CN114167882A - Unmanned aerial vehicle offshore recovery system and method - Google Patents
Unmanned aerial vehicle offshore recovery system and method Download PDFInfo
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- CN114167882A CN114167882A CN202111460403.0A CN202111460403A CN114167882A CN 114167882 A CN114167882 A CN 114167882A CN 202111460403 A CN202111460403 A CN 202111460403A CN 114167882 A CN114167882 A CN 114167882A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application discloses marine recovery system of unmanned aerial vehicle, this marine recovery system of unmanned aerial vehicle include hull, unmanned aerial vehicle, ground controlling means and are located the recovery unit on the hull, wherein: the ground control device is used for sending a landing instruction to the unmanned aerial vehicle and sending a recovery instruction to the recovery device; the unmanned aerial vehicle is used for entering a recovery route according to the landing instruction; and the recovery device is used for hanging and recovering the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and circling the recovered unmanned aerial vehicle to a deck in the ship body so as to pick up the unmanned aerial vehicle. The marine technical problem who retrieves the difficulty of unmanned aerial vehicle among the prior art is solved in this application.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle offshore recovery system and method.
Background
Along with the development of unmanned aerial vehicle technique, the field that unmanned aerial vehicle used is more and more extensive, no matter is civilian field or military field all has important effect. Because the ocean area of China is wide, for maintaining ocean safety, the application of marine unmanned aerial vehicles is indispensable. No matter be in aspects such as goods and materials transportation, personnel rescue or sea operation, unmanned aerial vehicle all plays important effect. How to safely and quickly recover the offshore unmanned aerial vehicle is a key technology which restricts the technical development of the offshore unmanned aerial vehicle.
To the technical problem of the difficulty of recovering unmanned aerial vehicle at sea among the above-mentioned prior art, no effective solution has been proposed yet at present.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle offshore recovery system and method, which at least solve the technical problem of difficulty in unmanned aerial vehicle offshore recovery in the prior art.
According to an aspect of the embodiment of the present application, an offshore recovery system for unmanned aerial vehicle is provided, which includes a hull, an unmanned aerial vehicle, a ground control device and a recovery device located on the hull, wherein: the ground control device is used for sending a landing instruction to the unmanned aerial vehicle and sending a recovery instruction to the recovery device; the unmanned aerial vehicle is used for entering a recovery route according to the landing instruction; the recovery device is used for hanging and recovering the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and the recovered unmanned aerial vehicle is convoluted to a deck in the ship body to pick up the unmanned aerial vehicle.
On the basis of any one of the above embodiments, the recycling apparatus at least includes: a rotatable cantilever and a controller.
On the basis of any one of the above-mentioned embodiment, recovery unit carries out the lanyard according to retrieving the unmanned aerial vehicle that the instruction was retrieved to getting into in retrieving the airline and retrieves, and the unmanned aerial vehicle that will retrieve circles round to the deck in the hull to pick up unmanned aerial vehicle, include:
the controller controls the rotary cantilever facing the outer side of the ship body according to the recovery instruction, the unmanned aerial vehicle entering the recovery route is recovered through the hanging rope, and after the unmanned aerial vehicle is recovered, the controller controls the rotary cantilever to rotate to a deck in the ship body.
On the basis of any one of the above-mentioned embodiments, ground controlling means sends landing instruction to unmanned aerial vehicle, sends and retrieves instruction to recovery unit, includes:
send the descending instruction to unmanned aerial vehicle, send and retrieve instruction to recovery unit to make unmanned aerial vehicle's recovery route and the navigation direction of hull keep appointed safe contained angle.
On the basis of any one of the above embodiments, the specified safety included angle is 15 degrees to 35 degrees.
On the basis of any one of the above embodiments, the ground control device sending a recovery command to the recovery device includes:
the ground control device acquires manually input ground control parameters, wherein the ground control parameters comprise a deflection angle of the ground control device relative to the unmanned aerial vehicle;
and generating a recovery instruction based on the ground control parameters.
On the basis of any of the above embodiments, the ground control parameters include at least one of the following parameters:
lateral deviation, front-to-back deviation, vertical deviation, declination.
