CN112173122A - Unmanned aerial vehicle aerial recovery device and method - Google Patents
Unmanned aerial vehicle aerial recovery device and method Download PDFInfo
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- CN112173122A CN112173122A CN202010994884.2A CN202010994884A CN112173122A CN 112173122 A CN112173122 A CN 112173122A CN 202010994884 A CN202010994884 A CN 202010994884A CN 112173122 A CN112173122 A CN 112173122A
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- unmanned aerial
- aerial vehicle
- recovery
- electromagnetic
- hard rod
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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
The application belongs to the technical field of unmanned aerial vehicle aerial recovery, and particularly relates to an unmanned aerial vehicle aerial recovery device and method. The device comprises: the aircraft, retrieve hard pole, electromagnetic chuck, flexible towline, unmanned aerial vehicle and butt joint conical head. A through hole is formed in the center of the recycling hard rod in a penetrating mode, and one end of the recycling hard rod is installed on the carrier; the electromagnetic chuck is in a sheet shape and is arranged at the other end of the recovery hard rod along the course; the flexible towline is nested in the through hole of the recovery hard rod, one end of the flexible towline is connected with the recovery mechanism, and the other end of the flexible towline is provided with an electromagnetic butt-joint taper sleeve; the back surface of the unmanned aerial vehicle is provided with butt magnetic suction points which can be attracted with the electromagnetic chuck; the butt joint conical head is installed at the back of the unmanned aerial vehicle and can be attracted with the electromagnetic butt joint conical sleeve. The unmanned aerial vehicle aerial recovery device and method can meet the recovery requirements of unmanned aerial vehicles of different levels, and have the advantages of stable and controllable posture, simple structure and low fault probability.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicle aerial recovery, and particularly relates to an unmanned aerial vehicle aerial recovery device and method.
Background
The aerial recovery of unmanned aerial vehicle is the important technique of solving unmanned aerial vehicle cluster operating efficiency, through the aerial transmission and the recovery to unmanned aerial vehicle of large-scale carrier, can promote unmanned aerial vehicle's service distance and play efficiency by a wide margin.
In the prior art, the aerial recovery scheme of the unmanned aerial vehicle generally comprises the steps that a large-scale aerial vehicle pulls a recovery net or a recovery mechanism through a hard rod or a soft wire, a small-scale unmanned aerial vehicle hits the net or is in butt joint with the mechanism in the air, and the aerial vehicle pulls the small-scale unmanned aerial vehicle back to the cabin after the butt joint. However, hit the net mode and have the uncontrollable problem of hitting the small unmanned aerial vehicle gesture behind the net, can bring certain interference or even danger for the carrier flight, mechanical structure butt joint mode needs design complex mechanism to fix unmanned aerial vehicle, appears the jamming easily, and has the problem of uninstallation difficulty.
Accordingly, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The application aims to provide an aerial recovery device and method for an unmanned aerial vehicle, and aims to solve at least one problem in the prior art.
The technical scheme of the application is as follows:
a first aspect of the application provides an aerial recovery unit of unmanned aerial vehicle, includes:
carrying a machine;
the center of the recovery hard rod is provided with a through hole, and one end of the recovery hard rod is installed on the carrier;
the electromagnetic chuck is in a sheet shape and is arranged at the other end of the recycling hard rod along the course;
the flexible towline is nested in the through hole of the recovery hard rod, one end of the flexible towline is connected with the recovery and release mechanism, and the other end of the flexible towline is provided with an electromagnetic butt joint taper sleeve;
the back surface of the unmanned aerial vehicle is provided with butt magnetic suction points which can be attracted with the electromagnetic chuck;
the docking cone head is installed on the back of the unmanned aerial vehicle and can be attracted with the electromagnetic docking cone sleeve.
Optionally, the recycling hard rod is configured with a telescopic mechanism, and the telescopic mechanism can control the recycling hard rod to extend out of the carrier.
Optionally, the recovery stiffener is mounted to the rear of the carrier.
Optionally, the hard recovery pole is mounted within a nacelle of the aircraft.
Optionally, two docking magnetic attraction points are symmetrically arranged on the back surface of the unmanned aerial vehicle in front of and behind the docking cone head.
Optionally, the butt joint magnetic attraction point is a small metal disc which is integrally formed with the back of the unmanned aerial vehicle.
Optionally, the docking cone head is L-shaped and is fixed to the back of the unmanned aerial vehicle by welding.
