CN113568429B - Unmanned airborne AED (automated guided Equipment) emergency platform and AED delivery method - Google Patents
Unmanned airborne AED (automated guided Equipment) emergency platform and AED delivery method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle (AED) airborne emergency platform, which comprises a ground command unit, a portable unmanned aerial vehicle storage system and an unmanned aerial vehicle carrying an AED; receive the case report through ground commander unit, and learn the case position, and then control unmanned aerial vehicle and accomodate the system and open, make its inside unmanned aerial vehicle possess the condition of taking off, carry near AED to the case position through unmanned aerial vehicle, unload AED after selecting the air-drop AED or falling according to concrete topography condition and setting condition, and then realize the quick input of AED and arrange, in ensureing to reach the rescuer hand with AED in the 4 minutes gold rescue time, provide the most timely rescue operation for the patient.
Description
Technical Field
The invention relates to the technical field of delivery of sudden cardiac death emergency equipment, in particular to an unmanned airborne AED (automated guided Equipment) emergency platform.
Background
Sudden cardiac death refers to various sudden deaths due to cardiac causes, usually without any life-threatening manifestations in the early stages, characterized by an unexpectedly rapid death. According to the statistical data of the national cardiovascular center, the number of sudden cardiac death patients in China is as high as 55 ten thousand every year, and the incidence rate of sudden cardiac death is higher in the professional population with high pressure, high strength and high risk.
Ventricular fibrillation is the most common cause of sudden cardiac death and other sudden death, is the key for early rescue and improving the survival rate of patients, and researches show that the cerebral tissue can be caused to be ischemic and necrotic within minutes of the patients with sudden cardiac arrest, and irreversible damage appears. The speed of defibrillation delivery is an important factor for determining resuscitation success, rescue of such patients must be in minutes and seconds, and electric defibrillation can be completed by a first witness on site before the first witness arrives at the site, and the requirement of gold 4 minutes cannot be met by other methods or approaches.
The current foreign general practice is to widely use an Automatic External Defibrillator (AED), which is a medical apparatus that non-professionals can use to rescue sudden cardiac death. Such portable medical devices are widely available abroad, and the number of AED units is calculated in a 10 ten thousand human base, 700 in the united states and 500 in japan.
In the Chinese AED layout and expert consensus for delivery, 1 AED is recommended to be configured in a linear distance of 100 meters in a dense place of staff, and the configuration is carried out according to the principle that a rescuer can take the AED and reach the patient within 4 minutes. While each price of AED is about 3 ten thousand yuan, configuring AED according to this mode undoubtedly needs huge financial resources as support, on the other hand, troops exercise training, large-scale sports events, marathon competition, earthquake resistance and disaster relief, field search and rescue and other tasks have the characteristics of great mobility, more points and wide range, etc., AED needs more quantity, configuring AED cost is huge, basically, AED is difficult to configure in each related area, therefore, AED needs to be flexibly and efficiently delivered, however, because troops have large maneuvering range, the delivery system also needs to follow the same large maneuvering range, the path that the delivery needs to pass is naturally different, which puts higher requirements on the delivery capability of AED, in addition, if the environmental complexity is higher, unmanned plane may have faults or meet with obstacles and other accidents, in the event of an accident, it is highly likely that the delivery time of the AED will be delayed, thereby affecting the patient's life safety.
For the above reasons, the present inventors have conducted intensive studies on existing AED deployment and transportation systems in order to devise a new AED deployment system that addresses the above-mentioned problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention carries out intensive research and designs an unmanned aerial vehicle (AED) airborne emergency platform, which comprises a ground command unit, a portable Unmanned Aerial Vehicle (UAV) storage system and an UAV carrying the AED; receive the sick case report through the ground commander unit, and learn the case position, and then control unmanned aerial vehicle and accomodate the system and open, make its inside unmanned aerial vehicle possess the condition of taking off, carry near AED to the sick case position through unmanned aerial vehicle, unload AED after selecting the air-drop AED or descend according to specific topographic condition and setting condition, and then realize putting in fast of AED and arrange, guarantee to reach AED to the rescuer in the time of 4 minutes gold rescue, provide the most timely rescue operation for the patient, thereby accomplish the invention.
