CN118145048A - Unmanned aerial vehicle transmitting device and control method - Google Patents
Unmanned aerial vehicle transmitting device and control method Download PDFInfo
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- CN118145048A CN118145048A CN202410585047.2A CN202410585047A CN118145048A CN 118145048 A CN118145048 A CN 118145048A CN 202410585047 A CN202410585047 A CN 202410585047A CN 118145048 A CN118145048 A CN 118145048A
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- 230000005484 gravity Effects 0.000 claims description 12
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- 238000011105 stabilization Methods 0.000 claims description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/50—Launching from storage containers, e.g. from submarine missile tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/15—UAVs specially adapted for particular uses or applications for conventional or electronic warfare
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- Aviation & Aerospace Engineering (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses an unmanned aerial vehicle transmitting device and a control method, wherein the unmanned aerial vehicle transmitting device comprises a transmitting tube, an equipment cabin, a transmitter, an opening and closing device and a control device; the equipment cabin is sleeved on the outer wall of the lower area of the transmitting pipe; the emitter is arranged in the emitting tube and is positioned at the lower part of the unmanned aerial vehicle accommodating space, and the unmanned aerial vehicle can be ejected outwards from the inside of the emitting tube; the opening and closing device is arranged at the end part of the transmitting tube far away from the transmitter and can be automatically opened before the unmanned aerial vehicle is ready to transmit; the control device is arranged in the equipment cabin and is respectively and electrically connected with the emitter and the opening and closing device, and can respectively control the emitter and the opening and closing device to execute corresponding commands. The application can reduce the influence of water flow floating on the underwater emission of the unmanned aerial vehicle, and simultaneously can enable the unmanned aerial vehicle emission device to complete the unmanned aerial vehicle emission function.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle emission, in particular to an unmanned aerial vehicle emission device and a control method.
Background
In recent years, unmanned aerial vehicle technology has rapidly developed, and unmanned aerial vehicles have been widely used in various industries and fields, especially unmanned aerial vehicles in military fields, and folding wing unmanned aerial vehicles and coaxial unmanned aerial vehicles are most widely used. The two unmanned aerial vehicles have the common characteristics that after the wings are folded, the unmanned aerial vehicles can be arranged in a transmitting barrel with a certain aperture, and the gun barrel of the unmanned aerial vehicle can be transmitted. At present, the ground emission and the air emission modes of the unmanned aerial vehicle are common and mature, but with the expansion of the application scene of the unmanned aerial vehicle, the in-water emission will have more demands. The underwater emission unmanned aerial vehicle is different from ground emission and aerial emission, and the performance requirement of the underwater emission to unmanned aerial vehicle emitter is higher, receives the influence that rivers float, and the emission control degree of difficulty is bigger.
In order to meet the requirements of future battlefields, when the submarine is used for battlefields, the submarine can avoid the sonar detection of enemy warships, the unmanned aerial vehicle transmitting device can be released underwater in a long distance, and when the unmanned aerial vehicle transmitting device floats to the water surface, the unmanned aerial vehicle is transmitted, and the unmanned aerial vehicle transmitting device can serve as a relay for underwater and aerial information feedback. The unmanned aerial vehicle performs task investigation, and investigation information is transmitted back to the transmitting device through wireless communication, and the transmitting device can send information to the submarine through wired communication. The underwater emission unmanned aerial vehicle is different from ground emission and aerial emission, and the performance requirement of the underwater emission to unmanned aerial vehicle emitter is higher, receives the influence that rivers float, and the emission control degree of difficulty is bigger. At present, no product completely meeting the functions of communication, positioning and emission exists; the invention provides an unmanned aerial vehicle transmitting device and a control method for solving the practical application requirement of an unmanned aerial vehicle transmitting in water.
Disclosure of Invention
According to the unmanned aerial vehicle launching device and the control method, the technical problems that in the prior art, the launching control difficulty is higher due to the influence of water flow floating of the unmanned aerial vehicle launching device are solved, the performance requirement on the unmanned aerial vehicle launching device is higher are solved, the influence of water flow floating of the unmanned aerial vehicle launching device can be reduced, and meanwhile the unmanned aerial vehicle launching device can realize the function of launching the unmanned aerial vehicle.
In a first aspect, an unmanned aerial vehicle transmitting device provided by an embodiment of the invention comprises a transmitting tube, an equipment cabin, a transmitter, an opening and closing device and a control device; the equipment cabin is sleeved on the outer wall of the lower area of the transmitting pipe; the emitter is arranged in the emitting tube and is positioned at the lower part of the unmanned aerial vehicle accommodating space, and the unmanned aerial vehicle can be ejected outwards from the inside of the emitting tube; the opening and closing device is arranged at the end part of the transmitting tube far away from the transmitter and can be automatically opened before the unmanned aerial vehicle is ready to transmit; the control device is arranged in the equipment cabin and is respectively and electrically connected with the emitter and the opening and closing device, and can respectively control the emitter and the opening and closing device to execute corresponding commands.
With reference to the first aspect, in one possible implementation manner, when the unmanned aerial vehicle launching device is loaded with an unmanned aerial vehicle, a center of gravity of the unmanned aerial vehicle launching device is located below a center of the launching tube; and/or the center of gravity of the unmanned aerial vehicle after being launched is positioned on the launching tube axis corresponding to the equipment compartment sleeving area.
