Forest fire-fighting unmanned aerial vehicle stability testing method

Abstract

The application discloses a kind of forest fire-fighting unmanned plane stability test methods.The existing fire-fighting unmanned plane in the process of extinguishing fire, the water flow drop point position that unmanned plane sprays cannot accurately fall on fire source, so that the efficiency of extinguishing fire is greatly reduced, and the stability of unmanned plane is poor.The application calculates the drop point of the water flow of unmanned plane accurately, calculates from the movement of unmanned plane and the rotation of unmanned plane itself, considers the multidimensional flight change of unmanned plane, accurately predicts the drop point of the water flow, verifies the actual fire-fighting effect of unmanned plane, and ensures that unmanned plane can stably play in the process of fire extinguishing.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control technology and relates to a method for testing the stability of forest fire fighting UAVs. Background Technology

[0002] Drones can be used in many fields such as meteorology, monitoring, agriculture, communications, and public security management, and have already been widely used in the field of fire protection.

[0003] The stability of existing firefighting drones cannot be guaranteed. During the firefighting process, the water jets sprayed by the drones cannot accurately land on the fire source, which greatly reduces the firefighting efficiency and indicates that the drones are not very stable. Summary of the Invention

[0004] To address the problems existing in the background technology, this invention proposes a stability testing method for forest fire fighting drones.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for testing the stability of forest firefighting drones includes:

[0007] S1. Based on the UAV's moving speed and direction in the first coordinate system, calculate the impact of the UAV's movement on the location of the water flow landing point;

[0008] S2. Based on the UAV's rotation angle and angular velocity in the second coordinate system, calculate the centrifugal effect of the UAV's rotation on the water flow.

[0009] S3. Control the drone's movement and rotation separately to obtain the expected position of the water jet from the drone under different conditions;

[0010] S4. Determine the distance difference between the actual landing point and the expected position of the water jet from the drone to obtain the drone stability test results.

[0011] Furthermore, S1, based on the UAV's moving speed and direction in the first coordinate system, calculates the impact of the UAV's movement on the water flow landing point using the following steps:

[0012] S1.11 Calculate the speed and direction of the UAV in the horizontal direction;

[0013] S1.12. Based on the horizontal movement of the UAV in the time series, analyze the inertial effect of the horizontal movement of the UAV on the water jet of the UAV.

[0014] S1.21 Calculate the vertical speed and direction of the UAV on the Z-axis;

[0015] S1.22. Based on the vertical speed of the UAV in the time series, analyze the inertial effect of the UAV's vertical movement on the water jet.

[0016] S1.31. Combine the vertical and horizontal effects of the UAV to obtain the influence of the UAV's movement on the water flow position.

[0017] Furthermore, the specific method for analyzing the inertial effect of the UAV's horizontal movement on the water jet in step S1.12, based on the UAV's horizontal movement in the time series, is as follows:

[0018] Based on the horizontal displacement velocity of the drone, the spatial coordinates of the water's landing point are calculated. When the drone moves, the impact of its movement on the water's landing point is calculated. The specific formula is as follows:

[0019]

[0020] in This represents the offset distance of the drone's water flow landing point. The horizontal displacement velocity of the drone. The time it takes for the water to travel from the moment it is ejected to the moment it hits the ground, where The calculation method is as follows:

[0021]

[0022] in, The altitude at which the drone flies. It is the acceleration due to gravity. Let $\frac{ ... The value is 0.

[0023] Furthermore, the specific method for S1.22, which analyzes the inertial effect of the UAV's vertical movement on the water jet based on the UAV's vertical movement speed in the time series, is as follows:

[0024] The altitude of the drone affects the time it takes for the water to travel from the jet to the ground, thus influencing... The value is calculated by measuring the time it takes for the water jet from the drone to land. ,

[0025]

[0026] in, The altitude at which the drone flies. It is the acceleration due to gravity. Given the vertical velocity of the UAV, the inertial effect of the UAV's vertical motion on the water jet is calculated.

