A method for cooperative control of a UAV throwing a charge and initiating
By connecting the UAV throwing charge detonation device with the open-source UAV control system through a standardized electrical interface, the problem of fragmented operation caused by the independence of the UAV throwing device and the detonation device is solved, realizing high-precision coordinated control of throwing and detonation, and improving the system's portability and deployment efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINESE PEOPLES LIBERATION ARMY ARMY SPECIAL WARFARE ACAD
- Filing Date
- 2026-05-26
- Publication Date
- 2026-07-10
AI Technical Summary
The existing drone throwing device and detonation device are separate systems, which leads to fragmented operation process, reduced delivery accuracy, and deviation in detonation timing. The number of devices and the complexity of wiring are high, making it difficult to meet the requirements of portability and deployment efficiency.
The system connects the UAV-launched explosive charge initiation device to the open-source UAV control system via a standardized electrical interface, enabling the transmission of data signals and power. It parses comprehensive data packets and autonomously determines the launching window based on preset launching conditions. It detects the completion of the launching action, starts a delay timer, and generates a detonation command.
It reduces the difficulty of equipment deployment and system complexity, ensures that the explosive charge is dropped at the moment with the optimal spatial position, the most stable attitude, and the lowest speed, avoids communication jitter and timing deviation, and achieves precise timing coordination between the throwing and detonation actions.
Smart Images
Figure CN122354769A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method for coordinated control of UAV-launched explosive charge detonation. Background Technology
[0002] With the rapid development of drone technology, the use of small drones to carry explosives for precise delivery and operations has become an important tool in special operations due to their advantages such as mobility, rapid deployment, and low personnel risk. Especially in the early stages of drone application training, it is usually necessary for the drone's flight control system to work closely with the mounted throwing and detonating devices to form a coordinated control link for precise delivery and delayed detonation, in order to achieve the efficient attainment of operational objectives.
[0003] Currently, open-source drone flight control systems have been widely used in various drone platforms due to their powerful flight control capabilities, mature secondary development ecosystem, and flexible mission management functions. However, in existing technologies, drone launching and detonation devices are often treated as independent peripherals, with launching and detonation control typically belonging to two separate control logics and operating terminals. This leads to fragmented operational processes, resulting in decreased launching accuracy, detonation timing deviations, and even mission failure. Furthermore, two independent systems increase the number of devices and wiring complexity, further reducing system portability and deployment efficiency. Summary of the Invention
[0004] In view of the above problems, this application provides a collaborative control method for the initiation of explosive charges by unmanned aerial vehicles (UAVs) to meet the requirements of strong system compatibility, high operational coordination, and good control reliability in complex operational scenarios. The specific solution is as follows:
[0005] This application provides a collaborative control method for the detonation of explosive charges by a UAV, applied to a UAV explosive charge detonation device. The UAV explosive charge detonation device is connected to an open-source UAV control system via a standardized electrical interface. The standardized electrical interface includes a signal terminal for transmitting data signals and a power terminal for obtaining operating power from the UAV's onboard power supply. The method includes:
[0006] The system receives a comprehensive data packet periodically sent by the open-source UAV control system through the standardized electrical interface. The comprehensive data packet includes at least the UAV's position coordinates, target distance information, flight attitude data, and speed information.
[0007] The integrated data packet is parsed and, based on preset throwing judgment conditions, it is determined whether the drone currently meets the throwing window requirements;
[0008] If the throwing window requirements are met, a throwing control signal is generated and the release unit is driven to perform the throwing action.
[0009] Detect the completion event of the throwing action and start a delay timer in response to the completion event;
[0010] After the delay timer expires, a detonation command is generated and sent to the detonation device via a wireless communication link to trigger the detonation device to perform the detonation operation.
[0011] In one possible implementation, determining whether the UAV currently meets the throwing window requirement includes: sequentially performing the following calculation process on each received composite data packet:
[0012] Calculate the horizontal distance deviation between the current coordinates of the UAV and the target coordinates, and compare the horizontal distance deviation with a preset distance threshold;
[0013] Read the altitude above the ground, determine whether the altitude above the ground is within a preset altitude range, and read the horizontal flight speed, determine whether the horizontal flight speed is not greater than a preset speed threshold.
[0014] Read the pitch angle and roll angle, and determine whether the pitch angle and roll angle are not greater than a preset attitude angle threshold, respectively;
[0015] Determine whether the offset of the visually recognized target is not greater than a preset offset threshold.
[0016] In one possible implementation, the throwing window requires that: the horizontal distance deviation is not greater than the preset distance threshold, the ground altitude is within the preset altitude range, the horizontal flight speed is not greater than the preset speed threshold, the pitch angle and the roll angle are not greater than the preset attitude angle thresholds, and the visual target offset is not greater than the preset offset threshold.
