A police unmanned aerial vehicle based on all police tasks and a collaborative operation method

Abstract

The application discloses a police unmanned plane based on all police tasks and a cooperative operation method, and belongs to the technical field of police unmanned planes. The police unmanned plane comprises a flying parent platform, a hanging piece, a task module and a central flying platform. The flying parent platform comprises an unmanned plane, and the bottom of the unmanned plane is fixed with a bearing plate. The hanging piece comprises a plurality of universal adapters fixed to the bottom of the bearing plate. Each task module is fixed to the bottom of a universal adapter. A task function acquisition module is arranged between the universal adapter and the task module. The central flying platform interacts with a ground station terminal. The ground station terminal is internally provided with a task operation panel mapped with the task module. The police unmanned plane based on all police tasks and the cooperative operation method can select various adaptive task modules according to police requirements, realize one machine with multiple uses, second-level switching and all police adaptation, and ensure the accuracy of task execution.

Description

Technical Field

[0001] This invention specifically relates to a police drone and a collaborative operation method based on tasks involving all police departments, belonging to the field of police drone technology. Background Technology

[0002] With the deepening of the strategy of strengthening policing through science and technology, police drones have become an important aerial force in modern policing. While there are many types of existing police drones, such as the highly concealed police reconnaissance drone disclosed in Chinese Patent Publication No. CN118560736B, which uses a multi-layered nested structure to form multiple barriers, effectively preventing external objects such as tree branches from directly entering the power unit, and further blocking the entry of small branches or debris while allowing smooth airflow, existing police drones generally have the following drawbacks: 1. Limited and fixed functions: Drones on the market often adopt a one-machine-one-use approach. Reconnaissance drones cannot perform attack or drop missions, while attack platforms do not have the ability to perform precise mechanical operations. 2. Cumbersome replacement: If the mission payload needs to be changed (such as replacing the camera with a tear gas sprayer), it usually requires complicated tools to disassemble and rewire, and the ground station needs to readjust the flight control PID (proportional-integral-derivative) parameters, which cannot meet the rapid response requirements in police operations. 3. Low level of intelligence: Different police departments (such as traffic police, special police, and community police) lack targeted and professional control when using drones, which means that although the drones fly to the scene, they cannot directly provide business data that meets the needs of the police department, such as shooting data needed by special police and accident scene diagrams needed by traffic police. 4. When different task modules or multiple task modules are working, the hovering center of gravity is prone to shift, resulting in low accuracy of police task execution. Furthermore, during task execution, the drone is subject to interference from the action mechanism, making it impossible to guarantee the stability of the drone. For example, when carrying live-fire weapons such as pistols, the instantaneous recoil will disrupt the drone's flight attitude. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a police drone and collaborative operation method based on tasks across all police departments. This method is highly versatile, allowing for the selection of suitable task modules according to the needs of different police departments, all supported by a single carrier plate. This enables the drone to perform multiple functions in one unit, switch between tasks in seconds, adapt to all police departments, and ensure the accuracy of task execution.

[0004] The present invention relates to a police drone for all police functions, comprising: The flight mother platform includes a drone, which is a hexacopter or octocopter with a carbon fiber composite fuselage; the bottom of the drone is fixed with a support plate; the bottom of the support plate integrates a universal quick-release mechanical and electrical integrated interface; it can serve as a carrier for all mission modules; The mounting bracket includes multiple universal adapters fixed to the bottom of the support plate; the support plate and the mounting bracket enable a high degree of integration of the task module and standardization of the interface. The system includes multiple task modules, each with different task functions. Each task module is fixed to the bottom of a universal adapter. A task function acquisition module is provided between the universal adapter and the task module. The task module can be selected according to specific task requirements, and after selection, it can be directly mounted onto the carrier plate via a connector. A central flight platform manages drones and mission modules, and interacts with a ground station terminal. The ground station terminal has a built-in mission operation panel mapped to the mission modules. When the drone powers on and detects the access of a mission module, the central flight platform automatically reads the mission module ID and calls the preset mission operation panel (for example, when a pistol module is accessed, the ground station terminal APP automatically displays "safety / unlock / fire" buttons; when a robotic arm is accessed, a gesture mapping control interface appears). The central flight platform has a built-in module information database for mutual communication, a static center of gravity reference calibration module, a command-based dynamic center of gravity calculation module, and an attitude error closed-loop processing module.

[0005] Furthermore, the task function acquisition module includes an interconnected identification module and an identity identification unit; the identity identification unit can complete the identification of the task module, and the identification module can identify the identity identifier corresponding to the task module; the universal adapter includes a universal interface fixed to the bottom of the carrier plate and a universal socket that plugs into the universal interface. The task module is fixed to the bottom of the universal socket, the identification module is fixed to the inside of the universal interface, and the identity identification unit is fixed to the top of the universal socket. A quick-change lock is fixed to the outside of the universal interface and locks it to the universal socket; the universal interface is fixed to the carrier plate, and the universal socket is fixed to the task module. When the universal socket is plugged into the universal interface and locked by the quick-change lock, the task module can be mounted on the carrier plate; when the universal socket is plugged into the universal interface, the identification module inside the universal interface and the identity identification unit on the universal socket are directly opposite each other, and the identification module can read the data of the identity identification unit.