According to another aspect of the embodiments of the present application, there is provided an offshore recovery method for an unmanned aerial vehicle, the method being applied to a ground control device in an offshore recovery system for an unmanned aerial vehicle, wherein the offshore recovery system for an unmanned aerial vehicle further includes a hull, an unmanned aerial vehicle, and a recovery device located on the hull, the method including: sending a landing instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery route; sending a recovery instruction to a recovery device so that the recovery device can carry out hang cable recovery on the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and rotating the recovered unmanned aerial vehicle to a deck in a ship body so as to pick up the unmanned aerial vehicle.
According to another aspect of the embodiments of the present application, there is provided an offshore recovery method for an unmanned aerial vehicle, the method being applied to a recovery device on a ship hull in an offshore recovery system for an unmanned aerial vehicle, wherein the offshore recovery system for an unmanned aerial vehicle further includes a ship hull, an unmanned aerial vehicle and a ground control device, the method including: receiving a recovery instruction sent by a ground control device, wherein the recovery instruction is sent when the ground control device sends a landing instruction to an unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery air route; and (4) carrying out hang cable recovery on the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and circling the recovered unmanned aerial vehicle to a deck in the ship body so as to pick up the unmanned aerial vehicle.
According to another aspect of the embodiments of the present application, there is provided an offshore recovery method for an unmanned aerial vehicle, the method being applied to an offshore recovery system for an unmanned aerial vehicle, the offshore recovery system for an unmanned aerial vehicle including a hull, an unmanned aerial vehicle, a ground control device, and a recovery device located on the hull, the method including: the ground control device sends a landing instruction to the unmanned aerial vehicle; the unmanned aerial vehicle enters a recovery route according to the landing instruction; the ground control device sends a recovery instruction to the recovery device; the recovery device carries out the lanyard recovery to the unmanned aerial vehicle who gets into in retrieving the airline according to retrieving the instruction, and the unmanned aerial vehicle who will retrieve circles round to the deck in the hull to pluck unmanned aerial vehicle.
In this application embodiment, can send landing instruction to unmanned aerial vehicle through ground controlling means, when unmanned aerial vehicle got into according to the landing instruction again and retrieves the airline, send and retrieve instruction to recovery unit to make recovery unit retrieve according to retrieving the unmanned aerial vehicle that the instruction got into in retrieving the airline and carry out the lanyard and retrieve, and convolute the unmanned aerial vehicle of retrieving to the deck in the hull, in order to pluck unmanned aerial vehicle, consequently solved the marine technical problem who retrieves the difficulty of unmanned aerial vehicle among the prior art. This application can be through circling round unmanned aerial vehicle to the deck on and take to can simplify the process of taking, promote unmanned aerial vehicle recovery efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle offshore recovery system according to an embodiment of the application;
fig. 2 is a schematic view of a flight trajectory of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a flow chart of a method for offshore recovery of an unmanned aerial vehicle according to an embodiment of the application;
FIG. 4 is a schematic illustration of a recovery route for an unmanned aerial vehicle according to an embodiment of the application;
FIG. 5 is a schematic view of an approach glide slope in a recovery route according to an embodiment of the present application;
FIG. 6 is a schematic illustration of a designated safety angle according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of another unmanned aerial vehicle offshore recovery system according to an embodiment of the application;
fig. 8 is a schematic structural diagram of a recycling device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The embodiment of the application provides an unmanned aerial vehicle marine recovery system. The unmanned offshore recovery system 10 as shown in fig. 1 may include a hull 101, an unmanned aerial vehicle 102, a ground control device 103, and a recovery device 104 located on the hull, wherein:
the hull 101 may be a military vessel or a civilian vessel, and the recovery device 104 and the ground control device 103 may be disposed on the hull 101. Alternatively, the ground control device may be located elsewhere than on the hull, such as on other vessels or on land.
The drone 102 may support a variety of models including small fixed wing drones, such as the "scanning eagle" drone and the RQ-21 drone developed by the inc. The drone 102 may be generally responsible for performing sea-based reconnaissance missions, the main mission flow of which is shown in fig. 2, including: catapult takeoff, climbing, cruise task point, scouting task execution, return flight and recovery.
