Multi-machine cooperative fire extinguishing bomb carrying system and method

Abstract

The application discloses a multi-machine cooperative fire extinguishing bomb carrying system and method, and belongs to the technical field of unmanned aerial vehicle control. The multi-machine cooperative fire extinguishing bomb carrying system comprises: a plurality of rotary-wing flying robots for carrying a fire extinguishing bomb load alone or cooperatively; a single-machine fire extinguishing bomb carrying module for triggering control of the rotary-wing flying robots when detecting a load change; a transition process control module for identifying rotary-wing flying robots in different process stages and triggering different control strategies; and a multi-machine cooperative control module for performing dynamic load distribution according to cooperative actions of the plurality of rotary-wing flying robots. By integrating the single-machine fire extinguishing bomb carrying module, the transition process control module and the multi-machine cooperative control module, an integrated cooperative control architecture is constructed, seamless connection of single-machine load control, process transition adjustment and multi-machine load distribution is realized, and the response speed and cooperative performance of the system to complex working conditions are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a multi-UAV collaborative fire extinguishing bomb transport system and method. Background Technology

[0002] The multi-robot collaborative fire extinguishing bomb transport system is a novel electromechanical system with aerial operation capabilities, consisting of multiple rotor-wing flying robots, slings, and fire extinguishing bomb loads. This system boasts significant advantages such as high flexibility, good geographical accessibility, convenient transportation, and strong load capacity, making it well-suited for search and rescue operations in mountainous environments and for fighting forest fires.

[0003] However, existing multi-machine handling systems still face many challenges in modeling and control. For example, a rotorcraft is itself a complex underactuated nonlinear system. With the introduction of the sling and fire extinguishing bomb loads, the system's coupling, underactuated characteristics, and nonlinearity increase. Existing technical solutions are prone to system oscillations, attitude instability, and force imbalances when dealing with sudden load changes, environmental stiffness variations, and multi-machine cooperative control.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-machine collaborative fire extinguishing bomb transport system and method.

[0006] To achieve the above objectives, the present invention provides a multi-robot cooperative fire extinguishing bomb handling system, comprising: multiple rotorcraft flying robots, used individually or collaboratively to handle fire extinguishing bomb loads; a single-robot fire extinguishing bomb handling module, used to trigger control of the rotorcraft flying robots when a load change is detected; a transition process control module, used to identify the rotorcraft flying robots at different process stages and trigger different control strategies; and a multi-robot cooperative control module, used to perform dynamic load allocation based on the cooperative actions of the multiple rotorcraft flying robots.

[0007] In one embodiment of the present invention, the single-unit fire extinguishing bomb transport module is specifically used to control the rotorcraft using a compensation control method based on active modeling.

[0008] In one embodiment of the present invention, the single-unit fire extinguishing bomb handling module includes at least: a nominal controller, an active modeling unit based on Kalman filtering, and a compensation controller; the execution process of the single-unit fire extinguishing bomb handling module is as follows: after receiving the control expectation, the nominal controller generates basic control commands; the active modeling unit based on Kalman filtering collects the output feedback data of the rotorcraft and estimates the model deviation; the compensation controller generates compensation control commands based on the model deviation, and inputs the basic control commands and the compensation control commands into the rotorcraft for control.

[0009] In one embodiment of the present invention, the nominal controller employs PID control or MPC predictive control.

[0010] In one embodiment of the present invention, the process phase of the rotorcraft is a transition process from free space to constrained space; the process phase includes a free motion phase, a contact transition phase, and a force control phase.

[0011] In one embodiment of the present invention, the transition process control module is controlled by a combination of acceleration feedback adjustment and force feedback compensation.

[0012] In one embodiment of the present invention, the transition process control module includes a nominal controller, a force control unit, and an acceleration feedback unit; the execution process of the transition process control module is as follows: the control input is transmitted to the nominal controller to generate basic control commands; after the rotorcraft executes the basic control commands, it outputs its operating status, and the operating status is fed back to the acceleration feedback unit; at the same time, the force control unit collects contact force signals and outputs control quantities; the output of the acceleration feedback unit and the output of the force control unit are inversely compensated to the basic control commands.

[0013] In one embodiment of the present invention, the multi-machine cooperative control module is further specifically used to perform dynamic load allocation based on the geometric relationship and cooperative actions of the multiple rotorcraft flying robots.

