Low-altitude emergency rescue aircraft based on stay cable overhanging telescopic corridor and control method of low-altitude emergency rescue aircraft

Abstract

The invention provides a low-altitude emergency rescue aircraft based on a stay cable cantilever telescopic corridor and a control method of the low-altitude emergency rescue aircraft, and belongs to the technical field of emergency rescue equipment. The problems that an existing high-altitude rescue mode is low in efficiency and high in risk, and a safety channel cannot be provided are mainly solved. The system comprises a low-altitude aircraft platform and an automatic telescopic corridor system connected to the low-altitude aircraft platform through a quick release interface. The corridor system is composed of a plurality of sections of corridor units which are hinged, and is provided with a stay cable segmentation stabilizing mechanism and a fence type handrail mechanism which can be automatically folded and erected. The core of the system is a dynamic balance adjusting system, the system actively generates compensation torque by sensing the state of the system and two movable balancing weights installed on a low-altitude aircraft platform and a gallery body respectively, and therefore unbalance torque generated by gallery action or manned is efficiently and stably counteracted; and the flight platform is ensured to be extremely stable in the operation process. The high-altitude emergency rescue system is suitable for various high-altitude emergency rescue scenes such as high-rise building fire disasters and cliff scientific investigation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special emergency rescue equipment, in particular to a low-altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic corridor and a control method thereof. BACKGROUND

[0002] Today, the number of high-rise and super high-rise buildings in cities is increasing, and at the same time, the demand for high-altitude work such as cliff exploration and high-voltage tower operation is also increasing. In such scenarios, once a fire, a person trapped or equipment failure occurs, the traditional rescue methods such as ladder fire trucks and rope rescue have obvious limitations: the lifting height of the ladder fire truck is limited, and it is severely restricted by the site environment; the rope rescue requires high professionalism of the operator, and has low efficiency and high risk.

[0003] Low-altitude aircraft, especially multi-rotor drones, provide a new solution for high-altitude rescue due to their excellent hovering capability and flexibility. There have been some attempts to combine aircraft with rescue devices, such as transferring personnel through a suspended rope. However, these solutions have significant drawbacks: Poor safety: the trapped person needs to be self-secured on the rope or simple basket without protection, which is a great test for both psychology and physiology, and is prone to collision and swinging during the transfer process, with high risk of secondary injury.

[0004] Low efficiency: only one person can be rescued at a time, and the docking process is complex.

[0005] Insufficient stability: suspending the load will significantly change the center of gravity and aerodynamic characteristics of the aircraft, especially when the person moves, which will produce unpredictable disturbances, threatening flight safety.

[0006] Limited application scenarios: it cannot provide a stable, continuous and safe passage for personnel, and is helpless for scenarios that require multiple entries and exits or the transportation of goods, therefore a low-altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic corridor and a control method thereof are proposed. SUMMARY

[0007] To solve at least one of the above technical defects, the present application provides a low-altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic corridor, which includes a low-altitude aircraft platform, a modular docking interface is provided on the low-altitude aircraft platform, and an automatic telescopic corridor and a counterweight system can be detachably connected through the interface; the system includes: a telescopic corridor main body connected by multiple corridor units; a cable-stayed segmented stabilizing mechanism for multi-point tension fixation of the corridor main body in the extended state; a folding fence type handrail mechanism set on both sides of the corridor main body, which can be automatically erected or folded with the telescopic action; a counterweight block and a dynamic balance adjusting system for maintaining the dynamic balance of the entire system.

[0008] Further, the cable-stayed segment stabilizing mechanism comprises at least two groups of cable-stayed cable assemblies, a winch, a fairlead and an electromagnetic buckle device; the electromagnetic buckle device is arranged at the connection node of the gallery unit and is internally provided with a pressure sensor; one end of the cable-stayed cable assembly is wound on the winch, and the other end is a free end, which can pass through the fairlead and be captured and locked by the electromagnetic buckle device.

