Fire-fighting unmanned aerial vehicle spray rod telescopic posture self-adaptive stable posture control method

Abstract

The application relates to the technical field of unmanned aerial vehicle fire fighting operation, and provides a fire-fighting unmanned aerial vehicle spray rod telescopic posture self-adaptive stable posture control method.The method comprises the following steps: collecting current telescopic length data, current pitch angle data and spray flow pressure data of a spray rod; according to the collected telescopic length data, pitch angle data and spray flow pressure data of the spray rod, the current gravity center offset and the spray flow recoil moment of the fire-fighting unmanned aerial vehicle are calculated, and a telescopic speed adjusting amount, a pitch angle adjusting amount and an output distribution adjusting amount of each power unit of a multi-rotor are generated; a telescopic speed adjusting instruction is sent to a telescopic driving mechanism, a pitch angle adjusting instruction is sent to a pitch adjusting mechanism, and a power output distribution adjusting instruction is sent to a multi-rotor power system; and the posture deviation of the adjusted fire-fighting unmanned aerial vehicle is detected until the posture deviation is within a preset allowable range.The method improves the response speed and compensation precision of the posture control.

Description

Technical Field

[0001] This application relates to the field of drone firefighting technology, and in particular to an adaptive attitude stabilization control method for the extension and retraction attitude of a firefighting drone's boom. Background Technology

[0002] Currently, firefighting drones operating in high-rise buildings generally employ fixed or simple telescopic booms. Existing attitude stabilization methods compensate for attitude disturbances solely by adjusting the multi-rotor power output, failing to consider the coupling effect of center of gravity changes and jet recoil during boom extension and retraction. When the boom extends or retracts significantly or jet pressure changes, relying solely on power output compensation suffers from response lag and insufficient accuracy, easily leading to aircraft swaying and attitude deviation, making it impossible to achieve stable and precise spraying when operating near the walls of high-rise buildings. Furthermore, existing technologies do not incorporate the boom's extension / retraction speed and pitch angle as adjustable variables for attitude stabilization, failing to suppress attitude changes at the source of disturbances and limiting the safety and effectiveness of firefighting operations. Summary of the Invention

[0003] This application provides an adaptive attitude stabilization control method for the boom extension and retraction attitude of a fire-fighting drone. It aims to address the shortcomings of existing attitude stabilization methods that compensate for attitude disturbances solely by adjusting the multi-rotor power output, without considering the coupling effect of center of gravity changes and jet recoil during boom extension and retraction. When the boom extends or retracts significantly or the jet pressure changes, relying solely on power output compensation suffers from response lag and insufficient compensation accuracy, easily leading to aircraft swaying and attitude deviation, and failing to achieve stable and accurate spraying when operating near the walls of high-rise buildings.

[0004] In a first aspect, embodiments of this application provide an adaptive attitude stabilization control method for the telescopic attitude of a fire-fighting drone's spray boom. This method is applied to a fire-fighting operation assembly structure equipped with a fire-fighting housing, a multi-stage telescopic spray boom, a triangular support arm, and a spray boom pitch adjustment structure. The fire-fighting operation assembly structure is mounted on a fire-fighting drone. The method includes: Collect the current extension length, pitch angle, and jet pressure data of the boom; based on the collected boom extension length, pitch angle, and jet pressure data, calculate the current center of gravity offset and jet recoil torque of the firefighting drone. Based on the current center of gravity offset and jet recoil torque, the adjustment amounts for boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor are generated respectively. Send extension speed adjustment commands to the boom extension drive mechanism, pitch angle adjustment commands to the boom pitch adjustment mechanism, and power output distribution adjustment commands to the multi-rotor power system; detect the attitude deviation of the fire-fighting drone after adjustment until the attitude deviation is within a preset allowable range.

[0005] In some embodiments, the acquisition of the current extension length data, current pitch angle data, and jet pressure data of the spray boom includes: acquiring the current extension length data of the spray boom through a displacement sensor installed on the spray boom extension drive mechanism; acquiring the current pitch angle data of the spray boom through an angle sensor installed on the spray boom pitch adjustment mechanism; acquiring jet pressure data through a pressure sensor installed at the outlet of the fire box; and synchronously acquiring all data at a fixed frequency and performing data filtering processing.

[0006] In some embodiments, calculating the current center of gravity offset and jet recoil moment of the fire-fighting drone based on the collected boom extension length data, pitch angle data, and jet pressure data includes: retrieving pre-stored mass distribution data of each level of boom, mass data of the triangular support arm, and mass data of the fire-fighting housing; calculating the current center of gravity offset of the fire-fighting drone by combining the current extension length data and current pitch angle data; retrieving pre-stored correspondence data between jet pressure and jet recoil force; and calculating the jet recoil moment of the fire-fighting drone by combining the current jet pressure data and current pitch angle data.

[0007] In some embodiments, generating the boom extension / retraction speed adjustment, boom pitch angle adjustment, and output distribution adjustment of each power unit of the multi-rotor based on the current center of gravity offset and jet recoil torque includes: generating a first boom extension / retraction speed adjustment, a first boom pitch angle adjustment, and a first power output distribution adjustment based on the current center of gravity offset; generating a second boom extension / retraction speed adjustment, a second boom pitch angle adjustment, and a second power output distribution adjustment based on the jet recoil torque; superimposing the first boom extension / retraction speed adjustment and the second boom extension / retraction speed adjustment to obtain the final boom extension / retraction speed adjustment; superimposing the first boom pitch angle adjustment and the second boom pitch angle adjustment to obtain the final boom pitch angle adjustment; and superimposing the first power output distribution adjustment and the second power output distribution adjustment to obtain the final output distribution adjustment of each power unit of the multi-rotor.

[0008] In some embodiments, sending the telescopic speed adjustment command to the telescopic drive mechanism includes: adjusting the current telescopic speed of the spray boom according to the final telescopic speed adjustment amount; limiting the maximum and minimum values ​​of the telescopic speed of the spray boom; smoothing the rate of change of the telescopic speed of the spray boom; and sending the smoothed telescopic speed adjustment command to the telescopic drive mechanism.

[0009] In some embodiments, sending a pitch angle adjustment command to the boom pitch adjustment mechanism includes: adjusting the current boom pitch angle according to the final boom pitch angle adjustment amount; limiting the maximum and minimum values ​​of the boom pitch angle; smoothing the rate of change of the boom pitch angle; and sending the smoothed pitch angle adjustment command to the boom pitch adjustment mechanism.

[0010] In some embodiments, sending the power output distribution adjustment command to the multi-rotor power system includes: adjusting the current output power of each power unit of the multi-rotor according to the final output distribution adjustment amount of each power unit of the multi-rotor; limiting the maximum and minimum output power of each power unit; evenly distributing the total adjustment torque to each power unit according to the multi-rotor's structure and the installation position of each power unit; and sending the power output distribution adjustment command to the multi-rotor power system.

[0011] In some embodiments, detecting the attitude deviation of the firefighting drone after adjustment until the attitude deviation is within a preset allowable range includes: collecting roll angle data, pitch angle data, and yaw angle data of the firefighting drone at a fixed frequency; comparing the collected roll angle data, pitch angle data, and yaw angle data with preset target roll angle, target pitch angle, and target yaw angle respectively, and calculating the roll angle deviation, pitch angle deviation, and yaw angle deviation; determining whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range; if any deviation exceeds the preset allowable range, repeating the steps of collecting data, calculating offset and recoil torque, generating adjustment amount, and sending adjustment command.

[0012] In some embodiments, the method further includes: pre-collecting attitude disturbance data of the fire-fighting drone operating near a building wall at different distances, and training a wall effect compensation model; collecting distance data between the fire-fighting drone and the building wall; inputting the distance data into the wall effect compensation model to obtain a wall effect compensation torque; and superimposing the wall effect compensation torque into the jet recoil torque to participate in generating the output distribution adjustment of each power unit of the multi-rotor.

[0013] In some embodiments, the method further includes: recording historical trends of the boom extension / retraction length, pitch angle, and jet pressure data; predicting the changes in the boom extension / retraction length, pitch angle, and jet pressure within a preset time period based on the historical trends; if it is predicted that the boom extension / retraction length will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, generating corresponding adjustment commands in advance to limit the extension / retraction speed of the boom, the rate of change of the pitch angle, or adjust the jet pressure; if the boom is detected to be stuck or the jet pressure changes abruptly, immediately stopping the boom extension / retraction action and jet operation, and simultaneously controlling the fire-fighting drone to return to a safe position.

