CN109436329B - Device and method for accurately transmitting rescue articles in air by small unmanned aerial vehicle - Google Patents
Device and method for accurately transmitting rescue articles in air by small unmanned aerial vehicle Download PDFInfo
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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
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- 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
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- 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
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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
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses a device and a method for accurately transmitting rescue articles in the air of a small unmanned aerial vehicle, wherein the device comprises the following steps: the system comprises a small multi-rotor unmanned aerial vehicle, a remote controller, a laser radar, a laser range finder, a single board computer, a single chip microcomputer, an electric ignition system, a transmitting system, a camera, an image transmission and receiving module and a cradle head; according to the invention, recoilless launching of the model rocket is adopted, so that the attitude stability of the small-sized aircraft is ensured, the gravity center of the launching platform is not changed by the method of configuring the sliding block to adjust the gravity center, the influence on launching control performance is reduced to the minimum, the combination of aerial launching positioning accuracy is improved, and the aerial accurate launching of articles of the small-sized unmanned aerial vehicle is realized. The fire extinguishing device is matched with the traditional fire extinguishing scheme, so that the fire extinguishing speed can be greatly improved, and the casualties risk of personnel can be reduced. The invention is not limited by the height and road traffic, has the advantages of flexibility, high accuracy, various types of transmitting rescue articles and the like, and has low transmitting cost.
Description
Technical Field
The invention relates to a device and a method for precisely launching rescue articles in the air of a small unmanned aerial vehicle. The device and the method adopt a model rocket for launching recoilless, a counterweight slide block for adjusting the gravity center is added, and SLAM laser positioning and trajectory control are adopted, so that the problems that the stability of the aircraft is influenced by the recoilless when the small aircraft launches articles in the air, the balance of the aircraft is poor due to gravity center change during launching, and the launching positioning precision of the aircraft in the air is not high are solved. Belongs to the technical field of aerial emission rescue materials of small unmanned aerial vehicles.
Background
The fire rescue of high-rise buildings is a worldwide difficult problem, the difficulty of fire rescue of fire-fighting troops is great, particularly escape equipment and equipment such as ropes, masks, cutting and the like are urgently needed by people to be rescued in balcony doors and windows, but because of high floors, the elevators are stopped, firefighters are difficult to reach rescue sites, the number of fire-fighting scaling ladders of 50 to 100 meters is small, the price is high, the fire-fighting scaling ladders are greatly influenced by the ground, fire and other environmental factors in the fire sites, and the performance of rescue equipment is influenced due to the limitation of the rescue sites. In a city with dense high buildings, large unmanned aerial vehicles are adopted for rescue, and the rescue is affected by the unmanned aerial vehicles and the environment, and has a plurality of inconveniences.
The small aircraft is adopted to transmit materials for high-rise rescue, so that three problems are solved: stable, balanced and accurate. The task of "launching" is not common on small aircraft, because the recoil generated by the launching in the air will cause huge momentum changes of the aircraft body, which is very easy to cause the aircraft to run away, thus resulting in lower launching accuracy.
At present, a small multi-rotor aircraft is utilized to obtain some application results for high-rise rescue. The main task load of the unmanned aerial vehicle is still various sensing devices, and the unmanned aerial vehicle is used for carrying various sensing devices to carry out non-contact application, such as optical cameras, laser radars and shouting illumination, and the application is mature. In the field of fire rescue, the main research of the application of the small multi-rotor unmanned aerial vehicle is mainly four types:
The first category is mainly to study the monitoring, detecting, reconnaissance, monitoring and tracking, strong light illumination and rescue command of a multi-rotor aircraft (unmanned aerial vehicle) in high-rise fire rescue, and the unmanned aerial vehicle enables decision-making personnel to timely master disaster site conditions through audio and video wireless transmission, so that a scientific fire extinguishing and disaster relief scheme is provided. Such patents are as follows: "a high-rise fire unmanned aerial vehicle rescue device" etc. "fire rescue system based on unmanned aerial vehicle" study unmanned aerial vehicle is provided with accommodation space that holds haulage rope, "a high-rise building life-saving system" study unmanned aerial vehicle system based on unmanned aerial vehicle technical development sends the hawser to high-rise building inside or top, utilizes the hawser to build the cableway of fleing.
The second category is to study the fire extinguishment of the unmanned aerial vehicle itself by means of a fire extinguisher or a high pressure pump. The patent is as follows: the unmanned aerial vehicle for fire rescue is used for researching and utilizing the spraying of 360-degree multiple spray heads to extinguish fire, and a high-pressure air pump is sprayed with superfine dry powder to extinguish fire; "unmanned aerial vehicle-based high-rise building fire fighting device and working method thereof" study high-pressure water pump water gun to extinguish fire; an unmanned aerial vehicle device for high-rise building fire-extinguishing rescue uses an electromagnetic heptafluoropropane fire extinguisher to rapidly extinguish fire, and a high-rise fire-fighting multi-rotor unmanned aerial vehicle controls the fire extinguisher to extinguish fire.
The third category is mainly to study the projection or throwing of fire extinguishing bomb and fire-fighting materials in high-rise fire, and adopts throwing to the ground below, namely vertical falling by using earth gravity. Throwing the fire extinguishing bomb and fire-fighting products to the ground or throwing the fire extinguishing bomb and fire-fighting products to the ground according to the self-explosion height of the fire extinguishing bomb set in advance. The patent is as follows: the fire extinguishing bomb throwing and extinguishing system of the unmanned aerial vehicle utilizes the signals of the flame and smoke sensors to control a fire extinguishing bomb throwing device to throw fire extinguishing bomb; an unmanned aerial vehicle-based accurate throwing control system, "fire rescue device based on unmanned aerial vehicle", "vertical throwing device of unmanned aerial vehicle-mounted fire extinguishing bomb", "a high-rise building fire extinguishing system based on many rotor unmanned aerial vehicle", "unmanned aerial vehicle fire extinguishing bomb transmitting system", "an unmanned aerial vehicle device capable of throwing fire-fighting articles to trapped people in building fire" and the like are flying to the fire scene, and are thrown to the ground below by utilizing gravity.