[0006] Furthermore, the identification module includes a conductive connector array or a first identification connector connected to the central flight platform. The identity recognition unit includes two interconnected conductive trigger heads fixed to the top of the universal socket or a second identification connector fixed to the top of the universal socket. The conductive trigger heads are electrically connected to the two conductive connectors of the conductive connector array. The conductive trigger heads of different mission modules are installed in staggered positions. The second identification connector is connected to an identity chip (such as the DS2401 series) inside the universal socket. When the UAV powers on and detects the access of a mission module, the central flight platform automatically reads the module ID. Specifically, when the identification module is a conductive connector array and the identity recognition unit is a conductive trigger head, after the universal socket is plugged into the universal interface, the two conductive trigger heads are connected to the two connectors of the conductive connector array to achieve electrical connection. Since the two conductive trigger heads are short-circuited, when they are connected to the two connectors of the conductive connector array, the two connectors of the conductive connector array are short-circuited. The central flight platform can detect short-circuit triggering of a row or column by matrix scanning (row and column scanning), i.e., sequentially setting the column to low level. When detecting a row, as long as a low level is detected in a row, the intersection of that row and column is scanned. Since the conductive trigger heads of different task modules are installed in staggered positions, the task type of the task module can be directly determined based on the intersection. In addition, since different universal interfaces correspond to different row and column areas of the matrix, it is possible to determine which universal interface the task module is installed on. When the identification module is the first identification connector and the identity identification unit is the second identification connector and the identity chip, after the universal socket is plugged into the universal interface, the first and second identification connectors are in electrical contact. At this time, the central flight platform can read the identity stored in the identity chip through the first and second identification connectors. Furthermore, the universal interface to which the task module is installed can be directly determined based on the I / O port connected to the central flight platform by the different first identification connectors.

[0007] Furthermore, the quick-change locking mechanism includes a manual locking mechanism or an electric locking pin driven by a motor. When the electric locking pin is in use, it automatically locks when the task module is pushed into the universal interface, preventing it from falling from a height. The manual locking mechanism includes elastic locking pins fixed on both sides of the universal interface. The pins of the elastic locking pins are movably inserted into the universal socket. The universal interface is provided with a safety bolt that screws into the universal socket. When performing manual operation, first unscrew the safety bolt, then pull out the elastic locking pins on both sides. At this time, the task module can be directly detached from the universal interface and replaced with a new task module. Then, the new task module is inserted into the universal interface, re-engaged and locked by the elastic locking pins, and finally locked by the safety bolt.

[0008] Further, the static center of gravity reference calibration module works as follows: The central flight platform acquires the various task modules mounted on the flight mother platform through the task function acquisition module, generates a set based on the task modules, traverses the module information database based on the identity identifier, and obtains the static mass, zero-position center of gravity, and action-center of gravity offset mapping table of each task module; based on the center of gravity of a single module and the position of the installed general interface, it obtains the total mounted mass, total static moment, and reference center of gravity of the whole aircraft static reference; it outputs the static reference bias torque, reference thrust, and static reference PID; The command-based dynamic center of gravity calculation module works as follows: After the command-based dynamic center of gravity calculation module obtains the control command, it performs synchronous feedforward calculation on the command; it updates the dynamic thrust bias based on the calculation result, and sends the updated result to the static reference PID, completing the synchronous correction of the PID dynamic gain; After the flight control system in the central flight platform completes the output of the command-based dynamic center of gravity calculation module, it finally executes the attitude error closed-loop processing module to handle the residual deviation that the feedforward was not completely offset and the external gust disturbance; During operation, the center of gravity adjustment is carried out in two stages: Phase 1: Ground Static Calibration (Single Execution Before Takeoff): First, the mission module is plugged in and locked, the identification module confirms its presence, and a set is generated. Next, read the static mass, zero-center of gravity, and motion-center of gravity offset mapping table of each module; then, calculate the static reference center of gravity, reference torque, reference thrust offset, and reference PID; finally, if the center of gravity is within limits, unlock takeoff permission.

[0009] Phase Two: In-flight Dynamic Operation (Command-triggered, Non-periodic Polling): First, the central flight platform acquires the action command and determines whether it belongs to the category of commands affecting the center of gravity. If so, at the same time the command is issued to the mission module, the center of gravity offset increment is obtained by looking up a table. Second, the dynamic static moment increment, real-time total center of gravity, dynamic thrust offset, and dynamic PID correction are calculated. Then, the static reference moment and dynamic moment increment are used as feedforward outputs. If it is an impact command, the instantaneous impact mitigation module is triggered synchronously to instantly reduce the fusion factor. The rotor performs a thrust offset update to complete attitude compensation. After the action is completed, the current steady-state parameters are maintained, and the fusion factor gradually returns to the rigid dominance mode. Commands that do not affect the center of gravity are issued directly without triggering dynamic calculations, and the static reference parameters are maintained.

