CN107697303B - Unmanned aerial vehicle air-based recovery device and method based on aviation towing type stable target system - Google Patents

Abstract

An unmanned aerial vehicle air-based recovery device and method based on an aviation towed stabilized target system are disclosed. Release the tow-cable through the aviation winch, emit the stabilized target, unmanned aerial vehicle is close from stabilized target rear portion under guide system's guide, uses the recovery hook on back and stabilizes the arresting cable device striking butt joint of target below and lock, and unmanned aerial vehicle receives the tow-cable tow-target along with the aviation winch and together receives to the mother in, unloads unmanned aerial vehicle from arresting cable device by the staff, accomplishes the empty base and retrieves. According to the method, the stable target and the small unmanned aerial vehicle are far away from the master machine, so that the airflow disturbance is small, the safety of the master machine is improved, meanwhile, the interference of the master machine on the unmanned aerial vehicle is small, and the recovery accuracy is high.

Description

A UAV space-based recovery device based on aviation towed stable target system and method

technical field

The invention discloses an unmanned aerial vehicle air-based recovery device and method based on an aviation towed stable target system, and belongs to the field of unmanned aerial vehicle recovery of aeronautical aircraft technology.

Background technique

Since the 1930s, people have been yearning to realize the space-based launch and recovery of aircraft. This launch and recovery method transports the sub-machine to the mission area through the mother aircraft with a large range and a large load, which can greatly increase the flight of the sub-machine. The cruising radius gets rid of the ground airport restrictions and increases the flexibility of the take-off and landing of the sub-machine. However, limited by technology, risk and cost, the air-based launch and recovery technology of aircraft has not been well developed.

In recent years, with the development of UAV technology and the recent proposal of swarm UAV tactics, the air-based launch and recovery technology of small UAVs has attracted more and more attention in the aviation field. Small UAS have proven their worth on the battlefield and are used by both conventional and special operations forces to provide point, route, and environmental reconnaissance, target acquisition, battle damage assessment, and other innovative applications. Small unmanned aerial systems will enhance or redefine air combat power through the concept of "game-changing". Various new forms of UAV combat emerge in an endless stream, and swarm UAV tactics are one of them. However, the inherent disadvantages of small UAVs still restrict the swarm UAV tactics from being practical on the battlefield. Small UAVs are light in weight, low in speed, much smaller in flight time and range than large UAVs, have a limited combat radius, and have poor ability to advance in combat. They cannot perform long-distance combat missions, and cannot maximize small and medium-sized UAVs. The advantages of group operations have become an obstacle to the implementation of innovative combat concepts and combat missions of small and medium-sized UAVs. The most direct and effective way to solve the inherent disadvantages of small UAVs is to choose the space-based launch and recovery method. Use a large transport aircraft as an air carrier to bring small drones to the mission area, and then launch them in the air quickly. Taking advantage of the swarm combat advantages of drones, reconnaissance and strikes are carried out on sensitive areas of the target. Swarms of drones for recovery.

Existing air-based precise recovery methods and devices, such as patents CN106516144A, CN205770184U, CN204674845U and CN205971887U, etc., mostly adopt the methods of hitting the net and the wingtip hitting the line. Although these methods can realize the simultaneous recovery of large batches of UAVs, their disadvantages are obvious: first, in order to avoid the turbulence near the base machine, a longer mechanical mechanism needs to be designed to make the net open from the base machine. relatively far. Secondly, large-scale recycling requires a large area of the blocking net, and also requires a corresponding folding mechanism to meet the storage in the mother machine in an idle state, which increases the structural complexity. Finally, the recovery methods of hitting the net and hitting the wire will cause great damage to the structure of the UAV, which will reduce the service life of the UAV.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention mainly solves the problem of accurate recovery of the UAV air-based, and applies the towed stable target system to the air-based recovery process of the UAV, and proposes a brand-new, based on the aviation towed stable target system and The space-based recovery device and method of the arresting cable recovery structure with a unique and innovative structure.