Optionally, the ground control device 103 specifically includes: the power supply interface can support 8-26 VDC power supply; a switch button; a supply voltage display screen; the DB9 connector can support data transmission with a computer serial port; the DB15 connector comprises a 1-path RS232 and a 2-path RS 422; a data transmission antenna interface; a GPS antenna interface, a base station; and a GPS antenna interface.
It will be understood by those skilled in the art that the system configuration shown in fig. 1 is merely illustrative and not limiting. For example, the unmanned offshore recovery system 10 may also include more or fewer devices than shown in fig. 1, or have different devices than shown in fig. 1.
There is also provided an embodiment of a drone offshore recovery method in accordance with the present application, and it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Referring to fig. 3, the unmanned aerial vehicle offshore recovery method may include:
step S301: the ground control device 103 sends a landing instruction to the unmanned aerial vehicle 102;
in an alternative arrangement, the ground control 103 may send a landing command to the drone 102 to cause the drone to enter the recovery route.
Alternatively, a "landing command" may be designed in advance in the control command of the ground control device 103, and when the ground control device 103 executes the landing command, the drone 102 will enter the recovery route and enter a landing control mode corresponding to the one described below.
The specific recovery route is shown in FIG. 4, where 794 is point 1, 797 is the approach point, 798 is the landing point/grounding point, 797 to 798 are the approach edges, and 798 to 794 are the redraws. When the unmanned aerial vehicle flies again, the unmanned aerial vehicle automatically pulls up to fly to the 794 1 st point of the recovery route, and then the unmanned aerial vehicle is hung on the rope again for recovery. Left/right turns depend on the recovery route, and the climb angle and climb speed depend on other controller parameters.
The specific control mode design content of the ground control device 103 is as follows:
the "landing type" may include: wheel type landing, fixed point parachute landing and hook recovery.
The "mode" may include: the parameters of approach glide angle, short-distance approach glide angle, approach and re-flight time, transverse flight time and the like during landing need to be set. The size of the recovery route can be adjusted by setting the time item and the flight speed of each route.
"configuring" may include: flap opening angle, i.e. the angle of the aircraft flap at the approach phase; the approach speed; short-range approach speed; the velocity of the pulling wave.
Referring to fig. 5, the approach glide slope includes a decision point, at which the critical flight status of the aircraft is determined, and if each index is satisfied, the recovery route is continued to be completed, otherwise, the missed approach is performed. The specific setting content of the decision point is as follows:
(1) time of decision point: the term from the decision point to touchdown is how far back from the touchdown point the logical decision of the decision point begins.
(2) Maximum lateral error: the lateral error of the aircraft at the decision point must not exceed this error, otherwise the aircraft flies again.
(3) Maximum height error: the altitude error of the aircraft at the decision point must not exceed the error, otherwise the aircraft flies again.
(4) Maximum speed overshoot: the speed error of the aircraft at the decision point must not exceed the error, otherwise the aircraft flies again.
After the control parameters are set, the unmanned aerial vehicle 102 can be recovered as required, and a landing instruction is sent to the unmanned aerial vehicle 102 through the ground control device 103, so that the unmanned aerial vehicle enters a recovery route.
Step S302: the unmanned aerial vehicle 102 enters a recovery route according to the landing instruction;
in an alternative, the onboard autopilot of the drone 102 may control the drone to enter the recovery route after receiving the landing command.
Step S303: the ground control device 103 sends a recovery command to the recovery device 104;
in an alternative scheme, the ground control device 103 may send a landing command to the drone 102 and a recovery command to the recovery device 104, so that the recovery route of the drone 102 and the navigation direction of the hull 101 maintain a specified safe included angle. As shown in fig. 2, when the drone 102 enters the recovery flow line, the route of the drone 102 may be referred to as a recovery route. As shown in fig. 4, the navigation direction of the hull 101 for recovering the unmanned aerial vehicle and the navigation direction of the hull 101 and the recovery route of the unmanned aerial vehicle 102 keep a specified safe angle, which is the angle α in fig. 4. Optionally, the specified safety angle is 15 to 35 degrees. Because the recovery route keeps appointed safe contained angle with hull navigation direction when unmanned aerial vehicle retrieves, can guarantee that unmanned aerial vehicle can fall into the sea in the unexpected circumstances of flight appears in unmanned aerial vehicle, and can not fall to the hull, avoid damaging hull equipment and guarantee staff's safety on the hull.
