A particle trajectory control device

Abstract

This invention relates to a particle trajectory control device, belonging to the field of motion trajectory control technology, and addresses one of the following technical problems in the prior art: particles cannot correct their flight trajectory after launch; initial flight direction is inaccurate due to particle exit attitude deviation; particles collide with the inner wall due to deviation during movement inside the launch tube; and particle exit attitude deviation cannot be corrected in time at the end of launch. The device includes a launch tube, an air source, and a trajectory control component. By placing the trajectory control component on the launch tube and connecting it to the air source, the launch power and control power are supplied from the same source. The trajectory control component can directly utilize the air source energy to apply radial control force to the particles in flight without an additional power source. It can correct the particle's trajectory in real time during flight, effectively improving the particle's landing point accuracy and solving the technical problem of particles being unable to correct their flight trajectory after launch.

Description

Technical Field

[0001] This invention relates to the field of motion trajectory control technology, and in particular to a particle trajectory control device. Background Technology

[0002] In the field of particle emission technology (such as spherical particle emission, electromagnetic emission, and directional jetting of micro-nano particles), existing emission devices typically use preset emission parameters (such as initial velocity and emission angle) to launch particles along a predetermined trajectory. Before launch, operators calculate and set the emission parameters based on the target position and initial conditions. Once the particles are launched from the device, they can only move along the initially set direction due to inertia, and their flight trajectory cannot be adjusted or corrected during flight.

[0003] However, in practical applications, various interference factors exist, such as fluctuations in air resistance, airflow disturbances, non-uniform electromagnetic fields, target position movement, or vibration of the launching device itself, all of which can cause the actual flight trajectory of the particles to deviate from the preset path. In existing technologies, due to the lack of a trajectory correction mechanism for particles in flight, when interference factors cause trajectory deviations or changes in target position, the launched particles cannot respond to these changes and adjust their trajectories accordingly. They can only rely on the accuracy of initial parameters and environmental stability to ensure a hit. This "no intervention after launch" mode has significant drawbacks in dynamic environments or scenarios requiring high precision, leading to decreased hit rates or test failures. Therefore, how to provide a technical solution that can correct the flight trajectory of particles after launch is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a particle trajectory control device to solve one of the following technical problems existing in the prior art: the particle cannot correct its flight trajectory after launch; the initial flight direction is inaccurate due to the deviation of the particle's exit attitude; the particle collides with the inner wall due to deviation when moving in the launch tube; and the particle's exit attitude deviation cannot be corrected in time at the end of launch.

[0005] The objective of this invention is mainly achieved through the following technical solutions: The present invention provides a particle trajectory control device, including a launch tube, an air source and a trajectory control component. The air source is connected to the launch tube to push particles out of the launch tube. The trajectory control component is disposed on the launch tube to control the movement trajectory of the particles, and the trajectory control component is connected to the air source to obtain control power.

[0006] Furthermore, it also includes a delivery mechanism connected to the launch tube to deliver particles.

[0007] Furthermore, it also includes a connecting pipe for connecting the gas source to the launching tube, and / or connecting the gas source to the trajectory control component.

[0008] Furthermore, the connecting pipeline includes a connecting main pipe, a first connecting branch pipe, and a second connecting branch pipe. The inlet ends of both the first and second connecting branch pipes are connected to the connecting main pipe, the outlet end of the first connecting branch pipe is connected to the launching tube, and the outlet end of the second connecting branch pipe is connected to the trajectory control component.

[0009] Furthermore, the connecting pipeline also includes a first flow control valve, a second flow control valve, and a third flow control valve respectively installed on the connecting main pipe, the first connecting branch pipe, and the second connecting branch pipe.

[0010] Furthermore, it also includes a controller for controlling the operation of the air source and the trajectory control component.

[0011] This invention provides a particle trajectory control method, which uses the particle trajectory control device to control the particle trajectory.

[0012] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: (1) The particle trajectory control device of the present invention, by setting the trajectory control component on the launch tube and connecting it to the air source, realizes the same source supply of launch power and control power. The trajectory control component can directly use the air source energy to apply radial control force to the particles in flight without the need for an additional power source. It can correct the trajectory of the particles in real time during the flight process, effectively improve the accuracy of the particle landing point, and solve the technical problem that the particles cannot correct their flight trajectory after launch.

[0013] (2) The particle trajectory control device of the present invention has multiple first nozzles for injecting airflow into the launch tube to apply radial control force to the particles; a high-speed camera is used to collect three-dimensional position information and three-dimensional velocity information of the particles when they leave the launch tube in real time and transmit them to the controller; the controller controls the opening combination of the first nozzles and the airflow rate according to the collected information to control the particle's exit attitude and initial flight direction; attitude measurement and direction correction can be completed at the moment the particles leave the tube, realizing high-precision control at the launch end, improving the accuracy of the initial flight direction of the particles, and solving the problem of inaccurate initial flight direction caused by particle exit attitude deviation.