[0014] This application, by simultaneously using boom extension / retraction speed, pitch angle, and multi-rotor power output distribution as coordinated adjustment variables for attitude stabilization control, can suppress attitude disturbances caused by boom extension / retraction center of gravity changes and jet recoil force at the source of disturbance, significantly improving the response speed and compensation accuracy of attitude control. By real-time acquisition of boom status data and jet pressure data, calculating center of gravity offset and jet recoil torque, and generating corresponding adjustment values, adaptive compensation for attitude disturbances is achieved, effectively suppressing aircraft sway and attitude deviation, ensuring stable and precise spraying during close-to-wall operations on high-rise buildings. By employing a closed-loop control method, attitude deviations are detected in real-time and continuously adjusted to ensure that the UAV's attitude remains within the preset allowable range, improving the safety and reliability of firefighting operations.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart illustrating the steps of an adaptive attitude stabilization control method for the extension and retraction attitude of a fire-fighting drone's boom, provided in one embodiment of this application. Figure 2 This is a structural schematic diagram of a fire-fighting operation assembly structure provided in one embodiment of this application; Figure 3 This is a schematic block diagram of the structure of an adaptive attitude stabilization control system for the telescopic attitude of a fire-fighting drone's boom, provided in one embodiment of this application. Figure 4 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0021] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0022] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0023] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] Currently, firefighting drones operating in high-rise buildings generally employ fixed or simple telescopic booms. Existing attitude stabilization methods compensate for attitude disturbances solely by adjusting the multi-rotor power output, failing to consider the coupling effect of center of gravity changes and jet recoil during boom extension and retraction. When the boom extends or retracts significantly or jet pressure changes, relying solely on power output compensation suffers from response lag and insufficient accuracy, easily leading to aircraft swaying and attitude deviation, making it impossible to achieve stable and precise spraying when operating near the walls of high-rise buildings. Furthermore, existing technologies do not incorporate the boom's extension / retraction speed and pitch angle as adjustable variables for attitude stabilization, failing to suppress attitude changes at the source of disturbances and limiting the safety and effectiveness of firefighting operations.

[0025] To solve the above problem, please refer to Figure 1 This application provides an adaptive attitude stabilization control method for the telescopic attitude of a fire-fighting drone's spray boom. The method is applied to a fire-fighting operation assembly structure equipped with a fire-fighting housing, a multi-stage telescopic spray boom, a triangular support arm, and a spray boom pitch adjustment structure. The fire-fighting operation assembly structure is mounted on a fire-fighting drone.

[0026] like Figure 2As shown, the fire-fighting assembly structure includes a fire-fighting housing 1, a multi-stage telescopic spray boom 2, a triangular support arm 3, and a spray boom pitch adjustment mechanism 4. The fire-fighting housing 1 is used to store extinguishing agents or connect to external extinguishing agent delivery pipelines. Its top is equipped with a quick-release installation interface for rapid docking with the bottom of the fire-fighting drone. One end of the multi-stage telescopic spray boom 2 is sealed to the outlet of the fire-fighting housing 1, and the other end is equipped with a nozzle mounting position. One end of the triangular support arm 3 is hinged to the side wall of the fire-fighting housing 1, and the other end is hinged to the middle of the multi-stage telescopic spray boom 2, enhancing the structural strength and stability of the spray boom. The spray boom pitch adjustment mechanism 4 is located at the connection between the fire-fighting housing 1 and the multi-stage telescopic spray boom 2, driving the multi-stage telescopic spray boom 2 to rotate around the hinge axis, thereby adjusting the pitch angle.

[0027] The method is implemented using computer equipment, which can be deployed on a single server or a server cluster. It can also be deployed on handheld terminals, laptops, wearable devices, or robots. It should be noted that all information involved in the method provided in this application is extracted with the authorization of the relevant user and in accordance with relevant regulations, and will not infringe on user privacy.

[0028] The provided adaptive attitude stabilization control for the extension and retraction of the fire-fighting drone's boom includes steps S101 to S103. Details are as follows: Step S101. Collect the current extension length data, current pitch angle data, and jet pressure data of the boom; based on the collected boom extension length data, pitch angle data, and jet pressure data, calculate the current center of gravity offset and jet recoil torque of the fire-fighting drone.

[0029] Specifically, this step is the foundation of the entire attitude stabilization control method. By collecting the status data and operation parameters of the fire-fighting operation assembly in real time, the two main disturbances affecting the attitude of the UAV are calculated: the center of gravity offset and the jet recoil torque.

[0030] First, a rigid body dynamics model of the firefighting drone and its assembly is established. The drone fuselage, fire box, various telescopic spray booms, and triangular support arm are treated as independent rigid body units. The physical parameters of each rigid body unit, such as mass, center of mass position, and moment of inertia, are measured and stored in advance. These parameters are calibrated using precision measuring equipment before the firefighting assembly leaves the factory and stored in the non-volatile memory of the onboard computer.

[0031] Then, key data reflecting the current operational status are collected in real time. This data includes, but is not limited to, the current extension / retraction length of the boom, the current pitch angle of the boom, and the current pressure of the jet. The data acquisition process is performed with a fixed control cycle, ranging from 1 millisecond to 10 milliseconds, preferably 5 milliseconds, to ensure real-time control.

[0032] Finally, based on the collected state data and pre-stored physical parameters, the current center of gravity offset and jet recoil moment are calculated. The center of gravity offset refers to the vector displacement of the entire system's center of mass relative to the UAV's geometric center due to boom extension, retraction, and pitch. The jet recoil moment refers to the torque exerted on the UAV's center of mass by the reaction force generated when the extinguishing agent is ejected from the nozzle.

[0033] Step S102. Based on the current center of gravity offset and jet recoil torque, generate the adjustment amount of the boom extension / retraction speed, the boom pitch angle, and the output distribution adjustment amount of each power unit of the multi-rotor.

[0034] Specifically, this step is the core of the entire attitude control method. Based on the calculated center of gravity offset and jet recoil torque, three adjustment quantities are generated simultaneously: the boom extension and retraction speed adjustment, the boom pitch angle adjustment, and the output distribution adjustment of each power unit of the multi-rotor.

[0035] Unlike existing technologies that rely solely on adjusting the multi-rotor power output for attitude compensation, this invention is the first to use the boom's own motion parameters as active adjustment variables. By simultaneously adjusting the boom's extension and retraction speed and pitch angle, the rate of center of gravity shift and the direction of the jet recoil force can be changed at the source of disturbance, thereby significantly reducing the compensation burden on the multi-rotor power system and improving the response speed and stability of attitude control.

[0036] Specifically, the center of gravity offset and jet recoil torque are input into three independent controllers: a boom extension / retraction speed controller, a boom pitch angle controller, and a multi-rotor power distribution controller. Each controller outputs a corresponding adjustment based on the input disturbance. The outputs of the three controllers are then integrated to obtain the final control command.

[0037] The controller can employ various control algorithms, such as proportional-integral-derivative (PID) controllers, model predictive controllers (MMDCs), and sliding mode controllers. In a preferred embodiment of the invention, a model predictive controller is used because it can better handle multivariable coupled systems and constraints, making it suitable for the application scenarios of this invention.

[0038] Step S103. Send extension speed adjustment command to the boom extension drive mechanism, send pitch angle adjustment command to the boom pitch adjustment mechanism, and send power output distribution adjustment command to the multi-rotor power system; detect the attitude deviation of the fire-fighting drone after adjustment until the attitude deviation is within the preset allowable range.

[0039] Specifically, this step is the execution stage of the entire attitude stabilization control method. It converts the generated adjustment amount into specific control commands and sends them to the corresponding actuators. By detecting the attitude deviation of the UAV in real time, a closed-loop control is formed to ensure that the attitude of the UAV remains stable at all times.

[0040] First, the adjustment amount of the spray boom extension speed is converted into a control signal for the spray boom extension drive mechanism. The spray boom extension drive mechanism can employ various drive methods such as electric push rods, servo motors, and hydraulic cylinders. In a preferred embodiment of the invention, a servo motor drives a ball screw because this method has advantages such as high positioning accuracy, fast response speed, and large output force.