A second aspect of the present application provides an aerial recovery method for an unmanned aerial vehicle, based on the aerial recovery device for an unmanned aerial vehicle as described above, including:
the method comprises the following steps: after entering a recovery stage, the loader stretches out of the machine to recover the hard rod, and releases the flexible towing cable, and at the moment, the electromagnetic suction disc and the electromagnetic butt joint taper sleeve are not electrified and do not have magnetic suction force;
step two: the unmanned aerial vehicle flies autonomously to carry out aerial docking, the docking conical head is controlled to be docked with the electromagnetic docking conical sleeve, after docking is completed, the carrier controls the electromagnetic docking conical sleeve to be electrified, and the unmanned aerial vehicle is captured through magnetic attraction;
step three: the aerial carrier recovers the flexible towing rope, and the unmanned aerial vehicle gradually approaches to the electromagnetic chuck at the end part of the recovery hard rod along with the flexible towing rope;
step four: after the flexible towing cable is completely recycled into the recycling hard rod, the electromagnetic chuck is in contact with a butt magnetic attraction point on the back of the unmanned aerial vehicle, and at the moment, the trigger carrier is connected with a power supply of the electromagnetic chuck to generate a magnetic attraction force to grasp the unmanned aerial vehicle firmly;
step five: and (5) retracting the carrier to recover the hard rod, and bringing the unmanned aerial vehicle back to the cabin of the carrier to finish the recovery process.
The invention has at least the following beneficial technical effects:
the utility model provides an aerial recovery unit of unmanned aerial vehicle, adopt the electromagnetism principle of adsorbing, realize the magnetic adsorption ability through controlling corresponding part break-make electricity, thereby accomplish to carry out "catching" to unmanned aerial vehicle after the butt joint at unmanned aerial vehicle, utilize magnetic adsorption ability "to grab" unmanned aerial vehicle, inhale the ability through the adjustable magnetism of part of inhaling of adjusting the electric power size, thereby can adapt to different weight unmanned aerial vehicle and retrieve the demand, can satisfy different rank unmanned aerial vehicle and retrieve the requirement, still have the gesture and stabilize controllable, the steam generator is simple in structure, the advantage that fault probability is low.
Drawings
Fig. 1 is a general schematic view of an aerial recovery device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a cross-sectional view of an aerial retrieval device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic view illustrating the attraction between an electromagnetic docking taper sleeve and a docking taper head of the unmanned aerial vehicle aerial recovery device according to an embodiment of the present application;
fig. 4 is an attraction schematic diagram of an electromagnetic chuck and a butt magnetic attraction point of an aerial recovery device of an unmanned aerial vehicle according to an embodiment of the present application.
Wherein:
1-recovering the hard rod; 2-an electromagnetic chuck; 3-a flexible streamer; 4-electromagnetically butting taper sleeves; 5-butting conical heads; 6-butt joint of magnetic attraction points.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present application and for simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the scope of the present application.
The present application is described in further detail below with reference to fig. 1 to 4.
The application provides an aerial recovery unit of first aspect unmanned aerial vehicle, includes: the device comprises an aircraft, a recovery hard rod 1, an electromagnetic chuck 2, a flexible towing cable 3, an unmanned aerial vehicle and a butt joint cone head 5.
Specifically, as shown in fig. 1 and 2, the recycling hard rod 1 is a hollow hard rod, a through hole is formed in the center of the recycling hard rod, and one end of the recycling hard rod 1 is installed on a carrier; the electromagnetic chuck 2 is a sheet structure with a certain thickness, is arranged along the flight course and is fixedly connected with the other end of the recovery hard rod 1, the electromagnetic chuck 2 is a magnetic suction device with a magnetic suction force adjusting function, the magnetic suction capability can be controlled by an electronic switch, a cable carried by the electromagnetic chuck is embedded in the recovery hard rod 1 and is connected with a power supply device in an aircraft, the electromagnetic chuck can generate magnetic force after being electrified, and the magnetic force disappears after being powered off.
The flexible towline 3 nestification is in retrieving the through-hole of hard pole 1, its one end is connected with the jack, the other end is provided with electromagnetism butt joint taper sleeve 4, can realize the release and the recovery of flexible towline 3 through the jack on the carrier, 4 fixed connection in the end of flexible towline 3 of electromagnetism butt joint taper sleeve, electromagnetism butt joint taper sleeve 4 possesses magnetism and inhales the function, accessible electric power regulation magnetism power size, flexible towline 3 can be the power supply of electromagnetism butt joint taper sleeve 4, electromagnetism butt joint taper sleeve 4 produces magnetic force during circular telegram, magnetic force disappears after the outage, electromagnetism butt joint taper 4 is the inside umbelliform part that has the toper recess.
