CN112644729B - Automatic launching and recycling device and method based on unmanned vehicle - Google Patents
Automatic launching and recycling device and method based on unmanned vehicle Download PDFInfo
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- CN112644729B CN112644729B CN202110004404.8A CN202110004404A CN112644729B CN 112644729 B CN112644729 B CN 112644729B CN 202110004404 A CN202110004404 A CN 202110004404A CN 112644729 B CN112644729 B CN 112644729B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
Abstract
The invention provides an automatic launching and recovering device and method based on an unmanned vehicle, relates to the technical field of unmanned equipment transceiving, can integrate launching, recovering, storing and transporting of an unmanned aerial vehicle, has a simple structure, optimizes the pneumatic appearance and improves the pneumatic efficiency and the effective load capacity of flight; the device includes: the unmanned vehicle platform is used for providing required power for launching of the unmanned vehicle, predicting the landing position of the unmanned vehicle in the recovery process and moving the unmanned vehicle for recovery; the automatic launching device is used for bearing and fixing the unmanned aerial vehicle to be launched and automatically launching the unmanned aerial vehicle when launching conditions are met; the recovery device is used for completing receiving work when the unmanned aerial vehicle lands and realizing recovery of the unmanned aerial vehicle; automatic emitter and recovery unit all locate on unmanned car platform. The technical scheme provided by the invention is suitable for the process of launching and recovering the unmanned equipment.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned equipment transceiving, in particular to an automatic launching and recovering device and method based on an unmanned vehicle.
[ background of the invention ]
The existing traditional launching mode and the recovery mode of the unmanned aerial vehicle are designed separately, and the launching mode comprises ground running takeoff, vertical takeoff, hand throwing takeoff, catapult takeoff, rocket boosting launching, air launching and the like. The main methods for recovery include net collision recovery, skyhook, self landing recovery, parachuting recovery, stall recovery and the like. These current transmission and recovery modes are to middle-size and small-size fixed wing unmanned aerial vehicle system, and in the aspects such as economic nature, ease for use, security, reliable durability, automation and intellectuality hardly reach the balance, have restricted unmanned aerial vehicle system use scene and range of application to a certain extent.
Meanwhile, the existing patent is that the launching and recovery module can be replaced by the unmanned transportation platform, or the unmanned vehicle rotor unmanned aerial vehicle flies to recover the platform design, and the launching and recovery module is in the pre-research and development stage at home and abroad aiming at the cooperation of the fixed wing and the unmanned vehicle.
Accordingly, there is a need to develop an automatic launch and recovery device and method based on unmanned vehicles to address the deficiencies of the prior art and to solve or mitigate one or more of the problems set forth above.
[ summary of the invention ]
In view of the above, the invention provides an automatic launching and recovery device and method based on unmanned vehicles, which can integrate launching, recovery, storage and transportation of unmanned vehicles, have a simple structure, optimize the pneumatic appearance, and improve the pneumatic efficiency and the effective load capacity of flight.
In one aspect, the present invention provides an automatic launching and recycling device based on an unmanned vehicle, wherein the device comprises:
the unmanned vehicle platform is used for providing required power for launching of the unmanned vehicle, predicting the landing position of the unmanned vehicle in the recovery process and moving the unmanned vehicle for recovery;
the automatic launching device is used for bearing and fixing the unmanned aerial vehicle to be launched and automatically launching the unmanned aerial vehicle when launching conditions are met;
the recovery device is used for completing receiving work when the unmanned aerial vehicle lands and realizing recovery of the unmanned aerial vehicle;
automatic emitter and recovery unit all locate on unmanned car platform.
The above aspects and any possible implementation further provide an implementation in which the unmanned vehicle platform includes an unmanned vehicle body, a control center, and a reconnaissance device;
the detection equipment is used for detecting the unmanned aerial vehicle to be recovered and predicting the landing position and the landing time of the unmanned aerial vehicle according to the real-time flight data of the unmanned aerial vehicle;
and the control center controls the unmanned vehicle body to move according to the predicted landing position of the unmanned vehicle, and ensures that the unmanned vehicle body reaches the landing position before the predicted landing time.