[0041] Then, the adjustment amount of the boom pitch angle is converted into a control signal for the boom pitch adjustment mechanism. The boom pitch adjustment mechanism can also employ various driving methods such as electric actuators, servo motors, and hydraulic cylinders. In a preferred embodiment of the invention, an electric actuator is used because this method is simple in structure, easy to install, and has a low cost.

[0042] Next, the output distribution adjustment of each power unit of the multi-rotor is converted into speed control signals for each motor. Based on the structure of the multi-rotor UAV (such as quadcopter, hexacopter, octocopter, etc.) and the installation position of each power unit, the total adjustment torque is reasonably distributed to each power unit to generate the required attitude correction torque.

[0043] Finally, the attitude deviation of the UAV after adjustment is detected in real time. The attitude data of the UAV is collected by an inertial measurement unit (IMU) mounted on the UAV fuselage, which includes a three-axis accelerometer and a three-axis gyroscope. The collected attitude data is compared with the preset target attitude to calculate the attitude deviation. If the attitude deviation exceeds the preset allowable range, steps S101 to S103 are repeated until the attitude deviation is within the preset allowable range.

[0044] In some embodiments, the acquisition of the current extension length data, current pitch angle data, and jet pressure data of the spray boom includes: acquiring the current extension length data of the spray boom through a displacement sensor installed on the spray boom extension drive mechanism; acquiring the current pitch angle data of the spray boom through an angle sensor installed on the spray boom pitch adjustment mechanism; acquiring jet pressure data through a pressure sensor installed at the outlet of the fire box; and synchronously acquiring all data at a fixed frequency and performing data filtering processing.

[0045] The current extension / retraction length of the spray boom is collected by a displacement sensor installed on the boom extension / retraction drive mechanism. Various types of displacement sensors can be used, such as wire-type displacement sensors, magnetostrictive displacement sensors, and photoelectric encoders. In this embodiment, a photoelectric encoder is used, mounted on the output shaft of the servo motor that drives the boom extension / retraction. The extension / retraction length of the spray boom is calculated by measuring the rotation angle of the servo motor.

[0046] The current pitch angle data of the spray boom is collected by an angle sensor installed on the boom pitch adjustment mechanism. Various types of angle sensors can be used, such as potentiometer-type angle sensors, Hall effect angle sensors, and photoelectric angle sensors. In this embodiment, a Hall effect angle sensor is used, which is installed on the hinge axis between the spray boom and the fire-fighting equipment housing to directly measure the pitch angle of the spray boom.

[0047] The jet pressure data is collected by a pressure sensor installed at the outlet of the fire hydrant enclosure. The pressure sensor is a diffused silicon pressure sensor with a measurement range of 0 MPa to 10 MPa and an accuracy class of 0.5, which meets the requirements of fire fighting operations.

[0048] All data is collected synchronously at a fixed frequency and then filtered. The data acquisition frequency is the same as the control cycle, which is 5 milliseconds. A moving average filtering algorithm is used to filter the collected raw data, with a sliding window size of 5 sampling points, to remove sensor noise and interference signals, thereby improving the accuracy and reliability of the data.

[0049] In some embodiments, calculating the current center of gravity offset and jet recoil moment of the fire-fighting drone based on the collected boom extension length data, pitch angle data, and jet pressure data includes: retrieving pre-stored mass distribution data of each level of boom, mass data of the triangular support arm, and mass data of the fire-fighting housing; calculating the current center of gravity offset of the fire-fighting drone by combining the current extension length data and current pitch angle data; retrieving pre-stored correspondence data between jet pressure and jet recoil force; and calculating the jet recoil moment of the fire-fighting drone by combining the current jet pressure data and current pitch angle data.

[0050] Based on the collected data on the extension and retraction length of the boom, pitch angle, and jet pressure, the current center of gravity offset and jet recoil torque of the fire-fighting drone are calculated. This is achieved by retrieving pre-stored mass distribution data for each stage of the boom, the triangular support arm, and the fire-fighting housing. The mass distribution data for each stage of the boom includes the mass, length, and center of gravity position of each stage relative to the root of the boom. The mass data for the triangular support arm includes the total mass and center of gravity position of the support arm. The mass data for the fire-fighting housing includes the empty housing mass and the mass and center of gravity position at different extinguishing agent levels.

[0051] By combining the current telescopic length data and the current pitch angle data, the current center of gravity offset of the firefighting drone is calculated. First, the extension length of each spray boom is determined based on the current telescopic length data. Then, the center of gravity position of each spray boom in the drone's body coordinate system is calculated. Next, the center of gravity position of the triangular support arm in the drone's body coordinate system is calculated. Finally, the center of gravity positions of all rigid body elements are weighted and averaged to obtain the total center of gravity position of the entire system. The difference between the total center of gravity position and the geometric center of the drone's fuselage is the current center of gravity offset.

[0052] Retrieve pre-stored data on the correlation between jet pressure and jet recoil force. This correlation data is obtained through experimental calibration before the fire-fighting assembly leaves the factory. Under different jet pressures, measure the recoil force generated by the nozzle, establish a mapping table between jet pressure and jet recoil force, and store it in the onboard computer.

[0053] By combining the current jet pressure data and the current pitch angle data, the jet recoil moment of the firefighting drone is calculated. First, the magnitude of the current jet recoil force is obtained by looking up a table based on the current jet pressure data. Then, the direction of the jet recoil force is determined based on the current pitch angle data. Finally, the moment of the jet recoil force about the drone's center of mass is calculated, which is the jet recoil moment.

[0054] In some embodiments, generating the boom extension / retraction speed adjustment, boom pitch angle adjustment, and output distribution adjustment of each power unit of the multi-rotor based on the current center of gravity offset and jet recoil torque includes: generating a first boom extension / retraction speed adjustment, a first boom pitch angle adjustment, and a first power output distribution adjustment based on the current center of gravity offset; generating a second boom extension / retraction speed adjustment, a second boom pitch angle adjustment, and a second power output distribution adjustment based on the jet recoil torque; superimposing the first boom extension / retraction speed adjustment and the second boom extension / retraction speed adjustment to obtain the final boom extension / retraction speed adjustment; superimposing the first boom pitch angle adjustment and the second boom pitch angle adjustment to obtain the final boom pitch angle adjustment; and superimposing the first power output distribution adjustment and the second power output distribution adjustment to obtain the final output distribution adjustment of each power unit of the multi-rotor.

[0055] This embodiment provides a detailed description of the method for generating the multivariate collaborative adjustment quantity in step S102.

[0056] Based on the current center of gravity offset and jet recoil torque, the system generates adjustments for the boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor. Specifically, based on the current center of gravity offset, it generates a first adjustment for the boom extension / retraction speed, a first adjustment for the boom pitch angle, and a first adjustment for power output distribution. These three adjustments are used to compensate for attitude disturbances caused by the center of gravity offset. When the center of gravity shifts forward, a negative first boom extension / retraction speed adjustment is generated, causing the boom to retract; a negative first boom pitch angle adjustment is generated, causing the boom to pitch downwards; and simultaneously, a corresponding first power output distribution adjustment is generated, causing the UAV to generate a pitch-up torque.

[0057] Based on the jet recoil torque, a second boom extension / retraction speed adjustment, a second boom pitch angle adjustment, and a second power output distribution adjustment are generated. These three adjustments are used to compensate for attitude disturbances caused by the jet recoil force. When the jet recoil force generates a nose-up moment, a positive second boom extension / retraction speed adjustment is generated to extend the boom; a positive second boom pitch angle adjustment is generated to tilt the boom upwards; and simultaneously, a corresponding second power output distribution adjustment is generated to induce a nose-down moment for the UAV.

[0058] The final adjustment amount of the extension and retraction speed of the spray boom is obtained by superimposing the adjustment amount of the extension and retraction speed of the first spray boom and the second spray boom.

[0059] The pitch angle adjustment of the first spray bar is superimposed with the pitch angle adjustment of the second spray bar to obtain the final pitch angle adjustment.

[0060] The first power output distribution adjustment amount and the second power output distribution adjustment amount are superimposed to obtain the final output distribution adjustment amount of each power unit of the multi-rotor.

[0061] By using this layered approach, two different types of disturbances—center of gravity shift and jet recoil force—can be handled separately, making the control logic clearer and facilitating debugging and maintenance.