[0027] Furthermore, the specific method for integrating the vertical and horizontal effects of the UAV in S1.31 is as follows:

[0028] By combining the horizontal and vertical displacement distances and directions of the drone, the time from when the water jet is ejected to when it lands is determined. By combining the time from when the water jet is ejected to when it lands with the current flight speed of the drone, the influence of the drone's displacement on the landing point of the water jet is obtained.

[0029] Furthermore, S2 calculates the centrifugal effect of the UAV's rotation on the water flow based on the UAV's rotation angle and angular velocity in the second coordinate system, including:

[0030] When the drone rotates and deviates on the z-axis, the rotational deviation angle and direction of the drone are recorded. Based on the rotational deviation angle and angular velocity of the drone in the horizontal direction in the time series, the influence of the drone's rotation on the z-axis on the spray distance of the drone's water jet is analyzed.

[0031] When the drone rotates and deviates on the y-axis, the angular velocity and direction of the drone's rotation are recorded. Based on the rotation angle and angular velocity of the drone in the spray direction under the time series, the influence of the drone's rotation in the spray direction on the spray distance of the drone's water jet is analyzed.

[0032] Furthermore, the specific method for analyzing the impact of the UAV's rotation on the landing point of the water jet from the UAV on the UAV's rotation along the z-axis, based on the UAV's rotation angle and angular velocity in the time series, is as follows:

[0033] Determine the planar distance between the drone's rotation point and the location of the drone's water jet exit. The water flow speed of the drone spraying water is Determine the linear velocity of the water flow during the rotation of the drone. Based on the time it takes for the water to spray out and hit the ground The distance of the drone's water flow offset was calculated. The specific formula is as follows:

[0034]

[0035]

[0036] This is used to calculate and analyze the spray distance of the water jet generated by the drone's rotation along the z-axis. The specific formula is as follows:

[0037]

[0038] This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point;

[0039] The angle between the point where the water falls and the initial jet direction of the water flow in the direction of rotation is R / r.

[0040] Furthermore, when the UAV rotates and deviates along the y-axis, the specific method for analyzing the impact of the UAV's rotation in the spray direction on the spray distance of the water jet is as follows:

[0041] The drone's current flight altitude is The water flow speed of the drone spraying water is The drone's offset angle in the jet direction is The linear velocity of the water flow during the movement of the drone Calculate the landing time of the drone in the water flow. The specific formula is as follows:

[0042]

[0043] Find the landing time of the water flow from the drone. A comprehensive analysis of the rotational and gravitational effects of the UAV on the water flow reveals the influence of the UAV's deflection along the y-axis on the water jet's impact point. The specific formula is as follows:

[0044]

[0045] This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point.

[0046] Furthermore, the UAV cannot rotate and offset on the z-axis and on the y-axis simultaneously; the UAV can only rotate and offset on the z-axis or only on the y-axis.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] This invention provides accurate calculation of the water flow landing point for drones, precisely simulating the landing location of water flow from the drone. It calculates based on the drone's movement and rotation, considering multi-dimensional changes in drone flight, to accurately predict the water flow landing point. This verifies the actual firefighting effect of drones and ensures that drones can perform stably during firefighting. Attached Figure Description

[0049] Figure 1 This is a flowchart of the overall operation of the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] like Figure 1 As shown, the technical solution adopted in this invention is as follows:

[0052] First, it should be stated that the stability testing method for forest fire fighting drones provided by this invention is mounted on a drone device, wherein the drone carries a water pipe extending to a water source. Water is sprayed through the water pipe for firefighting operations. The drone carries equipment and instruments such as an altimeter and gyroscope to monitor flight altitude, flight attitude, and status.

[0053] A method for testing the stability of forest firefighting drones includes:

[0054] S1. Based on the UAV's speed and direction of movement in the first coordinate system, calculate the impact of the UAV's movement on the location of the water droplet. During flight, the UAV's own movement generates inertia, causing the water droplet to shift. Assume the UAV's movement is uniform.

[0055] S1 consists of the following steps:

[0056] S1.11 Calculate the speed and direction of the drone's horizontal movement. The drone's movement exerts an inertial effect on the water it carries, affecting the water's landing point during firefighting.

[0057] S1.12. Based on the horizontal speed of the UAV in the time series, analyze the inertial effect of the UAV's horizontal movement on the water jet.

