CN117125217A

CN117125217A - Automatic catch unmanned vehicles analogue test system

Info

Publication number: CN117125217A
Application number: CN202311313097.7A
Authority: CN
Inventors: 印俊; 赵明清; 谢镇; 高立全
Original assignee: Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
Current assignee: Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2023-11-28

Abstract

An automatic capture unmanned aircraft simulation test system comprises a simulation aircraft placed in a pool, a towing device driving the simulation aircraft to advance, a test truss for the simulation aircraft to pass through, and at least one blocking rope arranged on the test truss; and the towing device drives the simulated aircraft to enter the test truss, and when the simulated aircraft passes through the blocking rope, the blocking rope enters the hook on the surface of the simulated aircraft to finish capturing the simulated aircraft. According to the application, the capture of the unmanned aircraft is simulated in the land test pool, so that the test cost is greatly reduced.

Description

Automatic catch unmanned vehicles analogue test system

Technical Field

The application belongs to the field of unmanned aircrafts, and particularly relates to an automatic capture unmanned aircrafts simulation test system.

Background

An unmanned underwater vehicle is an unmanned robot capable of autonomous or remote control operation under water. The ship is generally composed of a ship body, a power system, a navigation and control system and various sensors, and has the characteristics of water resistance, pressure resistance, flexible control, long-time durability and the like. They can work through remote control operations or preset task paths, and are equipped with various sensors, such as sonar, camera, water quality sensor, etc., for sensing the underwater environment. The navigation and control system can realize autonomous navigation, obstacle avoidance and positioning. Power systems typically employ batteries or fuel cells to provide the power required for underwater navigation. The unmanned underwater vehicle plays an important role in the fields of ocean exploration, ocean scientific research, underwater operation and the like, and provides powerful support for deep understanding of ocean, protection of ocean resources and improvement of ocean working efficiency.

Capturing of unmanned underwater vehicles refers to the process of capturing or recovering unmanned underwater vehicles from water. Since unmanned underwater vehicles are typically operated underwater, the capture process requires consideration of the underwater environment and the characteristics of the vehicle. When unmanned aircraft capture in water is carried out, the stability and safety of the aircraft need to be paid attention to, and damage or personnel injury to the aircraft are avoided. Meanwhile, the influence of factors such as water flow, underwater obstacles and the like needs to be considered in the capturing process, so that the smooth capturing operation is ensured.

Due to the condition limitation, part of unmanned aircrafts cannot directly perform a capturing test on the sea, on one hand, proper sea conditions cannot be found, and on the other hand, the sea test cost is relatively high.

Disclosure of Invention

The application aims to provide an automatic unmanned aerial vehicle capturing simulation test system, which aims to solve the technical problem of unmanned aerial vehicle capturing tests in a pool.

In order to achieve the above purpose, the specific technical scheme of the automatic capturing unmanned aircraft simulation test system is as follows:

an automatic capture unmanned aircraft simulation test system comprises a simulation aircraft placed in a test pool, a towing device driving the simulation aircraft to advance, a test truss for the simulation aircraft to pass through, and at least one blocking rope arranged on the test truss;

and the towing device drives the simulated aircraft to enter the test truss, and when the simulated aircraft passes through the blocking rope, the blocking rope enters the hook on the surface of the simulated aircraft to finish capturing the simulated aircraft.

As a further improvement of the application, the test truss is provided with a plurality of corner pulleys for the blocking rope to pass through, so that the direction-changing wiring of the blocking rope on the test truss is realized.

As a further improvement of the application, in order to avoid breakage after abutment of the arresting cable with the simulated craft, the system of the application further comprises a constant tension winch connected with the arresting cable, one end of the arresting cable is connected with the constant tension winch, and the other end of the arresting cable passes through a plurality of corner pulleys to be connected with the test truss, so that the simulated craft is prevented from cutting off the arresting cable.

As a further development of the application, in order to achieve a simulation of the capture of an aircraft in a wave, the system of the application further comprises wave-making means for simulating the sea-surface wave conditions in a pool.

As a further improvement of the application, the three blocking ropes form a net structure to block the simulated aircraft from passing through, and the blocking ropes enter the hooks to finish capturing the simulated aircraft.