[0009] Further, each handrail unit of the folding fence type handrail mechanism is hinged to the side wall of the gallery unit through a four-bar linkage folding mechanism; the gallery unit is provided with a magnetic type positioning lock groove, and the root of the handrail unit is provided with a spring needle lock tongue which is matched with the lock groove and can be unlocked by electric control.

[0010] Further, the spring needle lock tongue is internally integrated with a micro electromagnetic iron, and the micro electromagnetic iron generates a magnetic force for offsetting the magnetic force of the permanent magnet and pushing the lock tongue to retract when energized.

[0011] Further, the dynamic balance adjusting system comprises a sensing unit for collecting system attitude, load and force data; an execution unit comprising a rotor power system of the low-altitude aircraft platform, a driving motor of the gallery body, a winch and a movable counterweight; a control unit for receiving data from the sensing unit, calculating system center of gravity changes and unbalanced moments, and outputting control instructions to the execution unit; the control instructions are used to drive the movable counterweight to move to generate a compensating moment.

[0012] Further, the two movable counterweights are respectively installed on the gallery body and inside the low-altitude aircraft platform through a screw rod sliding table mechanism, and are driven by a stepping motor to move along the longitudinal axis direction of the low-altitude aircraft platform.

[0013] Further, the control logic of the dynamic balance adjusting system comprises feedforward compensation and feedback regulation; when planning to execute the gallery extension or detecting an increase in the end load, the control unit first calculates the required compensation amount based on the model, and the movable counterweight is moved for pre-balance by feedforward control; and then accurate feedback regulation is performed according to the real-time feedback data of the sensing unit.

[0014] A dynamic balance control method of a low-altitude emergency rescue aircraft, for a low-altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic gallery, comprising the following steps: real-time monitoring of aircraft attitude, gallery telescopic displacement and end load weight; calculating the current system total center of gravity position and the external moment; if an unbalanced moment causing the aircraft to pitch is detected, calculating the movable counterweight to move to a target position to generate an opposite compensating moment; generating control instructions to drive the counterweight to move, while fine-tuning the aircraft rotor speed for cooperative control. Advantages

[0015] The present application has the advantages of safety and reliability: a rigid channel with physical protection is provided, which greatly reduces the fear of trapped personnel and the risk during translation; the cable-stayed cable multi-point reinforcement and the automatic locking of the handrail ensure the structural stability of the channel.

[0016] Fast and efficient: the modular design allows the entire system to be quickly mounted and deployed; the automatic telescopic mechanism greatly shortens the rescue preparation time, and the channel mode allows continuous multiple people to pass or transport materials.

[0017] Intelligent stability: the unique dynamic balance adjustment system efficiently and low-energy consumes the large unbalanced moment caused by rescue operation through the strategy of "moving counterweight as the main, power adjustment as the auxiliary", ensuring the ultimate stability of the aircraft platform during the entire operation process, and improving the safety and controllability.

[0018] Strong adaptability: the detachable design allows it to adapt to various flight platforms with sufficient load capacity, and can be applied to fire rescue, high-altitude operation and other scenes.

[0019] The purpose of the present application, functional characteristics and advantages will be further described with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 is a schematic diagram of the overall structure of the present application.

[0021] Fig. 2 is an isometric view of the folding fence handrail of the present application.

[0022] Fig. 3 is an isometric view of the locking tongue of the present application.

[0023] In Figs. 1-3 , the correspondence between the component names or lines and the figure numbers is as follows: aircraft platform 1, interface 2, corridor body 3, root segment 3a, middle segment 3b, end segment 3c, cable 5a, 5b, winch 6a, 6b, fairlead 7a, 7b, electromagnetic buckle 8a, 8b, folding fence handrail 9, four-bar linkage folding mechanism 10, locking tongue 11, locking groove 12, electromagnet 13, permanent magnet 14, counterweight 15, lead screw slide 16, stepper motor 17, displacement sensor 20, tension sensor 21, weight sensor 22. DETAILED DESCRIPTION

[0024] Combined with the Figs. 1-3 , a low-altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic corridor.