In particular, it is an object of the present invention to provide an unmanned on-board AED first aid platform comprising:
a ground command unit, a portable unmanned aerial vehicle storage system and an unmanned aerial vehicle 3, wherein the AED4 is carried on the unmanned aerial vehicle 3,
the ground command unit is used for receiving target position information of the emergency AED and sending the information and a starting instruction to the portable unmanned aerial vehicle storage system;
the portable unmanned aerial vehicle storage system comprises an openable outer shell 2,
unmanned aerial vehicle 3 sets up inside outer casing 2 to take off after outer casing 2 is opened, fly to the target location.
The top of the outer shell 2 is provided with a slidable skylight, and the outer shell 2 is opened through the slidable skylight so that the unmanned aerial vehicle can take off vertically; alternatively, the first and second electrodes may be,
the lateral part of the outer shell body 2 is provided with a reversible hatch cover, a mobile platform for bearing the unmanned aerial vehicle is arranged in the hatch cover, and the mobile platform is moved out of the outer shell body 2 to be vertically taken off by the unmanned aerial vehicle.
Wherein, the unmanned aerial vehicle is provided with a guidance control unit, a detection unit, a sensing unit and an observation unit,
receiving new target location information in real time through the communication unit,
detecting obstacle information on a flight path in real time through the detection unit;
acquiring the state information of the unmanned aerial vehicle in real time through the sensing unit;
and calculating a control instruction in real time through the guidance control unit, and controlling the unmanned aerial vehicle to fly to the target according to the control instruction.
Wherein the guidance control unit comprises a reference instruction resolving module and a control instruction resolving module,
the reference instruction resolving module obtains an optimal control strategy by using the target position information, the real-time obstacle information and the real-time state of the unmanned aerial vehicle, and provides a reference instruction for the control instruction resolving module;
and the control instruction resolving module adjusts a control strategy according to the reference instruction and the real-time state of the unmanned aerial vehicle and outputs a control instruction to the power system.
Wherein the cost function in the reference instruction resolving module is shown as the following formula (one):
wherein x is*(t) is a target state, and x (t) is real-time state information output by the sensing system; u. ofr(t) is a reference instruction; q and R are weight matrixes; j. the design is a squareACAn additional term is added to the cost function,
a is the error coefficient, b is the additional cost weight, xoFor the barrier position, x is quad-rotor unmanned aerial vehicle's state.
Wherein, the control instruction resolving module comprises a basic controller and a gain adjustment controller:
in the base controller, gain adjustment is performed on a base controller output command by:
wherein, thetax,ΘrThe adaptive gain respectively represents a state feedback gain and an instruction gain; gamma-shapedx，ΓrThe adaptive updating rate respectively represents a state feedback gain adaptive rate and a command gain adaptive rate, and x is the state of the quad-rotor unmanned aerial vehicle; u. ofrIs a reference instruction; e is the error between the controlled object and the reference model state, B is the control matrix of the controlled object state space model, PlFor the stabilization matrix, it was obtained by the following formula (iv):
value, Q2I is an identity matrix.
Wherein, in the gain adjustment controller, the control instruction is obtained by the following formula (five):
wherein, after the unmanned aerial vehicle reaches the target position,
the communication unit receives a throwing mode instruction transmitted by the ground command unit, and the throwing mode instruction comprises controlling the unmanned aerial vehicle to land on the ground or airdrop the AED after the unmanned aerial vehicle lands on a preset height.
The invention also provides an AED delivery method, which comprises the following steps:
step 1, arranging a first-aid platform;
step 2, receiving an instruction of an emergency AED (automatic guided equipment) in real time through a ground command unit, determining the position of a training base and the flight path of the unmanned aerial vehicle after receiving the instruction, forming a starting instruction and sending the starting instruction to a portable unmanned aerial vehicle storage system;
step 4, the unmanned aerial vehicle is controlled by a guidance control unit in the flight process;
and 5, after the unmanned aerial vehicle reaches the target position, the AED is put in.
