The invention discloses a fire-fighting unmanned aerial vehicle with tail balance rotors and a balance control method thereof, and relates to the field of fire-fighting devices. The fire-fighting unmanned aerial vehicle with the tail balance rotor wing comprises an unmanned aerial vehicle body, a tail balance rotor wing assembly and a fire-fighting assembly. Four rotor wings are arranged at the top of the unmanned aerial vehicle body, a controller is installed in the unmanned aerial vehicle body, and a laser range finder is installed at the front end of the unmanned aerial vehicle body and used for detecting the current distance between the fire-fighting unmanned aerial vehicle and a building; the tail balance rotor wing assembly comprises a mounting bracket, a tail balance rotor wing and a rotating speed sensor; the fire-fighting assembly comprises a fire-fighting lance, a flow velocity sensor mounting pipeline, a flow velocity sensor, a metal bent pipe, a fire-fighting hose and a high-lift water pump; and the controller controls the rotating speed of the tail balance rotor wing through the force PID closed-loop control system and the position PID closed-loop control system, so that force balance and position balance during working of the fire-fighting unmanned aerial vehicle are realized, and the stability of fire extinguishing operation is improved.
本发明公开一种带尾部平衡旋翼的消防无人机及其平衡控制方法,涉及消防装置领域。所述带尾部平衡旋翼的消防无人机包括无人机本体、尾部平衡旋翼组件以及消防组件;无人机本体顶部具有四个旋翼,无人机本体内部安装有控制器,无人机本体前端安装有激光测距仪,用于检测消防无人机与建筑物之间的当前距离;尾部平衡旋翼组件包括安装支架、尾部平衡旋翼以及转速传感器;消防组件包括消防水枪、流速传感器安装管道、流速传感器、金属弯管、消防水带以及高扬程水泵;控制器通过力PID闭环控制系统和位置PID闭环控制系统进行尾部平衡旋翼转速控制,实现了消防无人机工作时的力平衡和位置平衡,提高了灭火操作的稳定性。
Fire-fighting unmanned aerial vehicle with tail balance rotor wings and balance control method of fire-fighting unmanned aerial vehicle
一种带尾部平衡旋翼的消防无人机及其平衡控制方法
2024-03-01
Patent
Electronic Resource
Chinese
Fire-fighting unmanned aerial vehicle with turnover wings
European Patent Office | 2024
|European Patent Office | 2023
|