[0014] (3) The particle trajectory control device of the present invention has multiple second nozzles for spraying airflow into the launch tube to apply radial control force to the particles, thereby reducing the risk of particles hitting the inner wall of the launch tube. By setting the second nozzles that spray centripetally on the tube wall, a radial constraint force is continuously applied during the particle flight, which restricts the particles to the central area of ​​the launch tube, effectively reducing the collision between the particles and the inner wall and solving the problem of particles colliding with the inner wall due to deviation when moving in the launch tube.

[0015] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the specification or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained from the content specifically pointed out in the text and accompanying drawings. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0017] Figure 1 This is a schematic diagram of the particle trajectory control device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the connecting pipeline in an embodiment of the present invention; Figure 3 This is a flowchart of the particle trajectory control method in an embodiment of the present invention; Figure 4 This is a schematic diagram of the trajectory control component in an embodiment of the present invention; Figure 5 This is one of the structural schematic diagrams of the second trajectory adjustment control in an embodiment of the present invention; Figure 6 This is a second schematic diagram of the structure of the second trajectory adjustment control in an embodiment of the present invention; Figure 7 This is a schematic diagram of the particles at the outlet of the emission tube in an embodiment of the present invention; Figure 8 This is a schematic diagram showing the position of the particle relative to the Y-axis and Z-axis in an embodiment of the present invention; Figure 9 This is one of the schematic diagrams illustrating the adjustment of air intake flow rate to control the direction of particle motion in an embodiment of the present invention; Figure 10 This is a second schematic diagram illustrating the adjustment of air intake flow rate in an embodiment of the present invention to control the direction of particle motion.

[0018] Figure label: 1-Dispensing mechanism, 2-Launch tube, 3-Gas source, 4-Trajectory control component, 41-First trajectory control unit, 411-First nozzle, 412-High-speed camera, 42-Second trajectory control unit, 421-Second nozzle, 5-Connecting pipeline, 51-Connecting main pipe, 52-First connecting branch pipe, 53-Second connecting branch pipe, 54-First flow control valve, 55-Second flow control valve, 56-Third flow control valve. Detailed Implementation

[0019] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0020] Example 1 Embodiment 1 of the present invention provides a particle trajectory control device, which aims to solve the technical problem that particles cannot correct their flight trajectory after being launched.

[0021] like Figure 1 As shown, Embodiment 1 of the present invention provides a particle trajectory control device, including a launch tube 2, an air source 3 and a trajectory control component 4. The air source 3 is connected to the launch tube 2 to push particles out of the launch tube 2. The trajectory control component 4 is disposed on the launch tube 2 to control the movement trajectory of the particles, and the trajectory control component 4 is connected to the air source 3 to obtain control power.

[0022] By setting up a trajectory control component connected to the air source, active intervention in the particle flight trajectory is achieved. The particle can be spherical. Specifically, the air source 3 not only provides the launch power for the particle but also provides the control power for the trajectory control component, eliminating the need for an additional power source. The trajectory control component 4 is set on the launch tube 2 and can apply a radial control force to the particle when it passes through or leaves the launch tube 2. Compared with the open-loop control method of "launch and forget" in the prior art, this solution can adjust the control strategy in real time according to the actual flight state of the particle and continuously correct its motion direction during the particle flight.

[0023] By setting the trajectory control component 4 on the launch tube 2 and connecting it to the air source 3, the launch power and control power are supplied from the same source. The trajectory control component can directly use the air source energy to apply radial control force to the particles in flight without the need for an additional power source. It can correct the trajectory of the particles in real time during the flight process, effectively improve the accuracy of the particle landing point, and solve the technical problem that the particles cannot correct their flight trajectory after launch.

[0024] Furthermore, such as Figure 1 As shown, it also includes a delivery mechanism 1, which is connected to the launch tube 2 to deliver particles.

[0025] The delivery mechanism 1 is used to automatically and quantitatively deliver particles into the launch tube 2 according to preset operating parameters. Its function is to achieve a continuous and stable supply of particles. The delivery mechanism realizes the automatic quantitative supply of particles, improves the continuity and consistency of the launch process, and provides stable input conditions for trajectory control.

[0026] Furthermore, such as Figure 1 As shown, it also includes a connecting pipe 5, which is used to connect the gas source 3 to the launching tube 2, and / or connect the gas source 3 to the trajectory control component 4.

[0027] The connecting pipe 5 is connected between the gas source 3 and the launch tube 2 and the trajectory control component 4. It is used to divert and transport the compressed gas generated by the gas source 3 to the launch tube 2 and the trajectory control component 4, thereby realizing the distribution and transmission of gas source power. The connecting pipe 5 realizes the supply of gas from a single gas source to both the launch and control circuits, which simplifies the gas circuit structure and reduces the system cost and complexity.