[0014] In one embodiment of the present invention, the geometric relationship of the plurality of rotorcraft includes: the relative position coordinates between the plurality of rotorcraft, the connection angle between each rotorcraft and the fire extinguishing bomb load, and the distance from each rotorcraft to the fire extinguishing bomb load; the cooperative action includes: the attitude of each rotorcraft.

[0015] In a second aspect, the present invention provides a method for transporting multi-machine cooperative fire extinguishing bombs, applied to the multi-machine cooperative fire extinguishing bomb transport system as described in the first aspect. The method includes: triggering control of a rotorcraft when a load change is detected; or, identifying the rotorcraft at different process stages and triggering different control strategies; or, performing at least one step in dynamic load allocation based on the coordinated actions of the multiple rotorcraft.

[0016] Compared with existing technologies, the multi-robot collaborative fire extinguishing bomb handling system according to the present invention has the following advantages: By setting up a single-robot fire extinguishing bomb handling module, load changes can be detected in real time and corresponding control strategies can be triggered quickly, effectively dealing with sudden increases or decreases in fire extinguishing bomb load, avoiding system oscillations or loss of control due to sudden load changes, and ensuring the stability of single-robot and multi-robot collaborative handling processes. Simultaneously, with the help of the transition process control module, the motion characteristics of the rotorcraft at different stages can be accurately identified. By triggering targeted control strategies, the disturbance effects during stage transitions can be eliminated, achieving a smooth transition between each process stage and ensuring the smooth transport of fire extinguishing bombs. Furthermore, the multi-robot collaborative control module dynamically adjusts the load distribution scheme based on the real-time collaborative actions and operating conditions of multiple rotorcraft. When some rotorcraft experience a decrease in load capacity or malfunction, the load can be quickly redistributed to maintain the overall force balance of the system, improving system reliability and mission success rate. By integrating the single-unit fire extinguishing bomb handling module, the transition process control module, and the multi-unit collaborative control module, an integrated collaborative control architecture is constructed to achieve seamless connection between single-unit load control, process transition adjustment, and multi-unit load distribution, thereby improving the system's response speed and collaborative performance to complex working conditions and adapting to the dynamic needs of complex scenarios such as mountain search and rescue and forest fire fighting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a multi-machine cooperative fire extinguishing bomb transport system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of another multi-machine cooperative fire extinguishing bomb transport system according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a single-unit fire extinguishing bomb transport module according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of another multi-machine cooperative fire extinguishing bomb transport system according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of a transition process control module according to an embodiment of the present invention;

[0022] Figure 6This is a schematic diagram of multi-machine load distribution according to an embodiment of the present invention. Detailed Implementation

[0023] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0024] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0025] Existing multi-machine handling systems still face numerous challenges in modeling and control. For example, a rotorcraft is inherently a complex underactuated nonlinear system; with the introduction of slings and fire extinguishing bomb loads, the system's coupling, underactuated characteristics, and nonlinearity increase. Existing technical solutions are prone to system oscillations, attitude instability, and force imbalances when dealing with sudden load changes, environmental stiffness variations, and multi-machine cooperative control. Therefore, this invention provides the following embodiments to address these issues.

[0026] Please see Figures 1-2 This invention provides a multi-robot collaborative fire extinguishing bomb handling system, comprising: multiple rotor-wing flying robots, a single-robot fire extinguishing bomb handling module, a transition process control module, and a multi-robot collaborative control module.

[0027] Among them, multiple rotorcraft are used individually or collaboratively to carry fire extinguishing bomb loads.

[0028] In other words, the rotorcraft, acting as the actuator, possesses the dual operational capability of independently transporting fire extinguishing bombs or collaboratively transporting them, adapting to different load weights and operational scenario requirements. Specifically, Figure 1 The diagram shown illustrates a single rotorcraft independently carrying a fire extinguishing bomb load. Figure 2 The diagram shown illustrates the operation of multiple (specifically three) rotary-wing flying robots carrying fire extinguishing bombs.

[0029] Of course, the specific number of rotorcraft can be flexibly configured according to the needs of the scenario. For example, the number of rotorcraft can be 4, 6, etc. This application does not limit it.

[0030] Among them, the single-unit fire extinguishing bomb handling module is used to trigger the control of the rotorcraft when a change in load is detected.

[0031] In other words, the core function of the single-unit fire extinguishing bomb transport module is to detect load changes in real time (such as sudden load changes or uneven loads) and quickly trigger corresponding control commands to dynamically adjust the rotorcraft, ensuring the stability of single-unit operation.

