CN114013660A

CN114013660A - Amphibious flight device for recycling unmanned equipment on water

Info

Publication number: CN114013660A
Application number: CN202111323243.5A
Authority: CN
Inventors: 方记文; 范波; 冯学东; 梁东生; 张连仁; 王佳; 卢道华
Original assignee: Wuxi Pneumatic Technical Research Institute Co ltd; Jiangsu University of Science and Technology
Current assignee: Wuxi Pneumatic Technical Research Institute Co ltd; Jiangsu University of Science and Technology
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-08

Abstract

The invention discloses an amphibious flight device for recovering overwater unmanned equipment, which comprises an unmanned aerial vehicle body, a hoisting recovery device and a take-off and landing device for flying on water or land. Hoist and mount recovery unit includes motorized pulley and electromagnetism jack catch, and motorized pulley detachably sets up on the unmanned aerial vehicle body, is connected through the hawser between electromagnetism jack catch and the motorized pulley. The take-off and landing device comprises a steering engine module, a pulley mechanism and three foldable take-off and landing feet, wherein the steering engine module can be matched with the pulley mechanism to unfold and fold the take-off and landing feet which are externally wrapped with waterproof canvas, and the water take-off and landing of the flying device are completed. The unmanned aerial vehicle recovery device can efficiently utilize the same device to recover different types of unmanned equipment in an energy-saving manner, and can eliminate the risk that the unmanned aerial vehicle cannot return after falling into water.

Description

Amphibious flight device for recycling unmanned equipment on water

Technical Field

The invention relates to the technical field of unmanned equipment recovery research, in particular to an amphibious flight device for recovering unmanned equipment on water.

Background

At present, unmanned equipment such as unmanned boats, unmanned ships and underwater robots play an immeasurable role in detection and development of oceans and lakes, but due to the fact that water environment conditions are complex and changeable, butt joint of the unmanned equipment on water and a mother ship is difficult, and an operator is difficult to control the unmanned equipment to accurately and stably return to a shore or the mother ship after a detection task is completed. Meanwhile, the unmanned device is easy to break down and lose power due to corrosion of seawater, beating of waves, energy consumption and the like, so that huge economic loss and detection data loss are caused. Therefore, how to efficiently and reliably recover unmanned equipment on water is an urgent problem to be solved. The unmanned aerial vehicle carries a specific module, and can better solve a plurality of problems in the recovery process.

In the existing unmanned equipment recovery technology, the same method is used for recovering different types of unmanned equipment by using the same device. The recovery system for the water surface autonomous recovery autonomous underwater robot described in the reference CN113148019A adopts the technical scheme that an unmanned aerial vehicle is used for cable throwing assistance, and a boat is used as the main power for recovery. The scheme has a slightly complex structure, consumes more energy, and does not avoid the use of a plurality of materials if only the micro robot is recycled. In addition, this solution requires the provision of docking elements on the recovered device, which is not suitable for unmanned recovery where no docking elements are provided.

Simultaneously, carry out unmanned equipment on water and retrieve and need fly on the surface of water, if the unmanned aerial vehicle flight in-process hits the unexpected condition, if the strong wind or the improper easy falling into water of misoperation, can damage equipment after falling into water, still can need to launch other equipment again and retrieve. Comparison document CN211167443U discloses one kind and is applied to unmanned aerial vehicle and prevents falling water installation, but this device only can protect unmanned aerial vehicle not to immerse in the water, can't make unmanned aerial vehicle take off again by oneself, still can't return by oneself.

Disclosure of Invention

The invention aims to provide an amphibious flight device for recovering unmanned equipment on water, which can conveniently, energy-saving and efficiently utilize the same device to complete the recovery of different types of unmanned equipment, and can ensure the safety of a machine body and return automatically after falling into water accidentally.

To achieve the above object, according to an embodiment of the present disclosure, there is provided an amphibious flying device for unmanned aerial vehicle recovery on water, including: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a hoisting and recovering device and a take-off and landing device for flying and taking off and landing on the water surface or land; the hoisting recovery device comprises an electric roller and an electromagnetic jaw, the electric roller is detachably arranged on the unmanned aerial vehicle body, a tail-end common magnet and a tail-end electromagnet are respectively arranged at the tail end of the electromagnetic jaw, and the electromagnetic jaw is subjected to waterproof treatment; the electromagnetic clamping jaws are connected with the electric roller through cables.

Preferably, motorized pulley is through connecting cardboard and this body coupling of unmanned aerial vehicle.

Preferably, the invention comprises at least one hoist recovery device of different cable lengths.

Preferably, a steering engine module is arranged above the lifting device and fixedly connected with the unmanned aerial vehicle body, and a radar detection device is arranged at the bottom end of the lifting device.

Preferably, the lifting device comprises a buncher, a buncher guide rail hook, a pulley mechanism and a three-folding lifting foot; the buncher is connected with the steering engine module through a pulley mechanism, the lifting foot is connected with the buncher through a bolt, a landing fulcrum is arranged at the tail end of a second folding arm of the lifting foot, and waterproof canvas is detachably mounted on the outer side of the bottom of the lifting foot.