Wherein the guidance control unit comprises a reference instruction resolving module and a control instruction resolving module,
obtaining an optimal control strategy by the reference instruction resolving module by utilizing the target position information, the real-time obstacle information and the real-time state of the unmanned aerial vehicle, and providing a reference instruction for the control instruction resolving module;
adjusting a control strategy and outputting a control instruction to a power system through the control instruction resolving module according to the reference instruction and the real-time state of the unmanned aerial vehicle;
preferably, the unmanned aerial vehicle is also provided with a communication unit, a detection unit and a sensing unit,
receiving new target location information in real time through the communication unit,
detecting obstacle information on a flight path in real time through the detection unit;
and acquiring the state information of the unmanned aerial vehicle in real time through the sensing unit.
The invention has the advantages that:
(1) according to the unmanned airborne AED emergency platform provided by the invention, the AED can be quickly started and transported after receiving the instruction, so that the total time is within 4 minutes, and the optimal rescue effect is ensured;
(2) according to the unmanned aerial vehicle in the unmanned aerial vehicle-mounted AED emergency platform provided by the invention, the unmanned aerial vehicle can automatically find a way, avoid obstacles on a path and reach a farther operation position in the same time;
(3) according to the unmanned aerial vehicle in the unmanned aerial vehicle airborne AED emergency platform provided by the invention, the guidance control unit comprising the reference instruction resolving module and the control instruction resolving module is arranged, so that a sub-adaptive fault processing loop and an obstacle avoidance constraint processing loop are formed at the same time, the fault problem and the obstacle avoidance problem in the flight process of the quad-rotor unmanned aerial vehicle can be solved, and the unmanned aerial vehicle is adaptive to the complex and changeable working environment with the spread obstacles.
Drawings
Fig. 1 shows a schematic diagram of the overall logic process of an unmanned on-board AED emergency platform according to a preferred embodiment of the present invention;
fig. 2 shows a schematic diagram of a drone structure according to a preferred embodiment of the invention:
figure 3 shows a schematic diagram of a portable drone receiving system according to a preferred embodiment of the invention;
FIG. 4 shows an overall logic diagram of a guidance control unit according to a preferred embodiment of the present invention.
Reference numerals
2-outer casing
3-unmanned plane
4-AED
Detailed Description
The present invention will be described in further detail below with reference to preferred embodiments and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the present invention there is provided an unmanned on-board AED first aid platform, as shown in fig. 1, comprising: a ground command unit, a portable drone storage system and a drone 3, wherein the drone 3 carries an AED4,
preferably, the ground command unit is used for receiving target position information of the emergency AED and sending the information and a starting instruction to the portable unmanned aerial vehicle storage system;
the portable unmanned aerial vehicle storage system comprises an openable outer shell 2,
unmanned aerial vehicle 3 sets up inside outer casing 2 to take off after outer casing 2 is opened, fly to the target location.
In a preferred embodiment, the target position information can be obtained by receiving position coordinate information transmitted by a handheld GPS receiver at the target position, or can be determined by combining a landmark building at the target position with a map, where the determination time of the position information is long, and preferably, a piece of approximate position information, such as landmark building position information, is provided in advance as the target position information, and the unmanned aerial vehicle is controlled to travel towards the target position in time, and the target position information is refined and corrected gradually during the travel.
Preferably, the ground command unit in this first aid platform can provide the most accurate target location for unmanned aerial vehicle in real time, when the target is the motor-driven target such as vehicle, naval vessel of moving, can also provide first aid platform transportation AED to rescue through this application.
Preferably, the starting instruction comprises an instruction for controlling the portable unmanned aerial vehicle storage system outer shell 2 to be opened and an instruction for the unmanned aerial vehicle to take off after the outer shell is opened,
in a preferred embodiment, as shown in fig. 1, a sliding skylight is arranged on the top of the outer shell 2, and the outer shell 2 is opened through the sliding skylight so as to allow an unmanned plane to take off vertically; alternatively, the first and second electrodes may be,
the lateral part of the outer shell body 2 is provided with a reversible hatch cover, a mobile platform for bearing the unmanned aerial vehicle is arranged in the hatch cover, and the mobile platform is moved out of the outer shell body 2 to be vertically taken off by the unmanned aerial vehicle.
