A balanced unmanned aerial vehicle medical cabin and its balance control method

Abstract

The present invention discloses a balanced unmanned aerial vehicle medical cabin and a balance control method thereof. The medical cabin comprises: a medical cabin body, a swing frame, a push-pull rod, a grating ruler control assembly, and a power supply. The front end of the medical cabin body is provided with a front cover, and the rear end is provided with an entry and exit door. The side of the medical cabin body is provided with two windows. A stretcher is installed in the medical cabin body. The swing frame is installed on the keel below the main reducer of the unmanned aerial vehicle. The push-pull rod is installed on the swing frame and is used to drive the swing frame to rotate relative to the unmanned aerial vehicle by changing its own length, thereby driving the medical cabin body to rotate synchronously. The grating ruler control assembly is used to control the push-pull rod to adjust its length based on the collected real-time dynamic pitch attitude of the unmanned aerial vehicle and the feedback signal of the length change of the push-pull rod, so that the medical cabin body maintains a horizontal balance state. The power supply is placed in the medical cabin body. The present invention can ensure the balance of the medical cabin when it is transported by an unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle medical cabins, and particularly relates to a balanced unmanned aerial vehicle medical cabin and a balance control method thereof. Background Art

[0002] Currently, medical cabins are generally transported by ground transportation, which is easily affected by road conditions such as traffic jams and narrow roads, which affect the transportation time. The existing method of using drones to transport medical cabins can solve the above-mentioned transportation time problem of ground transportation of medical cabins. However, when using drones to transport medical cabins, how to ensure the balance of the medical cabin is an urgent problem that needs to be solved when using drones to transport medical cabins. Summary of the Invention

[0003] In view of this, the present invention provides a balanced unmanned aerial vehicle medical cabin and a balance control method thereof, which can ensure the balance of the medical cabin when the medical cabin is transported by a drone.

[0004] The present invention is achieved through the following technical solutions:

[0005] A balanced unmanned aerial vehicle medical cabin comprises: a medical cabin body, a rocking frame, a push-pull rod, a grating ruler control component and a power supply;

[0006] The front end of the medical cabin body is provided with a front cover, and the rear end is provided with an entry and exit door; the side of the medical cabin body is provided with two windows; and a stretcher is installed in the medical cabin body;

[0007] The swing frame is installed on the keel below the main reducer of the UAV and is used to support the medical cabin;

[0008] The push-pull rod is mounted on the rocking frame and is used to drive the rocking frame to rotate relative to the drone by changing its own length, thereby driving the medical cabin to rotate synchronously to maintain a horizontal balance state;

[0009] The grating ruler control component is used to control the push-pull rod to adjust its length according to the collected real-time dynamic pitch attitude of the UAV and the feedback signal of the length change of the push-pull rod, so that the medical cabin body maintains a horizontal balance state;

[0010] The power supply is placed inside the medical cabin and is used to supply power to the push-pull rod and the grating ruler control assembly.

[0011] Furthermore, the rocking frame includes a vertical bearing frame and a horizontal bearing frame;

[0012] The vertical support frame is fixed on the keel below the main reducer of the UAV and is installed in the center of the horizontal support frame through a rotating shaft; the medical cabin body is fixed on the rocking frame and can rotate relative to the vertical support frame around the axis of the rotating shaft along with the horizontal support frame.

[0013] Furthermore, the two ends of the push-pull rod are respectively a fixed end and a telescopic end. A telescopic motor is provided on the drag rod, and the telescopic motor is used to control the telescopic end of the drag rod to extend and retract, thereby making the length of the push-pull rod adjustable; the fixed end of the push-pull rod is hinged on the vertical support frame, and the telescopic end is hinged on the horizontal support frame, and the hinge point of the push-pull rod and the vertical support frame, the hinge point of the push-pull rod and the horizontal support frame, and the rotation axis between the vertical support frame and the horizontal support frame constitute the three vertices of a triangle.

[0014] Furthermore, the grating scale control component includes: a gyroscope, an acceleration sensor, a grating scale displacement sensor and a controller;

[0015] The gyroscope and acceleration sensor are internal components of the drone, used to detect the pitch state of the drone, and generate a PWM signal through PID and send it to the controller; the grating scale displacement sensor is installed on the push-pull rod, used to detect the length of the push-pull rod, that is, to measure and collect the dynamic stroke of the telescopic end of the push-pull rod and record the current state position, and generate a feedback signal and send it to the controller; the controller controls whether the telescopic motor of the push-pull rod is working according to the received PWM signal, and at the same time determines whether the telescopic motor of the push-pull rod is working in place according to the received feedback signal, so that the vertical support frame and the horizontal support frame rotate relative to each other with the axis of the rotating shaft as the center, and finally adjusts the posture of the medical cabin body on the rocking frame so that it always maintains a horizontal balance state.

[0016] Furthermore, the inner bottom surface of the medical cabin is provided with two slide rails, each of which is machined with a slide groove along its length; the bottom surface of the stretcher is provided with two connecting legs as sliders, and the stretcher slides in the slide grooves of the medical cabin through the connecting legs;

[0017] Both sides of the front end of the slide are respectively provided with recesses, which can cooperate with the connecting legs of the stretcher to lock the connecting legs of the stretcher, thereby moving the stretcher into position and locking it;

[0018] The two slide rails are respectively installed in the medical cabin body through guide rail support seats, and the guide rail support seats are shock-absorbing balls.

