Hospital first-aid unmanned aerial vehicle system based on real-time monitoring and path planning

Abstract

The invention belongs to the technical field of unmanned aerial vehicle application, and discloses a hospital first-aid unmanned aerial vehicle system based on real-time monitoring and path planning, and the system comprises a flight platform; an environment monitoring unit; a path planning and monitoring device; a wind gallery guiding slow descending mechanism; a butt joint locking structure; a drug storage delivery device; and a thermal control and feedback mechanism. The environment monitoring unit and the path planning correction unit are integrated on the flight platform, real-time collection and dynamic path adjustment of environment parameters such as wind speed, airflow direction and temperature and humidity are achieved, flight control can quickly respond to disturbance of a complex environment by means of clear arithmetic logic such as a wind speed judgment formula and a path correction formula, and the flight control precision is improved. In addition, environment variables can be directly converted into path vector correction, flight stability and safety are remarkably improved, and different from the prior art which only depends on single navigation or inertia correction, environment monitoring and flight control form closed-loop linkage.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) application technology, specifically a hospital emergency UAV system based on real-time monitoring and path planning. Background Technology

[0002] With the widespread application of drone technology, its value in scenarios such as logistics transportation, medical emergency and disaster relief has gradually become prominent. Especially in areas where traffic is blocked or the environment is complex, the timely delivery of medicines is of great significance to ensuring public safety and medical treatment. However, the existing drone medicine delivery system still has many shortcomings.

[0003] First, in terms of flight control, traditional drones rely heavily on single environmental parameters (such as wind speed or temperature) for attitude adjustment, lacking comprehensive utilization of multi-dimensional environmental parameters such as wind speed, airflow direction, temperature, and humidity. This leads to inaccurate path correction and makes them prone to drifting or instability under complex weather conditions, failing to guarantee flight safety. Second, in the delivery stage, most drones only use simple release mechanisms without combining airflow guidance and descent control measures. As the medicines descend, they are greatly affected by random airflow, easily deviating from the target area, resulting in delivery failure or damage to the items.

[0004] Secondly, in the docking process, existing docking structures mostly rely on mechanical insertion or magnetic fixation, lacking an intelligent locking mechanism based on real-time judgment. Once docking deviation or environmental disturbance occurs, it can easily lead to unstable locking, affecting the reliability of drug delivery. At the same time, drug storage units are usually only used as ordinary cargo cavities, without considering the temperature control requirements during flight. When the drone operates in high temperature, low temperature or long-term flight environments, drugs, especially temperature-sensitive drugs, may reduce their efficacy due to temperature runaway. Existing solutions lack effective temperature monitoring and closed-loop regulation methods.

[0005] Existing drone-based drug delivery systems face technical bottlenecks in areas such as environmental perception, path correction, descent guidance, docking and locking, and storage temperature control, making it difficult to meet the high safety and reliability requirements of emergency medical rescue or special environments. Summary of the Invention

[0006] The purpose of this invention is to provide a hospital emergency drone system based on real-time monitoring and path planning to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a hospital emergency drone system based on real-time monitoring and path planning, the system comprising: The flight platform has a power drive mechanism and an attitude stabilization mechanism; The environmental monitoring unit, installed on the flight platform, is used to collect wind speed, airflow direction and temperature and humidity parameters in real time, and output environmental monitoring signals. The path planning and monitoring device is electrically connected to the environmental monitoring unit and corrects the flight path according to the environmental monitoring signal. The correction process satisfies the preset path planning judgment formula. The wind corridor-guided descent mechanism is located at the lower end of the flight platform. It unfolds to form a flow channel when the UAV approaches the target hospital's receiving area, and drives the descent actuator to unfold when the dynamic pressure judgment formula is established, so as to reduce the delivery impact. The docking and locking structure is arranged at the lower end of the wind corridor-guided descent mechanism. It docks after the descent actuator completes its action and achieves stable closure when the aforementioned lock determination formula is met, so as to ensure reliable coupling between the UAV and the receiving device. The drug storage and delivery device is linked with the docking and locking structure. When the lock closure confirmation signal and the environmental monitoring signal simultaneously meet the delivery access control judgment formula, the drug storage cavity is opened and released. A thermal control and feedback mechanism is installed inside the drug storage cavity to regulate the cavity temperature and generate a status feedback signal. The feedback signal is further input to the path planning and monitoring device as a correction condition to limit the flight speed and ensure that the drug is in a stable temperature-controlled environment.

[0008] Preferably, the flight platform is used for: (1) The power drive mechanism consists of a multi-rotor motor unit, a propeller rotation unit and a power distribution circuit. The number of multi-rotor motor units is 4 to 8, which are symmetrically arranged along the plane of the flight platform to form a stable lift distribution. The propeller rotation unit is fixedly mounted on the motor shaft, with a diameter ranging from 8 inches to 15 inches, and is used to generate lift during rotation. The power distribution circuit consists of a power distribution chip and a PWM signal controller. Its input terminal is connected to the energy module, and its output terminal is electrically connected to each motor unit. It can distribute the output power of the energy module to each motor unit according to the command and ensure that the response time of each motor is less than 10ms. The operating state of the power drive mechanism is constrained by the power distribution judgment formula. This formula establishes the correspondence between the motor torque T (unit N·m) and the motor speed n (unit r / min), so that when the flight controller issues the target thrust command, the response of the motor unit and the propeller unit meets the flight control input conditions, thereby ensuring the coordination of forces on the flight platform in the horizontal and vertical directions. The power distribution determination formula is:

[0009] In the formula: The thrust output by the i-th motor, in N; Corresponding motor speed, in r / min; : Propeller aerodynamic constant, the range of values ​​is positive real numbers, and it is determined according to the propeller model; The total target thrust issued by the controller, in N; (2) The attitude stabilization mechanism consists of an inertial measurement unit, a three-axis gyroscope, an accelerometer, and an attitude control circuit; The inertial measurement unit is fixed at the center of gravity of the flight platform to reduce errors caused by installation offset. A three-axis gyroscope outputs angular velocity signals (in rad / s) around the X, Y, and Z axes, while an accelerometer outputs linear acceleration signals (in m / s²) along the X, Y, and Z axes. 2 All of the above signals are defined in machine coordinates; The angular velocity signal and the linear acceleration signal are input to the attitude control circuit via the data bus, and are jointly solved by the attitude calculation and determination formula. This formula is based on the sensor fusion method to calculate the pitch angle θ, roll angle φ, and yaw angle ψ of the flight platform, and outputs them to the attitude control circuit. The attitude control circuit compares the calculated attitude angle with the flight control input conditions and generates correction commands, thereby forming real-time constraints and corrections on the pitch, roll and yaw of the flight platform. Through this mechanism, the attitude correction and power distribution decision formula are coupled in the control logic, ensuring the stable operation of the flight platform in complex environments. Meanwhile, the attitude stabilization mechanism collects angular velocity data via an inertial measurement unit, gyroscope, and accelerometer. ) and linear acceleration ( The attitude angles are calculated based on the attitude determination formula:

[0010] In the formula: Pitch angle, range -90° to +90°; Roll angle, range -180° to +180°; Yaw angle, range 0°~360°; Angular velocity of three axes, in rad / s; Triaxial acceleration, unit m / s² 2 ; Sensor fusion function implemented using Kalman filtering; The attitude calculation results are fed back into the power distribution process. When the calculated attitude angle deviation exceeds a preset threshold... At that time, the power distribution formula applies to the speed of each motor. Make corrections to ensure that the total thrust is satisfied. The constraints on pitch, roll and yaw angles are maintained.

[0011] Preferably, the environmental monitoring unit is used for: (1) The environmental monitoring unit set on the flight platform includes a wind speed sensor, an airflow direction detector and a temperature and humidity sensor. Each sensor is connected to the data acquisition module through a signal conversion circuit, thereby realizing the synchronous acquisition of aerodynamic parameters and environmental parameters. To ensure consistency of parameters during calculation, the output data of various sensors are first normalized using the formula... ,in This represents the raw values ​​collected by the sensor. and These are preset upper and lower limits to ensure the normalization results. The range is [0, 1]; The specific parameter is limited to: wind speed The value range is [0, 50] m / s, and the airflow direction is... The value range of is [0, 360], the value range of temperature T is [-20, 60], and the value range of humidity is [N]. The range of values After the above normalization process, dimensionless values ​​are obtained respectively. Its physical significance lies in eliminating dimensional differences, enabling different environmental parameters to be weighted and calculated in a unified model. The normalization formula is:

[0012] in: Original acquisition parameters; Wind speed, unit m / s, value range [0, 50]; : Airflow direction, unit ° (degrees), value range [0, 360]; Temperature, in °C, range [-20, 60]; Relative humidity, in percent, ranging from 0 to 100. The minimum and maximum values ​​of the parameter correspond to the upper and lower limits of the range mentioned above; : Normalization result, value range [0, 1], dimensionless, ensuring that different physical quantities can be dimensionlessly standardized; (2) Based on this, the environmental monitoring unit generates environmental monitoring signals through the data acquisition module and quantifies them according to the environmental parameter determination formula:

[0013] in, These are the weighting coefficients for wind speed, airflow direction, temperature, and humidity, respectively. satisfy And all parameters are greater than or equal to zero, the formula outputs... The value range is [0, 1], and it serves as an environmental adaptability indicator, compared with the threshold. The comparison is used to determine whether the environment meets the conditions for flight path planning. when When the condition is deemed acceptable, path correction is triggered otherwise. Unlike existing technologies that only collect single parameters such as wind speed or temperature and humidity, this solution uses multi-dimensional parameter fusion and formulaic constraints to make the generation of environmental monitoring signals uniform and calculable. This not only solves the problem of misjudgment caused by single data in traditional methods, but also provides substantial features and significant progress that are different from existing technologies. The formula for determining environmental parameters is:

[0014] In the formula: : Environmental adaptability index, with a value range of [0, 1], which is the final output comprehensive quantitative signal; : These are the normalized results for wind speed, airflow direction, temperature, and humidity, respectively; : Parameter weighting coefficients, satisfying the constraints;

[0015] Each coefficient can be set through experimental calibration or task requirements, such as increasing it in strong wind scenarios. Improve in temperature and humidity sensitive tasks .

[0016] Preferably, the path planning and monitoring device is used for: (1) The flight platform is equipped with a path planning and correction unit, which is connected to the environmental monitoring unit through an electrical signal interface. It receives environmental monitoring signals output by wind speed sensor, airflow direction detector and temperature and humidity sensor and integrated by data acquisition module. The path planning and correction unit has a built-in computing circuit to preprocess environmental parameters, including coordinate system one, timestamp alignment and normalization operations; Let the flight path coordinates be , representing the real-time position of the UAV in three-dimensional space, with velocity vector as . ,in These represent the velocity components along the three axes; the environmental parameter vector is... ,in To normalize wind speed, The angle representing the direction of airflow. For normalized temperature, The above parameters are normalized humidity; they serve as input conditions for the decision formula and are used to constrain the path correction logic. (2) The path correction determination formula is defined as follows:

[0017] In the formula: Corrected flight path coordinates; Sampling period, in seconds (s); Velocity vector, measured in meters per second (m / s); Normalized wind speed, with a value range of [0, 1]; : Wind speed direction unit vector, output by airflow direction detector; : Airflow direction correction function, which converts the angle signal into a two-dimensional or three-dimensional correction vector; Temperature and humidity correction function, reflecting the combined effect of the environment on air density and lift; : Path correction weight coefficients, all of which are non-negative real numbers, are used to adjust the influence intensity of each environmental parameter; Based on the above definition, the environmental monitoring unit and the path planning unit form a closed-loop relationship of input-computation-output. The correction data is transmitted from the path correction output end to the attitude stabilization mechanism, realizing the synchronous coupling of flight path and environmental adaptability. Compared with the existing technology that only relies on the correction of a single wind speed or position parameter, this scheme proposes for the first time a formulaic constraint relationship of flight path coordinates-velocity vector-multi-dimensional environmental parameters, which makes the path correction calculable, consistent and reproducible, thus demonstrating outstanding technological progress in terms of creativity.