The three types are mainly used for monitoring and detecting disaster conditions and throwing objects such as fire extinguishing agents and the like below the disaster conditions, the task actions do not adopt actions of aerial emission, but only actions of grabbing and putting down, and mainly the action of earth gravity is utilized.
The fourth category mainly researches on the projection or emission of fire extinguishing bomb and fire-fighting materials in high-rise fire, and mainly uses the pneumatic or mechanical force of a compressed air pump to throw or emit the fire extinguishing bomb or materials. Such as: the unmanned aerial vehicle-mounted fire extinguishing bomb launching device utilizes a spring piston to launch, an air pump of the airborne pneumatic life-saving material projection device provides air pressure to project a single body, and the unmanned aerial vehicle-used rescue bag launching device utilizes high-pressure air of an air storage tank to push the launching piston to eject a rescue bag through the spring. Such a throwing launch would create a recoil that would affect the attitude of the unmanned aerial vehicle and thus the accuracy of the projection.
In the aspect of aerial launching rescue materials, the influence of the recoil force of the launch on the flight attitude of the unmanned aerial vehicle is difficult to resist due to the multi-rotor unmanned aerial vehicle with limited power, so that the stability of the multi-rotor unmanned aerial vehicle during launching can be seriously influenced. At present, under the condition that a disaster site is not entered in the fire rescue of a high-rise building, tasks such as precisely launching rescue materials or fire extinguishing bombs through windows of the high-rise building have limitations.
How to launch the loading rescue materials to the designated high-rise building in a non-contact and directional manner, and the influence of the flight attitude of the unmanned aerial vehicle is small, and the improvement of the launching accuracy becomes a problem to be solved urgently. If facing high-rise buildings, the rescue materials can be accurately emitted from a window which is tens of meters or tens of meters away.
For small-size aircraft in the aerial rescue article of launching, improve the technical problem that launches the precision and solve is: how to make the aircraft emit materials in the air and overcome the influence of the recoil force on the flight attitude of the unmanned aerial vehicle, and the improvement of the stability and the accuracy of the emission when the unmanned aerial vehicle emits in the air becomes a problem to be solved. The core solves three problems: the recoil during the aerial launching influences the stability of the aircraft, and the aircraft has poor balance and low aerial launching positioning precision due to the change of the gravity center during the launching.
(1) The problem that the recoil force influences the stability of the aircraft during aerial launching is that the recoil force is necessarily generated on the momentum of the launched object, and the stability of the multi-rotor aircraft during launching can be seriously influenced, so that the launching precision is lower.
(2) The problem of poor aircraft balance caused by gravity center change during emission is that an emission system is used as a variable mass system, and the change of the overall gravity center is influenced by the motion during article emission, so that the balance of unmanned aerial vehicle emission can be seriously influenced.
(3) The problem of low aerial launching positioning precision is that the aircraft can not meet task requirements depending on satellite positioning precision, and the launching precision is low when objects are launched remotely.
In order to solve the problems that the recoil force of the model rocket affects the stability of an aircraft when the object is launched in the air, the launching balance is poor due to the change of the gravity center and the aerial launching positioning precision of the aircraft is low, the accuracy of launching the rescue object is improved as a whole. Under the condition that the outer facade of the high building does not enter a fire scene, fire extinguishing bombs or fire-fighting rescue materials are accurately launched to the fire source of the high building, articles for rescue and escape are accurately launched to people needing rescue in the shortest time, time is striven for fire rescue and life saving, and risks of casualties and property loss are reduced to the greatest extent.
Disclosure of Invention
The invention aims to provide a device and a method for accurately transmitting rescue articles in the air of a small unmanned aerial vehicle. The technical solution of the method is as follows: the limited small unmanned aerial vehicle of power, the recoil influences the unmanned aerial vehicle flight gesture when launching the rescue article in the sky, and the transmission article makes the aircraft change as the variable mass system focus and leads to launch control equilibrium poor, and aerial aircraft and rocket launch positioning accuracy are not high, have solved the problem that the accuracy is not high when the small unmanned aerial vehicle launches the article in the sky, have provided a new method and device for the accurate rescue material of launching in the sky of unmanned aerial vehicle.
The invention designs a device and a method for accurately transmitting rescue articles in the air of a small unmanned aerial vehicle. The design idea is as follows: on the basis of a small six-rotor unmanned aerial vehicle, firstly, a model rocket for launching articles without recoil is adopted as a carrier for loading rescue articles; then designing a method for adjusting the gravity center of a configuration slide block and a double-opening pipeline type launching device, wherein a model rocket is arranged in the launching device in front of the launching device, and a counterweight slide block is arranged behind the launching device; then SLAM laser positioning is assisted to improve the positioning precision of the aerial vehicle in the air; and finally, developing a trajectory calculation program, and improving the precision of the remote rocket launching.
Device of unmanned aerial vehicle aerial accurate transmission rescue article specifically includes: the system comprises a small multi-rotor unmanned aerial vehicle, a remote controller, a laser radar, a laser range finder, a single board computer, a single chip microcomputer, an electric ignition system, a transmitting system, a camera, an image transmission and receiving module and a cradle head. Fig. 4 is a schematic diagram of a device hardware connection structure.
The small multi-rotor unmanned aerial vehicle is a power device for the whole device to fly in the air, and at least comprises a flight controller, a receiver, an electronic speed regulator, a motor, a rack, a power supply and the like.
The remote controller is connected with and controls the small multi-rotor unmanned aerial vehicle through wireless, controls the cradle head with the camera, controls the launching system to aim at the launching target and carries out launching operation.
The laser radar is connected with the single board computer and used for positioning the small multi-rotor unmanned aerial vehicle in the air horizontally.