[0028] like Figure 2 As shown, the connecting pipe 5 includes a connecting main pipe 51, a first connecting branch pipe 52, and a second connecting branch pipe 53. The inlet ends of the first connecting branch pipe 52 and the second connecting branch pipe 53 are both connected to the connecting main pipe 51. The outlet end of the first connecting branch pipe 52 is connected to the launching tube 2, and the outlet end of the second connecting branch pipe 53 is connected to the trajectory control component 4.

[0029] The main connecting pipe 51 is used to receive the gas output from the gas source 3 and distribute it to the first connecting branch pipe 52 and the second connecting branch pipe 53; the first connecting branch pipe 52 delivers the gas to the launch tube 2 to drive the particle launch; the second connecting branch pipe 53 delivers the gas to the trajectory control component 4 to provide control power; this structure realizes independent diversion control of the gas source power; through the parallel structure of the main pipe and the two branch pipes, the physical separation and independent adjustment of the launch gas path and the control gas path are realized, which facilitates the separate control of the launch flow rate and the control flow rate, and improves the adjustability and control accuracy of the system.

[0030] like Figure 2 As shown, the connecting pipeline 5 also includes a first flow control valve 54, a second flow control valve 55 and a third flow control valve 56 respectively installed on the connecting main pipe 51, the first connecting branch pipe 52 and the second connecting branch pipe 53.

[0031] The first flow control valve 54 is used to control the total amount of gas output from the gas source 3; the second flow control valve 55 is used to adjust the amount of gas entering the launch tube 2; the third flow control valve 56 is set to adjust the amount of gas entering the trajectory control component 4. Through the independent adjustment of the three-stage flow control valves, the total amount of gas, the amount of gas launched and the amount of gas controlled are controlled separately, and the gas source power can be flexibly allocated according to actual needs, which improves the control flexibility and accuracy of the system.

[0032] Furthermore, it also includes a controller, which controls the actions of the air source 3 and the trajectory control component 4.

[0033] The controller is used to control the actions of the gas source 3 and the trajectory control component 4, so as to achieve unified and coordinated control of the launch timing, launch flow rate, control intensity, and control timing. The controller realizes the coordinated work of launch and control, and can automatically adjust each execution component according to preset strategy or real-time feedback, thereby improving the automation level and control accuracy of the system.

[0034] like Figure 3 As shown, Embodiment 1 of the present invention also provides a particle trajectory control method, which aims to solve the technical problem of not being able to sense the flight status and determine the control requirements after particle emission. The particle trajectory control device described above includes: S1, start the gas source 3, the controller adjusts the output flow of the gas source 3 so that the particles are ejected from the emission tube 2; S2, the trajectory control component 4 collects the three-dimensional position information of the particle after leaving the emission tube 2 in real time, and calculates the three-dimensional velocity information of the particle based on the three-dimensional position information of multiple consecutive frames; S3: The controller determines whether to adjust the particle trajectory based on the three-dimensional position and velocity information.

[0035] S1 adjusts the airflow output via a controller to propel particles out of launch tube 2 at a set initial velocity, achieving controllable adjustment of the launch process. S2 utilizes a trajectory control component to collect the particle's three-dimensional position information in real time and calculates three-dimensional velocity information based on multiple consecutive frames, achieving real-time perception of the particle's flight state. S3, the controller determines whether to adjust the particle trajectory based on the collected three-dimensional position and velocity information, achieving automatic triggering of control decisions. Thus, real-time perception of the particle's flight state and automatic judgment of control needs are achieved, providing a data foundation for subsequent trajectory correction, improving the response speed and intelligence level of particle trajectory control, and solving the technical problem of not being able to perceive the flight state and determine control needs after particle launch.

[0036] To address the problem of lacking a clear target benchmark and difficulty in quantifying control requirements, S1 includes a step of inputting a preset landing area before activating the gas source 3.

[0037] Before activating gas source 3, a preset landing area is input, providing a clear target benchmark for subsequent trajectory control. The controller can compare the real-time collected particle positions with the preset landing area to determine whether control is needed and the direction and magnitude of control. Through the preset landing area, the control target is quantitatively defined, making trajectory control based on evidence and improving the targeting and accuracy of control. Thus, the problem of trajectory control lacking a clear target benchmark and difficulty in quantitatively judging control needs is solved.

[0038] Furthermore, in S1, the controller predicts whether the particle's landing point in free flight exceeds the allowable range of the preset landing point area based on the particle's initial position and initial velocity at the outlet of the emission tube 2; if the predicted landing point exceeds the allowable range, it determines that the particle trajectory needs to be adjusted.

[0039] The controller calculates the theoretical landing point of the particle in free flight based on the initial position and initial velocity of the particle at the exit of the launch tube 2, and compares it with the allowable range of the preset landing point area to determine in advance whether the particle trajectory needs to be adjusted. Through the prediction mechanism, the adjustment needs can be determined in the early stage of particle flight, leaving sufficient time for subsequent adjustment actions and improving the timeliness and effectiveness of the adjustment.