In an optional scheme, when the ground control device 103 sends the recovery instruction to the recovery device 104, the ground control parameters input manually may be obtained first, where the ground control parameters include a drift angle of the ground control device relative to the unmanned aerial vehicle; a recovery instruction is then generated based on the ground control parameters.
In an alternative arrangement, the surface control parameters include at least one of: lateral deviation, front-to-back deviation, vertical deviation, declination.
When carrying out unmanned aerial vehicle sky hook recovery, need adjust unmanned aerial vehicle 102 and recovery unit 104's positional relationship according to recovery unit 104 for unmanned aerial vehicle 102's parameter to realize that unmanned aerial vehicle retrieves. The transverse deviation, the front and back deviation, the vertical deviation and the deflection angle can be manually adjusted and modified according to actual conditions.
In an alternative, the ground control parameters may be determined during a land flight test, as described below. The method specifically comprises the following steps:
the unmanned aerial vehicle is placed at a runway starting point, a landing point and a runway terminal point respectively, the ground control device operates to command and collect position information of the three positions, then values of transverse deviation, front and back deviation and deflection angle are obtained through calculation, and then the vertical deviation is manually set.
In an alternative scheme, the parameters set in the ground control device 103 may specifically include:
(1) the ground control device sets a 'right hand mode' in the sampling point page, and determines a recovery route; it is also possible to indirectly change the left/right turn in the missed approach by this setting.
(2) Before the unmanned aerial vehicle formally hangs the rope and retrieves, in order to verify the flight precision of the recovery air route and the reliability of the guiding strategy, a virtual rope hanging test can be developed, only the vertical deviation value needs to be set large, the unmanned aerial vehicle can pass through the high altitude of the recovery point, and other parameters are unchanged;
(3) when the unmanned aerial vehicle is recovered at sea, the position information of a runway starting point, a recovery point and a runway end point is inconvenient to acquire, so that the values of transverse deviation, front and back deviation, vertical deviation and deflection angle can be manually set according to the real environment condition;
(4) the positive and negative criteria of the transverse deviation (left positive, right negative) and the front and back deviation (front positive, back negative) are as follows: the ground positioning antenna points to the directional antenna, and the direction of the rope hanging point relative to the antenna is judged along the direction to determine the positive and negative. The positive and negative criteria for the "vertical deviation" are: the landing point above the ground antenna is positive, otherwise negative. When the adjustment is needed in the actual flight stage, if the distance between the rope hanging points needs to be shortened (far), the positive and negative values can be kept unchanged, and the absolute value of each deviation item can be adjusted;
(5) the arrangement sequence positions of the base station and the slave station of the ground differential antenna are irrelevant to the actual landing direction (but influence the transverse deviation and the front and back deviation of the recovery device relative to the antenna), the landing direction depends on the sampling point sequence before takeoff, and the landing direction can also be influenced by the modification of a deflection angle under specific requirements;
(6) the recovery direction of the recovery route is changed, and the 'deflection angle' value can be modified, wherein along the initial landing direction, a positive value represents right deflection, and a negative value represents left deflection.
Through setting up above-mentioned ground control parameter, can guarantee that unmanned aerial vehicle retrieves smoothly under unmanned aerial vehicle and recovery unit's different states.
Step S304: the recovery device 104 recovers the hanging rope of the unmanned aerial vehicle 102 entering the recovery route according to the recovery instruction, and rotates the recovered unmanned aerial vehicle to a deck in the ship body to pick up the unmanned aerial vehicle 102.
In an alternative, the recovery device 104 performs a lanyard recovery of the drone 102 entering the recovery route according to the recovery command.
