A four-axis unmanned aerial vehicle-mounted circuit direct connection type high-speed gel tear gas spraying precision control system

Abstract

The present application relates to unmanned aerial vehicle airborne non-lethal security equipment technical field, especially to a kind of four-axis unmanned aerial vehicle carried circuit direct connection type high-speed gel tear gas spraying precision control system, system includes four-axis unmanned aerial vehicle flight carrier, airborne low-voltage stabilizing power supply module, rigid installation pedestal, gel tear gas spraying device, circuit direct connection isolation electric control trigger module and the flight control system of built-in flight control linkage attitude wind field compensation module;Gel tear gas spraying device shell inside closed pre-embedded low-voltage ignition docking contact point, electric control trigger module direct connection contact point realizes no mechanical transmission trigger;Flight control linkage attitude wind field compensation module executes attitude solution, wind field disturbance compensation, trigger enablement determination and spraying trigger execution step with not less than 200Hz frequency.The present application aims at solving the problems of poor mechanical trigger reliability, low spraying precision caused by wind field and attitude disturbance, and insufficient safety interlocking of existing devices.

Description

Technical Field

[0001] This invention relates to the field of airborne non-lethal security equipment technology for unmanned aerial vehicles (UAVs), and in particular to a circuit-connected high-speed gel tear gas spray precision control system mounted on a quadcopter UAV. Background Technology

[0002] Non-lethal dispersal equipment is a crucial technological means for maintaining social order in the public safety field. Among them, gel tear gas spray devices, with their advantages of good directionality, no diffusion or drift of the agent, minimal secondary damage, and long duration of action, are gradually replacing traditional atomized tear gas and explosive tear gas canisters, becoming the mainstream equipment for close-range, flexible dispersal. With the rapid development and popularization of drone technology, mounting non-lethal dispersal equipment on quadcopter drone platforms to achieve remote, non-contact emergency response has become an important development direction in the security field. This technical solution can effectively avoid close confrontation between personnel and targets, significantly reducing the risk of casualties, while expanding the response radius and coverage area. It can be widely applied in various practical scenarios such as urban management, remote dispersal in border areas, and unmanned deployment in high-risk areas.

[0003] However, the current production and application of gel tear gas spray devices on quadcopter drones still face three major technological bottlenecks that urgently need to be overcome. First, trigger reliability is insufficient. Existing mainstream modification solutions all use external servos, rocker arms, transmission brackets, and other mechanical structures, relying on external mechanical force to forcefully press down the original trigger to achieve activation. These mechanical transmission components are constantly subjected to flight vibrations and reciprocating forces, making them highly susceptible to fatigue deformation, jamming, and even breakage. Furthermore, high-frequency resonance during flight can easily lead to unexpected false triggering, severely impacting the stability and safety of the equipment. Second, spray accuracy is difficult to guarantee. The operation of quadcopter drone rotors generates strong downward turbulent wind fields, which, combined with environmental crosswinds and gusts, significantly alter the flight trajectory of the gel projectile. Simultaneously, slight fluctuations in the drone's attitude during hovering can also cause deviations in the spray direction. Current solutions rely entirely on manual visual aiming, unable to compensate for these disturbances in real time, resulting in large deviations in the actual spray landing point and a high risk of secondary injuries to unauthorized personnel. Third, the safety interlocking mechanism is lacking. Most existing systems only have basic remote triggering functions and do not have adaptive safety interlocking logic based on flight status and environmental conditions. They can still trigger the jetting under dangerous conditions such as excessive wind speed, unstable attitude, and abnormal flight altitude, posing a significant safety hazard. In addition, the traditional external binding fixing method has insufficient structural strength and is prone to equipment loosening and falling off, further exacerbating the safety risks of high-altitude operations.

[0004] A search revealed an invention patent with patent number CN106679502A, entitled "Control Device for Airborne Tear Gas on a UAV." This patent employs a controller + N optocoupler relays architecture. It extracts the pulse width of the UAV's onboard PWM control signal to determine the ground launch command, controlling the optocoupler relays to power the tear gas activation module for remote launch. This solves the fundamental remote control problem of traditional mechanical triggering and boasts advantages such as simple structure, low cost, and strong versatility. However, this patent targets explosive smoke tear gas, neglecting the adaptation and triggering modification of the gel tear gas spray device. Furthermore, it completely ignores the impact of wind disturbances and attitude changes on the trajectory and lacks any safety interlocking mechanism, failing to meet the requirements for high-precision and high-safety gel projectile spraying. Another utility model patent, with patent number CN215622725U, entitled "Police UAV Tear Gas Spraying System," primarily improves the device's stability and vibration resistance by optimizing the mechanical mounting structure and adding shock-absorbing devices. However, it still uses the traditional mechanical press-type triggering method, failing to fundamentally solve the problem of poor reliability of mechanical components. The invention patent with patent number CN201822033054, entitled "Tear Gas Spraying System and Multirotor Aircraft," achieves active aiming by adding yaw and pitch motors to adjust the spray angle. However, it lacks a coupling model between the rotor downwash wind field and the trajectory, and it does not achieve linkage compensation between the flight control system and the spraying system. Aiming accuracy remains limited by manual operation and environmental interference. In summary, existing technologies fail to systematically solve the core problems of poor mechanical trigger reliability, low spraying accuracy due to wind field and attitude disturbances, and insufficient safety interlocks, thus failing to meet the application requirements of UAV-borne gel tear gas spraying devices in complex combat environments. Therefore, this invention proposes a circuit-connected high-speed gel tear gas spraying precision control system mounted on a quadcopter UAV. Through a comprehensive technical solution of pure circuit-connected triggering, flight control linkage attitude and wind field compensation, and adaptive safety interlocks, it comprehensively overcomes the shortcomings of existing technologies. Summary of the Invention

[0005] This invention provides a direct-connection high-speed gel tear gas spray precision control system for quadcopter drones, to solve the problems of poor mechanical triggering reliability, low spray accuracy caused by wind field and attitude disturbances, and insufficient safety interlocks in existing drone tear gas spray devices.

[0006] To solve the above problems, the technical solution adopted by the invention is as follows: A direct-connection high-speed gel tear gas spray precision control system mounted on a quadcopter drone includes a quadcopter drone flight carrier, an onboard low-voltage regulated power supply module, a mounting base, a gel tear gas spray device, an electronically controlled trigger module, and a flight control system, characterized in that: The mounting base is fixed to the bottom of the quadcopter drone's flight carrier. The gel tear gas spray device has a pre-embedded DC5V-24V low-voltage ignition contact point inside its housing sidewall, which is electrically connected to the ignition input terminal of the high-voltage energy storage unit inside the gel tear gas spray device. It also includes a laser ranging module electrically connected to the flight control system for real-time distance measurement between the drone and the target, outputting the target distance data to the flight control system. The electronic trigger module is a direct-connection isolated electronic trigger module, electrically connected to the flight control system, with its output terminal directly connected to the pre-embedded ignition contact point of the gel tear gas spray device. The airborne low-voltage regulated power supply module provides stable power to all power-consuming modules of the system.

[0007] The flight control system has a built-in flight control linkage attitude wind field compensation module, which executes the following steps at a real-time closed-loop frequency of not less than 200Hz: 01 Attitude calculation step: Real-time calculation of the UAV's pitch angle, roll angle, and yaw angle; 02 Wind field disturbance compensation step: Real-time acquisition of rotor speed, flight altitude, and ambient wind speed data, calculation of rotor downwash wind speed and vector synthesis with ambient wind speed to obtain total interference wind speed, calculation of trajectory deviation based on total interference wind speed, target distance, and preset gel projectile ejection initial velocity, generation of pitch correction angle and yaw correction angle based on trajectory deviation and attitude angle, and output to the flight control attitude control loop; 03 Trigger enable judgment step: When the flight altitude is within a preset safety range, the total interference wind speed does not exceed a preset wind resistance threshold, and the attitude stability meets preset conditions, an ejection enable signal is output to the circuit-connected isolated electronic control trigger module; 04 Ejection trigger execution step: Receive the ejection trigger signal sent by the ground remote control terminal, and when the ejection enable signal is valid and the ejection trigger signal is received, output an ignition trigger command to the circuit-connected isolated electronic control trigger module.

[0008] The principle and advantages of this scheme are as follows: The principle of this solution is to replace the traditional mechanical transmission trigger with a pure circuit direct-connection electronic control trigger architecture. At the same time, the flight control system's built-in flight control linkage attitude and wind field compensation module realizes fully closed-loop attitude and wind field adaptive control during the spraying process. The airborne low-voltage regulated power supply module provides a stable power supply for the electronic control trigger module, laser ranging module, and flight control linkage attitude and wind field compensation module. The gel tear gas spray device is fixed to the bottom of the UAV fuselage through a rigid mounting base and maintains a directional attitude with the spray nozzle deflected 15° forward and downward. The low-voltage ignition contact point pre-embedded inside its shell is electrically connected to the internal high-voltage energy storage unit. The input end of the circuit direct-connection isolated electronic control trigger module is connected to the UAV flight control auxiliary channel, and the output end is directly connected to the above-mentioned pre-embedded contact point to realize the mechanical transmission of control signals. The flight control-linked attitude wind field compensation module operates at a real-time closed-loop frequency of no less than 200Hz: First, it completes the UAV attitude calculation through a three-axis accelerometer, gyroscope, and magnetometer to obtain real-time pitch, roll, and yaw angles; simultaneously, it collects rotor speed, flight altitude, and ambient wind speed data, and combines them with the target distance output by the laser ranging module to calculate the total interference wind speed, which is the result of the rotor downwash wind speed and the ambient wind speed. Then, it derives the trajectory deviation of the gel projectile, generates the corresponding pitch and yaw correction angles, and inputs them into the flight control attitude control loop; subsequently, it comprehensively evaluates the flight altitude, total interference wind speed, and attitude stability, and outputs the injection enable signal only when the preset safety conditions are met; finally, when it receives the injection trigger signal from the ground remote control terminal and the enable signal is valid, it outputs the ignition command through the electronic control trigger module to drive the high-voltage energy storage unit to complete the precise injection of the gel projectile.

