CN112180380B - Ultrasonic underwater detection method for unmanned airship driven by air rotor and propeller - Google Patents
Ultrasonic underwater detection method for unmanned airship driven by air rotor and propeller Download PDFInfo
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- CN112180380B CN112180380B CN202010907742.8A CN202010907742A CN112180380B CN 112180380 B CN112180380 B CN 112180380B CN 202010907742 A CN202010907742 A CN 202010907742A CN 112180380 B CN112180380 B CN 112180380B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses an ultrasonic underwater detection method for an unmanned airship driven by an air rotor and a propeller in a cooperative manner. The method comprises the following steps: receiving a control command to obtain a detection fixed point position; the flight reaches a detection fixed point; measuring and recording the gesture of the unmanned airship by using a gesture instrument, and counting the wave motion direction; controlling the unmanned airship to face to be perpendicular to the wave motion direction; controlling the unmanned airship to navigate around the detection fixed point; controlling an ultrasonic microarray to collect water area parameters; maintaining the attitude of the unmanned airship; if the unmanned airship needs to be scanned and detected, changing the rolling angle and the yaw angle of the unmanned airship and detecting; if the fixed-point water area detection is completed, receiving a control command and flying to the next detection fixed point, otherwise continuing to navigate and detect. The invention can improve the detection speed and the detection precision of the unmanned airship.
Description
Technical Field
The invention mainly relates to the field of unmanned ship water area detection, in particular to an ultrasonic underwater detection method for an unmanned airship driven by an air rotor and a propeller in a cooperative manner.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task by means of accurate satellite positioning and self-sensing without remote control, the English name is unmanned surface vessel, the English name is USV, and the unmanned ship is used for mapping, hydrology and water quality monitoring. The unmanned ship replaces manpower, manpower can be greatly reduced, efficiency is improved, in the detection task in the past, the detection personnel need to carry detection equipment by themselves, carry the boat and go forward to the detection place and carry out the waters detection, the boat can appear and touch reef in the detection process, the waters pollutes, the condition such as weather is abominable, threat detection personnel's self safety, simultaneously in some spaces narrow, under the environment of detection difficulty, the detection personnel hardly go to the detection place and carry out the detection, unmanned ship can replace the detection personnel and carry out the detection task through remote control unmanned ship, also can let unmanned ship independently intelligent the detection task in some environment.
The existing unmanned ship pushes the unmanned ship to sail on the water surface through the propeller, the sailing speed of the mode is generally slower, and the detection efficiency is reduced.
The existing unmanned ship is easy to be influenced by waves when sailing on the water surface to cause the ship body to swing, when the ultrasonic microarray is used for underwater detection, the wave can cause swinging, so that the gesture of the underwater detection module at two moments of sending and receiving signals can be changed greatly, the ultrasonic echo signals reflected by the underwater target are influenced and received, and the detection precision is low.
When the unmanned ship uses the ultrasonic microarray to perform underwater detection, the ultrasonic microarray transmits ultrasonic signals with specific frequency spectrum structures to a water area to be detected, and the ultrasonic microarray receives ultrasonic echo signals reflected by underwater targets so as to calculate various parameters of the water area. The existing unmanned ship can detect the fixed-point and directional water area, and can only acquire the water area parameters in a larger range by moving the position.
Disclosure of Invention
The invention aims to overcome the defects that an unmanned ship is easily limited by a natural geographic environment or an artificial engineering barrier, the underwater detection speed is low, the detection accuracy is reduced due to the fact that the unmanned ship is easily influenced by waves during detection, and the detection mode is single during underwater detection.
The technical scheme adopted by the invention for solving the problems is as follows.
An ultrasonic underwater detection method for an unmanned airship driven by an aerial rotor and a propeller in a cooperative manner comprises the following steps:
s1, receiving a control command to obtain a detection fixed point position;
s2, using a flying mode to reach a detection fixed point;
s3, after the detection fixed point is reached, controlling an aerial rotor and a propeller to rest for a period of time, measuring and recording the attitude change rate of the unmanned airship by using an attitude instrument, and counting the wave motion direction;
s4, controlling the unmanned airship to face to be perpendicular to the wave motion direction;
s5, controlling the unmanned airship to navigate around the detection fixed point;
s6, controlling the ultrasonic microarray to collect water area parameters;
s7, when controlling the ultrasonic microarray to collect water area parameters, maintaining the attitude of the unmanned airship;
s8, if scanning detection is needed, changing and keeping the roll angle and the yaw angle of the unmanned airship, and returning to the step S6;
s9, judging whether the detection of the environment of the fixed-point surrounding water area is finished, if not, returning to the step S5, moving to another position of the fixed-point surrounding water area for detection; if yes, returning to the step S1 to detect the water area at the next detection point.