Further, butt joint magnetic suction points 6 are arranged on the back surface of the unmanned aerial vehicle and can be attracted with the electromagnetic chuck 2; the docking cone head 5 is installed on the back of the unmanned aerial vehicle, can be docked with the electromagnetic docking taper sleeve 4 in a groove matching mode, and is attracted by magnetic force after the electromagnetic docking taper sleeve 4 is electrified.
In an embodiment of this application, retrieve hard pole 1 and dispose telescopic machanism, telescopic machanism can control when unmanned aerial vehicle retrieves and retrieve hard pole 1 and stretch out to the carrier outside. In this embodiment, the recycling hard rod 1 is installed at the tail of the carrier or in the cabin of the carrier.
In an embodiment of the application, the docking magnetic attraction points 6 are symmetrically arranged on the back surface of the unmanned aerial vehicle in front of and behind the docking conical head 5, and can be attracted with the docking magnetic attraction points 6 when the electromagnetic chuck 2 is electrified to generate magnetic force in a docking state of the unmanned aerial vehicle. In this embodiment, butt joint magnetic attraction point 6 is the little disc structure of metal, preferably with unmanned aerial vehicle's back integrated into one piece.
In an embodiment of this application, butt joint conical head 5 can pass through welded fastening at unmanned aerial vehicle's back for install the metal structure spare that is the L type at unmanned aerial vehicle back for with the 4 docks of electromagnetism butt joint taper sleeve of carrier.
A second aspect of the present application provides an aerial recovery method for an unmanned aerial vehicle, based on the above aerial recovery device for an unmanned aerial vehicle, as shown in fig. 3 and 4, including:
the method comprises the following steps: after entering a recovery stage, the loader stretches out of the machine to recover the hard rod 1, and releases the flexible towing cable 3, and at the moment, the electromagnetic chuck 2 and the electromagnetic butt-joint taper sleeve 4 are not electrified and have no magnetic suction force;
step two: the unmanned aerial vehicle flies autonomously to carry out aerial docking, the docking conical head 5 is controlled to be docked with the electromagnetic docking conical sleeve 4, after docking is completed, the carrier controls the electromagnetic docking conical sleeve 4 to be electrified, and the unmanned aerial vehicle is captured through magnetic attraction;
step three: the aerial carrier recovers the flexible towing rope 3, and the unmanned aerial vehicle gradually approaches to the electromagnetic chuck 2 at the end part of the recovery hard rod 1 along with the flexible towing rope 3;
step four: after the flexible towing cable 3 is completely recycled into the recycling hard rod 1, the electromagnetic chuck 2 is in contact with a butt magnetic suction point 6 positioned on the back of the unmanned aerial vehicle, and at the moment, the trigger carrier is connected with a power supply of the electromagnetic chuck 2 to generate magnetic attraction to grasp the unmanned aerial vehicle firmly;
step five: the carrier contracts to recover the hard rod 2, and the unmanned aerial vehicle is brought back to the cabin of the carrier, so that the recovery process is completed.
The aerial recovery device and the aerial recovery method for the unmanned aerial vehicle provide a docking mode without a complex mechanical mechanism, meanwhile, the tolerance of the recovery docking control precision of the unmanned aerial vehicle is high, and the unmanned aerial vehicle can be conveniently unloaded after being dragged back to the cabin by a carrier.