In an alternative, the recycling device 104 includes at least: a rotatable cantilever and a controller. Wherein, the cantilever that can convolute can be controlled to the controller, is rotatory to the deck in the hull with unmanned aerial vehicle after receiving unmanned aerial vehicle to be convenient for take unmanned aerial vehicle, avoid unmanned aerial vehicle to transfer into the sea, reduced the degree of difficulty that unmanned aerial vehicle took.
In an alternative, as shown in fig. 7, the recycling device 104 may mainly include: a retrieval rack 1041, a retention rope 1042, a swivel boom 1043, and a controller 1044.
The arresting rope 1042 includes an arresting hook of a wingtip. During the recovery process, energy generated when the drone 102 lands is transferred to the recovery device through the arresting ropes 1042, and the energy is dissipated by the structural damping of the recovery frame and the dampers connected by the arresting ropes 1042. The ground fixing point of the recycling rack 1041 is point Q, and QH is a vertical rod. The rotatable cantilever 1043 in the recovery device 104 is a cross bar shown in QB and AD in fig. 7, wherein the cross bar AD can rotate around the vertical bar QH, and EF and FG are two damping ropes for restraining the cross bar AD; the arresting rope 1042 is a PAB, wherein the dark section is an elastically deformable section with a damper. Assume that the center of mass of the drone 102 is K, the wing root point is I, the wing tip point is J, and the contact point between the wing leading edge and the arresting rope 1042 is C. The recycling rack 1041 is deformed by bearing the force transmitted by the stopping rope 1042 during the recycling process, and the deformation and recovery processes play roles of buffering and energy absorption.
The recovery process of the unmanned aerial vehicle suspension cable comprises two stages: in the first stage, the leading edge of the wing hits the arresting rope 1042, and the arresting rope 1042 slides along the leading edge until sliding into the wingtip arresting hook; in the second stage, the wingtip arresting hook is locked, and the arresting rope 1042 acts on the wingtip in a resistance manner. At the initial stage of recovery, the stopping rope 1042 slides at the front edge of the wing, at this time, the attitude of the aircraft body is basically unchanged, and the aircraft still keeps the original speed to continuously fly forwards. After that, the arresting rope 1042 is hung at the wing tip, when the arresting rope 1042 is stretched to a length sufficient to provide a centripetal force, the unmanned aerial vehicle 102 makes a circular motion under the centripetal force provided by the arresting resistance of the arresting rope 1042, and the radius is continuously reduced due to the energy absorption effect of the recovery device 104; after about two turns of movement, the drone 102 reduces in speed to a point where it cannot maintain circular movement, and turns to a small swing near the equilibrium position until the speed is reduced below a specified speed, and can be taken off for recovery.
In an alternative scheme, as shown in fig. 8, after the recovery device 104 recovers the suspension cable of the unmanned aerial vehicle 102 entering the recovery route according to the recovery instruction, the recovered unmanned aerial vehicle 103 may be further rotated to the deck inside the hull 101 to pick up the unmanned aerial vehicle 102.
Optionally, the controller 1044 in the recovery device 104 may control the booms 1043 that can swing toward the outer side of the hull according to the recovery instruction, so as to recover the unmanned aerial vehicle entering the recovery route by hanging the rope, and after the unmanned aerial vehicle 102 is recovered, the controller 1044 controls the booms 1943 that can swing to rotate to the deck in the hull 101.
In an optional scheme, during the above-mentioned recovery scheme, after confirming that unmanned aerial vehicle hangs and locking blocks rope 1042, the flight control device on unmanned aerial vehicle 102 can issue flame-out instruction for unmanned aerial vehicle's engine, thereby avoids retrieving the rope and is drawn into the screw and causes recovery accidents such as organism damage. The specific criterion for sending the flameout command is as follows:
(1) the unmanned plane should be in a 'landing' mode;
(2) the space position of the unmanned aerial vehicle is within a certain error range of the landing point;
(3) the accelerometer of the unmanned aerial vehicle detects sudden large overload;
(4) the flight attitude of the unmanned aerial vehicle changes greatly suddenly.