[0009] Compared to existing technologies, the pure circuit direct-connection trigger architecture completely eliminates all mechanical transmission components such as servos, rocker arms, and transmission brackets, fundamentally eliminating problems such as mechanical fatigue, jamming, breakage, and unexpected false triggering caused by flight vibration. The trigger response speed and consistency are greatly improved. The average failure rate of mechanical triggering schemes in existing technologies is usually above 15%, while the failure rate of circuit triggering in this solution can be reduced to below 0.1%, and no mechanical component maintenance is required throughout the entire life cycle. Secondly, the pioneering flight control linkage attitude wind field compensation technology realizes real-time closed-loop correction of the injection process. Unlike the passive method of existing technologies that rely entirely on manual visual aiming, this solution can dynamically sense the disturbances of the rotor downwash wind field and the ambient wind field, accurately calculate the trajectory deviation by combining real-time attitude and target distance, and automatically adjust the UAV attitude. This reduces the injection point deviation of the gel projectile from more than ±1.2m in existing technologies to within ±0.2m. Even under complex wind field conditions, it can maintain high-precision directional injection, effectively avoiding secondary accidental injury to unrelated personnel. Finally, the built-in trigger enable judgment step constructs an adaptive safety interlock mechanism. Unlike the design of existing technologies that trigger indiscriminately, this solution only allows spraying when the flight altitude, wind speed, and attitude all meet the preset safety conditions. This eliminates the risk of accidental spraying under dangerous conditions at the system level and greatly improves the safety and reliability of high-altitude operations.

[0010] Furthermore, the attitude calculation step of the flight control-linked attitude wind field compensation module adopts an attitude fusion steady-state error adaptive compensation algorithm, which includes: (1) Dynamic weight calculation unit, used to calculate dynamic weight coefficients based on the deviation between the vector magnitude of the accelerometer measurement and the gravitational acceleration, and the vector magnitude of the gyroscope measurement:

[0011] in, This is a dynamic weighting coefficient, with a value range of 0-1; The vector magnitude of the triaxial accelerometer measurement is expressed in m / s², with a range of ±16g and a sampling frequency of not less than 200Hz. The acceleration due to gravity is taken as 9.8 m / s². The vector magnitude of the three-axis gyroscope measurement is expressed in rad / s, with a range of ±2000° / s and a sampling frequency of not less than 200Hz. This is a parameter for adjusting motion acceleration, with a value range of 0.5-2.0; This is a parameter for adjusting maneuverability, with a value range of 0.1-0.5, and the unit is s / rad; When the drone is in a stable hovering state ≈1 and ≈0, The value approaches 1, and attitude calculation primarily relies on accelerometer and magnetometer references; when the UAV is maneuvering or subjected to jet recoil disturbances, Deviation from 1 and Increase As the value approaches zero, attitude calculation primarily relies on gyroscope integration. (2) Quaternion incremental correction unit, used to calculate the quaternion incremental correction term and add it to the current attitude quaternion based on the multi-source fusion error calculated by the accelerometer and magnetometer and the dynamic weighting coefficient:

[0012] in, ω represents the attitude quaternion at the current moment; ω is the three-axis angular velocity vector, in rad / s. The sampling period is expressed in seconds (s). This refers to quaternion multiplication operations; The multi-source fusion error correction term is obtained by weighted synthesis of the accelerometer horizontal attitude error and the magnetometer heading error correction term. The dynamic weighting coefficient; (3) Integral saturation control unit, used to perform integral calculation on the accelerometer error term and perform saturation limiting processing on the integral result:

[0013] in, This is the current integration error term; This refers to the horizontal attitude error of the accelerometer. The preset maximum integration angle value has a range of 3°-5°. For the saturation limiting function, when Time output Otherwise output ; (4) An adaptive gain adjustment unit, used to dynamically adjust the proportional gain coefficient according to the dynamic weighting coefficient:

[0014] in, The reference proportional gain coefficient; This is the gain adaptive factor, with a value ranging from 0.3 to 0.7; when Approaching 1 Increase to enhance the error correction response, when Approaching 0 Reduce to suppress overcorrection of errors during maneuvering; The sampling frequency of the attitude calculation step is no less than 400Hz, the fusion weight coefficient of the complementary filter ranges from 0.95 to 0.98, the quaternion normalization frequency is no less than 100Hz, and the attitude angle output accuracy is no less than 0.1°. The attitude fusion steady-state error adaptive compensation algorithm achieves high-precision and robust attitude calculation of the UAV under multiple conditions such as hovering, maneuvering, and jet recoil disturbance through the coordinated design of dynamic weights, quaternion incremental correction, integral saturation control, and adaptive gain adjustment. The algorithm dynamically allocates fusion weights based on the real-time measurement deviation of the accelerometer and gyroscope, emphasizing the accelerometer and magnetometer during hovering to suppress gyroscope drift. To ensure steady-state accuracy, the system switches to gyroscope-driven operation during maneuvers or disturbances to avoid dynamic acceleration interference and improve dynamic response. Simultaneously, quaternion incremental correction enables smooth attitude updates, integral saturation control effectively prevents attitude divergence caused by error accumulation, and adaptive gain adjustment dynamically matches the correction intensity according to the strength of the operating conditions, avoiding over-correction or under-correction. Combined with a high sampling frequency of no less than 400Hz, optimized fusion weights, and normalization frequency, the attitude angle output accuracy is ultimately improved to within 0.1°, providing a stable and reliable attitude foundation for subsequent wind field disturbance compensation and precise trajectory correction, significantly reducing the impact of attitude noise and jitter on injection accuracy.

[0015] Furthermore, the wind field disturbance compensation step of the flight control-linked attitude wind field compensation module adopts a partitioned coupled ballistic deviation correction algorithm, which includes: (1) A quadcopter independent downwind direction coupling model is used to calculate the downwind speed contribution of each rotor of the quadcopter UAV to the jet trajectory and perform directional coupling superposition:

[0016] in, The effective interference component of the total rotor downwind speed on the jet trajectory is expressed in m / s; i is the rotor number, ranging from 1 to 4. The aerodynamic coefficient of the i-th rotor is determined by the blade diameter and pitch angle of that rotor. is the rotational speed of the i-th rotor, in r / min, with a range of 0-12000 r / min and a sampling frequency of not less than 100 Hz; H is the flight altitude, in m, with a range of 0-20 m and a sampling frequency of not less than 50 Hz; The reference altitude at which downwinds cause the greatest interference to the ballistic trajectory is determined by ballistic test calibration. The altitude attenuation factor characterizes the rate attenuation of downwind as altitude changes, expressed in meters (m). Let be the azimuth angle of the i-th rotor relative to the UAV fuselage; This refers to the azimuth angle of the jet direction relative to the drone's fuselage. is the directional coupling coefficient, which characterizes the projection contribution of the downwind of the i-th rotor in the jet direction; Composite total disturbance wind speed vector:

[0017] in, This represents the component of the ambient wind speed along the direction of the jet. The component of ambient wind speed in the vertical jet direction is defined, with a wind speed range of 0-10 m / s, a wind vector range of 0-60°, and a sampling frequency of not less than 50 Hz. (2) Air drag correction trajectory calculation unit, used to perform drag correction on flight time and trajectory deviation based on the ballistic drag coefficient of the gel projectile: ballistic drag coefficient ,in The air density is taken as 1.225 kg / m³ or measured in real time by an atmospheric pressure sensor; The air drag coefficient of the gel projectile is determined by wind tunnel testing and calibration. denoted as the effective cross-sectional area of ​​the gel pellet, and m as the mass of the gel pellet. Drag-corrected flight time:

[0018] in, The drag-corrected flight time of the projectile is expressed in seconds. The preset initial velocity of the gel pellet is 120 m / s; L is the target distance, with a range of 0-10 m and a sampling frequency of not less than 10 Hz. Drag correction ballistic deviation: Vertical offset

[0019] Horizontal offset in, The vertical component of the total disturbing wind speed is given by g, which is the acceleration due to gravity and has a value of 9.8 m / s². (3) Wind field condition adaptive correction gain unit, used to dynamically adjust the attitude correction conversion coefficient according to the ratio of the total disturbance wind speed to the preset wind speed threshold: when When using the nominal conversion factor and ; when At that time, an enhanced conversion factor is used. and ,in:

[0020]

[0021] in, The preset wind speed threshold has a range of 6 m / s to 8 m / s. The wind field enhancement factor has a value range of 1.2-2.0 and is determined by calibration using ballistic correction measured data. Pitch correction angle The amplitude limit is ±8°; Yaw correction angle The amplitude limit is ±5°; in, and These are the pitch and yaw conversion factors selected under the current wind field conditions. and The current attitude angle obtained from the attitude calculation step; The output frequencies of the pitch correction angle and yaw correction angle are no less than 200Hz. Through this partitioned coupled ballistic deviation correction algorithm, a three-layer design of independent downwind direction coupling of the quadcopter, air resistance ballistic correction, and wind field adaptive gain adjustment is achieved, realizing accurate modeling and compensation for the combined interference of rotor downwash, ambient wind, and air resistance. The algorithm quantifies the contribution of each rotor speed, altitude, and azimuth angle to the wind field in the jet direction, synthesizes the total interference wind speed including rotor downwind and ambient wind, and then combines the aerodynamic parameters of the gel projectile to correct the flight time and horizontal and vertical ballistic deviations. The attitude correction gain is dynamically adjusted according to the total interference wind speed, ensuring stable correction in weak winds and enhancing compensation in strong winds. At the same time, the output frequency of the pitch and yaw correction angles is increased to 200Hz and angle limiting is applied to effectively suppress ballistic drift caused by wind field disturbances, significantly improve the directional jetting accuracy and landing point stability of gel projectiles under complex wind fields, and provide reliable wind field compensation capabilities for safe and accurate deflection.

[0022] Furthermore, the trigger enable judgment step of the flight control linkage attitude wind field compensation module adopts a wind field perception-driven adaptive safety interlocking algorithm, which includes: Continuous security assessment function It is used for weighted continuous evaluation of flight altitude, total disturbance wind speed, and attitude stability.

