CN118238989B

CN118238989B - High-altitude rescue unmanned aerial vehicle, control method, device and storage medium

Info

Publication number: CN118238989B
Application number: CN202410659214.3A
Authority: CN
Inventors: 王斌; 徐晗
Original assignee: Zhejiang Qiushi Emergency Technology Research Institute
Current assignee: Zhejiang Qiushi Emergency Technology Research Institute
Priority date: 2024-05-27
Filing date: 2024-05-27
Publication date: 2024-07-23
Anticipated expiration: 2044-05-27
Also published as: CN118238989A

Abstract

The application provides an overhead rescue unmanned aerial vehicle, a control method, a control device and a storage medium. The unmanned aerial vehicle control method comprises the steps of target identification, trajectory calculation, emission parameter adjustment, window breaking effect evaluation and the like. The control device comprises a six-rotor unmanned aerial vehicle, a launch cabin, an expansion battery and a wireless communication module. The electronic device and the storage medium store the control program, and the intellectualization and the programmability of the system are enhanced. The system improves the efficiency and the safety of fire rescue of high-rise buildings, and has important practical value and social significance.

Description

High-altitude rescue unmanned aerial vehicle, control method, device and storage medium

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an overhead rescue unmanned aerial vehicle, a control method, a control device and a storage medium.

Background

In the current urbanization process, high-rise building fires become one of the public security challenges to be solved in the global world. Traditional fire-fighting means are often limited by the accessibility of equipment and the complexity of operation when facing high-rise fires, and particularly, obvious short plates exist in the aspects of breaking through the glass of the outer wall of a building and accurately throwing fire-extinguishing substances. The existing high-altitude fire extinguishing technology mostly depends on the descent of ropes of high-pressure water cannons of ground fire-fighting vehicles or professional firefighters, the response speed of the methods is low, and fire sources are difficult to accurately position, so that the fire extinguishing effect is greatly reduced especially in complex wind direction and strong airflow environments.

In such a context, the rise of unmanned aerial vehicle technology provides new possibilities for high-altitude rescue. Unmanned aerial vehicle relies on its flexibility, quick deployment ability and aerial work advantage, becomes the new way of exploring high-rise building conflagration rescue gradually. However, the prior art still faces a key problem in practical application:

Regarding safety and control of debris risk. The traditional window breaking means easily causes a large amount of uncontrollable glass fragments in high-rise application, forms serious threat to ground personnel and peripheral property, and the existing unmanned aerial vehicle fire extinguishing system has a risk of considering how to effectively control the risk. Therefore, how to minimize the damage of fragments while ensuring efficient window breaking becomes the primary problem to be solved in the technical innovation.

Therefore, the development of the high-altitude rescue unmanned aerial vehicle system which can ensure safe window breaking and realize accurate fire extinguishment becomes an urgent need of the current fire control technology innovation. The system needs to integrate innovative window breaking technology, high-precision aiming and navigation algorithm and strong environment adaptability so as to effectively cope with high-rise building fire and ensure the life and property safety of people.

Disclosure of Invention

The embodiment of the application provides an overhead rescue unmanned aerial vehicle, a control method, a control device and a storage medium, aiming at the problems that safety window breaking cannot be ensured, fire cannot be extinguished accurately and the like in the prior art.

The core technology of the invention mainly utilizes a machine vision algorithm and a meteorological sensor carried by an unmanned aerial vehicle, and realizes accurate window breaking and fire extinguishment in high-altitude rescue by accurately calculating and adjusting emission parameters, and meanwhile, window breaking effect evaluation and continuous environment monitoring are carried out to ensure safety.

