APPLICATION OF PORTABLE FLYING ROBOTIC SYSTEMS FOR EARLY DETECTION OF AN IGNITION SOURCE

Recently, the development of modern equipment and early detection of ignition sources has become relevant due to many fires and the material and human damage caused by them. This study aimed to develop a method of searching for the ignition source by moving a mobile gas analyzer towards increasing the concentration of carbon monoxide (CO) emitted in the initial stages of fire. According to the simplex and Kiefer method, an algorithm based on the spatial detection method and guaranteed trajectory definition was used to move the mobile gas analyzer towards increasing concentration. The dependence of the engine speed on the supply voltage, the angular speed of the engine with the supply voltage, the tractive force at the wing flap frequency, the supply voltage as well as the energy consumed by the engine during propulsion were calculated. To determine the direction of the azimuth towards the movement of increasing the concentration of CO, an equation was obtained that made it possible to determine the concentration of CO as a function of the distance from the carbon monoxide source. A diagram of the gradient dependence on the distance to the ignition point was plotted, and the number of points on the trajectory on which the CO concentration is measured was determined. One way to further improve early fire detection methods is to use mobile gas analyzers in the ignition source movement and determine their coordinates with the increase in CO concentration. However, further development is restricted due to insufficient research on design methods for mobile gas analyzers, communication analysis between subsystems, and calculation methods based on mathematical models that adequately describe the basic modes of movement of mobile gas analyzers.