In accordance with the above aspect and any possible implementation manner, there is further provided an implementation manner in which the automatic launching device includes a supporting platform and a plurality of unlocking fixtures;
The supporting platform is arranged on the unmanned vehicle platform; unblock fixing device locates supporting platform's both sides edge for be connected with the unmanned aerial vehicle bottom.
The above aspects and any possible implementations further provide an implementation in which the unlocking fixture includes a snap structure and a power device; the power device is connected with the buckle structure and is used for realizing the extension and retraction of the buckle structure relative to the supporting platform; the buckle structure is used for carrying out the joint with couple or the skid of locating the unmanned aerial vehicle bottom when exploring.
The aspect and any possible implementation manner as described above further provide an implementation manner, the upper end of the buckle structure is provided with a through screw hole, a locking screw is arranged in the through screw hole, and locking and unlocking of the hook or the skid in the buckle structure are realized by adjusting the screwing-down depth of the locking screw.
The above aspects and any possible implementations further provide an implementation in which the recycling apparatus includes a recycling bracket, a shock absorbing device, and a recycling net;
the recovery support is arranged at the front end of the unmanned vehicle platform and used for carrying out front-end interception on the unmanned vehicle after the unmanned vehicle falls down;
The shock absorption device is arranged on the recovery support and is used for realizing energy absorption and shock absorption when the recovery support intercepts the unmanned aerial vehicle;
retrieve the net and locate unmanned vehicle platform top for it is fixed to articulate with the couple of locating the unmanned aerial vehicle bottom when unmanned aerial vehicle descends.
As above-mentioned aspect and any possible implementation, further provide an implementation, the power that unmanned vehicle platform provided for unmanned aerial vehicle's transmission is inertia power, specifically is:
the unmanned vehicle platform bears the unmanned aerial vehicle to be launched to accelerate, and decelerates when the speed reaches the launching speed, so that the unmanned aerial vehicle to be launched is launched out under the inertia effect.
The above aspects and any possible implementations further provide an implementation, in which the automatic launching device further includes a plurality of straps for tying and fixing the drone to the support platform, so as to facilitate transportation of the drone in a non-launching state.
In another aspect, the present invention provides an automatic launch and recovery method based on an unmanned vehicle, the method being adapted to any one of the automatic launch and recovery devices described above;
the method comprises a launching process and a recovery process;
the steps of the transmission flow include:
S11, carrying the unmanned aerial vehicle to be launched to a launching site by the unmanned aerial vehicle platform;
s12, loosening all the binding bands and the locking screws to ensure that the unmanned aerial vehicle to be launched is only clamped with the clamping structure of the unlocking fixing device through the bottom hook or the skid;
s13, accelerating the unmanned aerial vehicle to be launched with the unmanned aerial vehicle platform;
s14, after the preset launching speed is reached, the unmanned vehicle platform decelerates to enable the unmanned vehicle to be launched under the action of inertia;
the steps of the recovery process include:
s21, detecting the unmanned aerial vehicle to be recovered through detection equipment of the unmanned aerial vehicle platform, and predicting the landing position and the landing time of the unmanned aerial vehicle according to real-time flight data of the unmanned aerial vehicle;
s22, the control center of the unmanned vehicle platform adjusts the moving speed and direction according to the landing position and the landing time of the unmanned vehicle predicted in the step S21, so that the unmanned vehicle platform reaches the landing position before the predicted landing time;
s23, repeating the steps S21 and S22 until the unmanned aerial vehicle to be recovered lands on the recovery device;
the recovery device on the unmanned vehicle platform is ready for recovery of the unmanned vehicle at the same time of steps S21-S23.
The above-described aspects and any possible implementation further provide an implementation in which the preparation for reclamation includes:
Before the unmanned aerial vehicle lands on the recovery device, a recovery support arranged at the front end of the unmanned vehicle platform is turned upwards, and front-end interception preparation is made;
the buckle structure of the unlocking fixing device is retracted to the position below the supporting platform, so that rubbing of the unmanned aerial vehicle during landing is prevented.
The technical scheme of the invention is not only suitable for the unmanned aerial vehicle, but also suitable for other equipment to be launched and recovered.