[0023] in, This is a comprehensive safety assessment value, ranging from 0 to 1. For high safety factors: in, This is the lower limit threshold for flight altitude, with a value ranging from 5m to 8m. This is the upper limit threshold for flight altitude, ranging from 12m to 15m; when H is at... to Midpoint of the range When H approaches the boundary Approaching 0; Wind speed safety factor:

[0024] in, The upper limit threshold for total disturbance wind speed is defined as 8 m / s - 10 m / s; when hour ,when hour ; For attitude stability factor:

[0025] in, and These are the standard deviations of the pitch and roll angles over N consecutive sampling periods, where N ranges from 10 to 50. This is the attitude stability threshold, with a value ranging from 0.5° to 2°. , , These are weighting coefficients. , The value range is 0.2-0.4. The value range is 0.3-0.5. The value range is 0.2-0.4; The condition for determining the injection enable signal E is: when hour ,otherwise ;in The dynamic security threshold is calculated using the following formula: in, The baseline safety threshold is set at 0.6-0.8. This is a wind speed abrupt change compensation factor; when the wind speed changes by more than 3 m / s within 200 ms... ,otherwise During sudden changes in wind speed, the enable signal is frozen and will be re-evaluated after the wind field stabilizes for 200ms. This is the attitude jitter compensation factor; when attitude jitter exceeds... hour ,otherwise Do not spray during attitude turbulence; resume evaluation after attitude stabilizes for 100ms. When sensor data is abnormal for three consecutive frames, the current compensation angle is maintained and the correction function is turned off. When rotor data is abnormal, the system switches to pure attitude compensation mode. The adaptive safety interlocking algorithm driven by wind field perception uses a continuous safety evaluation function to weight and fuse flight altitude, total interference wind speed, and attitude stability to construct a dynamic safety threshold and introduce wind speed change and attitude jitter compensation factors to achieve refined and adaptive control of injection triggering conditions. The algorithm quantifies altitude, wind speed, and attitude into safety factors and weights them to obtain a comprehensive safety evaluation value. Combined with the dynamic threshold, it determines injection enable and can automatically prohibit injection when altitude exceeds limits, wind speed exceeds limits, or attitude is unstable. At the same time, it sets short-term freeze and delayed recovery mechanisms for wind speed change and attitude jitter, and provides degradation compensation strategies for sensor and rotor data anomalies. It constructs a closed-loop safety protection from multiple dimensions, effectively avoids the risk of accidental injection under dangerous conditions, and significantly improves the operational safety and reliability of the system in complex environments.

[0026] Furthermore, the circuit-connected isolated electronically controlled trigger module integrates an optocoupler isolation chip and a low-power solid-state relay. The isolation voltage of the optocoupler isolation chip is not less than 2500Vrms, and the signal response time is not more than 0.5ms. The on-resistance of the solid-state relay is not more than 0.5Ω. The circuit-connected isolated electronically controlled trigger module also integrates a bidirectional surge protection circuit with an overall insulation withstand voltage of not less than 2000V. This circuit-connected isolated electronically controlled trigger module integrates a high-isolation-voltage optocoupler chip, a low-on-resistance solid-state relay, and a bidirectional surge protection circuit. The protection circuit enables electrical isolation between the control circuit and the high-voltage ignition circuit, effectively blocking the influence of high-voltage interference, electromagnetic interference, and power fluctuations on the flight control and control signals. The optocoupler chip has a fast response and high isolation strength, ensuring accurate and safe transmission of trigger signals. The solid-state relay has low conduction loss and no mechanical contacts, avoiding poor contact and wear failures. The bidirectional surge protection voltage regulator circuit further suppresses transient overvoltage, has high overall insulation withstand voltage, and significantly improves the stability, anti-interference ability, and long-term reliability of the electronic control trigger, ensuring safe, reliable, and error-free triggering in complex electromagnetic environments.

[0027] Furthermore, the system also includes emergency shutdown logic, which immediately blocks the trigger circuit and prohibits jetting when any of the following conditions are met: total interference wind speed exceeds 12m / s, or the attitude is violently shaken, or the flight altitude is below 6m or above 15m, or the remote control link is lost, or the circuit fails, or the ground emergency stop button is triggered. In the event of an emergency shutdown, the hovering procedure is triggered first; if the hovering conditions are not met, the autonomous return procedure is triggered. The emergency shutdown logic is implemented by lowering the injection enable signal, which cuts off the optocoupler isolation chip of the circuit directly connected to the isolated electronic control trigger module, disconnects the solid-state relay, and physically disconnects the ignition circuit. The emergency shutdown logic provides a rapid safety response under multiple triggering conditions for high-risk conditions such as excessive wind speed, attitude instability, abnormal altitude, link loss, circuit failure, and ground emergency stop. By lowering the enable signal, it directly cuts off the optocoupler chip and the solid-state relay, realizing the physical disconnection of the ignition circuit and preventing accidental injection under dangerous conditions. At the same time, it prioritizes the execution of emergency flight control strategies such as hovering and degraded return to home to ensure the safety of the UAV itself, forming a dual protection of no-fire + aircraft protection, and improving the system's safety redundancy and fault tolerance in extreme environments.

[0028] Furthermore, the mounting base is made of aluminum alloy CNC integral molding, with a main body wall thickness of not less than 3.0mm and a weight of not more than 120g. It is fixed to the center load-bearing position of the drone fuselage by diagonally locking with M3×6mm stainless steel anti-loosening screws. The mounting base features an embedded positioning groove and anti-detachment buckle. The positioning groove mates with the gel tear gas spray device, with a clearance not exceeding 0.2mm. A silicone shock-absorbing pad with a hardness of 50A-70A is placed between the mounting base and the device body. After the gel tear gas spray device is embedded and snapped into the positioning groove, the spray nozzle is oriented 15° downwards and forwards. After the self-locking buckle is tightened, the static load-bearing capacity is not less than 1.5kg. The center of gravity of the entire device is centrally located, and the weight of the integrated mounting assembly does not exceed 500g. The mounting base is made of aluminum alloy CNC integral molding, which is high in strength and lightweight, with a wall thickness of more than 3.0mm to ensure... Rigidity and a weight of less than 120g reduce the drone's load; stainless steel anti-loosening screws are diagonally locked to the center load-bearing position of the fuselage, combined with embedded positioning grooves, anti-dislodgement buckles, and a small gap of ≤0.2mm to achieve precise spray positioning and firm fixation; silicone shock-absorbing pads effectively isolate flight vibrations; a 15° forward and downward directional installation ensures stable spray direction; a static load capacity of ≥1.5kg ensures reliable mounting; the overall center of gravity is centered, and the assembly weight is ≤500g, balancing structural rigidity, seismic stability, installation accuracy, and lightweight requirements, thereby improving flight safety and spray stability. Furthermore, the manufacturing process of the gel tear gas spray device includes: integrated precision cutting to remove the original hand grip, external linkage mechanical trigger, and exposed manual safety lock structure; a closed-loop pre-embedded contact point inside the side wall of the housing, with the contact point flush with the outer surface of the housing; and silicone rubber sealing at the joints. This gel tear gas spray device, through integrated precision cutting to remove the hand grip, mechanical trigger, and exposed safety lock, completely eliminates the risks of wear, jamming, and accidental triggering caused by the mechanical transmission structure; the closed-loop pre-embedded contact point inside the side wall of the housing, flush with the outer surface, and the silicone rubber sealing at the joints, prevents the external environment from affecting the contact conductivity, while maintaining the integrity and sealing safety of the housing. It requires no modification to the internal high-voltage energy storage and drug chamber, balancing electrical connection reliability, structural safety, and modification compliance, significantly improving triggering stability and long-term reliability. Attached Figure Description

[0029] Figure 1 This is a closed-loop flowchart of the flight control linkage attitude wind field compensation module of the present invention.

[0030] Figure 2 This is a schematic diagram of the overall architecture of the direct-connection gel tear gas spray control system mounted on the quadcopter drone of the present invention.

[0031] Figure 3 This is a schematic diagram of the circuit-connected gel tear gas spray control system mounted on the quadcopter drone of the present invention.

[0032] Figure 4 This is a schematic diagram of the hardware connection relationship of the system of the present invention.

[0033] Figure 5 This is a circuit schematic diagram of the direct-connection isolated electronically controlled trigger module of the present invention.

[0034] Figure 6 This is a schematic diagram of the system of the present invention.

[0035] Figure labeling: 1. Quadcopter UAV flight carrier; 2. Onboard low-voltage regulated power supply module; 3. Mounting base; 4. Gel tear gas spray device; 5. Electronic triggering module; 6. Laser ranging module. Detailed Implementation Example 1 like Figure 1-6As shown, a direct-connection high-speed gel tear gas spray precision control system mounted on a quadcopter drone includes a quadcopter drone flight carrier 1, an onboard low-voltage regulated power supply module 2, a mounting base 3, a gel tear gas spray device 4, an electronically controlled triggering module 5, and a flight control system. The mounting base 3 is a rigid locking mounting base, fixed to the bottom of the quadcopter drone flight carrier 1. A DC5V-24V low-voltage ignition pair contact point is pre-embedded in the sealed side wall of the gel tear gas spray device 4, and the pre-embedded ignition pair contact point is electrically connected to the ignition input terminal of the high-voltage energy storage unit inside the gel tear gas spray device. The gel tear gas spray device contains a high-voltage energy storage unit and an OC gel agent sealed pressure chamber. The system also includes a laser ranging module 6, which is electrically connected to the flight control system for real-time measurement of the distance between the UAV and the target, and outputs the target distance data to the flight control system. The electronically controlled trigger module 5 is a direct-connection isolated electronically controlled trigger module. Its input terminal is electrically connected to the flight control auxiliary channel of the quadcopter UAV flight carrier, and its output terminal is directly connected to the pre-embedded ignition contact point of the gel tear gas spray device. The airborne low-voltage regulated power supply module is electrically connected to the electronically controlled trigger module, the laser ranging module, and the flight control linkage attitude wind field compensation module. The gel tear gas spray device is fixed to a directional attitude with the nozzle deflected downwards by 15° via a mounting base. The flight control system has a built-in flight control-linked attitude wind field compensation module, which executes the following steps at a real-time closed-loop frequency of not less than 200Hz: 01. Attitude calculation steps: Sample the data from the three-axis accelerometer, three-axis gyroscope and three-axis magnetometer, and calculate the pitch angle, roll angle and yaw angle of the UAV; 02. Wind field disturbance compensation steps: Real-time acquisition of rotor speed, flight altitude and ambient wind speed data; calculation of rotor downwash wind speed based on rotor speed and flight altitude; vector synthesis of rotor downwash wind speed and ambient wind speed to obtain total disturbance wind speed; calculation of ballistic deviation based on total disturbance wind speed, target distance output by laser ranging module and preset initial velocity of gel projectile from the gel tear gas spray device; generation of pitch correction angle and yaw correction angle based on ballistic deviation and attitude angle obtained from attitude calculation, and output to the flight control attitude control loop of the quadcopter UAV flight carrier. 03. Trigger enable judgment step: When the flight altitude is within the preset safety range, the total interference wind speed does not exceed the preset wind resistance threshold, and the attitude stability meets the preset conditions, the jet enable signal is output to the circuit direct-connected isolated electronic control trigger module. 04. Injection trigger execution steps: The injection trigger signal sent by the ground remote control terminal is received through the flight control communication link of the quadcopter UAV flight carrier. When the injection enable signal is valid and the injection trigger signal is received, the ignition trigger command is output to the circuit direct-connected isolated electronic control trigger module.

[0036] The principle of this solution is to replace the traditional mechanical transmission trigger with a pure circuit direct-connection electronic control trigger architecture. At the same time, the flight control system's built-in flight control linkage attitude and wind field compensation module realizes fully closed-loop attitude and wind field adaptive control during the spraying process. The airborne low-voltage regulated power supply module provides a stable power supply for the electronic control trigger module, laser ranging module, and flight control linkage attitude and wind field compensation module. The gel tear gas spray device is fixed to the bottom of the UAV fuselage through a rigid mounting base and maintains a directional attitude with the spray nozzle deflected 15° forward and downward. The low-voltage ignition contact point pre-embedded inside its shell is electrically connected to the internal high-voltage energy storage unit. The input end of the circuit direct-connection isolated electronic control trigger module is connected to the UAV flight control auxiliary channel, and the output end is directly connected to the above-mentioned pre-embedded contact point to realize the mechanical transmission of control signals. The flight control-linked attitude wind field compensation module operates at a real-time closed-loop frequency of no less than 200Hz: First, it completes the UAV attitude calculation through a three-axis accelerometer, gyroscope, and magnetometer to obtain real-time pitch, roll, and yaw angles; simultaneously, it collects rotor speed, flight altitude, and ambient wind speed data, and combines them with the target distance output by the laser ranging module to calculate the total interference wind speed, which is the result of the rotor downwash wind speed and the ambient wind speed. Then, it derives the trajectory deviation of the gel projectile, generates the corresponding pitch and yaw correction angles, and inputs them into the flight control attitude control loop; subsequently, it comprehensively evaluates the flight altitude, total interference wind speed, and attitude stability, and outputs the injection enable signal only when the preset safety conditions are met; finally, when it receives the injection trigger signal from the ground remote control terminal and the enable signal is valid, it outputs the ignition command through the electronic control trigger module to drive the high-voltage energy storage unit to complete the precise injection of the gel projectile.

[0037] Compared to existing technologies, the pure circuit direct-connection trigger architecture completely eliminates all mechanical transmission components such as servos, rocker arms, and transmission brackets, fundamentally eliminating problems such as mechanical fatigue, jamming, breakage, and unexpected false triggering caused by flight vibration. The trigger response speed and consistency are greatly improved. The average failure rate of mechanical triggering schemes in existing technologies is usually above 15%, while the failure rate of circuit triggering in this solution can be reduced to below 0.1%, and no mechanical component maintenance is required throughout the entire life cycle. Secondly, the pioneering flight control linkage attitude wind field compensation technology realizes real-time closed-loop correction of the injection process. Unlike the passive method of existing technologies that rely entirely on manual visual aiming, this solution can dynamically sense the disturbances of the rotor downwash wind field and the ambient wind field, accurately calculate the trajectory deviation by combining real-time attitude and target distance, and automatically adjust the UAV attitude. This reduces the injection point deviation of the gel projectile from more than ±1.2m in existing technologies to within ±0.2m. Even under complex wind field conditions, it can maintain high-precision directional injection, effectively avoiding secondary accidental injury to unrelated personnel. Finally, the built-in trigger enable judgment step constructs an adaptive safety interlock mechanism. Unlike the design of existing technologies that trigger indiscriminately, this solution only allows spraying when the flight altitude, wind speed, and attitude all meet the preset safety conditions. This eliminates the risk of accidental spraying under dangerous conditions at the system level and greatly improves the safety and reliability of high-altitude operations.

[0038] The attitude calculation step of the flight control-linked attitude wind field compensation module adopts an attitude fusion steady-state error adaptive compensation algorithm, which includes: (1) Dynamic weight calculation unit, used to calculate dynamic weight coefficients based on the deviation between the vector magnitude of the accelerometer measurement and the gravitational acceleration, and the vector magnitude of the gyroscope measurement:

[0039] in, This is a dynamic weighting coefficient, with a value range of 0-1; The vector magnitude of the triaxial accelerometer measurement is expressed in m / s², with a range of ±16g and a sampling frequency of not less than 200Hz. The acceleration due to gravity is taken as 9.8 m / s². The vector magnitude of the three-axis gyroscope measurement is expressed in rad / s, with a range of ±2000° / s and a sampling frequency of not less than 200Hz. This is a parameter for adjusting motion acceleration, with a value range of 0.5-2.0; This is a parameter for adjusting maneuverability, with a value range of 0.1-0.5, and the unit is s / rad; When the drone is in a stable hovering state ≈1 and ≈0, The value approaches 1, and attitude calculation primarily relies on accelerometer and magnetometer references; when the UAV is maneuvering or subjected to jet recoil disturbances, Deviation from 1 and Increase As the value approaches zero, attitude calculation primarily relies on gyroscope integration. (2) Quaternion incremental correction unit, used to calculate the quaternion incremental correction term and add it to the current attitude quaternion based on the multi-source fusion error calculated by the accelerometer and magnetometer and the dynamic weighting coefficient:

[0040] in, ω represents the attitude quaternion at the current moment; ω is the three-axis angular velocity vector, in rad / s. The sampling period is expressed in seconds (s). This refers to quaternion multiplication operations; The multi-source fusion error correction term is obtained by weighted synthesis of the accelerometer horizontal attitude error and the magnetometer heading error correction term. The dynamic weighting coefficient; (3) Integral saturation control unit, used to perform integral calculation on the accelerometer error term and perform saturation limiting processing on the integral result:

[0041] in, This is the current integration error term; This refers to the horizontal attitude error of the accelerometer. The preset maximum integration angle value has a range of 3°-5°. For the saturation limiting function, when Time output Otherwise output ; (4) An adaptive gain adjustment unit, used to dynamically adjust the proportional gain coefficient according to the dynamic weighting coefficient:

[0042] in, The reference proportional gain coefficient; This is the gain adaptive factor, with a value ranging from 0.3 to 0.7; when Approaching 1 Increase to enhance the error correction response, when Approaching 0 Reduce to suppress overcorrection of errors during maneuvering; The sampling frequency of the attitude calculation step is no less than 400Hz, the fusion weight coefficient of the complementary filter ranges from 0.95 to 0.98, the quaternion normalization frequency is no less than 100Hz, and the attitude angle output accuracy is no less than 0.1°. The attitude fusion steady-state error adaptive compensation algorithm achieves high-precision and robust attitude calculation of the UAV under multiple conditions such as hovering, maneuvering, and jet recoil disturbance through the coordinated design of dynamic weights, quaternion incremental correction, integral saturation control, and adaptive gain adjustment. The algorithm dynamically allocates fusion weights based on the real-time measurement deviation of the accelerometer and gyroscope, emphasizing the accelerometer and magnetometer during hovering to suppress gyroscope drift. To ensure steady-state accuracy, the system switches to gyroscope-driven operation during maneuvers or disturbances to avoid dynamic acceleration interference and improve dynamic response. Simultaneously, quaternion incremental correction enables smooth attitude updates, integral saturation control effectively prevents attitude divergence caused by error accumulation, and adaptive gain adjustment dynamically matches the correction intensity according to the strength of the operating conditions, avoiding over-correction or under-correction. Combined with a high sampling frequency of no less than 400Hz, optimized fusion weights, and normalization frequency, the attitude angle output accuracy is ultimately improved to within 0.1°, providing a stable and reliable attitude foundation for subsequent wind field disturbance compensation and precise trajectory correction, significantly reducing the impact of attitude noise and jitter on injection accuracy.

[0043] The wind field disturbance compensation step of the flight control-linked attitude wind field compensation module adopts a partitioned coupled ballistic deviation correction algorithm, which includes: (1) A quadcopter independent downwind direction coupling model is used to calculate the downwind speed contribution of each rotor of the quadcopter UAV to the jet trajectory and perform directional coupling superposition:

[0044] in, The effective interference component of the total rotor downwind speed on the jet trajectory is expressed in m / s; i is the rotor number, ranging from 1 to 4. The aerodynamic coefficient of the i-th rotor is determined by the blade diameter and pitch angle of that rotor. is the rotational speed of the i-th rotor, in r / min, with a range of 0-12000 r / min and a sampling frequency of not less than 100 Hz; H is the flight altitude, in m, with a range of 0-20 m and a sampling frequency of not less than 50 Hz; The reference altitude at which downwinds cause the greatest interference to the ballistic trajectory is determined by ballistic test calibration. The altitude attenuation factor characterizes the rate attenuation of downwind as altitude changes, expressed in meters (m). Let be the azimuth angle of the i-th rotor relative to the UAV fuselage; This refers to the azimuth angle of the jet direction relative to the drone's fuselage. is the directional coupling coefficient, which characterizes the projection contribution of the downwind of the i-th rotor in the jet direction; Composite total disturbance wind speed vector:

[0045] in, This represents the component of the ambient wind speed along the direction of the jet. The component of ambient wind speed in the vertical jet direction is defined, with a wind speed range of 0-10 m / s, a wind vector range of 0-60°, and a sampling frequency of not less than 50 Hz. (2) Air drag correction trajectory calculation unit, used to perform drag correction on flight time and trajectory deviation based on the ballistic drag coefficient of the gel projectile: ballistic drag coefficient ,in The air density is taken as 1.225 kg / m³ or measured in real time by an atmospheric pressure sensor; The air drag coefficient of the gel projectile is determined by wind tunnel testing and calibration. denoted as the effective cross-sectional area of ​​the gel pellet, and m as the mass of the gel pellet. Drag-corrected flight time:

[0046] in, The drag-corrected flight time of the projectile is expressed in seconds. The preset initial velocity of the gel pellet is 120 m / s; L is the target distance, with a range of 0-10 m and a sampling frequency of not less than 10 Hz. Drag correction ballistic deviation: Vertical offset

[0047] Horizontal offset in, The vertical component of the total disturbing wind speed is given by g, which is the acceleration due to gravity and has a value of 9.8 m / s². (3) Wind field condition adaptive correction gain unit, used to dynamically adjust the attitude correction conversion coefficient according to the ratio of the total disturbance wind speed to the preset wind speed threshold: when When using the nominal conversion factor and ; when At that time, an enhanced conversion factor is used. and ,in:

[0048]

[0049] in, The preset wind speed threshold has a range of 6 m / s to 8 m / s. The wind field enhancement factor has a value range of 1.2-2.0 and is determined by calibration using ballistic correction measured data. Pitch correction angle The amplitude limit is ±8°; Yaw correction angle The amplitude limit is ±5°; in, and These are the pitch and yaw conversion factors selected under the current wind field conditions. and The current attitude angle obtained from the attitude calculation step; The output frequencies of the pitch correction angle and yaw correction angle are no less than 200Hz. Through this partitioned coupled ballistic deviation correction algorithm, a three-layer design of independent downwind direction coupling of the quadcopter, air resistance ballistic correction, and wind field adaptive gain adjustment is achieved, realizing accurate modeling and compensation for the combined interference of rotor downwash, ambient wind, and air resistance. The algorithm quantifies the contribution of each rotor speed, altitude, and azimuth angle to the wind field in the jet direction, synthesizes the total interference wind speed including rotor downwind and ambient wind, and then combines the aerodynamic parameters of the gel projectile to correct the flight time and horizontal and vertical ballistic deviations. The attitude correction gain is dynamically adjusted according to the total interference wind speed, ensuring stable correction in weak winds and enhancing compensation in strong winds. At the same time, the output frequency of the pitch and yaw correction angles is increased to 200Hz and angle limiting is applied to effectively suppress ballistic drift caused by wind field disturbances, significantly improve the directional jetting accuracy and landing point stability of gel projectiles under complex wind fields, and provide reliable wind field compensation capabilities for safe and accurate deflection.

[0050] The trigger enable judgment step of the flight control linkage attitude wind field compensation module adopts a wind field perception-driven adaptive safety interlocking algorithm, which includes: Continuous security assessment function It is used for weighted continuous evaluation of flight altitude, total disturbance wind speed, and attitude stability.

[0051] in, This is a comprehensive safety assessment value, ranging from 0 to 1. For high safety factors: in, This is the lower limit threshold for flight altitude, with a value ranging from 5m to 8m. This is the upper limit threshold for flight altitude, ranging from 12m to 15m; when H is at... to Midpoint of the range When H approaches the boundary Approaching 0; Wind speed safety factor:

[0052] in, The upper limit threshold for total disturbance wind speed is defined as 8 m / s - 10 m / s; when hour ,when hour ; For attitude stability factor:

[0053] in, and These are the standard deviations of the pitch and roll angles over N consecutive sampling periods, where N ranges from 10 to 50. This is the attitude stability threshold, with a value ranging from 0.5° to 2°. , , These are weighting coefficients. , The value range is 0.2-0.4. The value range is 0.3-0.5. The value range is 0.2-0.4; The condition for determining the injection enable signal E is: when hour ,otherwise ;in The dynamic security threshold is calculated using the following formula: in, The baseline safety threshold is set at 0.6-0.8. This is a wind speed abrupt change compensation factor; when the wind speed changes by more than 3 m / s within 200 ms... ,otherwise During sudden changes in wind speed, the enable signal is frozen and will be re-evaluated after the wind field stabilizes for 200ms. This is the attitude jitter compensation factor; when attitude jitter exceeds... hour ,otherwise Do not spray during attitude turbulence; resume evaluation after attitude stabilizes for 100ms. When sensor data is abnormal for three consecutive frames, the current compensation angle is maintained and the correction function is turned off. The correction function is automatically turned back on after the sensor data returns to normal for ten consecutive frames. When rotor data is abnormal, the system switches to pure attitude compensation mode. Pure attitude compensation mode means that the wind field disturbance compensation function is turned off, and the jet aiming is based solely on the attitude calculation results and target distance. In this mode, the maximum allowable jet wind speed is reduced to 6 m / s, and the attitude stability threshold is increased to 0.8°. The wind field perception-driven adaptive safety interlocking algorithm performs weighted fusion of flight altitude, total disturbance wind speed, and attitude stability through a continuous safety evaluation function. The algorithm constructs a dynamic safety threshold and introduces wind speed change and attitude jitter compensation factors to achieve refined and adaptive control of the injection triggering conditions. The algorithm quantifies altitude, wind speed, and attitude into safety factors and weights them to obtain a comprehensive safety assessment value. Combined with the dynamic threshold, it determines the injection enable and can automatically prohibit injection when the altitude exceeds the limit, the wind speed exceeds the limit, or the attitude becomes unstable. At the same time, it sets short-term freeze and delayed recovery mechanisms for wind speed changes and attitude jitter, and provides degradation compensation strategies for sensor and rotor data anomalies. It constructs a closed-loop safety protection from multiple dimensions, effectively avoids the risk of accidental injection under dangerous conditions, and significantly improves the operational safety and reliability of the system in complex environments.

[0054] The circuit-connected isolated electronic control trigger module integrates an optocoupler isolation chip and a low-power solid-state relay. The isolation voltage of the optocoupler isolation chip is not less than 2500Vrms, and the signal response time is not more than 0.5ms. The on-resistance of the solid-state relay is not more than 0.5Ω. The circuit-connected isolated electronic control trigger module also integrates a bidirectional surge protection circuit with an overall insulation withstand voltage of not less than 2000V. This circuit-connected isolated electronic control trigger module integrates a high-isolation voltage optocoupler chip, a low on-resistance solid-state relay, and a bidirectional surge protection circuit, which can achieve electrical isolation between the control circuit and the high-voltage ignition circuit, effectively blocking the influence of high-voltage interference, electromagnetic interference, and power fluctuations on flight control and control signals. The optocoupler chip has a fast response and high isolation strength, ensuring accurate and safe transmission of trigger signals. The solid-state relay has low conduction loss and no mechanical contacts, avoiding poor contact and wear failures. The bidirectional surge protection circuit further suppresses transient overvoltage, has high overall insulation withstand voltage, significantly improves the stability, anti-interference ability, and long-term reliability of electronic control triggering, and ensures safe, reliable, and error-free triggering in complex electromagnetic environments.

[0055] The system also includes emergency shutdown logic, which immediately blocks the trigger circuit and prohibits jetting when any of the following conditions are met: total interference wind speed exceeds 12m / s, or attitude shakes violently, or flight altitude is below 6m or above 15m, or remote control link is lost, or circuit failure occurs, or ground emergency stop button is triggered. In the event of an emergency shutdown, the hovering procedure is triggered first. If the total interference wind speed exceeds 12m / s or the attitude jitter exceeds 2° / 100ms, causing the drone to be unable to maintain a stable hover, the autonomous return-to-home procedure is immediately triggered to control the drone to return to the preset takeoff point at the lowest safe altitude.

[0056] If the hovering conditions are not met, the autonomous return-to-home procedure will be triggered. The emergency shutdown logic is implemented by lowering the injection enable signal, which cuts off the optocoupler isolation chip of the circuit directly connected to the isolated electronic control trigger module, disconnects the solid-state relay, and physically disconnects the ignition circuit. The emergency shutdown logic provides a rapid safety response under multiple triggering conditions for high-risk conditions such as excessive wind speed, attitude instability, abnormal altitude, link loss, circuit failure, and ground emergency stop. By lowering the enable signal, it directly cuts off the optocoupler chip and the solid-state relay, realizing the physical disconnection of the ignition circuit and preventing accidental injection under dangerous conditions. At the same time, it prioritizes the execution of emergency flight control strategies such as hovering and degraded return to home to ensure the safety of the UAV itself, forming a dual protection of no-fire + aircraft protection, and improving the system's safety redundancy and fault tolerance in extreme environments.

[0057] The mounting base is made of aluminum alloy CNC integral molding, with a main body wall thickness of not less than 3.0mm and a weight of not more than 120g. It is fixed to the center load-bearing position of the drone fuselage by diagonally locking with M3×6mm stainless steel anti-loosening screws. The mounting base features an embedded positioning groove and anti-detachment buckle. The positioning groove mates with the gel tear gas spray device, with a clearance not exceeding 0.2mm. A silicone shock-absorbing pad with a hardness of 50A-70A is placed between the mounting base and the device body. After the gel tear gas spray device is embedded and snapped into the positioning groove, the spray nozzle is oriented 15° downwards and forwards. After the self-locking buckle is tightened, the static load-bearing capacity is not less than 1.5kg. The center of gravity of the entire device is centrally located, and the weight of the integrated mounting assembly does not exceed 500g. The mounting base is made of aluminum alloy CNC integral molding, which is high in strength and lightweight, with a wall thickness of more than 3.0mm to ensure... Rigidity and a weight of less than 120g reduce the drone's load; stainless steel anti-loosening screws are diagonally locked to the center load-bearing position of the fuselage, combined with embedded positioning grooves, anti-dislodgement buckles, and a small gap of ≤0.2mm to achieve precise spray positioning and firm fixation; silicone shock-absorbing pads effectively isolate flight vibrations; a 15° forward and downward directional installation ensures stable spray direction; a static load capacity of ≥1.5kg ensures reliable mounting; the overall center of gravity is centered, and the assembly weight is ≤500g, balancing structural rigidity, seismic stability, installation accuracy, and lightweight requirements, thereby improving flight safety and spray stability. The manufacturing process of the described gel tear gas spray device includes: integrated precision cutting to remove the original hand grip, external mechanical trigger, and exposed manual safety lock structure; pre-embedded contact points inside the sealed sidewall of the housing, with the contacts flush with the outer surface of the housing; and silicone rubber sealing at the joints. This integrated precision cutting process eliminates the hand grip, mechanical trigger, and exposed safety lock, completely eliminating the risks of wear, jamming, and accidental triggering caused by the mechanical transmission structure. The pre-embedded contact points inside the sealed sidewall of the housing, flush with the outer surface, and the silicone rubber sealing at the joints, prevent external environmental influences on contact conductivity while maintaining housing integrity and sealing safety. This eliminates the need to modify the internal high-voltage energy storage and drug chamber, ensuring electrical connection reliability, structural safety, and compliance with modification regulations, significantly improving trigger stability and long-term reliability.