[0032] The transition process control module is used to identify different process stages of the rotorcraft and trigger different control strategies.

[0033] That is, the transition process control module can accurately identify different operating stages of the rotorcraft and trigger differentiated control strategies based on the mechanical characteristics and motion requirements of each stage to ensure smooth stage transitions.

[0034] The multi-robot collaborative control module is used to dynamically distribute the load based on the coordinated actions of multiple rotorcraft.

[0035] That is, the multi-machine collaborative control module dynamically allocates the fire extinguishing bomb load based on the real-time action status and working condition information of each rotor flying robot, so as to achieve force balance among multiple machines, and can cope with sudden situations such as reduced load capacity or failure of some robots, and maintain the collaborative operation capability of the system.

[0036] In summary, the multi-robot collaborative fire extinguishing bomb handling system provided by this invention has the following beneficial effects: By setting up a single-robot fire extinguishing bomb handling module, it can detect load changes in real time and quickly trigger corresponding control strategies, effectively coping with sudden increases or decreases in fire extinguishing bomb load, avoiding system oscillations or loss of control due to sudden load changes, and ensuring the stability of single-robot and multi-robot collaborative handling processes. Simultaneously, with the help of the transition process control module, the motion characteristics of the rotorcraft at different stages are accurately identified, and targeted control strategies are triggered to eliminate disturbances during stage transitions, achieving smooth transitions between each process stage and ensuring the smooth transport of fire extinguishing bombs. Furthermore, the multi-robot collaborative control module dynamically adjusts the load distribution scheme based on the real-time collaborative actions and operating conditions of multiple rotorcraft. When some rotorcraft experience a decrease in load capacity or malfunction, the load can be quickly redistributed to maintain the overall force balance of the system, improving system reliability and mission success rate. By integrating the single-unit fire extinguishing bomb handling module, the transition process control module, and the multi-unit collaborative control module, an integrated collaborative control architecture is constructed to achieve seamless connection between single-unit load control, process transition adjustment, and multi-unit load distribution, thereby improving the system's response speed and collaborative performance to complex working conditions and adapting to the dynamic needs of complex scenarios such as mountain search and rescue and forest fire fighting.

[0037] The modules in this invention will be described in detail below.

[0038] Optionally, a single-unit fire extinguishing bomb transport module is specifically used to control the rotorcraft using a compensation control method based on active modeling.

[0039] For details, please refer to Figure 3 Optionally, the single-unit fire extinguishing bomb handling module includes at least: a nominal controller, an active modeling unit based on Kalman filtering, and a compensation controller.

[0040] The nominal controller employs either PID control or MPC predictive control.

[0041] The execution process of the single-unit fire extinguishing bomb handling module is as follows: after receiving the control expectation, the nominal controller generates basic control commands; the active modeling unit based on Kalman filtering collects the output feedback data of the rotorcraft and estimates the model deviation; the compensation controller generates compensation control commands based on the model deviation, and inputs the basic control commands and compensation control commands into the rotorcraft (such as an aircraft robot hoisting system) for control.

[0042] The control process employs a closed-loop collaborative logic of basic control plus deviation compensation. The core is to ensure control accuracy through dynamic correction of model deviations: Upon receiving the control expectation, the nominal controller (using PID or MPC predictive control) generates basic control commands based on the ideal system model to meet basic handling requirements, ensuring that the rotorcraft and lifting system follow the preset trajectory and attitude. Then, based on a Kalman filter-based active modeling unit, the output feedback data of the lifting system (such as position, attitude, acceleration, and rope tension) is collected in real time. Through filtering, noise reduction, and data fusion, the deviation between the actual system and the ideal model is accurately estimated (including deviations caused by load changes, environmental disturbances, and parameter drift). Finally, the compensation controller generates targeted correction commands based on the aforementioned model deviations; ultimately, the basic control commands are... Compensation control commands Integration, formation The output is sent to the rotary-wing flying robot hoisting system to achieve dynamic and precise control.

[0043] It should be noted that by actively modeling and capturing model deviations caused by sudden load changes in real time, the compensation controller quickly generates correction commands to avoid system oscillations and attitude instability, thus solving the transportation safety hazards caused by sudden load changes in existing technologies. Kalman filtering effectively eliminates sensor noise and environmental interference, making model deviation estimation more accurate. The compensation control makes the command output fit the actual working conditions, making up for the shortcomings of traditional theoretical models being out of touch with complex application scenarios. Basic control ensures the basic operating trajectory, and compensation control dynamically corrects deviations. The dual mechanism greatly improves the operational stability of single machines and hoisting systems.