Compared with the prior art, the invention can obtain the following technical effects: the device is suitable for launching and recovering reloadable short-range and ultra-short-range fixed wings, rotor unmanned aerial vehicles and patrol missiles; the unmanned aerial vehicle launching, recovery, storage, maintenance and transportation are integrated, and the unmanned aerial vehicle launching, recovery, storage, maintenance and transportation are integrated; the system can remove relevant devices for launching and recovering on the existing unmanned aerial vehicle platform, simplify the structure, subtract waste weight, optimize the pneumatic appearance, and improve the technical indexes of the pneumatic efficiency, the effective load capacity, the time of flight, the voyage, the lift limit and the like of the flight; the unmanned vehicle with high maneuverability, easy operation and control and high control precision can improve the adaptability of the unmanned vehicle system to the launching and recovery environment; design commonality transmission and recovery unit, can satisfy the transmission and the recovery demand of multiple model, widen the product application scene to improve unmanned aerial vehicle system product competitiveness.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a structural diagram of an automatic launching and recycling device of an unmanned aerial vehicle according to an embodiment of the present invention; wherein (a) in fig. 1 is a side view, and (b) in fig. 1 is a top view;
fig. 2 is an overall three-dimensional structural view of the automatic launching and recycling device of the unmanned aerial vehicle and the unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a structural diagram of the automatic launching and recycling device of the unmanned aerial vehicle according to an embodiment of the present invention in a launching state;
fig. 4 is a structural diagram of the automatic launching and recycling device of the unmanned aerial vehicle according to an embodiment of the present invention in a recycling state;
FIG. 5 is a schematic illustration of the operation of the latch release provided by one embodiment of the present invention;
FIG. 6 is a schematic diagram of a pressing mechanism according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an unmanned aerial vehicle acceleration launching phase strategy according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a recovery phase policy of the drone provided by an embodiment of the present invention;
fig. 9 is a flowchart of the determination of the width of the retrieval stent according to an embodiment of the present invention.
Wherein, in the figure:
1. an unmanned vehicle body; 2. a control center; 3. a reconnaissance device; 4. unlocking the fixing device; 5. a support platform; 6. binding bands; 7. recovering the bracket; 8. a damping device; 9. recovering the net; 10. a hold-down mechanism; 11. a limiting mechanism; 12. locking the screw; 13. a motor; 14. and (4) launching a hook.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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 invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The automatic launching and recycling device is designed by integrating an automatic launching and recycling platform with an unmanned vehicle, realizes vehicle-mounted machine cooperative control by combining the unmanned vehicle, completes the automatic flying, launching and recycling design of 0-200 kg-level fixed wings and rotor unmanned vehicles, and realizes vehicle-mounted machine integrated design and development. This design is based on automatic transmission recovery unit of unmanned vehicle is through studying the automatic transmission recovery technology based on unmanned vehicle, develops one set of safe and reliable, use cost low, collect unmanned aerial vehicle transmission, retrieve, store up the maintenance and deliver intelligent unmanned aerial vehicle transmission recovery system in an organic whole. The system can remove relevant devices for launching and recovering on the existing unmanned aerial vehicle platform, simplify the structure, subtract waste weight, optimize the pneumatic appearance, and improve the technical indexes of the pneumatic efficiency, the effective load capacity, the time of flight, the voyage, the lift limit and the like of the flight; the unmanned vehicle with high maneuverability, easy operation and control and high control precision can improve the adaptability of the unmanned aerial vehicle system to the launching and recycling environment; design commonality transmission and recovery unit, can satisfy the transmission and the recovery demand of multiple model, widen the product application scene to improve unmanned aerial vehicle system product competitiveness.
The launching and recovering device comprises an unmanned vehicle platform, an automatic launching device and a recovering device; the unmanned vehicle platform comprises an unmanned vehicle body 1, a control center 2 and a detection device 3; the automatic launching device comprises an unlocking fixing device 4, a supporting platform 5 and a binding band 6; the recovery device comprises a recovery bracket 7, a damping device 8 and a recovery net 9. As shown in fig. 1-2.
