CN107933925A - A kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system and method for modus ponens - Google Patents
A kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system and method for modus ponens Download PDFInfo
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- CN107933925A CN107933925A CN201711278900.2A CN201711278900A CN107933925A CN 107933925 A CN107933925 A CN 107933925A CN 201711278900 A CN201711278900 A CN 201711278900A CN 107933925 A CN107933925 A CN 107933925A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D3/00—Aircraft adaptations to facilitate towing or being towed
Abstract
A kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system and method for modus ponens, is related to low-speed unmanned aerial vehicle recycling field.The present invention is to solve the problems, such as the aerial way of recycling bad adaptability of existing fixed-wing unmanned plane.Buoy and acquisition equipment are placed in outside carrier aircraft by the present invention, and carrier aircraft keeps angular speed v to be run along the circular trace that radius is R so that buoy can keep angular speed v to be run along the circular trace that radius is r, R>R, navigation system obtains the movement locus of buoy and trajectory signal is sent to low-speed unmanned aerial vehicle, low-speed unmanned aerial vehicle, which enters according to trajectory signal in the circular trace that radius is r, to be run, and buoy is moved closer to until pickup gear is mounted with acquisition equipment, low-speed unmanned aerial vehicle is recycled in the cabin of carrier aircraft, completes low-speed unmanned aerial vehicle recycling.Recycled suitable for the aerial of low-speed unmanned aerial vehicle of no Autonomous landing ability in boat.
Description
Technical field
The invention belongs to low-speed unmanned aerial vehicle recycling field.
Background technology
In recent years, military equipment field is growing day by day for high-tech demand, the development of unmanned plane is notable, its
Performance in local war is subject to the height of military circles of various countries personage to praise.Wherein, fixed-wing unmanned plane with it in flying speed
And there is greater advantage in terms of flying distance, therefore widest application also has been obtained in military field, but it is straight compared to nobody
The machine of liter and multi-rotor unmanned aerial vehicle, it is launched and recycling tool acquires a certain degree of difficulty.Meanwhile the length of unmanned plane recovery time also will be direct
Unmanned plane work efficiency is influenced, and then influences fighting effect.From the point of view of current unmanned plane way of recycling development trend, large-scale fixation
The way of recycling of wing unmanned plane is mostly Autonomous landing, but the flight control system of this way of recycling is complicated and to recycling place
It is required that it is larger, therefore it is not strong to discharge applicability again for the recycling in the air of fixed-wing unmanned plane.
At present, the aerial way of recycling of fixed-wing unmanned plane mainly has a net collision recovery mode and wing is breasted the tape way of recycling.
It is front fuselage to hit in net formula way of recycling with barrier impact site, easily causes unmanned plane front end sensitive equipment to be damaged, and
For having propeller-type unmanned plane, propeller is easily wound with barrier, thus be not suitable for the fixed-wing with propeller without
It is man-machine.Wing breasts the tape way of recycling by the wing tip hook on wing and the obstruction rope being vertically arranged completion mounting, and it is accurate fixed to realize
Point recycling, but it is higher to the wing intensity requirement of unmanned plane, and high aspect ratio unmanned plane is more difficult to be applicable in.
The content of the invention
The present invention is to solve the problems, such as the aerial way of recycling bad adaptability of existing fixed-wing unmanned plane, now provide one
Kind hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system and method for modus ponens.
A kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, including：Carrier aircraft 1, cable 2, buoy 3,
Pickup gear 6 and acquisition equipment 7；
One end of cable 2 is fixed on inside carrier aircraft 1, and buoy 3 is fixedly connected with the other end of cable 2, and buoy 3, which is fixed on, catches
Obtain on device 7, navigation system 4 built in buoy 3, navigation system 4 can obtain the movement locus of buoy 3 and send trajectory signal
To low-speed unmanned aerial vehicle 5,
Pickup gear 6 is fixed on low-speed unmanned aerial vehicle 5, and low-speed unmanned aerial vehicle 5 can pass through pickup gear 6 and acquisition equipment 7
Mounting, realizes that low-speed unmanned aerial vehicle 5 recycles.