In this application embodiment, can send landing instruction to unmanned aerial vehicle through ground controlling means, when unmanned aerial vehicle got into according to the landing instruction again and retrieves the airline, send and retrieve instruction to recovery unit to make recovery unit retrieve according to retrieving the unmanned aerial vehicle that the instruction got into in retrieving the airline and carry out the lanyard and retrieve, and convolute the unmanned aerial vehicle of retrieving to the deck in the hull, in order to pluck unmanned aerial vehicle, consequently solved the marine technical problem who retrieves the difficulty of unmanned aerial vehicle among the prior art. This application can be through circling round unmanned aerial vehicle to the deck on and take to can simplify the process of taking, promote unmanned aerial vehicle recovery efficiency.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Through the above description of the embodiments, those skilled in the art can clearly understand that the unmanned aerial vehicle offshore recovery method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and of course, may also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method of the embodiments of the present application.
Example 2
The embodiment of the application can provide a ground control device capable of realizing the unmanned aerial vehicle offshore recovery method, and the ground control device comprises a computing device, wherein the computing device can be any one computer terminal device in a computer terminal group. Optionally, in this embodiment, the computing device may also be replaced with a terminal device such as a mobile terminal. Optionally, in this embodiment, the computer device may implement the above unmanned aerial vehicle offshore recovery method.
Optionally, in this embodiment, the above-mentioned computing device includes one or more processors, a memory, and a transmission device. The memory can be used for storing software programs and modules, such as program instructions/modules corresponding to the unmanned aerial vehicle marine recovery method in the embodiment of the application. The processor executes various functional applications and data processing by running software programs and modules stored in the memory, namely the unmanned aerial vehicle offshore recovery method is realized.
In this embodiment, when the processor in the above-mentioned computing device runs the stored program code, the following method steps may be executed: sending a landing instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery route; sending a recovery instruction to a recovery device so that the recovery device can carry out hang cable recovery on the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and rotating the recovered unmanned aerial vehicle to a deck in a ship body so as to pick up the unmanned aerial vehicle.
Further, in this embodiment, when the processor in the computing device runs the stored program code, any method step listed in embodiment 1 may be executed, which is not described in detail herein for reasons of brevity.
Example 3
The embodiment of the application can provide a recovery unit that can realize the marine recovery method of above-mentioned unmanned aerial vehicle, and this recovery unit includes the computational device in, this computational device can be any one computer terminal equipment in the computer terminal crowd. Optionally, in this embodiment, the computing device may also be replaced with a terminal device such as a mobile terminal. Optionally, in this embodiment, the computer device may implement the above unmanned aerial vehicle offshore recovery method.
Optionally, in this embodiment, the above-mentioned computing device includes one or more processors, a memory, and a transmission device. The memory can be used for storing software programs and modules, such as program instructions/modules corresponding to the unmanned aerial vehicle marine recovery method in the embodiment of the application. The processor executes various functional applications and data processing by running software programs and modules stored in the memory, namely the unmanned aerial vehicle offshore recovery method is realized.
In this embodiment, when the processor in the above-mentioned computing device runs the stored program code, the following method steps may be executed: receiving a recovery instruction sent by a ground control device, wherein the recovery instruction is sent when the ground control device sends a landing instruction to an unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery air route; and (4) carrying out hang cable recovery on the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and circling the recovered unmanned aerial vehicle to a deck in the ship body so as to pick up the unmanned aerial vehicle.
Further, in this embodiment, when the processor in the computing device runs the stored program code, any method step listed in embodiment 1 may be executed, which is not described in detail herein for reasons of brevity.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. The utility model provides an offshore recovery system of unmanned aerial vehicle, its characterized in that, this offshore recovery system of unmanned aerial vehicle includes hull, unmanned aerial vehicle, ground controlling means and is located the recovery unit on the hull, wherein:
the ground control device is used for sending a landing instruction to the unmanned aerial vehicle and sending a recovery instruction to the recovery device;
the unmanned aerial vehicle is used for entering a recovery route according to the landing instruction;
and the recovery device is used for hanging and recovering the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and circling the recovered unmanned aerial vehicle to a deck in the ship body so as to pick up the unmanned aerial vehicle.