[0010] Furthermore, the task modules include multiple modules such as a robotic arm module, a tear gas spray module, a throwing hook module, a pistol shooting module, a loudspeaker flashing light module, a gas detection module, a high-definition camera module, and a high-altitude lighting module. The robotic arm module, used for law enforcement retrieval, employs a bionic robotic arm capable of gripping, cutting cables, and throwing non-lethal ammunition. The tear gas spray module, used for non-lethal dispersal, enables the application of police tear gas spray or dye. The throwing hook module, used for rescue throwing, employs an electric release mechanism for throwing lifebuoys, first-aid kits, or window-breaking tools. The pistol shooting module, used for lethal strikes, integrates a smart pistol with a shock-absorbing gun mount, which can be remotely controlled and fired via a ground station. The loudspeaker flashing light module, used for traffic and traffic management, integrates red and blue flashing lights and a loudspeaker. The gas detection module, used for criminal investigation, features a variable-focus low-light night vision camera and a gas micro-sampler. The high-altitude lighting module, used for illumination or glare, employs a high-power LED array, combining illumination and glare countermeasures.

[0011] Furthermore, the pistol firing module includes a housing for accommodating the gun, a guide rail disposed within the housing, a gun mount that slides along the guide rail, and a damping buffer connecting the gun mount and the housing. The damping buffer is a hydraulic or pneumatic structure. At the moment the pistol is fired, the recoil first compresses the damping buffer, converting the instantaneous impact force into a buffering stroke of a relatively long time (approximately 0.2-0.5 seconds). Simultaneously, the flight control system generates a compensating torque in the opposite direction to the recoil force at this instant, instantly increasing the speed of the corresponding rotor motor, generating a reverse thrust to counteract the muzzle rise tendency, achieving instantaneous stability upon firing.

[0012] Furthermore, the command-based dynamic center of gravity calculation module also includes an instantaneous impact mitigation module. The instantaneous impact mitigation module operates as follows: When the command-based dynamic center of gravity calculation module detects instantaneous impact commands such as firing and rapid extension / retraction of the robotic arm, the instantaneous impact mitigation module is triggered simultaneously with the command issuance. The instantaneous impact mitigation module provides control input to the flight control system, increasing the output power of the corresponding rotor motor so that it outputs the maximum damping torque within a set time to absorb the transient impact energy and generate a compensating torque opposite to the recoil direction. The control input is the impact amplitude and duration specified by the command. After the action ends, it gradually exits without affecting the steady-state accuracy.

[0013] Furthermore, an electric lead screw slide is fixed inside the UAV, and the sliding end of the electric lead screw slide is fixed to the UAV's battery compartment; the electric lead screw slide is connected to the central flight platform; when a heavy mission module (such as a pistol) is detected, the central flight platform reads the weight data of the mission module, obtains the sliding data of the electric lead screw slide, and the electric lead screw slide adjusts the position of the battery compartment, automatically adjusting the position of the battery on the flight mother platform to maintain the flight attitude.

[0014] A collaborative operation method for police drones, employing police drones capable of handling tasks across all police departments, the method comprising: S1. The ground station terminal establishes communication with the central flight platform and reads the identity identifiers of each currently mounted mission module; S2. The ground station terminal maps the corresponding task operation panel according to the identity identifier and obtains the static center of gravity status; S3: Receives user control commands, enables the drone to perform flight and mission maneuvers, and performs real-time dynamic center of gravity calculation and controls the output power of the drone's rotor motors based on the commands.

[0015] Compared with the prior art, the police drone and collaborative operation method based on all police tasks of the present invention have the following advantages; 1. Applicable to all police tasks: Suitable for all police scenarios, including security patrols, traffic management, emergency response, counter-terrorism and riot control, and criminal investigation.

[0016] 2. Quick switching, universal applicability for all police officers: One pilot can handle a variety of emergencies by carrying one flight platform and multiple mission modules without having to return to base to replace the entire aircraft, which greatly reduces the procurement cost of police equipment and the burden of carrying it on duty.

[0017] 3. Plug and play, intelligent recognition: The flight control system can automatically identify the mission module type and adapt the flight parameters. Non-professional pilots (ordinary police officers) can operate complex mission modules after simple training, which lowers the threshold for using police drones.

[0018] 4. High-stability shooting: By using a buffer gun mount in conjunction with instantaneous impact dissipation, the problem of position deviation and overturning caused by the reaction force of the mission module on the rotorcraft is solved, thus improving the accuracy of the strike and the attack range.

[0019] 5. It adopts a layered center of gravity control system, which includes static benchmark calibration before takeoff, synchronous dynamic compensation during flight, and attitude closed-loop terminal control. In the static phase, the overall trim of multiple modules is completed in one go, and in the dynamic phase, only the center of gravity increment caused by the movement of the mechanism is calculated. The onboard computing power is small and the response speed is fast. The compensation amount is output synchronously when the command is issued, and the disturbance is actively suppressed before the attitude shift occurs. In addition, the attitude closed loop eliminates residual errors. It can hover stably in scenarios such as mixed loading of multiple mission modules, slow change of center of gravity, and dry impact of mission modules, and the mission execution accuracy is higher. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the police drone based on all police functions according to the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of each component on the carrier plate of the present invention.

[0022] Figure 3 This is a schematic diagram of one embodiment of the task function acquisition module of the present invention.

[0023] Figure 4 This is a schematic diagram of another embodiment of the task function acquisition module of the present invention.

[0024] Figure 5 This is a schematic diagram of one embodiment of the mounting bracket of the present invention.

[0025] Figure 6 This is a schematic diagram of another embodiment of the connector of the present invention.

[0026] Figure 7 This is a flowchart illustrating the closed-loop adjustment of the center of gravity of the support plate under static and dynamic states according to the present invention.

[0027] Figure 8 This is a schematic diagram of the pistol firing module structure of the present invention.

[0028] Reference numerals: 1. Universal interface, 2. Universal socket, 3. Electric lock stop pin, 4. Resilient lock pin, 5. Safety bolt, 6. Housing, 7. Guide rail, 8. Gun mount, 9. Damping buffer. Detailed Implementation

[0029] Example 1: like Figures 1 to 8 The police drones shown are designed for all police functions and include: The flight mother platform includes a drone, which is a hexacopter or octocopter with a carbon fiber composite fuselage; the bottom of the drone is fixed with a support plate; the bottom of the support plate integrates a universal quick-release mechanical and electrical integrated interface; it can serve as a carrier for all mission modules; The mounting bracket includes multiple universal adapters fixed to the bottom of the support plate; the support plate and the mounting bracket enable a high degree of integration of the task module and standardization of the interface. The system includes multiple task modules, each with different task functions. Each task module is fixed to the bottom of a universal adapter. A task function acquisition module is provided between the universal adapter and the task module. The task module can be selected according to specific task requirements, and after selection, it can be directly mounted onto the carrier plate via a connector. A central flight platform manages drones and mission modules, and interacts with a ground station terminal. The ground station terminal has a built-in mission operation panel mapped to the mission modules. When the drone powers on and detects the access of a mission module, the central flight platform automatically reads the mission module ID and calls the preset mission operation panel (for example, when a pistol module is accessed, the ground station terminal APP automatically displays "safety / unlock / fire" buttons; when a robotic arm is accessed, a gesture mapping control interface appears). The central flight platform has a built-in module information database for mutual communication, a static center of gravity reference calibration module, a command-based dynamic center of gravity calculation module, and an attitude error closed-loop processing module.

[0030] The task function acquisition module includes an interconnected identification module and an identity identification unit. The identity identification unit can be used to identify the task module, and the identification module can identify the identity identifier corresponding to the task module. The universal adapter includes a universal interface 1 fixed to the bottom of the support plate and a universal socket 2 that plugs into the universal interface 1. The task module is fixed to the bottom of the universal socket 2, the identification module is fixed to the inside of the universal interface 1, and the identity identification unit is fixed to the top of the universal socket 2. A quick-change lock is fixed to the outside of the universal interface 1 and locks it to the universal socket 2. The universal interface 1 is fixed to the support plate, and the universal socket 2 is fixed to the task module. When the universal socket 2 is plugged into the universal interface 1 and locked by the quick-change lock, the task module can be mounted on the support plate. When the universal socket 2 is plugged into the universal interface 1, the identification module inside the universal interface 1 is aligned with the identity identification unit on the universal socket 2, and the identification module can read the identity identification unit data.

[0031] The identification module includes a conductive connector array or a first identification connector connected to the central flight platform. The identity recognition unit includes two interconnected conductive trigger heads fixed to the top of the universal socket 2 or a second identification connector fixed to the top of the universal socket 2. The conductive trigger heads are electrically connected to the two conductive connectors of the conductive connector array. The conductive trigger heads of different mission modules are installed in staggered positions. The second identification connector is connected to an identity chip (such as the DS2401 series) inside the universal socket 2. When the UAV is powered on and detects the access of a mission module, the central flight platform automatically reads the module ID. Specifically, when the identification module is a conductive connector array and the identity recognition unit is a conductive trigger head, after the universal socket 2 is plugged into the universal interface 1, the two conductive trigger heads are connected to the two connectors of the conductive connector array to achieve electrical connection. Since the two conductive trigger heads are short-circuited, when they are connected to the two connectors of the conductive connector array, the two connectors of the conductive connector array are short-circuited. At this time, the central flight platform... The flight platform can obtain a row or column that has been short-circuited by matrix scanning (row and column scanning). That is, the column is set to low level in sequence. When the row is detected, as long as a row is detected to be low level, the intersection of the row and the column is scanned. Since the conductive trigger heads of different task modules are installed in different positions, the task type of the task module can be directly determined based on the intersection. In addition, since different universal interfaces 1 correspond to different row and column areas of the matrix, it is possible to determine which universal interface 1 the task module is installed on. When the identification module is the first identification connector and the identity identification unit is the second identification connector and the identity chip, after the universal socket 2 is plugged into the universal interface 1, the first identification connector and the second identification connector are in electrical contact. At this time, the central flight platform can read the identity stored in the identity chip through the first identification connector and the second identification connector. Furthermore, the I / O port connected to the central flight platform by different first identification connectors can directly determine which universal interface 1 the task module is installed on.

[0032] The quick-change locking mechanism includes a manual locking mechanism or an electric locking pin 3 driven by a motor. When the electric locking pin 3 is in use, it automatically locks when the task module is pushed into the universal interface 1, preventing it from falling from a height. The manual locking mechanism includes elastic locking pins 4 fixed on both sides of the universal interface 1. The pins of the elastic locking pins 4 are movably inserted into the universal socket 2. The universal interface 1 is provided with a safety bolt 5 that screws into the universal socket 2. When performing manual operation, first unscrew the safety bolt 5, then pull out the elastic locking pins 4 on both sides. At this time, the task module can be directly detached from the universal interface 1 and replaced with a new task module. Then, the new task module is inserted into the universal interface 1, re-engaged and locked by the elastic locking pins 4, and finally locked by the safety bolt 5.

[0033] The static center of gravity reference calibration module works as follows: The central flight platform acquires the various task modules mounted on the flight mother platform through the task function acquisition module, generates a set based on the task modules, traverses the module information database according to the identity identifier, and obtains the static mass, zero center of gravity, and motion-center of gravity offset mapping table of each task module; based on the center of gravity of a single module and the position of the installed general interface 1, it obtains the total mounted mass, total static moment, and reference center of gravity of the whole aircraft static reference; and outputs the static reference bias torque, reference thrust, and static reference PID. The command-based dynamic center of gravity calculation module works as follows: After the command-based dynamic center of gravity calculation module obtains the control command, it performs synchronous feedforward calculation on the command; it updates the dynamic thrust bias according to the calculation result, and sends the updated result to the static reference PID. The static reference PID completes the synchronous correction of the PID dynamic gain; after the flight control system in the central flight platform executes the output of the command-based dynamic center of gravity calculation module, it finally executes the attitude error closed-loop processing module to handle the residual deviations that are not completely offset by the feedforward and external gust disturbances.

[0034] During operation, the static center of gravity calculation result before takeoff is used as the pre-steady state. After takeoff, only the module action commands that change the overall center of gravity are monitored. The dynamic center of gravity increment calculation and feedforward intervention are completed simultaneously at the moment the command is issued. The dynamic compensation is superimposed on the static reference parameters, and finally closed-loop control is performed. The specific working process is as follows: I. Static center of gravity calibration before takeoff: 1. Basic parameter calibration: bearing plate number The global fixed coordinates of the No. 1 connector: (Firmware constants); the first Bit-based task module static parameters (read once after locking): Total mass of the task module: ; The module's reference center of gravity relative to its own plug center when the task module is in zero position (no action state): Motion-center of gravity offset mapping table (pre-stored central flight platform): That is, each action instruction that changes the center of gravity. The corresponding task module's center of gravity offset from zero position increment Obtained from factory calibration; 2. Static reference calculation of the bearing plate: Let the set of currently locked in-position hooks be... Execute only once: 2.1 Static Global Center of Gravity for Single-Task Modules: ; ; 2.2 Total mounted mass and static reference center of gravity: , , ;in This indicates that only the ground locking is completed, and the in-place plug-in mount interface numbers are cumulatively calculated. No. The weight of the task modules on each widget; For the total mounted weight, and The offset distance of the equivalent center of gravity of the mount relative to the center of the UAV body; 2.3 Static reference eccentric moment: , ;in, It is the acceleration due to gravity. and Complete the pitch static offset moment and roll static offset moment; 2.4 Rotor Static Reference Thrust Offset (Solving for a six-rotor aircraft), the hovering reference thrust is obtained as follows: ;in, For the first The static thrust adjustment increment of the rotor is used to offset the eccentric static moment above; For the first time when the drone is unloaded No. 1 rotor reference hovering thrust; The new steady-state hovering thrust of the rotor after mounting calibration; 2.5 Static reference PID gain: These are, respectively, the pitch channel no-load proportional coefficient, the roll no-load proportional coefficient, the integral reference proportional coefficient, and the micro powder reference proportional coefficient; The above static parameters remain constant throughout the entire process and serve as the static center of gravity reference calibration before takeoff. They are used as the superposition basis for all dynamic compensations after takeoff and are not recalculated during flight.

[0035] II. Post-takeoff command-triggered dynamic center of gravity calculation: 1. Identification and monitoring scope of center of gravity influence commands: Only commands that change the overall center of gravity of the machine will be monitored and responded to, while commands that do not affect the center of gravity will be ignored; commands that change the overall center of gravity include: robotic arm module: extension / retraction, joint rotation, gripping action; pistol shooting module: firing action (gun rack recoil); throwing hook module: throwing (mass change or mechanism displacement); high-altitude lighting module: large angle pitch or yaw rotation; commands that do not affect the center of gravity, such as spray activation, announcement playback and light switching, will not trigger dynamic calculations and will maintain the operation of static reference parameters.