The laser range finder is connected with the single board machine and used for measuring the height of the small multi-rotor unmanned aerial vehicle from the ground.
The single-board computer is used for receiving data of laser radar, a laser range finder and camera videos, performing laser positioning and trajectory calculation and communicating with a flight controller of the small multi-rotor unmanned aerial vehicle.
The singlechip is connected with the single board computer, the electric ignition system and the receiver, analyzes the data of the receiver, and controls the electric ignition system and the single board computer to run a trajectory calculation program.
The electric ignition system is used for receiving the single-chip microcomputer signal and then connecting an electric ignition head of the model rocket engine in the launching system so as to launch the model rocket.
The launching system is hung below the multi-rotor unmanned aerial vehicle and specifically comprises a launching hanger, a counterweight sliding block and a model rocket; the launching hanger is a double-opening pipeline, and a sliding rail is arranged in the launching hanger and is matched with a guide pipe arranged on the model rocket, so that the model rocket can move along the sliding rail; the counterweight sliding block is installed in a matched manner through the sliding rail and can move along the sliding rail. The model rocket is used for loading rescue articles and launching the rescue articles to a designated position. The model rocket mainly comprises a load bin, a model rocket engine and an ignition device, wherein the ignition device is an electric ignition head, and fire extinguishing bombs or rescue articles can be placed in the load bin.
The camera and the image transmission and receiving module are used for transmitting the picture of the camera back to the ground terminal display screen.
The cradle head controls and adjusts the up-down left-right lens visual angles of the camera through the remote controller.
The device for precisely transmitting rescue articles in the air of the small unmanned aerial vehicle is characterized in that the communication scheme is as follows: two programs, namely an ROS program of a laser SLAM task and a program of ballistic calculation, are run inside the single board computer and are written in the Python language. And running the ROS program for executing the laser SLAM task and the ballistic calculation program on a single board computer, and controlling the electric spark of the model rocket engine by the single board computer. The flight controller uses Mavlink communication protocol to communicate with the single board computer. The flight controller, the single board computer, the singlechip and the remote controller as well as the receiver form a communication network, thereby realizing cooperative control of the whole device.
The working principle of the device of the invention is as follows: in a first step, a transmission target is selected. Personnel adjust the camera through the remote controller and set for the shot, stir the driving lever that defines "confirm target" on the remote controller, the singlechip is transmitted to the signal pickup, the singlechip is transmitted to the single-board computer, the ROS procedure and the trajectory calculation procedure of the inside laser SLAM of single-board computer calculate the position of small-size many rotor unmanned aerial vehicle through laser range finder and laser radar's data, give the flight control ware with information and make its flight position of many rotor unmanned aerial vehicle of automatic adjustment. The method comprises the following steps: remote control-receiver-single chip microcomputer-single board computer (laser SLAM and ballistic calculation) -flight controller-aircraft position.
And secondly, adjusting the position of the small multi-rotor unmanned aerial vehicle, and remotely controlling the electric firing rocket. The launching system is hung below the multi-rotor unmanned aerial vehicle, a model rocket is built in, a poking rod defined as a launching switch is poked on a remote controller, a triggering signal is transmitted to a receiver, the receiver is transmitted to a singlechip, and the singlechip outputs the signal to trigger an electric ignition system, so that an engine electric ignition head of the model rocket is connected, and the model rocket is launched.
The working process of the device of the invention is as follows: the remote controller is used for wirelessly and remotely controlling the electric ignition system to launch the model rocket, and the objects in the load bin are sent to a fire scene. The fire extinguishing bomb and rescue material can be accurately launched in the air to the fire source of the high building, and the functions of extinguishing fire and supplying rescue materials are realized. The transmitting mode has no recoil and horizontal gravity center change, reduces the influence on the transmitting control performance to the minimum and improves the transmitting precision.
A method for accurately transmitting rescue articles in the air of a small unmanned aerial vehicle specifically comprises the following steps:
Step one, defining a channel of a remote controller through a remote controller deflector rod and the like
The remote controller is provided with a driving lever for defining a 'determination target' and a 'transmitting switch', which can be in 0-1 gear, one is the 'determination target', the other is the 'transmitting switch', and the rocker for determining the cradle head is continuously adjustable.
Step two, loading a model rocket with rescue articles and a counterweight sliding block into a double-opening pipeline launching hanger
S21, loading rescue articles into a load bin of the model rocket, and installing a nose cone tail wing;
s22, an engine with a model rocket mounted at the tail part;
s23, loading the model rocket into a launching hanger;
s24, a counterweight sliding block is arranged behind the counterweight sliding block;
step three, determining an aerial emission target, and dialing a driving lever of a 'determined target' of a remote controller
The remote controller starts the small multi-rotor unmanned aerial vehicle to fly into the air, and a target entrance (such as a window) to be launched is found through a camera on the remote control holder. Then dial the "target" toggle lever of the remote control.
Step four, the position of the small multi-rotor unmanned aerial vehicle is adjusted independently through laser radar and ballistic positioning program control, target information is transmitted to a receiver through a remote controller, the receiver transmits the information to a singlechip, the singlechip transmits the information to a single board computer, the single board computer operates a laser SLAM program and a ballistic calculation program, the height of the small multi-rotor unmanned aerial vehicle during launching is calculated through the ballistic program, and the air position of the multi-rotor unmanned aerial vehicle is adjusted through automatic control of a flight controller.
Step five, determining to launch, namely, dialing a poking lever of a 'launch switch' of the remote controller to launch the model rocket.
After the position of the small multi-rotor unmanned aerial vehicle is regulated stably, a poking rod of a 'transmitting switch' of a remote controller is poked, a receiver receives a signal and then triggers the signal through a singlechip, so that an electric ignition head of an engine of the model rocket is connected, the model rocket filled with rescue articles is transmitted, and meanwhile, a counterweight sliding block moves backwards.