With reference to the first aspect, in a possible implementation manner, the emitter includes an ejector and a push plate; the pushing plate is connected to the inner wall of the launching tube in a sliding manner and is used for pushing the unmanned aerial vehicle to launch and lift off along the length direction of the launching tube under the action of the ejector; the ejector is positioned below the push plate, is electrically connected with the control device and is used for igniting and releasing gas based on the instruction of the control device and pushing the push plate to move along the length direction of the transmitting tube; the outer side of the bottom end of the ejector is provided with a plurality of exhaust holes in an annular array along the direction of the axis of the ejector.
With reference to the first aspect, in a possible implementation manner, a guiding groove is formed on the inner wall of the transmitting tube, and is used for accommodating a boss on the outer side of the push plate; the guide groove is narrowed at a position close to the end of the transmitting tube, and/or the boss is provided with an elastic telescopic protrusion in the tangential direction of the circle where the boss is located, and the end opening of the guide groove is provided with a clamping groove which is matched with the extending state of the elastic telescopic protrusion in the same direction.
In combination with the first aspect, in one possible implementation manner, the push plate is a U-shaped groove with an arc bottom, the U-shaped groove is used for accommodating part of the unmanned aerial vehicle, and the inner wall of the U-shaped groove is abutted to the unmanned aerial vehicle above the inner wall of the U-shaped groove for pushing the unmanned aerial vehicle to move.
With reference to the first aspect, in one possible implementation manner, the unmanned aerial vehicle launching device provided by the embodiment of the invention further includes a thrust reverser disposed at the bottom of the launching tube, where the thrust reverser is electrically connected to the control device and is used for igniting with the launcher at the same time based on an instruction of the control device, and a spraying direction of the thrust reverser is opposite to a launching direction of the unmanned aerial vehicle.
With reference to the first aspect, in a possible implementation manner, the opening and closing device includes a top cover and a top cover fixing device; one end of the top cover is rotatably connected with the end part of the launching tube, which is far away from the launcher; the top cover fixing device is arranged between the top cover and the transmitting tube and is used for opening the top cover based on instructions of the control device.
With reference to the first aspect, in a possible implementation manner, the unmanned aerial vehicle transmitting device provided by the embodiment of the invention further includes a water pressure sensor and/or a dynamic attitude meter; the water pressure sensor is arranged on the side surface of the top cover, is electrically connected with the control device, and is used for detecting whether the unmanned aerial vehicle emission device emits water or not and feeding the water back to the control device; the dynamic attitude instrument is arranged in the top cover, is electrically connected with the control device, and is used for detecting the inclination angle of the unmanned aerial vehicle transmitting device after the unmanned aerial vehicle transmitting device floats out of the water surface and feeding back to the control device.
With reference to the first aspect, in a possible implementation manner, the unmanned aerial vehicle transmitting device provided by the embodiment of the invention further includes an attitude stabilizing assembly; the gesture stabilizing assembly comprises a buckling piece, a plurality of stabilizing blades and a plurality of elastic pieces; the plurality of stabilizing blades are arranged on the outer wall of the transmitting tube in an annular array in the axial lead direction of the transmitting tube in a deployable manner; the buckling piece is arranged on the outer side of the transmitting tube far away from the transmitter, is electrically connected with the control device and can buckle the plurality of stabilizing blades on the outer side of the transmitting tube; the elastic pieces are respectively arranged on the outer wall of the transmitting tube above the equipment compartment and connected between the stabilizing blades and the transmitting tube, and have a certain pretightening force, so that the stabilizing blades can be unfolded after the buckling pieces fail.
In a second aspect, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle transmitting device, including: the unmanned aerial vehicle transmitting device loaded with the unmanned aerial vehicle floats to the water surface after being released by the underwater carrying platform at the designated position; when the water pressure sensor detects that the launching device floats out of the water surface, a signal of water yielding from the launching device of the unmanned aerial vehicle is fed back to the control device, the buckling piece is controlled to be opened through the control device, and the unfolding of the blades is stabilized; when the stable blade is unfolded, the inclination angle detected by the dynamic attitude meter is in a preset range, the control device controls the top cover to be opened, the transmitter and the thrust reverser are controlled to be started simultaneously after a preset time delay, the unmanned aerial vehicle is driven to be ejected out of the transmitting tube, and the unmanned aerial vehicle is transmitted to a preset height.
