CN117533551A

CN117533551A - Rapid lifting platform for inflation track of carrier-based fixed wing unmanned aerial vehicle

Info

Publication number: CN117533551A
Application number: CN202310147744.5A
Authority: CN
Inventors: 董博; 于晨; 吕胜利
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2024-02-09

Abstract

The invention discloses a carrier-based fixed wing unmanned aerial vehicle inflatable rail rapid lifting platform which mainly comprises a fixed end structure, a flexible steel cable, an air bag and a supporting platform. The fixed end structure fixes the quick take-off and landing platform at the tail of the ship. The rapid take-off and landing platform utilizes flexible steel cables connected with all sub-airbags to bear tensile load, and utilizes the inflated airbags to provide normal support rigidity to respectively simulate the upper edge strip, the lower edge strip and the web of the engineering beam so as to realize the aim of taking bending as main load in the rapid take-off and landing platform. The supporting platform is fixed on the flexible steel cable through pulleys and can slide along the flexible steel cable. When the unmanned aerial vehicle takes off, the rapid take-off and landing platform is rapidly unfolded, and then the supporting platform drives the unmanned aerial vehicle to take off rapidly in a short distance under the driving of the driving damping device; when unmanned aerial vehicle lands, arresting rope on the supporting platform catches unmanned aerial vehicle wheel, through applying damping force to supporting platform guarantee unmanned aerial vehicle speed and fall to 0 in the short distance.

Description

Rapid lifting platform for inflation track of carrier-based fixed wing unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform.

Background

In recent years, warship-equipped carrier-borne unmanned aerial vehicles are increasingly increased, the unmanned aerial vehicles are gradually expanded from the initial relatively single function to serve as baits, anti-radars, electronic suppression, target shooting, battlefield damage evaluation, communication relay, reconnaissance, battle and other purposes, and the role of the unmanned aerial vehicles is increasingly important. In addition, unmanned aerial vehicles play an important role in "non-contact warfare" where informative weapons and intelligent weapons are dominant. The ship with small water displacement is used for carrying the fixed wing unmanned aerial vehicle, dangerous tasks such as battlefield reconnaissance, anti-submarine warship, amphibious assault, air pre-warning and the like are increasingly widely performed when the fixed wing unmanned aerial vehicle reaches certain special battle areas, and the sea making right and the air making right in future wars are mastered, so that national defense strength is enhanced. Therefore, the research on the fixed wing unmanned aerial vehicle landing recovery technology for the ship has important significance for grasping the offshore empty rights, maintaining the ocean rights and interests and guaranteeing the safety of the territory, and is also an important problem of international general attention.

Generally, unmanned aerial vehicles have stronger fuselages than unmanned aerial vehicles and are not limited by physiological conditions of pilots, so that more extreme carrier recovery methods can be adopted. The unmanned aerial vehicle carrier is recovered to be safe and reliable, has good maneuverability, multiple use times, small damage to the machine body and airborne equipment, simple operation and convenient maintenance, and meets the economic benefit requirement. The traditional unmanned aerial vehicle small-sized ship recovery method mainly comprises the modes of net collision landing recovery, overhead hook recovery, parachute recovery and the like.

The recovery mode of the carrier landing by bumping the net is that the recovery net is opened at the tail part of the ship, so that the unmanned aerial vehicle flies into the net directly, after successful capturing, the height is reduced, and the unmanned aerial vehicle is manually transported out of the net. The typical structure for recovering the collision net of the unmanned aerial vehicle at home and abroad has 4 schemes of a single-net three-rod scheme, a double-net double-rod scheme, a single-net single-rod scheme and a single-net double-rod scheme, wherein the former two schemes need an energy absorption buffer device, the single-net single-rod scheme needs a rotary driving device and a damper, and the single-net double-rod structure mainly carries out energy absorption buffer on the unmanned aerial vehicle by means of elastic deformation of a net body and a bracket without an additional damping buffer device. The deck space required by the net collision recovery mode is small, the equipment is simple, the recovered unmanned aerial vehicle does not need to land on a ship, the requirement on the tracking precision of the ship track is low, and the net collision speed as low as possible is only required to be maintained. But has the following disadvantages: 1. when the net is bumped, the transverse speed and the sideslip angle are reduced as much as possible, otherwise, the damage probability of the unmanned aerial vehicle is increased; 2. for unmanned aerial vehicles using propellers, paddles are easy to break or cut off a recovery net when recovering, so that the damage risk and the maintenance cost of the unmanned aerial vehicle are increased, and the preparation time and the working efficiency of a recovery device are influenced; 3. the recovery method has high manual operation amount and is difficult to realize mechanization.