Further, the detection fixed point position in the step S1 is a detection fixed point position designated by a remote user or a position of a next detection fixed point obtained by the unmanned airship according to the path planning.
Further, the process of step S2 is as follows:
unmanned aerial vehicle controls rotation of aerial rotor above unmanned aerial vehicle to provide thrust F z The unmanned airship is pushed to leave the water surface, wherein the distance from the unmanned airship to the water surface is obtained by an ultrasonic microarray distributed at the bottom of the ship, and at the moment, the throttle value of a brushless motor for controlling the rotation speed of each aerial rotor and the throttle value of a servo motor for controlling the orientation of each aerial rotor are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,for brushless motor thrust control coefficient, < >>The zero offset control coefficient of the servo motor;
the unmanned aerial vehicle controls the rotor wing above the unmanned aerial vehicle to generate rolling angle momentAnd pitch moment τ θ Changing the roll angle and pitch angle of the unmanned aerial vehicle, and the thrust F generated by the rotation of the rotor wing in the air above the unmanned aerial vehicle z Because the change of the rolling angle and the pitch angle generates horizontal thrust, the unmanned airship flies horizontally, wherein the current horizontal position of the unmanned airship is obtained by a satellite positioning instrument, and the brushless motor accelerator value for controlling the rotation speed of each aerial rotor wing and the servo motor accelerator value for controlling the orientation of each aerial rotor wing are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,for brushless motor thrust control coefficient, < >>Is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>For brushless motor pitch moment control factor,/-, for>Is a control coefficient of the rolling angle moment of the servo motor, +.>Is a pitch moment control coefficient of the servo motor.
Further, the process of step S3 is as follows: measuring and recording the yaw angle and the pitch angle of the unmanned airship by using an attitude meter, deleting values of the yaw angle and the pitch angle smaller than a threshold value to obtain n groups of data, and calculating an included angle alpha between the wave motion direction and the unmanned airship body by the following formula:
wherein the method comprises the steps ofYaw angle, θ for group i unmanned airship i For the i-th group of unmanned airship pitch angles, n is a number of data.
Further, the process of step S4 is as follows: controlling an aerial rotor above an unmanned aerial vehicle to generate yaw moment tau ψ Make unmanned airship rotate clockwiseAt this time, the unmanned airship is perpendicular to the wave motion direction, wherein alpha is the wave motion direction and the included angle of the unmanned airship, and at this time, the brushless motor accelerator value for controlling the rotation speed of each aerial rotor wing and the servo motor accelerator value for controlling the orientation of each aerial rotor wing are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the ith servo motor throttle value, p si,0 Is a zero offset control coefficient of the servo motor,for brushless motor yaw moment control coefficient, +.>Is a yaw moment control coefficient of the servo motor.
Further, the process of step S5 is as follows: the propeller below the tail part of the unmanned aerial vehicle is controlled to rotate, forward thrust Tf is provided, the unmanned aerial vehicle is pushed to sail forward, and the aerial rotor above the unmanned aerial vehicle is controlled to generate yaw moment tau ψ And thrust F z The yaw moment tau is generated ψ For controlling direction of travel, thrust F produced z The device is used for controlling the draft, wherein the current draft of the unmanned airship is obtained by pressure gauges distributed at the bottom of the ship, and at the moment, the brushless motor throttle value for controlling the rotation speed of each aerial rotor, the servo motor throttle value for controlling the orientation of each aerial rotor and the underwater brushless motor throttle value for controlling the rotation of the propeller are as follows:
mu＝kT f formula (10)
Wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,for brushless motor thrust control coefficient, < >>Is a zero offset control coefficient of the servo motor, +.>For brushless motor yaw moment control coefficient, +.>The yaw angle moment control coefficient of the servo motor is mu, the throttle value of the underwater brushless motor is mu, and k is the forward thrust control coefficient.