[0058] The specific method for analyzing the inertial effect of the drone's horizontal movement on the water jet is as follows:

[0059] The displacement of the water droplet's landing point is affected by the drone's horizontal velocity. Based on the drone's horizontal displacement velocity, the spatial coordinates of the water droplet's landing point are calculated. When the drone begins to move, the impact of its movement on the water droplet's landing point is calculated using the following formula:

[0060]

[0061] in This represents the offset distance of the drone's water flow landing point. The horizontal displacement velocity of the drone. The time it takes for the water to travel from the moment it is ejected to the moment it hits the ground, where The calculation method is as follows:

[0062]

[0063] in, It is the acceleration due to gravity. Let be the vertical velocity of the drone. At this point, the drone is not moving vertically, therefore... The value is 0. The time it takes for the water to travel from ejection to landing is independent of the drone's horizontal velocity, and depends only on the altitude at which the water is ejected. The time from ejection to landing is calculated from the altitude at which the water is ejected. Using the time it takes for the water to travel from the spray to the ground. and the horizontal displacement speed of the drone The displacement of the water droplet point was calculated due to the horizontal movement of the drone.

[0064] S1.21 Calculate the vertical speed and direction of the UAV's movement along the Z-axis. Not only does the UAV's horizontal movement affect the water's landing point, but the UAV's ascent and descent also change the location of the water's landing point.

[0065] S1.22. Based on the vertical speed of the UAV in the time series, analyze the inertial effect of the UAV's vertical movement on the water jet.

[0066] The specific method for analyzing the inertial effect of the drone's vertical movement on the water jet is as follows:

[0067] The altitude of the drone affects the time it takes for the water jet to travel from ejection to landing, thus influencing the overall time of the water jet's journey. The value of is given by the following formula:

[0068]

[0069] in, The altitude at which the drone flies. It is the acceleration due to gravity. Let be the vertical velocity of the drone. The effect of the drone's vertical motion on the water jet is obtained by calculating the time it takes for the water jet to travel from ejection to landing. The calculation method is also... This allows us to calculate the impact of the drone's ascent and descent on the water's landing point.

[0070] S1.31. Combine the vertical and horizontal effects of the UAV to obtain the influence of the UAV's movement on the water flow position.

[0071] The specific method for integrating the vertical and horizontal effects of a drone is as follows:

[0072] By combining the horizontal and vertical displacement distances and directions of the drone, the time from when the water jet is ejected to when it lands is determined. By combining the time from when the water jet is ejected to when it lands with the current flight speed of the drone, the influence of the drone's displacement on the landing point of the water jet is obtained.

[0073] By integrating the effects of the drone's horizontal displacement and vertical movement, we can obtain the impact of the drone on the water's landing point during its movement.

[0074] S2. Based on the UAV's rotation angle and angular velocity in the second coordinate system, calculate the centrifugal effect of the UAV's rotation on the water flow. During flight, the UAV not only experiences displacement but also deflection; therefore, it is necessary to calculate the centrifugal effect of the UAV's rotation on the water flow.

[0075] S2 includes:

[0076] When the UAV rotates and deviates on the z-axis, the rotational deviation angle and direction of the UAV are recorded. Based on the rotational deviation angle and angular velocity of the UAV in the horizontal direction in the time series, the influence of the UAV's rotation on the z-axis on the spray distance of the UAV's water jet is analyzed.

[0077] When the drone rotates and deviates on the y-axis, the angular velocity and direction of the drone's rotation are recorded. Based on the rotation angle and angular velocity of the drone in the spray direction under the time series, the influence of the drone's rotation in the spray direction on the spray distance of the drone's water jet is analyzed.

[0078] The drone's rotational offset on the z-axis and its rotational offset on the y-axis are calculated separately. These two rotational offsets cannot occur simultaneously; the drone can only rotate on either the z-axis or only the y-axis. If the drone rotates simultaneously on both the z-axis and y-axis, it will cause the drone to lose control, resulting in unnecessary losses during firefighting operations.

