CN109747831B - Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method - Google Patents
Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method Download PDFInfo
- Publication number
- CN109747831B CN109747831B CN201811618851.7A CN201811618851A CN109747831B CN 109747831 B CN109747831 B CN 109747831B CN 201811618851 A CN201811618851 A CN 201811618851A CN 109747831 B CN109747831 B CN 109747831B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- sliding
- aerial vehicle
- area
- launching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a tail sliding cable type air-based unmanned aerial vehicle launching device and a launching method, and the tail sliding cable type air-based unmanned aerial vehicle launching device comprises a winch, a sliding cable, a positioning pulley, a posture control device and a guiding umbrella, wherein the winch is arranged in a main machine body, the positioning pulley is arranged at the edge of a rear cabin door of the main machine body, one end of the sliding cable is fixed on the winch, the other end of the sliding cable is connected with the guiding umbrella after passing through the positioning pulley, the sliding cable is divided into a sliding area and a disengaging area, the boundary between the sliding area and the disengaging area is a disengaging opening, and the posture control device is arranged on the disengaging area and is adjacent to the disengaging opening.
Description
Technical Field
The invention relates to the technical field of aircraft air-based launching, in particular to a tail sliding cable type air-based unmanned aerial vehicle launching device and a tail sliding cable type air-based unmanned aerial vehicle launching method.
Background
With the blowout development of the unmanned aerial vehicle technology, unmanned aerial vehicles are gradually widely applied in many military and civil fields. Particularly in the military field, the unmanned aerial vehicle cluster tactics are highly valued by countries all over the world. However, the medium and small unmanned aerial vehicles generally have small weight, low speed and limited combat radius, so that the medium and small unmanned aerial vehicles cannot execute long-distance combat tasks, cannot effectively exert the advantages of swarm combat, and limit the application range of the medium and small unmanned aerial vehicles. Therefore, a scheme of 'mother-son machines' is provided, namely, unmanned sub-machines are transported to a task area by the mother machine with large voyage and load, and large-quantity and quick launching of the unmanned aerial vehicles is realized by an aerial launching technology, so that the cruising radius of the sub-machines can be greatly increased, the limitation of ground airports can be eliminated, and the application flexibility of the sub-machines is improved. The core of the 'mother-son machine' scheme is the unmanned aerial vehicle space-based launching and recovery technology, wherein the unmanned aerial vehicle space-based rapid mass launching technology is one of the difficulties.
The existing unmanned aerial vehicle space-based launching method and device are mostly in a gravity launching mode, such as patents CN204507271U, CN207417155U and CN205998129U, the unmanned aerial vehicle is not protected from crossing a turbulent flow area, launching safety is low, the unmanned aerial vehicle is easy to stall, and launching efficiency is low. The method provided by the invention ensures the emission efficiency of the unmanned aerial vehicle, increases the emission safety design, has small limitation on the body configuration of the unmanned aerial vehicle, and has wide application range.
Disclosure of Invention
The purpose of the invention is as follows:
the purpose of the invention is as follows: the tail sliding cable type launching device and method for the air-based unmanned aerial vehicle can achieve accurate and rapid launching of the air-based unmanned aerial vehicle, improve launching safety and enlarge application range of the unmanned aerial vehicle. The technical scheme of the invention is as follows:
the utility model provides a afterbody strop formula empty base unmanned aerial vehicle emitter, includes winch, strop, location pulley, attitude control device, guide umbrella, the winch setting inside female fuselage, the location pulley setting at female fuselage backseat door edge, strop one end fix on the winch, the other end is connected with guide umbrella behind the location pulley, strop divide into sliding area and disengagement zone, sliding area and disengagement zone's border are for breaking away from the mouth, attitude control device set up on disengagement zone, and it is adjacent with the disengagement mouth.
Attitude control device including balanced fuselage, two elevator pivot, two rudder pivot, two elevators, two rudders, two elevators, the one end and the balanced fuselage fixed connection of two elevator pivot, the other end respectively with the rudder pivot fixed connection that corresponds, two elevators pass through the bearing and are connected with the elevator pivot that corresponds respectively, symmetrical arrangement is in balanced fuselage both sides, and can deflect from top to bottom around the elevator pivot, two rudders pass through the bearing and be connected with the rudder pivot that corresponds respectively, arrange respectively at the elevator both ends, and can deflect about the rudder pivot.
The attitude control device further comprises three steering engines, a flight control system and a pose sensor, the flight control system and the pose sensor are arranged on the balance machine body, any one of the three steering engines is installed on the balance machine body, the rocker arms of the three steering engines are fixedly connected with the two elevators through connecting rods respectively, the other two steering engines are installed at the outer ends of rotating shafts of the two elevators respectively, and the rocker arms of the two steering engines are fixedly connected with the two rudders through connecting rods respectively.