Further, the process of step S6 is as follows: the ultrasonic microarray sends detection signals, and water area parameters are calculated according to the received detection signals: calculating the water flow speed based on the frequency deviation of the ultrasonic receiving echo and the transmitting wave signal; calculating the water depth based on the time delay of the ultrasonic receiving echo and the transmitting wave signal; based on time delay, reflection coefficient and direction of arrival parameters of ultrasonic received echo and transmitted wave signals, the topography of the water bottom is inverted by combining the geographical position of the water surface of the unmanned airship.
Further, the process of step S7 is as follows: the unmanned airship collects the attitude instrument at high frequency to obtain the attitude of the unmanned airship, and when detecting the tiny change of the attitude of the unmanned airship, the unmanned airship immediately controls the aerial rotor to generate the rolling angle momentPitch moment τ θ Yaw moment τ ψ The method comprises the steps of carrying out a first treatment on the surface of the Roll angle moment->Pitch moment τ θ Yaw moment τ ψ The motor accelerator value and the servo motor accelerator value for controlling the rotation speed of each aerial rotor wing at the moment are respectively used for correcting the turning angle, the pitch angle and the yaw angle of the unmanned airship, and are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>Is a pitch moment control coefficient of the brushless motor,for brushless motor yaw moment control coefficient, +.>Is a control coefficient of the rolling angle moment of the servo motor, +.>Is a pitch angle moment control coefficient of the servo motor, +.>Is a yaw moment control coefficient of the servo motor.
Further, the process of step S8 is as follows: unmanned airship for controlling aerial rotor wing to generate rolling angle momentYaw moment τ ψ Rotating the unmanned airship to a specified rolling angle and a specified yaw angle, wherein the ultrasonic microarray at the bottom of the unmanned airship can change the detection direction along with the rotation of the unmanned airship, and at the moment, the brushless motor accelerator value for controlling the rotation speed of each aerial rotor and the servo motor accelerator value for controlling the orientation of each aerial rotor are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>Is a pitch moment control coefficient of the brushless motor,for brushless motor yaw moment control coefficient, +.>Is a control coefficient of the rolling angle moment of the servo motor, +.>Is a pitch angle moment control coefficient of the servo motor, +.>Is a yaw moment control coefficient of the servo motor.
Compared with the prior art, the invention has the following advantages and effects:
(1) The unmanned airship is balanced by controlling the moment generated by the aerial rotor of the unmanned airship, so that the detection direction of the ultrasonic microarray is maintained, and the detection precision is improved.
(2) The gesture of the unmanned airship is actively changed by controlling the moment generated by the aerial rotor of the unmanned airship, so that the detection direction of the ultrasonic microarray is changed, and the scanning detection function is realized;
(3) The yaw moment and upward thrust generated by the aerial rotor of the unmanned airship can be combined with the propeller to realize the water surface sailing task of controlling the draft;
(4) The unmanned airship aerial rotor rotates to generate thrust to control the unmanned airship to fly, the flight resistance is smaller than the water surface navigation resistance, and the movement speed is high.