[0079] In step S2, when the UAV rotates and shifts along the z-axis, the specific method for analyzing the impact of the UAV's rotation along the z-axis on the landing point of the water jet is as follows, based on the UAV's rotation angle and angular velocity in the time series:

[0080] In the second coordinate system, the z-axis is the vertical direction of the horizontal plane where the UAV is flying.

[0081] When the drone rotates, the point of rotation remains in the same spatial location.

[0082] Determine the planar distance between the drone's rotation point and the location of the drone's water jet exit. The water flow speed of the drone spraying water is Determine the linear velocity of the water flow during the rotation of the drone. Based on the time it takes for the water to spray out and hit the ground The distance of the drone's water flow offset was calculated. The specific formula is as follows:

[0083]

[0084]

[0085] This is used to calculate and analyze the spray distance of the water jet generated by the drone's rotation along the z-axis. The specific formula is as follows:

[0086]

[0087] This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point;

[0088] The angle between the point where the water falls and the initial jet direction of the water flow in the direction of rotation is R / r.

[0089] The location of the drone's rotation point and the drone's water jet outlet are determined to be on the same horizontal plane. When the drone rotates off-center along the y-axis, the specific method for analyzing the impact of the drone's rotation in the jet direction on the jet distance is as follows:

[0090] The drone's current flight altitude is The water flow speed of the drone spraying water is The drone's offset angle in the jet direction is The linear velocity of the water flow during the movement of the drone Calculate the landing time of the drone in the water flow. The specific formula is as follows:

[0091]

[0092] Find the landing time of the water flow from the drone. A comprehensive analysis of the rotational and gravitational effects of the UAV on the water flow reveals the influence of the UAV's deflection along the y-axis on the water jet's impact point. The specific formula is as follows:

[0093]

[0094] This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point.

[0095] Using the S1 and S2 steps mentioned above, the effects of the UAV's movement and rotational offset on the water jet landing point are calculated, thus obtaining the expected location where the UAV's water jet lands.

[0096] S3. Control the drone's movement and rotation separately to obtain the expected position of the water jet from the drone under different conditions.

[0097] To improve the stability of drones during firefighting and the accuracy of their water jets, and to prevent instability caused by drone rotation during flight, the movement and rotation of the drones are separated and controlled independently.

[0098] The offset of the water flow landing point when the drone is displaced and the offset of the water flow landing point when the drone is rotating are obtained, thus obtaining the multi-dimensional influence of drone movement or rotation on the water flow landing point.

[0099] S4. Determine the distance difference between the actual landing point and the expected location of the water sprayed by the drone to obtain the drone's stability test results. If the distance difference between the actual landing point and the expected location is too large, the drone's application in fire fighting is unstable. If the distance difference is small, the drone can be used stably in fire fighting.

[0100] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for testing the stability of forest firefighting drones, characterized in that, Including: S1. Based on the UAV's moving speed and direction in the first coordinate system, calculate the impact of the UAV's movement on the location of the water flow landing point; S2. Based on the UAV's rotation angle and angular velocity in the second coordinate system, calculate the centrifugal effect of the UAV's rotation on the water flow. S3. Control the drone's movement and rotation separately to obtain the expected position of the water jet from the drone under different conditions; S4. Determine the distance difference between the actual landing point and the expected position of the water sprayed by the drone to obtain the drone stability test results; The step S1, which calculates the impact of the UAV's movement on the water flow landing point based on the UAV's speed and direction in the first coordinate system, involves the following steps: S1.11 Calculate the speed and direction of the UAV in the horizontal direction; S1.

12. Based on the horizontal movement of the UAV in the time series, analyze the inertial effect of the horizontal movement of the UAV on the water jet of the UAV. S1.21 Calculate the vertical speed and direction of the UAV on the Z-axis; S1.

22. Based on the vertical speed of the UAV in the time series, analyze the inertial effect of the UAV's vertical movement on the water jet. S1.