The device realizes the fire extinguishing function by enabling the small multi-rotor unmanned aerial vehicle to fly to the opposite side of a fire place of a high-rise building, enabling an aerial launching system of the small multi-rotor unmanned aerial vehicle to aim at the fire place target, enabling a model rocket with fire extinguishing bombs to be launched indoors through doors and windows and the like through wireless remote control, enabling the fire extinguishing bombs to automatically sense when encountering heat, spraying fire extinguishing agents, and effectively extinguishing flames.
The invention realizes the rescue article replenishing function by enabling a small multi-rotor unmanned aerial vehicle to fly to the opposite side of a fire place of a high-rise building, remotely controlling the unmanned aerial vehicle to aim at a target to be replenished, and wirelessly remotely controlling a model rocket with rescue articles such as rescue ropes, masks or fire-extinguishing blankets to be launched indoors through doors and windows and the like, so as to replenish the rescue articles.
The invention relates to a device and a method for accurately transmitting rescue articles in the air of a small unmanned aerial vehicle, which have the advantages and effects that:
according to the invention, recoilless launching of the model rocket is adopted, so that the attitude stability of the small-sized aircraft is ensured, the gravity center of the launching platform is not changed by the method of configuring the sliding block to adjust the gravity center, the influence on launching control performance is reduced to the minimum, the combination of aerial launching positioning accuracy is improved, and the aerial accurate launching of articles of the small-sized unmanned aerial vehicle is realized.
When a fire disaster occurs in a high-rise building, the device of the invention accurately emits fire extinguishing bomb or fire-fighting articles such as life-saving ropes, fire-extinguishing blankets and the like to the inside outside the fire scene. The fire extinguishing device is matched with the traditional fire extinguishing scheme, so that the fire extinguishing speed can be greatly improved, and the casualties risk of personnel can be reduced.
The device is not limited by the height and road traffic, has the multiple advantages of flexibility, high accuracy, multiple types of transmitting rescue articles and the like, is low in transmitting cost, and has higher social and economic benefits. The method provides a brand-new idea and method for solving the problem of fire rescue of high-rise buildings which plagues people for a long time.
Drawings
The method steps of fig. 1 for in-air precision launching of an article.
Fig. 2 is a diagram of a transmitting system and its physical model.
FIG. 3 is a schematic diagram of the external configuration of the device of the present invention; in the figure: A. frame B, transmitting system C, model rocket.
The hardware device circuit connection diagram of FIG. 4 (all components are connected with power supply, and the connection is omitted; in the figure, wired connection and wireless connection are shown).
FIG. 5 is a schematic view of a modified model rocket structure; in the figure, 1, an arrow body 2, a nose cone 3, a tail wing 4, an engine (removable) 5, a flame retardant layer 6, a load cabin (containing rescue materials) 7 and a guide pipe.
Fig. 6 is a schematic diagram of the device operation principle and its communication scheme.
FIG. 7 is a flow chart of the operational information for adjusting the position of an aircraft for a selected launch target after takeoff.
Fig. 8 is a workflow of determining a transmission and execution of work information.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail.
The technical idea of the method is specifically described below with reference to fig. 1.
Step one: designing a carrier-model rocket for launching an article approximately without recoil, and loading a rescue article
Aiming at the problem I, the problem that the recoil force influences the stability of the aircraft when articles are launched in the air. In combination with physical analysis, according to the law of conservation of momentum, the emitted article must generate an opposite momentum, and if the momentum acts on the aircraft (mechanical ejection), the stability of the aircraft control is seriously affected, so that the attitude of the aircraft changes in the process of emission, and the trajectory of the emitted article is deviated. The momentum of the launched object necessarily creates recoil, which can seriously affect the stability of the multi-rotor unmanned aerial vehicle when launched. Then the solution without recoil is to have this force applied to another object and not to the launching platform.
Therefore, the method for launching the solid propellant of the chemical substances is adopted, namely, the mode that the model rocket of the current aerospace model competition carries launched objects is adopted. The model rocket is modified into a carrier with a load cabin and a rocket engine, wherein an acting object of the chemical propellant for launching is air, and recoil generated by momentum change of the launched object is not applied to the aircraft but acts on the air. The recoil quantity of the chemical propulsion is sprayed backwards in a fuel gas mode, and no large force and little acting force are generated on the aircraft, so that recoil-free emission is realized. If mechanical means are used, the recoil generated by the firing is otherwise difficult for the aircraft to resist. The model rocket chemical propulsion emission mode, namely the recoilless emission mode, ensures the attitude stability of the aircraft.
Step two: method for adjusting gravity center by designing and configuring sliding block and double-opening pipeline transmitting hanging frame, so that horizontal gravity center of system is approximately kept constant during transmitting
Aiming at the second problem, the rocket launching system is a variable mass system, and the variable mass has great influence on the control of the aircraft, particularly for the dynamics characteristics of a six-rotor aircraft, the influence of the change of the horizontal gravity center on the balance control of the aircraft is great. In order to reduce the control influence of the launching on the aircraft, the gravity center is required to be unchanged as much as possible in the launching process, and the invention adopts a counterweight sliding block design to achieve the aim. Specifically designed is a double-opening pipeline launching hanger, in which a model rocket is arranged in front and a counterweight sliding block is arranged behind the model rocket. According to the law of conservation of momentum and integrating this equation, it is known that the center of gravity of the system does not change at any time.
FIG. 2 is a diagram of a system of emissions and their physical model, which we mathematically model to obtain conservation of momentum
Integrating the above to obtain
Further can obtain
The above equation shows that the horizontal center of gravity of the system remains constant.
According to the above, when the model rocket moves in the pipeline, the counterweight sliding blocks move in opposite directions, so that the horizontal direction of the gravity center of the whole system is not changed approximately in the launching process, the balance of the system in launching is ensured, and the precision in launching is improved.