The aerial recovery device of unmanned aerial vehicle and method of this application adopts the electromagnetism principle of adsorbing, realizes the magnetic adsorption ability through controlling corresponding part break-make electricity to carry out "catching" to unmanned aerial vehicle after unmanned aerial vehicle accomplishes the butt joint, utilize magnetic adsorption "to grab" unmanned aerial vehicle, through the magnetic adsorption ability of adjusting the adjustable magnetic adsorption part of electric power size, thereby can adapt to different weight unmanned aerial vehicle and retrieve the demand, can satisfy different grades of unmanned aerial vehicle and retrieve the requirement. Compared with a collision net recycling method, the collision net recycling method has the advantages of stable and controllable posture, and compared with a mechanical locking mechanism, the collision net recycling method has the advantages of being simple in structure, low in fault probability and the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. An aerial recovery unit of unmanned aerial vehicle, its characterized in that includes:
carrying a machine;
the recycling hard rod (1), a through hole penetrating through the recycling hard rod (1) is formed in the center of the recycling hard rod (1), and one end of the recycling hard rod (1) is installed on the carrier;
the electromagnetic sucker (2) is in a sheet shape, and the electromagnetic sucker (2) is installed at the other end of the recovery hard rod (1) along the course;
the flexible towline (3) is nested in the through hole of the recovery hard rod (1), one end of the flexible towline (3) is connected with the retraction mechanism, and the other end of the flexible towline is provided with an electromagnetic butt joint taper sleeve (4);
the back surface of the unmanned aerial vehicle is provided with butt joint magnetic suction points (6) which can be attracted with the electromagnetic suction disc (2);
the docking cone head (5) is installed on the back of the unmanned aerial vehicle and can be attracted with the electromagnetic docking cone sleeve (4).
2. Unmanned aerial vehicle aerial recovery device of claim 1, characterized in that the recovery hard rod (1) is configured with a telescopic mechanism capable of controlling the recovery hard rod (1) to extend outside the vehicle.
3. Unmanned aerial vehicle aerial recovery device of claim 2, wherein the recovery rigid bar (1) is mounted at the tail of the carrier.
4. Aerial unmanned aerial vehicle recovery device of claim 2, wherein the recovery stiffener (1) is mounted within the cabin of the aircraft.
5. The aerial unmanned aerial vehicle recovery device of claim 1, wherein the docking magnetic suction points (6) are symmetrically arranged in two on the back surface of the unmanned aerial vehicle in front of and behind the docking cone head (5).
6. Aerial unmanned aerial vehicle recovery device of claim 5, wherein the docking magnetic attraction point (6) is a small metal disc, which is integrally formed with the back of the unmanned aerial vehicle.
7. Aerial unmanned aerial vehicle recovery device of claim 1, wherein the docking cone (5) is L-shaped and is fixed to the back of the unmanned aerial vehicle by welding.
8. An unmanned aerial vehicle aerial recovery method based on any one of claim 1 to claim 7, characterized by comprising:
the method comprises the following steps: after entering a recovery stage, the loader stretches out of the recovery hard rod (1) from the machine, and releases the flexible towing cable (3), and at the moment, the electromagnetic suction disc (2) and the electromagnetic butt joint taper sleeve (4) are not electrified and have no magnetic suction force;
step two: the unmanned aerial vehicle flies autonomously to carry out aerial butt joint, the butt joint conical head (5) is controlled to be in butt joint with the electromagnetic butt joint conical sleeve (4), after the butt joint is completed, the carrier controls the electromagnetic butt joint conical sleeve (4) to be electrified, and the unmanned aerial vehicle is captured through magnetic attraction;
step three: the aerial carrier recovers the flexible towing rope (3), and the unmanned aerial vehicle gradually approaches to the electromagnetic chuck (2) at the end part of the recovery hard rod (1) along with the flexible towing rope (3);
step four: after the flexible towing cable (3) is completely recovered into the recovery hard rod (1), the electromagnetic chuck (2) is in contact with a butt magnetic suction point (6) on the back of the unmanned aerial vehicle, and at the moment, the carrier is triggered to be connected with a power supply of the electromagnetic chuck (2), so that magnetic attraction is generated to firmly grasp the unmanned aerial vehicle;
step five: the carrier contracts to recover the hard rod (2), and the unmanned aerial vehicle is brought back to the cabin of the carrier, so that the recovery process is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010994884.2A CN112173122A (en) | 2020-09-21 | 2020-09-21 | Unmanned aerial vehicle aerial recovery device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010994884.2A CN112173122A (en) | 2020-09-21 | 2020-09-21 | Unmanned aerial vehicle aerial recovery device and method |
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Cited By (3)
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| CN113353265A (en) * | 2021-07-02 | 2021-09-07 | 张选琪 | Unmanned hunting machine |
| CN115783337A (en) * | 2023-02-09 | 2023-03-14 | 中国空气动力研究与发展中心空天技术研究所 | Active taper sleeve for aerial recovery of unmanned aerial vehicle |
| CN116679734A (en) * | 2023-07-19 | 2023-09-01 | 清华大学 | Cone rod type dynamic docking platform for unmanned aerial vehicle during running |
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