[0040] To address the issues of how to quantitatively determine whether particle trajectory correction is needed and how to select the appropriate calibration nozzle, such as... Figure 7 and Figure 8 As shown, in S3, determining whether particle trajectory needs to be adjusted includes: Define a rectangular coordinate system with the axis of the launch tube 2 as the X-axis, the radial direction as the Y-axis, and the direction perpendicular to the X / Y plane as the Z-axis; the allowable displacement of the preset landing area in the Y-axis direction is H, and the allowable displacement in the Z-axis direction is D; Obtain the first position and first velocity of the particle at the exit of the emission tube 2, wherein the distance from the first position to the center of the circle in the Y-axis direction is h1, and the distance in the Z-axis direction is d1; the distance between the first position and the third position of the impact section in the X-axis direction is L. Calculate the time it takes for the particle to travel from position 1 to position 3: ; in This represents the velocity component of the particle along the X-axis. Calculate the Y-axis offset of the particle from the first position to the third position: ; Calculate the Z-axis offset of the particle from the first position to the third position: ; in , These are the velocity components of the particle in the Y-axis and Z-axis directions, respectively; like and If the result is positive, then no regulation is needed; otherwise, regulation is required.

[0041] like or At this time, it is necessary to adjust the airflow rate of one or two holes to control the direction of particle movement, such as Figure 9As shown, if the ball is located in region A (the annular region between the large circle and the small circle), then the nozzles F1 and F2 at the two ends of the ball are activated, so that the force on the ball is directed towards the center of the launch tube 2. There are 8 nozzles evenly arranged around the circumference of the launch tube 2, numbered F1, F2, ..., F8.

[0042] By defining a Cartesian coordinate system, the spatial motion of particles is decomposed into three independent components: axial, radial, and vertical. Using the initial position and velocity of the particle at the exit of the launch tube, combined with the allowable range of the preset landing area, the theoretical offset of the particle when it flies freely to the landing section is calculated. When the theoretical offset of the Y-axis or Z-axis exceeds the allowable boundary, it is determined that adjustment is needed, and the corresponding nozzle combination is selected for correction according to the area where the particle is located. In this way, the three-dimensional spatial motion is quantified into a calculable mathematical expression, realizing the quantitative and automated judgment of adjustment needs. By selecting nozzles in sections, the direction of the adjustment force is always pointed towards the center of the launch tube, improving the efficiency and accuracy of trajectory correction. This solves the problems of how to quantitatively determine whether a particle needs trajectory correction and how to select the correction nozzle.

[0043] Furthermore, such as Figure 10 As shown, if the particle enters region B (the area inside the small circle), and nozzles F1 and F2 are closed, while nozzles F4 and F5 at the two ends of the fan-shaped radius where the particle is located are opened, causing the ball to reach the second position (the second position is the very end position that the first high-speed camera can monitor), the particle's axial velocity along the Y-axis is < And the particle's axial velocity along the Z-axis is < If the particle velocity is less than the minimum permissible velocity, it will not exceed the range of the Y and Z directions of the impact point, where: ; ; The distance between the second and third positions is [value missing]. The distance of the particle at the second position from the center of the circle along the Z-axis is [value missing]. The distance from the center of the circle on the Y-axis is , Let the velocity component in the X-axis direction be the second point. and These are the minimum velocities of the velocity components in the Y and Z axes, respectively.

[0044] Once the particle enters region B, the initial correction nozzles F1 and F2 are closed, and the nozzles F4 and F5 at the two ends of the fan-shaped radius are switched on. By controlling the particle's radial velocity, it is ensured that the velocity constraint condition is met when it reaches the second position. This constraint condition is derived from the remaining flight distance and the allowable offset, ensuring that the particle does not exceed the preset landing point area during subsequent free flight. By switching nozzles and velocity constraint control in sections, a transition from "position correction" to "velocity control" strategy is achieved. This method avoids the particle exceeding the boundary during subsequent flight due to excessive residual radial velocity, improves the accuracy and reliability of landing point control, and solves the problem of the particle exceeding the landing limit due to excessive radial velocity even after position correction.

[0045] Based on this, if the particle does not enter region B, but enters the range of nozzles F2 and F3, then nozzle F3 is activated and nozzle F1 is closed. Once the ball enters region B, nozzles F1 and F2 are closed again, and nozzles F4 and F5 corresponding to the two ends of the fan-shaped radius where the particle is located are opened.

[0046] Example 2 Embodiment 2 of the present invention is a further improvement based on Embodiment 1, and aims to solve the technical problem of inaccurate initial flight direction caused by deviation of particle exit attitude.