[0018] Preferably, the wind corridor guiding descent mechanism is used for: (1) The lower end of the flight platform is equipped with a wind corridor guiding unit, which includes a foldable guide plate and a connecting bracket. After the guide plate is rotated by the unfolding mechanism, it forms a relatively closed guide channel along the bottom of the flight platform. The boundary of the flow channel is defined by a mechanical locking structure, and the deployment position is monitored in real time by a position sensor and forms a closed loop with the main control unit through an electronic control circuit. To accurately determine deployment conditions, the wind corridor guidance unit establishes a dynamic pressure determination formula based on environmental monitoring signals:

[0019] In the formula: Indicates the dynamic pressure judgment value (unit: Pa); Indicates air density (kg / m³) 3 ); This indicates the airflow velocity (m / s) beneath the drone. Indicates the angle (°) between the airflow direction and the normal to the deflector. when Greater than the set threshold This indicates that the flight platform is in a deployable position within the receiving area; (2) When the output of the dynamic pressure judgment formula meets the threshold condition, the descent actuator automatically starts and deploys. The descent actuator consists of a flexible descent plate and a drive motor. The deployment action signal is fed back to the flight platform main control unit through the connection control port to complete the logic closure of path correction and delivery preparation. Unlike existing technologies that typically rely on fixed guide channels or single sensor thresholds, this technical solution introduces wind speed, airflow direction, and dynamic pressure factors into a unified formulaic constraint, making the deployment of the guide vane and the movement of the deceleration component calculable and consistent. This results in substantial features and significant progress in structure and control logic that are distinct from existing technologies. The solution is innovative in that it demonstrates a collaborative mechanism based on "dynamic pressure determination formula + deployment action feedback".

[0020] Preferably, the docking locking structure is used for: (1) The docking locking unit is installed at the bottom of the wind corridor guiding and slow-descent mechanism. It includes a docking port, a limiting slot, and a rotating locking component. After the slow-descent actuator completes its unfolding action, the docking port contacts the receiving part of the receiving device under the action of gravity and the positioning guide component, and the initial contact state is confirmed by a position or pressure sensor. In order to avoid misjudgment caused by relying solely on mechanical contact, this technical solution establishes a rotating lock determination formula:

[0021] In the formula: : Indicates the minimum driving torque required for the rotary locking component (unit: N·m); : Indicates the coefficient of friction between the limit slot and the locking element (dimensionless, range 0.1~0.5); : Represents the normal contact force generated by the contact between the docking port and the receiving part (unit: N); : Indicates the effective radius of the locking element (unit: m); When the driving torque is detected in real time Meet the conditions When the condition is met, the result is that the locking condition is satisfied. This formula not only clarifies the input parameters, output parameters and their physical meaning, but also defines the computational constraints. (2) After the rotary lock determination formula determines that the condition is met, the rotary locking part rotates under the control of the driver and enters the limit slot to achieve stable closure; The closure detection circuit outputs a locking completion signal to the flight platform's main control unit in real time, completing the docking logic closure. Unlike existing technologies that rely on fixed claws or elastic latches for passive closure, this technical solution introduces a formulaic lock determination mechanism to ensure that the locking action is based on dynamic calculations of the friction coefficient, contact force, and radius of action. This avoids misjudgments caused by environmental disturbances or assembly deviations, improving the reliability and controllability of the locking action. In terms of innovation, this solution is the first to form a closed loop by combining the lock determination formula, sensor confirmation, and drive closure, giving the mechanical docking process a calculable and redundant verification mechanism. This is something that has not been explicitly disclosed in existing technologies, thus forming substantial features and significant progress in terms of stability and intelligence.

[0022] Preferably, the drug storage and delivery device is used for: (1) The drug storage and release unit is electrically connected to the docking and locking structure, and receives a lock closure confirmation signal via a signal bus, while also receiving a real-time monitoring signal output by the environmental monitoring structure. Both types of signals are input to the delivery access control judgment formula to execute the delivery judgment logic. The formula is expressed as:

[0023] In the formula: G represents the delivery judgment value, which ranges from 0 to 1 and is used to measure whether the delivery conditions are met. This indicates a confirmation signal for the lock closure. The value is 1 when the locking structure is fully closed, and 0 when it is not closed.

[0024] : Represents the normalized environmental monitoring quantitative results, with a value range of 0 to 1, used to characterize the comprehensive state of environmental parameters such as wind speed, airflow direction, temperature, and humidity; α and β are weighting coefficients that satisfy α+β=1, used to adjust the proportion of the locking signal and the environmental signal in the judgment result; during the operation process, when the delivery judgment value G is greater than or equal to the threshold θ, the judgment condition is met, and the drug release process is allowed; through this formula definition, the judgment process has clear input, calculation relationship and output standard. (2) The drug storage and release unit receives the delivery access control judgment value G and the opening condition is met (i.e., G). In this case, the driving component starts to operate. The driving component can be a motor, a stepper driver, or an electromagnetic actuator. Its function is to unlock the delivery port of the storage cavity. The unlocking mechanism is triggered by an electronic control signal. This causes the delivery port lock pin to retract from the limit position, and the delivery port cover to rotate and open, thus forming a release channel. The medicine or items in the storage cavity fall to the receiving end along the release channel or the guide mechanism under the action of gravity. In order to prevent the items from deviating from the delivery point due to posture deviation or wind corridor interference, the guide mechanism consists of a guide groove and a buffer plate, which can correct the falling trajectory and reduce the impact. After the release is completed, the feedback circuit detects whether the delivery port has returned to its original position in real time through the position sensor and Hall switch, and outputs an unlock status signal to the main control unit. This signal is defined as C, and the value range is C=0 (not closed) or C=1 (closed). This ensures that the main control unit can confirm the complete loop of the release action. In terms of innovation, this solution combines the delivery access control judgment formula, the delivery port driving logic, and the state closed-loop feedback to form technical features that are different from existing technologies. Existing technologies typically rely solely on locking confirmation signals or single environmental conditions to trigger delivery, lacking clear mathematical judgments and state constraints, resulting in inconsistent judgment conditions and poor repeatability of actions. A weighted fusion formula G is introduced in the judgment process. βPem ensures that the delivery action has reliability, threshold consistency and dynamic adaptability; at the same time, by introducing feedback signal C in the release stage, a full keyway logic closed loop of pre-delivery judgment - action execution - state combination is constructed, which makes the system more reliable and secure.