In a first aspect, the application provides a control method of an overhead rescue unmanned aerial vehicle, comprising the following steps:

S00, identifying and locking a specific window or ignition point in a high-rise building from a video stream returned by a camera of the unmanned aerial vehicle by using a machine vision algorithm as a target;

S10, continuously tracking a target, and setting initial trajectory calculation parameters according to the current position of the unmanned aerial vehicle, the target position and the environmental parameters;

S20, calculating the flight track of the projectile, and simultaneously measuring the real-time wind speed and wind direction by using a meteorological sensor carried by the unmanned aerial vehicle;

s30, calculating and adjusting emission parameters based on the windage model to ensure that the projectile still can hit a target accurately after counteracting the windage influence;

the transmitting parameters comprise a transmitting angle, a transmitting speed and a transmitting point position;

S40, launching the projectile based on the adjusted launching parameters;

s50, when the bullet is a window breaking bullet, capturing the moment that the window breaking bullet contacts the glass in a machine vision algorithm recognition and/or voice recognition mode, and taking the moment as a contact time point;

Wherein, the window breaking bomb is internally provided with a detonation device;

s60, calculating the gesture and angle of the broken window bullet when contacting the glass by combining the contact time point based on a kinetic model and emission parameters of the broken window bullet released by the unmanned aerial vehicle, and calculating the deviation of the actual contact angle and a preset ideal angle;

S70, according to the calculated angle deviation, adjusting delay time of the miniature directional explosive in the detonating device to finish angle correction, and ensuring that explosion energy can be released along a correct direction;

s80, after angle correction is completed, sequentially or simultaneously detonating the miniature directional explosive according to the adjusted sequence and the time point so as to realize accurate window breaking;

Wherein, in the whole process, unmanned aerial vehicle continuously monitors surrounding environment to ensure the inadvertent risk in the safe distance.

Further, the window breaking bomb is manufactured by polymer matrix composite materials.

Further, step S90 is further included, after the window breaking operation is completed, the video data of the image is returned by the camera of the unmanned aerial vehicle to evaluate the window breaking effect, including the size, shape and fragment distribution condition of the break, and the data is fed back to the ground station for task recording and subsequent optimization.

Further, in step S10, the environmental parameters include gravitational acceleration, air resistance coefficient of the projectile, air density, initial firing speed, and firing angle.

Further, in step S30, the windage model calculates the horizontal offset and the vertical offset of the projectile according to the wind speed and the wind direction, and calculates the flight time of the projectile according to the direction angle of the wind speed and the wind direction, so as to adjust the launching parameters.

Further, in step S60, the three-dimensional coordinates and the velocity vector when the broken window bullet contacts the glass are reversely pushed according to the horizontal offset, the vertical offset, the firing parameters and the contact time point of the broken window bullet, and the instantaneous attitude angle when the broken window bullet contacts is calculated through the velocity vector and the gravity direction, and the pitch angle absolute value in the instantaneous attitude angle is taken as the actual contact angle.

In a second aspect, the present application provides an overhead rescue unmanned aerial vehicle, comprising:

the machine body is at least a six-rotor unmanned aerial vehicle;

The control end is internally provided with the control method of the high-altitude rescue unmanned aerial vehicle;

the launching cabin is provided with a window breaking bullet and a fire extinguishing bullet and is used for launching the bullet;

the expansion battery is detachably connected with the machine body and arranged at two sides of the launching cabin;

and the wireless communication module is arranged at the top of the machine body.

Further, the bottom of the machine body is also provided with a handrail frame, and the bottom of the handrail frame is provided with a hook.

In a third aspect, the application provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the above-described method of controlling a rescue unmanned aerial vehicle.

In a fourth aspect, the present application provides a readable storage medium having stored therein a computer program comprising program code for controlling a process to execute a process comprising a method of controlling an overhead rescue drone according to the above.

The main contributions and innovation points of the application are as follows: 1. compared with the prior art, the application realizes the accurate identification and locking of a specific window or ignition point in a high-rise building and the measurement of the real-time wind speed and the wind direction through the machine vision algorithm and the meteorological sensor carried by the unmanned aerial vehicle, which is one of key technologies for ensuring accurate window breaking and fire extinguishing. The initial trajectory calculation method based on the current position, the target position and the environmental parameters of the unmanned aerial vehicle is provided, and the launching parameters are adjusted through the windage model so as to offset windage influence and ensure that the projectile accurately hits the target.