One or more technical solutions provided in the embodiments of the present invention at least have the following technical effects or advantages:
According to the embodiment of the invention, the transmitting tube, the equipment cabin, the transmitter, the opening and closing device and the control device are adopted; the equipment cabin is sleeved on the outer wall of the lower area of the transmitting pipe, so that the gravity center of the whole unmanned aerial vehicle transmitting device is deviated and is positioned at the axial lead of the lower area of the transmitting pipe, and the whole unmanned aerial vehicle transmitting device can stably and vertically float upwards after being released in water;
the launcher is arranged in the launching tube and positioned at the lower part of the unmanned aerial vehicle accommodating space, so that the unmanned aerial vehicle can be ejected outwards from the inside of the launching tube;
The opening and closing device is arranged at the end part of the transmitting tube, which is far away from the transmitter, so that the unmanned aerial vehicle can be automatically opened before being ready for transmitting, and the unmanned aerial vehicle can transmit conveniently;
The control device is arranged in the equipment cabin and is respectively and electrically connected with the emitter and the opening and closing device, so that the emitter can be controlled to execute an emitting command and the opening and closing device can be controlled to execute an opening command, and the function of emitting the unmanned aerial vehicle can be completed;
The unmanned aerial vehicle water emission is influenced by water flow floating in the prior art, so that the emission control difficulty is higher, the technical problem of higher performance requirements on the emission device is solved, the influence of the unmanned aerial vehicle water emission on water flow floating can be reduced, and the function of unmanned aerial vehicle emission can be completed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments of the present invention or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view of an unmanned aerial vehicle transmitting device according to an embodiment of the present application;
fig. 2 is a cross-sectional view of an extended stable blade of an unmanned aerial vehicle launching device according to an embodiment of the present application;
fig. 3 is a cross-sectional view of an unmanned aerial vehicle launching device provided by an embodiment of the present application after a stabilizing blade is unfolded and a top cover is opened;
fig. 4 is an isometric view of an unmanned aerial vehicle launching device provided by an embodiment of the present application after a stabilizing blade is unfolded and a top cover is opened;
Fig. 5 is a schematic partial view of a connection between a push plate and an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 6 is a schematic view of a first structure of a guide groove according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of a boss and a first structure of a guiding groove according to an embodiment of the present application;
Fig. 8 is a schematic view of a second structure of a guide groove according to an embodiment of the present application;
FIG. 9 is a schematic view of a push plate and resilient retractable protrusions provided in an embodiment of the present application;
FIG. 10 is a schematic view of an elastic retractable protrusion according to an embodiment of the present application;
FIG. 11 is a cross-sectional view of a partial structure of a thrust reverser and ejector assembly provided by an embodiment of the present application;
FIG. 12 is a front view of a partial structure of a thrust reverser and ejector assembly provided by an embodiment of the present application;
fig. 13 is a schematic structural diagram of a control device according to an embodiment of the present application;
fig. 14 is a control flow chart of a control method of an unmanned aerial vehicle transmitting device according to an embodiment of the present application.
Icon: 1-an emitter tube; 11-a guide groove; 111-clamping grooves; 12-a plug-and-play connector; 2-an equipment compartment; a 3-emitter; 31-catapult; 311-exhaust holes; 312-a first explosion-proof connector; 32-pushing plate; 321-boss; 322-elastically stretchable protrusions; 3221-a limit ball; 3222-a compression spring; 4-an opening and closing device; 41-top cover; 411-wave-transparent protective cover; 42-top cover fixing device; 421-detent hinge; 422-an initiator; 5-a control device; a 51-guard receiver; 52-cell; 53-emission control box; 54-data chain; 6-a reverse pushing device; 61-a reverse thrust cylinder; 611-a second detonation connector; 62-flame spraying nozzle; 621-horn structure; 63-a separator; 7-a water pressure sensor; 8-a dynamic attitude instrument; 9-an attitude stabilization assembly; 91-stabilizing the blade; 10-unmanned aerial vehicle; 101-body shoulder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the embodiments of the present invention and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the embodiments of the present invention will be understood by those of ordinary skill in the art according to specific circumstances.
Referring to fig. 1 to 4, an unmanned aerial vehicle transmitting device provided by an embodiment of the application comprises a transmitting tube 1, an equipment cabin 2, a transmitter 3, an opening and closing device 4 and a control device 5; the equipment cabin 2 is sleeved on the outer wall of the lower area of the transmitting tube 1; the emitter 3 is arranged in the emitting tube 1 and is positioned at the lower part of the accommodating space of the unmanned aerial vehicle 10, and can eject the unmanned aerial vehicle 10 outwards from the inside of the emitting tube 1; the opening and closing device 4 is arranged at the end part of the transmitting tube 1 far away from the transmitter 3 and can be automatically opened before the unmanned aerial vehicle 10 is ready to transmit; the control device 5 is arranged in the equipment cabin 2 and is respectively and electrically connected with the emitter 3 and the opening and closing device 4, and can respectively control the emitter 3 and the opening and closing device 4 to execute corresponding commands. In the embodiment of the application, the transmitting tube 1 is made of aluminum alloy material and is integrally designed, and no redundant connection interface is designed; the equipment cabin 2 is independently externally arranged, and waterproof glue is smeared on the other connecting and fixing parts; the waterproof and compressive properties are good, the manufacturing and the processing are simple, the installation is convenient, and the maintenance is easy; specifically, the equipment cabin 2 is installed in the outside of the bottom of the transmitting tube 1, the equipment cabin 2 is an independent cabin body, the upper portion of the equipment cabin 2 is subjected to conducting angle treatment, resistance can be effectively reduced, meanwhile, the connection interface of the equipment cabin 2 and the transmitting tube 1 is formed in the oblique angle, the interface is an independent interface and is not communicated with other cabin bodies, the equipment cabin 2 is internally provided with the control device 5, the specific control device 5 comprises a defending and guiding receiver 51, a battery 52, a transmitting control box 53 and a data chain 54, various equipment cables are connected to equipment in the opening and closing device 4 at the top end of the transmitting tube 1 by adopting flexible connection cables along an external wall hidden groove of the transmitting tube 1 through unique outlets.