The sliding area of the sliding cable is a T-shaped section, and the disengaging area is a circular section.
And power lines are embedded in the sliding cable and can supply power on the airplane to three steering engines, a flight control system and a pose sensor on the attitude control device.
The sliding cable is made of flexible materials.
A tail sliding cable type launching device for a space-based unmanned aerial vehicle comprises the following steps:
step 1: throwing the traction umbrella out of a rear cabin door of the main machine body, and sliding the attitude control device and the sliding cable out of the cabin of the main machine body under the action of the traction umbrella;
step 2: when the disengaging area of the sliding cable enters the airflow stabilizing area, the position and posture sensor starts to work, the information of the roll angle, the yaw angle and the pitch angle of the attitude control device is obtained, and is transmitted to the flight control system, the flight control system sends instructions to the three steering engines, the three steering engines respectively drive the two elevators and the two rudders to deflect, so that the attitude control device enters a stable level flight state, and meanwhile, the sliding cable in the area near the disengaging opening keeps the designated launching angle of the unmanned aerial vehicle under the influence of the position and posture of the attitude control device;
and step 3: installing a buckle matched with the sliding cable on the belly of the unmanned aerial vehicle, and arranging the unmanned aerial vehicle on a sliding area on the sliding cable through the buckle;
and 4, step 4: the unmanned aerial vehicle is pushed to slide out of a rear cabin door of the main machine body along the sliding cable, and under the action of airflow and inertia force, the unmanned aerial vehicle passes through the airflow disorder area along the sliding cable and reaches the airflow stable separation area from the sliding area;
and 5: under the action of airflow and inertia force, the unmanned aerial vehicle is separated from the sliding rope at a specified launching angle to finish launching of the unmanned aerial vehicle;
step 6: after the unmanned aerial vehicle enters the strop cable for a single frame, the launching operation of the next frame can be directly carried out, the completion of the launching operation of the previous frame is not required to be waited, and the launching efficiency can be obviously improved.
The invention has the beneficial effects that:
the tail sliding cable type launching device and the launching method for the air-based unmanned aerial vehicle are provided, and have the following advantages:
(1) the sequential emission of a plurality of unmanned aerial vehicles can be realized through one set of equipment, and the unmanned aerial vehicles can directly slide through the turbulent flow region to perform a safe airflow stabilizing region, so that the emission success rate and the efficiency are both high, and the sequential emission in batches can be realized;
(2) the launching angle of the unmanned aerial vehicle is controllable, so that the launching safety of the unmanned aerial vehicle can be effectively ensured;
(3) the sliding cable is made of flexible materials, so that the impact of turbulent flow on the unmanned aerial vehicle can be reduced;
(4) the sliding cable disengaging area is positioned on the airflow stable layer, the pneumatic interference of the mother machine on the unmanned aerial vehicle is small, and the safety of the unmanned aerial vehicle and the mother machine in the launching process is improved;
(5) the launching process is controlled without a special device, and the horizontal angle of the separation port is controlled, so that the unmanned aerial vehicle can launch in batches conveniently;
(6) there is not special requirement to unmanned aerial vehicle organism structure, emitter application scope is wide.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a cross-sectional view of the sliding region of the strop;
FIG. 3 is a cross-sectional view of the disengagement area of the strop;
FIG. 4 is a schematic structural diagram of an attitude control device;
FIG. 5 is a schematic view of the engagement of the buckle on the UAV with the sliding region of the strop;
FIG. 6 is a schematic diagram of the engagement of a buckle on the UAV with a disengagement area of a sliding cable;
the labels in the figure are: 1. the device comprises a winch, 2, a positioning pulley, 3, a sliding rope, 4, an attitude control device, 5, a guiding umbrella, 4-1 elevator, 4-2 rudder, 4-3 balance machine body, 4-4 elevator rotating shaft and 4-5 rudder rotating shaft.
Detailed Description
The invention is further described below by combining the accompanying drawings, and a tail sliding cable type air-based unmanned aerial vehicle launching device comprises a winch 1, a sliding cable 3, a positioning pulley 2, an attitude control device 4 and a guiding umbrella 5, wherein the winch 1 is arranged in a main machine body, the positioning pulley 3 is arranged on the edge of a rear cabin door of the main machine body, one end of the sliding cable 3 is fixed on the winch 1, the other end of the sliding cable passes through the positioning pulley 2 and then is connected with the guiding umbrella 5, the sliding cable 3 is divided into a sliding area and a disengaging area, the boundary between the sliding area and the disengaging area is a disengaging opening, and the attitude control device 4 is arranged on the disengaging area and is adjacent to the disengaging opening.