Step three: improving aerial positioning accuracy by adopting laser SLAM technology and ballistic program combinability
Aiming at the problem three, the problem of low aerial emission positioning precision can be divided into two aspects, on one hand, the satellite positioning precision which is dependent on the positioning of the aircraft in the air cannot meet the requirement of a task; another aspect is the emission misalignment at a greater distance from the entrance.
1. Aiming at the problem that satellite positioning accuracy depending on the positioning of the aircraft in the air cannot meet the requirements of tasks, the laser SLAM technology is adopted, the ICP algorithm of point-to-line measurement is used, and the horizontal decimeter-level laser positioning of the aircraft is realized on an airborne platform with limited computing resources.
Laser SLAM, also known as simultaneous localization and mapping (Simultaneous Localization AND MAPPING, SLAM for short), generally refers to a system that generates localization and scene map information for its own position and pose by collecting and calculating various sensor data on a robot or other carrier. SLAM technology is critical to the mobility and interaction capabilities of robots or other agents, as it represents the basis for such capabilities: knowing where it is, how the surrounding environment is, and further how this acts autonomously in the next step.
The object information acquired by the lidar presents a series of discrete points with accurate angle and distance information, referred to as a point cloud. In general, the laser SLAM system calculates the change of the distance and the posture of the relative motion of the laser radar through matching and comparing two point clouds at different moments, and then the positioning of the laser SLAM system is completed.
The invention uses the data obtained by the laser radar to process so as to obtain the pose information of the aircraft, and uses the asynchronous data stream communication based on Topic. Controlling a lidar, the lidar drive may be activated, which may be talking to the laser and may issue sensor_ msgs/LASERSCAN under scan. To process the data, the record information is subscribed to using the node of the lasers_filters. After subscription, our filter will automatically start receiving lidar information. Note how the two sides are unhooked. All hokuyo nodes complete the publish "scan" without knowing whether any nodes are subscribed to. All filters complete the subscription of "scan", whether or not it is known whether or not there are nodes publishing "scan". The two nodes may be started, terminated, or restarted in any order without causing any errors.
LASERSCANMATCHER is a laser radar data matching kit, which is used for matching the information of the sensor_ msgs/LASERSCAN, and solving pose information of the laser radar through a PL-ICP algorithm. LASERSCANMATCHER receives the topic sensor_ msgs/LASERSCAN, and issues the topic as either geometry_ msgs/Pose2D or tf after the calculation process. The project uses Pose D, and the information of this topic includes two-dimensional position coordinates and rotation angles, i.e. x, y coordinates of the aircraft are obtained by laser SLAM.
2. Aiming at the problem of inaccurate launching at a far distance from the launching entrance, a trajectory calculation program is developed, and more accurate trajectory planning can be realized by solving a simplified rocket dynamics equation set.
(1) Principle of rocket flight
In general, the equation of motion of a rocket in flight is established based on the general laws of variable and constant mass rigid bodies and particles. The forces and moments acting on the rocket are:
1) Engine thrust: the rocket model adopted in the project is solid fuel, the average thrust is 6N, and the combustion time is 0.83 seconds;
2) Gravity: taking standard gravity acceleration g= 9.8015m/s 2 in Beijing area;
3) Aerodynamic force and moment: the aerodynamic forces are decomposed in a velocity coordinate system,
Fazc＝-CxqSm
Wherein F azc is aerodynamic resistance, F azc、Fazc is aerodynamic lift and side force, and q is dynamic pressure
4) Sloshing power and moment: if the propellant is liquid, the propellant oscillates in the storage tank due to the shaking during the rocket flying process, and the shaking force is usually replaced by a series of simple pendulum or harmonic oscillator, which can be well approximated. In this item, the fuel is solid, so that the shaking force and moment do not need to be considered.
5) Engine swing inertial force and moment: the actuator swings the engine, which will generate inertial forces and moments due to the rotational inertia and mass of the engine.
In summary, the complete set of equations for rocket motion can be expressed as:
the six equations are the dynamic equation sets of the general motion of the rigid body, the first three are equations of force (newton's second law), and the last three are equations of moment (euler equation). V is speed, F is force, c is centroid, M mass, J moment of inertia, ω is angular velocity, M is moment.
(2) Assume that
1) The thrust is 0 along the rocket axis direction, namely the y and z components of the thrust in the rocket body coordinate system, and the control force is 0.
2) The influence of wind is not considered when the low-altitude test flies, namely, the pneumatic side force is 0. In practice, the trajectory can be corrected by wind speed measurements.
3) The rocket is stable in flight due to the existence of the guide rail during launching, so that rolling motion is ignored.
4) The arrow body can be regarded as a rigid body at all moments of movement, and the arrow body mass distribution is symmetrical about the axis.
5) Because of the shorter arrow body, the centroid and centroid are considered to coincide, which is considered to be a particle.
6) Because the emission distance is short, the ground can be regarded as a plane, the gravity direction is constant to be vertical downwards, and the effects of earth rotation and Coriolis force are ignored.
(3) Simplified model
From the above assumption (2), the following simplified equation set can be obtained
U is the velocity in the rocket axis direction, θ is the rocket pitch angle, k is the air resistance coefficient, and g is the gravitational acceleration.
(4) Programming Python program solution
The simplified equation set according to (3) above is a standard first order ordinary differential equation set, and numerical solution can be conveniently implemented using odeint functions of Scipy libraries of Python. The algorithm used by odeint is a fourth-order Dragon-Gregory tower method, the function input is a well-defined equation set function, an initial value, a time variable and a parameter value, and the output is a time sequence of a solution vector. From the time series of x and z, the altitude of the aircraft that needs to be changed in order for the trajectory to pass through the center of the window can be determined.
In summary, the x and y coordinates of the aircraft are obtained through the laser SLAM, the z coordinate provided by the laser rangefinder is obtained, and in addition, the target z variation is obtained through ballistic calculation, and all four pieces of information are sent to the flight controller through Mavlink protocol. After the aircraft obtains the four pieces of information, three-dimensional positioning can be realized according to task requirements, and positioning accuracy of aerial emission is high.
