CN217100426U

CN217100426U - Intelligent multi-rotor wing rescue throwing device

Info

Publication number: CN217100426U
Application number: CN202121099984.5U
Authority: CN
Inventors: 沈跃; 李奕岑; 王德伟; 王秀丽; 施志翔
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2022-08-02
Anticipated expiration: 2031-05-21

Abstract

The utility model discloses an intelligent multi-rotor rescue throwing device, wherein a throwing warhead is positioned at the forefront end of the throwing device and plays a role in breaking wind and reducing resistance in the ascending process of the throwing device, an umbrella storage bin is arranged at the central position of the front end of the throwing warhead, the rear end of the throwing warhead is connected with a projectile shell through threads, and a first splitter plate, a second splitter plate and a third splitter plate are directly connected with the projectile shell through built-in chutes of the projectile shell to divide the space in the cavity of the projectile shell into equal parts; the connecting flange tightly connects the shell of the bullet with the motor, the upper end of the motor is connected with three rotor wings, and the three rotor wings 4 in the space in the cavity of the shell of the bullet are separated by the splitter plate and provide power for the system; the throwing device is structurally provided with a flight control module, a vision module, a laser radar and a battery, wherein the vision module, the laser radar and the battery are connected with the flight control module; the utility model discloses greatly increased jettison ware's dead time, when jettison ware whereabouts, intelligent recognition placement position and control rotor make its yawing motion, reach the loss that the purpose has reduced the energy simultaneously is trailed to the placement.

Description

Intelligent multi-rotor wing rescue throwing device

Technical Field

The utility model belongs to the technical field of rescue equipment automation and flight control technique and specifically relates to a ware is jettisoned to controllable fixed point of many rotors pursuit intelligence of purpose.

Background

The irresistible geological disasters greatly threaten the life and property safety of people, and under special conditions of flood fighting, rescue at sea and the like, people are often trapped and need emergency rescue, but the trapped people are not easily in direct contact. Under the condition, the rescue environment is generally very severe, the rescue opportunity is vanished in the short term, and the requirement on the rescue condition is higher. Under general conditions, when major disasters occur, military police force is adopted for rescue, and people who are trapped can be helped to get rid of the trapping successfully due to professional lifesaving skills and rescue equipment. But in some emergency situations, the portable rescue equipment has faster and better effect due to the time needed for the large rescue equipment to arrive. First, many disasters occur between moments, such as accidents involving overboard, ship distress, etc., which are not preceded by signs, but require a short time for rescuing the trapped person once they occur. When the danger occurs, rescue is requested, and the time when the rescue force arrives may be late, for example, when a fire breaks out on a high floor, the fire fighting measures are difficult to act on the ignition point in a short time, and the small accident may cause a big disaster due to the development of the fire, but the throwing device can carry fire fighting bombs, and the fire fighting is rescued at the first time when the fire breaks out, so that the development of the fire is restrained. The throwing device is emergency rescue equipment, when people in accompanying personnel encounter danger or have dangerous situations, the life-saving throwing device can be launched out, the throwing device carries rescue equipment such as a swim ring, a life jacket or a fire bomb to the trapped person, the dangerous situations are prevented, and the trapped person is helped to escape.

The throwing device is a device which takes gunpowder, gas or electromagnetic force as power and takes the principle of bullet shooting as similarity to send required equipment to a specified position. The throwing device is mainly used for emergency rescue, climbing anchor hooks, cross-hill and water stringing, anti-terrorist assault and other scenes, and is particularly applied to the field of emergency rescue. The rescue throwing device technology originates from abroad, but after the domestic introduction, the technology is continuously developed, the gap with the foreign country is gradually reduced, and the current general lifesaving requirement can be met. With the improvement of launching technology and projectile body, the maximum throwing distance of the prior throwing device can reach 300 meters under the condition of no load, and the effective throwing distance can also reach 200 meters under the condition of load.

At present, many offshore vessels, rescue teams and beach facilities have begun to be equipped with life-saving throwers. At present, the thrower on the domestic market mainly uses gas as power for emission, and the principle is that enough high-pressure gas is stored in a gas storage bin firstly, and when the thrower is emitted, the high-pressure gas is released in a limited space instantly by opening a pressure release valve, so that strong thrust is generated, and a projectile body of the thrower is pushed to pop up. However, the projectile throws the projectile by artificial projection, and whether the projection effect is ideal depends on the level of the projectile. Moreover, the projection effect is also affected by external factors such as weather.