The attitude control device comprises a balance machine body 4-3, two elevator rotating shafts 4-4, two rudder rotating shafts 4-5, two elevators 4-1 and two rudders 4-2, one end of each of the two elevator rotating shafts 4-4 is fixedly connected with the balance machine body 4-3, the other end of each of the two elevator rotating shafts 4-4 is fixedly connected with the corresponding rudder rotating shaft 4-5, the two elevators 4-1 are respectively connected with the corresponding elevator rotating shafts 4-4 through bearings, symmetrically arranged at two sides of the balance machine body 4-3 and can deflect up and down around the elevator rotating shaft 4-4, the two rudders 4-2 are respectively connected with the corresponding rudder rotating shafts 4-5 through bearings, are respectively arranged at two ends of the elevator 4-1, and can deflect left and right around the rudder rotating shafts 4-5.
The attitude control device 4 further comprises three steering engines, a flight control system and a pose sensor, the flight control system and the pose sensor are arranged on a balance machine body 4-3, any one of the three steering engines is installed on the balance machine body 4-3, rocker arms of the three steering engines are fixedly connected with two elevators 4-1 through connecting rods respectively, the other two steering engines are installed at the outer ends of rotating shafts 4-4 of the two elevators respectively, and the rocker arms of the two steering engines are fixedly connected with two rudders 4-2 through connecting rods respectively.
The sliding area of the sliding cable 3 is a T-shaped section, the disengaging area is a circular section, and a power line is embedded in the sliding cable 3 and can supply power to three steering engines, a flight control system and a pose sensor on the attitude control device 4.
The sliding cable 3 is made of flexible material.
A tail sliding cable type launching device for a space-based unmanned aerial vehicle comprises the following steps:
step 1: throwing the traction umbrella 5 out of the rear cabin door of the main machine body, and sliding the attitude control device 4 and the sliding rope 3 out of the cabin of the main machine body under the action of the traction umbrella 5;
step 2: when the disengaging area of the sliding cable 3 enters the airflow stabilizing area, the position and posture sensor starts to work, the information of the roll angle, the yaw angle and the pitch angle of the posture control device 4 is obtained, and is transmitted to the flight control system, the flight control system sends instructions to the three steering engines, the three steering engines respectively drive the two elevators 4-1 and the two rudders 4-2 to deflect, so that the posture control device 4 enters a stable level flight state, meanwhile, under the influence of the position and posture of the posture control device 4, the sliding cable 3 in the area near the disengaging opening keeps a specified unmanned aerial vehicle launching angle, and the unmanned aerial vehicle launching angle is close to 0 degree;
and step 3: installing a buckle matched with the sliding cable 3 on the belly of the unmanned aerial vehicle, and arranging the unmanned aerial vehicle on a sliding area on the sliding cable 3 through the buckle;
and 4, step 4: the unmanned aerial vehicle is pushed to slide out of a rear cabin door of the main machine body along the sliding cable, and under the action of airflow and inertia force, the unmanned aerial vehicle passes through the airflow turbulence area along the sliding cable 3 and reaches a disengagement area with stable airflow from the sliding area;
and 5: under the action of airflow and inertia force, the unmanned aerial vehicle is separated from the sliding rope at a specified launching angle to finish launching of the unmanned aerial vehicle;
step 6: after the unmanned aerial vehicle enters the strop cable for a single frame, the launching operation of the next frame can be directly carried out, the completion of the launching operation of the previous frame is not required to be waited, and the launching efficiency can be obviously improved.