[0047] like Figure 4 As shown, the trajectory control component 4 includes a first trajectory control unit 41, which includes a plurality of first nozzles 411, which are respectively installed at the outlet end of the launch tube 2. The spray direction of each first nozzle 411 is towards the axis of the launch tube 2, and each first nozzle 411 is respectively connected to the second connecting branch pipe 53 for spraying airflow into the launch tube 2 to apply radial control force to the particles. A high-speed camera 412 is installed on the outside of the outlet end of the emission tube 2 to collect the three-dimensional position and three-dimensional velocity information of the particles as they leave the emission tube 2 in real time, and transmit the information to the controller. The controller controls the opening combination and air flow of multiple first nozzles 411 based on the information collected by the high-speed camera 412, so as to regulate the particle's exit attitude and initial flight direction.

[0048] Multiple first nozzles 411 are installed at the outlet end of the launch tube 2, with the spray direction facing the axis, and are connected to the second connecting branch pipe 53. They are used to spray airflow into the launch tube 2 to apply radial control force to the particles. A high-speed camera 412 is installed on the outside of the outlet end of the launch tube 2 to collect the three-dimensional position and three-dimensional velocity information of the particles when they leave the launch tube 2 in real time and transmit it to the controller. The controller controls the opening combination of the first nozzles 411 and the airflow rate according to the collected information to regulate the particle's exit attitude and initial flight direction. Attitude measurement and direction correction can be completed at the moment the particle leaves the barrel, realizing high-precision control at the end of the launch, effectively improving the accuracy of the initial flight direction of the particles, and solving the problem of inaccurate initial flight direction caused by deviation of particle exit attitude.

[0049] For example, there are 4, 6 or 8 first nozzles 411, and the first nozzles 411 are evenly distributed around the circumference of the launching tube 2.

[0050] To address the issue of large errors and insufficient accuracy in measuring axial velocity using a single high-speed camera, at least two photoelectric sensors are also included, spaced apart along the axial direction of the launch tube 2, to measure the time it takes for a particle to pass through a predetermined distance and to calculate the observed axial velocity value. The controller is configured as follows: The particle axial velocity measured by the high-speed camera is used as the first observation source, and the axial velocity calculated by the photoelectric sensor is used as the second observation source. Based on the noise statistical characteristics of the first and second observation sources, a data fusion algorithm is used to perform a fusion estimation of the two sources and output the fused axial velocity.

[0051] At least two photoelectric sensors arranged at axial intervals along the launch tube 2 calculate the axial velocity observation value by measuring the time it takes for a particle to pass through a predetermined interval. The controller uses the axial velocity measured by the high-speed camera as the first observation source and the axial velocity calculated by the photoelectric sensors as the second observation source. Based on the noise statistical characteristics of the two, a data fusion algorithm is used to perform fusion estimation and output the fused axial velocity. By fusing the axial velocity data of the high-speed camera and the photoelectric sensors, and utilizing the complementarity of their noise characteristics, the measurement error of the axial velocity is effectively reduced, and the accuracy and stability of the velocity information are improved. This solves the problem of large error and insufficient accuracy in measuring axial velocity by a single high-speed camera.

[0052] For example, the data fusion algorithm includes at least one of Kalman filtering, complementary filtering, or minimum variance weighted fusion, wherein the fusion weights are dynamically adjusted according to the real-time confidence of each observation source, so that the axial velocity estimation error after fusion is less than the measurement error of any single observation source.

[0053] Example 3 Embodiment 3 of the present invention is a further improvement based on Embodiment 1 or Embodiment 2, and aims to solve the technical problem of particles colliding with the inner wall due to deviation when moving in the emission tube.

[0054] like Figure 5 As shown, the trajectory control component 4 also includes a second trajectory control control 42, which includes: Multiple second nozzles 421 are respectively installed on the wall of the launch tube 2. The spray direction of each second nozzle 421 is towards the axis of the launch tube 2, and each second nozzle 421 is connected to the second connecting branch pipe 53. They are used to spray airflow into the launch tube 2 to apply radial control force to the particles to reduce the particles from touching the inner wall of the launch tube 2.

[0055] Multiple second nozzles 421 are respectively installed on the wall of the launch tube 2, with the spray direction all facing the axis of the launch tube 2. Each second nozzle 421 is connected to the second connecting branch pipe 53 and is used to spray airflow into the launch tube 2 to apply radial control force to the particles, thereby reducing the risk of particles hitting the inner wall of the launch tube 2. By setting the centripetal second nozzles on the wall of the launch tube, a radial constraint force is continuously applied during the particle flight, which restricts the particles to the central area of ​​the launch tube, effectively reducing the collision between the particles and the inner wall and solving the problem of particles colliding with the inner wall due to deviation when moving in the launch tube.

[0056] To address the challenge of real-time detection and active correction of particle radial displacement in a sealed environment within the launch tube, each second nozzle 421 is equipped with a pressure sensor and / or a flow sensor. The controller determines the radial displacement direction of the particles within the launch tube 2 by comparing the pressure or flow values ​​of each branch. When the pressure of a nozzle increases relative to other branches and / or the flow rate decreases relative to other branches, it is determined that the particles are shifting towards that nozzle. The controller then controls one or more second nozzles 421 on the opposite side of the displacement direction to open or increase the jet flow rate, applying a radial force pointing towards the axis to the particles, causing them to return to the central region.