The hook recovery technology is developed on the basis of the net collision recovery technology. The hook recovery system generally mainly comprises a capturing device (unmanned wing tip hook, recovery frame, recovery rope), an energy absorption buffer device and a guiding device. The guiding device guides the unmanned aerial vehicle to the vicinity of the capturing device, after the unmanned aerial vehicle wing bumps into the recovery rope, the recovery rope slides to the wing tip along the wing, the wing tip hook hooks and locks the recovery rope, at the moment, the engine is stopped, then the unmanned aerial vehicle can do rotary speed reduction motion around the recovery rope, and after the swing amplitude is reduced to a certain degree, the recovery is completed by manual removal. The recovery mechanism is simpler and is suitable for being used on ships with smaller space. Meanwhile, the requirements of taking off and landing of the large unmanned aerial vehicle can be met. How to ensure that the drone can slow down in the intended pose is a great difficulty in recycling operations.

The parachute landing recovery is realized by a recovery mode that the unmanned aerial vehicle drives the parachute to reach a recovery area and a proper height, and the parachute landing is realized in a speed buffer mode, so that the parachute landing recovery method is widely applied to low-speed unmanned aerial vehicles. Unmanned aerial vehicle need equip retrieve the parachute, decelerate unmanned aerial vehicle through the parachute to realize contacting ground with less speed, thereby reach the recovery purpose. The method has the advantages of light weight, low requirements on the field, small volume after packaging, relatively low cost, stable performance, simple process, small dynamic load of opening the umbrella and the like. However, the parachute is easily affected by wind, and errors cannot be corrected after the parachute is opened, so that the unmanned aerial vehicle is easily collided with a deck building and the like.

The unmanned aerial vehicle first lands on the ship, and goes through the development processes of parachute/parafoil recovery, net collision recovery and the like. However, the method is only suitable for recycling the small unmanned aerial vehicle, and no better method is available for recycling the marine ship of the medium-sized and large unmanned aerial vehicle at present. Therefore, the research of a medium-sized and large-sized unmanned aerial vehicle recovery platform facing the small-sized ship is required to be carried out, and a new guarantee is provided for improving the offshore combat capability.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a rapid take-off and landing method for a carrier-based fixed wing unmanned aerial vehicle inflatable track.

In order to achieve the above purpose, the invention adopts the following technical scheme:

a carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform comprises a fixed end structure, a flexible steel cable, an air bag and a supporting platform.

The fixed end structure is connected with the tail of the ship, and when the rapid take-off and landing platform executes the take-off and landing task of the unmanned aerial vehicle, the fixed end is in a locking state; when the platform completes the unmanned aerial vehicle take-off and landing task, the fixed end is in a rotatable state, so that the rapid take-off and landing platform is folded and vertically placed at the tail of the ship when in a non-working state.

The flexible steel cable comprises three layers of flexible steel cables at the upper part of the platform and a single layer of flexible steel cable at the lower part of the platform, wherein the tip end of the flexible steel cable at the upper part is fixed on the supporting rib, and the root is connected with the rope control system; the lower flexible steel cable is fixed on the lock catch at the lower end of the peripheral air bag, the root is connected with the rope control system, a mode of wrapping a plurality of sub-air bags by using the flexible steel cable is formed, the upper flexible steel cable is used for bearing the tensile load generated after the loading of the platform, and the inflated air bags are used for providing normal support rigidity, so that the upper edge strip, the lower edge strip and the web of the engineering beam are simulated, and the aim of taking the bearing bending moment as the main load in the structure is realized.