2. Compared with the prior art, the window breaking bullet is internally provided with the detonating device, the moment of contacting glass is captured through a machine vision algorithm or voice recognition, and the attitude and the angle of the window breaking bullet when contacting the glass are calculated by utilizing a dynamic model and a transmitting parameter, so that the angle correction is carried out, and the accurate window breaking is realized. After the window breaking operation is completed, the unmanned aerial vehicle utilizes the camera to transmit back image video data to evaluate the window breaking effect and feeds the data back to the ground station for task recording and subsequent optimization. Meanwhile, in the whole window breaking and fire extinguishing process, the unmanned aerial vehicle continuously monitors the surrounding environment, ensures unintentional risks in a safe distance, and improves the operation safety. Such as an automatic obstacle avoidance mechanism or a quick evacuation strategy when an emergency is encountered.

3. Compared with the prior art, the unmanned aerial vehicle can carry the safety rope under emergency, and emergency rescue is realized by buckling the mountain climbing buckle of the safety rope on the hook and then taking the armrest frame as a grabbing part.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

fig. 1 is a flow of a method of controlling an overhead rescue unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an overhead rescue unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is a second schematic structural view of the high-altitude rescue unmanned aerial vehicle according to the embodiment of the application;

fig. 4 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the application.

In the figure, 1, a machine body; 2. a control end; 3. a launch bin; 4. expanding the battery; 5. a wireless communication module; 6. a handrail frame; 7. a hook.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with aspects of one or more embodiments of the present description as detailed in the accompanying claims.

It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, individual steps described in this specification, in other embodiments, may be described as being split into multiple steps; while various steps described in this specification may be combined into a single step in other embodiments.

Example 1

The application aims to provide a control method of an overhead rescue unmanned aerial vehicle, which can specifically refer to fig. 1, and comprises the following steps:

S00, target identification and tracking

Image processing and target detection: a specific window or fire in the high rise building is identified and locked from the video stream returned by the drone camera using machine vision techniques (e.g., YOLOv, SSD, etc. target detection algorithms).

The key steps are as follows: image preprocessing (graying, noise reduction, enhancement), feature extraction, object classification and localization.

Tracking algorithm: the application of a kalman filter, a particle filter, or a deep learning based tracking algorithm (e.g., deepSORT) continuously tracks the target window or fire point, maintaining tracking accuracy even in the event of target movement or camera view angle changes.

S10, ballistic calculation

Initial parameter setting: and setting initial trajectory calculation parameters according to the current position, the target position and environmental parameters (such as temperature and air density under the influence of air pressure) of the unmanned aerial vehicle.

Ballistic model: and calculating the flight trajectory of the projectile by using Newton's law of motion and an aerodynamic model (such as a six-degree-of-freedom model).

In this embodiment, the method specifically includes:

S11, firstly, determining basic parameters

The position coordinates (Ux, uy, uz) of the drone assuming that the coordinates of the drone currently located in three-dimensional space are (Ux, uy, uz).

Target position coordinates (Tx, ty, tz) the position coordinates of the target glazing are (Tx, ty, tz).

Environmental parameters:

The gravitational acceleration (g) is about 9.8 m/s on the earth's surface.

The air resistance coefficient (C_d) varies depending on the shape of the projectile and the air density, assuming an average value, for example, 0.5.

The air density (. Rho.) is about.1.225 kg/m.

The initial velocity (v 0) of the emission needs to be set according to practical conditions, and a reasonable value, such as 50 m/s, is assumed.

The emission angle (θ) is initially unknown and requires calculation to ensure that the target is hit.

S12, determining a target direction vector

The target direction vector v= (Tx-Ux, ty-Uy, tz-Uz) is calculated and normalized to a unit vector v_norm=v/|v|, where |v| is the modular length of the vector V.

S13, determining the emission angle

To simplify the problem we assume that the drone fires perpendicular to the target window, so mainly considering the movement in horizontal and vertical directions. In practical applications, however, it is necessary to accurately calculate the firing angle θ using three-dimensional equations of motion and iterative methods, which typically involve solving an optimization problem to find the firing angle that brings the projectile drop point closest to the target. Only one simplified example is provided here:

horizontal displacement: dh= |tx-ux|

Vertical displacement: dV= |tz-Uz|

Using parabolic equation to solve approximately, neglecting air resistance, obtaining:

And solving theta by the two formulas simultaneously.

S14, correction considering air resistance

In practice, air resistance can have a significant impact on the trajectory, especially for long range shots. The modified equation of motion needs to consider the influence of air resistance, and is generally as follows:

Where m is the mass of the projectile, A is the frontal area of the projectile, and v is the velocity vector.