[0057] Pressure and / or flow sensors are used to detect the pressure and / or flow values ​​of each branch in real time. The controller determines the radial offset direction of the particles in the launch tube 2 by comparing the pressure or flow values ​​of each branch: when the pressure of a certain nozzle increases and / or the flow rate decreases relative to other branches, it is determined that the particles are offset towards that nozzle. The controller then controls one or more second nozzles 421 on the opposite side of the offset direction to open or increase the jet flow rate, applying a radial force pointing towards the axis to the particles, so that the particles return to the central area. The particle offset direction is determined by the physical phenomenon of pressure increase or flow decrease. No additional position sensor is required. The structure is simple and the response is fast. By pushing the particles back to the center through reverse jetting, the active constraint of the particles in the launch tube is realized, which effectively prevents the particles from colliding with the inner wall. It solves the problem of how to detect the radial offset of particles in real time and perform active correction in the closed environment of the launch tube.

[0058] Based on this, in order to solve the problems of short control window and poor fault tolerance of single nozzle groups, such as Figure 6 As shown, multiple sets of second nozzles 421 are arranged along the axial direction of the launching tube 2, each set including multiple second nozzles 421 evenly distributed along the circumferential direction; the controller selects one or more sets of second nozzles (421) closest to the particle for spraying according to the real-time position and velocity of the particle, so as to compensate for the position deviation caused by the control delay.

[0059] This arrangement ensures that correction nozzles are available along the entire length of the launch tube, providing timely responses regardless of the particle's axial position within the tube. Furthermore, when particle velocities are high, multiple nozzle groups can be activated simultaneously to create a relay spray, extending the duration of the correction force. Conversely, when particle deviation is significant, multiple nozzle groups can be activated to increase the total correction force. In addition, the multi-group arrangement provides redundancy; if one group of nozzles fails, others can continue to perform the correction function. This axial multi-group arrangement achieves continuous coverage and relay correction across the entire particle path, extending the effective control window, improving the system's fault tolerance and correction flexibility, and resolving the issues of short control windows and poor fault tolerance associated with single-nozzle systems.

[0060] Example 4 Embodiment 4 of the present invention is a further improvement based on Embodiment 1, Embodiment 2 or Embodiment 3. In order to solve the problem that the particle exit attitude deviation cannot be corrected in time at the end of the launch, an improved solution is proposed.

[0061] In S2, the three-dimensional position and three-dimensional velocity information of the particles as they leave the emission tube 2 are collected in real time by the high-speed camera 412. In S3, when it is determined that the particle trajectory needs to be adjusted, the controller controls the opening combination and exhaust flow of one or more first nozzles 411 based on the information collected by the high-speed camera 412, and applies a radial adjustment force to the particle to correct the particle's exit attitude and initial flight direction.

[0062] In S2, the high-speed camera 412 collects the three-dimensional position and velocity information of the particle as it leaves the launch tube 2 in real time, obtaining the precise motion state of the particle at the moment of exiting the barrel. In S3, when it is determined that the particle trajectory needs to be adjusted, the controller selects one or more corresponding first nozzles 411 based on the information collected by the high-speed camera 412, controls their opening combination and air flow, and applies a radial adjustment force to the particle to correct the particle's exit attitude and initial flight direction. By completing the measurement and correction seamlessly at the moment of exiting the barrel, the rapid and precise control of the particle's initial flight direction is achieved, correcting the trajectory deviation from the source and improving the predictability and controllability of the subsequent flight trajectory. Thus, the problem of the particle exit attitude deviation being unable to be corrected in time at the end of the launch is solved.

[0063] Furthermore, in S2, to improve the measurement accuracy of the axial velocity, the photoelectric sensor and data fusion method described in Example 2 can be used to replace the axial velocity directly measured by the high-speed camera with the fused axial velocity, in order to perform the judgment in step S3. For specific fusion steps and algorithms, please refer to Example 2, which will not be repeated here.

[0064] By fusing data from photoelectric sensors and multi-view cameras, the advantages of both are fully utilized: photoelectric sensors provide high-precision time and velocity references, while high-speed cameras provide continuous spatial position information. The fused axial velocity combines the continuity of the high-speed camera with the high precision of the photoelectric sensor, providing more reliable input parameters for trajectory control decisions, effectively improving the success rate of landing point control, and enhancing the measurement accuracy of axial velocity.

[0065] Example 5 Embodiment 5 of the present invention is a further improvement based on Embodiment 1, Embodiment 2, Embodiment 3 or Embodiment 4, and aims to solve the problem of particles colliding with the inner wall due to radial displacement inside the emission tube.