31. Combine the vertical and horizontal effects of the UAV to obtain the influence of the UAV's movement on the water flow position; S2 calculates the centrifugal effect of the UAV's rotation on the water flow based on the UAV's rotation angle and angular velocity in the second coordinate system, including: When the drone rotates and deviates on the z-axis, the rotational deviation angle and direction of the drone are recorded. Based on the rotational deviation angle and angular velocity of the drone in the horizontal direction in the time series, the influence of the drone's rotation on the z-axis on the spray distance of the drone's water jet is analyzed. When the drone rotates and deviates on the y-axis, the angular velocity and direction of the drone's rotation are recorded. Based on the rotation angle and angular velocity of the drone in the spray direction under the time series, the influence of the drone's rotation in the spray direction on the spray distance of the drone's water jet is analyzed.

2. The method for testing the stability of a forest firefighting drone according to claim 1, characterized in that... The specific method for analyzing the inertial effect of the UAV's horizontal movement on the water jet in S1.12, based on the UAV's horizontal movement in the time series, is as follows: Based on the horizontal displacement velocity of the drone, the spatial coordinates of the water's landing point are calculated. When the drone moves, the impact of its movement on the water's landing point is calculated. The specific formula is as follows: ； in This represents the offset distance of the drone's water flow landing point. The horizontal displacement velocity of the drone. The time it takes for the water to travel from the moment it is ejected to the moment it hits the ground, where The calculation method is as follows: ； in, The altitude at which the drone flies. It is the acceleration due to gravity. Let $\frac{ ... The value is 0.

3. The method for testing the stability of a forest firefighting drone according to claim 2, characterized in that... The specific method for S1.22, which analyzes the inertial effect of the UAV's vertical movement on the water jet based on the UAV's vertical movement speed in the time series, is as follows: The altitude of the drone affects the time it takes for the water to travel from the jet to the ground, thus influencing... The value is calculated by measuring the time it takes for the water jet from the drone to land. , ； in, The altitude at which the drone flies. It is the acceleration due to gravity. Given the vertical velocity of the UAV, the inertial effect of the UAV's vertical motion on the water jet is calculated.

4. The method for testing the stability of a forest firefighting drone according to claim 3, characterized in that... The specific method for integrating the vertical and horizontal effects of the UAV in S1.31 is as follows: By combining the horizontal and vertical displacement distances and directions of the drone, the time from when the water jet is ejected to when it lands is determined. By combining the time from when the water jet is ejected to when it lands with the current flight speed of the drone, the influence of the drone's displacement on the landing point of the water jet is obtained.

5. The method for testing the stability of a forest firefighting drone according to claim 1, characterized in that... The specific method for analyzing the impact of the UAV's rotation on the landing point of the water jet on the UAV when the UAV rotates and deviates along the z-axis, based on the UAV's rotation angle and angular velocity in the time series, is as follows: Determine the planar distance between the drone's rotation point and the location of the drone's water jet exit. The water flow speed of the drone spraying water is Determine the linear velocity of the water flow during the rotation of the drone. Based on the time it takes for the water to spray out and hit the ground The distance of the drone's water flow offset was calculated. The specific formula is as follows: ； in, It is the acceleration due to gravity. The vertical speed of the drone; ； This is used to calculate and analyze the spray distance of the water jet generated by the drone's rotation along the z-axis. The specific formula is as follows: ； This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point.

6. A method for testing the stability of a forest firefighting drone according to claim 5, characterized in that... When the UAV rotates and deviates along the y-axis, the specific method for analyzing the impact of the UAV's rotation in the spray direction on the spray distance of the water jet is as follows: The drone's current flight altitude is The water flow speed of the drone spraying water is The drone's offset angle in the jet direction is The linear velocity of the water flow during the movement of the drone Calculate the landing time of the drone in the water flow. The specific formula is as follows: ； Find the landing time of the water flow from the drone. A comprehensive analysis of the rotational and gravitational effects of the UAV on the water flow reveals the influence of the UAV's deflection along the y-axis on the water jet's impact point. The specific formula is as follows: ； This is the planar distance between the final landing point of the drone's water flow and the drone's rotation point.

7. A method for testing the stability of a forest firefighting drone according to claim 6, characterized in that... The UAV cannot rotate and offset on the z-axis and on the y-axis simultaneously; the UAV can only rotate and offset on the z-axis or only on the y-axis.

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