Referring to fig. 1 to 4, when the unmanned aerial vehicle 10 is loaded in the unmanned aerial vehicle launching device, the gravity center of the unmanned aerial vehicle launching device is positioned below the center of the launching tube 1; and/or the center of gravity of the unmanned aerial vehicle 10 is positioned on the axis of the transmitting tube 1 corresponding to the sleeving area of the equipment cabin 2 after the unmanned aerial vehicle 10 is transmitted. In the embodiment of the application, the whole device of the underwater transmitting unmanned aerial vehicle 10 is designed to be in a layout with heavy bottom, light top, thick bottom and thin top, and the gravity center of the whole device is positioned in the area below the center of the transmitting tube 1, so that the vertical posture of the unmanned aerial vehicle transmitting device is maintained in the underwater floating process.
Referring to fig. 2-3, the ejector 3 includes an ejector 31 and a push plate 32; the push plate 32 is slidably connected to the inner wall of the launching tube 1, and is used for pushing the unmanned aerial vehicle 10 to launch and lift up along the length direction of the launching tube 1 under the action of the ejector 31; the ejector 31 is located below the push plate 32 and electrically connected to the control device 5, and is configured to fire to release gas based on an instruction of the control device 5, so as to push the push plate 32 to move along the length direction of the launch tube 1. Specifically, in the embodiment of the application, an unmanned aerial vehicle 10 and a push plate 32 are installed in a transmitting tube 1, an ejector 31 and a plug-in connector 12 are installed at the bottom of the transmitting tube, when the ejector 31 ignites and the push plate 32 pushes the unmanned aerial vehicle 10 to ascend, the unmanned aerial vehicle 10 can be launched into the air by the acting force of the push plate 32, and the plug-in connector 12 at the bottom of the transmitting tube 1 is connected with the unmanned aerial vehicle 10 along an inner wall hidden groove of the transmitting tube 1 for external power-on detection and information binding of the unmanned aerial vehicle 10 and information interaction with other carriers; the unmanned aerial vehicle 10 in the embodiment of the application is not limited to one structural form, and comprises a coaxial unmanned aerial vehicle, a folding wing unmanned aerial vehicle 10 and a multi-rotor unmanned aerial vehicle 10; the ejector 31 in the embodiment of the application is not limited to one emission mode, and comprises high-low pressure gas emission, gas emission and gunpowder emission; specifically, a plurality of exhaust holes 311 are formed in the outer side of the bottom end of the ejector 31 in an annular array along the axial line direction of the ejector 31, the axial line of the exhaust holes 311 is arranged along the radial direction of the ejector 31, and the gas generated by the ejector 31 can be stably discharged from the exhaust holes 311 during ignition, so that the ejector 31 can generate stable upward thrust for the push plate 32, meanwhile, the exhaust holes 311 are positioned at the bottom of the ejector 31, and after the ejector 31 ignites, all the generated gas is discharged from the exhaust holes 311 and moves from bottom to top, so that the energy consumption caused by the up-down dispersion of the movement path of the gas is avoided; the top end of the ejector 31 is provided with a first explosion connector 312, and the first explosion connector 312 is electrically connected with the control device 5, so that an ignition command is transmitted to the ejector 31 through the first explosion connector 312.
Referring to fig. 5 to 7, the inner wall of the launch tube 1 is provided with a guide groove 11 for accommodating a boss 321 on the outer side of the push plate 32; the guiding groove 11 is narrowed near the port of the transmitting tube 1, and/or the boss 321 is provided with an elastically stretchable protrusion 322 in the tangential direction of the circle where it is located, and the port of the guiding groove 11 is provided with a clamping groove 111 adapted to the stretched state of the elastically stretchable protrusion 322 in the same direction. Specifically, in the embodiment of the application, two symmetrical guide grooves 11 are formed in the inner wall of the transmitting tube 1, a sliding boss 321 is formed on the pushing plate 32, the boss 321 on the pushing plate 32 slides along the guide groove 11 on the inner wall of the transmitting tube 1, the guide groove is of a different structure, the lower part is wide and the upper part is narrow, when the ejector 31 ignites, the pushing plate 32 pushes the unmanned aerial vehicle 10 to rise, the unmanned aerial vehicle 10 can be launched into the air by the acting force of the pushing plate 32, the pushing plate 32 is limited by the guide groove 11 of the transmitting tube 1 and is left in the transmitting tube 1, the port position is narrowed, on one hand, the limiting effect of the pushing plate 32 is achieved, on the other hand, the gradually narrowed design can enable the pushing plate 32 to be blocked at the end part of the transmitting tube 1 under the effect of ejection force, and water is prevented from entering the transmitting tube 1; or specifically, in the embodiment of the present application, the elastically stretchable protrusions 322 include a compression spring 3222 and limiting balls 3221 disposed at both ends of the compression spring 3222, when the two limiting balls 3221 are located in the guide grooves 11, the limiting balls 3221 compress the compression spring 3222, and a clamping groove 111 adapted to the extended state of the elastically stretchable protrusions 322 is disposed at a port of the guide grooves 11, when the boss 321 on the push plate 32 slides along the guide grooves 11 on the inner wall of the transmitting tube 1, the limiting balls 3221 in the compressed state slide in the guide grooves 11, when the unmanned aerial vehicle 10 is launched into the air by the push plate 32, and when the limiting balls 3221 move to the position of the clamping groove 111, the compression spring 3222 ejects the limiting balls 3221 into the clamping groove 111, so that the push plate 32 is limited in the guide grooves 11 without leaving the transmitting tube 1.