[0019] Furthermore, two ceiling LED lights are installed on the top of the medical cabin, and the two ceiling LED lights are located at the front and rear ends of the medical cabin respectively; the front ceiling LED light is used to illuminate the head, neck and chest of the injured; the rear ceiling LED light is used to illuminate the entry and exit doors;

[0020] A camera is installed at the center of the top of the medical cabin to collect image information of the injured; a wearable vital sign monitoring module is hung on the inner wall of the medical cabin to collect the injured's blood oxygen, blood pressure and electrocardiogram conditions; a voice intercom is installed at the front end of the medical cabin to enable communication between the injured and the ground; a radio transmitter is installed at the very front end of the medical cabin, and the antenna of the radio transmitter is set downward;

[0021] An electrical box is installed in the front end of the medical cabin; a ground communication system is installed in the electrical box, and the ground communication system is electrically connected to the camera, vital sign monitoring module and voice intercom, and is used to provide a transmission communication path for the camera, vital sign monitoring module and voice intercom and the ground station equipment through a carrier signal modulated by a radio transmitter, and the camera and voice intercom are transmitted to the ground station equipment via the network port, and the vital sign detection module is transmitted to the ground station equipment via the serial port.

[0022] Furthermore, the inner wall surface of the medical cabin body is attached with evenly distributed sound insulation cotton; the material of the medical cabin body is carbon fiber, and the outer surface is sprayed with paint.

[0023] Furthermore, the vertical load-bearing frame adopts three U-shaped frames, and the three U-shaped frames are arranged in parallel in the vertical direction, wherein the length of the two side panels of the U-shaped frame in the middle is longer than the length of the two side panels of the two U-shaped frames on both sides, and the two side panels of the U-shaped frame in the middle are fixed to the keel below the main reducer of the drone by bolts; the horizontal load-bearing frame adopts two horizontal rods, the middle part of the horizontal rods is pinned to the side panels of the U-shaped frame in the middle through a rotating shaft and a bearing, and the two ends of the horizontal rods are respectively fixedly connected to the side panels of the two U-shaped frames on both sides; finally, the horizontal load-bearing frame and the two U-shaped frames on both sides form an integrated structure, and the medical cabin body is fixed on the integrated structure, and can rotate relative to the U-shaped frame in the middle around the axis of the rotating shaft with the integrated structure.

[0024] Furthermore, the power supply is installed in the electrical box to power the telescopic motor, grating scale displacement sensor and controller of the push-pull rod of the medical cabin body; wherein, when the power supply powers the telescopic motor of the push-pull rod, the different directions and speeds of the telescopic motor can be controlled by controlling different voltages and currents.

[0025] A balance control method for a drone medical cabin that maintains balance is provided, based on the above drone medical cabin, and the specific steps are as follows:

[0026] In the first step, the controller digitizes the PWM signals sent by the gyroscope and acceleration sensor and the feedback signals sent by the grating scale displacement sensor and converts them into digital signals;

[0027] In the second step, the controller takes the values ​​of the three PWM signals in chronological order;

[0028] The third step is to determine whether the values ​​of the three PWM signals in the third step are within the travel range of the push-pull rod;

[0029] If it is within the travel range of the push-pull rod, proceed to the next step;

[0030] If it is not within the travel range of the push-pull rod, it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals;

[0031] Step 4: After 20ms, re-judge whether the values ​​of the three PWM signals in step 4 are within the travel range of the push-pull rod;

[0032] If it is within the travel range of the push-pull rod, proceed to the next step;

[0033] If it is not within the travel range of the push-pull rod, it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals;

[0034] Step 5: Determine whether the values ​​of the three PWM signals in the fifth step are arranged in ascending order or descending order within the travel range of the push-pull rod;

[0035] If they are arranged in ascending order, it means that the drone is currently in a lifting state. At this time, an extension command is sent to the controller's drive unit, and an indicator light signal is sent as a prompt. The drive unit drives the telescopic motor of the push-pull rod to extend.

[0036] If they are arranged in descending order, it means that the drone is currently in a diving state. At this time, a retraction command is sent to the controller's drive unit, and an indicator light signal is sent as a prompt. The drive unit drives the telescopic motor of the push-pull rod to retract.

[0037] The sixth step is to constantly compare the feedback signal of the grating scale displacement sensor while the telescopic motor of the push-pull rod drives the push-pull rod to extend or retract, that is, whether the actual telescopic displacement of the push-pull rod is consistent with the value of the collected PWM signal;

[0038] If the actual extension value of the push-pull rod detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is necessary to return and send the extension command again. Similarly, if the actual contraction value of the push-pull rod detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is also necessary to return and send the contraction command again.

[0039] When the feedback signal received from the grating scale displacement sensor is consistent with the value of the received PWM signal, a stop command is immediately sent to the telescopic motor of the push-pull rod, and a stop command is sent to the telescopic motor of the push-pull rod again after 20ms. At the same time, the indicator light is turned off to indicate that the operation is completed. After completing one cycle, it returns to the initial state to receive data again for the next judgment, and the cycle repeats.