The opening of the outer shell 2 is controlled by an instruction of the ground command unit, and the unmanned aerial vehicle electrically takes off after the outer shell 2 completes the opening work. Preferably, the drone is a quad-rotor drone.
In a preferred embodiment, a guidance control unit, a communication unit, a detection unit and a sensing unit are arranged on the unmanned aerial vehicle,
the communication unit receives new target position information and barrier information sent by the ground command unit in real time,
detecting obstacle information on a flight path in real time through the detection unit;
acquiring the state information of the unmanned aerial vehicle in real time through the sensing unit; the state information of the unmanned aerial vehicle comprises the real-time position and the real-time attitude information of the unmanned aerial vehicle.
And calculating a control instruction in real time through the guidance control unit, and controlling the unmanned aerial vehicle to fly to the target according to the control instruction.
The obstacle position information is found and determined in real time through the ground command unit and the detection unit, so that the unmanned aerial vehicle can avoid and open the obstacle in time, the unmanned aerial vehicle is ensured to reach the target position smoothly and safely, and the automatic AED distribution system is particularly suitable for executing AED distribution tasks in complex environments such as cities.
The detection unit comprises detection devices such as a radar sensor and a photoelectric ball, can find the unmarked obstacles on the map in time, and provides a data basis for obstacle avoidance control.
The sensing unit comprises a gyroscope, an accelerometer, a GPS signal solver and an ultrasonic sensor, and each sensor in the sensing unit reads environmental data in real time and obtains the real-time state of the quad-rotor unmanned aerial vehicle after filtering and attitude estimation;
still be provided with driving system on unmanned aerial vehicle, it is used for carrying out control command, maps the rotational speed of control command to the motor promptly to control the rotational speed of each screw.
In a preferred embodiment, the guidance control unit comprises a reference instruction resolving module and a control instruction resolving module,
the reference instruction resolving module obtains an optimal control strategy by using the target position information, the real-time obstacle information and the real-time state of the unmanned aerial vehicle, and provides a reference instruction for the control instruction resolving module;
and the control instruction resolving module adjusts a control strategy according to the reference instruction and the real-time state of the unmanned aerial vehicle and outputs a control instruction to the power system.
Preferably, the guidance control unit is an onboard microprocessor.
In the application, a reference instruction resolving module and a control instruction resolving module are arranged, a self-adaptive fault processing circuit and an obstacle avoidance constraint processing circuit are formed simultaneously, the problem of faults and the problem of obstacle avoidance in the flight process of the quad-rotor unmanned aerial vehicle can be solved, and the quad-rotor unmanned aerial vehicle is suitable for the complex and changeable working environment with the spread obstacles.
In a preferred embodiment, the cost function in the reference command resolving module is represented by the following equation (one):
wherein x is*(t) is a target state, including target position information received by the communication unit in real time, and x (t) is real-time state information output by the sensing unit; u. ofr(t) is a reference instruction; q and R are weight matrixes; j. the design is a squareACAdding a term to the cost function;
The inventor researches and finds that in the obstacle avoidance problem, the difference between the current position of the quadrotor unmanned machine and the distance of an obstacle is expected to be larger than a certain value, and the following steps are specifically carried out:
wherein c is a number less than or equal to zero, ddesFor the desired distance, x, between the quad-rotor drone and the obstacleoFor the barrier position, x is quad-rotor unmanned aerial vehicle's state.
In the actual solving process, the inequality constraint can greatly increase the operation amount and the operation of the microprocessorLoad is calculated, therefore, inequality constraint is preferably converted into equality constraint in the invention, and obstacle avoidance problem is integrated into additional item J of cost function in optimal controlACTo transform the linear constraint in the obstacle avoidance problem into a nonlinear constraint.