[0017] In one possible implementation, the process of detecting the completion event of the throwing action includes at least one of the following:
[0018] The level toggling signal output by the microswitch or Hall sensor integrated inside the release unit is acquired as the throwing action completion event;
[0019] When the current of the release unit drive circuit is sampled by the ADC, and a sudden change in the current of a preset magnitude is detected, it is determined as a throwing action completion event.
[0020] Record the end time of the throwing control signal output, and calculate the completion time of the throwing action by combining it with the estimated action time of the release unit.
[0021] In one possible implementation, the delay timing is performed using a hardware timer at the microsecond level; the delay parameters of the delay timing are read from a delay parameter table pre-stored in a non-volatile memory, and the delay parameter table presets corresponding delay values according to different charge types.
[0022] In one possible implementation, the configuration process of the delay parameter includes: transmitting it via a wireless link through a ground station or remote controller; or, physically setting it via a DIP switch or programming interface reserved on the throwing device.
[0023] In one possible implementation, the time-delay timing process further includes: continuously listening for external cancellation commands during the timing process; if a cancellation signal is received, the timing is terminated and no detonation command is sent.
[0024] In one possible implementation, the detonation command is generated and sent in the form of an encrypted data packet, which includes: a synchronization header, a command type identifier, a timestamp, and a CRC checksum.
[0025] In one possible implementation, the wireless communication link is constructed using a low-power Bluetooth module; the detonation device is equipped with an independent power supply module and a local manual control circuit, the local manual control circuit including: a physical confirmation key, a numeric keypad and a safety switch, used to directly trigger the detonation operation by inputting a preset password or a specific sequence when the wireless link is interrupted.
[0026] In one possible implementation, the signal terminal uses a 3.3V serial port level standard for signal transmission, and the open-source UAV control system and the UAV throwing charge detonation device communicate with each other using the MAVLink protocol.
[0027] By employing the aforementioned technical solution, the UAV-based explosive loading and detonation coordinated control method provided in this application connects the UAV explosive loading and detonation device to the open-source UAV control system via a standardized electrical interface. This standardized electrical interface includes signal terminals for transmitting data signals and power terminals for obtaining operating power from the UAV's onboard power supply. This interface solution eliminates the need for users to modify the flight control hardware (such as soldering or rewiring). Users can simply plug the standardized interface directly into the corresponding port of the flight control system to obtain control data and power output from the flight control system, significantly reducing equipment deployment difficulty and system complexity, and avoiding physical damage and safety hazards caused by soldering modifications. By parsing comprehensive data packets and autonomously determining the loading window based on preset loading judgment conditions, the decision-making power is delegated to the loading master control unit. The loading window is calculated in real time using high-frequency position and attitude data, ensuring that the explosive is loaded at the moment of optimal spatial position, most stable attitude, and lowest velocity. This avoids problems such as communication jitter, timing deviation, trigger logic differences, and inability to cope with dynamic environments that may arise from relying on a single trigger signal from the flight control system. By detecting the completion event of the throwing action and initiating a delay timer in response to the completion event, a detonation command is generated and sent to the detonation device after the delay timer expires, thus establishing a precise timing coordination between the throwing action and the detonation action. Attached Figure Description
[0028] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0029] Figure 1 A flowchart of a collaborative control method for the initiation and detonation of explosive charges by a drone provided in this application;
[0030] Figure 2 A schematic diagram of the overall architecture of a collaborative control system for unmanned aerial vehicle (UAV) throwing explosive charge detonation is provided in this application;
[0031] Figure 3 A schematic diagram of the standardized electrical interface provided in this application;
[0032] Figure 4 A schematic diagram of the detonation device provided in this application. Detailed Implementation
[0033] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.
[0034] The embodiments of the present application will be described below with reference to the accompanying drawings. As those of ordinary skill in the art know, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
[0035] Terms such as "first" and "second" in the specification, claims, and the above-mentioned accompanying drawings of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinction adopted when describing objects with the same attributes in the embodiments of the present application. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product, or device including a series of units does not have to be limited to those units, but may include other units that are not clearly listed or are inherent to these processes, methods, products, or devices.
[0036] Currently, when mounting specific functional payloads (such as throwing devices, detonating devices) to achieve dedicated operation tasks, there are still obvious system integration shortcomings in the existing flight control systems, making it difficult to meet the requirements of plug-and-play for diverse payloads. Specifically, in the prior art, the throwing device and the detonating device of an unmanned aerial vehicle often exist as independent peripherals, and there is a lack of unified electrical interface standard specifications between the devices. In practical applications, due to the mismatch between the data interface pin definitions of the flight control system and the peripheral interfaces, operators usually need to perform welding modifications or re-wiring on the flight control hardware to achieve signal docking. This modification process is not only cumbersome and inefficient, but multiple weldings are likely to cause irreversible physical damage to the flight control board. At the same time, due to the reliability of manual modification being difficult to guarantee, it is easy to introduce safety hazards such as poor line contact and signal interference, and in severe cases, it may lead to signal loss or equipment out-of-control during the task execution process.