Drawings
FIG. 1 is a flow chart of an ultrasonic underwater detection method for an unmanned airship driven by an air rotor and a propeller in a cooperative manner;
FIG. 2 is a top view of a two-rotor unmanned spacecraft in the implementation of the present invention;
figure 3 is a right side view of a two-rotor unmanned spacecraft in the implementation of the present invention;
figure 4 is a cross-sectional view of a two-rotor unmanned spacecraft embodying the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
In this embodiment, a two-rotor unmanned airship will be taken as an example, and the hull structure of the two-rotor unmanned airship is shown in fig. 2, 3 and 4. The unmanned airship with two rotors is characterized in that a first servo motor 5, a second servo motor 6, a first brushless motor 3, a second brushless motor 4, a first aerial rotor 1, a second aerial rotor 2, a 1 brushless motor 7 and a 1 propeller 8 are distributed below the tail, an ultrasonic microarray 10 and a pressure sensor 11 are arranged at the bottom, an attitude instrument 12 and a satellite positioning receiver 13 are arranged on the inner wall, and a satellite positioning receiver antenna 9 is arranged at the top. This unmanned airship hull top of two rotors distributes No. one servo motor 5, no. two servo motor 6, no. one brushless motor 3, no. two brushless motor 4, no. one aerial rotor 1, no. two aerial rotor 2, the connected mode is No. one servo motor 5, no. two servo motor 6 pass through the support to be fixed on hull top support, no. one servo motor 5 pivot is fixed with No. one brushless motor 3, no. two servo motor 6 pivot is fixed with No. two brushless motor 4, no. one brushless motor 3 pivot is fixed with No. one aerial rotor 1, no. two brushless motor 4 pivot is fixed No. two aerial rotor 2. The first brushless motor 3 controls the first aerial rotor 1 to rotate positively, and the second brushless motor 4 controls the second aerial rotor 2 to rotate reversely. When the throttle value of the brushless motor 3, the brushless motor 4 and the brushless motor 7 below the tail part is 0, the motor is static, and when the throttle value is 1000, the motor reaches the highest rotating speed. When the throttle value of the servo motor is 500, the rotating shaft angle of the servo motor is 90 degrees, namely, the rotating shafts of the first brushless motor 3 and the second brushless motor 4 which are fixed on the rotating shafts of the first servo motor 5 and the second servo motor 6 are perpendicular to the ship bottom, and when the throttle value of the servo motor is 0, the rotating shaft angle of the servo motor is 0 degree, namely, the rotating shaft of the first brushless motor 3 which is fixed on the rotating shaft of the first servo motor 5 faces the ship tail, namely, the rotating shaft of the second brushless motor 4 which is fixed on the rotating shaft of the second servo motor 6 faces the ship head. When the throttle value of the servo motor is 1000, the rotating shaft angle of the servo motor is 180 degrees, namely the rotating shaft of the first brushless motor 3 fixed on the rotating shaft of the first servo motor 5 faces the bow, namely the rotating shaft of the second brushless motor 4 fixed on the rotating shaft of the second servo motor 6 faces the stern.
As shown in fig. 1, the control process of the ultrasonic underwater detection method for the unmanned airship driven by the air rotor and the propeller in a cooperative manner is as follows:
s1, receiving a control command to obtain a detection fixed point position (x d ,y d )。
S2, using flying mode to reach the detection fixed point (x d ,y d ). The unmanned airship is controlled to fly as follows: take off, fly flat and land.
Taking off: unmanned airship controls first aerial rotor 1 and second aerial rotor 2 to generate thrust F z Pushing the unmanned airship to leave the water surface. And (3) flat flight: controlling generation of aerial rotor 1 and aerial rotor 2 above unmanned aerial vehicleMoment of roll angleAnd pitch moment τ θ The roll angle and pitch angle of the unmanned airship are changed, and the thrust F generated by rotation of the aerial rotor 1 and the second aerial rotor 2 of the unmanned airship is changed z Because the change of the rolling angle and the pitch angle generates horizontal thrust, the unmanned airship flies horizontally. Landing: reducing thrust F z . The height of the unmanned airship from the water surface is obtained by an ultrasonic microarray distributed at the bottom of the ship, and the current horizontal position of the unmanned airship is obtained by a satellite positioning instrument.
S3, reaching the detection setpoint (x) d ,y d ) And after that, controlling the first aerial rotor wing 1, the second aerial rotor wing 2 and the propeller 8 to rest for a period of time, measuring and recording the (yaw angle and pitch angle) of the unmanned airship by using an attitude meter, deleting the value of the yaw angle and the smaller pitch angle to obtain n groups of data, and calculating the wave motion direction and the included angle alpha of the hull of the unmanned airship by the following steps:
wherein the method comprises the steps ofYaw angle, θ for group i unmanned airship i For the i-th group of unmanned airship pitch angles, n is a number of data.
S4, controlling the first aerial rotor 1 and the second aerial rotor 2 above the unmanned aerial vehicle to generate yaw moment tau ψ Make unmanned airship rotate clockwiseAt this time, the unmanned airship faces perpendicular to the wave motion direction.