In the iterative process, an air resistance model is introduced, and a motion equation is gradually solved through a numerical method (such as RK4 algorithm), so that a more accurate trajectory is obtained. The traditional mathematical problem is not described in detail.

S20, correcting windage yaw

Wind speed and direction measurement: real-time wind speed and wind direction are measured by using a meteorological sensor carried by the unmanned aerial vehicle.

And (3) correction calculation: based on the windage yaw model, the launching parameters are calculated and adjusted, so that the shot can still hit the target accurately after the impact of windage yaw is counteracted.

In this embodiment, after the flight trajectory of the projectile is calculated, real-time wind speed and wind direction are measured by using a meteorological sensor carried by an unmanned aerial vehicle, and emission parameters are adjusted based on a windage model to ensure that the projectile hits a target accurately, the following steps may be followed:

S21, real-time wind speed and wind direction measurement

First, meteorological sensors on the drone (e.g., ultrasonic anemometers, pyroelectric anemometers) continuously monitor wind speed and direction on the flight path. The sensors determine wind speed and wind direction by measuring the effect of air flow on ultrasonic waves or temperature differences, and data are transmitted to a flight control system of the unmanned aerial vehicle in real time.

S22, wind deflection model establishment

The windage model is intended to predict the effect of wind on the trajectory of the projectile. The model comprises the following steps:

Wind direction angle: the included angle between the wind direction and the flying direction of the projectile.

Wind correction factor: and calculating according to the wind speed and the wind direction angle, and adjusting ballistic parameters.

Trajectory adjustment: consider the horizontal offset, vertical offset, and time of flight extension caused by windage.

S23, calculating windage yaw influence

Horizontal offset calculation: if the wind direction is parallel to the ballistic direction, the wind will directly push the projectile off by an amount proportional to the sine of the wind speed, time of flight and wind direction angle.

Vertical offset calculation: if the wind has a vertical component, the lift and descent speed of the projectile are affected, thereby affecting the flight altitude.

And (3) flight time adjustment: wind may also affect the time of flight of the projectile, especially when flying downwind or upwind.

S24, parameter adjustment

According to the offset calculated by the windage yaw model, the following emission parameters are adjusted:

The firing angle (θ) may need to be adjusted to compensate for horizontal or vertical displacement caused by windage.

Firing speed (v 0) in some cases, adjusting the firing speed may counteract the effect of wind on time of flight.

Emission point position: in extreme wind conditions, it may be necessary to adjust the launch position of the drone to ensure that the ballistic endpoint is unchanged.

Assume that:

unmanned aerial vehicle position: (0, 0, 0)

Target position: (100 m, 0, 0)

The emission angle under windless conditions is initially calculated: 45 degree

Initial emission speed: 50m/s

Real-time wind speed: 10m/s, wind direction angle: 30 ° (i.e. wind direction relative to ballistic direction)

Wind deflection calculation:

Horizontal offset: Δx=10 m/s×t×sin (30 °), where t is the time of flight, calculated from the trajectory in windless conditions.

Vertical offset: Δy=10 m/s×t×cos (30 °), taking into account the influence of gravity and wind on the vertical direction.

And (3) flight time adjustment: and adjusting the flight time calculation according to the wind speed and the wind direction angle.

Parameter adjustment:

adjusting the emission angle: assuming that the calculation requires an increase in the emission angle to overcome the horizontal offset, the new angle is set to 46 °.

The emission speed remains unchanged: in this example, it is assumed that the wind speed has less effect on the time of flight, without adjusting the firing speed.

The emission point position is unchanged: the wind angle and wind speed are not sufficient in this case to require the drone to change the launch position.

Through the calculation and adjustment, the unmanned aerial vehicle control system executes tasks according to the new emission parameters so as to ensure that the projectile can still hit the target accurately under the influence of windage yaw. Of course, in actual operation, multiple iterative computations may be involved to achieve the best effect.

S30, firing the projectile based on the adjusted firing parameters.

S40, contact detection

When the projectile is a window breaking projectile, a visual or audio feedback system is used to replace a direct proximity sensor. For example, the moment when the window breaking bullet contacts the glass is captured by using a high-speed camera on the unmanned aerial vehicle, and the contact state is determined through image analysis. Or capturing the sound characteristics of the impact moment with a microphone array.