[0037] In addition, throwing control and detonating control usually belong to two independent control logics and operation terminals, and there is a lack of a unified cooperative control architecture between them. This current situation of scattered functions makes it difficult to establish precise timing coordination between the throwing action and the detonating action, and it is impossible to make full use of the high-precision positioning information provided by the flight control system to achieve automated linkage control. Throwing decisions often rely on a single trigger signal sent by the flight control system, and this trigger signal may be sent at a non-optimal position due to communication jitter and timing deviation. Moreover, the trigger logics of different flight controls are different, making it difficult to unify and optimize, and even more impossible to cope with dynamic environments such as wind speed and speed changes. When performing high-timeliness tasks, operators need to operate the two systems separately, and the fragmentation of the operation process is extremely likely to lead to a decrease in the throwing accuracy, a deviation in the detonating timing, or even a mission failure. At the same time, the two independent systems also increase the number of devices and the complexity of the wiring, further reducing the portability and deployment efficiency of the system.
[0038] To address the aforementioned problems, this application provides a method for coordinated control of UAV-launched explosive charge initiation and detonation. The method is described in detail below with reference to the accompanying drawings.
[0039] Reference Figure 1 , Figure 1 The flowchart of a collaborative control method for the initiation of explosive charges by a drone provided in this application embodiment may include steps S101 to S105, which are described in detail below.
[0040] This collaborative control method for the detonation of explosive charges by a UAV is applied to a UAV explosive charge detonation device. The UAV explosive charge detonation device connects to an open-source UAV control system via a standardized electrical interface. The standardized electrical interface includes a signal terminal for transmitting data signals and a power terminal for obtaining operating power from the UAV's onboard power supply. The method includes:
[0041] S101. Receive comprehensive data packets periodically sent by the open-source UAV control system through a standardized electrical interface. The comprehensive data packets include at least: the UAV's position coordinates, target distance information, flight attitude data, and speed information.
[0042] Specifically, refer to Figure 2 As shown, the UAV-launched explosive detonation device 20 is connected to the open-source UAV control system 10 via a standardized electrical interface 40. The open-source UAV control system 10 includes a flight control system 11, a data transmission system 12, an image transmission system 13, a vision module 14, a positioning module 15, and a power system 16. The flight control system 11 uses a flight controller running PX4 or ArduPilot open-source firmware, the positioning module 15 uses RTK-GPS to provide high-precision position coordinates, and the vision module 14 is used to identify targets and provide target distance information.
[0043] The standardized electrical interface 40 is the foundation for data transmission. For example... Figure 3 As shown, the standardized electrical interface 40 includes a signal terminal 41 for transmitting data signals and a power terminal 42 for obtaining operating power from the UAV's onboard power supply. The signal terminal 41 uses a PH2.0 connector, and its pin definitions are consistent with the TELEM port standard of the Pixhawk series flight controllers: pin 1 is VCC (+5V), pin 2 is TX (OUT, +3.3V), pin 3 is RX (IN, +3.3V), and pin 4 is GND. The power terminal 42 uses an XT30 connector, directly connecting to the UAV's power battery, with a voltage range covering 12V (3S lithium battery) to 25.2V (6S lithium battery) and a rated current of up to 15A.
[0044] After the UAV is powered on, the flight control system 11 supplies power to the UAV explosive charge detonator 20 through the power terminal 42 of the standardized electrical interface 40. The main control unit 21 of the UAV explosive charge detonator 20 (which can be an STM32F405 series microcontroller) starts up, completes self-test, and searches for the detonator 30 through the communication unit 23 (which can be a BLE5.0 low-power Bluetooth module). After the detonator 30 is awakened, the two establish a wireless communication link 50 and complete a handshake confirmation.
[0045] The flight control system 11 acquires high-precision position coordinates from the positioning module 15, target distance information from the vision module 14, and flight attitude and velocity information from the IMU (Inertial Measurement Unit) via its internal bus. The flight control system 11 uses internal data filtering logic to remove redundant telemetry data, extract the precise position, target distance, flight attitude, and velocity information required by the launching device, and package them into a comprehensive data package. This comprehensive data package includes at least: the UAV's position coordinates (latitude and longitude), target distance information, flight attitude data (pitch angle, roll angle, yaw angle), and velocity information (horizontal velocity, vertical velocity).
[0046] The flight control system 11 periodically sends the aforementioned integrated data packets to the main control unit 21 of the UAV-launched explosive charge initiation device 20 via signal terminal 41 (TX pin of the PH2.0 connector) of the standardized electrical interface 40 at a frequency of 10Hz to 50Hz. The main control unit 21 receives the data packets via the RX pin of signal terminal 41 and parses them using the same communication protocol as the flight control system 11. Signal terminal 41 uses the 3.3VTTL serial port level standard for signal transmission, and the open-source UAV control system 10 and the UAV-launched explosive charge initiation device 20 communicate via the MAVLink protocol. The main control unit 21 has a pre-built MAVLink protocol stack decoder, which can depack and parse the received MAVLink message frames, perform CRC checks, and extract the payload.