Claims (6)
1. The utility model provides a afterbody strop formula empty base unmanned aerial vehicle emitter which characterized in that: the device comprises a winch (1), a sliding rope (3), a positioning pulley (2), an attitude control device (4) and a guiding umbrella (5), wherein the winch (1) is arranged inside a main machine body, the positioning pulley (2) is arranged on the edge of a rear cabin door of the main machine body, one end of the sliding rope (3) is fixed on the winch (1), the other end of the sliding rope passes through the positioning pulley (2) and then is connected with the guiding umbrella (5), the sliding rope (3) is divided into a sliding area and a disengaging area, the boundary between the sliding area and the disengaging area is a disengaging opening, and the attitude control device (4) is arranged on the disengaging area and is adjacent to the disengaging opening;
the working process of the tail sliding cable type air-based unmanned aerial vehicle launching device is as follows:
step 1: the guiding umbrella (5) is thrown out from a rear cabin door of the main machine body, and the posture control device (4) and the sliding rope (3) slide out from the cabin of the main machine body under the action of the guiding umbrella (5);
step 2: when the separation area of the sliding cable (3) enters the airflow stabilizing area, the pose sensor starts to work, the information of the roll angle, the yaw angle and the pitch angle of the pose control device (4) is obtained, the information is transmitted to the flight control system, the flight control system sends instructions to three steering engines, the three steering engines respectively drive two elevators (4-1) and two rudders (4-2) to deflect, the pose control device (4) enters a stable flat flight state, and meanwhile, under the influence of the pose control device (4), the sliding cable (3) in the area near the separation port keeps a specified launching angle of the unmanned aerial vehicle;
and step 3: a buckle matched with the sliding cable (3) is installed on the belly of the unmanned aerial vehicle, and the unmanned aerial vehicle is arranged in a sliding area on the sliding cable (3) through the buckle;
and 4, step 4: the unmanned aerial vehicle is pushed to slide out of a rear cabin door of the main machine body along the sliding rope (3), and under the action of airflow and inertia force, the unmanned aerial vehicle passes through the airflow turbulence area along the sliding rope (3) and reaches a stable airflow separation area from the sliding area;
and 5: under the action of airflow and inertia force, the unmanned aerial vehicle is separated from the sliding rope at a specified launching angle to finish launching of the unmanned aerial vehicle;
step 6: after the unmanned aerial vehicle enters the strop cable for a single frame, the launching operation of the next frame can be directly carried out, the completion of the launching operation of the previous frame is not required to be waited, and the launching efficiency can be obviously improved.
2. The launching device of tail sliding cable type space-based unmanned aerial vehicle as claimed in claim 1, wherein: the attitude control device (4) comprises a balance machine body (4-3), two elevator rotating shafts (4-4), two rudder rotating shafts (4-5), two elevators (4-1) and two rudders (4-2), one ends of the two elevator rotating shafts (4-4) are respectively and fixedly connected with the balance machine body (4-3), the other ends of the two elevator rotating shafts are respectively and fixedly connected with the corresponding rudder rotating shafts (4-5), the two elevators (4-1) are respectively connected with the corresponding elevator rotating shafts (4-4), are symmetrically arranged at two sides of the balance machine body (4-3) and can deflect up and down around the elevator rotating shafts (4-4), the two rudders (4-2) are respectively connected with the corresponding rudder rotating shafts (4-5) and are respectively arranged at two ends of the elevators (4-1), and can deflect left and right around the rudder rotating shaft (4-5).
3. The launching device of tail sliding cable type space-based unmanned aerial vehicle as claimed in claim 1, wherein: the attitude control device (4) further comprises three steering engines, a flight control system and a pose sensor, the flight control system and the pose sensor are arranged on the balance machine body (4-1), any one of the three steering engines is installed on the balance machine body (4-1), rocker arms of the three steering engines are fixedly connected with the two elevators (4-1) through connecting rods respectively, the other two steering engines are installed at the outer ends of rotating shafts (4-4) of the two elevators respectively, and the rocker arms of the two steering engines are fixedly connected with the two direction rudders (4-2) through connecting rods respectively.
4. The launching device of tail sliding cable type space-based unmanned aerial vehicle as claimed in claim 1, wherein: the sliding area of the sliding rope (3) is a T-shaped section, and the disengaging area is a circular section.
5. The launching device of tail sliding cable type space-based unmanned aerial vehicle as claimed in claim 1, wherein: and a power line is embedded in the sliding cable (3), and can supply power to three steering engines, a flight control system and a pose sensor on the attitude control device (4) from the power supply on the mother machine.