S5, controlling the unmanned airship to navigate around the detection fixed point. The unmanned airship water surface navigation control method comprises the following steps: the propeller below the tail part of the unmanned aerial vehicle is controlled to rotate, forward thrust Tf is provided, the unmanned aerial vehicle is pushed to sail forward, and the first aerial rotor 1 and the second aerial rotor 2 above the unmanned aerial vehicle are controlled to generate yaw moment tau ψ And thrust F z The yaw moment tau is generated ψ For controlling direction of travel, thrust F produced z The current draft of the unmanned airship is obtained by pressure gauges distributed at the bottom of the ship.
S6, controlling the ultrasonic microarray to send detection signals, and calculating water area parameters according to the received detection signals: calculating the water flow speed based on the frequency deviation of the ultrasonic receiving echo and the transmitting wave signal; calculating the water depth based on the time delay of the ultrasonic receiving echo and the transmitting wave signal; based on the time delay, reflection coefficient, direction of arrival and other parameters of ultrasonic receiving echo and transmitting wave signals, the water surface geographic position of the unmanned airship is combined, and the topography and topography of the water bottom are inverted.
And S7, when the ultrasonic microarray is controlled to collect water area parameters, the attitude of the unmanned airship is kept. The process for maintaining the attitude of the unmanned airship is as follows: the unmanned airship collects the attitude instrument at high frequency to obtain the attitude of the unmanned airship, and when detecting the tiny change of the attitude of the unmanned airship, the unmanned airship immediately controls the first aerial rotor 1 and the second aerial rotor 2 to generate the moment of the rolling anglePitch moment τ θ Yaw moment τ ψ The method comprises the steps of carrying out a first treatment on the surface of the Roll angle moment->Pitch moment τ θ Yaw moment τ ψ The method is used for correcting the turning angle, the pitch angle and the yaw angle of the unmanned airship respectively.
S8, if scanning detection is needed, the unmanned airship controls the first aerial rotor 1 and the second aerial rotor 2 to generate rolling angle momentYaw moment τ ψ Rotating the unmanned airship to a specified rolling angle and a specified yaw angle; the ultrasonic microarray at the bottom of the unmanned airship changes the detection direction with the rotation of the unmanned airship. And returns to step S6.
And S9, judging whether the detection of the environment of the fixed-point surrounding water area is finished, if not, returning to the step S5, and moving to another position of the fixed-point surrounding water area for detection. If yes, returning to the step S1 to detect the water area at the next detection point.
Wherein the thrust F z Roll angle momentPitch moment τ θ Yaw moment τ ψ The rotation speed and the direction of the first aerial rotor wing 1 and the second aerial rotor wing 2 distributed above the unmanned aerial vehicle are controlled; to make unmanned airship generate thrust F z Roll angle moment->Pitch moment τ θ Yaw moment τ ψ And when the corresponding brushless motor accelerator value and servo motor accelerator value are:
s 1 ＝-τ θ +τ ψ +500 formula (3-1)
s 2 ＝τ θ +τ ψ +500 formula (3-2)
Wherein m is 1 Throttle value, m for brushless motor 3 number one 2 Throttle value s of brushless motor No. 4 1 The throttle value s of the first servo motor 5 2 The throttle value of the No. two servo motor 6.
Wherein the forward thrust F f Is produced by controlling the rotating speed of the propeller distributed below the tail part of the unmanned ship; the propeller is fixed on an underwater brushless motor, and the throttle value of the underwater brushless motor determines the rotating speed of the propeller; when the unmanned airship generates forward thrust Tf, the corresponding throttle value of the brushless motor is as follows:
mu＝T f formula (4)
Where mu is the throttle value of the underwater brushless motor 7 below the stern of the unmanned aerial vehicle.