Preferably, the number of the landing feet is 8.

Preferably, the steering engine module comprises a steering engine and an internally-arranged control system.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the detachable roller is matched with the electromagnetic clamping jaw, so that the unmanned aerial vehicle can be butted with the unmanned aerial vehicle no matter whether the butting part is preassembled or not, and an operator can also be directly butted with the unmanned aerial vehicle, so that the unmanned aerial vehicle can be recovered by various types of unmanned aerial vehicles in an energy-saving and efficient manner, and meanwhile, the hoisting recovery devices with different cable rope lengths are configured to bring more selective spaces for recovering different types of equipment;

(2) the unmanned aerial vehicle can take off again after being adjusted and return by itself, thereby providing reliable and convenient support for the overwater work of the unmanned aerial vehicle;

(3) the steering engine module and the pulley mechanism drive the lifting and falling feet to fold and unfold, and the waterproof canvas is matched to lift and fall the water surface of the unmanned aerial vehicle, so that the structure is simple, the cost is low, the waterproof canvas can be detached when the land rises and falls, the weight is reduced, and the stability when the unmanned aerial vehicle falls to the ground is improved;

(4) the invention utilizes the umbrella type three-folding undercarriage framework, can be used as a supporting framework of a water surface undercarriage shape boat when the device is unfolded, can be used as a supporting leg for landing and taking off when the device is closed, and the four-bar mechanism can play a certain role in buffering and damping.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required by the present invention are briefly introduced 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 that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the operation of the present invention.

FIG. 3 is a schematic diagram of land take-off and landing in the present invention.

FIG. 4 is a schematic view of water surface take-off and landing in the present invention.

Fig. 5 is a half-section schematic view of a pulley mechanism of the lifting device.

Fig. 6 is a skeleton schematic diagram of the lifting device of the present invention.

Fig. 7 is a half-section schematic view of the connection between the framework and the pulley mechanism of the lifting device.

Fig. 8 is a lifting recovery device of the invention.

The unmanned aerial vehicle comprises an electric roller 1, an electromagnetic claw 2, a tail end common magnet 201, a tail end electromagnet 202, a connecting clamping plate 203, a radar detection device 3, a steering engine module 4, a steering engine 401, a lifting device 5, a buncher 501, a buncher guide rail hook 502, a pulley mechanism 503, a landing pivot 504, a landing foot 505 and an unmanned aerial vehicle body 6.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

As shown in fig. 1 and 8, the structure of the invention mainly comprises an unmanned aerial vehicle body 6, a hoisting and recovering device and a take-off and landing device 5 for flying and taking off and landing on water or land. Hoist and mount recovery unit is equipped with motorized pulley 1 and electromagnetism jack catch 2, and electronic roll detachably installs on unmanned aerial vehicle body 6, preferably adopts and connects cardboard 203. The electromagnetic claw 2 is subjected to waterproof treatment, and the tail end of the electromagnetic claw is provided with a tail end common magnet 201 and a tail end electromagnet 202 respectively. After the tail end electromagnet 202 is electrified in the positive direction, the polarity of the tail end electromagnet 202 is the same as that of the exposed end of the tail end common magnet 201, the claws are opened; after the reverse electrification, the polarity of the tail end electromagnet 202 is changed to be adsorbed with the tail end common magnet 201, and the clamping jaws are closed. The electromagnetic jaw 2 can capture not only the unmanned equipment where the docking component available for traction is reserved, but also the unmanned equipment where no reservation is reserved. The electromagnetic claw 2 and the electric roller 1 are connected by a cable, and the cable can be replaced.

In addition, as shown in fig. 1, a steering engine module 4 is connected above the take-off and landing device 5, the steering engine module 4 is also installed on the unmanned aerial vehicle body 6, and a radar detection device 3 is arranged at the bottom end of the take-off and landing device 5. As shown in fig. 5 to 7, the lifting and lowering device 5 includes a buncher 501, a buncher rail hook 502 that matches a rail on the buncher 501, a pulley mechanism 503, and a lifting and lowering foot 505. The steering engine 401 in the steering engine module 4 is connected with the buncher 501 through a pulley mechanism 503 to control the movement of the buncher 501, so as to control the folding and unfolding of eight lifting legs 505 capable of being folded in three. The landing leg 505 is connected with the buncher 501 on the slide bar through a bolt, and the end of the second folding arm of the landing leg 505 is provided with a landing support point 504.

The process of recovering the overwater unmanned equipment is shown in fig. 2 and 4, when the unmanned aerial vehicle body 6 flies to a designated place and a designated height, the electric roller 1 puts down the cable, so that the tail end electromagnet 202 on the electromagnetic claw 2 at the tail end of the cable is electrified in a forward direction, the claw is opened, the electromagnet is electrified in a reverse direction after being aligned with a hanging ring on a hauling rope of the overwater unmanned equipment, and the claw is closed to finish the capture of the overwater unmanned equipment. Then, the unmanned equipment is dragged to a shore base or a position near a ship convenient to recover from the air or the water surface by the unmanned aerial vehicle body 6, and the tail end electromagnet 202 is electrified in the positive direction to loosen a clamping jaw or disassemble the roller to complete the recovery of the device.