[0025] The low-altitude aircraft platform 1 adopts a large-load eight-rotor layout, and the bottom of the fuselage is provided with a standardized quick-release interface 2.

[0026] The automatic telescopic corridor system is connected to the interface 2.

[0027] The corridor body 3 is made of high-strength aluminum alloy profiles, which is divided into a root section 3a, a middle section 3b and a tail section 3c, and the sections are connected by high-strength hinges.

[0028] The root section 3a is fixedly connected with the quick release interface 2, and a built-in drive motor and a gear are arranged therein, and the middle section and the tail section are driven to extend or retract through a rack.

[0029] The telescopic extension of the root section 3a, the middle section 3b and the tail section 3c is achieved by rotating the gear driven by the drive motor, so that the drive motor engages the rack, and the middle section 3b is telescopically extended in the root section 3a (a drive motor driving a gear is separately arranged), and the tail section 3c is telescopically extended in the middle section 3b (a drive motor driving a gear is separately arranged).

[0030] The cable-stayed section stabilizing mechanism is provided with two groups. The winch 6a of the proximal cable 5a is arranged in the root section 3a, and the cable is led out through the fairlead 7a and is captured and locked by the first electromagnetic buckle 8a located at the leading end of the middle section 3b. The winch 6b of the distal cable 5b is arranged in the middle section 3b, and the cable is led out through the fairlead 7b and is captured and locked by the second electromagnetic buckle 8b located at the leading end of the tail section 3c. The electromagnetic buckles 8a, 8b are provided with pressure sensors, which notify the controller to perform the next action when the locking force reaches the set threshold.

[0031] Each section of the folding fence type handrail 9 is connected with the corridor side wall through a four-bar linkage folding mechanism 10. The size of the four-bar linkage folding mechanism is precisely calculated, so that when the corridor unit is linearly telescoped, the handrail unit is forced to move between the α angle retracted and the 90° erected. When the handrail is erected in place, the spring needle lock tongue 11 at the root of the handrail is just popped into the magnetic type positioning lock slot 12 on the corridor unit after the mechanism passes the dead point, and the locking is completed. The locking signal is fed back to the controller by the micro switch. When unlocking, the controller energizes the micro electromagnetic iron 13 in the lock tongue, and the magnetic force generated by the micro electromagnetic iron 13 is opposite to the direction of the magnetic force of the permanent magnet 14, which pushes the lock tongue 11 to retract against the spring force, so as to unlock.

[0032] The core of the dynamic balance adjusting system is a movable counterweight 15. The counterweight 15 is made of lead alloy and is installed on a precision screw slide 16 in the middle of the aircraft platform 1 body and is driven to move by a stepping motor 17.

[0033] The control system receives data from the aircraft IMU, the displacement sensors 20 of each section of the corridor, the cable tension sensors 21 and the tail section weight sensors 22 in real time.

[0034] When the control system determines that the corridor needs to be extended to the building window, it first pre-calculates the possible pitch moment and pre-instructs the stepper motor 17 to move the counterweight 15 a certain distance towards the tail direction for pre-compensation. During the extension process, the attitude data is obtained in real time according to the gyroscope of the aircraft platform 1, and the counterweight position and rotor speed are adjusted through the attitude data. When the trapped personnel enters the end section 3c of the corridor, the weight sensor 22 detects an increase in load, and the control system calculates a new compensation amount, adjusts the position of the counterweight 15, and ensures that the aircraft always maintains a horizontal attitude during the entire rescue process.

[0035] At the same time, the gyroscope built-in in the aircraft platform 1 monitors the balance state of the aircraft platform 1 in real time, and adjusts the counterweight 15 in real time through the real-time feedback of the aircraft platform 1.

Claims

1. A low altitude emergency rescue aircraft based on a cable-stayed cantilever telescopic gallery, comprising a low altitude aircraft platform (1), characterized in that: The low-altitude aircraft platform (1) is provided with a modular docking interface (2), through which an automatic telescopic corridor and a counterweight system can be detachably connected; the system comprises: a telescopic corridor main body (3) connected by multiple corridor units; a cable-stayed segmented stabilizing mechanism for multi-point tension fixation of the corridor main body (3) in the stretched state; a folding fence type handrail mechanism (9) arranged on both sides of the corridor main body (3) and capable of being automatically erected or folded with the telescopic action; a counterweight block and a dynamic balance adjusting system for maintaining the dynamic balance of the entire system.