[0040] Beneficial effects:

[0041] (1) The medical cabin body of the present invention can carry a wounded person, and dynamically adjust the medical cabin body according to the flying posture of the drone to maintain a horizontal balance state, thereby reducing the turbulence caused by the drone and preventing secondary injuries to the wounded in the cabin; the principle of the balance application of the drone medical cabin is mainly based on the basic principle of "dynamic stability", using the built-in gyroscope and acceleration sensor of the drone to detect the changes in the flying posture of the drone, and using the servo control system and grating scale displacement sensor to accurately position the push-pull rod, and control the telescopic motor of the push-pull rod to make corresponding adjustments, so that the medical cabin body carrying the wounded can perform controllable balance compensation according to the pitch posture of the drone, thereby ensuring that the medical cabin body maintains a horizontal balance state.

[0042] (2) The present invention adds a grating scale displacement sensor to the push-pull rod, overcoming the technical bottleneck of the inability to accurately limit the position using ordinary push-pull rods, while reducing the production cost.

[0043] (3) The inner wall of the medical cabin of the present invention is provided with sound insulation cotton to insulate and reduce noise of the cabin, thereby reducing the impact of high-decibel noise generated by the drone during flight on the injured; shock-absorbing balls are provided under the slide rails of the medical cabin to reduce the turbulence during the drone flight and improve the comfort of the injured; two LED ceiling lights are hung on the ceiling of the medical cabin to provide lighting for the cabin environment. The light after frosted glass treatment is more gentle and is not easy to cause damage to the eyes of the injured; a high-definition camera is hung in the center of the medical cabin to monitor the status of the injured in real time; the cabin is also equipped with a wearable vital sign detection module and a voice intercom. The vital sign monitoring module is configured to collect the blood oxygen, blood pressure and electrocardiogram conditions of the injured; the voice intercom is configured to provide the injured with a better channel for communication with the ground.

[0044] (4) The present invention takes into account the special application scenarios of drones, from the carbon fiber of the medical cabin body to the hollow steel material selection of the rocking frame to the push-pull rod and stretcher structure. The placement of the medical cabin body between the landing gear below the vertical drone body makes the center of gravity of the drone more stable, increases the balance of the drone and makes the structure more solid. The electrical box is placed at the front end of the medical cabin body near the front cover, which effectively reduces the difficulty of maintenance in the event of a fault and makes disassembly and replacement more convenient. In addition, the electrical box concentrates a large number of electrical equipment, making the space more tidy and the structure more compact, saving space. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural composition diagram of the present invention;

[0046] Figure 2 for Figure 1 perspective drawing;

[0047] Figure 3 Schematic diagram of the structure of the stretcher;

[0048] Figure 4 A diagram showing the connection between the present invention and a drone;

[0049] Figure 5 This is the schematic diagram of the tilting stroke of the medical cabin;

[0050] Figure 6 The schematic diagram of the stroke change of the push-pull rod;

[0051] Figure 7 This is a flow chart of the balance control of the present invention;

[0052] Among them, 1-medical cabin body, 2-rotation mechanism, 3-power supply, 4-front cover, 5-entry and exit door, 6-stretcher, 7-push and pull rod, 8-vertical load-bearing frame, 9-horizontal load-bearing frame. DETAILED DESCRIPTION

[0053] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0054] This embodiment provides a balanced drone medical cabin, see attached Figure 1-2 , including: medical cabin body 1, rotating mechanism 2, power supply 3 and grating ruler control component;

[0055] The front end of the medical cabin body 1 is provided with a front cover 4 and the rear end is provided with an entry and exit door 5; the side of the medical cabin body 1 is provided with two windows; a stretcher 6 is installed in the medical cabin body 1;

[0056] The medical cabin body 1 is a double-layer structure, and the thickness of the outer wall is less than the thickness of the inner wall; an inner lining is added to the front cover 4, the access door 5 and the two windows, and the outer shell thickness of the front cover, the access door and the windows is greater than the inner lining thickness;

[0057] The front cover 4 is connected to the medical cabin body 1 by a double-layer bite structure through four locking blocks; the entry and exit door 5 is connected to the medical cabin body 1 by a double-layer bite structure, namely two lotus leaves and two locking blocks; the two windows are sealed by acrylic panels;

[0058] The inner bottom surface of the medical cabin body 1 is provided with two slide rails, each of which has a slide groove along its length direction; Figure 3 The bottom surface of the stretcher 6 is provided with two connecting legs as sliders, and the stretcher 6 slides with the slide groove of the medical cabin body 1 through the connecting legs;

[0059] Both sides of the front end of the chute are respectively provided with recesses, which can cooperate with the connecting legs of the stretcher 6 to lock the connecting legs of the stretcher 6, thereby moving the stretcher 6 into position and locking it;

[0060] The two slide rails are respectively installed in the medical cabin body 1 through guide rail support seats, and the guide rail support seats are shock-absorbing balls;

[0061] The inner wall surface of the medical cabin body 1 is attached with evenly distributed sound insulation cotton; the material of the medical cabin body 1 is carbon fiber, and the outer surface is sprayed with paint;