The traditional rescue thrower has the following defects: (1) the throwing effect is too dependent on the technical level of a projector, and a non-professional person cannot directly use the throwing effect; (2) the throwing effect is easily influenced by external factors, such as temperature, humidity, wind speed and the like during throwing; (3) after the projectile body is thrown out, the track and the drop point of the projectile body can not be corrected and changed, so that the dangerous situation of the instantaneous change can not be dealt with in time.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: in order to overcome the not enough of above-mentioned prior art, the utility model discloses a many rotors, can carry out accurate discernment to the placement to carry out the many rotors of intelligence lifesaving jettisonings of position appearance adjustment in order to reach the accurate descending purpose to the projectile body of jettisoninging through the rotor. The utility model is suitable for a multiple scene that traditional rescue jettison device was suitable for to and some traditional rescue jettison devices can't be competent special scenes. The utility model has the characteristics of easy operation, receive external disturbance less, throw effective distance far away, the effect ideal.

The technical scheme of the utility model includes: a thrower structure with a rotor wing comprises a throwing bullet (1), a bullet shell (2), a connecting flange (3), the rotor wing (4), a motor (5), a first splitter plate (6), a second splitter plate (7), a third splitter plate (8), a flight control module (9), a vision module (10), a laser radar (11), a battery (12) and an umbrella storage bin (13); the throwing bullet (1) is positioned at the foremost end of the throwing device and plays a role in breaking wind and reducing resistance in the ascending process of the throwing device, the umbrella storage bin (13) is arranged at the center of the front end of the throwing bullet (1), the rear end of the throwing bullet (1) is connected with the bullet shell (2) through threads, and the first splitter plate (6), the second splitter plate (7) and the third splitter plate (8) are directly connected with the bullet shell (2) through built-in chutes in the bullet shell to divide the space in the cavity of the bullet shell (2) into equal parts; the connecting flange (3) tightly connects the shell (2) with the motor (5), the upper end of the motor (5) is connected with three rotors (4), and the three rotors (4) in the cavity space of the shell (2) are respectively separated by a first splitter plate (6), a second splitter plate (7) and a third splitter plate (8) to provide power for the system; the thrower structure is also provided with a flight control module (9), a vision module (10) connected with the flight control module (9), a laser radar (11) and a battery (12);

the flight control module (9) reads data of an accelerometer, a gyroscope, a magnetometer, a barometer and a vision module in real time, fuses the data through Kalman filtering or graph optimization, estimates the speed, the attitude, the position and the surrounding environment of the thrower in real time, forms disturbance rejection control feedback by utilizing various data information obtained through estimation and fusion, and controls a motor to realize the expected attitude, the speed and the position.

Furthermore, the rotary wings (4) are mutually 120 degrees, form an equilateral triangle shape and are installed facing the outside.

Furthermore, the flight control module (9), the vision module (10) and the laser radar (11) are arranged at the center of the bottom end of the shell of the projectile body and are respectively arranged between two adjacent splitter plates.

Further, the battery (12) is arranged at the gap position of the joint of the three splitter plates.

To sum up, the utility model discloses an easy operation receives external disturbance less, throws many rotors intelligence ware of throwing of effect ideal.

The throwing device prolongs the dead time of the throwing device by combining the parachute with the rotor wing 4, so that the flight control module 9 has enough time to make judgment and reflection, and the rotating speed of the motor 5 is adjusted to achieve the purposes of track change and drop point tracking. The state estimation of the thrower is realized through the multi-sensor fusion, and then the stable falling flight of the thrower is realized through a control algorithm. The laser radar 11 and the vision module 10 are used for recognizing and tracking targets, and the airborne processor makes control response through receiving signals, so that the multi-rotor intelligent throwing device is accurately thrown.

Contrast traditional rescue throwing device, the utility model discloses the method is peculiar and is characterized in that:

(1) by combining the unique structure of the throwing device and the parachute, the dead time of the throwing device is greatly increased, and sufficient response time is provided for the flight control module to analyze and track the throwing point.

(2) Due to the special structural design, the loss of energy is reduced, and the utilization of the thrower to wind energy is nearly maximized. The whole power part of the thrower only consists of three rotor motors used for adjusting the track, and the power used for reducing the falling speed in the falling process is provided by wind power.

(3) Under the premise that the falling time is greatly prolonged, the flight control module controls the rotor motor, the position of a falling point is changed by adjusting the falling track, and the purpose of tracking the falling point is achieved.

(4) The design adopts the combination of carbon fiber and aviation aluminum parts, and the self weight is small.

Drawings

FIG. 1 is a schematic diagram of the basic structure of the present invention;

FIG. 2 is a sectional view of the external structure of the present invention;

FIG. 3 is a schematic view of the internal structure of the present invention;

fig. 4 is a control algorithm block diagram of the present invention.

In fig. 1-3, 1-projectile warhead; 2-an elastomeric shell; 3-a connecting flange; 4-a rotor wing; 5, a motor; 6-a first splitter plate; 7-a second splitter plate; 8-a third shunting plate; 9-a flight control module; 10-a vision module; 11-laser radar; 12-a battery; 13-umbrella storage bin

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

A throwing device structure with a rotor wing comprises a throwing warhead 1, a projectile body shell 2, a connecting flange 3, a rotor wing 4, a motor 5, a first splitter plate 6, a second splitter plate 7, a third splitter plate 8, a flying control module 9, a vision module 10, a laser radar 11, a battery 12 and an umbrella storage bin 13. The throwing device comprises three rotary wings 4 which are all arranged in a throwing cabin, and the three rotary wings mutually form an equilateral triangle and are arranged towards the outside. The three rotary wings are not used for providing lifting force during rising, and only in the process of falling after the throwing device reaches the highest point, the posture of the throwing device is changed by providing lateral force, so that the accurate positioning of the falling point is realized, the rotary wings do not need to generate too large power, namely the power of a corresponding motor is relatively small, a common low-power motor with low price can be selected, and the quality of the throwing device is reduced while the universality and the economic benefit are improved.

The basic structure of the intelligent multi-rotor throwing device shown in fig. 1 is a schematic diagram, and the external part of the intelligent multi-rotor throwing device mainly comprises the following two parts: 1-throwing the warhead and 2-projectile body casing, wherein the rising process of the throwing warhead 1 is the wind breaking and drag reduction of the throwing device, and the projectile body plays a supporting role on the whole throwing device and is a carrier and a protective casing with various built-in modules.

Fig. 2 shows a cross-sectional view of the external structure of the intelligent multi-rotor throwing device, which mainly comprises the following parts: 1-projectile bullet, 2-projectile body shell and 13-umbrella storage bin, wherein the umbrella storage bin 13 is arranged at the center of the front end of the projectile bullet 1, and the rear end of the projectile bullet 1 is connected with the projectile body shell 2 through threads.

Fig. 3 shows a schematic diagram of the internal structure of an intelligent multi-rotor throwing device, which mainly comprises the following parts: 3-connecting flange, 4-rotor wing, 5-motor, 6-first splitter plate, 7-second splitter plate, 8-third splitter plate, 9-flight control module, 10-vision module, 11-laser radar, 12-battery and 13-umbrella storage bin; in the whole structure, the three motors 4 are installed with the circular grooves formed on the side surfaces in a centering way; the big parachute is arranged in the parachute storage bin 13, and the small parachute is arranged outside the bin and wraps the warhead; the installation accuracy requirements of the flight control module 9, the vision module 10, the laser radar 11 and the like are not high, and the installation of the flight control module, the vision module 10, the laser radar 11 and the like can be changed correspondingly according to the actual operation requirements.

The flight control module 9 reads data of an accelerometer, a gyroscope, a magnetometer, a barometer and a vision module in real time, fuses the data through Kalman filtering or graph optimization, estimates the speed (X, Y, Z, three-axis direction speed), the attitude (roll angle, pitch angle, yaw angle), the position (X, Y, Z, three-axis direction coordinate) and the surrounding environment of the thrower in real time, and forms disturbance rejection control feedback by utilizing various data information obtained by estimation and fusion, and controls a motor to realize expected attitude, speed and position.

Fig. 4 shows that the utility model discloses a control algorithm block diagram adopts multiple controllers such as position controller, speed controller, angle controller, angular speed controller and angular acceleration controller to gather in real time the processing to a plurality of flight parameters of jettison device, and the inside and outside polycyclic parallel control of PID cascade control, this has strengthened the interference immunity of system, because there are a plurality of controllers control aircraft, it can be than the more variable of single controller control for the adaptability of jettison device is stronger.