As a further improvement of the application, one end of the test truss is arranged on land, and the other end of the test truss is an extension end extending towards the test pool, and the extension end extends towards the water; the blocking rope is arranged at the extending end of the experimental truss.

As a further improvement of the application, in order to reduce manufacturing costs while simulating an actual unmanned aircraft, the simulated aircraft is sized to fit the actual unmanned aircraft, no propulsion system is provided, the outer surface is provided with hooks, the bottom end of the interior of the simulated aircraft is provided with a counterweight and separates multiple cabins, and buoyancy is adjusted by water injection in the cabins.

As a further improvement of the application, in order to better simulate the capture of unmanned vehicles in waves, the three blocking ropes are respectively a first blocking rope arranged at a position higher than the simulated wave crest, a second blocking rope arranged at a horizontal plane position and a third blocking rope arranged at a position lower than the simulated wave trough.

As a further development of the application, the position of the catch is horizontally matched to the second barrier wire.

The beneficial effects are that:

according to the test system, the unmanned aerial vehicle is simulated in the land test pool, the simulated unmanned aerial vehicle is replaced by the simulated aerial vehicle, the simulated capture device is arranged, the simulated aerial vehicle without a propulsion system is enabled to move forwards by arranging the towing device, the simulated aerial vehicle is captured by arranging the blocking rope on the test truss, and the test cost is greatly reduced compared with the real object used in the sea surface on-site test.

Drawings

FIG. 1 is a schematic diagram of an automatic capture unmanned aircraft simulation test system in accordance with the present application;

FIG. 2 is a top view of the present application;

FIG. 3 is a schematic view of a test truss structure of the present application;

the figure indicates: 10. simulating an aircraft; 11. a hook; 20. a towing device; 30. testing the truss; 31. an extension end; 32. a corner pulley; 40. a barrier wire; 41. a first barrier wire; 42. a second barrier wire; 43. a third barrier wire; 50. a constant tension winch; 60. a wave making device; 70. land; 80. test pool.

Detailed Description

For a better understanding of the objects, structures and functions of the present application, a further detailed description of an automatic capture unmanned vehicle simulation test system of the present application is provided below in conjunction with the accompanying drawings.

Implementation example:

as shown in fig. 1-3, an automatic unmanned aerial vehicle-capturing simulation test system is arranged in a test pool 80 on land, a simulated unmanned aerial vehicle simulates the state of the unmanned aerial vehicle in the sea in the test pool 80, a wave making device 60 forms waves in the pool, a test truss 30 is arranged on the shore of the test pool 80 to extend out of the pool, and the simulated unmanned aerial vehicle is captured by a blocking rope 40 arranged on the test truss 30 in the process of travelling towards the test truss 30.

The simulated aircraft 10 is correspondingly simplified according to the physical dimensions of the actual aircraft, the propulsion system is removed, and only the hooks 11 are left. The bottom end of the interior of the simulated aircraft 10 is added with a counterweight and separates multiple cabins, the buoyancy and stability of the interior can be adjusted by water injection, and finally the hook 11 is ensured to be close to the horizontal plane and is flush with the second barrier cable 42. Additionally, traction eyelets may be added to the head and sides of the simulated vehicle 10 to facilitate testing.

The test truss 30 is a simplified capture device mounted on the test pool shore subgrade. One end of the test truss 30 extends to the pool and underwater to ensure that the simulated aircraft 10 does not collide with the shore after inertial running, a plurality of groups of corner pulleys 32 are arranged on the upright posts at the extending end of the test truss 30, three blocking ropes parallel to the water surface are wound by high-strength fiber ropes and finally connected with a constant tension winch 50, the three blocking ropes form a net structure, the first blocking rope 41 is slightly higher than the simulated wave crest position, the second blocking rope 42 is close to the horizontal plane position, and the third blocking rope 43 is slightly lower than the simulated wave trough position.