Low-speed unmanned aerial vehicle recycle without damage method based on system described in embodiment one, is specially：
Buoy 3 and acquisition equipment 7 are placed in outside carrier aircraft 1, carrier aircraft 1 keeps angular speed v along the circular trace that radius is R
Operation so that buoy 3 can keep angular speed v to be run along the circular trace that radius is r, R>R,
Navigation system 4 obtains the movement locus of buoy 3 and trajectory signal is sent to low-speed unmanned aerial vehicle 5, low-speed unmanned aerial vehicle 5
Entered according to trajectory signal in the circular trace that radius is r and run, and move closer to buoy 3 until pickup gear 6 is filled with capture
7 mountings are put,
Low-speed unmanned aerial vehicle 5 is recycled in the cabin of carrier aircraft 1, completes low-speed unmanned aerial vehicle 5 and recycle.
A kind of hawser buoy of the present invention hooks the aerial low-speed unmanned aerial vehicle recycle without damage system and method for modus ponens, compared to
For existing recovery method, the present invention have avoid unmanned plane sensitive equipment from being damaged, improves unmanned plane flight duty cycle and
Efficiency, limit less advantage to relative velocity between carrier aircraft and unmanned plane.In conventional retracting device, unmanned plane recycling must expire
Sufficient unmanned plane during flying speed is higher than this necessary condition of carrier aircraft speed, but the present invention uses carrier aircraft and unmanned plane double ring winding flight side
Formula, not only meets aerial recycling of the regular situation downloading machine for unmanned plane, and can guarantee that unmanned plane during flying speed less than load
The recycling of unmanned plane during machine.Meanwhile the present invention integrates recycling and emission function in the air, realized in the air easy to unmanned plane
Long-term operation is not landed, can adapt to the limited environment in the spaces such as carrier aircraft.
The present invention can realize low-speed unmanned aerial vehicle in the air in the accurate recycling of boat, and recycling scope is larger, and due to relative velocity
Smaller, recycling security is greatly enhanced compared with ground recycling, suitable for the relatively lower speed recycling operating mode of recycling unmanned plane, is improved
Adaptability.The aerial of the low-speed unmanned aerial vehicle of no Autonomous landing ability is particularly suitable for recycle in boat.
Brief description of the drawings
Fig. 1 is the structure diagram that a kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens；
Fig. 2 is the structure diagram of pickup gear.
Embodiment
Embodiment one：Present embodiment, a kind of hawser buoy described in present embodiment are illustrated with reference to Fig. 1
The aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens is hooked, including：Carrier aircraft 1, cable 2, buoy 3, pickup gear 6 and acquisition equipment 7；
One end of cable 2 is fixed on inside carrier aircraft 1, and buoy 3 is fixedly connected with the other end of cable 2, and buoy 3, which is fixed on, catches
Obtain on device 7, navigation system 4 built in buoy 3, navigation system 4 can obtain the movement locus of buoy 3 and send trajectory signal
To low-speed unmanned aerial vehicle 5,
Pickup gear 6 is fixed on low-speed unmanned aerial vehicle 5, and low-speed unmanned aerial vehicle 5 can pass through pickup gear 6 and acquisition equipment 7
Mounting, realizes that low-speed unmanned aerial vehicle 5 recycles.
In present embodiment, aerofoil profile is disposed on buoy 3, it is produced enough lift and resistance, so that it is being carried
Under the dragging of machine 1, fly along the track that radius is r.
A kind of hawser buoy described in present embodiment hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, when carrier aircraft 1
When launching hatch door opening, by buoy 3 and cable 2 by electro-motor quick release, recovery system, which enters, treats working status.Control
Carrier aircraft 1 according to certain angular speed along radius be R track run, be connected at this time cable 2 the other end buoy 3 with
Identical angular speed is run along the track that radius is r, R>r.Then there is the linear velocity that 1 linear velocity of carrier aircraft is more than buoy 3.Buoy 3
Speed is less than carrier aircraft 1, low-speed unmanned aerial vehicle 5 according to the guiding of navigation system 4 on buoy 3, into the track that radius is r in run,
And buoy 3 can be moved closer to, mounted by pickup gear 6 and acquisition equipment 7, complete the capture of low-speed unmanned aerial vehicle 5.Finally
Cable 2 is quickly recycled by electro-motor, low-speed unmanned aerial vehicle 5 is recycled in the cabin of carrier aircraft 1, low-speed unmanned aerial vehicle 5 is completed and returns
Receive.Operating personnel unlock low-speed unmanned aerial vehicle 5 with stopping rope 10, and control electro-motor recovery system is returned to obstruction state,
Wait is recycled next time.