Referring to fig. 8-10, the pushing plate 32 is a U-shaped groove with an arc bottom, the U-shaped groove is used for accommodating part of the unmanned aerial vehicle 10, and the inner wall of the U-shaped groove is abutted with the unmanned aerial vehicle 10 above the U-shaped groove and used for pushing the unmanned aerial vehicle 10 to move. In the embodiment of the application, the bottom of the push plate 32 is arc-shaped, which is beneficial to increasing the contact area with the gas released by the ejector 31 and improving the thrust; the design of the U-shaped groove can accommodate splashed water at the end part of the transmitting tube 1 after the unmanned aerial vehicle 10 is transmitted, in addition, the design of the arc-shaped bottom is also beneficial to the water in the groove to be gathered at the center position of the bottom, and the water is positioned on the same axis with the gravity center of the unmanned aerial vehicle transmitting device, so that the transmitting tube 1 is beneficial to keeping stable; specifically, the body of the unmanned aerial vehicle 10 is provided with a body shoulder 101, and the top end of the push plate 32 can be abutted against the body shoulder 101, so that upward stable thrust can be conveniently provided for the unmanned aerial vehicle 10.
Referring to fig. 1-4 and fig. 11-12, the unmanned aerial vehicle launching device provided by the embodiment of the application further comprises a thrust reverser 6 arranged at the bottom of the launching tube 1, wherein the thrust reverser 6 is electrically connected with the control device 5 and is used for igniting with the launcher 3 simultaneously based on an instruction of the control device 5, and the spraying direction of the thrust reverser 6 is opposite to the launching direction of the unmanned aerial vehicle 10. In the embodiment of the application, the bottom of the unmanned aerial vehicle launching device is provided with the thrust reverser 6, so that the acting force of the catapult 31 is ensured to be completely applied to the unmanned aerial vehicle 10, and the launching height of the unmanned aerial vehicle 10 is ensured; specifically, the thrust reverser 6 comprises a thrust reverser 61, a flame nozzle 62 and a partition 63, the ejector 31 is sleeved on the outer side of the thrust reverser 61, so that the axial lead of the ejector 31 and the axial lead of the thrust reverser 61 are coincident, the thrust reverser 6 selects a thrust reverser rocket, and the ejector 31 and the thrust reverser 6 receive the instruction of the control device 5 and are ignited at the same time and have opposite injection directions, so that the reaction force generated when the ejector 3 emits the unmanned aerial vehicle 10 can be counteracted, the acting force of the ejector 31 is ensured to be completely applied to the unmanned aerial vehicle 10, and the emission height of the unmanned aerial vehicle 10 is ensured; in addition, by arranging the partition plate 63, before the ignition of the back-pushing device 6, water can be isolated, the water is prevented from entering the back-pushing barrel 61, the partition plate 63 is made of combustible materials, when the ignition of the back-pushing device 6 is finished, the partition plate 63 can be ignited, after the emission is finished, the partition plate 63 is burnt, so that the water enters the back-pushing barrel 61, the stability of the bottom gravity center of the emission tube 1 is ensured, the emission tube 1 can continuously and stably float on the water surface vertically, and the subsequent continuous relay of underwater and air information feedback is facilitated; the inner side of the flame spraying nozzle 62 is further provided with a horn-shaped structure 621, so that when the back-pushing device 6 is ignited, generated gas is accumulated through the horn-shaped structure 621 when reaching the flame spraying nozzle 62, and is discharged from the small opening end of the horn-shaped structure 621 after being accumulated, thereby being beneficial to pressurizing through the horn-shaped structure 621 and ensuring that the back-pushing device 6 can effectively offset the reaction force generated when the unmanned aerial vehicle 10 is emitted by the emitter 3; a second initiation connector 611 is provided at the tip of the thrust reverser 61, and the second initiation connector 611 is electrically connected to the control device 5, so that an ignition command is transmitted to the thrust reverser 6 through the second initiation connector 611.
Referring to fig. 1 to 4, the opening and closing device 4 includes a top cover 41 and a top cover fixing device; one end of the top cover 41 is rotatably connected to the end of the launch tube 1 remote from the launcher 3; the top cover fixing means is provided between the top cover 41 and the transmitting tube 1 for opening the top cover 41 based on an instruction of the control means 5. Specifically, in the embodiment of the application, the top cover fixing device adopts a braking hinge 421 and an initiator 422, one side of the top cover 41 is connected with one side of the launching tube 1 through the braking hinge 421, the initiator 422 is arranged on the other side, the initiator 422 is fixed on the launching tube 1, and a screw rod at the top of the initiator 422 is used for fixing the top cover 41. The top cover 41 is spherical, and is made of aluminum alloy, so that resistance in underwater navigation can be effectively reduced, the interior of the top cover is divided into two layers of cabin bodies, and a wave-transmitting protective cover 411 is arranged outside each cabin body.