[0062] Two ceiling LED lights are installed on the top of the medical cabin body 1, and the two ceiling LED lights are located at the front and rear ends of the medical cabin body 1 respectively; the front ceiling LED light is used to illuminate the head, neck and chest of the wounded to provide a better line of sight; the rear ceiling LED light is used to illuminate the entrance and exit door 5 to provide a better view for the wounded when entering and exiting the medical cabin body 1;

[0063] A high-definition mini camera is installed in the center of the top of the medical cabin body 1 to collect image information of the injured; a wearable vital sign monitoring module is hung on the inner wall of the medical cabin body 1 to collect the injured's blood oxygen, blood pressure and electrocardiogram conditions; a voice intercom is installed at the front end of the medical cabin body 1 to enable communication between the injured and the ground; a radio transmitter is installed at the very front end of the medical cabin body 1, and the antenna of the radio transmitter is set downward;

[0064] An electrical box is installed at the front end of the medical cabin body 1 by screws; and the electrical box as a whole adopts a hollow design, that is, a closed functional box is built with hollow aluminum plates, and a connector is provided on the side, and the connector uses an aviation-specific aviation plug with a flange; a ground communication system is installed in the electrical box, and the ground communication system is electrically connected to the camera, vital sign monitoring module and voice intercom, and is used to provide a transmission communication path for the above-mentioned equipment (i.e., camera, vital sign monitoring module and voice intercom) and the ground station equipment through a carrier signal modulated by a radio transmitter, and the camera and voice intercom are transmitted to the ground station equipment by the network port, and the vital sign detection module is transmitted to the ground station equipment by the serial port.

[0065] The rotating mechanism 2 includes a rocking frame and a push-pull rod 7;

[0066] The swing frame is used to load the medical cabin body 1, including a vertical load-bearing frame 8 and a horizontal load-bearing frame 9; see the attached Figure 4 The vertical carrier frame 8 is fixed to the keel below the main reducer of the UAV by bolts and is installed in the center of the horizontal carrier frame 9 through a rotating shaft; the medical cabin body 1 is fixed to the rocking frame and can rotate relative to the vertical carrier frame 8 around the axis of the rotating shaft along with the horizontal carrier frame 9;

[0067] In this embodiment, the vertical load frame 8 adopts three U-shaped frames, and the three U-shaped frames are arranged in parallel in the vertical direction, wherein the length of the two side panels of the U-shaped frame in the middle is longer than the length of the two side panels of the two U-shaped frames on both sides, and the two side panels of the U-shaped frame in the middle are fixed to the keel below the main reducer of the drone by bolts; the horizontal load frame 9 adopts two horizontal rods, the middle part of the horizontal rods is pin-connected with the side panels of the U-shaped frame in the middle through a rotating shaft and a bearing, and the two ends of the horizontal rods are respectively fixedly connected to the side panels of the two U-shaped frames on both sides; finally, the horizontal load frame 9 and the two U-shaped frames on both sides form an integrated structure, and the medical cabin body 1 is fixed on the integrated structure and can rotate relative to the U-shaped frame in the middle around the axis of the rotating shaft along with the integrated structure;

[0068] Among them, the swing frame of this embodiment is reinforced with triangular structures in many places, such as the fixed connection between the U-shaped frame in the middle and the drone, and the fixed connection between the two U-shaped frames on both sides and the horizontal support frame 9 all use triangular support structures;

[0069] The swing frames are all made of hollow steel profiles, which can meet the needs while reducing unnecessary loads;

[0070] The length of the push-pull rod 7 is adjustable. The two ends of the push-pull rod 7 are respectively a fixed end and a telescopic end. The drag rod 7 is provided with a telescopic motor, which is used to control the telescopic end of the drag rod to extend and retract, thereby making the length of the push-pull rod adjustable; the fixed end of the push-pull rod 7 is hinged to the vertical support frame 8, and the telescopic end is hinged to the horizontal support frame 9. The push-pull rod 7 and the rocking frame form a triangular support structure, that is, the hinge point of the push-pull rod 7 and the vertical support frame 8, the hinge point of the push-pull rod 7 and the horizontal support frame 9, and the rotation axis between the vertical support frame 8 and the horizontal support frame 9 constitute the three vertices of the triangle;

[0071] The grating ruler control assembly includes: a sensor and a controller; the sensors are respectively installed on the medical cabin body 1 and the drone, and are used to detect the pitch state of the drone and the length of the push-pull rod 7; the controller is placed in the electrical box of the medical cabin body 1 and fixed by support column screws; the controller is electrically connected to the sensor and the telescopic motor of the push-pull rod 7, respectively, and is used to control the telescopic motor of the push-pull rod 7 according to the sensing signal of the sensor, thereby adjusting the length of the push-pull rod 7, so that the vertical support frame 8 and the horizontal support frame 9 rotate relative to each other with the axis of the rotating shaft as the center, and finally adjust the posture of the medical cabin body 1 on the rocking frame so that it always maintains a horizontal balance state;