Embodiment two：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment one
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, and in present embodiment, the acquisition equipment 7 is tripod, triangle
The bar of frame is while to stop rope 10, buoy 3 is fixed on obstruction 10 opposite apex angles of rope.
Embodiment three：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment two
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, and in present embodiment, is stopped 10 both ends of rope and is respectively equipped with a LED
Beacon 9.
Embodiment four：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment three
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, and in present embodiment, low-speed unmanned aerial vehicle 5 is filled equipped with visual guidance
8 are put, visual guidance device 8 is used to observe LED beacons 9, so that the position of lock acquisition device 7.
Embodiment five：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment one
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, and in present embodiment, pickup gear 6 is collapsible pickup gear.
Embodiment six：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment one
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, and in present embodiment, pickup gear 6 is equipped with locking device, lock
Determine device to be used to lock pickup gear 6 and acquisition equipment 7.
In present embodiment, the locking device in pickup gear 6 completes locking to avoid unhook with stopping rope 10.The hook
Device 6 is taken to be installed on low-speed unmanned aerial vehicle 5, mainly by skyhook, skyhook device for ejecting and highly reliable fast lockign apparatus institute on machine
Composition；After unmanned plane enters latter end recovery zone, unmanned plane is ejected skyhook by skyhook device for ejecting according to instruction；Skyhook
For slowing down and finally stablizing with obstruction rope interaction, realization；Highly reliable fast lockign apparatus is installed on skyhook throat, uses
Break off relations after capture is avoided；Skyhook is designed to 60 ° of double hook, medium-sized unmanned plane is captured as power and increases substantially.It is whole
A skyhook design does not change small drone air dynamic behaviour.
With reference to the scheme of embodiment one to six, when low-speed unmanned aerial vehicle 5 is close to buoy 3, pickup gear 6 is upspring, according to three
LED beacons 9 and visual guidance device 8 on corner bracket realize pickup gear 6 and stop the docking of rope 10, and locking device comes into force, by hook
Take device 6 and stop the locking of rope 10, low-speed unmanned aerial vehicle 5, which draws obstruction rope, 10 to be continued to move, and kinetic energy is hit in decay, realize low speed nobody
The stabilization of machine 5, while ensure the recycle without damage of low-speed unmanned aerial vehicle 5, complete acquisition procedure.
Embodiment seven：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment one
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, in present embodiment, the body of pickup gear 6 into L-shaped structure,
L-shaped structure includes shank 61 and two hooks 63；Two hooks 63 in the same plane, and are each linked up between 63 and shank 61
It is respectively formed bending section 65；Angular range between two hooks 63 is 30 ° to 80 °；
Hinge 64 is fixed with shank 61, and No. 1 spacing catch 621 is hinged with the hinge 64；
Hinge 64 is respectively and fixedly provided with each hook 63, and No. 2 spacing catch 622 are hinged with the hinge 64；And two 2
Number spacing 622, No. 1 spacing catch 621 of catch and bending section 65 are encircled into synanche chamber 66.
Each hook 63 forms a L-type structure with shank 61, and each L-type structure has a bending section 65.
Present embodiment is mainly used for, with stopping rope interaction, realizing the deceleration of unmanned plane during concrete application
It is and final stable.Slided when stopping rope along the surface of shank 61, when it is touched with No. 1 spacing catch 621, stop rope meeting
No. 1 spacing catch 621 of promotion is axis with the hinge 64 where it, is rotated into synanche chamber 66.Enter synanche chamber 66 when stopping rope
After interior, No. 1 spacing catch 621 restores to the original state, and will stop cord lock in synanche chamber 66, and complete double hook device to stopping the lock restricted
It is fixed.Present embodiment is designed to double hook form, and mounting locking can be completed as long as stopping rope and being articulated to a hook.
Embodiment eight：Present embodiment is that modus ponens sky is hooked to a kind of hawser buoy described in embodiment seven
Middle low-speed unmanned aerial vehicle recycle without damage system is described further, in present embodiment,
No. 1 spacing catch 621 and No. 2 spacing catch 622 are axis with the hinge 64 where it, to synanche chamber
66 inner rotations, and No. 1 spacing catch 621 and No. 2 spacing catch 622 are spacing in two endfaces of synanche chamber 66.