For example, unmanned aerial vehicle-mounted high frame rate cameras and image processing algorithms (such as background subtraction, edge detection, or template matching) are used to monitor in real time the instant at which the window breaking bullet contacts the target glass. This time point t_contact is recorded as soon as a distinct contact feature appears in the image sequence (e.g. onset of glass breakage). If voice recognition is adopted, a microphone array on the unmanned aerial vehicle captures unique audio characteristics (such as broken sound) generated at the moment of breaking windows, and a contact time point t_contact is determined through a voice recognition algorithm.

If the two are mixed, the two can be referred to each other and averaged.

S50, calculating the gesture and angle based on the dynamics model

Initial conditions when the drone releases the window breaking bullet are known: the firing speed v0, the firing angle θ0, the relative position and altitude of the drone and the target, and the contact time point t_contact.

Horizontal displacement: x=v0×cos (θ0) ×t_contact

Vertical displacement: y=v0×sin (θ0) ×t_contact- (1/2) g×t_contact ζ2

If v0=50 m/s, θ0=45°, contact time t_contact= s, and gravitational acceleration g=9.8 m/s are known:

Horizontal displacement x≡50×cos (45 °) ×2= ≡70.8m

Vertical displacement y≡50 sin (45 °) ×2-0.5×9.8× 2^2 +×51.2 m

The vertical velocity at contact takes into account gravity deceleration:

the horizontal speed is unchanged because no external force is affected in the horizontal direction:

The magnitude of the instantaneous speed:

the tilt angle (to the horizontal) of the instantaneous speed direction can be calculated by the arctangent function:

By using the information and combining the flight record of the unmanned plane, the three-dimensional coordinate and the speed vector of the window bullet at the moment of contact can be reversely pushed, and the instantaneous attitude angle (roll, pitch, yaw) at the moment of contact can be further calculated through the speed vector and the gravity direction.

Wherein, attitude angle:

roll (phi), roll angle, rotate about X axis. Yaw angle is usually related to motion out of the vertical plane, but in this scenario, yaw angle is not normally calculated directly, if we consider only horizontal and vertical motion, and is ignored here.

Pitch (θ), which rotates about the Y axis, is most relevant to the contact angle. It can be calculated by considering the acceleration in the vertical direction. If we project the acceleration vector onto an axis perpendicular to the horizontal plane, the pitch angle can be obtained. Other calculation methods are also possible.

Yaw (ψ): yaw angle, rotation about the Z axis. Ideally, this is ignored (assuming that the window-breaking projectile does not tumble in the air).

The pitch angle is extracted as the contact angle:

Ideally, if the window breaking bullet is perpendicular to the target glass contact, the pitch angle pitch should be 0. In practice, however, the pitch angle upon contact will vary due to various kinetic factors. Thus, θ_actual can be taken directly as the absolute value of pitch angle, i.e., θ_actual= |θ_pitch|. This represents the angle of deviation of the window breaking bullet from the ideal vertical when it actually contacts the glass.

In a simple model, changes in air resistance, roll (roll) and yaw (yaw) are not considered. This angle directly reflects the degree of inclination of the velocity vector with respect to the horizontal plane, and is consistent with the definition of the pitch angle, i.e. the angle of rotation of the object about its transverse axis (the front-rear axis). Assuming that the pitch angle at the moment of contact is known by the dynamics model as θ_pitch= -24.6 ° (the negative sign indicates downward dive), the actual contact angle θ_actual is 24.6 ° (taking into account the absolute value, since the magnitude of the angular deviation is the focus of attention, not the direction), and the preset ideal angle should be 0, so this actual contact angle θ_actual may represent the deviation of the actual contact angle from the preset ideal angle, i.e. 24.6 °.

Of course, if the ideal angle is other value, the preset ideal contact angle is set as θ_ideal, and the actual contact angle calculated by the dynamic model is set as θ_actual.