Referring to fig. 2-3 and 13, the unmanned aerial vehicle launching device provided by the embodiment of the application further comprises a water pressure sensor 7 and/or a dynamic attitude meter 8; the water pressure sensor 7 is arranged on the side surface of the top cover 41, is electrically connected with the control device 5, and is used for detecting whether the unmanned aerial vehicle launching device is out of water or not and feeding back to the control device 5; the dynamic attitude meter 8 is disposed in the top cover 41, electrically connected to the control device 5, and used for detecting an inclination angle of the unmanned aerial vehicle launching device after floating out of the water surface, and feeding back to the control device 5. Specifically, in the embodiment of the application, a first layer cabin in the top cover 41 is provided with a dynamic attitude instrument 8 (gyroscope attitude instrument), the dynamic attitude instrument 8 (gyroscope attitude instrument) is installed in a forward direction and is used for checking the inclination angle of the launching device after the launching device emerges from the water surface, and the detection of the inclination angle is beneficial to ensuring the launching direction of the unmanned plane 10; the second deck cabin is provided with a sanitation antenna and a data chain 54 antenna, a water pressure sensor 7 is arranged on the side face of the second deck cabin, the two antennas are used for receiving satellite signals, the water pressure sensor 7 is used for detecting whether a transmitting device is out of the water surface, the sanitation antenna and the data chain antenna are inversely arranged, when the top cover 41 is opened, the top layer is provided with a wave-transmitting protective cover 411, the two antennas face upwards, and the inside of the wave-transmitting protective cover 411 can receive satellite signals and prevent water from entering the inside of the top cover 41; the top cover 41 and the transmitting tube 1 are provided with a hidden groove at the braking hinge 421, and soft connecting cables are arranged in the hidden groove, so that the cables are not damaged when the top cover 41 is closed and unfolded, and the equipment communication and power supply are met; in addition, a sealing ring is arranged between the top cover 41 and the end part of the launching tube 1 far away from the launcher 3, and the interface of the top cover 41 adopts a three-way waterproof sealing ring cross groove design.
Referring to fig. 1 to 4, the unmanned aerial vehicle transmitting device provided by the embodiment of the application further comprises a gesture stabilizing component 9; the attitude stabilization assembly 9 includes a snap-fit member, a plurality of stabilization blades 91, and a plurality of elastic members; the plurality of stabilizing blades 91 are arranged on the outer wall of the launching tube 1 in an annular array in the axial line direction of the launching tube 1 in a deployable manner; the buckling piece is arranged on the outer side of the transmitting tube 1 far away from the transmitter 3, is electrically connected with the control device 5, and can buckle the plurality of stabilizing blades 91 on the outer side of the transmitting tube 1; the elastic pieces are respectively arranged on the outer wall of the transmitting tube 1 above the equipment cabin 2 and connected between the stabilizing blades 91 and the transmitting tube 1, have a certain pretightening force, and can be used for unfolding the stabilizing blades 91 after the fastening pieces fail. Specifically, the buckling piece adopts a pin puller structure, the elastic piece adopts a torsion spring, the outer wall of the transmitting device is provided with five stabilizing blades 91, the tops of the stabilizing blades 91 are fastened through the pin puller, the bottoms of the stabilizing blades 91 are driven by the torsion spring to be unfolded around the rotating shaft, the stabilizing blades 91 are unfolded to enable the stabilizing blades 91 to be unfolded to a certain angle after the transmitting device is out of the water surface, the vertical posture of the transmitting device in the water is assisted to be stabilized, the root parts of the stabilizing blades 91 are positioned at the junction of the equipment cabin 2 and the transmitting tube 1, when the transmitting device floats to the water surface, the stabilizing blades are unfolded to provide buoyancy, and the center of gravity is positioned on the axis of the transmitting tube 1 corresponding to the sleeved area of the equipment cabin 2, so that the center of gravity is positioned below the unfolding blades, and the transmitting tube 1 is facilitated to be stably and vertically positioned on the water surface.
Referring to fig. 14, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle transmitting device, including: the unmanned aerial vehicle launching device loaded with the unmanned aerial vehicle 10 floats to the water surface after being released by the underwater carrying platform at the designated position; when the water pressure sensor 7 detects that the launching device floats out of the water surface, a signal of water yielding from the launching device of the unmanned aerial vehicle is fed back to the control device 5, the buckling piece is controlled to be opened through the control device 5, and the stabilizing blades 91 are unfolded; when the inclination angle detected by the dynamic attitude meter 8 is within a preset range after the stable blade 91 is unfolded, the control device 5 controls the top cover 41 to be opened, and controls the emitter 3 and the thrust reverser 6 to be simultaneously started after a preset time delay, so that the unmanned aerial vehicle 10 is driven to be ejected out of the inside of the emitting tube 1, and the unmanned aerial vehicle 10 is emitted to a preset height. After the unmanned aerial vehicle 10 is launched to a preset height, starting to work according to the pre-bound information, wherein the unmanned aerial vehicle launching device serves as a relay for underwater and aerial information feedback; the unmanned aerial vehicle 10 performs task reconnaissance, reconnaissance data are transmitted back to the unmanned aerial vehicle transmitting device through wireless communication, and the unmanned aerial vehicle transmitting device transmits the reconnaissance data to the underwater carrying platform through optical fibers; after the underwater carrying platform confirms that the receiving completion of the reconnaissance data downloaded by the unmanned aerial vehicle 10 is completed, a self-destruction instruction is sent to the unmanned aerial vehicle transmitting device and the unmanned aerial vehicle 10, and meanwhile, the underwater carrying platform releases the optical cable instruction; the mission is completed, the unmanned aerial vehicle launching device and the unmanned aerial vehicle 10 are self-destroyed, and the underwater carrying platform returns.
In the embodiment of the application, specifically, after an underwater carrying platform (submarine, unmanned ship) mounts an unmanned aerial vehicle transmitting device to reach a preset task area, a first step is performed, and ground inspection is performed before transmission, specifically including:
Checking the electric quantity of the unmanned aerial vehicle 10 and the battery 52 of the unmanned aerial vehicle transmitting device through overhauling the socket; binding task parameters of the unmanned aerial vehicle 10, and confirming that the parameter binding is correct; the unmanned aerial vehicle transmitting device is powered on for self-checking, whether a wireless communication link between the unmanned aerial vehicle transmitting device and the unmanned aerial vehicle 10 is normal or not is detected, after the self-checking and the wireless communication link detection are normal, the unmanned aerial vehicle 10 is dormant, and the unmanned aerial vehicle transmitting device is powered off; and (5) checking the tightness of the unmanned aerial vehicle transmitting device assembly.