[0044] Please see Figure 4 Optionally, the process phase of the rotorcraft is a transition from free space to constrained space; the process phase includes a free motion phase, a contact transition phase, and a force control phase.

[0045] The transient process control module uses a combination of acceleration feedback adjustment and force feedback compensation for control.

[0046] Please see Figure 5 Specifically, the transient process control module includes a nominal controller, a force control unit, and an acceleration feedback unit.

[0047] The execution process of the transient process control module is as follows: the control input is transmitted to the nominal controller to generate basic control commands; after the rotorcraft executes the basic control commands, it outputs the running status, and the running status is fed back to the acceleration feedback unit. At the same time, the force control unit collects the contact force signal and outputs the control quantity; the output of the acceleration feedback unit and the output of the force control unit are inversely compensated to the basic control commands.

[0048] This control process is the core of the contact transition control for compliant flight robots. It adopts a collaborative logic of basic control and dual feedback reverse compensation to adapt to the transition scenario of flight robots from free space to constrained space.

[0049] First, control inputs (such as trajectory commands and attitude targets) are transmitted to the nominal controller, which generates basic control commands to drive the rotorcraft based on a preset ideal control model, ensuring the robot's basic operating trajectory and attitude. After executing the basic control commands, the rotorcraft outputs its actual operating state (such as acceleration and attitude angle changes), and this state data is fed back to the acceleration feedback unit in real time. At the same time, the force control unit collects the contact force signals between the rotorcraft and the environment or load in real time, processes them, and outputs targeted control quantities. The output signal of the acceleration feedback unit and the output control quantity of the force control unit are superimposed on the initial basic control commands in a reverse compensation manner to form the corrected final control commands, which drive the rotorcraft to dynamically adjust its operating state.

[0050] Figure 5 middle, and It can characterize the feedback gain coefficient and is used to adjust the feedback weight.

[0051] As can be seen, this invention uses dual closed-loop control of acceleration and force feedback to capture disturbances (such as sudden changes in contact force and acceleration fluctuations) in real time during contact. The reverse compensation mechanism can quickly offset the influence of disturbances, solving the problem of frequent oscillations during the contact transition stage in the prior art, and achieving a smooth connection between the stages of free movement, contact transition, and force control. The dual feedback collaborative compensation can accurately control the contact force and motion acceleration, avoiding swaying of the suspension rope and displacement of the fire extinguishing bomb due to excessive impact force during contact, or robot instability caused by sudden acceleration changes, thus improving the safety of the fire extinguishing bomb handling process. The real-time acquisition and reverse compensation of acceleration and force feedback shorten the time difference between disturbance detection and control correction, improve the system's response speed to sudden situations (such as accidental collisions and sudden changes in environmental stiffness) during contact, and further ensure control stability.

[0052] Please see Figure 6 Optionally, the multi-machine collaborative control module is also specifically used to perform dynamic load distribution based on the geometric relationship and collaborative actions of multiple rotorcraft.

[0053] Optionally, the geometric relationships of the multiple rotorcraft include: the relative position coordinates between the multiple rotorcraft, the connection angle between each rotorcraft and the fire extinguishing bomb load, and the distance from each rotorcraft to the fire extinguishing bomb load; the cooperative actions include: the attitude of each rotorcraft.

[0054] Specifically, dynamic analysis is required to perform the dynamic load allocation process.

[0055] First, geometric relationship modeling can be performed, based on... Figure 6 The spatial connection structure between the rotorcraft flying robot and the fire extinguishing bomb payload uses position / attitude sensors to collect the real-time spatial coordinates of each robot and the coordinates of the payload's center of mass. Combined with the spatial attitude parameters marked in the figure, key geometric parameters such as the length of each suspension rope (the straight-line distance between the rotorcraft flying robot and the payload's center of mass) and the angle between the suspension rope and the spatial coordinate axis are calculated. This clarifies the spatial constraints between the multiple robots and the payload (such as the suspension ropes not being slack or tangled), providing spatial boundary conditions for subsequent payload allocation.