The utility model discloses a throwing ware structure work process of taking rotor does:

the projectile bullet 1 is positioned at the foremost end of the projectile device and plays a role in breaking wind and reducing drag for the whole body in the projectile process. The throwing warhead 1 is an ellipsoid structure, a parachute storage cabin 13 is arranged at the center of the front end of an ellipsoid, in the throwing process, main parachutes of the parachutes are all arranged in the parachute storage cabin 13, auxiliary parachutes of the parachutes are arranged outside the cabin and cover the throwing warhead 1, in the rising process of throwing, wind resistance is backward along the warhead, the auxiliary parachutes of the parachutes are attached to the surface of the warhead, the throwing track cannot be influenced, meanwhile, the storage cabin 13 can be covered, and blocking air enters the parachute storage groove to influence throwing. The inside of the throwing bin 13 is divided into three spaces which are not communicated with each other and have the same volume by a first splitter plate 6, a second splitter plate 7 and a third splitter plate 8, air enters the cavity from below and is discharged through the rotor 4 in the falling process of the throwing device, and the air exerts acting force on the throwing device when discharged to push the throwing device to move in the opposite direction of wind power. The counter-acting force borne by the throwing device can be adjusted by changing the rotating speed of the motor, so that the aim of controlling the pose is fulfilled.

In the process of landing, because the gravity center of the throwing device is mainly distributed on one side of the air inlet of the splitter plate, namely the mounting side of the vision module and the laser radar, the throwing device can fall down by taking the side as the bottom, at the moment, the small parachute of the parachute is firstly stressed to drag the large parachute out of the cabin, the falling speed of the throwing device is delayed, meanwhile, the flight control module 9, the vision module 10 and the laser radar 11 start to work, the flight control module 9 estimates the posture of the thrower, the rotating speed of the motor 5 is adjusted to ensure that the posture falls stably, the vision module 10 identifies and positions a falling point, information is transmitted to the flight control module 9, the laser radar 11 monitors height data of the thrower in real time and feeds back the height data in real time, the processor calculates the relative position of the current thrower and the falling point by acquiring the information, and the rotating speed of the motor 5 is controlled in real time, so that the falling track of the thrower approaches to the position of a falling point, and the falling point tracking is realized.

Claims

1. A thrower structure with a rotor wing is characterized by comprising a throwing bullet (1), a bullet shell (2), a connecting flange (3), a rotor wing (4), a motor (5), a first splitter plate (6), a second splitter plate (7), a third splitter plate (8), a flight control module (9), a vision module (10), a laser radar (11), a battery (12) and an umbrella storage bin (13); the throwing device comprises a throwing device, an umbrella storage bin (13), a shell body shell (2), a first splitter plate (6), a second splitter plate (7) and a third splitter plate (8), wherein the throwing bullet (1) is positioned at the foremost end of the throwing device and plays a role in breaking wind and reducing resistance in the ascending process of the throwing device, the umbrella storage bin (13) is arranged at the center of the front end of the throwing bullet (1), the rear end of the throwing bullet (1) is connected with the shell body shell (2) through threads, and the first splitter plate (6), the second splitter plate (7) and the third splitter plate (8) are directly connected with the shell body shell (2) through built-in chutes in the shell body shell (2) to divide the space in the cavity of the shell body shell (2) into equal parts; the connecting flange (3) tightly connects the projectile body shell (2) with the motor (5), the upper end of the motor (5) is connected with three rotor wings (4), and the three rotor wings (4) in the cavity space of the projectile body shell (2) are uniformly distributed along the circumference and are respectively separated by a first splitter plate (6), a second splitter plate (7) and a third splitter plate (8) to provide power for the system; the thrower is structurally further provided with a flight control module (9), a vision module (10) connected with the flight control module (9), a laser radar (11) and a battery (12).

2. A throwing apparatus structure with rotor according to claim 1, wherein the rotors (4) are 120 degrees from each other, forming an equilateral triangle, mounted facing the outside.

3. The structure of the thrower with rotor according to claim 1, characterized in that the flight control module (9), the vision module (10) and the laser radar (11) are mounted in the center of the bottom of the projectile casing and respectively placed between two adjacent splitter plates.

4. A rotorcraft structure as claimed in claim 1, characterised in that the battery (12) is mounted in the gap between the junction of the three manifolds.