[0047] S102. Parse the comprehensive data packet and determine whether the UAV currently meets the throwing window requirements based on the preset throwing judgment conditions.
[0048] Specifically, the main control unit 21 can run a state machine and a decision algorithm that compares a threshold. First, the main control unit 21 extracts the current coordinates (lat_cur, lon_cur) of the UAV and the coordinates (lat_tgt, lon_tgt) of the target point from the integrated data packet, and calculates the horizontal distance deviation Δd = sqrt((lat_cur - lat_tgt)² + (lon_cur - lon_tgt)²). Δd is then compared with a preset distance threshold (e.g., 1 meter).
[0049] Secondly, the main control unit 21 reads the ground altitude H and the horizontal flight speed V_h, determines whether the ground altitude H is within the preset altitude range (e.g., 10 meters to 50 meters), and determines whether the horizontal flight speed V_h is not greater than the preset speed threshold (e.g., 5 meters / second).
[0050] Next, the main control unit 21 reads the pitch angle and roll angle and determines whether they are not greater than the preset attitude angle threshold (e.g., ±5°).
[0051] If all the above conditions are met simultaneously, the main control unit 21 determines that the drone has entered the optimal throwing window.
[0052] It should be noted that the specific thresholds required for the throwing window are all configurable parameters and can be adjusted according to the task scenario and the type of explosive. No restrictions are imposed here.
[0053] S103. If it is determined that the throwing window requirements are met, a throwing control signal is generated and the release unit is driven to perform the throwing action.
[0054] Specifically, the main control unit 21 drives the release unit 22 by outputting a PWM control signal (or level signal) through the GPIO pin. The release unit 22 adopts an electromagnet mechanism. When the drive signal is valid, the electromagnet is de-energized, the mechanical structure is unlocked, the explosive charge is released from the drone, and the throwing action is completed.
[0055] S104. Detect the completion event of the throwing action and start a delay timer in response to the completion event.
[0056] Specifically, the main control unit 21 detects the completion event of the throwing action. The detection method can be mechanical positioning detection: the release unit 22 integrates a microswitch. When the mechanical structure is fully unlocked and the explosive is disengaged, the microswitch flips its level, outputting a falling edge signal to the GPIO interrupt pin of the main control unit 21. The main control unit 21 captures this falling edge signal as the completion event of the throwing action.
[0057] In response to the completion event, the main control unit 21 initiates a delay timer. The main control unit 21 internally maintains a 32-bit hardware timer, timing with microsecond-level precision. When the throwing action completion event is detected, the main control unit 21 immediately reads the current timer count value, records it as T_drop, and simultaneously clears and starts a dedicated delay task timer. The delay parameter is read from a delay parameter table pre-stored in the main control unit 21's non-volatile memory (Flash). For example, for a high-explosive bomb (high-mighty explosive), the delay parameter is set to 50ms.
[0058] S105. After the delay timer expires, a detonation command is generated and sent to the detonation device via a wireless communication link to trigger the detonation device to perform the detonation operation.
[0059] After the delay timer expires (i.e., when the hardware timer countdown reaches zero), the main control unit 21 generates a detonation command and sends it to the detonation device 30 via the wireless communication link 50 to trigger the detonation device 30 to perform the detonation operation. For example, the wireless communication link 50 is constructed using a BLE 5.0 low-power Bluetooth module, and the detonation device 30 is equipped with a corresponding Bluetooth receiver chip and RF front-end. After receiving the detonation command, the control module 31 of the detonation device 30 performs logical judgment and verification on the command. After confirming that there are no errors, it outputs a drive current through the electrical output interface 36, connects to the ignition head or electronic detonator of the standardized bomb bay, and completes the detonation by activating the circuit.
[0060] As can be seen above, this UAV-based explosive detonation and co-control method connects the UAV explosive detonation device to the open-source UAV control system via a standardized electrical interface. This standardized electrical interface includes signal terminals for transmitting data signals and power terminals for obtaining operating power from the UAV's onboard power supply. This interface solution eliminates the need for users to modify the flight control hardware (such as soldering or rewiring). Users can simply plug the standardized interface directly into the corresponding port of the flight control system to obtain control data and power output from the flight control system. This significantly reduces the difficulty of equipment deployment and system complexity, and avoids the physical damage and safety hazards caused by soldering modifications.
[0061] By parsing comprehensive data packets and autonomously determining the throwing window based on preset throwing judgment conditions, the decision-making power is delegated to the throwing master control unit. The throwing window is calculated in real time using high-frequency position and attitude data, ensuring that the explosive charge is thrown at the moment when the spatial position is optimal, the attitude is most stable, and the speed is minimal. This avoids problems such as communication jitter, timing deviation, trigger logic differences, and inability to cope with dynamic environments that may be caused by relying on a single trigger signal from the flight control system.