[0062] In some embodiments, sending the telescopic speed adjustment command to the telescopic drive mechanism includes: adjusting the current telescopic speed of the spray boom according to the final telescopic speed adjustment amount; limiting the maximum and minimum values ​​of the telescopic speed of the spray boom; smoothing the rate of change of the telescopic speed of the spray boom; and sending the smoothed telescopic speed adjustment command to the telescopic drive mechanism.

[0063] This embodiment provides a detailed description of the generation and transmission process of the spray boom extension / retraction speed adjustment command in step S103.

[0064] The telescopic boom extension / retraction drive mechanism sends an extension / retraction speed adjustment command, and the current telescopic boom extension / retraction speed is adjusted based on the final telescopic boom extension / retraction speed adjustment amount. The target telescopic boom extension / retraction speed is obtained by adding the current telescopic boom extension / retraction speed to the final telescopic boom extension / retraction speed adjustment amount.

[0065] Limit the maximum and minimum speed of the spray boom extension and retraction. The maximum speed is set to 0.5 meters per second, and the minimum speed is set to -0.5 meters per second (the negative sign indicates the direction of retraction). Limiting the speed of the spray boom extension and retraction is to prevent excessively fast movement of the spray boom, which could cause structural damage or generate excessive inertial forces.

[0066] The rate of change of the boom extension / retraction speed is smoothed. A first-order low-pass filter is used to smooth the target boom extension / retraction speed, with a filter time constant set to 0.1 seconds. The purpose of smoothing is to prevent shocks and vibrations caused by sudden changes in boom speed and to improve the stability of the system.

[0067] A smoothed extension / retraction speed adjustment command is sent to the boom extension / retraction drive mechanism. The target boom extension / retraction speed is converted into a servo motor speed command, which is sent to the servo motor driver via a pulse width modulation signal. This drives the servo motor to rotate at the specified speed, thereby realizing the extension / retraction movement of the boom.

[0068] In some embodiments, sending a pitch angle adjustment command to the boom pitch adjustment mechanism includes: adjusting the current boom pitch angle according to the final boom pitch angle adjustment amount; limiting the maximum and minimum values ​​of the boom pitch angle; smoothing the rate of change of the boom pitch angle; and sending the smoothed pitch angle adjustment command to the boom pitch adjustment mechanism.

[0069] This embodiment provides a detailed description of the generation and transmission process of the boom pitch angle adjustment command in step S103. Sending the pitch angle adjustment command to the boom pitch adjustment mechanism adjusts the current boom pitch angle based on the final boom pitch angle adjustment amount. The target boom pitch angle is obtained by adding the final boom pitch angle adjustment amount to the current boom pitch angle.

[0070] Limit the maximum and minimum values ​​of the boom pitch angle. The maximum value of the boom pitch angle is set to 60 degrees, and the minimum value is set to -30 degrees (0 degrees is horizontal forward, positive upward, and negative downward). Limiting the boom pitch angle is to prevent interference between the boom and the drone fuselage or other components, while ensuring the effective range of the firefighting operation.

[0071] The rate of change of the boom pitch angle is smoothed. A first-order low-pass filter is used to smooth the rate of change of the target boom pitch angle, with the filter's time constant set to 0.15 seconds. The purpose of smoothing is to prevent shocks and vibrations caused by sudden changes in the boom angle and to improve the system's stability.

[0072] A smoothed pitch angle adjustment command is sent to the boom pitch adjustment mechanism. The target boom pitch angle is converted into a displacement command for the electric actuator, which is sent to the electric actuator controller via an analog signal. This drives the electric actuator to extend or retract according to the specified displacement, thereby achieving the boom pitch movement.

[0073] In some embodiments, sending the power output distribution adjustment command to the multi-rotor power system includes: adjusting the current output power of each power unit of the multi-rotor according to the final output distribution adjustment amount of each power unit of the multi-rotor; limiting the maximum and minimum output power of each power unit; evenly distributing the total adjustment torque to each power unit according to the multi-rotor's structure and the installation position of each power unit; and sending the power output distribution adjustment command to the multi-rotor power system.

[0074] This embodiment provides a detailed description of the generation and transmission process of the multi-rotor power output distribution adjustment command in step S103.

[0075] The process involves sending power output distribution adjustment commands to the multi-rotor propulsion system. Based on the final output distribution adjustment amount for each power unit, the current output power of each power unit is adjusted. The target output power for each power unit is obtained by adding its current output power to the corresponding output distribution adjustment amount.

[0076] Limit the maximum and minimum output power of each power unit. The maximum output power of each power unit is set to 100% of its rated power, and the minimum output power is set to 10% of its rated power. The purpose of limiting the output power of the power units is to prevent motor overload damage while ensuring that the UAV has sufficient lift and maneuverability.

[0077] Based on the multi-rotor aircraft structure and the installation position of each power unit, the total adjustment torque is evenly distributed to each power unit. Taking a hexacopter UAV as an example, the six power units are distributed in a regular hexagon around the UAV fuselage. The roll torque is generated differentially by the power units on the left and right sides, the pitch torque is generated differentially by the power units on the front and rear sides, and the yaw torque is generated differentially by the clockwise and counterclockwise rotating power units.

[0078] The system sends power output distribution and adjustment commands to the multi-rotor propulsion system. The target output power of each power unit is converted into a corresponding motor speed command, which is then sent to the electronic speed controller via pulse-width modulation (PWM) signals. This drives the brushless motor to rotate at the specified speed, thereby generating the required lift and torque.

[0079] In some embodiments, detecting the attitude deviation of the firefighting drone after adjustment until the attitude deviation is within a preset allowable range includes: collecting roll angle data, pitch angle data, and yaw angle data of the firefighting drone at a fixed frequency; comparing the collected roll angle data, pitch angle data, and yaw angle data with preset target roll angle, target pitch angle, and target yaw angle respectively, and calculating the roll angle deviation, pitch angle deviation, and yaw angle deviation; determining whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range; if any deviation exceeds the preset allowable range, repeating the steps of collecting data, calculating offset and recoil torque, generating adjustment amount, and sending adjustment command.

[0080] This embodiment provides a detailed description of the attitude deviation detection and closed-loop control logic in step S103.

[0081] The attitude deviation of the firefighting drone after adjustment is detected until it falls within a preset allowable range. This is achieved by collecting roll, pitch, and yaw angle data from the drone at a fixed frequency. The data acquisition frequency is 100 Hz, and the process is performed by an inertial measurement unit (IMU) mounted on the drone's fuselage. The raw data output from the IMU is then processed by a Kalman filter to obtain high-precision attitude angle data.

[0082] The collected roll, pitch, and yaw angle data are compared with the preset target roll, pitch, and yaw angles, respectively, to calculate the roll, pitch, and yaw deviations. The target attitude angles are set by the ground control station operator via remote control or automatically generated by the UAV's autonomous flight control system based on the mission requirements.

[0083] Determine whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range. The preset allowable ranges are: roll angle deviation not exceeding ±2 degrees, pitch angle deviation not exceeding ±2 degrees, and yaw angle deviation not exceeding ±3 degrees.

[0084] If any deviation exceeds the preset allowable range, the steps of acquiring data, calculating offset and recoil torque, generating adjustment amount, and sending adjustment command are repeated. If all deviations are within the preset allowable range, the current control parameters are kept unchanged, and the detection continues for the next control cycle.

[0085] In some embodiments, the method further includes: pre-collecting attitude disturbance data of the fire-fighting drone operating near a building wall at different distances, and training a wall effect compensation model; collecting distance data between the fire-fighting drone and the building wall; inputting the distance data into the wall effect compensation model to obtain a wall effect compensation torque; and superimposing the wall effect compensation torque into the jet recoil torque to participate in generating the output distribution adjustment of each power unit of the multi-rotor.

[0086] This embodiment adds a wall effect compensation function for the special scenario of working near the wall in high-rise buildings.

[0087] A wall effect compensation model was trained by pre-collecting attitude perturbation data of firefighting drones operating near building walls at different distances. Data acquisition was conducted in a simulated building wall environment in a laboratory. Attitude changes and power output data of the drone were recorded at different flight altitudes and wall distances. A neural network algorithm was used to train the collected data to establish a mapping relationship between wall distance and wall effect compensation torque, thus obtaining the wall effect compensation model.