[0025] Preferably, the thermal control and feedback mechanism is used for: (1) The thermal control and feedback unit is installed inside the drug storage cavity and includes a temperature sensor and a thermal regulator. A temperature sensor collects the internal temperature T of the cavity in real time, and the output temperature signal is transmitted to the temperature acquisition module via a signal conversion circuit. The thermal regulator can be a semiconductor cooling chip, a heating wire, or a two-way temperature control device, used to perform heating or cooling operations when the cavity temperature deviates from the target temperature T0, thereby ensuring the stability of the internal environment of the cavity. The sampling frequency of the temperature sensor is defined as f (unit: Hz), and its output signal is normalized to form the temperature deviation. T is calculated using the following formula:

[0026] Where T represents the real-time detected temperature (unit: °C); Indicates the preset target temperature (unit: °C); The value of ΔT can be positive (indicating superheat) or negative (indicating supercooling); when T exceeds the allowable range hour( For the set temperature tolerance (unit: °C), the thermal regulator activates and generates a correction signal; this correction signal is processed and output as a status feedback signal F, which is defined as:

[0027] in, This indicates that the cavity temperature is stable within a controllable range. This indicates that flight speed needs to be limited due to temperature instability; the above formula defines the acquisition parameters, target variables, and their physical meaning. (2) The state feedback signal F is transmitted to the path planning and monitoring device via a signal link, and is used in conjunction with the path planning decision formula as a correction condition to form a linkage constraint for flight path-ambient temperature-speed control; when At that time, the path planning decision formula automatically adjusts the flight speed vector V to:

[0028] Where V represents the original flight speed (unit: m / s), and y is the speed correction factor, with a value range of... This adjustment logic ensures that the flight speed is reduced, thereby reducing the impact of environmental airflow disturbances on the cavity's thermal environment and allowing the cavity temperature to gradually recover to the target range [T0-δ, T0+δ]. In terms of innovation, unlike existing technologies that passively rely on ambient temperature monitoring during delivery, this technology incorporates the inherent stability of the thermal environment directly into the flight path correction logic for the first time through a coupling mechanism of temperature sensor, thermal regulator, and path determination formula, thereby achieving closed-loop linkage control between flight speed and cavity ambient temperature. This not only improves the safety of medicines during transportation but also ensures the dynamic adaptability of route planning, solving the problem that temperature control and route control are independent and cannot work together in existing technologies. It has significant substantive features and remarkable progress.

[0029] The beneficial effects of this invention are as follows: 1. This invention integrates an environmental monitoring unit and a path planning correction unit on a flight platform, enabling real-time acquisition and dynamic path adjustment of environmental parameters such as wind speed, airflow direction, temperature, and humidity. With the help of clear computational logic such as wind speed determination formula and path correction formula, flight control can not only respond quickly to disturbances in complex environments, but also directly convert environmental variables into path vector correction quantities, significantly improving flight stability and safety. Unlike existing technologies that rely solely on single navigation or inertial correction, this invention forms a closed-loop linkage between environmental monitoring and flight control, which can effectively reduce track deviations caused by wind shear and turbulence, ensuring that drug transportation missions still have high reliability and safety under complex weather conditions.

[0030] 2. This invention incorporates a wind corridor-guided descent unit and a docking and locking unit in the drug delivery process. By utilizing dynamic pressure and rotation lock determination formulas, it achieves dual protection of delivery position guidance and automatic locking. The wind corridor channel formed by the deflector plate improves the descending airflow, and in conjunction with the deployment of the descent actuator, the drug storage unit can smoothly transition to the docking position. Subsequently, the docking and locking unit achieves highly reliable mechanical locking closure through sensor detection and the action of the rotating locking component, and feeds back the closure signal to the flight control system. Compared with existing technologies that rely on manual reception or a single deceleration parachute device, this solution significantly improves the stability and safety of the docking process, avoiding delivery failures caused by airflow disturbances or deviations.

[0031] 3. This invention introduces a delivery access control judgment formula and a thermal control feedback unit into the drug storage and release process, achieving overall optimization of storage environment monitoring, delivery logic control, and temperature condition linkage. Drug delivery must meet the requirements of lock closure confirmation and environmental monitoring conditions to ensure that the drug can only be unlocked and released under safe and compliant conditions, avoiding accidental delivery or loss. At the same time, a thermal control and feedback unit is set in the storage cavity to directly affect the flight speed adjustment based on the environmental conditions of drug storage, ensuring that the drug is always in a stable temperature control range during transportation. This solution solves the problems of separation of temperature control and flight control and lack of safety constraints on delivery actions in the prior art, forming a closed-loop control of storage-monitoring-feedback-delivery, which significantly improves the safety and practicality of drug transportation. Attached Figure Description

[0032] Figure 1 This is a flowchart of the hospital emergency drone system based on real-time monitoring and path planning according to the present invention. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figure 1 As shown, this embodiment of the invention provides a hospital emergency drone system based on real-time monitoring and path planning. The system includes: The flight platform has a power drive mechanism and an attitude stabilization mechanism; The environmental monitoring unit, installed on the flight platform, is used to collect wind speed, airflow direction and temperature and humidity parameters in real time, and output environmental monitoring signals. The path planning and monitoring device is electrically connected to the environmental monitoring unit. It corrects the flight path based on the environmental monitoring signals. The correction process meets the preset path planning judgment formula. The wind corridor-guided descent mechanism is located at the lower end of the flight platform. It unfolds to form a flow channel when the UAV approaches the target hospital's receiving area, and drives the descent actuator to unfold when the dynamic pressure judgment formula is established, so as to reduce the delivery impact. The docking and locking structure is located at the lower end of the wind corridor-guided descent mechanism. It docks after the descent actuator completes its action and achieves stable closure when the lock determination formula is met, so as to ensure reliable coupling between the UAV and the receiving device. The drug storage and delivery device is linked with the docking and locking structure. When the lock closure confirmation signal and the environmental monitoring signal simultaneously meet the delivery access control judgment formula, the drug storage cavity is opened and released. The thermal control and feedback mechanism, installed inside the drug storage chamber, is used to regulate the chamber temperature and generate a status feedback signal. The feedback signal is further input as a correction condition to the path planning and monitoring device to limit the flight speed and ensure that the drug is in a stable temperature-controlled environment.