[0056] Then, dynamic analysis is performed: based on Figure 6 The parameters such as load mass, robot pulling force, and load speed are marked in the diagram. Based on Newton's second law, a force balance equation for the load is established. The relationship between the net force on the load (pulling force of each robot's suspension rope, gravity, environmental disturbance forces, etc.) and the load's motion state (acceleration, attitude) is analyzed. Simultaneously, considering the torque balance condition (to prevent the load from rotating around its center of mass), the pulling force of each robot is decomposed into a horizontal component (to maintain the load's horizontal attitude) and a vertical component (to balance gravity and provide lifting power), clarifying the correspondence between the pulling force distribution and the load's motion state.

[0057] Then, dynamic allocation calculation is performed: combining geometric constraints and dynamic equilibrium equations, with the goals of accurate load trajectory tracking, balanced pulling force among all rotorcraft robots, and not exceeding the rated load, the optimal pulling force distribution ratio of each robot is calculated. The algorithm optimizes the magnitude and direction of the pulling force of each robot (indirectly adjusting the angle of the suspension rope) to ensure that the resultant load force meets the desired motion requirements. When a rotorcraft robot experiences a decrease in load capacity or malfunctions, its status data (such as pulling force feedback and position offset) is updated in real time, and re-substituted into the geometric and dynamic models to quickly adjust the pulling force distribution scheme of the remaining robots, making up for the pulling force loss of the malfunctioning rotorcraft robot, maintaining the overall force and torque balance of the system, and ensuring smooth load handling.

[0058] Figure 6 The meanings of the parameters in the table are as follows:

[0059] This represents the mass of the i-th rotorcraft. Let represent the moment of inertia of the i-th rotorcraft. This represents the spatial attitude matrix of the i-th rotorcraft. Indicates the mass of the fire extinguishing bomb; Represents the unit vector of the direction of the suspension rope; , , Represents the unit orthogonal basis vector of the three-dimensional world coordinate system; , , Denotes the unit orthogonal basis vector of the body coordinate system of the i-th rotorcraft; This represents the tension vector exerted by a single rotorcraft on the load of the fire extinguishing bomb via a sling. This represents the length of the sling connecting the i-th rotorcraft and the fire extinguishing bomb payload; Represents a unit sphere.

[0060] It should be noted that embodiments of the present invention also provide a sensor network for real-time monitoring of system status. Of course, this sensor network is also used to implement all the aforementioned data acquisition and measurement.

[0061] The aforementioned sensor network may specifically include, but is not limited to, force sensors, acceleration sensors, position / attitude sensors, environmental perception sensors, fault sensors, etc., and this application does not limit it.

[0062] In summary, the multi-machine cooperative fire extinguishing bomb transport system provided in this application has the following beneficial effects:

[0063] 1. Functional benefits: Through active modeling and compensation control strategies, the system effectively solves the oscillation problems during load abrupt changes and contact transitions, improving system stability; the controller design based on acceleration and force feedback can adapt to changes in environmental stiffness in real time, enhancing the system's environmental adaptability; and through a dynamic load distribution mechanism, load balancing is achieved in the multi-machine collaborative handling process, improving the system's transportation efficiency and reliability.

[0064] 2. Economic benefits: The optimized control strategy and load distribution mechanism improve the system's transportation efficiency and reliability, thereby reducing operating costs and improving economic benefits.

[0065] 3. Social benefits: It improves the application capability of multi-machine fire extinguishing bomb transport system in complex environments, helps to improve the safety of search and rescue and forest fire fighting in mountainous environments, and promotes social development.

[0066] 4. Technological advancements: By applying new control strategies and load distribution mechanisms, the collaborative performance of multi-machine material handling systems has been improved, promoting the development of related technological fields.

[0067] 5. Innovation Benefits: A new multi-machine collaborative operation fire extinguishing bomb handling system and collaborative control method were developed, bringing new products and business models to related fields and opening up new markets.

[0068] Furthermore, for single-unit fire extinguishing bomb handling modules, a deep learning-based intelligent control strategy can be adopted. Specifically, deep learning algorithms, such as reinforcement learning or neural networks, are used to model and control the multi-unit fire extinguishing bomb handling system. By training the model with extensive simulation and real-world data, the system can automatically learn the optimal control strategy. This approach can improve the system's intelligence level, enhance its adaptability to complex environments, and further improve its stability and efficiency.