Then, a second step is carried out to execute tasks, which concretely comprises the following steps:
The unmanned aerial vehicle launching device (comprising the unmanned aerial vehicle 10) assembly is loaded onto the underwater carrying platform and is connected with the communication optical cable of the unmanned aerial vehicle launching device and the underwater carrying platform; the underwater carrying platform presetter is used for powering on the underwater carrying platform through an underwater carrying platform parameter setting channel, and the underwater carrying platform is self-inspected; the unmanned aerial vehicle launching device is powered on manually for self-checking, self-checking information is sent to the underwater carrying platform through the connecting optical cable, and the underwater carrying platform presetter receives the self-checking information of the underwater carrying platform and the unmanned aerial vehicle launching device through the underwater carrying platform parameter setting channel; the underwater carrying platform presetter sends a dormancy instruction to the unmanned aerial vehicle launching device through the underwater carrying platform parameter setting channel, and the unmanned aerial vehicle launching device enters a dormancy standby state; starting an underwater carrying platform, and starting a reconnaissance task; after reaching the task area, the underwater carrying platform enters the unmanned aerial vehicle 10 to release the array position for hovering; the underwater carrying platform sends a wake-up instruction to the unmanned aerial vehicle transmitting device, and the unmanned aerial vehicle transmitting device replies wake-up success information to the underwater carrying platform after being awakened; after the unmanned aerial vehicle launching device is confirmed to be successfully awakened, the underwater carrying platform sends a release instruction to the unmanned aerial vehicle launching device fixing and releasing mechanism to release the unmanned aerial vehicle launching device assembly; the underwater carrying platform confirms that the releasing mechanism of the unmanned aerial vehicle launching device assembly releases correctly, and whether the unmanned aerial vehicle launching device is separated from the underwater carrying platform or not; after the unmanned aerial vehicle launching device assembly floats to the water surface, the unmanned aerial vehicle launching device sends information (depth) of the launching position of the unmanned aerial vehicle 10 to the underwater carrying platform; the underwater delivery platform sends an instruction to enter an autonomous launching program to the unmanned aerial vehicle launching device assembly.
Finally, a third step is carried out, and the unmanned aerial vehicle transmitting device works, and the method specifically comprises the following steps:
After the unmanned aerial vehicle launching device floats to the water surface by utilizing the buoyancy of the unmanned aerial vehicle launching device, when the water pressure sensor 7 detects that the pressure is 0, the launching control box 53 in the unmanned aerial vehicle launching device equipment cabin 2 sends a starting signal to the stable blade 91 positioned at the top of the launching tube 1 to fix a pin puller, the pin puller detonates, five stable blades 91 outside the unmanned aerial vehicle launching device are unfolded for a certain angle, and the vertical posture of the unmanned aerial vehicle launching device in water is assisted to be stabilized; when a dynamic attitude meter 8 (gyroscope attitude meter) in a top cover 41 of the unmanned aerial vehicle transmitting device detects that the vertical inclination angle of the unmanned aerial vehicle transmitting device meets the transmitting condition of 10+/-30 degrees of a preset unmanned aerial vehicle, a transmitting control box 53 in an equipment cabin 2 of the unmanned aerial vehicle transmitting device transmits a starting signal to a detonator 422 positioned on one side of a transmitting tube 1 and connected with the top cover 41, the detonator 422 detonates, the top cover 41 of the unmanned aerial vehicle transmitting device is automatically unfolded under the action of a braking hinge 421, and a satellite antenna and a data chain antenna in the top cover 41 start to search satellite signals and receive information; when the top cover 41 of the unmanned aerial vehicle launching device is opened, the launching control box 53 in the unmanned aerial vehicle launching device equipment cabin 2 sends a launching instruction to the ejector 31 and the thrust reverser 6 in the unmanned aerial vehicle launching device at intervals of 100ms, the ejector 31 and the thrust reverser 6 are started simultaneously after receiving the instruction, and the high-pressure gas generated by the ejector 31 acts on the push plate 32 to push the unmanned aerial vehicle 10 to launch, and the thrust reverser 6 can counteract the thrust generated by the ejector 31 to launch the unmanned aerial vehicle 10; after the unmanned aerial vehicle 10 is launched to a predetermined height, the operation is started according to the pre-bound information; the unmanned aerial vehicle transmitting device can serve as a relay for underwater and aerial information feedback; the unmanned aerial vehicle 10 performs task investigation, and transmits investigation information back to the unmanned aerial vehicle transmitting device through wireless communication, and the unmanned aerial vehicle transmitting device can transmit investigation data to the underwater carrying platform through optical fibers; after the underwater carrying platform confirms that the receiving of the reconnaissance data downloaded by the unmanned aerial vehicle 10 is complete, a self-destruction instruction is sent to the unmanned aerial vehicle transmitting device and the unmanned aerial vehicle 10, and meanwhile, the underwater carrying platform sends an optical fiber releasing mechanism an optical fiber releasing cable instruction; the task is completed, the unmanned aerial vehicle launching device and the unmanned aerial vehicle 10 are self-destroyed, and the underwater carrying platform (submarines and unmanned vessels) return to voyage;
The application solves the technical problems that in the prior art, the unmanned aerial vehicle launching device has higher launching control difficulty due to the influence of water flow floating, has higher performance requirements, and does not have products which completely meet the functions of communication, positioning and launching at present, and can reduce the influence of water flow floating of the unmanned aerial vehicle launching device, and simultaneously ensure that the unmanned aerial vehicle launching device completely meets the functions of communication, positioning and launching.