One end of the blocking rope 40 is connected with a constant tension winch 50, and the catching device mainly forms a net structure to cover the head of the simulated aircraft 10 after three blocking ropes are tensioned, and the purpose of automatic catching is achieved by the automatic movement of the aircraft and the collision of the hook 11 with the blocking rope. However, if the fiber blocking cable is kept in a fixed and tensed state, it is easy to cut the fiber blocking cable directly due to the huge inertia of the aircraft, and thus the constant tension winch 50 is added to adjust the tense force of the blocking cable 40. When the inertial force is greater than the stopping force, the constant tension winch 50 will release the stopping rope quickly, and when the inertial force is slowly lower than the stopping force, the constant tension winch 50 will retract the stopping rope quickly.

The simulated craft 10 is given a certain forward speed by means of a towing device 20, in this embodiment a towing winch, arranged on the land line. To reduce the cost of the test, the simulated vehicle 10 is simplified by eliminating the propulsion system, and to simulate the underwater navigation condition of the vehicle, the winch drum is rotated to drag the vehicle, and the drag speed is adjustable by the proportional valve.

In this embodiment, the wave-making device 60 is a crane disposed at the shore, and the crane winch is used to quickly lift and lower the heavy object to make artificial waves in the pool, and the size of the waves can be marked with scales on the pool side in advance, so as to identify and measure the wave height.

The constant tension winch 50 and the towing winch are powered and functionally controlled by the pump station and the electric cabinet in this embodiment.

The test truss 30 only retains the corner pulley 32 and the blocking cable 40 and is structurally spliced by section steel; through simplifying the structure of the aircraft, the balance weight is added in the aircraft, the buoyancy and stability of the aircraft can be ensured through a water injection mode, and the aircraft is close to the technical state of an actual aircraft; the adjustable constant tension winch 50 is adopted, so that the blocking effect can be achieved, the blocking rope 40 can be protected, and the service life of the blocking rope is prolonged; the conventional winch is utilized to drag the simulated aircraft, so that the actual navigation speed requirement of the aircraft can be simulated; the actual wave condition on the sea can be simulated by manually making waves through the crane; the above arrangement greatly reduces the test cost while well simulating sea conditions.

It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.

Claims

1. An automatic capture unmanned aircraft simulation test system is characterized by comprising a simulation aircraft placed in a test pool, a towing device for driving the simulation aircraft to advance, a test truss for the simulation aircraft to pass through, and at least one blocking rope arranged on the test truss;

2. The automatic capture unmanned aircraft simulation test system of claim 1, wherein the test truss is provided with a plurality of corner pulleys for the barrier cable to pass through, so as to realize the direction-changing routing of the barrier cable on the test truss.

3. The automated guided unmanned aerial vehicle simulation test system of claim 2, further comprising a constant tension winch coupled to the barrier cable, wherein one end of the barrier cable is coupled to the constant tension winch and the other end is coupled to the test truss through a plurality of the corner pulleys to prevent the simulated aerial vehicle from severing the barrier cable.

4. The automated unmanned capture aircraft simulation test system of claim 1, further comprising a wave making device to simulate sea surface wave conditions in the test pool.

5. The automated unmanned aerial vehicle capture simulation test system of claim 1 or 3, wherein the barrier cords are three, the three barrier cords forming a net structure that blocks passage of the simulated aerial vehicle, the barrier cords entering a hook to complete capture of the simulated aerial vehicle.

6. The automated capturing unmanned aerial vehicle simulation test system of claim 1, wherein one end of the test truss is disposed on land and the other end is an extension end that extends into the test pool, the extension end extending underwater; the blocking rope is arranged at the extending end of the experimental truss.

7. The automated unmanned aerial vehicle simulation test system of claim 1, wherein the simulated aerial vehicle is sized to fit an actual unmanned aerial vehicle without a propulsion system, a hook is provided on an outer surface, a counterweight is provided at an inner bottom end of the simulated aerial vehicle and separates multiple tanks, and buoyancy is adjusted by water injection in the tanks.

8. The automated guided unmanned aerial vehicle simulation test system of claim 5, wherein the three check ropes are each a first check rope disposed above the simulated wave crest, a second check rope disposed at a horizontal plane, and a third check rope disposed below the simulated wave trough.

9. The automated guided unmanned aerial vehicle simulation test system of claim 8, wherein the position of the hook matches the second barrier cable level.