Step four: multi-rotor aircraft is selected and used, and single board computer and single chip microcomputer are additionally arranged to realize relevant control of emission precision
In order to achieve the above, a single board computer is installed on the multi-rotor aircraft, an ROS operating system is installed in the single board computer, the laser SLAM positioning and ballistic program is achieved, data are exchanged with a flight controller of the aircraft through Mavlink communication protocols, and control of the aircraft is achieved. ROS (robot operating system ) is a set of computer operating system architecture designed specifically for robot software development.
A singlechip is installed on a multi-rotor aircraft, and programming is carried out to realize electric ignition of a model rocket engine, so that the rocket is launched.
And installing a camera and a cradle head, wherein the cradle head is controlled by a remote controller. The camera is connected to the single board computer and is transmitted to the receiving end for display through the video wireless transmission module.
The remote controller is defined with a 'determining target' and a 'transmitting switch' deflector rod (0-1 gear), and a rocker (continuously adjustable) for adjusting the cradle head is determined.
Based on the theoretical basis, the device for accurately transmitting rescue articles in the air by the small unmanned aerial vehicle provided by the invention comprises the following specific components: the system comprises a small multi-rotor unmanned aerial vehicle, a remote controller, a laser radar, a laser range finder, a single board computer, a single chip microcomputer, an electric ignition system, a transmitting system, a camera, an image transmission and receiving module and a cradle head. Fig. 4 is a schematic diagram of a device hardware connection structure.
The small multi-rotor unmanned aerial vehicle is a power device for flying in the air, and at least comprises a flying controller, a receiver, an electronic speed regulator, a motor, a frame A (shown in figure 3), a power supply and the like.
The remote controller is connected with and controls the small multi-rotor unmanned aerial vehicle through wireless, controls the cradle head with the camera, controls the launching system to aim at the launching target and carries out launching operation.
The laser radar is connected with the single board computer and used for positioning the small multi-rotor unmanned aerial vehicle in the air horizontally.
The laser range finder is connected with the single board machine and used for measuring the height of the small multi-rotor unmanned aerial vehicle from the ground.
The single-board computer is used for receiving data of laser radar, a laser range finder and camera videos, performing laser positioning and trajectory calculation and communicating with a flight controller of the small multi-rotor unmanned aerial vehicle.
The singlechip is connected with the single board computer, the electric ignition system and the receiver, analyzes the data of the receiver, and controls the electric ignition system and the single board computer to run a trajectory calculation program.
The electric ignition system is used for receiving the single-chip microcomputer signal and then connecting an electric ignition head of the model rocket engine in the launching system so as to launch the model rocket.
The launching system B (shown in figure 3) is hung below the multi-rotor unmanned aerial vehicle and specifically comprises a launching hanger, a counterweight sliding block and a model rocket C (shown in figure 3); the launching hanger is a double-opening pipeline, and a sliding rail is arranged in the launching hanger and is matched with a guide pipe arranged on the model rocket, so that the model rocket can move along the sliding rail; the counterweight sliding block is installed in a matched manner through the sliding rail and can move along the sliding rail. The model rocket is used for loading rescue articles and launching the rescue articles to a designated position. The model rocket (as shown in figure 5) mainly comprises an rocket body 1, a nose cone 2, a tail wing 3, an engine (removable) 4, a flame retardant layer 5, a load bin 6 and an ignition device, wherein the ignition device is an electric ignition head, and fire extinguishing bombs or rescue articles can be placed in the load bin 6. Further, a guide tube 7 matched with the slide rail is arranged on the outer side of the arrow body 1.
The camera and the image transmission and receiving module are used for transmitting the picture of the camera back to the ground terminal display screen.
The cradle head controls and adjusts the up-down left-right lens visual angles of the camera through the remote controller.
The device for precisely transmitting rescue articles in the air of the small unmanned aerial vehicle is characterized in that the communication scheme is as follows: two programs, namely an ROS program of a laser SLAM task and a program of ballistic calculation, are run inside the single board computer and are written in the Python language. And running the ROS program for executing the laser SLAM task and the ballistic calculation program on a single board computer, and controlling the electric spark of the model rocket engine by the single board computer. The flight controller uses Mavlink communication protocol to communicate with the single board computer. The flight controller, the single board computer, the singlechip and the remote controller as well as the receiver form a communication network, thereby realizing cooperative control of the whole device.
The technical scheme of the invention is realized by the specific embodiments.
Example 1:
The embodiment provides a device based on high-rise fire rescue aerial accurate transmission article of unmanned aerial vehicle.
The device structure is shown in figures 3 and 6, and mainly comprises a six-rotor aircraft (comprising a Pixhawk flight controller, a receiver, 6 electronic speed regulators, 6 motors, a power supply and the like), a remote controller, a North sun laser radar (Hokuyo UTM-30 LX), a laser range finder, raspberryPi single board computers, an Arduino single board computer, an electric ignition system, a transmitting system (a transmitting hanger, a counterweight sliding block, a model rocket), a camera, an image return receiving module, a cradle head and the like.
The six-rotor aircraft has specific parameters as shown in table 1, the flight controller Pixhawk takes STM32 as a main control chip, an accelerometer, a gyroscope, a magnetic compass and a barometer are integrated inside, and the six-rotor aircraft has rich peripheral interfaces and uses NuttX real-time operation systems. Pixhawk supports two autopilot systems, PX4 and Ardupilot, using PX4.
| Rack | Fly-by FY690S |
| Propeller propeller | APC1147 |
| Motor with a motor housing | Langyu V3508 brushless motor |
| Electronic speed regulator | Good profit XRotor A |
| Battery cell | Lithium-ion-battery 5300mah 30C 4S |
| Flight controller | Pixhawk |
| Remote control system | Hua Keer D10 |
| Wheelbase | 690mm |
| Duration of endurance | For 12 minutes |
TABLE 1
The launching hanging frame is a front-back double-opening pipeline type box, and a sliding rail is arranged in the launching hanging frame and can be matched with a model rocket catheter.