[0072] Among them, the sensors include: a gyroscope, an acceleration sensor and a grating scale displacement sensor; the gyroscope and acceleration sensor are internal components of the drone, used to detect the pitch state of the drone, and generate a PWM signal through PID and send it to the controller; the grating scale displacement sensor is installed on the push-pull rod 7, used to detect the length of the push-pull rod 7, that is, to measure and collect the dynamic stroke of the telescopic end of the push-pull rod 7 and record the current state position, and generate a feedback signal and send it to the controller; the controller controls whether the telescopic motor of the push-pull rod 7 is working according to the received PWM signal, and at the same time determines whether the telescopic motor of the push-pull rod 7 is working properly according to the received feedback signal, so that the medical cabin body 1 on the rocking frame always maintains a horizontal and balanced state;

[0073] Among them, one end of the grating scale displacement sensor is fixed to the fixed end of the push-pull rod 7, and the other end is fixed to the telescopic end of the push-pull rod 7 through a fixed block, so that the other end of the grating scale displacement sensor is consistent with the extension or contraction operating state of the push-pull rod 7, so as to ensure that the grating scale displacer accurately locates the current specific position of the push-pull rod 7; the working principle of the grating scale displacer is a sliding rheostat, the signal pin of the grating scale displacer is the adjustable end of the sliding rheostat, and the positive end and the negative end are two fixed ends. After electricity passes through, the voltage generated at the signal end after sliding the adjustable end can change linearly as the adjustment end becomes larger or smaller.

[0074] The controller includes a storage unit, a correction unit and a drive unit. The storage unit stores and records the pitch state of the real-time drone. The correction unit actually corrects the length of the push-pull rod 7 to be adjusted based on the calculated horizontal balance state of the medical cabin body 1. The drive unit converts the correction result into a current that can drive the telescopic motor of the push-pull rod 7.

[0075] The power supply 3 is installed in the electrical box through copper columns and splints, and is used to power the telescopic motor, grating scale displacement sensor and controller of the push-pull rod 7 of the medical cabin body 1 to maintain the rated working state; wherein, when the power supply 3 powers the telescopic motor of the push-pull rod 7, the different directions and speeds of the telescopic motor can be controlled by controlling different voltages and currents; wherein, the power supply 3 uses a lithium battery.

[0076] See attached Figure 5-6 The dimensions of the medical cabin body 1 and the push-pull rod 7 are designed as follows:

[0077] The medical cabin body 1 is loaded as a whole directly below the main propeller of the UAV. The left and right sides of the medical cabin body 1 are the landing gear of the UAV. The landing gear is opened at a certain angle to cover both sides of the medical cabin body 1. The front end of the medical cabin body 1 is also directly in front of the UAV's flight. The medical cabin body 1 is located below the main axis of the UAV and extends to the tail rotor. There is a certain space between the rear end of the medical cabin body 1 and the tail rotor, and the space is enough for a stretcher to enter and exit the medical cabin body 1.

[0078] Since the medical cabin body 1 needs to swing back and forth around the rotation axis on the rocking frame during the flight of the drone, and since the height between the medical cabin body 1 and the lower edge of the drone body and the ground is limited, in order to prevent the unlimited swing of the medical cabin body 1 from colliding with the drone body or the ground, it is necessary to refer to the actual pitch angle of the drone and the height of the landing support to ensure that the drone can take off and land smoothly to determine the overall size of the medical cabin body 1; it is designed based on the normal dive and lift of the drone, that is, the pitch angle of the drone is plus or minus 9°. Since the design length of the stretcher 6 is 1800mm, the design length of the medical cabin body 1 is 1920mm, and the distance between the two ends of the medical cabin body 1 and the rotation axis is 960mm.

[0079] According to the formula: arc length C = angle n°*2*π*radius R / 360°, n=9, the arc length of the end rotation of the medical cabin body 1 is calculated to be 150.792mm, which is approximately equal to the chord length. The vertical height of the end rotation of the medical cabin body 1 is calculated to be 150.327mm based on the cosine trigonometric function; therefore, the height between the upper surface of the medical cabin body 1 and the lower edge of the drone body is designed to be 210mm, and the height of the lower surface of the medical cabin body 1 from the ground is 200mm. At this time, when the medical cabin body 1 swings back and forth within the range of 9°, there is still a certain buffer height of 49.673mm with the ground.

[0080] First of all, during the extension and retraction of the push-pull rod 7, it is necessary to ensure that the medical cabin body 1 can be pushed, there is no jamming during operation, and the movement is relatively smooth; according to the design requirements, the medical cabin body 1, the rotating mechanism 2, the power supply 3 and the grating scale control assembly weigh a total of 33kg, and the designed passenger capacity is 80kg. Therefore, the total push-pull rod 7 needs to push and pull the overall weight of 113kg in a fixed position; the push-pull rod 7 is nominally 20mm / s, the maximum thrust is 140kg, and the maximum pulling force is 112kg; the rated voltage and current of the push-pull rod are 24V, 4A; in the actual push-pull rod pulling force, a folding engine crane is used in combination with a counterweight to test the specific push-pull rod pulling force; under the conditions of voltage of 24V and 2.1A, the maximum pulling force is 40kg; under the conditions of voltage of 24V and 3.7A, the maximum pulling force is 82kg; under the conditions of voltage of 24V and 4.7A, the maximum pulling force is 117kg. The actual measured value of 117kg is greater than the total required value of 113kg. According to the definition of torque, it is equal to different forces multiplied by the lever arms. When the force is relatively larger, the result of comparing the lever arms is that the force at the center point of the overall weight of the medical cabin body 1 after it is manned is ensured to be no greater than the lever arm of the push-pull rod 7. This ensures that there is sufficient force to push and pull the medical cabin body 1 after it is manned for stable operation. In the horizontal state, the lever arm of the push-pull rod 7 is actually measured to be 260mm, and the absolute center of the medical cabin body 1 after it is manned is 70mm offset from the axis of the load frame, that is, 260mm is much larger than 70mm, indicating that the push-pull force of the push-pull rod 7 can complete the task of pushing and pulling the manned medical cabin body 1.