In a further preferred embodiment, the reference instruction resolving module performs obstacle avoidance control by the following formula to obtain a reference instruction:
ur≤umax；
x(0)＝x0；
wherein the content of the first and second substances,
is a state space model of the unmanned aerial vehicle, A is a four-rotor unmanned state transition matrix, B is a control matrix, obtained by a system identification method, x*(t) represents the target state, x (0) is the initial value of the controlled object state, i.e. the initial value of the state of the unmanned aerial vehicle, x0The state of the quad-rotor unmanned aerial vehicle at each sampling point is represented, preferably, the sampling points refer to sampling nodes, the sensing unit collects the state information of the unmanned aerial vehicle once every other sampling period, and the sampling execution time is the sampling point; u. ofmaxClipping is output for the controller.
In the invention, in the reference instruction resolving module, an optimal control strategy is obtained according to the control process, and a reference instruction is provided for the subsequent process.
In a preferred embodiment, the control command resolving module includes a base controller and a gain adjustment controller:
in the base controller, a base controller output instruction is obtained by: u. ofbl＝-R-1BTK(t)X(t)。
In the invention, the matrixes A (t), B (t) and B (t) of the state space model of the quad-rotor unmanned aerial vehicle are obtained by a reference command resolving module; and designing a weight matrix Q (t), R (t) and P according to a state space model of the quad-rotor unmanned aerial vehicle.
In the present invention, u is shown in FIG. 4rAs reference instruction, ublOutputting a command for a basic controller, u is a control command and is also an adaptive control output, x is the state of the quad-rotor unmanned aerial vehicle, and x is the state of the quad-rotor unmanned aerial vehiclerefFor reference model states, erIs the difference between the reference model and the controlled object state; the reference model is a closed-loop model formed by a nominal model of the controlled object under ideal conditions, namely Aref＝A-B*K，BrefK is the base controller gain.
According to the parameters, a state feedback matrix K (t) shown as the following formula can be obtained for designing the basic controller:
according to the boundary condition K (t)f) P, the final value of k (t) is obtained, and the expression of k (t) is obtained by inverse time integration.
In the gain adjustment controller, gain adjustment is performed on a basic controller output instruction by the following formulas (two) and (three):
wherein, thetax,ΘrThe adaptive gain respectively represents a state feedback gain and an instruction gain; gamma-shapedx，ΓrFor adaptive update rate, the adaptive rate of state feedback gain and the command increment are expressed respectivelyThe self-adaptive rate is beneficial, an actual value is determined through a simulation experiment before the unmanned aerial vehicle leaves a factory, and the actual value is a constant matrix; x is the state of the quad-rotor unmanned aerial vehicle; u. ofrIs a reference instruction; e is the error between the controlled object and the reference model state, B is the control matrix of the controlled object state space model, PPlTo stabilize the matrix, for ensuring the stability of the system, it can be obtained by the following formula (four):
preferably Q2I is an identity matrix.
In the invention, the adaptive fault processing is realized by the gain adjustment controller.
In a further preferred embodiment, the control instruction is obtained by the following formula:
in the unmanned aerial vehicle guidance control unit, the reference instruction resolving module and the control instruction resolving module are combined, the obstacle inequality constraint is converted into the nonlinear constraint, the nonlinear constraint is added to the cost function, the nonlinear problem solving capability is realized by using the nonlinear model prediction algorithm, the optimal control is calculated, the actual flight state of the quad-rotor unmanned aerial vehicle is consistent with the state under the ideal condition, and therefore the quad-rotor unmanned aerial vehicle can quickly fly to a target position in the complex urban environment, has extremely high stability and has the automatic obstacle avoidance function.
In a preferred embodiment, after the unmanned aerial vehicle reaches the target position, a throwing mode command transmitted by the ground command unit is received through the communication unit, and the throwing mode command comprises controlling the unmanned aerial vehicle to land on the ground or hover after landing to a preset height.
