The invention provides a high-altitude fire extinguishing flying robot, a control system and a control method.The flying robot comprises an aircraft body, a rotating mechanical arm, a visual recognition unit and a water spraying unit, and the rotating mechanical arm can rotate by a certain angle relative to the aircraft body; the control system comprises a remote control terminal, a visual recognition unit, a PD controller, an RBF network self-adaptive sliding mode controller and a counter-acting force control unit, an operator controls the flying robot to fly to a specific position through the remote control terminal, and the visual recognition unit recognizes the position of a fire source according to a shot flame picture; the PD controller adjusts the joint angle of the rotating mechanical arm according to the recognized fire source position, and the RBF network self-adaptive sliding mode controller adjusts the posture and position of the aircraft body according to the recognized fire source position; the stress of the flying robot during spraying operation is analyzed, corresponding feedforward compensation is provided for the flying robot, the stability of the flying robot during working is guaranteed, and autonomous fire extinguishing of the high-rise building is achieved.

    本发明提供一种高空灭火飞行机器人、控制系统及控制方法,飞行机器人包括飞行器本体、转动机械臂、视觉识别单元和喷水单元,转动机械臂可相对飞行器本体转动一定角度;控制系统包括遥控终端、视觉识别单元、PD控制器、RBF网络自适应滑膜控制器和反作用力控制单元,操作人员利用遥控终端控制飞行机器人飞到特定位置,视觉识别单元根据拍摄到的火焰图片识别出火源的位置;PD控制器根据识别出的火源位置,调整转动机械臂的关节角,RBF网络自适应滑膜控制器根据识别出的火源位置,调整飞行器本体的姿态和位置;分析飞行机器人喷洒作业时的受力,并给飞行机器人相应的前馈补偿,保证飞行机器人在工作时的稳定性,实现高层建筑的自主灭火。


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    Titel :

    High-altitude fire extinguishing flying robot, control system and control method


    Weitere Titelangaben:

    一种高空灭火飞行机器人、控制系统及控制方法


    Beteiligte:
    MA RUI (Autor:in) / ZHANG SHUN (Autor:in) / DING LI (Autor:in) / HUANG MING (Autor:in) / LU MINGYUE (Autor:in) / QIANG HONGBIN (Autor:in) / SUN ZHENQIU (Autor:in) / QIAN JIAYANG (Autor:in) / FENG CHENYU (Autor:in) / LI FENGPENG (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    A62C FIRE-FIGHTING , Feuerbekämpfung / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U



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