At this moment, the steering engine module 4 is in an unlocking state, and the radar detection device 3 at the bottom can automatically detect the height from the water surface. When the conventional landing cannot be realized or the radar detection device 3 detects that the height of the early warning threshold is reached due to the fact that the radar device is about to fall into the water surface due to operation problems in special situations, a control system arranged in a steering engine module 4 can control a steering engine 401 to rotate forwards to drive a pulley mechanism 503 to move, so that a buncher 501 moves downwards, a buncher guide rail hook 502 slides to the lowest end quickly, and a landing foot 505 is opened by stretching quickly. At this time, the flying device is wrapped with waterproof canvas by the pre-installed landing legs 505 to be deformed into an umbrella-shaped boat, can land in water stably and float on the water surface without entering the water, and takes off again after waiting for adjustment. After finishing the surface of water adjustment and flying to a take the altitude, radar detection device 3 detects the high back that does not reach early warning threshold height apart from the surface of water, and control system can control steering wheel 401 reversal, and buncher guide rail couple 502 slides to the top and locks and dies, packs up and falls foot 505.

In addition, the invention can also be provided with a plurality of hoisting and recovering devices with different cable lengths so as to recover different types of unmanned equipment. When the weight of the unmanned equipment to be captured is small, the unmanned equipment can be lifted by using a hoisting recovery device with a shorter cable length or dragged in water for recovery. Because hoist and mount recovery unit dead weight at this moment is lighter, and hawser length is less than the gravity that unmanned aerial vehicle body 1 bore. Meanwhile, if unmanned equipment can be lifted, the corrosion of seawater on the unmanned equipment can be reduced, and the unmanned equipment is convenient to recycle. When needing the unmanned equipment weight of catching great, can utilize hawser length long a bit hoist and mount recovery unit, need not to stimulate unmanned equipment by oneself after accomplishing the catching, only need utilize 1 extension hawser of motorized pulley, directly flies back to the assigned position, and the butt joint that is converted unmanned aerial vehicle and unmanned equipment into operator and unmanned equipment through the dismantlement of motorized pulley 1 to the recovery of unmanned equipment on water is accomplished to safe and reliable nature.

When the flying device normally rises and falls on the land, as shown in fig. 3, the steering engine module 4 is locked, the buncher guide rail hook 502 is positioned at the uppermost end of the guide rail, the lifting device 5 keeps a closed state, the ground can be descended by utilizing the landing fulcrums 504 on the eight lifting feet 505, and the waterproof canvas arranged on the outer sides of the bottoms of the lifting feet 505 can be detached, so that the self weight is reduced, and the stability when the flying device falls on the ground is improved.

Of course, the above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. The lifting device 5 can also be other structures which can finish amphibious flight and landing, such as an inflatable and deflatable air cushion and the like. All the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed in an illustrative rather than a restrictive sense, and the scope of the present invention is defined by the appended claims.

Claims

1. Amphibious flying device that unmanned equipment on water retrieved, its characterized in that: comprises an unmanned aerial vehicle body (6), a hoisting recovery device and a take-off and landing device (5) for flying and taking off and landing on the water surface or land; the hoisting recovery device comprises an electric roller (1) and an electromagnetic jaw (2), the electric roller (1) is detachably arranged on an unmanned aerial vehicle body (6), a tail-end common magnet (201) and a tail-end electromagnet (202) are respectively arranged at the tail end of the electromagnetic jaw (2), and the electromagnetic jaw (2) is subjected to waterproof treatment; the electromagnetic clamping jaws (2) are connected with the electric roller (1) through cables.

2. The unmanned aerial vehicle retrieval amphibious flight device of claim 1, wherein: electric cylinder (1) is connected with unmanned aerial vehicle body (6) through connecting cardboard (203).

3. The unmanned aerial vehicle recovery amphibious flying device of claim 1 or 2, wherein: comprises at least one hoisting and recovering device with different cable lengths.

4. The unmanned aerial vehicle retrieval amphibious flight device of claim 1, wherein: a steering engine module (4) is arranged above the take-off and landing device (5), the steering engine module (4) is fixedly connected with the unmanned aerial vehicle body (6), and a radar detection device (3) is arranged at the bottom end of the take-off and landing device (5).

5. The unmanned aerial vehicle retrieval amphibious flight device of claim 4, wherein: the lifting device (5) comprises a buncher (501), a buncher guide rail hook (502), a pulley mechanism (503) and a three-folding lifting foot (505); buncher (501) through pulley mechanism (503) with steering wheel module (4) are connected, rise and fall foot (505) through the bolt with buncher (501) are connected, the folding arm end of second that rises and falls foot (505) is equipped with landing fulcrum (504), it installs canvas to rise and fall foot (505) bottom outside detachably.

6. The unmanned aerial vehicle retrieval amphibious flight device of claim 5, wherein: the number of the lifting feet (505) is 8.

7. The unmanned aerial vehicle recovery amphibious flying device of any one of claims 4-6, wherein: the steering engine module (4) comprises a steering engine (401) and a built-in control system.