Unmanned car automobile body 1 is the portable automobile body that has a plurality of gyro wheels, and the side of automobile body is equipped with control center 2, and the front end of automobile body is equipped with investigation equipment 3. Unmanned vehicle body 1's top is equipped with emitter, locates the supporting platform 5 at vehicle body top including tiling or low-angle slope, and supporting platform 5's top is transversely located to bandage 6. Supporting platform 5 can be netted, and the front end is higher than the rear end when the low-angle slope sets up, and unmanned aerial vehicle of being convenient for takes off. Unblock fixing device 4 locates the both sides of supporting platform 5 for fix unmanned aerial vehicle on supporting platform 5 before the transmission, accomplish the fixed to unmanned aerial vehicle skid or transmission couple 14 through buckle structure on unblock fixing device 4, realize long-distance fixed and transportation of unmanned aerial vehicle through bandage 6 afterwards, bind skid or couple on the unmanned aerial vehicle with supporting platform 5 through bandage 6 promptly. The recovery device comprises a recovery bracket 7, a damping device 8 and a recovery net 9; the recovery net 9 can be integrated with the supporting platform 5, namely the reticular supporting platform, at the moment, the platform comprises a frame and a reticular structure arranged between the frames, the platform is arranged at the top of the unmanned vehicle body, and the upper surface of the vehicle body serves as a supporting plate; also can not be as an organic whole, supporting platform is platelike, locates unmanned vehicle automobile body top, for unmanned aerial vehicle's placing provides the holding power, retrieves the net setting at the supporting platform upper surface, and the couple of unmanned aerial vehicle lower extreme can articulate with retrieving the net when for the ease of retrieving, is equipped with certain space between the upper surface of retrieving net and supporting platform. Retrieve support 7 and locate the front end of unmanned vehicle automobile body 1, can use the unmanned vehicle front end to upwards overturn as the fulcrum, accomplish the upset that makes progress before unmanned aerial vehicle falls to retrieving on the net 9, fall to retrieving to realize stopping and the energy-absorbing effect to unmanned aerial vehicle's recovery after the net at unmanned aerial vehicle, prevent that unmanned aerial vehicle from leading the too big landing or retrieving the net damage that causes of dynamics, guarantee unmanned aerial vehicle and unmanned vehicle's safe butt joint. Retrieve and be equipped with damping device 8 on the support 7, damping device 8 can be that rubber gasket also can be other structures or the material that have the cushioning effect, and damping device 8 sets up and is retrieving support 7 trailing flank, plays the energy-absorbing effect when unmanned aerial vehicle and retrieve the support contact.
The working process of the automatic launching and recovering device is explained as follows:
the unmanned aerial vehicle is integrally designed by the device for launching, recovering and transporting.
Supporting platform passes through fixing device and unmanned aerial vehicle fixes during autonomic transmission state, when reaching the instruction of flying away and condition, carries out unmanned aerial vehicle's automatic transmission through unblock fixing device 4. As shown in fig. 3.
The unlocking fixing device 4 is arranged on the supporting platform 5 and comprises a pressing mechanism 10, a limiting mechanism 11 and a locking screw 12. The unmanned aerial vehicle launching hook 14 is pressed by the pressing mechanism 10 through the motor, the position of the pressing mechanism is kept through the limiting mechanism 11 after the pressing mechanism 10 is in place, the locking force which is not less than 500N of the pressing mechanism is achieved, the locking screw 12 is adjusted to apply the locking force after the pressing mechanism is in place, and the structural form and the pressing process of the unlocking and fixing device are shown in figures 5-6. Hold-down mechanism 10 and stop gear 11 wrap up the setting each other, and inside formation is used for with the space that the transmission couple on the unmanned aerial vehicle articulated, stop gear 11's top cover part upper portion opening in this space, and cover part and space horizontal axis have certain gradient to in and out of couple is convenient for. The covering part is provided with a through screw hole, and the emission hook 14 is locked and released through the downward screwing degree of the locking screw 12. The locking is realized in a non-emission state, so that the fixing and the transportation are convenient; before the transmission, earlier with higher speed unmanned vehicle, treat to reach and loosen locking screw 12 behind the predetermined emission rate, unmanned vehicle begins to slow down simultaneously, and unmanned aerial vehicle its transmission couple 14 struggles out from articulating the space under inertial action, realizes on-vehicle letting fly. Motor 13 passes through aggregate unit and is connected with unblock fixing device 4, makes it realize the adjustment of displacement from top to bottom under the electrodynamic action to be convenient for compress tightly with unmanned aerial vehicle launch couple and articulate. When carrying out unmanned aerial vehicle and retrieving, unblock fixing device 4 moves down under motor 13's effect, imbeds supporting platform 5 below, can prevent outstanding unblock fixing device 4 like this and wait to retrieve unmanned aerial vehicle and bump. After the recovery is completed, the unmanned aerial vehicle is moved upwards again to be pressed and hooked with the launching hook of the unmanned aerial vehicle, and is locked through the locking screw 12. The number of the motors 13 may be multiple, for example, one motor 13 is configured for each unlocking fixture 4, and the motor shaft of the motor 13 may directly unlock the bottom end of the unlocking fixture 4 for connection. It is also possible to control a plurality of unlocking fixtures 4 to move simultaneously by one motor.