20 sections of sub-airbags are sequentially arranged along the expanding direction of the platform, and limiting rings are arranged on the upper surface and the lower surface of the rest sub-airbags except for the terminal sub-airbags to prevent flexible steel ropes on the upper surface and the lower surface of the airbag from slipping.

Each sub-air bag is internally provided with a remote control valve, and is connected through an air duct, and the sub-air bags are sequentially inflated or deflated by utilizing an inflation and deflation system at the root air bag, so that the rapid deployment and recovery of the rapid take-off and landing platform are realized.

The supporting platform comprises a bottom plate, side plates, a blocking rope, pulleys, a driving damping device and inclined supporting rods, wherein the upper end of the bottom plate is fixedly connected with the side plates, the lower end of the bottom plate is connected with the pulleys, the flexible steel rope passes through the pulleys, the function that the supporting platform can slide on the flexible steel rope is realized, and the condition that the supporting platform swings left and right in operation is avoided by adding the inclined supporting rods on the pulleys; the arresting rope is fixed on the side plate and used for capturing the unmanned aerial vehicle wheels, limiting the degree of freedom of the unmanned aerial vehicle on the supporting platform, and driving the supporting platform to drive the unmanned aerial vehicle to take off speed or completely stationary in a short distance under the action of the driving damping device.

When the unmanned aerial vehicle is ready to take off, the rapid take-off and landing platform in a stowed state is required to be deployed. Firstly, the locking state of a fixed end structure is released, a quick take-off and landing platform is changed into a state parallel to a rear deck from a state of being attached to a ship body perpendicular to the rear deck, then the fixed end state is adjusted again to lock the quick take-off and landing platform, all remote control valves are kept in a closed state, then a rope control system is used for dragging flexible steel ropes at the upper end and the lower end of the quick take-off and landing platform, simultaneously an inflation and deflation system is utilized to inflate root air bags, so that a first air bag at the root is gradually unfolded, after proper pressure is established for the first air bag at the root, the air bags are in a balanced state under the action of internal pressure and flexible steel rope tension, at the moment, the remote control valves between the first air bag and the second air bags are opened to inflate the second air bags, so that the first two air bags are unfolded, the operation is repeated, the 20 air bags are sequentially unfolded, when all the air bags are unfolded to a preset position, the rope control system is used for fully fixing the flexible steel ropes, the internal pressure of all air bags is kept constant, the unmanned aerial vehicle is conveyed to a support platform, the unmanned aerial vehicle wheel is fixed by the aid of the arresting rope, and then the driving and the damping device is controlled to output proper driving force to drive the support platform and the unmanned aerial vehicle to move forwards, so that the quick take-off is realized.

When unmanned aerial vehicle is ready to land, adopt and unmanned aerial vehicle is ready to take off the platform expansion method of time with quick take off and land the platform and expand, move supporting platform to the position of landing afterwards, when unmanned aerial vehicle lands, unmanned aerial vehicle wheel is caught by the arresting rope, unmanned aerial vehicle drives supporting platform motion, utilizes the damping force that drive damping device produced to make supporting platform and unmanned aerial vehicle slow down to 0 in the short distance, unmanned aerial vehicle begins to retrieve quick take off and land the platform after retrieving, and the recovery process is opposite with the expansion process.

The invention has the following beneficial effects:

1. the rapid take-off and landing platform adopts a telescopic inflatable structure mode, and has rapid expansion and contraction functions;

2. no matter the rapid take-off and landing platform is in a working or non-working state, the space of the deck of the ship is not occupied. When the ship is in a non-working state, the rapid take-off and landing platform contracts and is vertically placed at the tail part of the ship body, so that the external contour, the pneumatic and electromagnetic properties of the ship are not excessively influenced;

3. the rapid take-off and landing platform is provided with a supporting platform capable of carrying the unmanned aerial vehicle, so that the unmanned aerial vehicle can take off and land at a short distance;

4. the quick take-off and landing platform consists of a plurality of sub-airbags, the sub-airbags are easy to detach, the quick take-off and landing platform can be lengthened or shortened according to actual needs, and the maintenance and the use are convenient.