Calculating the angle deviation: δθ=θ_actual- θ_ideal

In this embodiment, an IMU (inertial measurement unit) may be directly built in the window breaking bomb to directly obtain the most accurate instantaneous attitude angle (roll, pitch, yaw), which of course requires wireless communication, and may raise the cost of the window breaking bomb, and may be selected according to practical situations.

S60, adjusting the detonation device

The detonation sequence or delay time of the mini-pilot explosive is adjusted to correct the direction of the final detonation based on the angular deviation δθ (24.6 ° in this example). This typically involves an understanding of the explosive layout and a preset adjustment algorithm.

And (3) adjusting a detonation sequence: if the explosives are arranged in a multi-point sequence for detonation, the detonation order can be adjusted according to the deviation angle so that the detonation energy is more concentrated in the required direction.

Delay time adjustment: for single-point or multi-point simultaneous detonations, direction correction can be achieved by fine tuning the detonation time differences at each point, and the formula can be a complex functional relationship depending on the layout of the explosive and the desired effect.

In this embodiment, single-point detonation is preferred, and multi-point detonation is relatively complex and poorly controlled, so the present application chooses single-point detonation and corrects the final detonation direction by adjusting the detonation time.

Then, based on the data and real-time flight data of the unmanned aerial vehicle, the accurate angle when in contact is calculated through a complex mathematical model (such as a three-dimensional motion equation set), and fine adjustment of the detonating device is performed according to the angle deviation delta theta. The mathematical model of the adjustment of the specific detonating device can be different according to the different explosive layout and detonation strategies, and experimental data and simulation verification are generally needed to determine the adjustment of the detonating device.

And S70, after angle correction is completed, sequentially or simultaneously detonating the miniature directional explosive according to the adjusted sequence and the time point so as to realize accurate window breaking.

Example two

Based on the same conception, as shown in fig. 2 and 3, the application also provides a control device of the high-altitude rescue unmanned aerial vehicle, which comprises:

The machine body 1 is at least a six-rotor unmanned aerial vehicle;

the control end 2 is internally provided with a control method of the high-altitude rescue unmanned aerial vehicle in the first embodiment;

the launching cabin 3 is provided with a window breaking bullet and a fire extinguishing bullet and is used for launching the bullet;

the expansion battery 4 is detachably connected with the machine body 1 and is arranged at two sides of the launching cabin;

the wireless communication module 5 is arranged on the top of the machine body 1.

In this embodiment, in order to realize emergency rescue, the bottom of the machine body 1 is further provided with a handrail frame 6, and the bottom of the handrail frame 6 is provided with a hook 7.

Preferably, the expansion battery can be installed on the machine body 1 in a magnetic attraction or buckling mode, then the wire harness reserved on the machine body 1 is inserted on the expansion battery, and a waterproof design is further made on the interface.

In the embodiment, the unmanned aerial vehicle has the structure of the existing six-wing unmanned aerial vehicle and has the functions of transmitting broken window bullets and extinguishing bullets, and the improvement point of the application is the improvement on the algorithm level and realizes emergency rescue by adding the armrest frame 6.

Preferably, the window breaking bomb comprises a polymer matrix composite material of special fibers (such as Kevlar fibers and carbon fibers), can absorb a large amount of energy through the stretching of the fibers when impacted while maintaining high strength, and reduces brittle fracture and chip generation.

The scheme of the blasting device of the window breaking bomb is as follows:

1. And (3) designing a miniature directional explosive:

Low-sensitivity, high-energy-efficiency explosives, such as plastic explosives, are designed in a flake or wire form and are arranged at specific positions inside the warhead. The explosive layout needs to be carefully calculated according to the expected crushing mode, so that the explosion energy is ensured to be released along the preset direction.

2. Precision fuze system:

Integrated electronic sensors (such as accelerometers and proximity sensors) for detecting the moment of contact of the projectile with the glass and for determining the contact angle. The fuze system also needs to have a time delay function to ensure that the explosive detonates after penetrating the glass surface and being located at the ideal depth. If these sensors are not integrated, the approximate contact angle can be calculated only by the method of example 1.

3. Elastomer structure and material:

The high-strength light material is adopted to manufacture the projectile body, so that the structural stability of the projectile body after the explosion of the explosive is ensured, and the explosion energy can be accurately transmitted. The guiding structure can be designed to guide the explosion energy to spread towards a preset direction, so that the side impact is reduced.

