aerial vehicle, specifically includes transmitting hanger, weight slide block, model rocket；Hair
Penetrating hanger is double openings type pipeline, is internally provided with sliding rail, cooperates with the guide pipe being arranged on model rocket, makes model rocket can
To be moved along sliding rail；Weight slide block is coupled by the sliding rail and can be moved along sliding rail；Model rocket is for loading rescue object
Product, and it is transmitted to designated position；The model rocket mainly includes load storehouse, model rocket engine and igniter, is somebody's turn to do
Igniter is electric igniter, can put fire extinguisher bomb or relief supplies inside load storehouse；
Camera and image transmitting receiving module are used to the picture of camera passing back to ground based terminal display screen；
Holder adjusts the camera lens visual angle up and down of camera by remote control control.
2. the device that a kind of small drone according to claim 1 precisely emits relief supplies in the air, it is characterised in that:
The device, communication plan are as follows: two programs of single board computer internal operation, one is laser SLAM program, the other is bullet
The program that road calculates, is write by Python；It executes laser SLAM program and ballistic computation program runs on single board computer, it is single
The electricity sparking of piece machine Controlling model rocket engine；Flight controller is used and is carried out between Mavlink communication protocol and single board computer
Communication；Communication network is constituted between flight controller, single board computer, single-chip microcontroller and remote controler, receiver, is realized to whole device
Collaborative Control.
3. a kind of method that small drone precisely emits relief supplies in the air, it is characterised in that: this method specifically includes as follows
Step:
Step 1: defining the channel of remote controler by remote controler driving lever etc.
The driving lever of " determining target " and " emission switch " is defined on a remote control, and one is " determining target ", and one is " transmitting is opened
Close ", it determines the rocking bar for adjusting holder, is continuously adjustable；
Step 2: the model rocket with relief supplies and weight slide block, which are packed into double openings type pipeline, emits hanger
S21, the load storehouse that relief supplies are packed into model rocket, nose cone empennage install；
S22, the engine of model rocket is installed in tail portion；
S23, model rocket is packed into transmitting hanger；
S24, it is put into a weight slide block behind；
Step 3: determining air-launched target, the driving lever of " the determining target " of remote controler is dialled
Remote controler starts small-sized multi-rotor unmanned aerial vehicle and flies in the air, by camera on remote control holder, finds the target to be emitted
Entrance；Then the driving lever of " the determining target " of remote controler is dialled；
Step 4: controlling by laser radar and trajectory finder, make small-sized multi-rotor unmanned aerial vehicle from main modulation position, remote control
Device " determining target " driving lever information passes to receiver, and information is transmitted to single-chip microcontroller by receiver, and single-chip microcontroller is transmitted to single board computer, single board computer
Laser SLAM program and ballistic computation program are run, calculates small-sized multi-rotor unmanned aerial vehicle height when emitting using trajectory program,
And air position is adjusted by flight controller automatic controlling small multi-rotor unmanned aerial vehicle；
Step 5: determining transmitting, the driving lever of " emission switch " of remote controler is dialled, model rocket is launched；
After seeing that small-sized multi-rotor unmanned aerial vehicle position adjustment is stablized, the driving lever of " emission switch " of remote controler is stirred, receiver is received
By single-chip microcontroller trigger signal after to signal, the electric igniter of the engine of model rocket is connected, relief supplies will be housed
Model rocket is launched, while weight slide block moves backward.
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