In present embodiment, when stopping rope No. 1 spacing catch 621 can be promoted with the hinge 64 where it for axis, to synanche
Rotate in chamber 66, and after entering in synanche chamber 66, No. 1 spacing catch 621 restores to the original state, and completes the locking to stopping rope.
Embodiment nine：The low-speed unmanned aerial vehicle based on system described in embodiment one described in present embodiment
Recycle without damage method, is specially：
Buoy 3 and acquisition equipment 7 are placed in outside carrier aircraft 1, carrier aircraft 1 keeps angular speed v along the circular trace that radius is R
Operation so that buoy 3 can keep angular speed v to be run along the circular trace that radius is r, R>R,
Navigation system 4 obtains the movement locus of buoy 3 and trajectory signal is sent to low-speed unmanned aerial vehicle 5, low-speed unmanned aerial vehicle 5
Entered according to trajectory signal in the circular trace that radius is r and run, and move closer to buoy 3 until pickup gear 6 is filled with capture
7 mountings are put,
Low-speed unmanned aerial vehicle 5 is recycled in the cabin of carrier aircraft 1, completes low-speed unmanned aerial vehicle 5 and recycle.
Claims (9)
1. a kind of hawser buoy hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, it is characterised in that including：Carrier aircraft (1), cable
Line (2), buoy (3), pickup gear (6) and acquisition equipment (7)；
One end of cable (2) is fixed on carrier aircraft (1) inside, and buoy (3) is fixedly connected with the other end of cable (2), and buoy (3) is solid
It is scheduled on acquisition equipment (7), navigation system (4) built in buoy (3), navigation system (4) can obtain the movement locus of buoy (3)
And trajectory signal is sent to low-speed unmanned aerial vehicle (5),
Pickup gear (6) is fixed on low-speed unmanned aerial vehicle (5), and low-speed unmanned aerial vehicle (5) can be filled by pickup gear (6) and capture
(7) mounting is put, realizes that low-speed unmanned aerial vehicle (5) recycles.
2. a kind of hawser buoy according to claim 1 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, the acquisition equipment (7) is tripod, and the bar of tripod is while to stop rope (10), buoy (3) is fixed on obstruction rope
(10) on opposite apex angle.
3. a kind of hawser buoy according to claim 2 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, stops rope (10) both ends and be respectively equipped with a LED beacon (9).
4. a kind of hawser buoy according to claim 3 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, low-speed unmanned aerial vehicle (5) is equipped with visual guidance device (8), and visual guidance device (8) is used to observe LED beacons (9), from
And the position of lock acquisition device (7).
5. a kind of hawser buoy according to claim 1 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, pickup gear (6) is collapsible pickup gear.
6. a kind of hawser buoy according to claim 1 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, pickup gear (6) is equipped with locking device, and locking device is used to lock pickup gear (6) and acquisition equipment (7).
7. a kind of hawser buoy according to claim 1 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
It is, for the body of pickup gear 6 into L-shaped structure, L-shaped structure includes shank (61) and two hooks (63)；Two hooks
(63) in the same plane, and between each hook (63) and shank (61) it is respectively formed bending section (65)；Between two hooks (63)
Angular range is 30 ° to 80 °；
Hinge (64) is fixed with shank (61), and No. 1 spacing catch (621) is hinged with the hinge (64)；
Hinge (64) is respectively and fixedly provided with each hook (63), and No. 2 spacing catch (622) are hinged with the hinge (64)；And two
A No. 2 spacing catch (622), No. 1 spacing catch (621) and bending section (65) are encircled into synanche chamber (66).
Each hook (63) forms a L-type structure with shank (61), and each L-type structure has a bending section (65).
8. a kind of hawser buoy according to claim 7 hooks the aerial low-speed unmanned aerial vehicle recycle without damage system of modus ponens, its feature
Be, described No. 1 spacing catch (621) and No. 2 spacing catch (622) with the hinge (64) where it for axis, to synanche
Chamber (66) inner rotation, and No. 1 spacing catch (621) and No. 2 spacing catch (622) are spacing in two end faces of synanche chamber (66)
Place.