[0036] 2. Command Synchronization Feedforward Solution: 2.1 When the flight controller directs the first The module issues action commands. At the same time, dynamic calculation is triggered synchronously with no sensor delay: the module's center of gravity offset increment corresponding to the instruction is obtained by querying the action-center of gravity offset mapping table. ; 2.2 Global static moment increment caused by task module actions: ; ;in, For the first The task module executes the first After the action instruction, The increment of static torque generated in the axial direction; For the first The task module executes the first After the action instruction, The increment of static torque generated in the axial direction; For the first Total weight of the task module; and The center of gravity brought about by the action command is shaft and Offset distance increment on the axis; 2.3 When multiple task modules operate simultaneously, the static torque increments of all currently executing action instructions are superimposed; , ;in and Flight times After all the active task modules are stacked, the entire machine... The static moment increment generated in the axial direction and The increment of static torque generated in the axial direction; 2.4 The real-time equivalent center of gravity of the entire machine adopts a static base superimposed with dynamic increments: ; ;in, and For the flight times Real-time equivalent center of gravity coordinates of the entire machine; and The static center as determined before takeoff; and The incremental shift in center of gravity caused by the movement; 2.5 Real-time total eccentric moment: ; ;in and time Total eccentricity moment and time in the pitch direction of the whole machine Total eccentric moment in the rolling direction of the whole machine; and The static pitch and roll reference moments before takeoff; and For dynamically added torque; 3. Dynamic thrust offset update: Solve for rotor thrust increment by using dynamic torque increment. The total lift remains constant under constraint. ; Real-time hovering thrust of each rotor: ;in time No. The rotor needs to be superimposed with dynamic thrust correction increments; and For the first The fixed coordinates of the rotor in the airframe coordinate system; where... If the sum of the thrust increments of all rotors is 0, the total lift of the entire aircraft remains unchanged, and the hovering height is not altered. The pitching moment is generated by the difference in rotor thrust to counteract the thrust difference. Dynamic eccentric moment of the shaft; The pitching moment is generated by the difference in rotor thrust to counteract the thrust difference. Dynamic eccentric moment of the shaft; 4. Dynamic PID gain synchronization correction: Based on the static reference PID, dynamic centroid increment is superimposed. ; ;in, , instantaneous Real-time proportional gain of pitch channel and real-time proportional gain of roll channel , For the static reference proportional gain before takeoff in the pitch channel and the static reference proportional gain before takeoff in the roll channel; The center offset correction factor is a fixed constant calibrated offline. The absolute value of the offset of the dynamic center of gravity relative to the static reference is used to quantify the degree of eccentricity. The integral and differential gains scale proportionally, and the compensation is completed as soon as the command is issued, without waiting for the attitude deviation to appear before closing the loop correction, thus suppressing attitude disturbances from the source.

[0037] III. Attitude Error Closed-Loop Processing Module: Handling residual deviations not completely offset by feedforward and external gust disturbances: First, weights are allocated according to the speed characteristics of the task module's actions to achieve a balance between steady-state accuracy and transient disturbance immunity. 1. When the UAV is in steady-state attitude tracking and slowly changing center of gravity (rigid mode), the attitude error closed-loop processing module first acquires the full static and dynamic data, that is, the command-based dynamic center of gravity calculation module acquires the superimposed static reference torque. This is used as a constant feedforward to offset the static eccentricity of the task module, while the dynamic torque increment is obtained through the command-based dynamic center of gravity calculation module. It is used as a time-varying feedforward term to offset the slow-varying eccentricity caused by the action of the task module; the attitude error closed-loop processing module only processes the residual deviation that is not completely offset by the feedforward and external gust disturbances, which greatly reduces the pressure of closed-loop regulation.

[0038] 2. When the UAV is receiving transient impact-type actions (elastic mode), the transient impact mitigation module activates. This module is triggered simultaneously with the issuance of commands for transient impacts such as firing and rapid extension / retraction of the robotic arm. Based on the energy shaping principle, it outputs damping compensation: when an impact command is triggered, the transient impact mitigation module instantaneously outputs a damping torque to absorb the transient impact energy. The damping torque control value is the impact amplitude and duration specified by the corresponding command, without relying on accelerometer detection delay. It only acts for the instantaneous impact (0.2~0.5s) and gradually withdraws after the action ends, without affecting steady-state accuracy.

[0039] 3. The central flight platform determines the dynamic status of the UAV based on the command type and dynamically adjusts the fusion factor accordingly. Directly scheduled by instruction type, with fine-tuning based on attitude error: slow-motion changes (such as slow extension of the robotic arm, constant rotation of the gimbal): Rigid modes dominate, ensuring trajectory and attitude accuracy; fast impact actions (such as live-fire firing, rapid throwing): instantaneous command triggering. Step drop The elastic modal weights are instantly increased to quickly absorb shocks; after the shock, they are adjusted back to 1 using first-order filtering; when the attitude deviation exceeds the threshold, they are automatically reduced. Enhanced damping suppresses oscillations; total control torque after fusion: ;in, Static parameters before takeoff are superimposed with dynamic increments; This is the damping output of the attitude error closed-loop processing module.

[0040] The task modules include multiple modules such as a robotic arm module, a tear gas spray module, a throwing hook module, a pistol shooting module, a loudspeaker and flashing light module, a gas detection module, a high-definition camera module, and a high-altitude lighting module. The robotic arm module is used for law enforcement retrieval, employing a bionic robotic arm capable of gripping, cutting cables, and throwing non-lethal ammunition. The tear gas spray module is used for non-lethal dispersal, enabling the application of police tear gas spray or dye. The throwing hook module is used for rescue throwing, employing an electric release mechanism for throwing lifebuoys, first aid kits, or window-breaking tools. The pistol shooting module is used for lethal strikes, integrating a smart pistol with a shock-absorbing gun mount, which can be remotely controlled and fired via a ground station. The loudspeaker and flashing light module is used for traffic and traffic management, integrating red and blue flashing lights and a loudspeaker. The gas detection module is used for criminal investigation, implementing a variable-focus low-light night vision camera and a gas micro-sampler. The high-altitude lighting module is used for illumination or glare, employing a high-power LED array that combines illumination and glare countermeasures.