Drawings

FIG. 1 is a schematic diagram of a working state of a rapid take-off and landing platform of an inflatable track of a carrier-based fixed wing unmanned aerial vehicle;

FIG. 2 is an oblique view of the present invention after inflation and deployment;

FIG. 3 is a front elevational view of the inflatable device of the present invention after inflation and deployment;

FIG. 4 is a front view of the recovery process of the present invention;

FIG. 5 is a front elevational view of the invention fully recovered;

FIG. 6 is a partial view of the root of the present invention;

FIG. 7 is a cross-sectional view of the interior of the balloon of the present invention.

Detailed Description

In order that the objects and advantages of the invention will become more apparent, a more particular description of the invention will be rendered by reference to specific examples thereof. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1-7, a carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform comprises a fixed end structure 1, a flexible steel cable 6, an air bag 9 and a supporting platform 4.

The fixed end structure 1 is connected with the tail of the ship, and when the rapid take-off and landing platform executes the take-off and landing task of the unmanned aerial vehicle, the fixed end structure 1 is in a locking state; when the quick take-off and landing platform completes the take-off and landing task of the unmanned aerial vehicle, the fixed end structure 1 is in a rotatable state, so that the quick take-off and landing platform is folded and vertically placed at the tail of the ship when in a non-working state.

The flexible steel rope 6 comprises a three-layer flexible steel rope at the upper part of the platform and a single-layer flexible steel rope at the lower part of the platform, wherein the tip end of the upper flexible steel rope is fixed on the supporting rib 16, and the root is connected with the rope control system 2; the lower flexible steel cable is fixed at the lower end lock buckle of the tip air bag, the root is connected with the rope control system 2, a mode of wrapping a plurality of sub-air bags by using the flexible steel cable 6 is integrally formed, the upper flexible steel cable is used for bearing the tensile load generated after the rapid lifting platform is loaded, and the inflated air bags are used for providing normal support rigidity, so that the upper edge strip, the lower edge strip and the web of the engineering beam are simulated, and the aim of taking the bearing bending moment as the main load in the structure is realized.

The air bag material is nylon-rubber composite material, which ensures that the air bag has enough pressure resistance, good air tightness and large flexibility. 20 sections of sub-airbags are sequentially arranged along the expanding direction of the rapid take-off and landing platform, and limiting rings 7 are arranged on the upper surface and the lower surface of the rest sub-airbags except the terminal airbags to prevent the flexible steel ropes 6 on the upper surface and the lower surface of the airbags from slipping. Each sub-air bag is internally provided with a remote control valve 11 which is connected through a plurality of groups of air ducts 8, and each sub-air bag is sequentially inflated or deflated by utilizing an inflation and deflation system 15 at the root air bag, so that the rapid deployment and recovery of the rapid take-off and landing platform are realized.

The supporting platform 4 comprises a bottom plate 14, side plates 12, a blocking rope 13, pulleys 3, a driving damping device 15 and inclined supporting rods 5, wherein the upper end of the bottom plate is fixedly connected with the side plates, and the lower end of the bottom plate is connected with the pulleys. The flexible steel rope 6 passes through a plurality of pulleys, so that the function that the support platform 4 can slide on the flexible steel rope 6 in a single degree of freedom is realized, and the condition that the support platform 4 swings left and right in operation is avoided by adding the diagonal bracing rods 5 on the pulleys 3. The arresting rope 13 is fixed on the side plate 12 and used for capturing unmanned aerial vehicle wheels, limiting the degree of freedom of the unmanned aerial vehicle on the supporting platform 4, and under the action of the driving damping device 15, the supporting platform 4 can drive the unmanned aerial vehicle to reach the take-off speed or completely rest in a short distance, so that the unmanned aerial vehicle can be rapidly launched and taken off and landed.