[0088] The distance data between the firefighting drone and the building wall is collected. Distance data is acquired using lidar sensors mounted on the front and sides of the drone. The lidar has a measurement range of 0.1 meters to 50 meters and an accuracy of ±1 centimeter, meeting the requirements for close-to-wall operations.

[0089] The distance data is input into the wall effect compensation model to obtain the wall effect compensation torque. Based on the current wall distance and flight altitude, the wall effect compensation model outputs the corresponding roll compensation torque, pitch compensation torque, and yaw compensation torque.

[0090] The wall effect compensation torque is superimposed on the jet recoil torque to participate in generating the output distribution adjustment of each power unit of the multi-rotor. In this way, the influence of airflow disturbance near the building wall on the UAV's attitude can be effectively compensated, improving the stability and safety of near-wall operations.

[0091] In some embodiments, the method further includes: recording historical trends of the boom extension / retraction length, pitch angle, and jet pressure data; predicting the changes in the boom extension / retraction length, pitch angle, and jet pressure within a preset time period based on the historical trends; if it is predicted that the boom extension / retraction length will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, generating corresponding adjustment commands in advance to limit the extension / retraction speed of the boom, the rate of change of the pitch angle, or adjust the jet pressure; if the boom is detected to be stuck or the jet pressure changes abruptly, immediately stopping the boom extension / retraction action and jet operation, and simultaneously controlling the fire-fighting drone to return to a safe position.

[0092] This embodiment adds anomaly warning and emergency security protection functions based on historical data trend prediction.

[0093] The historical trends of boom extension / retraction length, pitch angle, and jet pressure data are recorded. A dedicated storage space is allocated in the onboard computer to store this data for the most recent 30 seconds. The data storage interval is the same as the control cycle, which is 5 milliseconds.

[0094] Based on historical trends, the changes in boom extension / retraction length, pitch angle, and jet pressure within a preset timeframe are predicted. A linear extrapolation algorithm is used to predict historical data, with a prediction time of 0.5 seconds.

[0095] If it is predicted that the boom extension / retraction length will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, corresponding adjustment commands will be generated in advance to limit the extension / retraction speed of the boom, the rate of change of the pitch angle, or adjust the jet pressure. For example, when it is predicted that the boom is about to reach its maximum extension length, the extension / retraction speed of the boom will be reduced in advance to prevent the boom from hitting the limit switch and causing impact.

[0096] If the boom is detected to be stuck or there is a sudden change in spray pressure, immediately stop the boom's extension and retraction and the spraying operation, and simultaneously control the firefighting drone to return to a safe position. The criteria for determining boom sticking are: the output current of the boom extension / retraction drive mechanism exceeds 150% of the rated current for more than 0.2 seconds. The criteria for determining a sudden change in spray pressure are: the change in spray pressure within 0.1 seconds exceeds 30% of the rated pressure.

[0097] In some embodiments, a high-precision attitude perception method based on multi-sensor fusion is proposed to address the complex electromagnetic environment and strong vibration interference at the scene of a fire in a high-rise building, which significantly improves the reliability and accuracy of attitude data.

[0098] By constructing a multi-sensor redundant sensing system, independent inertial measurement units (IMUs) are installed on both the fuselage and the firefighting assembly of the firefighting drone. The fuselage IMU is installed at the drone's center of gravity to measure the drone's overall attitude and motion data. The firefighting assembly IMU is installed at the geometric center of the firefighting enclosure to measure the attitude and motion data of the firefighting assembly.

[0099] Simultaneously, the first attitude data output from the fuselage inertial measurement unit and the second attitude data output from the firefighting operation assembly inertial measurement unit are acquired. The data acquisition frequency is 1000 Hz, which is much higher than the control cycle to ensure the time resolution of the data.

[0100] Kalman filtering was applied to both the first and second attitude data to remove high-frequency vibration noise and random drift errors. The process noise covariance and measurement noise covariance of the Kalman filter were pre-calibrated based on the sensor's technical parameters and the actual working environment.

[0101] Calculate the difference between the first attitude data and the second attitude data. If the difference is less than a preset threshold, the two sets of data are weighted and averaged to obtain the fused attitude data. The weighting coefficients are dynamically adjusted based on the historical accuracy data of the two inertial measurement units, with the sensor with higher accuracy receiving a larger weighting coefficient.

[0102] If the difference exceeds a preset threshold, one of the inertial measurement units (IMUs) is deemed to have malfunctioned. At this point, a fault diagnosis program is initiated, and the faulty IMU is identified by comparing the consistency of the two sets of data with the auxiliary attitude data output by the lidar and visual odometry.

[0103] The faulty inertial measurement unit (IMU) is isolated, and attitude data from a normally functioning IMU is used for subsequent control calculations. Simultaneously, a fault alarm is sent to the ground control station to alert operators.

[0104] By using this multi-sensor redundancy fusion method, the system can still obtain reliable attitude data even under conditions of strong electromagnetic interference, strong vibration, or single sensor failure, ensuring the continuity and safety of attitude control.

[0105] In some embodiments, a feedforward-feedback composite control method based on model predictive control is proposed, which can predict attitude disturbances in advance and perform active compensation, thereby further improving the response speed and stability of attitude control.

[0106] Based on the current center of gravity offset and jet recoil torque, the adjustment amounts for boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor are generated. A nonlinear dynamic model of the firefighting drone and firefighting assembly is established. This model considers the changes in mass distribution during boom extension / retraction, the dynamic characteristics of jet recoil force, the response delay of the multi-rotor power system, and aerodynamic effects.

[0107] The current system state (including UAV attitude, velocity, position, boom extension length, pitch angle, jet pressure, etc.) is input into the nonlinear dynamics model.

[0108] A model predictive control algorithm is used to predict the system's state changes over multiple control cycles. The prediction time domain is set to 10 control cycles, and the control time domain is set to 3 control cycles.

[0109] Within the prediction time domain, the optimal control sequence is solved with the objectives of minimizing attitude deviation, minimizing control variable change, and minimizing energy consumption. The optimal control sequence includes the adjustment of boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor over the next three control cycles.

[0110] Extract the control quantity of the first control cycle in the optimal control sequence and use it as the feedforward control quantity at the current moment.

[0111] Simultaneously, a proportional-integral-derivative (PID) controller is employed to generate feedback control quantities based on the attitude deviation at the current moment.

[0112] The feedforward control quantity and the feedback control quantity are superimposed to obtain the final control adjustment quantity.

[0113] Through this feedforward-feedback composite control method, feedforward control can compensate for predictable disturbances in advance (such as changes in the center of gravity caused by the extension and retraction of the nozzle, and changes in recoil force caused by changes in jet pressure), while feedback control can compensate for unpredictable disturbances (such as gusts of wind and wall effects), thereby achieving rapid and precise suppression of attitude disturbances.

[0114] In some embodiments, a decoupled control method for jet recoil force and center of gravity shift is proposed, which solves the problem of reduced control accuracy caused by the mutual coupling of the two disturbances.

[0115] Based on the current center of gravity offset and jet recoil torque, the system generates adjustments for the boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multirotor. The influence of boom extension / retraction speed, boom pitch angle, and multirotor power output on the center of gravity offset and jet recoil torque is analyzed. Through theoretical analysis and experimental calibration, a transfer function matrix between the control input and disturbance output is established.

[0116] Based on the transfer function matrix, a decoupling controller is designed. The function of the decoupling controller is to transform a coupled multi-input multi-output system into multiple independent single-input single-output systems, so that each control input affects only one corresponding output.

[0117] The center of gravity offset is input to the first input of the decoupling controller to generate the boom extension / retraction speed adjustment and the multi-rotor power output distribution adjustment, which are used only to compensate for the center of gravity offset.

[0118] The jet recoil torque is input to the second input of the decoupling controller to generate the boom pitch angle adjustment and multi-rotor power output distribution adjustment, which are used only to compensate for the jet recoil torque.

[0119] The output distribution adjustment amounts of the multi-rotor power generated at the two input terminals are superimposed to obtain the final output distribution adjustment amounts of each power unit of the multi-rotor.