In summary, the invention balances the unmanned airship by controlling the moment generated by the aerial rotor of the unmanned airship, maintains the detection direction of the ultrasonic microarray, and improves the detection precision; the moment generated by the aerial rotor wing of the unmanned airship can be used for actively changing the gesture of the unmanned airship, so that the detection direction of the ultrasonic microarray is changed, and the function of scanning detection is realized; the yaw moment and upward thrust generated by the aerial rotor of the unmanned airship can be combined with the propeller to realize the water surface sailing task of controlling the draft; the unmanned airship aerial rotor rotates to generate thrust to control the unmanned airship to fly, the flight resistance is smaller than the water surface navigation resistance, and the movement speed is high.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (8)
1. An ultrasonic underwater detection method for an unmanned airship driven by an aerial rotor and a propeller in a cooperative manner is characterized by comprising the following steps:
s1, receiving a control command to obtain a detection fixed point position;
s2, using a flying mode to reach a detection fixed point, wherein the process is as follows:
unmanned aerial vehicle controls rotation of aerial rotor above unmanned aerial vehicle to provide thrust F z The unmanned airship is pushed to leave the water surface, wherein the distance from the unmanned airship to the water surface is obtained by an ultrasonic microarray distributed at the bottom of the ship, and at the moment, the throttle value of a brushless motor for controlling the rotation speed of each aerial rotor and the throttle value of a servo motor for controlling the orientation of each aerial rotor are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,for brushless motor thrust control coefficient, < >>The zero offset control coefficient of the servo motor;
the unmanned aerial vehicle controls the rotor wing above the unmanned aerial vehicle to generate rolling angle momentAnd pitch moment τ θ Changing the roll angle and pitch angle of the unmanned aerial vehicle, and the thrust F generated by the rotation of the rotor wing in the air above the unmanned aerial vehicle z Because the change of the rolling angle and the pitch angle generates horizontal thrust, the unmanned airship flies horizontally, wherein the current horizontal position of the unmanned airship is obtained by a satellite positioning instrument, and the brushless motor accelerator value for controlling the rotation speed of each aerial rotor wing and the servo motor accelerator value for controlling the orientation of each aerial rotor wing are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a thrust control coefficient of the brushless motor,/>is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>For brushless motor pitch moment control factor,/-, for>Is a control coefficient of the rolling angle moment of the servo motor, +.>The pitch moment control coefficient of the servo motor;
s3, after the detection fixed point is reached, controlling an aerial rotor and a propeller to rest for a period of time, measuring and recording the attitude change rate of the unmanned airship by using an attitude instrument, and counting the wave motion direction;
s4, controlling the unmanned airship to face to be perpendicular to the wave motion direction;
s5, controlling the unmanned airship to navigate around the detection fixed point;
s6, controlling the ultrasonic microarray to collect water area parameters;
s7, when controlling the ultrasonic microarray to collect water area parameters, maintaining the attitude of the unmanned airship;
s8, if scanning detection is needed, changing and keeping the roll angle and the yaw angle of the unmanned airship, and returning to the step S6;
s9, judging whether the detection of the environment of the fixed-point surrounding water area is finished, if not, returning to the step S5, moving to another position of the fixed-point surrounding water area for detection; if yes, returning to the step S1 to detect the water area at the next detection point.
2. The ultrasonic underwater detection method for the unmanned spacecraft driven by the air rotor and the propeller according to claim 1, wherein the detection fixed point position in the step S1 is a detection fixed point position designated by a remote user or a position of a next detection fixed point obtained by the unmanned spacecraft according to path planning.
3. The method for ultrasonic underwater detection of the unmanned spacecraft driven by the air rotor and the propeller in cooperation according to claim 1, wherein the process of the step S3 is as follows: measuring and recording the yaw angle and the pitch angle of the unmanned airship by using an attitude meter, deleting values of the yaw angle and the pitch angle smaller than a threshold value to obtain n groups of data, and calculating an included angle alpha between the wave motion direction and the unmanned airship body by the following formula:
wherein the method comprises the steps ofYaw angle, θ for group i unmanned airship i For the i-th group of unmanned airship pitch angles, n is a number of data.
4. The method for ultrasonic underwater detection of the unmanned spacecraft driven by the air rotor and the propeller in cooperation according to claim 1, wherein the process of the step S4 is as follows: controlling an aerial rotor above an unmanned aerial vehicle to generate yaw moment tau ψ Make unmanned airship rotate clockwiseAt this time, the unmanned airship is perpendicular to the wave motion direction, wherein alpha is the wave motion direction and the included angle of the unmanned airship, and at this time, the brushless motor accelerator value for controlling the rotation speed of each aerial rotor wing and the servo motor accelerator value for controlling the orientation of each aerial rotor wing are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a zero offset control coefficient of the servo motor, +.>For brushless motor yaw moment control coefficient, +.>Is a yaw moment control coefficient of the servo motor.
5. The method for ultrasonic underwater detection of the unmanned spacecraft driven by the air rotor and the propeller in cooperation according to claim 1, wherein the process of the step S5 is as follows: the propeller below the tail part of the unmanned aerial vehicle is controlled to rotate, forward thrust Tf is provided, the unmanned aerial vehicle is pushed to sail forward, and the aerial rotor above the unmanned aerial vehicle is controlled to generate yaw moment tau ψ And thrust F z The yaw moment tau is generated ψ For controlling direction of travel, thrust F produced z The device is used for controlling the draft, wherein the current draft of the unmanned airship is obtained by pressure gauges distributed at the bottom of the ship, and at the moment, the brushless motor throttle value for controlling the rotation speed of each aerial rotor, the servo motor throttle value for controlling the orientation of each aerial rotor and the underwater brushless motor throttle value for controlling the rotation of the propeller are as follows:
mu＝kT f formula (10)
Wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,for brushless motor thrust control coefficient, < >>Is a zero offset control coefficient of the servo motor, +.>For brushless motor yaw moment control coefficient, +.>The yaw angle moment control coefficient of the servo motor is mu, the throttle value of the underwater brushless motor is mu, and k is the forward thrust control coefficient.
6. The method for ultrasonic underwater detection of the unmanned spacecraft driven by the air rotor and the propeller in cooperation according to claim 1, wherein the process of the step S6 is as follows: the ultrasonic microarray sends detection signals, and water area parameters are calculated according to the received detection signals; calculating the water flow speed based on the frequency deviation of the ultrasonic receiving echo and the transmitting wave signal; calculating the water depth based on the time delay of the ultrasonic receiving echo and the transmitting wave signal; based on time delay, reflection coefficient and direction of arrival parameters of ultrasonic received echo and transmitted wave signals, the topography of the water bottom is inverted by combining the geographical position of the water surface of the unmanned airship.
7. The ultrasonic underwater detection method for the unmanned spacecraft driven by the air rotor and the propeller in a cooperative manner according to claim 1, which is characterized in thatCharacterized in that the process of the step S7 is as follows: the unmanned airship collects the attitude instrument at high frequency to obtain the attitude of the unmanned airship, and when detecting the tiny change of the attitude of the unmanned airship, the unmanned airship immediately controls the aerial rotor to generate the rolling angle momentPitch moment τ θ Yaw moment τ ψ The method comprises the steps of carrying out a first treatment on the surface of the Roll angle moment->Pitch moment τ θ Yaw moment τ ψ The motor accelerator value and the servo motor accelerator value for controlling the rotation speed of each aerial rotor wing at the moment are respectively used for correcting the turning angle, the pitch angle and the yaw angle of the unmanned airship, and are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>For brushless motor pitch moment control factor,/-, for>For brushless motor yaw moment control coefficient, +.>Is a control coefficient of the rolling angle moment of the servo motor, +.>Is a pitch angle moment control coefficient of the servo motor, +.>Is a yaw moment control coefficient of the servo motor.
8. The method for ultrasonic underwater detection of the unmanned spacecraft driven by the air rotor and the propeller in cooperation according to claim 1, wherein the process of the step S8 is as follows: unmanned airship for controlling aerial rotor wing to generate rolling angle momentYaw moment τ ψ Rotating the unmanned airship to a specified rolling angle and a specified yaw angle, wherein the ultrasonic microarray at the bottom of the unmanned airship can change the detection direction along with the rotation of the unmanned airship, and at the moment, the brushless motor accelerator value for controlling the rotation speed of each aerial rotor and the servo motor accelerator value for controlling the orientation of each aerial rotor are as follows:
wherein m is i For the i-th brushless motor throttle value, s i For the i-th servo motor throttle value,is a zero offset control coefficient of the servo motor, +.>For brushless motor roll angle moment control coefficient, +.>For brushless motor pitch moment control factor,/-, for>For brushless motor yaw moment control coefficient, +.>Is a control coefficient of the rolling angle moment of the servo motor, +.>Is a pitch angle moment control coefficient of the servo motor, +.>Is a yaw moment control coefficient of the servo motor.
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