4. And the electronic control module is used for:

The microprocessor controls the detonation time and sequence, and real-time adjustment is performed based on the sensor data, so that accurate control is ensured. The programming logic should consider safety redundancy to avoid false or invalid detonations.

5. Algorithm design: an algorithm is developed to calculate in real time the optimal detonation moment and detonation sequence based on the sensor data, ensuring that the destructive power is released along a predetermined path.

6. Dynamic adjustment: the explosion parameters were dynamically adjusted based on the actual performance (e.g., speed, angle change) of the projectile during penetration using a feedback control system, i.e., the calculated angle deviation data mentioned in example 1.

Wherein, the control code is as follows:

class SmartBreachMissile:

def __init__(self):

self accelerometer = Accelerometer () # accelerometer example

Self proximitysensor= ProximitySensor () # proximity sensor example

Self deltaationcontroller= DetonationController () # detonation controller example

def monitorImpact(self):

while True:

# Reading sensor data

acc_data = self.accelerometer.read()

prox_data = self.proximitySensor.read()

# Determine if contact and calculate contact angle

if prox_data.touch_detected and acc_data.impulse_threshold_reached:

impact_angle = calculate_impact_angle(acc_data)

self.detonationController.setDetonationParameters(impact_angle)

# If all conditions are satisfied, perform detonation

if self.detonationController.readyToDetonate():

self.detonationController.fire()

break

def calculate_impact_angle(acc_data):

Logic for calculating contact angle based on acceleration data #

pass

class DetonationController:

def __init__(self):

self.ready_to_fire = False

self.desired_angle = None

def setDetonationParameters(self, angle):

self.desired_angle = angle

self.calculateDetonationSequence()

def calculateDetonationSequence(self):

Calculation of optimal detonation sequence according to angle #

pass

def readyToDetonate(self):

# Determine if detonation is ready based on sensor data and preset conditions

pass

def fire(self):

# Trigger firing sequence

pass

It should be noted that the above codes are only illustrative, and many factors such as hardware interfaces, error handling, security considerations, etc. need to be considered in practical applications. And will not be described in detail here.

Example III

This embodiment also provides an electronic device, referring to fig. 4, comprising a memory 404 and a processor 402, the memory 404 having stored therein a computer program, the processor 402 being arranged to run the computer program to perform the steps of any of the method embodiments described above.

In particular, the processor 402 may include a Central Processing Unit (CPU), or an application specific integrated circuit (ApplicationSpecificIntegratedCircuit, abbreviated as ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.

The memory 404 may include, among other things, mass storage 404 for data or instructions. By way of example, and not limitation, memory 404 may comprise a hard disk drive (HARDDISKDRIVE, abbreviated HDD), a floppy disk drive, a solid state drive (SolidStateDrive, abbreviated SSD), flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Memory 404 may include removable or non-removable (or fixed) media, where appropriate. Memory 404 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 404 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, memory 404 includes Read-only memory (ROM) and Random Access Memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (ProgrammableRead-only memory, abbreviated PROM), an erasable PROM (ErasableProgrammableRead-only memory, abbreviated EPROM), an electrically erasable PROM (ElectricallyErasableProgrammableRead-only memory, abbreviated EEPROM), an electrically rewritable ROM (ElectricallyAlterableRead-only memory, abbreviated EAROM) or a FLASH memory (FLASH), or a combination of two or more of these. The RAM may be a static random access memory (StaticRandom-access memory, abbreviated SRAM) or a dynamic random access memory (DynamicRandomAccessMemory, abbreviated DRAM) where the DRAM may be a fast page mode dynamic random access memory 404 (FastPageModeDynamicRandomAccessMemory, abbreviated FPMDRAM), an extended data output dynamic random access memory (ExtendedDateOutDynamicRandomAccessMemory, abbreviated EDODRAM), a synchronous dynamic random access memory (SynchronousDynamicRandom-access memory, abbreviated SDRAM), or the like, where appropriate.

Memory 404 may be used to store or cache various data files that need to be processed and/or used for communication, as well as possible computer program instructions for execution by processor 402.

The processor 402 reads and executes the computer program instructions stored in the memory 404 to implement any one of the above-described methods for controlling the rescue unmanned aerial vehicle.