Preferably, the target reaching position is the condition that the distance between the position of the unmanned aerial vehicle and the target in the horizontal direction is less than 10 meters;
predetermined height is 1.5 ~ 2 meters height of hovering, in this application, the mode of throwing includes two kinds, and one of them is that unmanned aerial vehicle descends to ground to automatic the releasing is to the locking of AED, and another kind is that unmanned aerial vehicle hovers at the height position apart from ground 1.5 ~ 2, allows operating personnel to release the locking to AED manually and take off AED.
In a preferred embodiment, the unmanned aerial vehicle automatically returns to the portable unmanned aerial vehicle storage system after completing the transportation of the AED, and automatically lands.
The invention also provides an AED delivery method, which comprises the following steps:
step 1, arranging a first-aid platform; preferably, the emergency platform is arranged in a range of 3 kilometers near a high-risk area; the high-risk area refers to the reason that people in the high-risk area are easy to cause sudden cardiac death due to the reason of carrying out high-intensity training, heavy physical labor or carrying out work with great pressure and the like. The emergency platform comprises a ground command unit and a portable unmanned aerial vehicle storage system, wherein a quad-rotor unmanned aerial vehicle carrying an AED is arranged in the portable unmanned aerial vehicle storage system;
step 2, receiving an instruction of an emergency AED (automatic guided equipment) in real time through a ground command unit, determining the position of a training base and the flight path of the unmanned aerial vehicle after receiving the instruction, forming a starting instruction and sending the starting instruction to a portable unmanned aerial vehicle storage system;
step 4, the unmanned aerial vehicle is controlled by a guidance control unit in the flight process,
preferably, the unmanned aerial vehicle is also provided with a communication unit, a detection unit and a sensing unit,
receiving new target location information in real time through the communication unit,
detecting obstacle information on a flight path in real time through the detection unit;
acquiring the state information of the unmanned aerial vehicle in real time through the sensing unit;
and calculating a control instruction in real time through the guidance control unit, and controlling the unmanned aerial vehicle to fly to the target according to the control instruction.
Preferably, the guidance control unit comprises a reference instruction resolving module and a control instruction resolving module,
in the flight process of the unmanned aerial vehicle, a cost function in a reference instruction resolving module of an unmanned aerial vehicle guidance control unit is shown as the following formula:
wherein x is*(t) is a target state, and x (t) is real-time state information output by the sensing system; u. ofr(t) is a reference instruction; q and R are weight matrixes; j. the design is a squareACAdding terms to the cost function to convert linear constraints in the obstacle avoidance problem into nonlinear constraints;
where a is the error coefficient and b is the additional cost weight.
The reference instruction resolving module carries out obstacle avoidance control through the following formula to obtain a reference instruction:
ur≤umax；
x(0)＝x0；
wherein the content of the first and second substances,
is a state space model of the unmanned aerial vehicle, A is a quad-rotor unmanned state transition matrix, B is a control matrix, x*(t) represents a target state, x (0) is an initial value of a controlled object state, and x0Representing the state of a quad-rotor drone at each sampling point, umaxClipping is output for the controller.
In a control instruction resolving module of the unmanned aerial vehicle guidance control unit, a basic controller obtains a basic controller output instruction through the following formula:
ubl＝-R-1BTK(t)X(t)。
in a control instruction resolving module of the unmanned aerial vehicle guidance control unit, a gain adjustment controller performs gain adjustment on an output instruction of a basic controller through the following formula:
wherein, thetax,ΘrThe adaptive gain respectively represents a state feedback gain and an instruction gain; gamma-shapedx，ΓrRespectively representing the state feedback gain adaptive rate and the instruction gain adaptive rate for the adaptive update rate, and determining an actual value through a simulation experiment, wherein the actual value is a constant matrix; x is the state of the quad-rotor unmanned aerial vehicle; u. ofrIs a reference instruction; e is the error between the controlled object and the reference model state, B is the control matrix of the controlled object state space model, PlTo stabilize the matrix, it is obtained by the following formula:
the final control command is obtained by:
and 5, after the unmanned aerial vehicle reaches the target position, the AED is put in.
The target reaching position is the condition that the distance between the position of the unmanned aerial vehicle and the target in the horizontal direction is less than 10 meters.