[0069] Furthermore, this invention can also provide a distributed control architecture, where each rotorcraft is equipped with an independent controller, and collaborative control is achieved through a high-speed communication network. This approach improves the system's flexibility and scalability. It enhances system scalability, allowing for the addition or reduction of the number of flying robots to adapt to different mission requirements.

[0070] Alternatively, real-time control based on visual feedback can be employed. This involves introducing visual sensors and using real-time image processing and analysis to achieve precise position and attitude estimation of the flying robot and its payload. Designing control strategies based on visual feedback improves system accuracy and stability, and enhances adaptability to complex environments, especially in scenarios with good visual conditions.

[0071] Based on the same inventive concept, this invention also provides a method for transporting multi-robot cooperative fire extinguishing bombs, applied to the aforementioned multi-robot cooperative fire extinguishing bomb transport system. The method includes: triggering control of a rotorcraft when a load change is detected; or, identifying the rotorcraft at different process stages and triggering different control strategies; or, performing at least one step in dynamic load allocation based on the coordinated actions of the multiple rotorcraft.

[0072] It should be noted that the above methods and steps have been described in the foregoing embodiments, so they will not be repeated here. The same parts can be referred to each other.

[0073] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0074] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0075] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inner", "outer", "inner side", "outer side", etc. indicate the orientation or positional relationship.

[0076] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0077] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0078] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent a range between two numerical values, and this range includes the endpoints. For example, "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0079] In the description of embodiments of the present invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0080] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A multi-machine cooperative fire extinguishing bomb transport system, characterized in that, include: Multiple rotorcraft flying robots, used individually or collaboratively to carry fire extinguishing bomb loads; The single-unit fire extinguishing bomb handling module is used to trigger the control of the rotary-wing flying robot when a load change is detected; The transition process control module is used to identify different process stages of the rotorcraft and trigger different control strategies. The multi-robot collaborative control module is used to perform dynamic load distribution based on the coordinated actions of the multiple rotorcraft.

2. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 1, characterized in that, The single-unit fire extinguishing bomb transport module is specifically used to control the rotorcraft using a compensation control method based on active modeling.

3. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 2, characterized in that, The single-unit fire extinguishing bomb transport module includes at least: a nominal controller, an active modeling unit based on Kalman filtering, and a compensation controller; The execution process of the single-unit fire extinguishing bomb handling module is as follows: after receiving the control expectation, the nominal controller generates basic control commands; the active modeling unit based on Kalman filtering collects the output feedback data of the rotorcraft and estimates the model deviation; the compensation controller generates compensation control commands based on the model deviation, and inputs the basic control commands and the compensation control commands into the rotorcraft for control.

4. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 2, characterized in that, The nominal controller employs either PID control or MPC predictive control.

5. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 1, characterized in that, The process phase of the rotorcraft is a transition from free space to constrained space; The process stages include the free motion stage, the contact transition stage, and the force control stage.

6. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 5, characterized in that, The transition process control module is controlled by a combination of acceleration feedback adjustment and force feedback compensation.

7. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 6, characterized in that, The transition process control module includes a nominal controller, a force control unit, and an acceleration feedback unit; The execution process of the transition process control module is as follows: the control input is transmitted to the nominal controller to generate basic control commands; after the rotorcraft executes the basic control commands, it outputs the operating status, and the operating status is fed back to the acceleration feedback unit. At the same time, the force control unit collects the contact force signal and outputs the control quantity; the output of the acceleration feedback unit and the output of the force control unit are inversely compensated to the basic control commands.

8. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 1, characterized in that, The multi-machine collaborative control module is also specifically used to perform dynamic load distribution based on the geometric relationship and collaborative actions of the multiple rotorcraft flying robots.

9. The multi-machine cooperative fire extinguishing bomb transport system as described in claim 8, characterized in that, The geometric relationships of the multiple rotorcraft include: the relative position coordinates between the multiple rotorcraft, the connection angle between each rotorcraft and the fire extinguishing bomb load, and the distance from each rotorcraft to the fire extinguishing bomb load; The coordinated actions include the attitude of each rotorcraft.

10. A method for transporting multi-machine coordinated fire extinguishing bombs, characterized in that, The method, applied to the multi-machine cooperative fire extinguishing bomb transport system as described in any one of claims 1-9, comprises: When a load change is detected, control of the rotorcraft is triggered; or, Identify the different stages of a rotorcraft's flight process and trigger different control strategies; or, Based on the coordinated actions of the plurality of rotorcraft flying robots, at least one step in the dynamic load allocation is executed.

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