6. The launching device of tail sliding cable type space-based unmanned aerial vehicle as claimed in claim 1, wherein: the sliding rope (3) is made of flexible materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618851.7A CN109747831B (en) | 2018-12-27 | 2018-12-27 | Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618851.7A CN109747831B (en) | 2018-12-27 | 2018-12-27 | Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109747831A CN109747831A (en) | 2019-05-14 |
| CN109747831B true CN109747831B (en) | 2022-04-19 |
Family
ID=66404304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811618851.7A Active CN109747831B (en) | 2018-12-27 | 2018-12-27 | Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109747831B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224432A (en) * | 2020-09-22 | 2021-01-15 | 南京航空航天大学 | Interference bomb suitable for mixed marshalling aircraft is empty base transmission in batches |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ZA9811489B (en) * | 1997-12-19 | 1999-06-18 | Anglo Amer Corp South Africa | Airborne electromagnetic system |
| US7900866B2 (en) * | 2007-10-18 | 2011-03-08 | The Boeing Company | System and methods for airborne launch and recovery of aircraft |
| CN104260889B (en) * | 2014-08-29 | 2016-08-24 | 中国运载火箭技术研究院 | A kind of helicopter low speed throws in hanger and the Spacecraft Attitude Control of aircraft |
| US10618676B2 (en) * | 2014-11-27 | 2020-04-14 | ST Engineering Aerospace Ltd. | Apparatus and method for launch and recovery of an unmanned aerial vehicle |
| DE102014018857B4 (en) * | 2014-12-15 | 2017-10-05 | Alfred-Wegener-Institut Helmholtz-Zentrum für Polar- und Meeresforschung | Aerodynamically shaped, active towed body |
| CN205469058U (en) * | 2016-03-09 | 2016-08-17 | 中国石油化工股份有限公司天然气川气东送管道分公司 | Novel fast -assembling freight transportation cableway |
| CN206068176U (en) * | 2016-08-30 | 2017-04-05 | 安徽同绘家园土地信息技术有限公司 | A kind of nacelle arrangement of fixed-wing aerial survey unmanned plane |
| CN106227234B (en) * | 2016-09-05 | 2019-09-17 | 天津远度科技有限公司 | Unmanned plane, unmanned plane take off control method and device |
| CN109843721B (en) * | 2016-10-27 | 2023-04-21 | 瓦斯菲·阿希达法特 | Search and rescue unmanned aerial vehicle arrangement |
| CN107792381B (en) * | 2017-09-27 | 2020-10-13 | 北京航空航天大学 | Unmanned aerial vehicle air-based towing net type recovery device and method |
| CN107792371B (en) * | 2017-09-27 | 2020-10-13 | 北京航空航天大学 | Aerial towline towing target system-based unmanned aerial vehicle air-based rapid launching device and method |
| CN107697303B (en) * | 2017-09-27 | 2020-10-13 | 北京航空航天大学 | Unmanned aerial vehicle air-based recovery device and method based on aviation towing type stable target system |
| CN108058802A (en) * | 2017-11-16 | 2018-05-22 | 中国航空工业集团公司西安飞机设计研究所 | A kind of variable density unmanned airship based on solar energy |
| CN108100287B (en) * | 2017-11-23 | 2020-06-26 | 北京航空航天大学 | Unmanned aerial vehicle empty base emitter |
-
2018
- 2018-12-27 CN CN201811618851.7A patent/CN109747831B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109747831A (en) | 2019-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11319063B2 (en) | Vehicle configuration with motors that rotate between a lifting position and a thrusting position | |
| EP3087003B1 (en) | An unmanned aerial vehicle | |
| CN108082466A (en) | A kind of tilting duct connection wing layout vertically taking off and landing flyer | |
| CN107933909A (en) | A kind of high-speed and high-efficiency tilting wing unmanned vehicle | |
| CN104176247A (en) | Four-rotor unmanned aerial vehicle with engine for directly driving rotor | |
| JP2010254264A (en) | Unmanned aircraft landing and departing perpendicularly by tilt wing mechanism | |
| CN105235892A (en) | Multimodal flight conversion control method for hybrid layout rotary-wing unmanned aerial vehicle | |
| JP2012111475A (en) | Vertical takeoff and landing unmanned aircraft by wing-rotor | |
| CN205076045U (en) | Combined type aircraft of varistructure | |
| CN104276284A (en) | Tandem type fan wing aircraft layout | |
| CN202728571U (en) | Private aircraft | |
| CN105905295A (en) | Vertical take-off and landing fixed wing aircraft | |
| CN107512394A (en) | A kind of tail sitting posture VUAV and flight control method | |
| CN106477033A (en) | High speed hybrid multi-rotor aerocraft | |
| CN109747831B (en) | Tail sliding cable type air-based unmanned aerial vehicle launching device and launching method | |
| CN106005371B (en) | Difference directly drives dynamic three rudder face unmanned planes entirely | |
| CN105129088A (en) | Spherical uniaxial rudder oriented intelligent aircraft | |
| CN106915453A (en) | A kind of takeoff and landing mode and system | |
| CN108263594B (en) | A kind of bladeless fan power vertical take-off and landing drone | |
| CN107010205A (en) | A kind of aircraft and its control method with the empennage that can vert | |
| RU2710317C1 (en) | Air missile system with an unmanned percussive aircraft helicopter | |
| CN208683103U (en) | A kind of unmanned transporter | |
| CN114379777B (en) | Tilting rotor unmanned aerial vehicle structure and working method thereof | |
| CN206885351U (en) | A kind of takeoff and landing system | |
| CN202753709U (en) | Upright vertical take-off and landing aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |