CN112678182A - Unmanned aerial vehicle formation recovery device and recovery method - Google Patents
Unmanned aerial vehicle formation recovery device and recovery method Download PDFInfo
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Abstract
The invention discloses a formation recovery device and a recovery method of an unmanned aerial vehicle, wherein the device comprises a carrier, and a positioning and grabbing mechanism is arranged in the carrier; each unmanned aerial vehicle is provided with a forward traction butt joint piece and a backward cascade butt joint piece, and the forward traction butt joint piece and the backward cascade butt joint piece of two adjacent unmanned aerial vehicles are matched; a plurality of unmanned aerial vehicle connects gradually according to the formation, and the unmanned aerial vehicle in the forefront is long machine, long machine with the location snatchs the mechanism and is connected, the location snatchs the mechanism can with unmanned aerial vehicle grabs into in proper order according to the formation order in the carrier. This openly can significantly reduce the time of retrieving after unmanned aerial vehicle formation docks with the carrier to improve the quantity of retrieving in can guaranteeing the finite time, and be difficult for causing apparent unmanned aerial vehicle's quality increase and continuation of the journey to reduce.
Description
Technical Field
The disclosure relates to the technical field of unmanned aerial vehicles, in particular to a formation recovery device and a recovery method of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle has small volume and mass and limited cruising ability and single-machine task ability. The unmanned aerial vehicle cluster expands the application scene of the unmanned aerial vehicle to a certain extent in a multi-machine cooperation mode. Especially in military mission, the unmanned aerial vehicle cluster can greatly improve the single-machine defense capability and form saturated attack to key sensitive targets. The release mode research of current unmanned aerial vehicle cluster is comparatively ripe, and unmanned aerial vehicle cluster deployment can all be implemented to road bed and air base. However, large unmanned clusters are generally expensive, and if they are used once, the combat cost is too high, and recovery is necessary after the mission is finished. When the distance between the unmanned aerial vehicle and an airport or a base is far away in a battle area, the remaining endurance of the unmanned aerial vehicle after the unmanned aerial vehicle executes a task cannot meet the requirement of return voyage, and at the moment, a large carrier is necessary to be adopted for space-based recovery. The air base recovery difficulty of the unmanned aerial vehicle cluster is high, and a mature effective scheme is provided at home and abroad. The current relatively advanced american sprite unmanned aerial vehicle cluster realizes the soft cable towing recovery in a manner similar to aerial refueling. Mainly release the flexible cable of similar aerial refueling hose by large-scale cargo airplane, realize its butt joint with unmanned aerial vehicle, pull unmanned aerial vehicle to near the cargo hold door by flexible cable again, realize folding of unmanned aerial vehicle and put by near the mechanism of hatch door, accomplish the recovery. Although the method can enable the aerial carrier and the unmanned aerial vehicle to be docked and dragged to the aerial carrier relatively safely, the time for recovering a single aerial vehicle is long, about 15 minutes, and the unmanned aerial vehicle which is not recovered needs to accompany with the flight for a long time for waiting. If 10 unmanned aerial vehicles are recovered in consideration, the flight time of the last recovered unmanned aerial vehicle is longer than that of the first recovered unmanned aerial vehicle by 150 minutes (2 and half hours), unrealistic constraint is provided for the residual endurance of the unmanned aerial vehicles after the task is finished, and the number of the recoverable unmanned aerial vehicles is greatly limited.
Disclosure of Invention
Therefore, in order to solve the above technical problems, it is necessary to provide a formation recovery device and a recovery method for unmanned aerial vehicles with short docking time and large recoverable number.
A formation recovery device for unmanned aerial vehicles, comprising:
the carrier is internally provided with a positioning and grabbing mechanism;
each unmanned aerial vehicle is provided with a forward traction butt joint piece and a backward cascade butt joint piece, and the forward traction butt joint piece and the backward cascade butt joint piece of two adjacent unmanned aerial vehicles are matched;
a plurality of unmanned aerial vehicle connects gradually according to the formation, and the unmanned aerial vehicle in the forefront is long machine, long machine with the location snatchs the mechanism and is connected, the location snatchs the mechanism can with unmanned aerial vehicle grabs into in proper order according to the formation order in the carrier.
In one embodiment, the forward-pulling docking piece comprises a connecting rod and a docking male, one end of the connecting rod is connected with the upper part of the unmanned aerial vehicle, and the other end of the connecting rod is connected with the docking male; the backward cascade butt joint spare includes connecting piece and butt joint female head, the one end of connecting piece with unmanned aerial vehicle's lower part is connected, the other end of connecting piece with butt joint female head is connected, wherein, adjacent two unmanned aerial vehicle butt joint male head with butt joint female head cooperatees.
In one embodiment, the upper and lower portions of the drone are provided with forward draw and aft cascade dock bays, respectively, in which the forward draw and aft cascade docks are placed, respectively.
In one embodiment, the connecting rod is a bracket, and the connecting piece is a flexible cable or a hard rod.
In one embodiment, the forward pulling dock and the rearward cascading dock are positioned and the line of force is proximate to the center of gravity of the drone.
A recovery method using a formation recovery device of an unmanned aerial vehicle comprises the following steps:
s1, adjusting the flight attitude of each unmanned aerial vehicle according to the front and rear positions, and preparing for a docking process in formation;
s2, the two adjacent unmanned aerial vehicles in the front and the back are butted through a forward traction butting piece and a backward cascade butting piece;
s3, after all unmanned aerial vehicles are docked, continuing flying in a formation mode;
s4, the carrier completes butt joint with the long machine according to the position of the long machine;
s5, the positioning and grabbing mechanism grabs the unmanned aerial vehicles into the carrier in sequence according to the formation sequence until all the unmanned aerial vehicles enter the carrier.
In one embodiment, in step S2, the process of docking between two adjacent drones in front and back by using the forward pulling docking piece and the backward cascading docking piece includes:
s21, adjusting the relative position of the rear unmanned aerial vehicle and the front unmanned aerial vehicle;
s22, the front unmanned aerial vehicle stretches out the butt joint female head of the backward cascade butt joint piece, the rear unmanned aerial vehicle stretches out the butt joint male head of the forward traction butt joint piece, and the butt joint female head is matched with the butt joint male head to complete the butt joint of two adjacent unmanned aerial vehicles;
and S23, keeping the connection piece of the backward cascade connection butt-joint piece in a loose state.
In one embodiment, in step S3, after all the drones are docked, some of the drones may turn off the power.
In one embodiment, in step S3, during the continuous flight of the drones in formation, the connecting members of the backward cascade docking member are gradually shortened and tightened, and when the front drone is close enough to the rear drone, the front drone is rigidly connected to the rear drone by means of the docking mechanisms pre-installed on the front drone and the rear drone.
In one embodiment, the long plane is in butt joint with the aerial carrier, and the butt joint sequence of the long plane and the rest unmanned planes is adjustable.
According to the unmanned aerial vehicle formation recovery device and the recovery method, each unmanned aerial vehicle is provided with the forward traction butt joint piece and the backward cascade butt joint piece, and the forward traction butt joint piece and the backward cascade butt joint piece of two adjacent unmanned aerial vehicles are matched; then, a plurality of unmanned aerial vehicle connect gradually according to the formation, and finally, the location snatchs the mechanism and can snatch unmanned aerial vehicle into the carrier according to the formation order in proper order, and it can significantly reduce the time that unmanned aerial vehicle formation and carrier dock the back and retrieve to improve the quantity of retrieving in the finite time, and be difficult for causing the quality increase and the continuation of the journey reduction of the unmanned aerial vehicle that is showing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a usage state diagram of a formation recovery device of an unmanned aerial vehicle of the present disclosure;
fig. 2 is a schematic structural diagram of a formation recovery device of the unmanned aerial vehicle of the present disclosure;
fig. 3 is a partial enlarged view of a formation recovery device of the unmanned aerial vehicle of the present disclosure;
fig. 4 is a method flowchart of a formation recovery method of the unmanned aerial vehicle of the present disclosure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 to 3, an embodiment of the present disclosure provides a formation recovery device for unmanned aerial vehicles, which is characterized by including a carrier 10, a plurality of unmanned aerial vehicles 20, and a positioning and grabbing mechanism 30.
Specifically, be equipped with the location in the carrier 10 and snatch mechanism 30, in this embodiment, carrier 10 is the cargo airplane promptly, and its mainly used bears the unmanned aerial vehicle of retrieving. The positioning grabbing mechanism 30 can be a mechanical arm or the like, and can grab the unmanned aerial vehicle and then place the unmanned aerial vehicle at a fixed position in the carrier 10.
Further, each drone 20 is provided with a forward pulling butt-joint part 201 and a backward cascading butt-joint part 202, and the forward pulling butt-joint part 201 and the backward cascading butt-joint part 202 of two adjacent drones 20 are matched;
further, it is a plurality of unmanned aerial vehicle 20 connects gradually according to the formation, and the unmanned aerial vehicle 20 in the forefront is long machine, long machine with the location snatchs mechanism 30 and is connected, the location snatchs mechanism 30 can with unmanned aerial vehicle 20 grabs into in proper order according to the formation order in the carrier 10. For example: after the task is completed, the unmanned aerial vehicle cluster integrates various factors to select a long aircraft as a formation recovery process to take the head for flying, and the rest unmanned aerial vehicles are sequenced according to the positions of the unmanned aerial vehicles in the formation, and the unmanned aerial vehicles finish the cascade butt joint of the front and rear aircrafts in the sequence from the long aircraft to the rear and continue flying in the formation form. Wherein, unmanned aerial vehicle cascade process can be gone on the way in the return journey after unmanned aerial vehicle accomplishes the task to shorten whole unmanned aerial vehicle and retrieve consuming time.
It should be noted that the positioning and grabbing mechanism 30 in the aircraft 10 includes a backward cascade butt-joint part 202, when the formation of the unmanned aerial vehicles meets the aircraft 10, a forward pulling butt-joint part 201 of the long aircraft is connected with the backward cascade butt-joint part 202 of the aircraft 10, and thereafter, the aircraft 10 can pull the formation of the unmanned aerial vehicles into the cabin by pulling the butt-joint part, and when each unmanned aerial vehicle reaches the cabin of the aircraft 10, the unmanned aerial vehicles can be grabbed, folded and sequentially stored by the positioning and grabbing mechanism 30.
According to the formation recovery device and the recovery method of the unmanned aerial vehicles, the forward traction butt-joint piece 201 and the backward cascade butt-joint piece 202 are arranged on each unmanned aerial vehicle 20, and the forward traction butt-joint piece 201 and the backward cascade butt-joint piece 202 of two adjacent unmanned aerial vehicles 20 are matched; then, a plurality of unmanned aerial vehicle 20 connect gradually according to the formation, and finally, the location snatchs mechanism 30 and can grab into carrier 10 with unmanned aerial vehicle 20 in proper order according to the formation order, and it can the unmanned aerial vehicle formation that significantly reduces docks the time of retrieving with carrier 10 after to improve the quantity of retrieving in guaranteeing the finite time, and be difficult for causing the increase in quality and the continuation of the journey reduction of the unmanned aerial vehicle that is showing.
In an embodiment of the present disclosure, the forward-pulling docking piece 201 includes a connecting rod 2011 and a docking male head 2012, one end of the connecting rod 2011 is connected to the upper portion of the drone 20, and the other end of the connecting rod 2011 is connected to the docking male head 2012; the backward cascade connection joint 202 comprises a connecting piece 2021 and a female joint 2022, one end of the connecting piece 2021 is connected to the lower part of the drone 20, the other end of the connecting piece 2021 is connected to the female joint 2022, and the male joint 2012 and the female joint 2022 of the two neighboring drones 20 are matched.
In an embodiment of the present disclosure, the upper portion and the lower portion of the drone 20 are respectively provided with a forward pulling docking piece cabin 203 and a backward cascading docking piece cabin 204, and the forward pulling docking piece 201 and the backward cascading docking piece 202 are respectively placed in the forward pulling docking piece cabin 203 and the backward cascading docking piece cabin 204. In this embodiment, in the flight process, the forward pulling butt-joint piece 201 and the backward cascading butt-joint piece 202 can be retracted and folded in the forward pulling butt-joint piece cabin 203 and the backward cascading butt-joint piece cabin 204, so that the resistance can be reduced, and the unmanned aerial vehicle can be unfolded and used in the docking and recycling processes. In other words, the forward pulling interface 201 is similar to a fighter aircraft air refueling oil receiving rod, and the backward cascading interface 202 is similar to an oil filling pipe dragged by an air refueling machine, so that each drone has the capability of being docked with a front aircraft and dragged by the front aircraft, and also has the capability of being cascaded with a rear aircraft and dragged by the rear aircraft.
In an embodiment of the present disclosure, the connecting rod 2011 is a bracket, and the connecting element 2021 is a flexible cable or a hard rod. It is worth noting that soft structures such as flexible cables can have small influence on the flight control of the front and rear unmanned aerial vehicles, and the weight is light. The hard structures such as the bracket, the hard rod and the like have the advantages of controllable direction, capability of controlling the hard structures to assist in butt joint, short butt joint time and the like.
Optionally, the position and line of force of the forward pulling dock 201 and the rearward cascading dock 202 are near the center of gravity of the drone 20. In this way, the influence of the forward pulling interface 201 and the backward cascading interface 202 on the individual attitude and flight control of the drone 20 during the cascading process can be reduced.
Referring to fig. 4, an embodiment of the present disclosure provides a method for recovering a formation of unmanned aerial vehicles, including the following steps:
s1, adjusting the flight attitude of each unmanned aerial vehicle 20 according to the front and rear positions, and preparing for a docking process in formation;
s2, the two unmanned aerial vehicles 20 adjacent to each other in the front and the back are butted through the forward pulling butting piece 201 and the backward cascading butting piece 202;
s3, after all the unmanned aerial vehicles 20 are docked, continuing flying in a formation mode;
s4, the carrier 10 completes butt joint with the long machine according to the position of the long machine;
s5, the positioning and grabbing mechanism 30 grabs the drones 20 into the carrier 10 in sequence according to the formation sequence until all the drones 20 enter the carrier 10.
Specifically, in step S2, the process of docking between two adjacent drones 20 in front and back by the forward pulling docking piece 201 and the backward cascading docking piece 202 includes:
s21, adjusting the relative position of the rear unmanned aerial vehicle 20 and the front unmanned aerial vehicle 20;
s22, the front drone 20 extends out the female docking head 2022 of the backward cascade docking piece 202, the rear drone 20 extends out the male docking head 2012 of the forward traction docking piece 201, and the female docking head 2022 and the male docking head 2012 are matched to complete docking of two adjacent drones 20;
s23, maintaining the connector 2021 of the aft cascade interface 202 in a relaxed state.
Further, in step S3, after all the drones 20 are docked, some of the drones 20 may turn off the power. Thus, some drones 20 only control the control surface to stabilize the flight attitude, and rely on the traction of the forward traction interface 201 and the backward cascade interface 202 as the flight power, so as to further shorten the requirement of the docking process for the drone during the flight.
Further, in the step S3, during the unmanned aerial vehicle 20 continues to fly in a formation, the connection 2021 of the backward cascade connection interface 202 is gradually shortened and tightened, and when the front unmanned aerial vehicle 20 and the rear unmanned aerial vehicle 20 are close enough to each other (e.g., in a close contact state), the front unmanned aerial vehicle 20 and the rear unmanned aerial vehicle 20 are rigidly connected by means of the docking mechanisms pre-installed on the front unmanned aerial vehicle 20 and the rear unmanned aerial vehicle 20. Thereby, can reconstitute a compound aircraft of compriseing many unmanned aerial vehicles, this compound aircraft can dock with carrier 10 and retrieve, and the butt joint recovery process is the same with single unmanned aerial vehicle's butt joint recovery to this further shortens unmanned aerial vehicle recovery time.
Further, the butt joint of the long plane and the carrier 10 can be adjusted, and the butt joint sequence of the long plane and the rest unmanned planes can be adjusted. For example: under the condition that the unmanned aerial vehicle cluster is short in return voyage process and cannot complete cascade butt joint, the unmanned aerial vehicle cluster can firstly converge with the carrier 10 to complete butt joint of a long machine and the carrier, and then butt joint of other unmanned aerial vehicles is sequentially carried out.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (10)
1. The utility model provides an unmanned aerial vehicle's formation recovery unit which characterized in that includes:
the carrier is internally provided with a positioning and grabbing mechanism;
each unmanned aerial vehicle is provided with a forward traction butt joint piece and a backward cascade butt joint piece, and the forward traction butt joint piece and the backward cascade butt joint piece of two adjacent unmanned aerial vehicles are matched;
a plurality of unmanned aerial vehicle connects gradually according to the formation, and the unmanned aerial vehicle in the forefront is long machine, long machine with the location snatchs the mechanism and is connected, the location snatchs the mechanism can with unmanned aerial vehicle grabs into in proper order according to the formation order in the carrier.
2. The formation recovery device of unmanned aerial vehicles of claim 1, wherein the forward pulling butt comprises a connecting rod and a butt male, one end of the connecting rod is connected with the upper part of the unmanned aerial vehicle, and the other end of the connecting rod is connected with the butt male; the backward cascade butt joint spare includes connecting piece and butt joint female head, the one end of connecting piece with unmanned aerial vehicle's lower part is connected, the other end of connecting piece with butt joint female head is connected, wherein, adjacent two unmanned aerial vehicle butt joint male head with butt joint female head cooperatees.
3. A formation recovery device for drones according to claim 2, wherein the upper and lower parts of the drones are provided with a forward pulling and backward cascading docking bay, respectively, in which the forward pulling and backward cascading docking bays are placed, respectively.
4. The formation recovery device of unmanned aerial vehicle of claim 2 or 3, wherein the connecting rod is a bracket, and the connecting piece is a flexible cable or a hard rod.
5. The formation recovery device of unmanned aerial vehicles of claim 1, wherein the position and line of force action of the forward pulling dock and the rearward cascading dock are near the center of gravity of the unmanned aerial vehicle.
6. A recovery method using a formation recovery device of an unmanned aerial vehicle is characterized by comprising the following steps:
s1, adjusting the flight attitude of each unmanned aerial vehicle according to the front and rear positions, and preparing for a docking process in formation;
s2, the two adjacent unmanned aerial vehicles in the front and the back are butted through a forward traction butting piece and a backward cascade butting piece;
s3, after all unmanned aerial vehicles are docked, continuing flying in a formation mode;
s4, the carrier completes butt joint with the long machine according to the position of the long machine;
s5, the positioning and grabbing mechanism grabs the unmanned aerial vehicles into the carrier in sequence according to the formation sequence until all the unmanned aerial vehicles enter the carrier.
7. The method for recycling formation of unmanned aerial vehicles according to claim 6, wherein in step S2, the process of docking between two adjacent unmanned aerial vehicles in front and back by using a forward-pulling docking piece and a backward-cascading docking piece includes:
s21, adjusting the relative position of the rear unmanned aerial vehicle and the front unmanned aerial vehicle;
s22, the front unmanned aerial vehicle stretches out the butt joint female head of the backward cascade butt joint piece, the rear unmanned aerial vehicle stretches out the butt joint male head of the forward traction butt joint piece, and the butt joint female head is matched with the butt joint male head to complete the butt joint of two adjacent unmanned aerial vehicles;
and S23, keeping the connection piece of the backward cascade connection butt-joint piece in a loose state.
8. The method for recycling unmanned aerial vehicle formation according to claim 6, wherein in step S3, after all unmanned aerial vehicles are docked, some unmanned aerial vehicles can be powered off.
9. The method for recycling the unmanned aerial vehicle formation as claimed in claim 6, wherein in step S3, the connection member of the backward cascade connection docking member is gradually shortened and tightened while the unmanned aerial vehicles continue flying in the formation form, and when the front unmanned aerial vehicle and the rear unmanned aerial vehicle are close enough, the front unmanned aerial vehicle and the rear unmanned aerial vehicle are rigidly connected by means of the docking mechanisms pre-installed on the front unmanned aerial vehicle and the rear unmanned aerial vehicle.
10. The method for unmanned aerial vehicle formation recycling of claim 6, wherein the docking of the long aircraft with the aerial vehicle is adjustable in the docking sequence of the long aircraft with the remaining unmanned aerial vehicles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110042006.5A CN112678182A (en) | 2021-01-13 | 2021-01-13 | Unmanned aerial vehicle formation recovery device and recovery method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113955121A (en) * | 2021-12-01 | 2022-01-21 | 北京航空航天大学 | Unmanned aerial vehicle empty base recovery device and method |
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| WO2018229761A1 (en) * | 2017-06-13 | 2018-12-20 | Israel Aerospace Industries Ltd. | Unmanned vehicles deployment and retrieval mechanism |
| JP6663468B1 (en) * | 2018-10-15 | 2020-03-11 | Ｈａｐｓモバイル株式会社 | Control device, program, system and control method |
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| US5521817A (en) * | 1994-08-08 | 1996-05-28 | Honeywell Inc. | Airborne drone formation control system |
| WO2004008266A1 (en) * | 2002-07-16 | 2004-01-22 | Honeywell International Inc. | Vehicle position keeping system |
| US20170036762A1 (en) * | 2015-08-03 | 2017-02-09 | Dustin Gamble | Release and Capture of a Fixed-Wing Aircraft |
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Application publication date: 20210420 |