[0041] The task module is selected according to the police task mode. For example, in the special police or counter-terrorism mode, a pistol shooting module or a robotic arm module is attached, and the central flight platform is equipped with "target tracking lock-on" and "shooting stabilization assist". In the traffic police or patrol police mode, a loudspeaker and flashing module is attached, and the system automatically switches to "road patrol mode", which can automatically recognize license plates, identify traffic accidents and generate panoramic images. In the public security or community police mode, a throwing hook module or a gas detection module is attached. It is used for high-altitude observation or emergency material delivery for security of large-scale events.

[0042] The pistol firing module includes a housing 6 that houses the gun, a guide rail 7 disposed within the housing 6, a gun mount 8 that slides along the guide rail 7, and a damping buffer 9 connecting the gun mount 8 and the housing 6. The damping buffer 9 is a hydraulic or pneumatic structure. At the moment the pistol is fired, the recoil first compresses the damping buffer 9, converting the instantaneous impact force into a buffer stroke of a relatively long time (about 0.2-0.5 seconds). At the same time, the flight control system generates a compensating torque in the opposite direction to the recoil force at this instant, instantly increasing the speed of the corresponding rotor motor, generating a reverse thrust to counteract the muzzle rise tendency, and achieving instant stabilization upon firing.

[0043] The command-based dynamic center of gravity calculation module also includes an instantaneous impact mitigation module. The instantaneous impact mitigation module works as follows: When the command-based dynamic center of gravity calculation module detects instantaneous impact commands such as firing and rapid extension / retraction of the robotic arm, the instantaneous impact mitigation module is triggered simultaneously with the issuance of the command. The instantaneous impact mitigation module provides control input to the flight control system, increasing the output power of the corresponding rotor motor so that it outputs the maximum damping torque within a set time to absorb the transient impact energy and generate a compensating torque opposite to the recoil direction. The control input is the impact amplitude and duration specified by the command. After the action ends, it gradually exits without affecting the steady-state accuracy.

[0044] An electric lead screw slide is fixed inside the UAV, and the sliding end of the electric lead screw slide is fixed to the UAV's battery compartment. The electric lead screw slide is connected to the central flight platform. When a heavy mission module (such as a pistol) is detected, the central flight platform reads the weight data of the mission module, obtains the sliding data of the electric lead screw slide, and adjusts the position of the battery compartment. This automatically adjusts the position of the battery on the flight platform to maintain the flight attitude.

[0045] A collaborative operation method for police drones, employing police drones capable of handling tasks across all police departments, the method comprising: S1. The ground station terminal establishes communication with the central flight platform and reads the identity identifiers of each currently mounted mission module; S2. The ground station terminal maps the corresponding task operation panel according to the identity identifier and obtains the static center of gravity status; S3: Receives user control commands, enables the drone to perform flight and mission maneuvers, and performs real-time dynamic center of gravity calculation and controls the output power of the drone's rotor motors based on the commands.

[0046] Example 2: This embodiment is used for emergency response to a sudden scenario: a knife attack occurs in a shopping mall, and the suspect is agitated. Police officers arrive at the scene carrying a flying platform, a tear gas spray module, a throwing hook module, and a pistol firing module. Initially, a drone equipped with a high-definition camera module takes off to monitor the scene from above and confirms the suspect's identity through facial recognition. To prevent the suspect from harming the hostage, the officers land the drone and, in 3 seconds, replace the camera with a robotic arm module (robotic arm / net gun). The drone then takes off again, using the net gun on the robotic arm module to launch a capture net from behind and subdue the suspect while his attention is diverted to ground negotiators.

[0047] Example 3: This embodiment is used in a counter-terrorism scenario: Counter-terrorism personnel carry a flight mother platform and a pistol firing module: The user activates "Armed Mode" via the ground station terminal APP and unlocks it by entering a dual dynamic password; the ground station terminal display shows an aiming reticle, and after locking onto the target, the system prompts "Permission to fire"; the user clicks the "Fire" button; an electrical signal triggers the firing mechanism (electromagnetic firing pin); at the moment the bullet is fired, the damping buffer 9 absorbs approximately the impact kinetic energy; within 5 milliseconds, the central flight platform sends an "emergency stop-acceleration" command to the corresponding rotor motor controller to offset the remaining impulse, and the drone experiences a slight sway in the air but remains hovered, and then returns to stability.

[0048] Example 4: This embodiment is used in a traffic management scenario: When a multi-vehicle rear-end collision occurs, causing road congestion and preventing police cars from reaching the scene, the dispatched traffic police arrive first with a flying mother platform, a loudspeaker and flashing light module, and a high-definition camera module. The traffic police operate the loudspeaker and flashing light module and the high-definition camera module; the drone hovers over the accident site, turns on the flashing light to warn vehicles behind, and remotely directs personnel to evacuate to a safe area via loudspeaker. At the same time, the high-definition camera module automatically takes photos of the scene and sends them to the ground station terminal. The AI ​​algorithm automatically stitches the photos together to generate an accident scene investigation map and measures the length of brake marks. The data is transmitted back to the command center in real time.