[0081] After confirming the push-pull force of the push-pull rod 7, it is necessary to calculate the stroke and telescopic distance of the push-pull rod 7 when the medical cabin body 1 is tilted by plus or minus 9 degrees; the distance between the push-pull rod 7 and the rotation axis of the rocking frame is 280 mm. Before the medical cabin body 1 is tilted, the angle between the horizontal support frame 9 and the push-pull rod 7 is 69.09 degrees; before the medical cabin body 1 is tilted, the angle with the horizontal direction is 90 degrees, that is, the tilt angle is 90 degrees. After the medical cabin body 1 is tilted by plus or minus 9 degrees, the tilt angles are 81 degrees and 99 degrees respectively. According to the cosine theorem and the sine theorem, the angles of 81 degrees and 99 degrees are calculated respectively. The solution is 9°, that is, the angle between the horizontal support frame 9 and the push-pull rod 7 after the medical cabin body 1 is tilted and changes to the horizontal level varies from 61.4° to 77.13°; the final calculation shows that the stroke change of the push-pull rod is 71.67mm, which means that the push-pull rod 7 is shortened by 35.83mm during the pulling (i.e. retraction) process, and the push-pull rod 7 is also extended by 35.83mm during the pushing (i.e. extension) process; since the maximum telescopic distance of the selected push-pull rod 7 is 150mm, the selected push-pull rod 7 can meet the push-pull stroke generated when the medical cabin body 1 changes in tilt by plus or minus 9°.

[0082] The principle and specific steps of the balance control method of the UAV medical cabin are as follows:

[0083] Working principle: The pitch state of the drone collected by the gyroscope and acceleration sensor is calculated through PID to generate a PWM signal. The controller generates a control instruction based on the PWM signal and transmits it to the telescopic motor in the push-pull rod 7 through the serial port instruction. The direction of the force is then changed through the internal gear spiral transmission of the push-pull rod 7 to make the push-pull rod 7 extend or contract. When the grating scale displacement sensor follows the movement of the push-pull rod 7, it will output a feedback signal of 0 to 3.3V analog voltage to the controller. After receiving the feedback signal, the controller converts it into a processable digital signal, and after re-analysis, transmits the instruction to the telescopic motor in the push-pull rod 7 through the serial port instruction, and repeats this closed-loop continuous motion.

[0084] See attached Figure 7 , the specific steps are as follows:

[0085] In the first step, the controller's control logic initializes all required application interfaces and enables the clock state;

[0086] In the second step, the controller digitizes the PWM signals sent by the gyroscope and acceleration sensor and the feedback signals sent by the grating scale displacement sensor, and quantizes them into digital signals that are relatively easy to calculate;

[0087] In the third step, the controller takes the values ​​of the three PWM signals in chronological order;

[0088] The fourth step is to determine whether the values ​​of the three PWM signals in the third step are within the travel range of the push-pull rod 7. Because the push-pull rod 7 does not need to push or pull the full distance of 150mm during the pushing and pulling process, it is necessary to determine whether the collected PWM signals are within the set travel range of 71.67mm.

[0089] If it is within the travel range of the push-pull rod 7, proceed to the next step;

[0090] If it is not within the travel range of the push-pull rod 7, it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals;

[0091] Step 5: After 20ms, re-judge whether the values ​​of the three PWM signals in step 4 are within the travel range of the push-pull rod 7. Since unnecessary interference may occur during the signal transmission process of the gyroscope and acceleration sensor, which may have a negative impact on the collected signals, in order to avoid this phenomenon, it is necessary to wait 20ms after judging the data range once and re-judge whether the collected signals are within the set values.

[0092] If it is within the travel range of the push-pull rod 7, proceed to the next step;

[0093] If it is not within the travel range of the push-pull rod 7, it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals;

[0094] Step 6: Determine whether the values ​​of the three PWM signals in the fifth step are arranged in ascending order or descending order within the travel range of the push-pull rod 7;

[0095] If they are arranged in order from small to large, it means that the drone is currently in a lifting state. At this time, an extension instruction is sent to the drive unit of the controller, and an indicator light signal is sent as a prompt. The drive unit drives the telescopic motor of the push-pull rod 7 to extend.

[0096] If they are arranged in descending order, it means that the drone is currently in a diving state. At this time, a retraction instruction is sent to the drive unit of the controller, and an indicator light signal is sent as a prompt. The drive unit drives the telescopic motor of the push-pull rod 7 to retract.