[0062] By detecting the completion event of the throwing action and initiating a delay timer in response to it, a detonation command is generated and sent to the detonation device after the delay timer expires, establishing a precise timing coordination between the throwing and detonation actions. Microsecond-level timing based on a hardware timer can control the delay error within ±1ms, ensuring a high degree of consistency between the relative time between the detonation moment and the throwing action. Simultaneously, through a delay parameter table pre-stored in non-volatile memory, corresponding delay values can be preset according to different charge types, allowing the same throwing device to adapt to various mission requirements such as blasting, smoke, and combustion.
[0063] In some embodiments, to further ensure plug-and-play compatibility with mainstream open-source flight control systems and improve compatibility, the physical layer, signal layer, and protocol layer of the standardized electrical interface 40 are unified to ensure plug-and-play compatibility with mainstream open-source flight control systems.
[0064] At the physical layer, signal terminal 41 uses a PH2.0 connector. The pin definitions of this connector strictly adhere to the de facto industry standard for the Pixhawk series flight controller TELEM port: pin 1 (VCC) provides +5V power, pin 2 (TX(OUT)) is the flight controller transmit data pin (3.3V level), pin 3 (RX(IN)) is the flight controller receive data pin (3.3V level), and pin 4 (GND) is the signal ground. This pin definition has been widely adopted by the PX4 open-source flight controller community and followed by many third-party flight controller hardware manufacturers. Power terminal 42 uses an XT30 connector, directly connected to the drone's power battery. Drone power battery voltages typically range from 12V (3S lithium battery) to 25.2V (6S lithium battery). The XT30 terminal supports power transmission up to 15A rated current, fully covering the power requirements of common models. The XT30 terminal is directly connected to the power input of the main control unit 21, and after passing through an internal DC-DC step-down circuit, it powers the main control unit 21 and subsequent circuits.
[0065] In the signal layer, signal terminal 41 adopts the 3.3V serial port level standard. This standard is the I / O level natively supported by the STM32 series microcontrollers and is also the specification adopted by the UART port output level of mainstream open-source flight controllers. Taking the Pixhawk flight controller as an example, its TELEM port's TX / RX pins both output a 3.3V level, which can be directly connected to the UART receive pin of the STM32 series microcontroller without the need for a level conversion circuit. For example, the main control unit 21 uses the STM32F405 series microcontroller, whose UART interface also adopts the 3.3V level standard, achieving direct matching with the electrical characteristics of the flight control system.
[0066] At the protocol layer, the open-source UAV control system 10 and the UAV-launched explosive detonation device 20 communicate via the MAVLink protocol. MAVLink (Micro Air Vehicle Link) is a lightweight communication protocol widely used in the UAV field. By default, the MAVLink protocol is mapped to the TELEM1 port, with a factory baud rate of 57600bps. The data output logic optimization unit integrated within the flight control system 11, through the configuration of the MAVLink flow control strategy, removes redundant data from the native flight control data stream, extracting only the position coordinates, target distance, flight attitude information, and velocity information, packaging them into custom MAVLink message frames, and outputting them to the main control unit 21 via the standardized electrical interface 40. The main control unit 21 has a pre-built MAVLink protocol stack decoder, which can unpack and parse the received MAVLink message frames, perform CRC checks, and extract the payload.
[0067] Based on the above embodiments, the flight control system 11 periodically sends integrated data packets through the standardized electrical interface 40, and the integrated data packets received by the main control unit 21 include at least the following:
[0068] The drone's current latitude and longitude / coordinates are derived from the positioning module 15 (RTK-GPS) and are used to determine its spatial location.
[0069] Target point coordinates: derived from vision module 14 recognition or ground station preset, used to mark the location of the throwing point;
[0070] Ground clearance: derived from barometers, radar, or laser rangefinders, used to determine the safe throwing height;
[0071] Flight speed (horizontal / vertical): derived from IMU or GPS fusion calculations, used to assess the impact of motion on the landing point;
[0072] Attitude angles (pitch, roll, yaw): derived from the IMU, used to ensure the stability of the aircraft's center of gravity;
[0073] Visual target offset (optional): derived from vision module 14, used for precise target positioning.
[0074] The transmission frequency of the integrated data packets can be configured according to task requirements, with typical values ranging from 10Hz to 50Hz.