[0120] This decoupled control method allows for independent compensation of center of gravity shift and jet recoil torque, without interference, significantly improving control accuracy and system robustness. The advantages of decoupled control are particularly evident under conditions of rapid boom extension and retraction coupled with drastic jet pressure changes.

[0121] In some embodiments, a collaborative control method for cable tension and boom attitude is proposed for the special application scenarios of tethered fire-fighting drones, which effectively solves the problem of the influence of tethered cables on the attitude of drones.

[0122] By installing a tension sensor at the connection point between the tether and the drone, the magnitude and direction of the tether's tension are collected in real time. The tension sensor is a three-dimensional force sensor, capable of simultaneously measuring tension components in three directions.

[0123] Based on the collected tension data, the additional torque generated by the tethering cable on the drone is calculated. The additional torque includes the torque of the tension on the drone's center of mass and the inertial torque generated by the cable's oscillation.

[0124] The total disturbance torque is obtained by superimposing the additional torque generated by the mooring cable with the jet recoil torque.

[0125] Based on the total disturbance torque and center of gravity offset, the adjustment amounts for the boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor are generated.

[0126] Simultaneously, based on the drone's attitude deviation and changes in tether cable tension, a tether retrieval speed adjustment command is generated. By adjusting the tether cable retrieval speed, the cable tension is maintained within a reasonable range, preventing the drone from becoming uncontrollable due to excessive tension or the cable from becoming tangled due to excessive looseness.

[0127] Sending cable retraction speed adjustment commands to the tether cable retraction mechanism enables coordinated control of cable tension and UAV attitude.

[0128] This collaborative control method is particularly suitable for heavy-duty firefighting drones that use tethered power and water supply. It can effectively eliminate the interference of tethered cables on the drone's attitude and improve the stability and reliability of tethered firefighting drones in high-rise building firefighting operations.

[0129] In some embodiments, a method for attitude interference cancellation in multi-drone collaborative operation is proposed, which achieves efficient and stable fire extinguishing of large fire sources through the coordinated cooperation between multiple fire-fighting drones.

[0130] By establishing a multi-drone collaborative operation system, the system includes at least two firefighting drones. Each firefighting drone is equipped with a wireless communication module, enabling real-time data exchange with other drones.

[0131] The ground control station assigns operating areas and tasks to each firefighting drone based on the size and shape of the fire source. Simultaneously, a unified coordinate system and time synchronization mechanism are established to ensure coordinated movements of all drones.

[0132] Each firefighting drone collects its own attitude data, boom status data, and jet pressure data in real time, and sends this data to other drones.

[0133] Each firefighting drone calculates the disturbance torque of its own attitude caused by the airflow generated by the jets of adjacent drones, based on the status data received from other drones.

[0134] The total disturbance torque is obtained by superimposing the airflow interference torque generated by the adjacent UAV with its own center of gravity offset and jet recoil torque.

[0135] Based on the total disturbance torque, it generates its own boom extension / retraction speed adjustment, boom pitch angle adjustment, and output distribution adjustment of each power unit of the multi-rotor.

[0136] When one of the drones needs to significantly extend or retract its boom or adjust its jet pressure, it sends a warning message to the other drones in advance. Based on the warning message, the other drones adjust their attitude and jet parameters in advance to counteract the impending airflow interference.

[0137] This multi-drone collaborative control method can not only effectively counteract the mutual airflow interference generated when multiple drones operate simultaneously, but also achieve the optimal allocation of firefighting forces, thereby improving the overall firefighting efficiency.

[0138] In some embodiments, a multi-level safety protection mechanism for extreme operating conditions is proposed, which can maximize the protection of equipment safety and avoid secondary disasters when the system experiences serious failures or encounters extreme dangerous situations.

[0139] A multi-level safety protection system is established, including Level 1 early warning, Level 2 early warning, Level 3 emergency protection, and Level 4 emergency landing. Different safety levels correspond to different fault severity and response strategies.

[0140] The system monitors various operating parameters in real time, including power system parameters (motor speed, current, temperature), battery parameters (voltage, current, temperature, remaining power), communication system parameters (signal strength, delay), fire-fighting assembly parameters (spray boom extension and retraction speed, pitch angle, spray pressure), and environmental parameters (wind speed, temperature, smoke concentration).

[0141] When a monitored parameter exceeds the normal range but does not reach the danger threshold, a Level 1 warning is triggered. The system sends a warning message to the ground control station and automatically adjusts the control parameters in an attempt to restore normal system operation.

[0142] When the monitored parameters reach a dangerous threshold but the system can still maintain basic control, a level two warning is triggered. The system immediately stops jet operation, retracts the jet boom to its shortest position and adjusts to a horizontal attitude, while simultaneously reducing flight altitude and preparing to return to base.

[0143] When a serious system malfunction is detected (such as failure of a single power unit or communication interruption exceeding a preset time), a Level 3 emergency protection is triggered. The system immediately cuts off the extinguishing agent supply, locks the spray boom at its shortest position, activates the redundant power system, and controls the UAV to return to the designated safe area at the ground control station at the maximum safe speed.

[0144] When a fatal malfunction is detected in the system (such as simultaneous failure of multiple power units or battery fire), a Level 4 emergency landing is triggered. The system immediately deploys the parachute system, simultaneously cutting off all power output and fire extinguishing agent supply, and guides the drone to a safe landing in an uninhabited area. During the landing, the system continuously transmits location and malfunction information to the ground control station for subsequent rescue and equipment recovery.

[0145] This multi-level safety protection mechanism covers all situations from minor faults to fatal faults, and can take corresponding measures according to the severity of the fault, minimizing the risk of accidents and losses.

[0146] Please see Figure 3 As shown, Figure 3 This is a schematic diagram of a fire-fighting operation assembly structure provided in this application embodiment, which is mounted on a fire-fighting drone's boom extension and retraction attitude adaptive stabilization control system 200. The fire-fighting drone's boom extension and retraction attitude adaptive stabilization control system 200 is used to execute the steps of the fire-fighting operation assembly structure shown in the above embodiments, which is mounted on the fire-fighting drone's boom extension and retraction attitude adaptive stabilization control method. The fire-fighting drone's boom extension and retraction attitude adaptive stabilization control system 200 can be a single server or a server cluster, or it can be a terminal, such as a handheld terminal, a laptop computer, a wearable device, or a robot.

[0147] like Figure 3 As shown, the adaptive attitude stabilization control system 200 for the extension and retraction of the fire-fighting drone's boom includes: The data acquisition unit 201 is used to acquire the current extension length data, current pitch angle data, and jet pressure data of the boom; based on the acquired boom extension length data, pitch angle data, and jet pressure data, the current center of gravity offset and jet recoil torque of the fire-fighting drone are calculated. The adjustment output unit 202 is used to generate the adjustment amount of the boom extension speed, the boom pitch angle, and the output distribution adjustment amount of each power unit of the multi-rotor according to the current center of gravity offset and the jet recoil torque. The command sending unit 203 is used to send extension speed adjustment commands to the boom extension drive mechanism, pitch angle adjustment commands to the boom pitch adjustment mechanism, and power output distribution adjustment commands to the multi-rotor power system; and to detect the attitude deviation of the fire-fighting drone after adjustment until the attitude deviation is within a preset allowable range.

[0148] In some embodiments, the acquisition of the current extension length data, current pitch angle data, and jet pressure data of the spray boom includes: acquiring the current extension length data of the spray boom through a displacement sensor installed on the spray boom extension drive mechanism; acquiring the current pitch angle data of the spray boom through an angle sensor installed on the spray boom pitch adjustment mechanism; acquiring jet pressure data through a pressure sensor installed at the outlet of the fire box; and synchronously acquiring all data at a fixed frequency and performing data filtering processing.

[0149] In some embodiments, calculating the current center of gravity offset and jet recoil moment of the fire-fighting drone based on the collected boom extension length data, pitch angle data, and jet pressure data includes: retrieving pre-stored mass distribution data of each level of boom, mass data of the triangular support arm, and mass data of the fire-fighting housing; calculating the current center of gravity offset of the fire-fighting drone by combining the current extension length data and current pitch angle data; retrieving pre-stored correspondence data between jet pressure and jet recoil force; and calculating the jet recoil moment of the fire-fighting drone by combining the current jet pressure data and current pitch angle data.