When retrieving the task, upwards overturn and retrieve support 7, reach the recovery state, as shown in fig. 4, use the rear of a vehicle as the benchmark, retrieve the contained angle of support 7 and automobile body < 90 °, then come perception and measurement through investigation equipment 3, fix a position and according to landing angle, flight parameters such as flight speed and environmental parameter prejudge its landing position to unmanned aerial vehicle, through the position adjustment of automatic transmission recovery unit in accelerating zone and collaborative zone, intelligent control locomotive is aimed at in coordination, meet, accomplish unmanned aerial vehicle and buffering energy-absorbing device (being damping device) after contacting, block latch hook and retrieve the net lock through the airborne barrier, accomplish and retrieve the task. The airborne blocking latch hook is a hook structure arranged at the end of the unmanned aerial vehicle and is used for being hooked with a recovery net to realize recovery blocking. The hook direction of the airborne arresting lock hook can comprise a front direction and a rear direction or only comprises one rear direction, so that the phenomenon that the hook is hung with the recovery net to be prevented from falling when the damping and energy absorption are not carried out and the energy is not completely absorbed can be ensured.
Automatic transmission recovery unit stability design based on unmanned car:
1. mass and centroid verification
The projection of the central point of the front axle of the whole vehicle on the ground is taken as the origin of coordinates. The vehicle length direction is taken as an X coordinate, the vehicle width direction is taken as a Y coordinate, and the vehicle height direction is taken as a Z coordinate. The weight and the mass center position of the chassis vehicle and the main loading equipment after the refitting are shown in the table 1.
TABLE 1 weight and center of mass position of the main loading equipment
1.1 the weight of the whole vehicle: g is 550kg < the weight of the whole vehicle 600 kg.
1.2 the mass center position of the whole vehicle:
X＝(W1·X1+W2·X2+W3·X3)/ΣWi＝980(mm)；
Y＝(W1·Y1+W2·Y2+W3·Y3)/ΣWi＝10(mm)；
Z＝(W1·Z1+W2·Z2+W3·Z3)/ΣWi＝530(mm)。
the longitudinal center of mass of the whole vehicle is 980mm (from the front shaft);
the transverse center of mass of the whole vehicle is deviated from the left by 10mm (from the symmetrical center);
the height of the center of mass is 530mm (from the ground).
1.3 lateral stability of the entire vehicle (No-load)
According to the requirements of GJB2225.6-94, after the equipment is installed, the height of the gravity center should meet the requirements of lateral stability and longitudinal stability. The lateral stability should comply with the following formula:
in the formula: b-automobile wheel track, wherein the chassis wheel track B is 1600 mm;
α -roll stability angle: the national military standard requires that alpha is more than or equal to 31 degrees;
h-centroid height, calculated from the previous: h is 500 mm.
Substituting data to obtain:
then alpha is 58 deg. > 31 deg. and arctg1.6
Therefore, the transverse overturning coefficient meets the requirement, and the transverse stability of the automobile meets the requirement.
1.4 longitudinal stability of the entire vehicle (No-load)
The longitudinal stability should comply with the following formula
In the formula, L is the distance between the center of gravity of the whole vehicle and a rear axle, and L is 1200 mm;
phi-ground adhesion coefficient, and the international standard requirement is that phi is 0.5-0.6;
h-centroid height, calculated from the previous H500 mm.
Substituting data:
according to the analysis, the stability requirements of the whole vehicle in the transverse direction and the longitudinal direction are met.
Designing an automatic transmitting device: automatic launcher is on-vehicle to fly away the platform and is supporting platform 5, bandage 6 and unblock fixing device 4 are constituteed, supporting platform 5 is adjustable state, non-operating condition under bracing platform 5, bandage 6 and unblock fixing device 4 play support, fixed and warehousing and transportation unmanned aerial vehicle's effect, operating condition under bracing platform plays the effect that supports unmanned aerial vehicle, unblock fixing device 4 passes through motor 13 and hold-down mechanism 10 and accomplishes unmanned aerial vehicle's fixed function. Motor 13 control carries out serial ports instruction transmission through ECU driving control system, receives to fly the instruction after, and unblock fixing device 4 loosens and controls the dead branch of lock, realizes the automatic unmanned aerial vehicle function of flying. As shown in fig. 5. Support platform 5 accessible is adjusted the front and back support and is realized unmanned aerial vehicle and fly the regulation of every single move angle, and the control range is 0 ~ 10, and the default angle of flying is 3.
Unblock fixing device 4 installs on supporting platform, compresses tightly unmanned aerial vehicle transmission couple through electronic implementation hold-down mechanism 10, and hold-down mechanism puts in place and realizes through stop gear 11 that hold-down mechanism position keeps, realizes hold-down mechanism no less than 500N's locking force, adjusts locking screw 12 and realizes that the locking force is applyed after hold-down mechanism 10 targets in place. As shown in fig. 6.
In the scheme, a single pressing mechanism 10 (namely a pressing hook) is required to bear 500N of load, and the unlocking time is within 1S; the compression hook is first checked for strength, under the action of which the maximum compression hook stress appears at the upper end of the compression mechanism 10 at 185MPa and the maximum compression hook deformation is 0.3 mm. The compression hook material is 2Cr13, the tensile strength is 635MPa, and the compression hook strength meets the design requirement.
The automatic emission and recovery system cooperative control strategy based on the unmanned vehicle is as follows: the cooperative control strategy is divided into three stages, namely a preparation stage before launching, an accelerated launching of the unmanned vehicle and a cooperative recovery stage of the unmanned vehicle and the unmanned vehicle.
(1) Pre-launch preparation phase
The method comprises the steps of selecting a smooth and suitable road surface as a launching and recycling site, cleaning the road surface, unfolding a system, completing the system to be powered up for testing, detecting the site environment by utilizing an on-board sensor, constructing a high-precision three-dimensional map of the site, collecting meteorological information, planning launching of an unmanned aerial vehicle and an unmanned vehicle in a coordinated manner, recycling a mission route based on measurement information and the motion characteristics of the unmanned aerial vehicle, then loading a fixed unmanned aerial vehicle, starting an engine of the unmanned aerial vehicle, driving the unmanned vehicle to a launching area starting point, and waiting for accelerating launching of the unmanned aerial vehicle.
(2) Accelerating launching stage of unmanned vehicle
The unmanned vehicle starts to accelerate according to a motion track planned in advance, the runway environment is observed in real time through the sensing and measuring device, the speed meeting the flying requirement of the unmanned vehicle is accelerated, the working state of each system is confirmed to be normal, then wing locking mechanisms on two sides are released, the unmanned vehicle breaks away from the unmanned vehicle, a set climbing route is entered, the unmanned vehicle brakes and decelerates according to the set motion track, and the flying action of the unmanned vehicle is completed. As shown in fig. 7.
(3) Locomotive cooperative recovery phase
After finishing unmanned aerial vehicle and letting fly, unmanned aerial vehicle stops in the position area who sets for, treat that unmanned aerial vehicle accomplishes the mission flight and return to retrieving the region, unmanned aerial vehicle passes through perception and measuring device and searches for to unmanned aerial vehicle, trail, location and survey the appearance, if unmanned aerial vehicle and unmanned aerial vehicle's motion state satisfies the recovery condition of advancing, both get into the recovery stage in coordination, trail through the search, with higher speed syntropy, align in coordination and descend high, the lance parks, fixed speed reduction flow accomplishes unmanned aerial vehicle's recovery. As shown in fig. 8.