[0075] Based on this, the main control unit 21 runs a state machine and a threshold comparison decision algorithm, and sequentially performs the following calculation process on each received frame of integrated data packet to determine whether the UAV currently meets the throwing window requirements:
[0076] Coordinate comparison:
[0077] The main control unit 21 extracts the current coordinates (lat_cur, lon_cur) and target point coordinates (lat_tgt, lon_tgt) of the UAV from the integrated data packet, and calculates the horizontal distance deviation: Δd=sqrt((lat_cur-lat_tgt)²+(lon_cur-lon_tgt)²);
[0078] The calculated horizontal distance deviation Δd is compared with a preset distance threshold (e.g., 1 meter). When Δd is less than the preset distance threshold, the drone is considered to have entered the effective throwing area.
[0079] Altitude and speed verification:
[0080] The main control unit 21 reads the ground altitude H and horizontal flight speed V_h from the integrated data packet.
[0081] Determine if the altitude H above the ground is within a preset altitude range. For example, the preset altitude range is H_min < H < H_max, where H_min = 10 meters and H_max = 50 meters. It should be noted that this altitude range can be configured and adjusted according to the type of explosive and the mission scenario.
[0082] Simultaneously, it determines whether the horizontal flight speed V_h is not greater than a preset speed threshold. For example, the preset speed threshold is set to 1 m / s. If the horizontal flight speed is too high (e.g., greater than 5 m / s), it will cause the drop point to deviate, and the main control unit 21 will wait for the speed to decrease to within the allowable range.
[0083] Attitude stability confirmed:
[0084] The main control unit 21 reads the pitch and roll angles from the integrated data packet and determines whether they are both no greater than a preset attitude angle threshold. For example, the preset attitude angle threshold is set to 3°. This ensures that the UAV's attitude is stable during delivery, preventing lateral drift of the payload due to the aircraft tilting.
[0085] Target visualization and locking:
[0086] When the integrated data packet contains a visually recognized target offset, the main control unit 21 further determines whether the offset is not greater than a preset offset threshold. For example, the preset offset threshold is set to 5 pixels (or the corresponding angular deviation). This condition enables precise alignment based on vision, further improving throwing accuracy.
[0087] Accordingly, the throwing window requires the following AND logic: the horizontal distance deviation is not greater than a preset distance threshold, the ground altitude is within a preset altitude range, the horizontal flight speed is not greater than a preset speed threshold, the pitch angle and roll angle are not greater than preset attitude angle thresholds, and the visual target offset is not greater than a preset offset threshold. Only when all the above conditions are met simultaneously does the main control unit 21 determine that the UAV has entered the optimal throwing window and output the throwing command.
[0088] This decision-making rule ensures that the drop decision no longer relies on a single release trigger signal sent by the flight control system, but is instead made autonomously by the main control unit 21 based on real-time multi-dimensional data analysis. Even if the flight control system sends a trigger signal, the main control unit 21 can determine whether to execute it by verifying these conditions, thereby avoiding problems such as flight control trigger signals being sent from non-optimal positions due to communication jitter, timing deviations, differences in trigger logic between different flight control systems making unified optimization difficult, and inability to cope with dynamic environments such as wind speed and velocity changes.
[0089] In some embodiments, detecting the completion event of the throwing action supports three methods, which can be selected according to the actual application scenario. The main control unit 21 has a preset selection logic for the detection method, and the mechanical positioning detection method can be used first:
[0090] Mechanical positioning detection:
[0091] The release unit 22 integrates a microswitch or Hall sensor. The moment the electromagnet-driven hook mechanism fully unlocks and the explosive charge disengages, the sensor level flips, outputting a falling edge (or rising edge) signal to the GPIO interrupt pin of the main control unit 21. The main control unit 21 captures this level flip signal and treats it as the completion event of the throwing action. This method offers fast response and direct detection, making it a preferred option.
[0092] Current surge detection:
[0093] The main control unit 21 samples the current in the drive circuit of the release unit 22 via an ADC (analog-to-digital converter). When the electromagnet or servo motor transitions from an active state to a stationary state, the drive current drops significantly. For example, the drive current of the electromagnet during operation is approximately 500mA, and after the operation is completed, the current drops to about 10mA. When the software of the main control unit 21 detects this sudden current change (the drop exceeds a preset threshold, such as dropping to less than 20% of the original current), it determines that the throwing action is complete. This method eliminates the need for additional sensors, reducing hardware costs.
[0094] Confirmation of end of PWM output:
[0095] The main control unit 21 records the end time of the PWM drive signal output. Since the release unit 22 has a known action response time (e.g., the servo needs 80ms to complete rotation from receiving the drive signal), the main control unit 21 calculates the completion time of the throwing action by adding the drive end time to the estimated action time. This method is suitable for scenarios where a position detection sensor cannot be directly installed.
[0096] In other embodiments, to achieve higher precision detonation control, the main control unit 21 internally maintains a 32-bit hardware timer for timing with microsecond-level precision. When the completion of the throwing action is detected, the main control unit 21 immediately performs the following operations: reads the current timer count value and records it as T_drop; clears and starts a dedicated delay task timer; and reads the delay parameter Δt from the delay parameter table pre-stored in non-volatile memory (Flash or EEPROM). The delay parameter table presets corresponding delay values according to different charge types, as shown in Table 1.