[0150] In some embodiments, generating the boom extension / retraction speed adjustment, boom pitch angle adjustment, and output distribution adjustment of each power unit of the multi-rotor based on the current center of gravity offset and jet recoil torque includes: generating a first boom extension / retraction speed adjustment, a first boom pitch angle adjustment, and a first power output distribution adjustment based on the current center of gravity offset; generating a second boom extension / retraction speed adjustment, a second boom pitch angle adjustment, and a second power output distribution adjustment based on the jet recoil torque; superimposing the first boom extension / retraction speed adjustment and the second boom extension / retraction speed adjustment to obtain the final boom extension / retraction speed adjustment; superimposing the first boom pitch angle adjustment and the second boom pitch angle adjustment to obtain the final boom pitch angle adjustment; and superimposing the first power output distribution adjustment and the second power output distribution adjustment to obtain the final output distribution adjustment of each power unit of the multi-rotor.

[0151] In some embodiments, sending the telescopic speed adjustment command to the telescopic drive mechanism includes: adjusting the current telescopic speed of the spray boom according to the final telescopic speed adjustment amount; limiting the maximum and minimum values ​​of the telescopic speed of the spray boom; smoothing the rate of change of the telescopic speed of the spray boom; and sending the smoothed telescopic speed adjustment command to the telescopic drive mechanism.

[0152] In some embodiments, sending a pitch angle adjustment command to the boom pitch adjustment mechanism includes: adjusting the current boom pitch angle according to the final boom pitch angle adjustment amount; limiting the maximum and minimum values ​​of the boom pitch angle; smoothing the rate of change of the boom pitch angle; and sending the smoothed pitch angle adjustment command to the boom pitch adjustment mechanism.

[0153] In some embodiments, sending the power output distribution adjustment command to the multi-rotor power system includes: adjusting the current output power of each power unit of the multi-rotor according to the final output distribution adjustment amount of each power unit of the multi-rotor; limiting the maximum and minimum output power of each power unit; evenly distributing the total adjustment torque to each power unit according to the multi-rotor's structure and the installation position of each power unit; and sending the power output distribution adjustment command to the multi-rotor power system.

[0154] In some embodiments, detecting the attitude deviation of the firefighting drone after adjustment until the attitude deviation is within a preset allowable range includes: collecting roll angle data, pitch angle data, and yaw angle data of the firefighting drone at a fixed frequency; comparing the collected roll angle data, pitch angle data, and yaw angle data with preset target roll angle, target pitch angle, and target yaw angle respectively, and calculating the roll angle deviation, pitch angle deviation, and yaw angle deviation; determining whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range; if any deviation exceeds the preset allowable range, repeating the steps of collecting data, calculating offset and recoil torque, generating adjustment amount, and sending adjustment command.

[0155] In some embodiments, the method further includes: pre-collecting attitude disturbance data of the fire-fighting drone operating near a building wall at different distances, and training a wall effect compensation model; collecting distance data between the fire-fighting drone and the building wall; inputting the distance data into the wall effect compensation model to obtain a wall effect compensation torque; and superimposing the wall effect compensation torque into the jet recoil torque to participate in generating the output distribution adjustment of each power unit of the multi-rotor.

[0156] In some embodiments, the method further includes: recording historical trends of the boom extension / retraction length, pitch angle, and jet pressure data; predicting the changes in the boom extension / retraction length, pitch angle, and jet pressure within a preset time period based on the historical trends; if it is predicted that the boom extension / retraction length will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, generating corresponding adjustment commands in advance to limit the extension / retraction speed of the boom, the rate of change of the pitch angle, or adjust the jet pressure; if the boom is detected to be stuck or the jet pressure changes abruptly, immediately stopping the boom extension / retraction action and jet operation, and simultaneously controlling the fire-fighting drone to return to a safe position.

[0157] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the fire-fighting operation assembly structure described above, which is mounted on the fire-fighting drone's boom extension and retraction attitude adaptive stabilization control system and its various modules, can be referred to the corresponding content in the various embodiments of the fire-fighting drone's boom extension and retraction attitude adaptive stabilization control method, and will not be repeated here.

[0158] The aforementioned fire-fighting operation assembly structure, wherein the fire-fighting operation assembly structure is mounted on the fire-fighting drone's boom extension and retraction attitude adaptive attitude stabilization control method, can be implemented as a computer program, which can, for example, Figure 3 It runs on the device shown.

[0159] Please see Figure 4 , Figure 4 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application. The computer device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and internal memory.

[0160] The storage medium can store operating devices and computer programs. The computer program includes program instructions that, when executed, cause the processor to perform any adaptive attitude stabilization control method for the extension and retraction of the fire-fighting drone's boom.

[0161] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0162] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any adaptive attitude stabilization control method for the extension and retraction of the fire-fighting drone's boom.

[0163] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 4The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0164] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0165] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps: Collect the current extension length, pitch angle, and jet pressure data of the boom; based on the collected boom extension length, pitch angle, and jet pressure data, calculate the current center of gravity offset and jet recoil torque of the firefighting drone. Based on the current center of gravity offset and jet recoil torque, the adjustment amounts for boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor are generated respectively. Send extension speed adjustment commands to the boom extension drive mechanism, pitch angle adjustment commands to the boom pitch adjustment mechanism, and power output distribution adjustment commands to the multi-rotor power system; detect the attitude deviation of the fire-fighting drone after adjustment until the attitude deviation is within a preset allowable range.

[0166] In some embodiments, the acquisition of the current extension length data, current pitch angle data, and jet pressure data of the spray boom includes: acquiring the current extension length data of the spray boom through a displacement sensor installed on the spray boom extension drive mechanism; acquiring the current pitch angle data of the spray boom through an angle sensor installed on the spray boom pitch adjustment mechanism; acquiring jet pressure data through a pressure sensor installed at the outlet of the fire box; and synchronously acquiring all data at a fixed frequency and performing data filtering processing.

[0167] In some embodiments, calculating the current center of gravity offset and jet recoil moment of the fire-fighting drone based on the collected boom extension length data, pitch angle data, and jet pressure data includes: retrieving pre-stored mass distribution data of each level of boom, mass data of the triangular support arm, and mass data of the fire-fighting housing; calculating the current center of gravity offset of the fire-fighting drone by combining the current extension length data and current pitch angle data; retrieving pre-stored correspondence data between jet pressure and jet recoil force; and calculating the jet recoil moment of the fire-fighting drone by combining the current jet pressure data and current pitch angle data.

[0168] In some embodiments, generating the boom extension / retraction speed adjustment, boom pitch angle adjustment, and output distribution adjustment of each power unit of the multi-rotor based on the current center of gravity offset and jet recoil torque includes: generating a first boom extension / retraction speed adjustment, a first boom pitch angle adjustment, and a first power output distribution adjustment based on the current center of gravity offset; generating a second boom extension / retraction speed adjustment, a second boom pitch angle adjustment, and a second power output distribution adjustment based on the jet recoil torque; superimposing the first boom extension / retraction speed adjustment and the second boom extension / retraction speed adjustment to obtain the final boom extension / retraction speed adjustment; superimposing the first boom pitch angle adjustment and the second boom pitch angle adjustment to obtain the final boom pitch angle adjustment; and superimposing the first power output distribution adjustment and the second power output distribution adjustment to obtain the final output distribution adjustment of each power unit of the multi-rotor.

[0169] In some embodiments, sending the telescopic speed adjustment command to the telescopic drive mechanism includes: adjusting the current telescopic speed of the spray boom according to the final telescopic speed adjustment amount; limiting the maximum and minimum values ​​of the telescopic speed of the spray boom; smoothing the rate of change of the telescopic speed of the spray boom; and sending the smoothed telescopic speed adjustment command to the telescopic drive mechanism.

[0170] In some embodiments, sending a pitch angle adjustment command to the boom pitch adjustment mechanism includes: adjusting the current boom pitch angle according to the final boom pitch angle adjustment amount; limiting the maximum and minimum values ​​of the boom pitch angle; smoothing the rate of change of the boom pitch angle; and sending the smoothed pitch angle adjustment command to the boom pitch adjustment mechanism.

[0171] In some embodiments, sending the power output distribution adjustment command to the multi-rotor power system includes: adjusting the current output power of each power unit of the multi-rotor according to the final output distribution adjustment amount of each power unit of the multi-rotor; limiting the maximum and minimum output power of each power unit; evenly distributing the total adjustment torque to each power unit according to the multi-rotor's structure and the installation position of each power unit; and sending the power output distribution adjustment command to the multi-rotor power system.

