灭火型消防无人机的地面站辅助瞄准方法  

An Assisted Aiming Method for Firefighting UAVs Implemented on GCS

作　　者：宋晨晖 程子啸 Song Chenhui;Cheng Zixiao(Guangzhou EHang Intelligent Technology Co.,Ltd.,Guangzhou 510663,China)

机构地区：[1]广州亿航智能技术有限公司,广州510663

出　　处：《机电工程技术》2023年第12期237-240,共4页Mechanical & Electrical Engineering Technology

摘　　要：高层建筑的“烟囱效应”造成其火灾具有破坏力大、扑救难度高、火灾蔓延途径多等特点。常用灭火装备有举高高度有限、消防车通道被占、展开环境受限、展开时间较长等问题。高层建筑的灭火救援一直是世界难题,给消防救援工作带来巨大的挑战。针对高层建筑灭火救援的痛点和难点,提出灭火型消防无人机精准灭火的地面站辅助瞄准方法。根据摄像机成像原理,地面控制站可计算显示屏中实时图像各像素之间相对位置关系,从而推算物理成像平面中真实物体的相对位置关系。操作员使用地面控制站并进行点击获取视场内瞄准方向与无人机当前朝向的方位夹角;根据无人机环境感知数据计算瞄准点位与无人机实际距离;换算无人机坐标系下的位移控制量并发送指令给飞控系统。以一套组合计算流程调整无人机作业位置,实现对高层建筑火灾的精准扑灭。经实机验证使用此辅助瞄准方法后平均调整时间为15 s,有效节省作业调整时间降低操作人员工作负荷。The"chimney effect"of high-rise buildings causes their fires to have the characteristics of high destructive power,high difficulty in fighting,and many ways for fires to spread.Common fire extinguishing equipment has problems such as limited lifting height,occupied fire truck passages,limited deployment environment,and long deployment time.Firefighting and rescued in high-rise buildings have always been a world problem,bringing great challenges to fire rescue work.In view of the pain points and difficulties of firefighting and rescue in high-rise buildings,a ground control station auxiliary aiming method is proposed.According to the principle of imaging,the relative relationship between the position points in the display screen on GCS is calculated,and the position relationship between objects in the real world is calculated.The GCS obtains azimuth angle data by collecting the operator's click on the screen;calculate the working distance based on the UAV's DAA data;convert the distance and send commands to the flight control system.In this way,fires in high-rise buildings can be precisely extinguished.After the verification,the average adjustment time after using this method is 15 seconds,which effectively saves the operation adjustment time and reduces the workload of operators.

关 键 词：无人机 精准灭火 地面控制站 辅助瞄准 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]