Designing an automatic recovery device: unmanned aerial vehicle retrieves support and realizes unmanned aerial vehicle's recovery and block and energy-absorbing effect, ensures unmanned aerial vehicle and unmanned vehicle's safe butt joint, retrieves support top and follows the design with cambered surface overhead kick, effectively avoids under the extreme condition of rolling over, the wing breaks away from and retrieves the pole. The blocking latch hook is used for completing the blocking butt joint of the unmanned aerial vehicle and the unmanned vehicle through the recovery support, and then the blocking butt joint is hooked with the recovery net for positioning, so that the stable recovery of the unmanned aerial vehicle is guaranteed. Retrieve the net and accomplish and block and hang with the block that blocks the latch hook to in unmanned aerial vehicle whereabouts recovery process, retrieve the net device and possess automatic flexible extension wire side width function, realize supporting and cushioning effect. Locking mechanism accomplishes the transportation in-process, unmanned aerial vehicle's fixed and lock function.
The recovery device is composed of a recovery bracket 7, a damping device 8 and a recovery net 9, and is specifically shown in figure 1. The recovery rod is in an upright state, and when the unmanned aerial vehicle collides and recovers, the impact and safety protection effect caused by the speed difference are counteracted; the recovery support 7 enhances the rigid structure of the whole recovery device; the recovery net 9 is used for limiting the hook of the unmanned aerial vehicle arresting cable hook and supporting and protecting the unmanned aerial vehicle arresting cable hook when the unmanned aerial vehicle arresting cable hook falls.
On-vehicle recovery unit retrieves support 7 and is the state of tightening up at unmanned aerial vehicle warehousing and transportation and non-recovery state, and damping device 8 fixes on retrieving the support, retrieves support 7 and passes through motor control, plays the function of tightening up the recovery support (retrieving the support and falling to unmanned vehicles front end this moment) and launching the recovery support, when launching the recovery support, retrieves the support and is vertical in the automobile body plane (this moment with the automobile body contained angle < 90 °).
The basic principle of the unmanned vehicle recovery device is that the speed of an airplane is reduced to zero relative speed with a vehicle through the recovery device, then a pressing mechanism (also called a pressing hook) on the airplane body is hung on a recovery net on an unmanned vehicle body, the unmanned vehicle and the vehicle are fixedly connected together, the speed of the unmanned vehicle is slowly reduced to zero, and the recovery task of the unmanned vehicle is completed.
In unmanned vehicle and unmanned aerial vehicle recovery process in coordination, the vehicle-mounted observation equipment is to unmanned aerial vehicle relative unmanned vehicle's position measurement precision: x is the number of Extract of Chinese medicinal materials≤0.1m,yExtract of Chinese medicinal materials≤0.1m；
Designing a guidance law and a control law of the longitudinal and transverse motion of the unmanned vehicle according to a cooperative recovery strategy, carrying out simulation analysis according to the measurement precision of observation equipment and FH-96 real flight data of the toboggan flight, and preliminarily determining the situation at vVehicle with wheelsWhen the speed is more than or equal to 25m/s, the control precision of the vehicle-mounted control system to the unmanned vehicle is as follows:
fig. 9 is a flowchart of the width determination of the retrieval bracket 7 (i.e., the arresting bar in the figure). The width between two recovery supports 7 of final definite is about 2m, and this width can be adjusted according to the model and the size that are suitable for unmanned aerial vehicle.
The automatic launching and recycling device and method based on the unmanned vehicle provided by the embodiment of the application are introduced in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article of commerce or system in which the element is comprised.
It should be understood that the term "and/or" as used herein is merely a relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (9)
1. An automatic launch and recovery device based on an unmanned vehicle, the device comprising:
the unmanned vehicle platform is used for providing required launching power for the equipment to be launched, predicting the landing position of the equipment to be recovered in the recovery process and moving the equipment to be recovered so as to recover the equipment;
the automatic launching device is used for bearing and fixing the equipment to be launched and automatically launching the equipment when launching conditions are met;
the recovery device is used for completing receiving work when the equipment to be recovered descends and realizing recovery of the unmanned equipment;
the automatic launching device and the recovery device are both arranged on the unmanned vehicle platform;
the recovery device comprises a recovery support, a damping device and a recovery net;
the recovery support is arranged at the front end of the unmanned vehicle platform and used for carrying out front-end interception on the equipment to be recovered after the equipment to be recovered falls;
the shock absorption device is arranged on the recovery support and is used for realizing energy absorption and shock absorption when the recovery support intercepts the equipment to be recovered;
the recovery net is arranged at the top of the unmanned vehicle platform and used for hooking and fixing the hook arranged at the bottom end of the recovery equipment when the recovery equipment descends.