[0172] In some embodiments, detecting the attitude deviation of the firefighting drone after adjustment until the attitude deviation is within a preset allowable range includes: collecting roll angle data, pitch angle data, and yaw angle data of the firefighting drone at a fixed frequency; comparing the collected roll angle data, pitch angle data, and yaw angle data with preset target roll angle, target pitch angle, and target yaw angle respectively, and calculating the roll angle deviation, pitch angle deviation, and yaw angle deviation; determining whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range; if any deviation exceeds the preset allowable range, repeating the steps of collecting data, calculating offset and recoil torque, generating adjustment amount, and sending adjustment command.

[0173] In some embodiments, the method further includes: pre-collecting attitude disturbance data of the fire-fighting drone operating near a building wall at different distances, and training a wall effect compensation model; collecting distance data between the fire-fighting drone and the building wall; inputting the distance data into the wall effect compensation model to obtain a wall effect compensation torque; and superimposing the wall effect compensation torque into the jet recoil torque to participate in generating the output distribution adjustment of each power unit of the multi-rotor.

[0174] In some embodiments, the method further includes: recording historical trends of the boom extension / retraction length, pitch angle, and jet pressure data; predicting the changes in the boom extension / retraction length, pitch angle, and jet pressure within a preset time period based on the historical trends; if it is predicted that the boom extension / retraction length will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, generating corresponding adjustment commands in advance to limit the extension / retraction speed of the boom, the rate of change of the pitch angle, or adjust the jet pressure; if the boom is detected to be stuck or the jet pressure changes abruptly, immediately stopping the boom extension / retraction action and jet operation, and simultaneously controlling the fire-fighting drone to return to a safe position.

[0175] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the fire-fighting operation assembly structure as provided in any embodiment of this application, wherein the fire-fighting operation assembly structure is mounted on the steps of the adaptive attitude stabilization control method for the extension and retraction attitude of the fire-fighting drone's boom.

[0176] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0177] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for adaptive attitude stabilization control of the telescopic attitude of a fire-fighting drone's spray boom, applied to a fire-fighting operation assembly structure equipped with a fire-fighting housing, a multi-stage telescopic spray boom, a triangular support arm, and a spray boom pitch adjustment structure, wherein the fire-fighting operation assembly structure is mounted on a fire-fighting drone, characterized in that... include: Collect data on the current extension / retraction length of the boom, the current pitch angle, and the jet pressure. Based on the collected data on boom extension length, pitch angle, and jet pressure, the current center of gravity offset and jet recoil torque of the firefighting drone are calculated. Based on the current center of gravity offset and jet recoil torque, the adjustment amounts for boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor are generated respectively. Send extension speed adjustment commands to the boom extension drive mechanism, pitch angle adjustment commands to the boom pitch adjustment mechanism, and power output distribution adjustment commands to the multi-rotor power system; detect the attitude deviation of the fire-fighting drone after adjustment until the attitude deviation is within a preset allowable range.

2. The method according to claim 1, characterized in that, The data collected include the current extension / retraction length, current pitch angle, and jet pressure of the boom. The current extension / retraction length data of the spray boom is collected by a displacement sensor installed on the boom extension / retraction drive mechanism; The current pitch angle data of the spray boom is collected by an angle sensor installed on the boom pitch adjustment mechanism; The jet pressure data is collected by a pressure sensor installed at the outlet of the fire box; all data are collected synchronously at a fixed frequency and the data is filtered.

3. The method according to claim 1, characterized in that, The calculation of the current center of gravity offset and jet recoil torque of the firefighting drone based on the collected boom extension / retraction length data, pitch angle data, and jet pressure data includes: Retrieve pre-stored mass distribution data of each level of the spray boom, mass data of the triangular support arm, and mass data of the fire-fighting box; By combining the current telescopic length data and the current pitch angle data, the current center of gravity offset of the firefighting drone is calculated; Retrieve pre-stored data on the relationship between jet pressure and jet recoil force; combine current jet pressure data and current pitch angle data to calculate the jet recoil torque of the firefighting drone.

4. The method according to claim 1, characterized in that, The process of generating adjustments for the boom extension / retraction speed, boom pitch angle, and output distribution of each power unit of the multi-rotor based on the current center of gravity offset and jet recoil torque includes: Based on the current center of gravity offset, generate the first boom extension / retraction speed adjustment, the first boom pitch angle adjustment, and the first power output distribution adjustment; Based on the jet recoil torque, the adjustment amount of the second boom extension speed, the adjustment amount of the second boom pitch angle, and the adjustment amount of the second power output distribution are generated; The adjustment amount of the first spray bar extension speed is added together with the adjustment amount of the second spray bar extension speed to obtain the final adjustment amount of the spray bar extension speed. The pitch angle adjustment of the first spray bar is added together with the pitch angle adjustment of the second spray bar to obtain the final pitch angle adjustment of the spray bar. The first power output distribution adjustment amount is superimposed with the second power output distribution adjustment amount to obtain the final output distribution adjustment amount of each power unit of the multi-rotor.

5. The method according to claim 1, characterized in that, Sending the telescopic speed adjustment command to the boom telescopic drive mechanism includes: Adjust the current extension / retraction speed of the spray boom based on the final adjustment amount; Limit the maximum and minimum speeds of the spray boom extension and retraction; The rate of change of the spray boom extension speed is smoothed; the smoothed extension speed adjustment command is sent to the spray boom extension drive mechanism.

6. The method according to claim 1, characterized in that, Sending the pitch angle adjustment command to the boom pitch adjustment mechanism includes: Adjust the current boom pitch angle based on the final boom pitch angle adjustment amount; Limit the maximum and minimum values ​​of the boom pitch angle; The rate of change of the boom pitch angle is smoothed; the smoothed pitch angle adjustment command is sent to the boom pitch adjustment mechanism.

7. The method according to claim 1, characterized in that, Sending power output distribution adjustment commands to the multi-rotor propulsion system includes: Based on the final output distribution adjustment of each power unit of the multi-rotor, the current output power of each power unit of the multi-rotor is adjusted. Limit the maximum and minimum output power of each power unit; Based on the multi-rotor aircraft structure and the installation position of each power unit, the total adjustment torque is evenly distributed to each power unit; Send power output distribution adjustment commands to the multi-rotor propulsion system.

8. The method according to claim 1, characterized in that, The process of detecting the attitude deviation of the firefighting drone after adjustment until the attitude deviation is within a preset allowable range includes: The roll angle, pitch angle, and yaw angle data of the firefighting drone were collected at a fixed frequency. The collected roll angle data, pitch angle data, and yaw angle data are compared with the preset target roll angle, target pitch angle, and target yaw angle, respectively, and the roll angle deviation, pitch angle deviation, and yaw angle deviation are calculated. Determine whether the roll angle deviation, pitch angle deviation, and yaw angle deviation are all within the preset allowable range; If any deviation exceeds the preset allowable range, the steps of collecting data, calculating offset and recoil torque, generating adjustment amount and sending adjustment command are repeated.

9. The method according to claim 1, characterized in that, The method further includes: Pre-collect attitude disturbance data of fire-fighting drones operating near building walls at different distances, and train a wall effect compensation model. Collect distance data between the firefighting drone and the building wall; Input the distance data into the wall effect compensation model to obtain the wall effect compensation torque; The wall effect compensation torque is superimposed on the jet recoil torque to participate in the generation of the output distribution adjustment of each power unit of the multi-rotor.

10. The method according to claim 1, characterized in that, The method further includes: Record the historical trends of boom extension / retraction length, pitch angle, and jet pressure data; Based on historical trends, predict the changes in boom extension length, pitch angle, and jet pressure within a preset timeframe in the future. If it is predicted that the extension and retraction length of the spray boom will reach its limit, the pitch angle will reach its limit, or the jet pressure will exceed the safe range, then corresponding adjustment commands will be generated in advance to limit the extension and retraction speed of the spray boom, the rate of change of the pitch angle, or adjust the jet pressure. If jamming of the spray boom or a sudden change in spray pressure is detected, immediately stop the extension and retraction of the spray boom and the spray operation, and at the same time control the fire-fighting drone to return to a safe position.

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