INTELLIGENT MULTI-ROTOR RESCUE THROWER AND CONTROL METHOD THEREOF

Abstract

In an intelligent multi-rotor rescue thrower, a throwing projectile head is located at a foremost end of the thrower, a parachute storage bin is mounted at a center of a front end of the throwing projectile head, a rear end of the throwing projectile head is connected to a projectile body shell through threads, and a first splitter plate, a second splitter plate, and a third splitter plate are directly connected to the projectile body shell through slide grooves built in the projectile body shell to equally divide a space in a cavity of the projectile body shell; connecting flanges tightly connect the projectile body shell to motors, a rotor is connected to an upper end of each of the motors, and three rotors are provided in the space in the cavity of the projectile body shell.

Claims

1. A thrower structure with rotors, comprising a throwing projectile head, a projectile body shell, connecting flanges, three rotors, motors, a first splitter plate, a second splitter plate, a third splitter plate, a flight control module, a visual module, a laser radar, a battery, and a parachute storage bin, wherein the throwing projectile head is located at a foremost end of a thrower and configured for breaking a wind and reducing a resistance in an ascending process of the thrower, the parachute storage bin is mounted at a center of a front end of the throwing projectile head, a rear end of the throwing projectile head is connected to the projectile body shell through threads, and the first splitter plate, the second splitter plate, and the third splitter plate are directly connected to the projectile body shell through slide grooves built in the projectile body shell to equally divide a space in a cavity of the projectile body shell; the connecting flanges tightly connect the projectile body shell to the motors, each of the rotors is connected to an upper end of a respective one of the motors, and the rotors are provided in the space in the cavity of the projectile body shell, evenly distributed along a circumference, and separated from each other by the first splitter plate, the second splitter plate, and the third splitter plate, to provide a power for a system; and the thrower structure is also provided with the flight control module, the visual module, the laser radar, and the battery are connected to the flight control module.

2. The thrower structure with the rotors according to claim 1, wherein the flight control module is configured to read data of an accelerometer, a gyroscope, a magnetometer, a barometer, and the visual module in real time, fuse the data through Kalman filtering or graph optimization, estimate a speed, a posture, a position, and a surrounding environment of the thrower in real time, form an anti-interference control feedback using various data information obtained by the estimation and the fusion, and control the motors to realize an expected posture, speed, and position.

3. The thrower structure with the rotors according to claim 1, wherein the rotors are at 120 degrees relative to each other to form an equilateral triangle shape and are mounted outwards.

4. The thrower structure with the rotors according to claim 1, wherein the flight control module, the visual module, and the laser radar are mounted at a center of a bottom end of the projectile body shell and respectively located between adjacent ones of the first splitter plate, the second splitter plate, and the third splitter plate.

5. The thrower structure with the rotors according to claim 1, wherein the battery is mounted in a gap at a connection position of the first splitter plate, the second splitter plate, and the third splitter plate.

6. A control method of the thrower structure with the rotors according to claim 1, comprising the following steps: in a throwing process, totally arranging a main parachute in the parachute storage bin, arranging an auxiliary parachute outside the parachute storage bin to cover the throwing projectile head, an interior of the parachute storage bin being divided into three spaces which are not communicated with each other and have equal volumes by the first splitter plate, the second splitter plate, and the third splitter plate, air entering the cavity from a bottom and being discharged by the rotors in a falling process of the thrower, the air exerting an acting force on the thrower when being discharged to push the thrower to move in an opposite direction to wind, and adjusting counter-acting force borne by the thrower via changing rotating speeds of the motors, so as to control a position and posture; and in the falling process, a gravity center of the thrower being mainly distributed on an air inlet side of the first splitter plate, the second splitter plate, and the third splitter plate, wherein the visual module and the laser radar are mounted in the air inlet side, so that the thrower falling downwards with the air inlet side as a bottom, and the auxiliary parachute being firstly stressed to drag the main parachute out of the parachute storage bin, so as to reduce a falling speed of the thrower; meanwhile, the flight control module, the visual module, and the laser radar starting to work, wherein the flight control module estimates the posture of the thrower and adjusts the rotating speeds of the motors to guarantee a stable-posture fall, the visual module identifies and positions a fall point, and transmits information to the flight control module, the laser radar monitors height data of the thrower in real time and feeds back the height data in real time, and a processor calculates a current position of the thrower relative to the fall point by acquiring the information, and controls the rotating speeds of the motors in real time, such that a falling track of the thrower approaches the fall point to realize fall point tracking.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG. 1 is a schematic diagram of a basic structure according to the present disclosure.

[0024] FIG. 2 is a cross-sectional view of an external structure according to the present disclosure.

[0025] FIG. 3 is a schematic diagram of an internal structure according to the present disclosure.

[0026] FIG. 4 is a block diagram of a control algorithm according to the present disclosure.

[0027] In FIG. 1 to FIG. 3, 1—throwing projectile head; 2—projectile body shell; 3—connecting flange; 4—rotor; 5—motor; 6—first splitter plate; 7—second splitter plate; 8—third splitter plate; 9—flight control module; 10—visual module; 11—laser radar; 12—battery; 13—parachute storage bin.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The present disclosure is further described below with reference to the accompanying drawings and examples.