[0035] Example In this embodiment, the unmanned aerial vehicle system mainly consists of a flight platform, an environmental monitoring unit, a path planning and correction unit, a wind corridor-guided descent unit, a docking and locking unit, a drug storage and release unit, and a thermal control and feedback unit. The units are connected to each other through a signal bus and an electrical interface to form a complete control and execution system.

[0036] The flight platform is a quadcopter drone with an environmental monitoring unit installed at the bottom. The environmental monitoring unit includes a wind speed sensor, an airflow direction detector, and a temperature and humidity sensor, which can collect environmental information in real time during the drone's flight and transmit the information to the path planning and correction unit. After receiving the environmental parameters, the path planning and correction unit adjusts the drone's trajectory according to the preset path correction rules to ensure that the flight remains stable and safe under complex conditions such as strong winds and abnormal temperature and humidity.

[0037] When the drone approaches the target delivery area, the wind corridor guide descent unit is activated. This unit consists of a foldable guide plate, a deployment mechanism, and a mechanical locking component. After the guide plate is deployed, it forms a closed guide channel under the drone, making the descending airflow more concentrated, thereby stabilizing the drone's vertical descent attitude. Once the descent is stable, the descent actuators are deployed to form a flexible buffer structure, further reducing the descent speed and avoiding impact caused by rapid approach.

[0038] When the drone descends near the receiving device, the docking and locking unit begins to operate. This unit consists of a docking port, a limiting slot, and a rotating locking component. Once the docking port on the bottom of the drone contacts the receiving part of the receiver, the rotating locking component rotates under the action of the driver and enters the limiting slot, achieving a stable closure. After locking is complete, the closure detection circuit outputs a confirmation signal to ensure a reliable physical connection between the drone and the receiver, preventing deviation or detachment during delivery.

[0039] The drug storage and release unit is electrically connected to the docking and locking unit. After the locking confirmation signal is received, the unit will combine the real-time data of the environmental monitoring unit to determine the delivery. When the delivery conditions are met, the drive unit will activate, driving the delivery port of the storage cavity to unlock and open, so that the drug can be smoothly released to the receiving end by gravity channel or guide mechanism. After the drug is released, the feedback circuit will confirm the unlocking and release actions and transmit the confirmation signal to the main control unit of the flight platform to ensure closed-loop control of the delivery process.

[0040] In addition, a thermal control and feedback unit is installed inside the drug storage cavity. This unit includes a temperature sensor and a thermal regulator, which can monitor the temperature of the drug storage environment in real time. When the temperature exceeds the set range, the thermal regulator will activate to actively heat or cool down the environment inside the cavity to maintain it within a safe range. At the same time, the temperature control status will also be fed back to the path planning and monitoring device. When abnormal temperature changes are detected, the system will limit the flight speed or adjust the path to ensure that the environmental conditions of the drug remain stable throughout the transportation process.

[0041] As can be seen from the above embodiments, the drone-based drug delivery system provided by this invention has a clear structure and control logic in multiple aspects such as flight path correction, descent stability, docking and locking reliability, drug delivery control, and drug temperature control, ensuring the full disclosure of the instruction manual. Compared with the prior art, this system can not only cope with drone delivery problems in complex environments, but also achieve environmental protection and safe release of drugs throughout the flight, demonstrating outstanding creativity and significant practical value.

[0042] The flight platform is used for: The power drive mechanism consists of a multi-rotor motor unit, a propeller rotation unit, and a power distribution circuit. The number of multi-rotor motor units is 4 to 8, which are symmetrically arranged along the plane of the flight platform to form a stable lift distribution. The propeller rotation unit is fixedly mounted on the motor shaft, with a diameter ranging from 8 inches to 15 inches, and is used to generate lift during rotation. The power distribution circuit consists of a power distribution chip and a PWM signal controller. Its input terminal is connected to the energy module, and its output terminal is electrically connected to each motor unit. It can distribute the output power of the energy module to each motor unit according to the command and ensure that the response time of each motor is less than 10ms. The operating state of the power drive mechanism is constrained by the power distribution judgment formula. This formula establishes the correspondence between the motor torque T (unit N·m) and the motor speed n (unit r / min), so that when the flight controller issues the target thrust command, the response of the motor unit and the propeller unit meets the flight control input conditions, thereby ensuring the coordination of forces on the flight platform in the horizontal and vertical directions. The attitude stabilization mechanism consists of an inertial measurement unit, a three-axis gyroscope, an accelerometer, and an attitude control circuit. The inertial measurement unit is fixed at the center of gravity of the flight platform to reduce errors caused by installation offset. A three-axis gyroscope outputs angular velocity signals (in rad / s) around the X, Y, and Z axes, while an accelerometer outputs linear acceleration signals (in m / s²) along the X, Y, and Z axes. 2 All of the above signals are defined in machine coordinates; The angular velocity signal and the linear acceleration signal are input to the attitude control circuit via the data bus, and are jointly solved by the attitude calculation and determination formula. This formula is based on the sensor fusion method to calculate the pitch angle θ, roll angle φ, and yaw angle ψ of the flight platform, and outputs them to the attitude control circuit. The attitude control circuit compares the calculated attitude angle with the flight control input conditions and generates correction commands, thereby forming real-time constraints and corrections on the pitch, roll and yaw of the flight platform. Through this mechanism, the attitude correction and power distribution decision formula are coupled in the control logic, ensuring the stable operation of the flight platform in complex environments. Meanwhile, the attitude stabilization mechanism collects angular velocity data via an inertial measurement unit, gyroscope, and accelerometer. ) and linear acceleration ( ), and calculate the attitude angles according to the attitude calculation and determination formula; The attitude calculation results are fed back into the power distribution process. When the calculated attitude angle deviation exceeds a preset threshold... At that time, the power distribution formula applies to the speed of each motor. Make corrections to ensure that the total thrust is satisfied. The constraints on pitch, roll and yaw angles are maintained.