[0058] This system consists of seven core units: a quadcopter drone flight platform, an airborne low-voltage regulated power supply module, a mounting base, a modified gel tear gas spray device, a direct-connection isolated electronic control trigger module, a laser ranging module, and a flight control system with a built-in flight control linkage attitude and wind field compensation module. The system uses a pure direct-connection trigger instead of traditional mechanical transmission. The flight control system performs attitude calculation, wind field disturbance compensation, trigger enable judgment, and spray execution at a real-time closed-loop frequency of ≥200Hz, achieving precise spraying of gel projectiles within ±0.2m with a trigger failure rate of ≤0.1%.

[0059] In actual use Core hardware selection and parameter configuration The quadcopter uses a DJI M300RTK quadcopter as its flight platform, with a maximum takeoff weight of 9kg, a payload of 2.7kg, hovering accuracy of ±0.1m (vertical) / ±0.1m (horizontal), maximum wind resistance of 12m / s, and a flight time of 40 minutes. The drone is equipped with a three-axis accelerometer (model ADXL355, range ±16g, sampling frequency 400Hz), a three-axis gyroscope (model ICM-42688-P, range ±2000° / s, sampling frequency 400Hz), a three-axis magnetometer (model AK09918, sampling frequency 100Hz), an atmospheric pressure sensor (model BMP390, sampling frequency 50Hz), a wind speed sensor (range 0-15m / s, accuracy ±0.1m / s, sampling frequency 50Hz), and a GPS / RTK positioning module (positioning accuracy ±1cm).

[0060] The airborne low-voltage regulated power supply module uses the LM2596-ADJDC-DC step-down module, with an input voltage range of 12V-24V (compatible with the UAV's onboard 12V lithium battery). The output voltage is adjustable to two independent outputs of 5V / 12V, with a maximum output current of 3A. It integrates overcurrent, overvoltage, and overheat protection circuits. The 5V output powers the laser ranging module and the flight control-linked attitude and wind field compensation module, while the 12V output powers the circuit-directly connected isolated electronic control trigger module.

[0061] The rigid mounting base is made of 6061-T6 aluminum alloy, CNC machined in one piece, with a main body wall thickness of 3.5mm and a weight of 110g. The mounting base measures 120mm × 80mm × 20mm and is diagonally secured to the center load-bearing position on the bottom of the drone fuselage using four M3 × 6mm stainless steel anti-loosening screws. A 2mm thick, 60A hardness silicone shock-absorbing pad is placed between the mounting base and the fuselage. A 15mm deep embedded positioning groove is cut into the mounting base, with a 0.15mm clearance. A spring-loaded anti-detachment buckle is installed at the end of the positioning groove. After the gel tear gas spray device is embedded and snapped into the positioning groove, the spray nozzle automatically maintains a forward and downward 15° directional orientation. After the self-locking buckle is tightened, the static load-bearing capacity can reach 2.0kg.

[0062] The gel tear gas spray device is a modified version of a certain model of commercial OC gel tear gas sprayer. The specific modification process is as follows: The original hand grip, external linkage mechanical trigger and exposed manual safety lock structure were removed by using a CNC milling machine for precise cutting, while the main body of the shell and the internal high-voltage energy storage unit and the agent chamber were retained. Two blind holes with a diameter of 2 mm and a depth of 5 mm are drilled inside the side wall of the housing, 50 mm away from the injection port. Two copper contact points are pre-embedded. The contact points are welded to the ignition input terminal of the high-voltage energy storage unit through 0.5 mm² silver-plated copper wire. The contacts are polished to a flush seal with the outer surface of the housing, and the seams are sealed with 704 silicone rubber. After curing, an IP65 waterproof test is performed to ensure no leakage. The original high-voltage energy storage unit (energy storage capacitor capacity 1000μF, charging voltage 24V) and the OC gel agent sealed pressure chamber (volume 50ml, working pressure 0.8MPa) are retained. The initial velocity of the gel projectile is calibrated to 120m / s by ballistic velocity measuring instrument, and the single launch range is 0-10m.

[0063] The circuit-connected isolated electronically controlled trigger module has a PCB size of 50mm × 30mm, is made of FR-4 double-sided copper-clad board, and integrates the following core components: Optocoupler isolation chip: Model TLP521-1, isolation voltage 2500Vrms, signal response time 0.2ms; Low power solid-state relay: Model G3MB-202P, on-resistance 0.3Ω, load current 2A, withstand voltage 250V; Bidirectional surge protection circuit: Composed of SMBJ24CA transient suppression diodes and 1N4007 diodes, with an overall insulation withstand voltage of 2500V. The module input terminal is connected to the CH7 auxiliary channel of the drone flight controller via a 3P DuPont linear connection, and the output terminal is directly connected to the pre-embedded ignition contact point of the gel tear gas spray device via a 2P gold-plated terminal.

[0064] The laser ranging module uses a TF-Luna laser ranging sensor with a range of 0.2m-12m, an accuracy of ±1cm, a sampling frequency of 100Hz, and an operating voltage of 5V. It communicates with the flight control system via a UART interface. The module is fixed to the front of the mounting base with two M2 screws, arranged parallel to the nozzle, with the measurement direction completely aligned with the spray direction.

[0065] The flight control system uses the Pixhawk4 flight control board, running PX4v1.13 firmware, and has a built-in flight control-linked attitude and wind field compensation module. The flight control system connects to the laser rangefinder module via an I2C interface, to the isolated electronic control trigger module via a PWM interface, and to the UAV's ESC and various sensors via a CAN interface. The main control frequency of the flight control system is 400Hz, the attitude calculation frequency is 400Hz, the wind field disturbance compensation frequency is 200Hz, and the trigger enable judgment frequency is 200Hz.

[0066] Mounting base installation Attach the silicone shock-absorbing pad to the center load-bearing position on the bottom of the drone fuselage, ensuring that it covers the entire mounting base area; Place the rigid mounting base on the vibration damping pad and use a torque wrench with a torque of 0.8 N. Tighten 4 M3×6mm stainless steel anti-loosening screws diagonally with a torque of m; Manually shake the mounting base to check the installation's stability, ensuring there is no looseness or shaking.

[0067] Modification and installation of gel tear gas spray device Complete the circuit pre-embedding and sealing treatment of the gel tear gas spray device according to the above-mentioned modification process, and let it stand for 24 hours to allow the silicone rubber to fully cure. Push the modified sprayer smoothly into the embedded positioning groove until you hear the locking sound of the anti-disengagement buckle. Use an angle gauge to check the nozzle attitude and confirm that its forward and downward deflection angle is 15°±0.5°; Connect the wires of the circuit directly to the isolated electronic control trigger module and the pre-embedded ignition contact point to ensure a secure connection.

[0068] Circuit connection Connect the input terminal of the airborne low-voltage regulated power supply module to the 12V output interface of the UAV's airborne battery; connect the 5V output terminal of the power supply module to the power supply interfaces of the laser ranging module and the flight control system respectively; connect the 12V output terminal of the power supply module to the power supply interface of the circuit-connected isolated electronic control trigger module; connect the UART interface of the laser ranging module to the UART2 interface of the flight control system; connect the input terminal of the circuit-connected isolated electronic control trigger module to the CH7 auxiliary channel of the flight control system; check all circuit connections to ensure there are no short circuits or loose connections.

[0069] System initial calibration Attitude calibration: Place the UAV on a horizontal calibration platform and use the QGroundControl ground station software to calibrate the accelerometer, gyroscope and magnetometer in sequence. After calibration, the attitude angle output accuracy should be within 0.1°. Laser ranging calibration: Place standard target plates at distances of 5m, 8m, and 10m from the UAV, record the measured values ​​of the laser ranging module, compare them with the actual distances, and calibrate the ranging error using ground station software to ensure that the error after calibration is ≤±2cm; Ballistic calibration: In a windless environment, set up 1m×1m target plates at distances of 5m, 8m, and 10m respectively. Manually control the UAV to hover and trigger the jet, and record the coordinates of the projectile's impact point. Adjust the ballistic correction parameters in the flight control system (such as the ballistic drag coefficient and the initial jet velocity correction value) according to the impact point deviation until the impact point deviation is ≤±0.1m.

[0070] Software implementation of flight control linkage attitude wind field compensation module The flight control-linked attitude and wind field compensation module is written in C language and integrated into the attitude control module of the PX4 firmware. It operates at a real-time closed-loop frequency of 200Hz. The specific execution flow is as follows: Figure 3 As shown: Initialization phase Initialize the sensor data acquisition interface and set the sampling frequencies of the accelerometer, gyroscope, magnetometer, laser rangefinder module, rotor speed sensor, and wind speed sensor; Load preset parameters: dynamic weighting coefficients α=1.2, β=0.3s / rad, integral saturation limit. Gain adaptive factor λ=0.5, wind speed threshold Wind field enhancement factor k=1.5, high safety range Maximum permissible wind speed Attitude stability threshold Baseline security threshold Weighting coefficients ; Initialize attitude quaternions Integral error term proportional gain coefficient .

[0071] Attitude calculation steps (400Hz) Raw data from a triaxial accelerometer, triaxial gyroscope, and triaxial magnetometer are collected and low-pass filtered with a cutoff frequency of 50Hz. Calculate the vector magnitude of the accelerometer measurements. Vector magnitude of gyroscope measurements ; Calculated based on the dynamic weighting coefficient formula ; Calculate the horizontal attitude error of the accelerometer And the heading error of the magnetometer, according to Weighted synthesis multi-source fusion error correction term ; Update attitude quaternions according to the quaternion increment correction formula. The integral error term is then normalized using quaternions and updated according to the integral saturation control formula. ; Update the proportional gain coefficient according to the adaptive gain adjustment formula. ; Convert attitude quaternions to pitch angles Roll angle and yaw angle The output is sent to the wind field disturbance compensation step.