[0029] A thrower structure with rotors includes a throwing projectile head 1, a projectile body shell 2, connecting flanges 3, the rotors 4, motors 5, a first splitter plate 6, a second splitter plate 7, a third splitter plate 8, a flight control module 9, a visual module 10, a laser radar 11, a battery 12, and a parachute storage bin 13. A thrower includes three rotors 4 which are all arranged in a thrower bin, and the three rotors are at 120 degrees relative to each other to form an equilateral triangle shape and are mounted outwards. The three rotors are not configured to provide lifting force during rise, and are only required to provide lateral force to change a position and posture of the thrower in a falling process after the thrower reaches a highest point, such that a fall point is positioned accurately, and therefore, the rotors are not required to generate too much power; that is, motor power corresponding to each of the rotors is relatively low, and common low-power motors with low price may be selected, thus reducing quality of the thrower while improving universality and economic benefits.

[0030] FIG. 1 shows a schematic diagram of a basic structure of an intelligent multi-rotor thrower, and an external portion of the intelligent multi-rotor thrower mainly includes the following two parts: 1—throwing projectile head and 2—projectile body shell; in a rising process, the throwing projectile head 1 breaks the wind and reduces the resistance for the thrower, and a projectile body plays a role of supporting the whole thrower and is a carrier and a protective shell internally provided with modules.

[0031] FIG. 2 shows a cross-sectional view of an external structure of the intelligent multi-rotor thrower, which mainly includes the following parts: 1—throwing projectile head, 2—projectile body shell, and 13—parachute storage bin; the parachute storage bin 13 is mounted at a center of a front end of the throwing projectile head 1, and a rear end of the throwing projectile head 1 is connected to the projectile body shell 2 through threads.

[0032] FIG. 3 shows a schematic diagram of an internal structure of the intelligent multi-rotor thrower, which mainly includes the following parts: 3—connecting flange, 4—rotor, 5—motor, 6—first splitter plate, 7—second splitter plate, 8—third splitter plate, 9—flight control module, 10—visual module, 11—laser radar, 12—battery, and 13—parachute storage bin. In the whole structure, the three rotors 4 are mounted concentrically with circular grooves formed in side surfaces. A large parachute is arranged in the parachute storage bin 13, and a small parachute is arranged outside the parachute storage bin to wrap a projectile head. The flight control module 9, the visual module 10, the laser radar 11, or the like, have low mounting precision requirements, and mounting ways of the flight control module, the visual module, and the laser radar may be changed correspondingly according to actual operational requirements.

[0033] The flight control module 9 reads data of an accelerometer, a gyroscope, a magnetometer, a barometer, and the visual module in real time, fuses the data through Kalman filtering or graph optimization, estimates a speed (speeds in X, Y, and Z axes), posture (roll angle, pitch angle, and yaw angle), position (coordinates in X, Y, and Z axes), and surrounding environment of the thrower in real time, forms anti-interference control feedback using various data information obtained by the estimation and the fusion, and controls the motors to realize an expected posture, speed, and position.

[0034] FIG. 4 shows a block diagram of a control algorithm according to the present disclosure. A plurality of flight parameters of the thrower are collected and processed in real time by various controllers, such as a position controller, a speed controller, an angle controller, an angular speed controller, an angular acceleration controller, or the like, and proportion-integration-differentiation (PID) cascade control is adopted to adjust a plurality of internal and external rings in parallel, thus enhancing the anti-interference performance of the system. Since the thrower is controlled by the plurality of controllers, more variables may be controlled compared with a single controller, thus making the thrower more adaptable.

[0035] The present disclosure provides a control method of the thrower structure with the rotors, including the following steps.

[0036] The throwing projectile head 1 is located at a foremost end of the thrower and configured for breaking the wind and reducing the resistance for the whole thrower in a throwing process. The throwing projectile head 1 has an ellipsoidal structure, the parachute storage bin 13 is provided at a center of a front end of the ellipsoid, and in the throwing process, a main parachute is totally arranged in the parachute storage bin 13, and an auxiliary parachute is arranged outside the parachute storage bin and covers the throwing projectile head 1; in the throwing rising process, the wind resistance acts backwards along the projectile head, such that the auxiliary parachute is attached to a surface of the projectile head without affecting a throwing track, and meanwhile may cover the parachute storage bin 13 to avoid that a throwing operation is affected due to air entering parachute storage grooves. An interior of the thrower bin is divided into three spaces which are not communicated with each other and have equal volumes by the first splitter plate 6, the second splitter plate 7, and the third splitter plate 8, air enters the cavity from a bottom and is discharged by the rotors 4 in a falling process of the thrower, and the air exerts acting force on the thrower when being discharged to push the thrower to move in an opposite direction to wind. That is, counter-acting force borne by the thrower may be adjusted by changing rotating speeds of the motors, so as to control the position and posture.

[0037] In the falling process, since a gravity center of the thrower is mainly distributed on an air inlet side of the splitter plate, i.e., a side where a visual module and a laser radar are mounted, the thrower may fall downwards with this side as a bottom, and at this point, the small parachute is firstly stressed to drag the large parachute out of the parachute storage bin, so as to reduce a falling speed of the thrower; meanwhile, the flight control module 9, the visual module 10, and the laser radar 11 start to work, the flight control module 9 estimates the posture of the thrower and adjusts the rotating speeds of the motors 5 to guarantee a stable-posture fall, the visual module 10 identifies and positions a fall point, and transmits information 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, and a processor calculates a current position of the thrower relative to the fall point by acquiring the information, and controls the rotating speeds of the motors 5 in real time, such that a falling track of the thrower approaches the fall point to realize fall point tracking.