Preferably, after the unmanned aerial vehicle reaches the target position, a throwing mode command transmitted by the ground command unit is received through the communication unit, and the throwing mode command comprises controlling the unmanned aerial vehicle to land on the ground or airdrop the AED after the unmanned aerial vehicle lands on a preset height.
In the flight process of the unmanned aerial vehicle, a communication unit on the unmanned aerial vehicle receives new target position information sent by a ground command unit in real time, a detection unit on the unmanned aerial vehicle detects barrier information on a flight path in real time, and a sensing unit on the unmanned aerial vehicle acquires state information of the unmanned aerial vehicle in real time;
examples
Arranging a ground command unit and a portable unmanned aerial vehicle containing system of an unmanned aerial vehicle (AED) emergency platform, wherein two training bases are arranged in the range of 3 kilometers near the emergency platform, and obstacles such as buildings, forests and the like are arranged between the emergency platform and the training bases;
a four-rotor unmanned aerial vehicle carrying an AED is arranged in the portable unmanned aerial vehicle storage system;
after ground commander unit received the instruction of meeting an urgent need AED in the training base, the position and the unmanned aerial vehicle flight path of training base were confirmed to time spent 3 seconds, form and start the instruction and send and accomodate the system for portable unmanned aerial vehicle, portable unmanned aerial vehicle accomodates the system and accomplishes start-up work in receiving instruction back 10 seconds, unmanned aerial vehicle carries out equipment power up and system self-checking again through 20 seconds, 5 seconds take off during the time spent and rise to the height of 20 meters apart from ground to begin to fly towards the target location direction.
In the flight process of the unmanned aerial vehicle, a communication unit on the unmanned aerial vehicle receives new target position information sent by a ground command unit in real time, a detection unit on the unmanned aerial vehicle detects barrier information on a flight path in real time, and a sensing unit on the unmanned aerial vehicle acquires state information of the unmanned aerial vehicle in real time;
the cost function in a reference instruction resolving module of the unmanned aerial vehicle guidance control unit is shown as the following formula:
wherein x is*(t) is a target state, and x (t) is real-time state information output by the sensing system; u. ofr(t) is a reference instruction; q and R are weight matrixes; j. the design is a squareACAdding terms to the cost function to convert linear constraints in the obstacle avoidance problem into nonlinear constraints;
where a is the error coefficient and b is the additional cost weight.
The reference instruction resolving module carries out obstacle avoidance control through the following formula to obtain a reference instruction:
ur≤umax；
x(0)＝x0；
wherein the content of the first and second substances,
is a state space model of the unmanned aerial vehicle, A is a quad-rotor unmanned state transition matrix, B is a control matrix, x*(t) represents a target state, x (0) is an initial value of a controlled object state, and x0Representing the state of a quad-rotor drone at each sampling point, umaxIs the controller outputAnd (6) limiting.
In a control instruction resolving module of the unmanned aerial vehicle guidance control unit, a basic controller obtains a basic controller output instruction through the following formula:
ubl＝-R-1BTK(t)X(t)。
in a control instruction resolving module of the unmanned aerial vehicle guidance control unit, a gain adjustment controller performs gain adjustment on an output instruction of a basic controller through the following formula:
wherein, thetax,ΘrThe adaptive gain respectively represents a state feedback gain and an instruction gain; gamma-shapedx，ΓrRespectively representing the state feedback gain adaptive rate and the instruction gain adaptive rate for the adaptive update rate, and determining an actual value through a simulation experiment, wherein the actual value is a constant matrix; x is the state of the quad-rotor unmanned aerial vehicle; u. ofrIs a reference instruction; e is the error between the controlled object and the reference model state, B is the control matrix of the controlled object state space model, PlTo stabilize the matrix, it is obtained by the following formula:
the final control command is obtained by:
and transmitting the control command to an actuating mechanism, and mapping the control command to the rotating speed of the motor, thereby controlling the rotating speed of each propeller on the quad-rotor unmanned aerial vehicle.