The modified loadable model rocket is composed of a nose cone, a rocket body section (cylinder) as a loading part, a tail section and a guide tube of the rocket body. Wherein the tail section is provided with a disposable engine and a tail wing, and fire extinguishing bombs or rescue articles can be placed in the load part. Fig. 5 is a schematic diagram of a modified model rocket structure.
The working principle of the device and the communication scheme thereof are shown in fig. 6, the communication between hardware is relatively convenient, and the only consideration is the communication between the single board computer and the flight controller. The flight controller Pixhawk adopts Mavlink communication protocol, which is used for communication with the RaspberryPi single board machine, and Mavlink protocol is also needed, so that a program package needs to be written in the single board machine to send position information and parse received IMU data.
RaspberryPi inside the single board computer, two programs are run, one ROS program for laser SLAM task and the other program for ballistic calculation, written in Python language.
The ROS (robot operating system ) is internally provided with a set of custom release subscription type communication protocol, and the ROS can be used. Whereas the communication protocol of the developed ballistic computing Python project is Pipe (a basic inter-process communication mechanism).
The aircraft master controller is a Pixhawk open source flight controller, an ROS program for executing a laser SLAM task and a trajectory calculation program run on a RaspberryPi single board computer, and the Arduino single board computer controls electric ignition of the model rocket engine. A communication network is formed among the Pixhawk aircraft master controller, raspberryPi single board computers, the Arduino single board computers, the remote controllers and the receivers, so that cooperative control of the whole transmitting device is realized.
Example 2:
The whole set of device is built, a square window with a side length of about 1 meter is arranged as a simulation window in a simulated rescue scene, a launch test is carried out, and a rocket successfully passes through the window, so that the test is successful. The specific method comprises the following steps:
1. Defining a channel of a remote control by a remote control lever or the like
The remote controller is defined with a determination target and a transmitting deflector rod (0-1 grade), one is a determination target, the other is a transmitting switch, and a rocker of the cradle head is determined (continuously adjustable). The defined firing lever actually uses a channel of the remote control for wireless control of the electric firing of the model rocket motor.
2. Model rocket with rescue articles and double-opening pipeline type launching hanger installed on sliding block
1. The rescue ropes and the fire blanket are put into a load bin of the model rocket, and the head and the tail are installed.
2. Engine with model rocket mounted at tail
3. Loading model rocket into pipeline type launching hanger barrel
4. The rear surface of the sliding block is provided with a square counterweight
3. Six rotor crafts fly into the air, aim at analog window, dial lever of the fixed target of remote controller of dialling
The personnel start the six-rotor aircraft to fly into the air by using the remote controller, find the target entrance-simulation window to be launched by remotely controlling the camera on the cradle head, and dial the remote controller to determine the deflector rod of the target.
4. Autonomous position adjustment of an aircraft by laser radar and ballistic positioning program control
The receiver receives the determined target information and transmits the determined target information to the Arduino single-chip microcomputer, the Arduino single-chip microcomputer transmits the determined target information to the RaspberryPi single-chip microcomputer, a laser SLAM and a ballistic calculation program in the single-chip microcomputer calculate the position of the aircraft through data of the laser range finder and the laser radar, and the information is transmitted to the flight controller to enable the flight controller to automatically adjust the transmitting position of the aircraft to be higher than the transmitting window. As shown in fig. 7, the workflow of adjusting the position of an aircraft for a selected launch target after takeoff.
5. And (3) determining to launch, namely dialing the determined launched deflector rod of the remote controller, and launching the model rocket.
After the position of the aircraft is regulated and stabilized, a deflector rod of a remote controller for defining a transmitting switch is stirred, after a receiver receives a signal, the signal is triggered by an Arduino singlechip, so that the electric ignition of an engine of a model rocket is switched on, and the rocket filled with rescue articles is transmitted out and successfully passes through a simulation window. Fig. 8 is a workflow of determining the transmission and execution.