[0097] In the seventh step, while the telescopic motor of the push-pull rod 7 drives the push-pull rod 7 to extend or retract, it is necessary to continuously compare the feedback signal of the grating scale displacement sensor, that is, whether the actual telescopic displacement of the push-pull rod 7 is consistent with the value of the collected PWM signal;

[0098] If the actual extension value of the push-pull rod 7 detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is necessary to return and send the extension command again. Similarly, if the actual contraction value of the push-pull rod 7 detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is also necessary to return and send the contraction command again.

[0099] When the feedback signal received from the grating scale displacement sensor is consistent with the value of the received PWM signal, a stop command is immediately sent to the telescopic motor of the push-pull rod 7. In order to ensure the safe effectiveness of the stop command, a stop command is sent to the telescopic motor of the push-pull rod 7 again after 20ms, and the indicator light is turned off to indicate that the operation is completed. After completing one cycle, it returns to the initial state to receive data again for the next judgment, and the cycle repeats.

[0100] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A balanced drone medical cabin, characterized by: include: Medical cabin body (1), rocking frame, push-pull rod (7), grating ruler control component and power supply (3); The front end of the medical cabin body (1) is provided with a front cover (4), and the rear end is provided with an entry and exit door (5); two windows are provided on the side of the medical cabin body (1); and a stretcher (6) is installed in the medical cabin body (1); The swing frame is installed on the keel below the main reducer of the UAV and is used to support the medical cabin body (1); The push-pull rod (7) is mounted on the rocking frame and is used to drive the rocking frame to rotate relative to the drone through its own length change, thereby driving the medical cabin body (1) to rotate synchronously to maintain a horizontal balance state; The grating ruler control component is used to control the push-pull rod (7) to adjust the length according to the collected real-time dynamic pitch attitude of the UAV and the feedback signal of the length change of the push-pull rod (7), so that the medical cabin body (1) maintains a horizontal balance state; The power supply (3) is placed in the medical cabin body (1) and is used to supply power to the push-pull rod (7) and the grating ruler control component; The rocking frame includes a vertical bearing frame (8) and a horizontal bearing frame (9); The vertical carrier frame (8) is fixed on the keel below the main reducer of the UAV and is installed in the center of the horizontal carrier frame (9) via a rotating shaft; the medical cabin body (1) is fixed on the rocking frame and can rotate relative to the vertical carrier frame (8) around the axis of the rotating shaft along with the horizontal carrier frame (9); The two ends of the push-pull rod (7) are respectively a fixed end and a telescopic end. A telescopic motor is provided on the push-pull rod (7), and the telescopic motor is used to control the telescopic end of the drag rod to extend and retract, thereby making the length of the push-pull rod adjustable; the fixed end of the push-pull rod (7) is hinged on the vertical support frame (8), and the telescopic end is hinged on the horizontal support frame (9), and the hinge point of the push-pull rod (7) and the vertical support frame (8), the hinge point of the push-pull rod (7) and the horizontal support frame (9), and the rotation axis between the vertical support frame (8) and the horizontal support frame (9) form three vertices of a triangle; The grating scale control component includes: a gyroscope, an acceleration sensor, a grating scale displacement sensor and a controller; The gyroscope and acceleration sensor are internal components of the UAV, and are used to detect the pitch state of the UAV, and generate a PWM signal through PID and send it to the controller; the grating scale displacement sensor is installed on the push-pull rod (7), and is used to detect the length of the push-pull rod (7), that is, to measure and collect the dynamic stroke of the telescopic end of the push-pull rod (7) and record the current state position, and generate a feedback signal and send it to the controller; the controller controls whether the telescopic motor of the push-pull rod (7) is working according to the received PWM signal, and at the same time, determines whether the telescopic motor of the push-pull rod (7) is working in place according to the received feedback signal, so that the vertical support frame (8) and the horizontal support frame (9) rotate relative to each other with the axis of the rotating shaft as the center, and finally adjusts the posture of the medical cabin body (1) on the rocking frame so that it always maintains a horizontal balance state.

2. The balanced drone medical cabin according to claim 1, characterized in that: The inner bottom surface of the medical cabin body (1) is provided with two slide rails, and the slide rails are respectively processed with slide grooves along the length direction thereof; the bottom surface of the stretcher (6) is provided with two connecting legs as sliders, and the stretcher (6) is slidably engaged with the slide grooves of the medical cabin body (1) through the connecting legs; Both sides of the front end of the slide are respectively provided with recesses, which can cooperate with the connecting legs of the stretcher (6) to lock the connecting legs of the stretcher (6), thereby moving the stretcher (6) into position and locking it; The two slide rails are respectively installed in the medical cabin body (1) through guide rail support seats, and the guide rail support seats are shock-absorbing balls.