[0043] The environmental monitoring unit is used for: The environmental monitoring unit installed on the flight platform includes a wind speed sensor, an airflow direction detector, and a temperature and humidity sensor. Each sensor is connected to the data acquisition module through a signal conversion circuit, thereby enabling the synchronous acquisition of aerodynamic parameters and environmental parameters. To ensure consistency of parameters during calculation, the output data of various sensors are first normalized using the formula... ,in This represents the raw values ​​collected by the sensor. and These are preset upper and lower limits to ensure the normalization results. The range is [0, 1]; The specific parameter is limited to: wind speed The value range is [0, 50] m / s, and the airflow direction is... The value range of is [0, 360], the value range of temperature T is [-20, 60], and the value range of humidity is [N]. The range of values After the above normalization process, dimensionless values ​​are obtained respectively. Its physical significance lies in eliminating dimensional differences, enabling different environmental parameters to be weighted and calculated in a unified model. Based on this, the environmental monitoring unit generates environmental monitoring signals via the data acquisition module and quantifies them according to the environmental parameter determination formula:

[0044] in, These are the weighting coefficients for wind speed, airflow direction, temperature, and humidity, respectively. satisfy And all parameters are greater than or equal to zero, the formula outputs... The value range is [0, 1], and it serves as an environmental adaptability indicator, compared with the threshold. The comparison is used to determine whether the environment meets the conditions for flight path planning. when When the condition is deemed acceptable, path correction is triggered otherwise. Unlike existing technologies that only collect single parameters such as wind speed or temperature and humidity, this solution uses multi-dimensional parameter fusion and formulaic constraints to make the generation of environmental monitoring signals uniform and calculable. This not only solves the problem of misjudgment caused by single data in traditional methods, but also provides substantial features and significant progress that are different from existing technologies.

[0045] The path planning and monitoring device is used for: The flight platform is equipped with a path planning and correction unit, which is connected to the environmental monitoring unit via an electrical signal interface. This unit receives environmental monitoring signals from wind speed sensors, airflow direction detectors, and temperature and humidity sensors, and integrates them through a data acquisition module. The path planning and correction unit has built-in processing circuitry to preprocess environmental parameters, including coordinate system unification, timestamp alignment, and normalization. Let the flight path coordinates be , representing the real-time position of the UAV in three-dimensional space, with velocity vector as . ,in These represent the velocity components along the three axes; the environmental parameter vector is... ,in To normalize wind speed, The angle representing the direction of airflow. For normalized temperature, The above parameters are normalized humidity; they serve as input conditions for the decision formula and are used to constrain the path correction logic. Based on the above definition, the environmental monitoring unit and the path planning unit form a closed-loop relationship of input-computation-output. The correction data is transmitted from the path correction output end to the attitude stabilization mechanism, realizing the synchronous coupling of flight path and environmental adaptability. Compared with the existing technology that only relies on the correction of a single wind speed or position parameter, this scheme proposes for the first time a formulaic constraint relationship of flight path coordinates-velocity vector-multi-dimensional environmental parameters, which makes the path correction calculable, consistent and reproducible, thus demonstrating outstanding technological progress in terms of creativity.

[0046] Among them, the wind corridor guidance and descent mechanism is used for: The lower end of the flight platform is equipped with a wind corridor guiding unit, which includes a foldable guide plate and a connecting bracket. After the guide plate is rotated by the deployment mechanism, it forms a relatively closed guide channel along the bottom of the flight platform. The boundary of the flow channel is defined by a mechanical locking structure, and the deployment position is monitored in real time by a position sensor and forms a closed loop with the main control unit through an electronic control circuit. To accurately determine deployment conditions, the wind corridor guidance unit establishes a dynamic pressure determination formula based on environmental monitoring signals:

[0047] In the formula: Indicates the dynamic pressure judgment value (unit: Pa); Indicates air density (kg / m³) 3 ); This indicates the airflow velocity (m / s) beneath the drone. Indicates the angle (°) between the airflow direction and the normal to the deflector. when Greater than the set threshold This indicates that the flight platform is in a deployable position within the receiving area; When the output of the dynamic pressure judgment formula meets the threshold condition, the descent actuator automatically starts and deploys. The descent actuator consists of a flexible descent plate and a drive motor. The deployment action signal is fed back to the flight platform main control unit through the connection control port to complete the logic closure of path correction and delivery preparation. Unlike existing technologies that typically rely on fixed guide channels or single sensor thresholds, this technical solution introduces wind speed, airflow direction, and dynamic pressure factors into a unified formulaic constraint, making the deployment of the guide vane and the movement of the deceleration component calculable and consistent. This results in substantial features and significant progress in structure and control logic that are distinct from existing technologies. The solution is innovative in that it demonstrates a collaborative mechanism based on "dynamic pressure determination formula + deployment action feedback".

[0048] The mating locking structure is used for: The docking locking unit is installed at the bottom of the wind corridor guiding and slow-descent mechanism. It includes a docking port, a limiting slot, and a rotating locking component. After the slow-descent actuator completes its deployment, the docking port contacts the receiving part of the receiving device under the action of gravity and the positioning guide component. The initial contact state is confirmed by a position or pressure sensor. To avoid misjudgment caused by relying solely on mechanical contact, this technical solution establishes a rotating lock determination formula:

[0049] In the formula: : Indicates the minimum driving torque required for the rotary locking component (unit: N·m); : Indicates the coefficient of friction between the limit slot and the locking element (dimensionless, range 0.1~0.5); : Represents the normal contact force generated by the contact between the docking port and the receiving part (unit: N); : Indicates the effective radius of the locking element (unit: m); When the driving torque is detected in real time Meet the conditions When the condition is met, the result is that the locking condition is satisfied. This formula not only clarifies the input parameters, output parameters and their physical meaning, but also defines the computational constraints. After the rotary lock determination formula determines that the condition is met, the rotary locking component rotates under the control of the driver and enters the limit slot to achieve stable closure. The closure detection circuit outputs a locking completion signal to the flight platform's main control unit in real time, completing the docking logic closure. Unlike existing technologies that rely on fixed claws or elastic latches for passive closure, this technical solution introduces a formulaic lock determination mechanism to ensure that the locking action is based on dynamic calculations of the friction coefficient, contact force, and radius of action. This avoids misjudgments caused by environmental disturbances or assembly deviations, improving the reliability and controllability of the locking action. In terms of innovation, this solution is the first to form a closed loop by combining the lock determination formula, sensor confirmation, and drive closure, giving the mechanical docking process a calculable and redundant verification mechanism. This is something that has not been explicitly disclosed in existing technologies, thus forming substantial features and significant progress in terms of stability and intelligence.