Optionally, the electronic apparatus may further include a transmission device 406 and an input/output device 408, where the transmission device 406 is connected to the processor 402 and the input/output device 408 is connected to the processor 402.

The transmission device 406 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wired or wireless network provided by a communication provider of the electronic device. In one example, the transmission device includes a network adapter (Network Interface Controller, simply referred to as a NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the transmission device 406 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

The input-output device 408 is used to input or output information.

Example IV

The present embodiment also provides a readable storage medium having stored therein a computer program including program code for controlling a process to execute the process, the process including the method of controlling an overhead rescue unmanned aerial vehicle according to the first embodiment.

It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.

In general, the various embodiments may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the invention is not limited thereto. While various aspects of the invention may be illustrated and described as block diagrams, flow charts, or using some other pictorial representation, it is well understood that these blocks, apparatus, systems, techniques or methods described herein may be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controller or other computing devices, or some combination thereof.

Embodiments of the invention may be implemented by computer software executable by a data processor of a mobile device, such as in a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets, and/or macros can be stored in any apparatus-readable data storage medium and they include program instructions for performing particular tasks. The computer program product may include one or more computer-executable components configured to perform embodiments when the program is run. The one or more computer-executable components may be at least one software code or a portion thereof. In addition, in this regard, it should be noted that any blocks of the logic flows as illustrated may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on a physical medium such as a memory chip or memory block implemented within a processor, a magnetic medium such as a hard disk or floppy disk, and an optical medium such as, for example, a DVD and its data variants, a CD, etc. The physical medium is a non-transitory medium.

It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.

The foregoing examples illustrate only a few embodiments of the application, which are described in greater detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the application, which are within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. The control method of the high-altitude rescue unmanned aerial vehicle is characterized by comprising the following steps of:

S10, continuously tracking the target, and setting initial trajectory calculation parameters according to the current position of the unmanned aerial vehicle, the target position and the environmental parameters;

The emission parameters comprise an emission angle, an emission speed and an emission point position;

S40, launching the projectile based on the adjusted launching parameters;

2. The method of claim 1, wherein the window breaking bomb is made of a polymer-based composite material.

3. The method for controlling the high-altitude rescue unmanned aerial vehicle according to claim 1, further comprising the step of step S90, after the window breaking operation is completed, evaluating the window breaking effect by using video data of images returned by a camera of the unmanned aerial vehicle, wherein the window breaking effect comprises the size, the shape and the fragment distribution condition of a broken opening, and feeding the data back to a ground station for task recording and subsequent optimization.

4. The method according to claim 1, wherein in step S10, the environmental parameters include gravitational acceleration, air resistance coefficient of the projectile, air density, initial firing speed, and firing angle.

5. The method according to claim 1, wherein in step S30, the windage model calculates horizontal and vertical offsets of the projectile according to wind speed and wind direction, and calculates flight time of the projectile according to direction angle of wind speed and wind direction, so as to adjust firing parameters.

6. The control method of the high-altitude rescue unmanned aerial vehicle according to any one of claims 1 to 5, wherein in the step S60, the three-dimensional coordinates and the velocity vector when the broken window bullet contacts the glass are reversely pushed according to the horizontal offset, the vertical offset, the firing parameters and the contact time point of the broken window bullet, and the instantaneous attitude angle when the broken window bullet contacts is calculated by the velocity vector and the gravity direction, and the absolute value of the pitch angle in the instantaneous attitude angle is taken as the actual contact angle.

7. An overhead rescue unmanned aerial vehicle, comprising:

the machine body is at least a six-rotor unmanned aerial vehicle;

A control terminal, in which the control method of the high-altitude rescue unmanned aerial vehicle according to any one of claims 1 to 6 is built;

8. The high-altitude rescue unmanned aerial vehicle as claimed in claim 7, wherein the body bottom is further provided with a handrail frame, and the handrail frame bottom is provided with hooks.

9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of controlling an overhead rescue unmanned aerial vehicle according to any one of claims 1 to 6.

10. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program comprising program code for controlling a process to execute a process comprising the method of controlling an overhead rescue unmanned aerial vehicle according to any one of claims 1 to 6.