9. the low-speed unmanned aerial vehicle recycle without damage method based on system described in claim 1, it is characterised in that be specially：
Buoy (3) and acquisition equipment (7) are placed in carrier aircraft (1) outside, carrier aircraft (1) keeps angular speed v along the circle that radius is R
Run track so that buoy (3) can keep angular speed v to be run along the circular trace that radius is r, R>R,
Navigation system (4) obtains the movement locus of buoy (3) and trajectory signal is sent to low-speed unmanned aerial vehicle (5), low speed nobody
Machine (5), which enters according to trajectory signal in the circular trace that radius is r, to be run, and moves closer to buoy (3) until pickup gear (6)
Mounted with acquisition equipment (7),
Low-speed unmanned aerial vehicle (5) is recycled in the cabin of carrier aircraft (1), completes low-speed unmanned aerial vehicle (5) recycling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711278900.2A CN107933925B (en) | 2017-12-06 | 2017-12-06 | Cable buoy hooking type aerial medium-low speed unmanned aerial vehicle nondestructive recovery system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711278900.2A CN107933925B (en) | 2017-12-06 | 2017-12-06 | Cable buoy hooking type aerial medium-low speed unmanned aerial vehicle nondestructive recovery system and method |
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| Publication Number | Publication Date |
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| CN107933925A true CN107933925A (en) | 2018-04-20 |
| CN107933925B CN107933925B (en) | 2020-10-16 |
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| CN201711278900.2A Active CN107933925B (en) | 2017-12-06 | 2017-12-06 | Cable buoy hooking type aerial medium-low speed unmanned aerial vehicle nondestructive recovery system and method |
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Cited By (14)
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| CN109552637A (en) * | 2018-12-20 | 2019-04-02 | 中国航空工业集团公司西安飞机设计研究所 | A kind of airborne sucked type unmanned plane recovery method and recyclable device |
| CN109747837A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane space base ventral hanging cable formula recyclable device and recovery method |
| CN109747836A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane space base tail portion cable car type recyclable device and recovery method |
| CN110162078A (en) * | 2019-07-10 | 2019-08-23 | 黑龙江大学 | A kind of towed unmanned plane aerial recovery system and attitude control method |
| CN110371296A (en) * | 2019-07-24 | 2019-10-25 | 中国民航大学 | A kind of system and method for large size unmanned plane recycling small drone |
| CN111077903A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN111176328A (en) * | 2020-01-17 | 2020-05-19 | 浙江大学 | Multi-AUV distributed target trapping control method based on under-information |
| CN112173122A (en) * | 2020-09-21 | 2021-01-05 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle aerial recovery device and method |
| CN113067283A (en) * | 2021-03-31 | 2021-07-02 | 艾斯佩特(武汉)科技有限公司 | Indirect operation and tool transmission method for power transmission and transformation equipment |
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| US20210354825A1 (en) * | 2020-05-12 | 2021-11-18 | General Atomics Aeronautical Systems, Inc. | Unmanned aerial vehicle recovery system |
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| CN110162078A (en) * | 2019-07-10 | 2019-08-23 | 黑龙江大学 | A kind of towed unmanned plane aerial recovery system and attitude control method |
| CN110371296A (en) * | 2019-07-24 | 2019-10-25 | 中国民航大学 | A kind of system and method for large size unmanned plane recycling small drone |
| CN111077903A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN111077903B (en) * | 2019-12-12 | 2021-11-16 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN111176328A (en) * | 2020-01-17 | 2020-05-19 | 浙江大学 | Multi-AUV distributed target trapping control method based on under-information |
| US11724807B2 (en) * | 2020-05-12 | 2023-08-15 | General Atomics Aeronautical Systems, Inc. | Systems and methods for in-flight recovery of a target aircraft by a host aircraft during forward flight |
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| CN113067283A (en) * | 2021-03-31 | 2021-07-02 | 艾斯佩特(武汉)科技有限公司 | Indirect operation and tool transmission method for power transmission and transformation equipment |
| WO2023091132A1 (en) * | 2021-11-17 | 2023-05-25 | General Atomics Aeronautical Systems, Inc. | Airborne recovery of unmanned aerial vehicles |
| US11639223B1 (en) | 2021-11-17 | 2023-05-02 | General Atomics Aeronautical Systems, Inc. | Airborne recovery of unmanned aerial vehicles |
| US11820531B2 (en) | 2021-11-17 | 2023-11-21 | General Atomics Aeronautical Systems, Inc. | Airborne recovery of unmanned aerial vehicles |
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| CN107933925B (en) | 2020-10-16 |
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