2. The unmanned vehicle-based automatic launch recovery apparatus according to claim 1 wherein the unmanned vehicle platform comprises an unmanned vehicle body, a control center and a reconnaissance device;
The detection equipment is used for detecting the equipment to be recovered and predicting the landing position and the landing time of the equipment to be recovered according to the real-time flight data of the equipment to be recovered;
and the control center controls the unmanned vehicle body to move according to the predicted landing position of the equipment to be recovered, and ensures that the unmanned vehicle body reaches the landing position before the predicted landing time.
3. The unmanned-vehicle-based automatic launching and recycling device as claimed in claim 1, wherein the automatic launching device comprises a supporting platform and a plurality of unlocking fixtures;
the supporting platform is arranged on the unmanned vehicle platform; the unlocking fixing device is arranged at the edges of two sides of the supporting platform and used for being connected with the bottom end of the equipment to be launched.
4. The unmanned-vehicle-based automatic launch and recovery device of claim 3 wherein the unlocking fixture comprises a snap-fit structure and a power device; the power device is connected with the buckle structure and is used for realizing the extension and retraction of the buckle structure relative to the supporting platform; the buckle structure is used for being clamped with a hook or a skid arranged at the bottom end of the equipment to be launched when the buckle structure is extended out.
5. The unmanned vehicle-based automatic launching and recycling device as claimed in claim 4, wherein a through screw hole is formed in the upper end of the buckle structure, a locking screw is arranged in the through screw hole, and locking and unlocking of a hook or a skid in the buckle structure are achieved by adjusting the screwing-down depth of the locking screw.
6. The unmanned vehicle-based automatic launching and recycling device according to claim 1, wherein the launching power provided by the unmanned vehicle platform for the equipment to be launched is inertial power, specifically:
the unmanned vehicle platform bears the equipment to be launched for acceleration, and decelerates when the speed reaches the launching speed, so that the equipment to be launched is launched out under the inertia effect.
7. The unmanned vehicle-based automatic launching and recycling device as claimed in claim 3, wherein the automatic launching device further comprises a plurality of straps for binding and fixing the equipment to be launched and the supporting platform for transportation in a non-launching state.
8. An automatic launching and recycling method based on unmanned vehicles, which is characterized in that the method is suitable for the automatic launching and recycling device according to any one of claims 1 to 7;
the method comprises an emission process and a recovery process;
the steps of the transmission flow include:
s11, carrying the equipment to be launched to a launching place by the unmanned vehicle platform;
s12, loosening all the binding bands and locking screws to ensure that the equipment to be transmitted is only clamped with the clamping structure of the unlocking fixing device through a bottom hook or a skid;
s13, accelerating the unmanned vehicle platform with the equipment to be launched;
S14, after the preset launching speed is reached, the unmanned vehicle platform decelerates to enable the equipment to be launched under the action of inertia;
the recovery process comprises the following steps:
s21, detecting the equipment to be recovered through detection equipment of the unmanned vehicle platform, and predicting the landing position and the landing time of the equipment to be recovered according to the real-time flight data of the equipment to be recovered;
s22, the control center of the unmanned vehicle platform adjusts the moving speed and direction according to the landing position and the landing time predicted in the step S21, so that the unmanned vehicle platform reaches the landing position before the predicted landing time;
s23, repeating the steps S21 and S22 until the equipment to be recovered falls onto the recovery device;
the recovery device on the unmanned vehicle platform is ready for recovery at the same time as steps S21-S23.
9. The automated unmanned vehicle-based launch recovery method of claim 8, wherein recovery preparation comprises:
before the equipment to be recovered is descended to the recovery device, a recovery support arranged at the front end of the unmanned vehicle platform is turned upwards, and front-end interception preparation is made;
the buckle structure of the unlocking fixing device is retracted below the supporting platform, so that rubbing of the equipment to be recovered during descending is prevented.
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