The unmanned aerial vehicle flies for 164 seconds, the flying linear distance is 2840 meters, the unmanned aerial vehicle reaches the upper part of a target, the height is reduced for 10 seconds until the unmanned aerial vehicle falls to the ground, the AED is thrown in, and the unmanned aerial vehicle starts to return to the air after the throwing operation is completed.
The total time from the report of the urgent need of defibrillation to the commander to the reception of the airdrop AED is 212 seconds, and defibrillation rescue work is performed in the prime time of rescue.
The present invention has been described in detail with reference to the specific embodiments and the exemplary embodiments, but the description should not be construed as limiting the present invention. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention.
Claims (5)
1. An unmanned airborne AED first aid platform, the first aid platform comprising:
a ground command unit, a portable unmanned aerial vehicle storage system and an unmanned aerial vehicle (3), wherein the unmanned aerial vehicle (3) is provided with an AED (4),
the ground command unit is used for receiving target position information of the emergency AED and sending the information and a starting instruction to the portable unmanned aerial vehicle storage system;
the portable unmanned aerial vehicle storage system comprises an outer shell (2) capable of being opened,
the unmanned aerial vehicle (3) is arranged in the outer shell (2), takes off after the outer shell (2) is opened, and flies to a target position;
the unmanned aerial vehicle is provided with a guidance control unit, a communication unit, a detection unit and a sensing unit,
receiving new target location information in real time through the communication unit,
detecting obstacle information on a flight path in real time through the detection unit;
acquiring the state information of the unmanned aerial vehicle in real time through the sensing unit;
calculating a control instruction in real time through the guidance control unit, and controlling the unmanned aerial vehicle to fly to a target according to the control instruction;
the guidance control unit comprises a reference instruction resolving module and a control instruction resolving module,
the reference instruction resolving module obtains an optimal control strategy by using the target position information, the real-time obstacle information and the real-time state of the unmanned aerial vehicle, and provides a reference instruction for the control instruction resolving module;
the control instruction resolving module adjusts a control strategy according to the reference instruction and the real-time state of the unmanned aerial vehicle and outputs a control instruction to the power system;
the cost function in the reference instruction resolving module is shown as the following formula (one):
wherein x is*(t) is a target state, and x (t) is real-time state information output by the sensing unit; u. ofr(t) is a reference instruction; q and R are weight matrixes; j. the design is a squareACAn additional term is added to the cost function,
2. The unmanned on-board AED emergency platform of claim 1,
the top of the outer shell (2) is provided with a slidable skylight, and the outer shell (2) is opened through the slidable skylight so that the unmanned aerial vehicle can take off vertically;
alternatively, the first and second electrodes may be,
the lateral part of the outer shell body (2) is provided with a reversible hatch cover, a mobile platform for bearing the unmanned aerial vehicle is arranged in the hatch cover, and the mobile platform is moved out of the outer shell body (2) to enable the unmanned aerial vehicle to take off vertically.
3. The unmanned on-board AED emergency platform of claim 1,
the control instruction resolving module comprises a basic controller and a gain adjusting controller:
in the base controller, gain adjustment is performed on a base controller output command by:
wherein, thetax，ΘrThe adaptive gain respectively represents a state feedback gain and a command gain; gamma-shapedx，ΓrThe adaptive updating rate respectively represents the state feedback gain adaptive rate and the command gain adaptive rate, and x is the state of the quad-rotor unmanned aerial vehicle; u. ofrIs a reference instruction; e is the error between the controlled object and the reference model state, B is the control matrix of the controlled object state space model, PlTo stabilize the matrix, it is obtained by the following formula (iv):
taking values: q2I is an identity matrix.
4. The unmanned on-board AED emergency platform of claim 3,
in the gain adjustment controller, the control instruction is obtained by the following equation (five):
5. the unmanned on-board AED emergency platform of claim 1,
after the drone reaches the target location,
the communication unit receives a throwing mode instruction transmitted by the ground command unit, and the throwing mode instruction comprises controlling the unmanned aerial vehicle to land on the ground or airdrop the AED after the unmanned aerial vehicle lands on a preset height.
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