[0049] The above embodiments are merely preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention are included within the scope of the present invention.

Claims

1. A police drone based on all police functions, characterized in that: include: A flight mother platform, the flight mother platform including a drone, the drone having a support plate fixed to its bottom; The mounting bracket includes multiple universal adapters fixed to the bottom of the support plate; The system includes multiple task modules, each with different task functions; each task module is fixed to the bottom of a universal adapter; and a task function acquisition module is provided between the universal adapter and the task module. A central flight platform for managing UAVs and mission modules, which interacts with a ground station terminal; the ground station terminal has a built-in mission operation panel mapped to the mission modules; the central flight platform has a built-in module information database, a static center of gravity reference calibration module, a command-based dynamic center of gravity calculation module, and an attitude error closed-loop processing module that communicate with each other.

2. The police drone based on all police functions as described in claim 1, characterized in that: The task function acquisition module includes an identification module and an identity identification unit that are interconnected; the universal adapter includes a universal interface fixed to the bottom of the carrier plate and a universal socket that is plugged into the universal interface. The task module is fixed to the bottom of the universal socket, the identification module is fixed to the inside of the universal interface, the identity identification unit is fixed to the top of the universal socket, and a quick-change lock is fixed to the outside of the universal interface and locked to the universal socket.

3. The police drone based on all police functions as described in claim 2, characterized in that: The identification module includes a conductive connector array or a first identification connector connected to the central flight platform. The identity identification unit includes two interconnected conductive trigger heads fixed to the top of the universal socket or a second identification connector fixed to the top of the universal socket. The conductive trigger heads are electrically in contact with the two conductive connectors of the conductive connector array. The conductive trigger heads of different mission modules are installed in staggered positions. The second identification connector is connected to the identity chip inside the universal socket.

4. The police drone based on all police functions as described in claim 2, characterized in that: The quick-change lock includes a manual lock or an electric lock stop pin driven by a motor. The manual lock includes elastic locking pins fixed on both sides of the universal interface. The pin head of the elastic locking pin is movably inserted into the universal socket. The universal interface is provided with a safety bolt that is screwed into the universal socket.

5. The police drone based on all police functions as described in claim 1, characterized in that: The static center of gravity reference calibration module works as follows: The central flight platform acquires the various task modules mounted on the flight mother platform through the task function acquisition module, generates a set based on the task modules, traverses the module information database based on the identity identifier, and obtains the static mass, zero center of gravity, and motion-center of gravity offset mapping table of each task module; based on the center of gravity of a single module and the location of the installed general interface, it obtains the total mounted mass, total static moment, and reference center of gravity of the whole aircraft static reference; and outputs the static reference bias torque, reference thrust, and static reference PID. The command-based dynamic center of gravity calculation module works as follows: After the command-based dynamic center of gravity calculation module obtains the control command, it performs synchronous feedforward calculation on the command; it updates the dynamic thrust bias based on the calculation result, sends the updated result to the static reference PID, and completes the synchronous correction of the PID dynamic gain through the static reference PID; after the flight control system in the central flight platform executes the output of the command-based dynamic center of gravity calculation module, it finally executes the attitude error closed-loop processing module to handle the residual deviations that are not completely offset by the feedforward and external gust disturbances.

6. The police drone based on all police functions as described in claim 1, characterized in that: The task module includes multiple modules such as a robotic arm module, a tear gas spray module, a throwing hook module, a pistol shooting module, a shouting and flashing module, a gas detection module, a high-definition camera module, and a high-altitude lighting module.

7. The police drone based on all police functions as described in claim 5, characterized in that: The pistol firing module includes a housing that houses the gun, a guide rail disposed within the housing, a gun mount that slides along the guide rail, and a damping buffer that connects the gun mount and the housing.

8. The police drone based on all police functions as described in claim 1, characterized in that: The command-based dynamic center of gravity calculation module also includes an instantaneous impact mitigation module. The instantaneous impact mitigation module works as follows: When the command-based dynamic center of gravity calculation module detects instantaneous impact commands such as firing and rapid extension / retraction of the robotic arm, the instantaneous impact mitigation module is triggered simultaneously with the command issuance. The instantaneous impact mitigation module provides control input to the flight control system, increasing the output power of the corresponding rotor motor so that it outputs the maximum damping torque within a set time to absorb the transient impact energy and generate a compensating torque opposite to the recoil direction. The control input is the impact amplitude and duration specified by the command. After the action ends, it gradually exits without affecting the steady-state accuracy.

9. The police drone based on all police functions as described in claim 8, characterized in that: An electric lead screw slide is fixed inside the drone, and the sliding end of the electric lead screw slide is fixed to the drone's battery compartment; the electric lead screw slide is connected to the central flight platform.

10. A collaborative operation method for police drones, employing a police drone based on all police functions as described in any one of claims 1 to 9, characterized in that: The method includes: S1. The ground station terminal establishes communication with the central flight platform and reads the identity identifiers of each currently mounted mission module; S2. The ground station terminal maps the corresponding task operation panel according to the identity identifier and obtains the static center of gravity status; S3: Receives user control commands, enables the drone to perform flight and mission maneuvers, and performs real-time dynamic center of gravity calculation and controls the output power of the drone's rotor motors based on the commands.

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