When the unmanned aerial vehicle is ready to take off, the rapid take-off and landing platform in a stowed state is required to be deployed. Firstly, the locking state of the fixed end structure 1 is released, the quick take-off and landing platform is changed into a state parallel to the rear deck from a state of being attached to the ship body perpendicular to the rear deck, then the fixed end state is adjusted again to lock the quick take-off and landing platform, all remote control valves 11 are kept in a closed state, then the rope control system 2 is responsible for pulling flexible steel ropes at the upper end and the lower end of the quick take-off and landing platform, simultaneously the root air bags are inflated by the inflation and deflation system 10, so that a first air bag at the root is gradually unfolded, after proper pressure is established for the first air bag at the root, the air bags are in a balanced state under the action of the internal pressure and the tensile force of the flexible steel ropes 6, at the moment, the remote control valves 11 between the first air bag and the second air bags are opened to inflate the second air bags, so that the first two air bags are unfolded, the operation is repeated, the 20 air bags are sequentially unfolded, when all the air bags are unfolded to a preset position, the flexible steel ropes 6 are all fixed by the rope control system 2, the internal pressure of all the air bags is kept constant, the unmanned aerial vehicle is transported to a support platform, the unmanned aerial vehicle is fixed by the damping device, the damping device 15 is controlled to output, and the proper driving force is driven by the unmanned aerial vehicle to take-off, and the unmanned aerial vehicle is rapidly moved forward, so that the unmanned aerial vehicle is rapidly taken off, and the unmanned aerial vehicle is realized.

When the unmanned aerial vehicle is ready to land, the rapid take-off and landing platform is unfolded by adopting a platform unfolding method when the unmanned aerial vehicle is ready to take off, and then the supporting platform 4 is moved to a land position. When unmanned aerial vehicle lands, unmanned aerial vehicle wheel is caught by arresting rope 13, and unmanned aerial vehicle drives supporting platform 4 and slides on flexible cable 6 afterwards, utilizes the damping force that drive damping device 15 produced to make supporting platform 4 and unmanned aerial vehicle slow down to 0 in the short distance, and unmanned aerial vehicle begins to retrieve quick take-off and land platform after retrieving. Firstly, each remote control valve 11 is closed, the internal pressure of each sub-air bag is kept independent and unchanged, then the upper end rope and the lower end rope are pulled through the rope control system 2, the internal pressure of the first sub-air bag is raised at the moment, and then the inflation and deflation system 10 automatically deflates the first sub-air bag, so that the recovery of the first sub-air bag is realized. After the first sub-air bag is recovered, a remote control valve between the first sub-air bag and the second sub-air bag is opened, and the second sub-air bag is subjected to steel rope pulling and air release operation, so that the second sub-air bag is recovered. Repeating the above operation, and sequentially recovering 20-section sub-airbags. The purpose of maintaining the internal pressure of the sub-air bags unchanged in the process of being pulled by the steel rope to be folded is to maintain the supporting function of each sub-air bag and prevent the rapid-rise and fall platform from collapsing. The rapid take-off and landing platform is recovered along the direction of the expanding direction by sequentially deflating the sub-airbags. And finally, rotating the recovered 20-section sub-air bags to the position vertical to the rear deck through the rotation of the fixed end structure 1, and completing the recovery of the quick take-off and landing platform.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. The utility model provides a carrier-borne fixed wing unmanned aerial vehicle inflatable track platform that takes off and land fast which characterized in that: the unmanned aerial vehicle landing system comprises a fixed end structure 1, a flexible steel rope 6, an air bag 9 and a supporting platform 4, wherein the fixed end structure 1 is connected with the tail of a ship, and when a rapid landing platform executes an unmanned aerial vehicle landing task, the fixed end structure 1 is in a locking state; when the quick take-off and landing platform completes the take-off and landing task of the unmanned aerial vehicle, the fixed end structure 1 is in a rotatable state, so that the quick take-off and landing platform is folded and vertically placed at the tail of the ship when in a non-working state.

2. The carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform according to claim 1, wherein: the flexible steel rope 6 comprises a three-layer flexible steel rope at the upper part of the platform and a single-layer flexible steel rope at the lower part of the platform, wherein the tip end of the upper flexible steel rope is fixed on the supporting rib 16, and the root is connected with the rope control system 2; the tip end of the lower flexible steel cable is fixed on the lock catch at the lower end of the tip air bag, the root is connected with the rope control system 2, a mode of wrapping a plurality of sub-air bags by using the flexible steel cable 6 is formed, the tensile load generated after the upper flexible steel cable bears the load of the platform is utilized, and the inflated air bags 9 are utilized to provide normal support rigidity, so that the upper edge strip, the lower edge strip and the web of the engineering beam are respectively simulated, and the aim of taking the bearing bending moment as the main load in the structure is realized.