2. The low altitude emergency rescue aircraft based on the cantilevered stretchable corridor of the stay cables according to claim 1, characterized in that: The cable-stayed segmented stabilizing mechanism comprises at least two groups of cable-stayed component (5a, 5b), winches (6a, 6b), fairleads (7a, 7b) and electromagnetic buckle devices (8a, 8b); the electromagnetic buckle devices (8a, 8b) are arranged at the connection nodes of the corridor units and are provided with built-in pressure sensors; one end of the cable-stayed component (5a, 5b) is wound on the winch (6a, 6b), and the other end is a free end, which can pass through the fairleads (7a, 7b) and be captured and locked by the electromagnetic buckle devices (8a, 8b).

3. The low altitude emergency rescue aircraft based on the cantilevered stretchable corridor of the stay cables according to claim 1, characterized in that: Each handrail unit of the folding fence type handrail mechanism (9) is connected to the side wall of the corridor unit through a four-bar linkage folding mechanism (10); the corridor unit is provided with a magnetic positioning lock groove (12), and the root of the handrail unit is provided with a spring needle lock tongue (11) which can be electrically unlocked and matched with the lock groove (12).

4. The low altitude emergency rescue aircraft based on the cantilevered stretchable corridor of the stay cables according to claim 3, characterized in that: The spring needle lock tongue (11) is internally integrated with a micro electromagnetic iron (13), which generates a magnetic force for offsetting the attractive force of a permanent magnet (14) and pushing the lock tongue (11) to retract when energized.

5. The low altitude emergency rescue aircraft based on the cantilevered stretchable gallery of cable-stayed cables according to claim 1, characterized in that: The dynamic balance adjusting system comprises: a sensing unit for collecting system posture, load and force data; an execution unit comprising the rotor power system of the low-altitude aircraft platform (1), the driving motor of the corridor main body (3), the winches (6a, 6b) and the movable counterweight blocks (15); a control unit for receiving the data of the sensing unit, calculating the change of the system gravity center and the unbalanced torque, and outputting control instructions to the execution unit; the control instructions are used to drive the movable counterweight blocks (15) to move to generate a compensating torque.

6. The low altitude emergency rescue aircraft based on the cantilevered stretchable corridor of the stay cable according to claim 5, characterized in that: The two movable counterweight blocks (15) are respectively installed on the corridor main body (3) and the inside of the low-altitude aircraft platform (1) through a screw rod sliding table mechanism (16), and are driven by a stepping motor (17) to move along the longitudinal axis of the low-altitude aircraft platform (1).

7. The low altitude emergency rescue aircraft based on the cantilevered stretchable corridor of the stay cable according to claim 5 or 6, characterized in that: The control logic of the dynamic balance adjusting system comprises feedforward compensation and feedback regulation; when the corridor stretching is planned to be executed or the end load is detected to be increased, the control unit first calculates the required compensation amount based on the model, and the movable counterweight blocks (15) are controlled to move for pre-balance; Then, accurate feedback regulation is carried out according to the real-time feedback data of the sensing unit.

8. A dynamic balance control method for a low-altitude emergency rescue aircraft, characterized in that: The low-altitude emergency rescue aircraft based on the inclined cable cantilever telescopic corridor according to any one of claims 1 to 7 comprises the following steps: real-time monitoring of the aircraft attitude, the corridor telescopic displacement and the end load weight; calculation of the current total center of gravity position and the external moment; if an unbalanced moment leading to the aircraft pitching is detected, the movable counterweight (15) is calculated to move to a target position to generate a reverse compensation moment; control instructions are generated to drive the counterweight to move, and the aircraft rotor speed is fine-tuned for cooperative control.

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