[0066] Between S2 and S3, the following steps are also included: Pressure sensors and / or flow sensors installed on each branch of the second nozzle 421 detect the pressure and / or flow values ​​of each branch in real time and transmit the detection signals to the controller; The controller determines the radial offset direction of the particles in the launching tube 2 by comparing the pressure or flow rate of each branch; when the pressure of a branch increases relative to other branches, and / or the flow rate decreases relative to other branches, it is determined that the particles are offset toward the nozzle. The controller controls one or more second nozzles 421 on the side opposite to the offset direction to open or increase the jet flow rate, applying a radial force towards the axis to the particles, causing the particles to return to the central area.

[0067] Between S2 and S3, a particle radial offset detection and correction step is added. Pressure sensors and / or flow sensors installed on each branch of the second nozzle 421 detect the pressure and / or flow values ​​of each branch in real time and transmit them to the controller. The controller determines the particle offset direction by comparing the pressure or flow values ​​of each branch: when the pressure of a branch increases and / or the flow decreases, it is determined that the particle is offset toward that nozzle. The controller then controls one or more second nozzles 421 on the opposite side of the offset direction to open or increase the jet flow, applying a radial force pointing toward the axis to the particle, so that the particle returns to the central area. This process is continuously executed as the particle flies through the launch tube, forming a real-time closed-loop constraint.

[0068] The system utilizes the pressure / flow rate signal of the air path itself to determine particle deviation, eliminating the need for additional sensors. It features a simple structure and rapid response. Continuous central region constraint effectively prevents particles from colliding with the inner wall, providing a favorable condition for ejection posture and solving the problem of particles colliding with the inner wall due to radial deviation within the launch tube.

[0069] Specifically, the controller determines particle deviation and controls the second nozzle 421 in the following way: The controller collects pressure values ​​on all branches of the second nozzle 421 at a fixed sampling period and calculates the average pressure, where the pressure values ​​on the branches of the second nozzle 421 are... ,in N The number of the second nozzle and N =8; Calculate the pressure deviation of each nozzle, that is, the difference between the pressure value of each nozzle and the average pressure; Identify the nozzle with the largest pressure deviation. If the maximum pressure deviation exceeds a preset pressure threshold, determine that the particles are shifting toward that nozzle. The nozzle opposite to the direction of this offset is identified as the correction nozzle; The correction strength is calculated based on the ratio of the maximum pressure deviation to the preset pressure threshold. Calculate the target jet flow rate of the corrected nozzle based on the correction strength; The control nozzle is opened at the target jet flow rate, while the other nozzles maintain the base flow rate, applying a radial force towards the axis to the particles, causing the particles to return to the central region.

[0070] By collecting pressure values ​​at a fixed sampling period and calculating the average pressure, a dynamic benchmark is established, enabling pressure deviation calculation to adapt to gas source fluctuations. A preset pressure threshold is correlated with the average pressure, achieving automatic threshold adjustment without manual calibration. The nozzle with the largest pressure deviation directly indicates the particle offset direction, with a clear judgment logic. The correction intensity is linearly correlated with the degree to which the pressure deviation exceeds the threshold, matching the correction force with the severity of the offset and avoiding over-correction or under-correction. A linear mapping is established between the target injection flow rate and the base flow rate and maximum flow rate, ensuring that the correction nozzle outputs a reasonable injection volume. The above algorithm achieves fully automated control of the entire process—threshold adaptation, rapid direction determination, and automatic intensity matching—without manual intervention.

[0071] It should be noted that under normal conditions (with particles far from the nozzle), the gas is freely ejected from the nozzle outlet, the airflow is smooth, and the back pressure within the nozzle branch remains at a stable reference value. When particles are close to the nozzle (particles are close to or block the nozzle outlet), the gas cannot be ejected smoothly and will accumulate at the nozzle outlet, causing the back pressure in the nozzle branch to increase. The closer the particles are to the nozzle, the more severe the blockage and the more obvious the increase in back pressure.

[0072] The average pressure is calculated as follows: ; in, Pi Indicates the number is i The gas pressure value detected by the pressure sensor installed on the second nozzle 421 branch; Calculate the pressure deviation of each nozzle: ; Identify the nozzle with the largest pressure deviation: ; And record the maximum pressure deviation: ; The maximum pressure deviation With preset pressure threshold Comparison: If If the particle is located in the central region, all nozzles maintain the base flow rate. ;like Then it is determined that the particle is facing the nozzle. Direction shift; When particle deviation is detected, the correction nozzle number is determined: ; Calculate using the following formula: Correction strength: ; Target jet flow rate: ; in, This is the sensitivity coefficient, and its value ranges from 0.3 to 0.8. The maximum allowable flow rate of the nozzle; control the calibration nozzle to spray at the target flow rate. Turn on, other nozzles maintain basic flow rate. A radial force is applied to the particle, pointing towards the axis, causing the particle to return to the central region.