[0050] The drug storage and delivery device is used for: The drug storage and release unit is electrically connected to the docking and locking structure and receives a lock closure confirmation signal via a signal bus. It also receives a real-time monitoring signal output from the environmental monitoring structure. Both types of signals are input to the delivery access control judgment formula to execute the delivery judgment logic. The formula is expressed as follows:

[0051] In the formula: G represents the delivery judgment value, which ranges from 0 to 1 and is used to measure whether the delivery conditions are met. This indicates a confirmation signal for the lock closure. The value is 1 when the locking structure is fully closed, and 0 when it is not closed.

[0052] : Represents the normalized environmental monitoring quantitative results, with a value range of 0 to 1, used to characterize the comprehensive state of environmental parameters such as wind speed, airflow direction, temperature, and humidity; α and β are weighting coefficients that satisfy α+β=1, used to adjust the proportion of the locking signal and the environmental signal in the judgment result; during the operation process, when the delivery judgment value G is greater than or equal to the threshold θ, the judgment condition is met, and the drug release process is allowed; through this formula definition, the judgment process has clear input, calculation relationship and output standard. The drug storage and release unit receives the delivery access control judgment value G, which satisfies the opening condition (i.e., G). In this case, the driving component starts to operate. The driving component can be a motor, a stepper driver, or an electromagnetic actuator. Its function is to unlock the delivery port of the storage cavity. The unlocking mechanism is triggered by an electronic control signal. This causes the delivery port lock pin to retract from the limit position, and the delivery port cover to rotate and open, thus forming a release channel. The medicine or items in the storage cavity fall to the receiving end along the release channel or the guide mechanism under the action of gravity. In order to prevent the items from deviating from the delivery point due to attitude deviation or wind corridor interference, the guide mechanism consists of a guide groove and a buffer plate, which can correct the falling trajectory and reduce the impact. After the release is completed, the feedback circuit detects whether the delivery port has returned to its original position in real time through the position sensor and Hall switch, and outputs an unlock status signal to the main control unit. This signal is defined as C, and the value range is C=0 (not closed) or C=1 (closed). This ensures that the main control unit can confirm the complete loop of the release action. In terms of innovation, this solution combines the delivery access control judgment formula, the delivery port driving logic, and the state closed-loop feedback to form technical features that are different from existing technologies. Existing technologies typically rely solely on locking confirmation signals or single environmental conditions to trigger delivery, lacking clear mathematical judgments and state constraints, resulting in inconsistent judgment conditions and poor repeatability of actions. A weighted fusion formula G is introduced in the judgment process. βPem ensures that the delivery action has reliability, threshold consistency and dynamic adaptability; at the same time, by introducing feedback signal C in the release stage, a full keyway logic closed loop of pre-delivery judgment - action execution - state combination is constructed, which makes the system more reliable and secure.

[0053] The thermal control and feedback mechanism is used for: The thermal control and feedback unit is installed inside the drug storage cavity and consists of two parts: a temperature sensor and a thermal regulator. A temperature sensor continuously monitors the internal temperature T of the cavity, and the output temperature signal is transmitted to the temperature acquisition module via a signal conversion circuit. The thermal regulator, which can be a semiconductor cooling chip, heating wire, or bidirectional temperature control device, performs heating or cooling operations when the cavity temperature deviates from the target temperature T0, thereby ensuring a stable internal environment. The sampling frequency of the temperature sensor is defined as f (in Hz), and its output signal is normalized to form the temperature deviation. T is calculated using the following formula:

[0054] Where T represents the real-time detected temperature (unit: °C); Indicates the preset target temperature (unit: °C); The value of ΔT can be positive (indicating superheat) or negative (indicating supercooling); when T exceeds the allowable range hour( For the set temperature tolerance (unit: °C), the thermal regulator activates and generates a correction signal; this correction signal is processed and output as a status feedback signal F, which is defined as:

[0055] in, This indicates that the cavity temperature is stable within a controllable range. This indicates that flight speed needs to be limited due to temperature instability; the above formula defines the acquisition parameters, target variables, and their physical meaning. The status feedback signal F is transmitted to the path planning and monitoring device via a signal link, and is used as a correction condition in conjunction with the path planning decision formula to form a linkage constraint for flight path, ambient temperature, and speed control; when At that time, the path planning decision formula automatically adjusts the flight speed vector V to:

[0056] Where V represents the original flight speed (unit: m / s), and y is the speed correction factor, with a value range of... This adjustment logic ensures that the flight speed is reduced, thereby reducing the impact of environmental airflow disturbances on the cavity's thermal environment and allowing the cavity temperature to gradually recover to the target range [T0-δ, T0+δ]. In terms of innovation, unlike existing technologies that passively rely on ambient temperature monitoring during delivery, this technology incorporates the inherent stability of the thermal environment directly into the flight path correction logic for the first time through a coupling mechanism of temperature sensor, thermal regulator, and path determination formula, thereby achieving closed-loop linkage control between flight speed and cavity ambient temperature. This not only improves the safety of medicines during transportation but also ensures the dynamic adaptability of route planning, solving the problem that temperature control and route control are independent and cannot work together in existing technologies. It has significant substantive features and remarkable progress.

[0057] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0058] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hospital emergency drone system based on real-time monitoring and path planning, characterized in that: The system includes: The flight platform has a power drive mechanism and an attitude stabilization mechanism; The environmental monitoring unit, installed on the flight platform, is used to collect wind speed, airflow direction and temperature and humidity parameters in real time, and output environmental monitoring signals. The path planning and monitoring device is electrically connected to the environmental monitoring unit and corrects the flight path according to the environmental monitoring signal. The correction process satisfies the preset path planning judgment formula. The wind corridor-guided descent mechanism is located at the lower end of the flight platform. It unfolds to form a flow channel when the UAV approaches the target hospital's receiving area, and drives the descent actuator to unfold when the dynamic pressure judgment formula is established, so as to reduce the delivery impact. The docking and locking structure is arranged at the lower end of the wind corridor-guided descent mechanism. It docks after the descent actuator completes its action and achieves stable closure when the aforementioned lock determination formula is met, so as to ensure reliable coupling between the UAV and the receiving device. The drug storage and delivery device is linked with the docking and locking structure. When the lock closure confirmation signal and the environmental monitoring signal simultaneously meet the delivery access control judgment formula, the drug storage cavity is opened and released. A thermal control and feedback mechanism is installed inside the drug storage cavity to regulate the cavity temperature and generate a status feedback signal. The feedback signal is further input to the path planning and monitoring device as a correction condition to limit the flight speed and ensure that the drug is in a stable temperature-controlled environment.