3. The carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform according to claim 1, wherein: the air bags 9 are sequentially provided with 20 sections of sub-air bags along the expanding direction of the platform, limiting rings 7 are arranged on the upper and lower surfaces of the rest sub-air bags except the terminal air bags to prevent the flexible steel ropes 6 on the upper and lower surfaces of the air bags from slipping, remote control valves 11 are arranged in the sub-air bags, the sub-air bags are connected through air ducts 8, and the sub-air bags are sequentially inflated or deflated by utilizing an inflation and deflation system 10 on the root air bags to realize rapid expansion and recovery of the rapid lifting platform.

4. The carrier-based fixed wing unmanned aerial vehicle inflatable track rapid take-off and landing platform according to claim 1, wherein: the supporting platform 4 comprises a bottom plate 14, a side plate 12, a blocking rope 13, a pulley 3, a driving damping device 15 and a diagonal bracing rod 5, wherein the upper end of the bottom plate is fixedly connected with the side plate, the lower end of the bottom plate is connected with the pulley 3, a flexible steel cable 6 passes through the pulley 3, the function that the supporting platform 4 can slide on the flexible steel cable 6 is realized, and the condition that the supporting platform 4 swings left and right in operation is avoided by adding the diagonal bracing rod 5 on the pulley 3; the arresting rope 13 is fixed on the side plate 12 and is used for capturing the unmanned aerial vehicle wheels, limiting the degree of freedom of the unmanned aerial vehicle on the supporting platform 4, and driving the supporting platform 4 to drive the unmanned aerial vehicle to take off speed or completely stationary in a short distance under the action of the driving damping device 15.

5. The utility model provides a carrier-borne fixed wing unmanned aerial vehicle inflatable track platform that takes off and land fast which characterized in that includes the following step:

when the unmanned aerial vehicle is ready to take off, the rapid take-off and landing platform in a stowed state needs to be subjected to deployment operation; firstly, the locking state of the fixed end structure 1 is released, the quick take-off and landing platform is changed into a state parallel to the rear deck from a state of being attached to the ship body perpendicular to the rear deck, then the fixed end structure 1 is adjusted again to lock the quick take-off and landing platform, all remote control valves 11 are kept in a closed state, then a rope control system 2 is responsible for pulling flexible steel ropes at the upper end and the lower end of the quick take-off and landing platform, simultaneously an inflation and deflation system 10 is utilized to inflate the root air bags, so that a first air bag at the root is gradually unfolded, after proper pressure is established for the first air bag at the root, the air bags are in a balanced state under the action of the internal pressure and the tensile force of the flexible steel ropes 6, at the moment, a remote control valve 11 between the first air bag and the second air bag is opened to inflate the second air bags, so that the first two air bags are unfolded, the operation is repeated, 20 air bags are sequentially unfolded, when all the air bags are unfolded to a preset position, the flexible steel ropes 6 are all fixed through the rope control system 2, the internal pressure of each air bag is kept constant, the unmanned aerial vehicle is conveyed to a support platform 4, the unmanned aerial vehicle is fixed through the arresting rope 13, after proper pressure is established, the first air bag is under the action of the first air bags, the action of the first air bags is under the action of proper pressure, the action of the unmanned aerial vehicle is controlled, the driving device is controlled, and the driving device 15 is driven, and the unmanned aerial vehicle is driven to move forwards, so that the take-off and fast take-off, and is realized.

When the unmanned aerial vehicle is ready to land, the rapid take-off and landing platform is unfolded by adopting a platform unfolding method when the unmanned aerial vehicle is ready to take off, then the supporting platform 4 is moved to a land position, when the unmanned aerial vehicle lands, the unmanned aerial vehicle wheels are captured by the blocking rope 13, the unmanned aerial vehicle drives the supporting platform 4 to move, the supporting platform 4 and the unmanned aerial vehicle are decelerated to 0 in a short distance by utilizing a damping force generated by the driving damping device 15, and the recovery process and the unfolding process of the unmanned aerial vehicle are opposite.