[0073] Preset pressure threshold Based on the current average pressure, dynamically determined, take... ; It is a proportionality coefficient and its value ranges from 0.03 to 0.10.

[0074] Specifically, the controller can also determine particle deviation and control the second nozzle 421 in the following ways; With a fixed sampling period Collect all Flow rate value on the second nozzle branch: ; in The number of the second nozzle and =8; Calculate the average flow rate: ; Calculate the flow rate deviation for each nozzle: ; The nozzle has a lower-than-average flow rate, which may be due to particles approaching it. The nozzle flow rate is above average, indicating a relatively smooth flow. Determine the direction of deviation and find the nozzle with the largest flow rate deviation: ; ; like Then it is determined that the particle is facing the nozzle. Direction shift; like If the particle is in the central region, no correction is needed; in To preset the traffic threshold, you can take... , The scaling factor is recommended (0.03~0.10). To determine the corrective nozzle, to bring the particles back to the center, a radial force pointing towards the axis must be applied to the particles, i.e., spraying from the side opposite to the direction of deviation. Corrective nozzle number: ; Calculate the correction strength and define the correction strength. This reflects the magnitude of the corrective force that needs to be applied: ; in: For the maximum flow deviation, For traffic threshold, This is the sensitivity coefficient (taken as 0.5-0.8 to avoid overcalibration). Calculate the target jet flow rate of the corrected nozzle: ; The base flow rate (the small flow rate that all nozzles maintain continuously). This is the maximum allowable flow rate of the nozzle; Perform calibration and control the calibration nozzle. Increase the traffic to Other nozzles maintain the base flow rate. .

[0075] It should be noted that all second nozzles 421 operate at the same base flow rate. The continuous jetting creates a centripetal air curtain inside the launch tube. When the particles do not approach the nozzle outlet, the gas is jetted normally, and the flow rate of each branch is stable near the set value. When the particles approach or block the outlet of a certain nozzle, the airflow of that nozzle is obstructed, and the flow rate of the branch decreases. The greater the decrease in flow rate of a nozzle, the closer the particles are to that nozzle.

[0076] The controller can also determine particle deviation and control the second nozzle 421 in the following ways: Obtain the offset direction based on pressure data. and offset intensity ; Obtain the offset direction based on traffic data and offset intensity ; like Then determine the direction of the particle. Direction shift; if Then compare the relative deviation of the pressure. Relative deviation of flow rate ,in: ; ; Take the direction corresponding to the larger one as the particle's offset direction. ; Determine the calibration nozzle: ; Calculate the fusion offset intensity: ; Calculate the target jet flow rate of the corrected nozzle: ; Control the calibration nozzle to achieve the target jet flow rate Turn on, other nozzles maintain basic flow rate. A radial force is applied to the particle, pointing towards the axis, causing the particle to return to the central region.

[0077] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A particle trajectory control device, characterized in that, It includes a launch tube (2), an air source (3) and a trajectory control component (4). The air source (3) is connected to the launch tube (2) to push particles out of the launch tube (2). The trajectory control component (4) is set on the launch tube (2) to control the movement trajectory of the particles, and the trajectory control component (4) is connected to the air source (3) to obtain control power.

2. The particle trajectory control device according to claim 1, characterized in that, It also includes a delivery mechanism (1) connected to the launch tube (2) to deliver particles.

3. The particle trajectory control device according to claim 1, characterized in that, It also includes a connecting pipe (5) for connecting the gas source (3) to the launching tube (2).

4. The particle trajectory control device according to claim 1, characterized in that, The connecting pipe (5) is also used to connect the gas source (3) to the trajectory control component (4).

5. The particle trajectory control device according to claim 3, characterized in that, The connecting pipe (5) includes a connecting main pipe (51), a first connecting branch pipe (52) and a second connecting branch pipe (53). The inlet ends of the first connecting branch pipe (52) and the second connecting branch pipe (53) are connected to the connecting main pipe (51). The outlet end of the first connecting branch pipe (52) is connected to the launching tube (2), and the outlet end of the second connecting branch pipe (53) is connected to the trajectory control component (4).

6. The particle trajectory control device according to claim 5, characterized in that, The connecting pipeline (5) also includes a first flow control valve (54), which is disposed on the connecting main pipe (51).

7. The particle trajectory control device according to claim 5, characterized in that, The connecting pipe (5) also includes a second flow control valve (55), which is disposed on the first connecting branch pipe (52).

8. The particle trajectory control device according to claim 5, characterized in that, The connecting pipe (5) also includes a third flow control valve (56), which is installed on the second connecting branch pipe (53).

9. The particle trajectory control device according to claim 1, characterized in that, It also includes a controller for controlling the gas source (3) and the trajectory control component (4).

10. A method for controlling particle trajectory, characterized in that, The particle trajectory is controlled by the particle trajectory control device according to any one of claims 1-9.

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