Claims (2)
1. Device of unmanned aerial vehicle aerial accurate transmission rescue article, its characterized in that: the device specifically comprises: the system comprises a small multi-rotor unmanned aerial vehicle, a remote controller, a laser radar, a laser range finder, a single board computer, a single chip microcomputer, an electric ignition system, a transmitting system, a camera, an image transmission and receiving module and a cradle head;
The small multi-rotor unmanned aerial vehicle is a power device for flying in the air, and at least comprises a flying controller, a receiver, an electronic speed regulator, a motor, a rack and a power supply;
The remote controller is connected and controls the small multi-rotor unmanned aerial vehicle through wireless, controls the cradle head with the camera, controls the launching system to aim at the launching target and performs launching operation;
The laser radar is connected with the single board computer and used for positioning the aerial level of the small multi-rotor unmanned aerial vehicle;
The laser range finder is connected with the single board computer and is used for measuring the height of the small multi-rotor unmanned aerial vehicle from the ground;
The single-board computer is used for receiving data of laser radar, a laser range finder and camera videos, performing laser positioning and trajectory calculation and communicating with a flight controller of the small multi-rotor unmanned aerial vehicle;
the singlechip is connected with the single board computer, the electric ignition system and the receiver, analyzes the data of the receiver, and controls the electric ignition system and the single board computer to run a trajectory calculation program;
the electric ignition system is used for receiving the signal of the singlechip and then connecting an electric ignition head of the model rocket engine in the launching system so as to launch the model rocket;
The launching system is hung below the small multi-rotor unmanned aerial vehicle and specifically comprises a launching hanger, a counterweight sliding block and a model rocket; the launching hanger is a double-opening pipeline, a sliding rail is arranged in the launching hanger and is matched with a guide pipe arranged on the model rocket, so that the model rocket moves along the sliding rail; the counterweight sliding block is installed in a matched manner through the sliding rail and moves along the sliding rail; the model rocket is used for loading rescue articles and transmitting the rescue articles to a designated position; the model rocket comprises a load bin, a model rocket engine and an ignition device, wherein the ignition device is an electric ignition head, and fire extinguishing bombs or rescue articles are placed in the load bin;
The camera and the image transmission and reception module are used for transmitting the picture of the camera back to the ground terminal display screen;
The cradle head controls and adjusts the up-down left-right lens visual angles of the camera through the remote controller;
The counterweight sliding block is provided with a double-opening pipeline launching hanger, a model rocket is arranged in the double-opening pipeline launching hanger in front, and the counterweight sliding block is arranged behind the double-opening pipeline launching hanger; according to the law of conservation of momentum and integrating the formula, the gravity center of the system is not changed at any moment;
mathematical modeling is carried out on the system to obtain the conservation of momentum
Integrating the above to obtain
Further obtain
The above equation shows that the horizontal center of gravity of the system remains constant;
when the model rocket moves in the pipeline, the counterweight sliding blocks move in opposite directions, so that the horizontal direction of the gravity center of the whole system is not changed approximately in the launching process, the balance of the system in the launching process is ensured, and the precision in the launching process is improved;
Two programs are operated in the single board computer, one is a laser SLAM program, the other is a program for ballistic calculation, and the program is written in Python language; executing a laser SLAM program and a trajectory calculation program to run on a single board computer, and controlling electric ignition of the model rocket engine by the single board computer; the flight controller adopts Mavlink communication protocol to communicate with the single board computer; the flight controller, the single board computer, the singlechip and the remote controller as well as the receiver form a communication network, so that the cooperative control of the whole device is realized;
Processing data obtained by using a laser radar to obtain pose information of an aircraft, wherein the pose information is based on Topic asynchronous data stream communication; controlling a laser radar, starting the laser radar drive, and enabling the laser radar drive to perform dialogue with a laser instrument and issuing information of a sensor_ msgs/LASERSCAN under the scan; to process the data, the node of the laser_filters is used to subscribe to the information of the scan_topic;
After subscription, the filter automatically starts to receive the information of the laser radar; all hokuyo _node nodes can complete the release of the scanning, and whether any node is subscribed or not is not required to be known; all filters complete the subscription of "scan", whether it is known or not whether any node is publishing "scan"; the two nodes may be started, terminated, or restarted in any order without causing any errors;
LASERSCANMATCHER is a laser radar data matching kit, which is used for matching the information of the sensor_ msgs/LASERSCAN, and solving pose information of the laser radar through a PL-ICP algorithm; LASERSCANMATCHER receives the topic sensor_ msgs/LASERSCAN, and issues the topic as either geometry_ msgs/Pose2D or tf after the calculation process; pose2D is used, and the information of the topic comprises two-dimensional position coordinates and rotation angles, namely, x and y coordinates of the aircraft are obtained through laser SLAM;
The method comprises the steps of obtaining x and y coordinates of an aircraft through laser SLAM, obtaining z coordinates provided by a laser range finder, obtaining a target z variation through ballistic calculation, and sending four pieces of information to a flight controller through Mavlink protocol; after the aircraft obtains the four pieces of information, three-dimensional positioning is realized according to task requirements, and positioning of aerial emission is realized.
2. A method for implementing the device for aerial accurate transmission of rescue items of claim 1, characterized by: the method specifically comprises the following steps:
Step one, defining a channel of a remote controller through a remote controller deflector rod
A 'determination target' and a 'transmitting switch' deflector rod are defined on a remote controller, one is the 'determination target', the other is the 'transmitting switch', and a rocker of a cloud adjusting platform is determined to be continuously adjustable;
Step two, loading a model rocket with rescue articles and a counterweight sliding block into a double-opening pipeline launching hanger
S21, loading rescue articles into a load bin of the model rocket, and installing a nose cone tail wing;
s22, an engine with a model rocket mounted at the tail part;
s23, loading the model rocket into a launching hanger;
s24, a counterweight sliding block is arranged behind the counterweight sliding block;
step three, determining an aerial emission target, and dialing a driving lever of a 'determined target' of a remote controller
The remote controller starts the small multi-rotor unmanned aerial vehicle to fly into the air, and a target entrance to be launched is found through a camera on the remote control cradle head; then dial the 'confirm target' driving lever of the remote controller;
Step four, the position of the small multi-rotor unmanned aerial vehicle is automatically adjusted through laser radar and ballistic positioning program control, the remote controller 'determines a target' deflector rod information is transmitted to a receiver, the receiver transmits the information to a singlechip, the singlechip transmits the information to a single board computer, the single board computer operates a laser SLAM program and a ballistic calculation program, the height of the small multi-rotor unmanned aerial vehicle during launching is calculated through the ballistic program, and the flying controller automatically controls the small multi-rotor unmanned aerial vehicle to adjust the air position;
Step five, determining to launch, namely, dialing a poking lever of a 'launch switch' of the remote controller to launch the model rocket;
After the position of the small multi-rotor unmanned aerial vehicle is regulated stably, a poking rod of a 'transmitting switch' of a remote controller is poked, a receiver receives a signal and then triggers the signal through a singlechip, so that an electric ignition head of an engine of the model rocket is connected, the model rocket filled with rescue articles is transmitted, and meanwhile, a counterweight sliding block moves backwards.
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| CN114184228B (en) * | 2021-11-30 | 2023-05-02 | 中煤科工集团沈阳研究院有限公司 | Detector for controllable-distance emission type disaster relief |
| CN115920272A (en) * | 2022-12-09 | 2023-04-07 | 众芯汉创（北京）科技有限公司 | Fire extinguishing device based on unmanned aerial vehicle |
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