The technical scheme adopted in the present invention is as follows:

A UAV air-based recovery device based on an aviation towed stable target system, the UAV air-based recovery device includes a retractable mounting bracket, an aviation winch, a tow cable, a stable tow target and an arresting cable recovery structure; The retractable mounting bracket is installed on the lower part of the main machine fuselage, and an aviation winch is installed at the lower end of the mounting bracket; the towing cable is wound in the aviation winch, and the aviation winch controls the retracting and retracting of the towing winch. The end of the towing cable is connected to the stable towed target; the arresting cable recovery structure includes an energy absorber installed at the lower part of the stable target, an arresting cable located at the lower part of the energy absorber, and an unmanned aerial vehicle located at the lower part of the energy absorber. The recovery hook on the back of the drone; the recovery hook is in a folded and stowed state before the drone is recovered, and when a recovery command is received and the recovery hook approaches the arresting wire recovery structure, the recovery hook pops out from the back of the drone; The arresting cable recovery structure further includes a guidance system that guides the unmanned aerial vehicle to be recovered to approach the arresting cable recovery structure to complete recovery; the guidance system guides the unmanned aerial vehicle to approach the arresting cable precisely, and the back of the unmanned aerial vehicle The recovery hook collides with the arresting cable at the lower part of the energy absorber, precisely docks and locks to complete the recovery of a drone; when the recovery task is performed, the door of the mother machine is opened, and the retractable mounting bracket, aviation winch, and stabilizer are released. The target and the arresting cable recovery structure are used for air-based recovery of the UAV. After the task is completed, all the above structures and recovered UAVs are recovered into the base aircraft; the recovery device is collected into the base aircraft during the take-off, landing and transportation of the base aircraft. , does not affect the aerodynamic shape of the parent aircraft; the center of gravity, the suspension point and the wing focus of the stable target are located in the same longitudinal position, the stable target has a large horizontal and vertical static stability, can maintain its own flight stability, and ensure the interception during recovery. The state of the cable recovery device is stable, which is conducive to the smooth progress of the recovery work.

Preferably, the guidance system is a guidance system combining carrier phase difference and vision.

Preferably, the aerial winch retracts the towline during recovery, unloads the recovered single UAV from the arresting cable recovery structure, and places it in a storage location reserved in advance in the engine room of the parent aircraft.

Preferably, the total length of the streamer is 900-1200m.

Preferably, the diameter of the streamer is in the range of 2-5mm.

Preferably, the streamer is made of steel.

A method for using the above-mentioned UAV air-based recovery device based on the aviation towed stable target system to carry out accurate UAV air-based recovery. During recovery, the parent aircraft cabin door is opened, and the mounting bracket, the aviation winch, and the towing cable are released. , stabilize the target and the arresting cable recovery structure; the aviation winch releases the tow cable, so that the stable target is far away from the parent aircraft and reaches the specified distance, and the drone recovery starts; the guidance system controls the relative speed and position of the drone to be recovered and the parent aircraft, Make the drone to be recovered approach from the back of the stable target, when the drone is close to the arresting cable recovery structure, the recovery hook will pop out from the back of the drone; use the recovery hook to collide and dock with the arresting cable under the stable target and locked; the aerial winch retracts the cable, and the stable target and the unmanned aerial vehicle to be recovered are recovered into the main machine body together; the staff in the main machine removes the drone from the arresting cable and places it in the main machine for storage to achieve single space-based recovery of a drone; then repeat the preceding steps to complete the space-based recovery of all the drones to be recovered.

Preferably, the mother machine is a transport machine.

Preferably, if recovery fails or an accident occurs, the streamer can be cut off to protect the parent machine.

The advantages of the present invention are:

(1) Both the stable target and the UAV are far away from the parent machine, the airflow disturbance is small, and the safety of the parent machine is good. When the recovery fails or an accident occurs, the cable can be cut off to protect the parent machine; the arresting cable device is installed at the lower part of the stable target. Conducive to UAV docking;

(2) The stabilized target used has an energy-absorbing device fixed at the lower end of the stabilized target, which has a large static stability, improves the stability of the working state of the system, and is conducive to the implementation of recovery;

(3) The recovery method in which the recovery hook on the back of the drone and the arresting cable device under the stable target are docked and locked is adopted, which reduces the damage to the body structure of the drone and prolongs the service life of the drone.