[0097] Table 1
[0098]
[0099] For example, for a high-explosive bomb mission, the delay parameter is set to 50ms. The hardware timer starts counting down with a target duration of Δt, and the delay error can be controlled within ±1ms.
[0100] Delay parameters can be configured in multiple ways, enhancing system flexibility:
[0101] Wireless configuration: Before the mission is executed, the ground station or remote controller sends the delay parameters to the main control unit 21 via a wireless link. After receiving the parameters, the main control unit 21 updates the delay parameter table in the non-volatile memory.
[0102] Physical settings: Physical settings are made via a pre-installed DIP switch or programming interface on the throwing device. Operators can manually toggle the DIP switch according to the type of explosive charge, and the main control unit 21 reads the switch status and loads the corresponding delay parameters.
[0103] Furthermore, during the timeout period, the main control unit 21 continuously monitors for external cancellation commands. Specifically, the communication unit 23 (BLE5.0 module) of the main control unit 21 remains in a receiving state, listening for cancellation signals from the ground station or remote controller. If a cancellation signal is received during the timeout period, the main control unit 21 immediately terminates the timeout task timer, clears the timeout state, and does not send a detonation command. This mechanism provides proactive safety control capabilities to prevent accidental detonation in the event of mission termination or unforeseen circumstances.
[0104] When the delay task timer countdown reaches zero, the main control unit 21 triggers an interrupt service routine, automatically generating an encrypted detonation command data packet. This encrypted data packet contains the following fields:
[0105] Synchronization header: Used to identify the beginning of the data packet, facilitating byte synchronization at the receiving end.
[0106] Command type identifier: For example, 0x01 indicates a detonation command.
[0107] Timestamp: Records the time when the command was generated, used to prevent replay attacks.
[0108] CRC32 checksum: Used by the receiving end to perform integrity verification on data packets, ensuring that instructions have not been tampered with during transmission.
[0109] The main control unit 21 transmits encrypted commands to the communication unit 23 (BLE5.0 module) via the SPI or UART interface, and the communication unit 23 sends them outward in a broadcast or connection manner.
[0110] The wireless communication link is constructed using a Bluetooth Low Energy (BLE) 5.0 module, referring to... Figure 2 and Figure 4 As shown, the detonation device 30 is equipped with a corresponding Bluetooth receiver chip and radio frequency front end, which are used to receive the detonation command transmitted by the wireless communication link 50.
[0111] The detonation device 30 is also equipped with an independent power supply module and a local manual control loop, forming a dual redundancy guarantee:
[0112] Independent power supply module: The detonation device 30 is equipped with an independent lithium battery pack, which supplies power to the control module 31 through a voltage regulator circuit, ensuring that it can still work independently after the explosive charge is separated from the UAV and is not affected by the power status of the UAV.
[0113] Local manual control loop: The local manual control loop includes a physical confirmation key, a numeric keypad, and a safety switch. In the event of a wireless link interruption (such as signal interference or exceeding the communication distance), the operator can approach the detonation point and input a preset password or a specific sequence via the buttons and switches 34 on the detonator 30. After the control module 31 detects the correct local operation sequence, it directly drives the electrical output interface 36 to complete the detonation, without relying on wireless commands. The control module 31 is also connected to an OLED display screen 33 for real-time display of the device status (such as standby, connected, ready to detonate, etc.), command reception status, and timing parameters.
[0114] Based on the above embodiments, the UAV-based coordinated control method for explosive detonation can include the following processing steps in specific applications:
[0115] Step S1: System Initialization and Handshake. After the UAV is powered on, the flight control system 11 supplies power to the UAV's explosive charge detonation device 20 through the standardized electrical interface 40. The main control unit 21 starts up, completes self-test, and searches for the detonation device 30 through the BLE5.0 communication unit 23. The two parties establish a wireless communication link 50 and complete the handshake confirmation.
[0116] Step S2: Target Locking and Data Synchronization. The flight control system 11 calculates the optimal deployment point based on data from the positioning module 15 and the vision module 14. The flight control system 11 periodically sends integrated data packets to the main control unit 21 via the standardized electrical interface 40.
[0117] Step S3: Throwing Window Determination. The main control unit 21 receives and parses the comprehensive data packet, runs the state machine and threshold comparison decision algorithm, and sequentially performs coordinate comparison, altitude and speed verification, attitude stability confirmation, and visual offset judgment. When all conditions are met simultaneously, it determines whether to enter the throwing window.
[0118] Step S4: Throwing execution. The main control unit 21 generates a throwing control signal, which drives the release unit 22 through GPIO output PWM signal, causing the mechanical structure to move and the explosive charge to detach from the drone.