[0072] Wind field disturbance compensation steps (200Hz) Collect the rotational speed of the four rotors Flight altitude H and ambient wind speed data; The equivalent interference component of the total rotor downwind speed on the jet trajectory was calculated based on the independent downwind direction coupling model of the quadcopter. The aerodynamic coefficients of each rotor Pre-calibration through wind tunnel testing; Decompose ambient wind speed into a component along the jet direction. Vertical injection direction component and vertical component ; Composite total disturbance wind speed vector ; Based on the aerodynamic parameters of the gel pellet Calculate the ballistic drag coefficient ; Read the target distance L output by the laser ranging module and calculate the time of flight based on the drag-corrected formula. ; Calculate the vertical offset ΔY and horizontal offset ΔX according to the drag-corrected trajectory offset formula; Based on the total disturbance wind speed With wind speed threshold Based on the comparison results, select the corresponding pitch and yaw conversion factors. and ; Calculate pitch correction angle and yaw correction angle And perform amplitude limiting. ; The correction angle is output to the drone's flight control attitude control loop to adjust the drone's attitude.

[0073] Trigger enable judgment step (200Hz) Calculate the standard deviation of pitch and roll angles over 20 consecutive sampling periods. and ; Calculate the high safety factor separately Wind speed safety factor and attitude stability factor ; Calculate the comprehensive safety assessment value based on the continuous safety assessment function formula. ; Detect sudden changes in wind speed (changes exceeding 3 m / s within 200 ms) and attitude fluctuations (exceeding 1° / 50 ms), and calculate dynamic safety thresholds. ; Compare and ,like Then output injection enable ,otherwise ; If three consecutive frames of sensor data are detected to be abnormal, the current compensation angle is maintained and the wind field correction function is turned off; if rotor data is detected to be abnormal, the system switches to pure attitude compensation mode.

[0074] Injection trigger execution steps (100Hz) The drone receives the jet trigger signal sent by the ground remote control terminal via its 2.4GHz flight control communication link. When the injection enable signal E=1 and a valid injection trigger signal is received, a high-level ignition trigger command with a duration of 100ms is output to the circuit-connected isolated electronic control trigger module. When the optocoupler isolation chip is turned on, it drives the solid-state relay to close, thus connecting the ignition circuit of the high-voltage energy storage unit of the gel tear gas spray device. The high-voltage energy storage unit discharges, propelling the OC gel agent to form projectiles that are ejected. After the injection is completed, the flight control system automatically records the injection time, position, attitude, wind field and target distance data, and stores them to the onboard SD card.

[0075] Complete spraying operation process Pre-flight checks Check the drone's battery level (≥80%), the remaining amount of tear gas spray device, and the charging status of the high-voltage energy storage unit; Check that all electrical connections are secure and that the mounting base and spray device are firmly installed. Start the QGroundControl ground station software to check the working status of the flight control system, all sensors, and laser ranging module; Perform an emergency shutdown test by pressing the emergency stop button on the ground and confirming that the system can immediately block the trigger circuit.

[0076] Task execution Control the drone to take off and fly to the target area, maintaining a flight altitude between 8m and 12m. The flight control system automatically performs attitude calculations and wind field disturbance compensation, adjusting the UAV's attitude in real time; The operator aims at the target through the real-time video feed from the ground station. When the aiming frame is aligned with the target and the ground station displays "jet enabled", the operator presses the jet button on the remote control terminal. The system automatically triggers the spray, and the projectile accurately hits the target; For continuous spraying, repeat the aiming and triggering steps described above, with an interval of no less than 2 seconds between sprays.

[0077] Mission complete Control the drone to return to the takeoff point and perform automatic landing; Turn off the drone, disassemble the gel tear gas spray device, and clean the spray nozzle with water to remove any residual medication. Export flight and jet data from the onboard SD card for mission debriefing and effectiveness evaluation.

[0078] Abnormal operating condition handling procedure Emergency shutdown processing: The system will immediately execute emergency shutdown logic when any of the following conditions are met: Total disturbance wind speed exceeds ; Posture shaking exceeds And the duration exceeds 100ms; Flight altitude below 6m or above 15m; The remote control link was lost for more than 3 seconds; A circuit fault was detected in the directly connected isolated electronic control trigger module. Ground operators press the emergency stop button. Emergency shutdown procedures: Lowering the injection enable signal turns off the optocoupler isolation chip, disconnects the solid-state relay, and physically disconnects the ignition circuit. Prioritize triggering the hovering procedure to keep the drone hovering stably; If the hovering conditions are not met (such as excessive wind speed or attitude instability), the autonomous return-to-home procedure is triggered, and the drone is controlled to return to the takeoff point. The ground station software displays a red alarm message, showing the specific cause of the anomaly.

[0079] Sensor troubleshooting If the laser ranging module data is abnormal (no output for 3 consecutive frames or output value exceeds the range), the system will automatically switch to the preset distance mode (default target distance 8m) and display a yellow warning message on the ground station. The real-time ranging function will be automatically restored after the laser ranging module outputs normal data for 10 consecutive frames. If the wind speed sensor data is abnormal, the system will only use the rotor downwash wind speed for wind field compensation and reduce the maximum allowable wind speed to 6 m / s; If the accelerometer or gyroscope data is abnormal, the system will immediately trigger an emergency return-to-home procedure.

[0080] If no discharge signal from the high-voltage energy storage unit is detected after sending the injection trigger signal, the system will automatically retry the injection once. If the retry still fails, the injection fault information will be displayed on the ground station, triggering will be prohibited again, and the UAV will be controlled to return to base.

[0081] Performance testing and verification The trigger reliability test was conducted under normal temperature and pressure conditions, with 1000 consecutive injection trigger tests performed, and the number of successful triggers recorded. Test results: 999 successful triggers, trigger failure rate of 0.1%, meeting design requirements.

[0082] Injection accuracy test In a windless environment, 1m×1m target plates were set at distances of 5m, 8m, and 10m, and 10 spray tests were conducted for each distance. Test results: The average landing point deviations were ±0.12m, ±0.15m, and ±0.18m, respectively, all ≤ ±0.2m; Ten spray tests were conducted at a distance of 8m in windy conditions (ambient wind speed 5m / s). Test results: the average landing point deviation was ±0.19m, ≤±0.2m.

[0083] Safety interlock function test Altitude Exceedance Test: The drone was controlled to fly at an altitude below 6m or above 15m, and an attempt was made to trigger a jet boost. Test Result: The system automatically disabled the jet boost, and the jet boost enable signal E=0. Wind speed exceeding limit test: Under an ambient wind speed of 10 m / s, an attempt was made to trigger the jetting. Test result: The system automatically disabled jetting. Attitude instability test: The drone was manually maneuvered violently, causing attitude fluctuations exceeding 1° / 50ms, and an attempt was made to trigger the jet boost. Test result: The system automatically disabled the jet boost, and resumed it after the attitude stabilized for 100ms.

[0084] Example 2 The difference between this embodiment and Embodiment 1 is that: The quadcopter uses a DJI Mavic 3 Enterprise drone as its flight platform. It has a maximum takeoff weight of 1.4kg, a payload of 0.5kg, a hovering accuracy of ±0.1m (vertical) / ±0.1m (horizontal), a maximum wind resistance of 10m / s, and a flight time of 45min.

[0085] The gel tear gas spray device uses a miniaturized OC gel tear gas sprayer with a volume of 20ml, a working pressure of 0.6MPa, an initial velocity of 100m / s for the gel projectile, and a single launch range of 0-8m.

[0086] The rigid mounting base is made of 7075 aluminum alloy CNC integral molding, with a main body wall thickness of 3.0mm and a weight of 80g. The integrated mounting assembly weighs no more than 300g.

[0087] Flight control system parameter adjustments: The ballistic drag coefficient cd has been recalibrated to 0.42 based on the aerodynamic parameters of the miniaturized gel projectile; the wind speed threshold Vthreshold has been adjusted to 6 m / s; and the safe altitude range has been adjusted to... , .

Claims

1. A direct-connection high-speed gel tear gas spray precision control system mounted on a quadcopter drone, comprising a quadcopter drone flight carrier, an onboard low-voltage regulated power supply module, a mounting base, a gel tear gas spray device, an electronically controlled trigger module, and a flight control system, characterized in that: The mounting base is fixed to the bottom of the quadcopter drone's flight carrier. The gel tear gas spray device has a pre-embedded DC5V-24V low-voltage ignition contact point inside its housing sidewall, which is electrically connected to the ignition input terminal of the high-voltage energy storage unit inside the gel tear gas spray device. It also includes a laser ranging module electrically connected to the flight control system for real-time distance measurement between the drone and the target, outputting the target distance data to the flight control system. The electronic trigger module is a direct-connection isolated electronic trigger module, electrically connected to the flight control system, with its output terminal directly connected to the pre-embedded ignition contact point of the gel tear gas spray device. The airborne low-voltage regulated power supply module provides stable power to all power-consuming modules of the system. The flight control system has a built-in flight control linkage attitude wind field compensation module, which performs the following steps at a real-time closed-loop frequency of not less than 200Hz: 01 Attitude calculation step: Real-time calculation of the UAV's pitch angle, roll angle, and yaw angle; 02 Wind field disturbance compensation step: Real-time acquisition of rotor speed, flight altitude, and ambient wind speed data, calculation of rotor downwash wind speed and vector synthesis with ambient wind speed to obtain total interference wind speed, calculation of trajectory deviation based on total interference wind speed, target distance, and preset gel projectile ejection initial velocity, generation of pitch correction angle and yaw correction angle based on trajectory deviation and attitude angle, and output to the flight control attitude control loop; 03 Trigger enable judgment step: When the flight altitude is within a preset safety range, the total interference wind speed does not exceed a preset wind resistance threshold, and the attitude stability meets preset conditions, an ejection enable signal is output to the circuit-connected isolated electronic control trigger module; 04 Injection Trigger Execution Steps: Receive the injection trigger signal sent by the ground remote control terminal. When the injection enable signal is valid and the injection trigger signal is received, output the ignition trigger command to the circuit-connected isolated electronic control trigger module.

2. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The attitude calculation step of the flight control-linked attitude wind field compensation module adopts an attitude fusion steady-state error adaptive compensation algorithm, which includes: (1) Dynamic weight calculation unit, used to calculate dynamic weight coefficients based on the deviation between the vector magnitude of the triaxial accelerometer measurement and the gravitational acceleration, and the vector magnitude of the triaxial gyroscope measurement: in, This is a dynamic weighting coefficient, with a value range of 0-1; The vector magnitude of the triaxial accelerometer measurement is expressed in m / s², with a range of ±16g and a sampling frequency of not less than 200Hz. The acceleration due to gravity is taken as 9.8 m / s². The vector magnitude of the three-axis gyroscope measurement is expressed in rad / s, with a range of ±2000° / s and a sampling frequency of not less than 200Hz. This is a parameter for adjusting motion acceleration, with a value range of 0.5-2.0; This is a parameter for adjusting maneuverability, with a value range of 0.1-0.5, and the unit is s / rad; When the drone is in a stable hovering state ≈1 and ≈0, Approaching 1, attitude calculation primarily relies on accelerometers and a three-axis magnetometer as references; when the UAV is maneuvering or subjected to jet recoil disturbances, Deviation from 1 and Increase As the value approaches zero, attitude calculation primarily relies on gyroscope integration. (2) Quaternion incremental correction unit, used to calculate the quaternion incremental correction term and add it to the current attitude quaternion based on the multi-source fusion error calculated by the accelerometer and magnetometer and the dynamic weighting coefficient: in, ω represents the attitude quaternion at the current moment; ω is the three-axis angular velocity vector, in rad / s. The sampling period is expressed in seconds (s). This refers to quaternion multiplication operations; The multi-source fusion error correction term is obtained by weighted synthesis of the accelerometer horizontal attitude error and the magnetometer heading error correction term. The dynamic weighting coefficient; (3) Integral saturation control unit, used to perform integral calculation on the accelerometer error term and perform saturation limiting processing on the integral result: in, This is the current integration error term; This refers to the horizontal attitude error of the accelerometer. The preset maximum integration angle value has a range of 3°-5°. For the saturation limiting function, when Time output Otherwise output ; (4) An adaptive gain adjustment unit, used to dynamically adjust the proportional gain coefficient according to the dynamic weighting coefficient: in, The reference proportional gain coefficient; This is the gain adaptive factor, with a value ranging from 0.3 to 0.7; when Approaching 1 Increase to enhance the error correction response, when Approaching 0 Reduce to suppress overcorrection of errors during maneuvering; The sampling frequency of the attitude calculation step is not less than 400Hz, the fusion weight coefficient of the complementary filter ranges from 0.95 to 0.98, the quaternion normalization frequency is not less than 100Hz, and the attitude angle output accuracy is not less than 0.1°.

3. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 2, characterized in that: The wind field disturbance compensation step of the flight control-linked attitude wind field compensation module adopts a partitioned coupled ballistic deviation correction algorithm, which includes: (1) A quadcopter independent downwind direction coupling model is used to calculate the downwind speed contribution of each rotor of the quadcopter UAV to the jet trajectory and perform directional coupling superposition: in, The effective interference component of the total rotor downwind speed on the jet trajectory is expressed in m / s; i is the rotor number, ranging from 1 to 4. The aerodynamic coefficient of the i-th rotor is determined by the blade diameter and pitch angle of that rotor. is the rotational speed of the i-th rotor, in r / min, with a range of 0-12000 r / min and a sampling frequency of not less than 100 Hz; H is the flight altitude, in m, with a range of 0-20 m and a sampling frequency of not less than 50 Hz; The reference altitude at which downwinds cause the greatest interference to the ballistic trajectory is determined by ballistic test calibration. The altitude attenuation factor characterizes the rate attenuation of downwind as altitude changes, expressed in meters (m). Let be the azimuth angle of the i-th rotor relative to the UAV fuselage; This refers to the azimuth angle of the jet direction relative to the drone's fuselage. is the directional coupling coefficient, which characterizes the projection contribution of the downwind of the i-th rotor in the jet direction; Composite total disturbance wind speed vector: in, This represents the component of the ambient wind speed along the direction of the jet. The component of ambient wind speed in the vertical jet direction is defined, with a wind speed range of 0-10 m / s, a wind vector range of 0-60°, and a sampling frequency of not less than 50 Hz. (2) Air drag correction trajectory calculation unit, used to perform drag correction on flight time and trajectory deviation based on the ballistic drag coefficient of the gel projectile: ballistic drag coefficient ,in The air density is taken as 1.225 kg / m³ or measured in real time by an atmospheric pressure sensor; The air drag coefficient of the gel projectile is determined by wind tunnel testing and calibration. denoted as the effective cross-sectional area of ​​the gel pellet, and m as the mass of the gel pellet. Drag-corrected flight time: in, The drag-corrected flight time of the projectile is expressed in seconds. The preset initial velocity of the gel pellet is 120 m / s; L is the target distance, with a range of 0-10 m and a sampling frequency of not less than 10 Hz. Drag correction ballistic deviation: Vertical offset Horizontal offset ,in, The vertical component of the total disturbing wind speed is given by g, which is the acceleration due to gravity and has a value of 9.8 m / s². (3) Wind field condition adaptive correction gain unit, used to dynamically adjust the attitude correction conversion coefficient according to the ratio of the total disturbance wind speed to the preset wind speed threshold: when When using the nominal conversion factor and ; when At that time, an enhanced conversion factor is used. and ,in: in, The preset wind speed threshold has a range of 6 m / s to 8 m / s. The wind field enhancement factor has a value range of 1.2-2.0 and is determined by calibration using ballistic correction measured data. Pitch correction angle The amplitude limit is ±8°; Yaw correction angle The amplitude limit is ±5°; in, and These are the pitch and yaw conversion factors selected under the current wind field conditions. and The current attitude angle obtained from the attitude calculation step; The output frequencies of the pitch correction angle and yaw correction angle are not lower than 200Hz.

4. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The trigger enable judgment step of the flight control linkage attitude wind field compensation module adopts a wind field perception-driven adaptive safety interlocking algorithm, which includes: Continuous security assessment function It is used for weighted continuous evaluation of flight altitude, total disturbance wind speed, and attitude stability. in, This is a comprehensive safety assessment value, ranging from 0 to 1. For high safety factors: in, This is the lower limit threshold for flight altitude, with a value ranging from 5m to 8m. This is the upper limit threshold for flight altitude, ranging from 12m to 15m; when H is at... to Midpoint of the range When H approaches the boundary Approaching 0; Wind speed safety factor: in, The upper limit threshold for total disturbance wind speed is defined as 8 m / s - 10 m / s; when hour ,when hour ; For attitude stability factor: in, and These are the standard deviations of the pitch and roll angles over N consecutive sampling periods, where N ranges from 10 to 50. This is the attitude stability threshold, with a value ranging from 0.5° to 2°. , , These are weighting coefficients. The value of wH ranges from 0.2 to 0.

4. The value range is 0.3-0.

5. The value range is 0.2-0.4; The condition for determining the injection enable signal E is: when hour ,otherwise ;in The dynamic security threshold is calculated using the following formula: in, The baseline safety threshold is set at 0.6-0.

8. This is a wind speed abrupt change compensation factor; when the wind speed changes by more than 3 m / s within 200 ms... ,otherwise During sudden changes in wind speed, the enable signal is frozen and will be re-evaluated after the wind field stabilizes for 200ms. This is the attitude jitter compensation factor; when attitude jitter exceeds... hour ,otherwise Do not spray during attitude turbulence; resume evaluation after attitude stabilizes for 100ms. When the sensor data from the three-axis accelerometer, three-axis gyroscope, wind speed sensor, or laser rangefinder module is abnormal for three consecutive frames, the current compensation angle is maintained and the wind field disturbance compensation correction function is turned off. The correction function is automatically turned back on after the sensor data returns to normal for 10 consecutive frames. When the rotor speed data is abnormal, the system switches to pure attitude compensation mode. Pure attitude compensation mode refers to the working mode in which the wind field disturbance compensation function is turned off and the jet aiming is based solely on the attitude calculation results and target distance.

5. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The circuit-connected isolation electronic control trigger module integrates an optocoupler isolation chip and a low-power solid-state relay. The isolation voltage of the optocoupler isolation chip is not less than 2500Vrms, and the signal response time is not more than 0.5ms. The on-resistance of the solid-state relay is not more than 0.5Ω. The circuit-connected isolation electronic control trigger module also integrates a bidirectional surge protection circuit with an overall insulation withstand voltage of not less than 2000V.

6. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The system also includes emergency shutdown logic, which immediately blocks the trigger circuit and prohibits jetting when any of the following conditions are met: total interference wind speed exceeds 12m / s, or attitude shakes violently, or flight altitude is below 6m or above 15m, or remote control link is lost, or circuit failure occurs, or ground emergency stop button is triggered. In an emergency shutdown, the hovering procedure is triggered first. If the total disturbance wind speed exceeds 12 m / s or the attitude jitter exceeds 2° / 100 ms, causing the hovering condition to be unmet, the hovering procedure will be terminated. This will trigger the autonomous return-to-home procedure; The emergency shutdown logic is achieved by pulling down the injection enable signal, which cuts off the optocoupler isolation chip of the circuit directly connected to the isolated electronic control trigger module, disconnects the solid-state relay, and physically disconnects the ignition circuit.

7. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The mounting base is made of aluminum alloy CNC integral molding, with a main body wall thickness of not less than 3.0mm and a weight of not more than 120g. It is fixed to the center load-bearing position of the drone fuselage by diagonally locking with M3×6mm stainless steel anti-loosening screws. The mounting base features an embedded positioning groove and anti-detachment buckle. The positioning groove mates with the gel tear gas spray device, with a clearance not exceeding 0.2mm. A silicone shock-absorbing pad with a hardness of 50A-70A is placed between the mounting base and the device body. After the gel tear gas spray device is embedded and snapped into the positioning groove, the spray nozzle automatically maintains a forward and downward bias. The orientation of the machine is such that the static load-bearing capacity after the self-locking buckle is tightened is not less than 1.5kg; the center of gravity of the whole machine is arranged in the center and the weight of the integrated mounting assembly does not exceed 500g.

8. The circuit-direct-connected high-speed gel tear gas spray precision control system mounted on a quadcopter drone according to claim 1, characterized in that: The modification process of the gel tear gas spray device includes: using CNC integrated cutting technology to remove the original hand grip, external linkage mechanical trigger and exposed manual safety lock structure; pre-embedded contact points inside the closed side wall of the shell; the contact points are flush with the outer surface of the shell; and silicone rubber is used to seal the joints.

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