3. A balanced drone medical cabin according to any one of claims 1-2, characterized in that: Two ceiling-mounted LED lighting lamps are installed on the top of the medical cabin body (1), and the two ceiling-mounted LED lighting lamps are respectively located at the front end and the rear end of the medical cabin body (1); the front end ceiling-mounted LED lighting lamp is used to illuminate the head, neck and chest of the injured; the rear end ceiling-mounted LED lighting lamp is used to illuminate the cabin door (5); A camera is installed at the center of the top of the medical cabin body (1) for collecting image information of the injured; a wearable vital sign monitoring module is hung on the inner wall of the medical cabin body (1) for collecting blood oxygen, blood pressure and electrocardiogram conditions of the injured; a voice intercom is installed at the front end of the medical cabin body (1) for realizing communication between the injured and the ground; a radio transmitter is installed at the front end of the medical cabin body (1), and the antenna of the radio transmitter is set downward; An electrical box is installed at the front end of the medical cabin body (1); a ground communication system is installed in the electrical box, and the ground communication system is electrically connected to the camera, the vital sign monitoring module and the voice intercom, and is used to provide a transmission communication path for the camera, the vital sign monitoring module and the voice intercom and the ground station equipment through a carrier signal modulated by a radio transmitter, and the camera and the voice intercom are transmitted to the ground station equipment via the network port, and the vital sign detection module is transmitted to the ground station equipment via the serial port.

4. A balanced drone medical cabin according to any one of claims 1-2, characterized in that: The inner wall surface of the medical cabin body (1) is attached with evenly distributed sound insulation cotton; the material of the medical cabin body (1) is carbon fiber, and the outer surface is sprayed with paint.

5. A balanced drone medical cabin according to any one of claims 1-2, characterized in that: The vertical support frame (8) adopts three U-shaped frames, and the three U-shaped frames are arranged in parallel along the vertical direction, wherein the length of the two side plates of the U-shaped frame located in the middle is longer than the length of the two side plates of the two U-shaped frames located on both sides, and the two side plates of the U-shaped frame located in the middle are fixed to the keel below the main reducer of the drone by bolts; the horizontal support frame (9) adopts two horizontal rods, the middle part of the horizontal rods is pin-connected with the side plates of the U-shaped frame located in the middle through a rotating shaft and a bearing, and the two ends of the horizontal rods are fixedly connected with the side plates of the two U-shaped frames located on both sides respectively; finally, the horizontal support frame (9) and the two U-shaped frames located on both sides form an integrated structure, and the medical cabin body (1) is fixed on the integrated structure and can rotate relative to the U-shaped frame located in the middle around the axis of the rotating shaft along with the integrated structure.

6. The balanced drone medical cabin according to claim 3, characterized in that: The power supply (3) is installed in the electrical box and is used to supply power to the telescopic motor, grating scale displacement sensor and controller of the push-pull rod (7) of the medical cabin body (1); wherein, when the power supply (3) supplies power to the telescopic motor of the push-pull rod (7), different directions and speeds of the telescopic motor can be controlled by controlling different voltages and currents.

7. A balance control method for a drone medical cabin that maintains balance, based on the drone medical cabin of claim 1, characterized in that: The specific steps are as follows: In the first step, the controller digitizes the PWM signals sent by the gyroscope and acceleration sensor and the feedback signals sent by the grating scale displacement sensor and converts them into digital signals; In the second step, the controller takes the values ​​of the three PWM signals in chronological order; The third step is to determine whether the values ​​of the three PWM signals in the third step are within the travel range of the push-pull rod (7); If it is within the travel range of the push-pull rod (7), proceed to the next step; If it is not within the travel range of the push-pull rod (7), it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals; Step 4: After 20ms, re-judge whether the values ​​of the three PWM signals in step 4 are within the travel range of the push-pull rod (7); If it is within the travel range of the push-pull rod (7), proceed to the next step; If it is not within the travel range of the push-pull rod (7), it is necessary to return to the third step and re-obtain the values ​​of the three PWM signals; Step 5, determining whether the values ​​of the three PWM signals in the travel range of the push-pull rod (7) in step 5 are arranged in ascending order or in descending order; If they are arranged in order from small to large, it means that the drone is currently in a lifting state. At this time, an extension command is sent to the driving unit of the controller, and an indicator light signal is sent as a prompt. The driving unit drives the telescopic motor of the push-pull rod (7) to extend the work; If they are arranged in descending order, it means that the drone is currently in a diving state. At this time, a retraction instruction is sent to the driving unit of the controller, and an indicator light signal is sent as a prompt. The driving unit drives the telescopic motor of the push-pull rod (7) to retract. The sixth step is to continuously compare the feedback signal of the grating scale displacement sensor while the telescopic motor of the push-pull rod (7) drives the push-pull rod (7) to extend or retract, that is, whether the actual telescopic displacement of the push-pull rod (7) is consistent with the value of the collected PWM signal; If the actual extension value of the push-pull rod (7) detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is necessary to return and send the extension instruction again. Similarly, if the actual contraction value of the push-pull rod (7) detected by the grating scale displacement sensor is inconsistent with the value of the collected PWM signal, it is also necessary to return and send the contraction instruction again. When the feedback signal received from the grating scale displacement sensor is consistent with the value of the received PWM signal, a stop command is immediately sent to the telescopic motor of the push-pull rod (7), and a stop command is sent to the telescopic motor of the push-pull rod (7) again after 20ms, and the indicator light is turned off to indicate that the operation is completed. After completing one cycle, the system returns to the initial state to receive data again for the next judgment, and the cycle repeats.

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