[0119] Step S5: Throwing Completion Detection and Delay Timing. The main control unit 21 captures the throwing completion event through mechanical positioning detection, starts a hardware timer, loads the delay parameter Δt corresponding to the charge type, and begins the countdown. During the timing process, it continuously listens for cancellation commands.
[0120] Step S6: Sending and executing the detonation command. After the delay timer expires, the main control unit 21 generates an encrypted detonation command data packet and sends it to the detonating device 30 via the BLE5.0 link. After receiving and verifying the command, the detonating device 30 drives the electrical output interface 36 to complete the detonation. If the wireless link is interrupted, the operator can directly trigger the detonation by entering a password through the local manual control loop.
[0121] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the UAV-launched explosive detonation collaborative control methods provided in this application.
[0122] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the UAV-launched explosive detonation coordinated control methods provided in this application.
[0123] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special hardware including application-specific integrated circuits, special CPUs, special memory, special components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the UAV throwing charge detonation cooperative control method described in the various embodiments of this application.
[0125] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0126] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).
Claims
1. A method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation, characterized in that, An application is made to a drone-launched explosive charge initiation device, wherein the drone-launched explosive charge initiation device is connected to an open-source drone control system via a standardized electrical interface, the standardized electrical interface including: a signal terminal for transmitting data signals and a power terminal for obtaining operating power from the drone's onboard power supply; the method includes: The system receives a comprehensive data packet periodically sent by the open-source UAV control system through the standardized electrical interface. The comprehensive data packet includes at least the UAV's position coordinates, target distance information, flight attitude data, and speed information. The integrated data packet is parsed and, based on preset throwing judgment conditions, it is determined whether the drone currently meets the throwing window requirements; If the throwing window requirements are met, a throwing control signal is generated and the release unit is driven to perform the throwing action. Detect the completion event of the throwing action and start a delay timer in response to the completion event; After the delay timer expires, a detonation command is generated and sent to the detonation device via a wireless communication link to trigger the detonation device to perform the detonation operation.
2. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 1, characterized in that, Determining whether the drone currently meets the throwing window requirements includes: performing the following calculation process sequentially on each received composite data packet: Calculate the horizontal distance deviation between the current coordinates of the UAV and the target coordinates, and compare the horizontal distance deviation with a preset distance threshold; Read the altitude above the ground, determine whether the altitude above the ground is within a preset altitude range, and read the horizontal flight speed, determine whether the horizontal flight speed is not greater than a preset speed threshold. Read the pitch angle and roll angle, and determine whether the pitch angle and roll angle are not greater than a preset attitude angle threshold, respectively; Determine whether the offset of the visually recognized target is not greater than a preset offset threshold.
3. The method for coordinated control of UAV-launched explosive charge detonation according to claim 2, characterized in that, The throwing window requirements include: the horizontal distance deviation is not greater than the preset distance threshold, the ground altitude is within the preset altitude range, the horizontal flight speed is not greater than the preset speed threshold, the pitch angle and the roll angle are not greater than the preset attitude angle thresholds, and the visual target offset is not greater than the preset offset threshold.
4. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 1, characterized in that, The process of detecting the completion event of the throwing action includes at least one of the following methods: The level toggling signal output by the microswitch or Hall sensor integrated inside the release unit is acquired as the throwing action completion event; When the current of the release unit drive circuit is sampled by the ADC, and a sudden change in the current of a preset magnitude is detected, it is determined as a throwing action completion event. Record the end time of the throwing control signal output, and calculate the completion time of the throwing action by combining it with the estimated action time of the release unit.
5. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 4, characterized in that, The delay timing uses a hardware timer for microsecond-level timing; the delay parameters of the delay timing are read from a delay parameter table pre-stored in a non-volatile memory, and the delay parameter table presets corresponding delay values according to different charge types.
6. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 5, characterized in that, The configuration process of the delay parameter includes: transmitting it via a wireless link through a ground station or remote controller; or, physically setting it through a DIP switch or programming interface reserved on the throwing device.
7. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 6, characterized in that, The time-delay process also includes: continuously monitoring for external cancellation commands during the timing process; if a cancellation signal is received, the timing is terminated and no detonation command is sent.
8. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 1, characterized in that, The detonation command is generated and sent in the form of an encrypted data packet, which includes: a synchronization header, a command type identifier, a timestamp, and a CRC check value.
9. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to claim 1, characterized in that, The wireless communication link is constructed using a low-power Bluetooth module; the detonation device is equipped with an independent power module and a local manual control circuit, which includes a physical confirmation key, a numeric keypad and a safety switch, used to directly trigger the detonation operation by inputting a preset password or a specific sequence when the wireless link is interrupted.
10. The method for coordinated control of unmanned aerial vehicle (UAV) explosive charge initiation and detonation according to any one of claims 1 to 9, characterized in that, The signal terminals use a 3.3V serial port level standard for signal transmission, and the open-source UAV control system and the UAV throwing charge detonation device use the MAVLink protocol for data communication.