Description of drawings

FIG. 1 is a working state diagram of the recovery device of the present invention when it is released.

FIG. 2 is a schematic diagram of the state of the recovery device of the present invention when it is folded.

FIG. 3 is a schematic diagram of the UAV approaching the arresting cable device on the stable target in the embodiment.

Figure 4 is a schematic diagram of the UAV after being recovered by the arresting cable device on the stable target.

Among them, 1 is the parent aircraft, 2 is the towline, 3 is the stable target, 4 is the drone to be recovered, 5 is the aviation winch, 6 is the energy absorber, 7 is the arresting cable, and 8 is the recovery hook. Mounting brackets and guiding systems are not shown in the figures.

Detailed ways

As shown in Figures 1-4, the UAV air-based recovery device includes a retractable mounting bracket, an aviation winch 5, a tow cable 2, a stable target 3 and an arresting cable recovery structure; the retractable mounting bracket It is installed at the lower part of the main machine 1 fuselage, and a said aviation winch 5 is installed at the lower end of the mounting bracket; the towing cable 2 is wound in the aviation winch 5, and the aviation winch 5 controls the retracting and retracting of the towing cable 2, The end of the streamer 2 is connected to the stable target 3; the arresting cable recovery structure includes an energy absorber 6 installed at the lower part of the stable target 3, an arresting cable 7 located at the lower part of the energy absorber 6 and an energy absorber 7 located at the lower part of the energy absorber 6. The recovery hook 8 on the back of the recovery drone 4; the recovery hook 8 is in a folded and stowed state before the drone 4 is recovered. Pop up and open from the back of the UAV 4; the arresting cable recovery structure also includes a guidance system to guide the UAV 4 to be recovered close to the arresting cable recovery structure to complete the recovery; the guidance system guides the UAV 4 accurately Approaching the arresting cable 7, the recovery hook 8 on the back of the unmanned aerial vehicle 4 collides with the arresting cable 7 at the lower part of the energy absorber 6, is precisely docked and locked, and the recovery of an unmanned aerial vehicle 4 is completed;

Taking the transport plane as the mother plane, 8 small folding drones 4 with a take-off weight of 10kg and a range of 150km are transported to a target location 600km away to perform tasks, and the drones 4 are waiting for recovery after the task is completed. When recovering, the mother machine 1 first releases the recovery devices such as the mounting bracket, the aviation winch 5, and the stable target 3, and the aviation winch 5 releases the towing cable 2, and the total length of the towing cable 2 is 900m. With the slow release of the streamer 2, the stabilized target 3 and the arresting cable 7 descend to the designated height. The guidance system controls the relative speed and position of the UAV 4 and the parent aircraft 1, so that the UAV 4 approaches from the back of the stable target 3 (as shown in Figure 3), and uses the recovery hook 8 on the back of the UAV 4 and the stable target 3 The lower arresting cable 7 hits, docks and locks. The aerial winch 5 retracts the cable, and the stabilized target 3 and the recovered drone 4 are recovered together into the body of the parent aircraft 1. The staff in the host machine 1 takes off the drone 4 from the recovery rack, and places it in the host machine 1 for storage, and then repeats the above steps until all the eight drones 4 are put into the host machine 4, and the air-based drone is realized. Recycle.

Contents that are not described in detail in the specification of the present invention belong to the prior art known to those skilled in the art. The above-mentioned embodiments of the present invention are intended to illustrate the solutions and cannot be used to limit the present invention. Any changes within the meaning and scope equivalent to the protection scope of the present invention should be considered to be included in the protection scope of the present invention.

Claims (7)

1. an unmanned aerial vehicle air-based recovery device based on an aviation towed stable target system, is characterized in that, this unmanned aerial vehicle air-based recovery device comprises a retractable mounting bracket, an aviation winch (5), a towing cable (2 ), a stable target (3) and an arresting cable recovery structure; the retractable mounting bracket is installed at the lower part of the main machine (1) fuselage, and a described aviation winch (5) is installed at the lower end of the mounting bracket; The cable (2) is wound in the aviation winch (5), the aviation winch (5) controls the retracting and retracting of the towing cable (2), and the end of the towing cable (2) is connected to the stable target (3) ); the arresting cable recovery structure includes an energy absorber (6) installed at the lower part of the stable target (3), an arresting cable (7) at the lower part of the energy absorber (6), and an unmanned aerial vehicle (UAV) to be recovered. (4) The recovery hook (8) on the back; the recovery hook (8) is in a folded and stowed state before the drone (4) is recovered. The recovery hook (8) is ejected from the back of the unmanned aerial vehicle (4); the arresting cable recovery structure further includes a guidance system that guides the unmanned aerial vehicle (4) to be recovered to approach the arresting cable recovery structure to complete recovery; The guidance system guides the drone (4) to approach the arresting cable (7) precisely, and the recovery hook (8) on the back of the drone (4) collides with the arresting cable (7) at the lower part of the energy absorber (6). , accurately docked and locked, and completed the recovery of a UAV (4); When the recovery task is performed, the hatch of the parent aircraft (1) is opened, and the retractable mounting bracket, the aviation winch (5), the stable target (3) and the arresting cable recovery structure are released to implement the UAV air-based recovery, Waiting for the task to complete the recovery of all the above-mentioned structures and the recovered UAVs into the base machine; during the take-off, landing and transportation of the base machine (1), the recovery device is received into the body of the base machine (1) without affecting the aerodynamic shape of the base machine; the stability of the The center of gravity, the suspension point and the wing focus of the target (3) are located at the same longitudinal position, and the stable target (3) has a large horizontal and vertical static stability, which can maintain its own flight stability and ensure that the arresting cable recovery device is in a stable state during recovery. , which is conducive to the smooth progress of the recycling work; During recovery, the aviation winch (5) retracts the towing cable (2), unloads the recovered single UAV from the arresting cable recovery structure, and places it in the storage space reserved in advance in the cabin of the parent aircraft (1). Location; The guidance system is a combination of carrier phase difference and vision. 2 . An air-based recovery device for unmanned aerial vehicles according to claim 1 , characterized in that, the total length of the streamer ( 2 ) is 900-1200 m. 3 . 3. An unmanned aerial vehicle air-based recovery device according to claim 1, characterized in that, the diameter of the streamer (2) ranges from 2 to 5 mm. 4. An unmanned aerial vehicle air-based recovery device according to claim 1, wherein the streamer (2) is made of steel. 5. A method for carrying out accurate recovery of unmanned aerial vehicle air-based by utilizing the unmanned aerial vehicle air-based recovery device based on the aviation towed stable target system according to any one of claims 1-4, characterized in that, during recovery, The hatch of the parent machine (1) is opened, and the mounting bracket, the aviation winch (5), the towing cable (2), the stable target (3) and the arresting cable recovery structure are released; the aviation winch (5) releases the towing cable (2) , so that the stable target (3) is far away from the parent machine (1), reaches the specified distance, and starts to implement the UAV recovery; the guidance system controls the relative speed and position of the UAV (4) to be recovered and the parent machine (1), so that the UAV to be recovered The drone (4) approaches from behind the stable target (3), and when the drone (4) approaches the arresting cable recovery structure, the recovery hook (8) is ejected from the back of the drone (4) to open; using The recovery hook (8) collides, docks and locks with the arresting cable (7) below the stable target (3); the aerial winch (5) retracts the cable, and the stable target (3) and the drone (4) to be recovered are recovered together into the body of the mother machine (1); the staff in the mother machine takes off the drone (4) from the arresting cable (7), and places it in the mother machine (1) for storage, so as to realize the operation of a single drone (4). Space-based recovery; then repeat the aforementioned steps to complete the space-based recovery of all unmanned aerial vehicles (4) to be recovered. 6. A method for accurate recovery of the UAV air base as claimed in claim 5, characterized in that, the parent aircraft (1) is a transport aircraft. 7. A method for accurate recovery of the UAV air base according to claim 5, characterized in that, if recovery fails or an accident occurs, the streamer (2) can be cut off to protect the parent aircraft.

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