2. The hospital emergency drone system based on real-time monitoring and path planning according to claim 1, characterized in that: The flight platform is used for: (1) The flight platform includes a power drive mechanism, which consists of a multi-rotor motor unit, a propeller rotation unit and a power distribution circuit. Each motor unit is connected to the energy module through the power distribution circuit to achieve synchronous control of the propeller rotation unit. The operating state of the power drive mechanism conforms to the power distribution judgment formula to ensure that the correspondence between motor torque and speed meets the flight control input conditions. (2) The flight platform further includes an attitude stabilization mechanism, which consists of an inertial measurement unit, a three-axis gyroscope, an accelerometer and an attitude control circuit. The angular velocity signal output by the inertial measurement unit and the linear acceleration signal output by the accelerometer are input into the attitude control circuit together. The attitude correction is performed according to the attitude calculation and determination formula to form constraints and corrections on the pitch angle, roll angle and yaw angle of the flight platform.

3. A hospital emergency drone system based on real-time monitoring and path planning according to claim 2, characterized in that: The environmental monitoring unit is used for: (1) An environmental monitoring unit is installed on the flight platform, including a wind speed sensor, an airflow direction detector and a temperature and humidity sensor. Each sensor is connected to the data acquisition module through a signal conversion circuit to achieve synchronous acquisition of aerodynamic parameters and environmental parameters. (2) The environmental monitoring unit outputs environmental monitoring signals through the data acquisition module. The signals are quantified according to the environmental parameter determination formula. The determination formula defines the calculation relationship between wind speed, airflow direction and temperature and humidity. The environmental monitoring signals serve as the input conditions for subsequent path planning.

4. A hospital emergency drone system based on real-time monitoring and path planning according to claim 3, characterized in that: The path planning and monitoring device is used for: (1) The flight platform is equipped with a path planning and correction unit. This unit is directly connected to the environmental monitoring unit through an electrical signal interface and receives environmental monitoring signals output by the wind speed sensor, airflow direction detector and temperature and humidity sensor. The path planning and correction unit has a built-in arithmetic processing circuit, which can input various monitoring data into the path correction judgment logic in sequence after the data acquisition module completes signal integration. (2) After receiving the environmental monitoring signal, the path planning and correction unit performs path adjustment according to the path planning judgment formula. The formula defines the constraint relationship between the flight path coordinates, velocity vector and environmental parameters. The corrected path data is generated by the path correction output end and synchronously transmitted to the attitude stabilization mechanism of the flight platform to ensure that the path correction process is logically consistent with the flight control input signal.

5. A hospital emergency drone system based on real-time monitoring and path planning according to claim 4, characterized in that: The wind corridor guiding and slowing mechanism is used for: (1) The lower end of the flight platform is equipped with a wind corridor guiding unit, which includes a foldable guide plate and a connecting bracket. When the UAV approaches the preset position of the target hospital receiving area, the guide plate rotates through the deployment mechanism to form a relatively closed guide channel along the bottom of the flight platform. The guide channel is bounded by a mechanical locking structure and its status is monitored by an electronic control circuit and a deployment position sensor. (2) After the wind corridor is formed, the wind corridor guiding unit performs condition judgment based on the dynamic pressure judgment formula calculated by the environmental monitoring signal. When the formula output meets the set threshold, the descent actuator automatically starts and unfolds. The descent actuator consists of a flexible descent plate and a drive motor. The unfolded action signal is fed back to the flight platform main control unit through the connection control port to complete the logic closure of path correction and delivery preparation.

6. A hospital emergency drone system based on real-time monitoring and path planning according to claim 5, characterized in that: The docking locking structure is used for: (1) The docking locking unit is installed at the bottom of the wind corridor guiding and slow-descent mechanism. It includes a docking port, a limiting slot and a rotating locking component. After the slow-descent actuator completes the unfolding action, the docking port contacts the receiving part of the receiving device under the action of gravity and positioning guide, and the initial contact state is confirmed by the sensor. (2) After the initial contact is confirmed, the docking locking unit performs locking judgment based on the calculation result of the rotary lock judgment formula. When the judgment condition is met, the rotary locking part rotates into the limit slot under the control of the driver to achieve stable closure, and the closure detection circuit outputs the locking completion signal to the flight platform main control unit.

7. A hospital emergency drone system based on real-time monitoring and path planning according to claim 6, characterized in that: The drug storage and delivery device is used for: (1) The drug storage and release unit is electrically connected to the docking and locking structure and receives the lock closure confirmation signal through the signal bus. The unit also receives the real-time monitoring signal output by the environmental monitoring structure. The two together serve as the input conditions for the delivery access control judgment formula and are used to execute the delivery judgment logic. (2) When the delivery access control judgment formula output meets the opening conditions, the drive unit in the medicine storage and release unit is activated, which unlocks and opens the delivery port of the storage cavity. The items in the storage cavity are released to the receiving end according to the gravity channel or guide mechanism. After the release is completed, the unlocking status is confirmed by the feedback circuit and transmitted to the main control unit.

8. A hospital emergency drone system based on real-time monitoring and path planning according to claim 7, characterized in that: The thermal control and feedback mechanism is used for: (1) The thermal control and feedback unit is installed inside the drug storage cavity and includes a temperature sensor and a thermal regulator. The unit monitors and corrects the ambient temperature inside the cavity in real time through the temperature acquisition and regulation module, and forms a status feedback signal for flight process management. (2) The status feedback signal is transmitted to the path planning and monitoring device via the signal link and is used in combination with the path planning judgment formula as a correction condition. When the feedback signal meets the preset conditions, the flight speed is limited to keep the cavity environment in a stable and controllable range.

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