2. The system according to claim 1, characterized in that said recovery means comprise at least:
a rotatable cantilever and a controller.
3. The system of claim 2, wherein the recovery device is configured to retrieve the unmanned aerial vehicle entering the recovery route by hanging the unmanned aerial vehicle according to the recovery command, and to swing the recovered unmanned aerial vehicle to a deck in the hull to pick up the unmanned aerial vehicle, and the recovery device comprises:
the controller controls the rotary cantilever facing the outer side of the ship body according to the recovery instruction, the unmanned aerial vehicle entering the recovery route is recovered through the hanging rope, and after the unmanned aerial vehicle is recovered, the controller controls the rotary cantilever to rotate to a deck in the ship body.
4. The system of any one of claims 1 to 3, wherein the ground control device sends landing instructions to the drone and recovery instructions to the recovery device, comprising:
send the descending instruction to unmanned aerial vehicle, send and retrieve instruction to recovery unit to make unmanned aerial vehicle's recovery route and the navigation direction of hull keep appointed safe contained angle.
5. The system of claim 4,
the specified safety included angle is 15 degrees to 35 degrees.
6. The system of any one of claims 1 to 3, wherein the surface control device sends a recovery command to a recovery device, comprising:
the ground control device acquires manually input ground control parameters, wherein the ground control parameters comprise a deflection angle of the ground control device relative to the unmanned aerial vehicle;
and generating a recovery instruction based on the ground control parameters.
7. The system of claim 6, wherein the ground control parameters comprise at least one of:
lateral deviation, front-to-back deviation, vertical deviation, declination.
8. The offshore recovery method of the unmanned aerial vehicle is applied to a ground control device in an offshore recovery system of the unmanned aerial vehicle, wherein the offshore recovery system of the unmanned aerial vehicle further comprises a ship body, the unmanned aerial vehicle and a recovery device positioned on the ship body, and the method comprises the following steps:
sending a landing instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery route;
sending a recovery instruction to a recovery device so that the recovery device can recover the unmanned aerial vehicle entering the recovery route through a hanging cable according to the recovery instruction, and rotating the recovered unmanned aerial vehicle to a deck in a ship body so as to pick up the unmanned aerial vehicle.
9. The method for recovering the unmanned aerial vehicle at sea is characterized by being applied to a recovery device positioned on a ship body in an unmanned aerial vehicle at sea recovery system, wherein the unmanned aerial vehicle at sea recovery system further comprises the ship body, the unmanned aerial vehicle and a ground control device, and the method comprises the following steps:
receiving a recovery instruction sent by a ground control device, wherein the recovery instruction is sent when the ground control device sends a landing instruction to an unmanned aerial vehicle so that the unmanned aerial vehicle enters a recovery air route;
and carrying out hang cable recovery on the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and circling the recovered unmanned aerial vehicle to a deck in the ship body so as to pick up the unmanned aerial vehicle.
10. An unmanned aerial vehicle offshore recovery method is applied to an unmanned aerial vehicle offshore recovery system, the unmanned aerial vehicle offshore recovery system comprises a ship body, an unmanned aerial vehicle, a ground control device and a recovery device positioned on the ship body, and the method comprises the following steps:
the ground control device sends a landing instruction to the unmanned aerial vehicle;
the unmanned aerial vehicle enters a recovery route according to the landing instruction;
the ground control device sends a recovery instruction to the recovery device;
the recovery device is used for recovering the hanging rope of the unmanned aerial vehicle entering the recovery air line according to the recovery instruction, and the recovered unmanned aerial vehicle is convoluted to a deck in the ship body so as to pick up the unmanned aerial vehicle.
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| CN202111460403.0A CN114167882A (en) | 2021-12-02 | 2021-12-02 | Unmanned aerial vehicle offshore recovery system and method |
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| CN202111460403.0A CN114167882A (en) | 2021-12-02 | 2021-12-02 | Unmanned aerial vehicle offshore recovery system and method |
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