In this specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment is mainly described as a difference from other embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the present application; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (10)
1. The unmanned aerial vehicle launching device is characterized by comprising a launching tube (1), an equipment cabin (2), a launcher (3), an opening and closing device (4) and a control device (5);
the equipment cabin (2) is sleeved on the outer wall of the lower area of the transmitting pipe (1);
The emitter (3) is arranged in the emitting tube (1) and is positioned at the lower part of the accommodating space of the unmanned aerial vehicle (10), and can eject the unmanned aerial vehicle (10) outwards from the inside of the emitting tube (1);
The opening and closing device (4) is arranged at the end part of the transmitting tube (1) far away from the transmitter (3) and can be automatically opened before the unmanned aerial vehicle (10) is ready to transmit;
The control device (5) is arranged in the equipment compartment (2) and is respectively and electrically connected with the emitter (3) and the opening and closing device (4), and can respectively control the emitter (3) and the opening and closing device (4) to execute corresponding commands.
2. The unmanned aerial vehicle launching apparatus of claim 1, wherein,
When the unmanned aerial vehicle (10) is loaded on the unmanned aerial vehicle launching device, the gravity center of the unmanned aerial vehicle launching device is positioned below the center of the launching tube (1); and/or
After the unmanned aerial vehicle (10) is launched, the gravity center of the unmanned aerial vehicle is positioned on the axis of the launching tube (1) corresponding to the sleeving area of the equipment cabin (2).
3. The unmanned aerial vehicle launching device according to claim 1, wherein the launcher (3) comprises an ejector (31) and a push plate (32);
The pushing plate (32) is connected to the inner wall of the launching tube (1) in a sliding manner and is used for pushing the unmanned aerial vehicle (10) to launch and lift off along the length direction of the launching tube (1) under the action of the ejector (31);
The ejector (31) is positioned below the push plate (32), is electrically connected with the control device (5), and is used for igniting and releasing gas based on the instruction of the control device (5) to push the push plate (32) to move along the length direction of the launching tube (1);
The outer side of the bottom end of the ejector (31) is provided with a plurality of exhaust holes (311) in an annular array along the direction of the axis of the ejector.
4. A launch device of an unmanned aerial vehicle according to claim 3, wherein the launch tube (1) is provided with a guiding groove (11) on the inner wall for accommodating a boss (321) on the outer side of the push plate (32);
The guide groove (11) narrows near the end of the transmitting tube (1), and/or
The boss (321) is provided with an elastic telescopic protrusion (322) in the tangential direction of the circle where the boss is located, and the end opening of the guide groove (11) is provided with a clamping groove (111) which is matched with the extending state of the elastic telescopic protrusion (322) along the same direction.
5. The unmanned aerial vehicle launching device of claim 3, wherein,
The push plate (32) is a U-shaped groove with an arc bottom, part of unmanned aerial vehicle (10) is contained in the U-shaped groove, and the inner wall of the U-shaped groove is abutted to the unmanned aerial vehicle (10) above the U-shaped groove and used for pushing the unmanned aerial vehicle (10) to move.
6. The unmanned aerial vehicle launching device according to claim 1, further comprising a thrust reverser (6) arranged at the bottom of the launching tube (1), wherein the thrust reverser (6) is electrically connected with the control device (5) and is used for igniting with the launcher (3) simultaneously based on the instruction of the control device (5), and the spraying direction of the thrust reverser (6) is opposite to the launching direction of the unmanned aerial vehicle (10).
7. The unmanned aerial vehicle launching device according to claim 1, wherein the opening and closing device (4) comprises a top cover (41), a top cover fixing device;
one end of the top cover (41) is rotatably connected with the end part of the launching tube (1) far away from the launcher (3);
the top cover fixing device is arranged between the top cover (41) and the transmitting tube (1) and is used for opening the top cover (41) based on instructions of the control device (5).
8. The unmanned aerial vehicle launching device according to claim 7, further comprising a water pressure sensor (7) and/or a dynamic attitude meter (8);
the water pressure sensor (7) is arranged on the side surface of the top cover (41), is electrically connected with the control device (5), and is used for detecting whether the unmanned aerial vehicle emission device emits water or not and feeding the water back to the control device (5);
The dynamic attitude instrument (8) is arranged in the top cover (41), is electrically connected with the control device (5), and is used for detecting the inclined angle of the unmanned aerial vehicle launching device after floating out of the water surface and feeding back to the control device (5).
9. The unmanned aerial vehicle launching device according to claim 1, further comprising an attitude stabilizing assembly (9);
the attitude stabilization assembly (9) comprises a buckling piece, a plurality of stabilization blades (91) and a plurality of elastic pieces;
A plurality of the stabilizing blades (91) are arranged on the outer wall of the transmitting tube (1) in an annular array in the axial line direction of the transmitting tube (1) in a deployable manner;
The buckling piece is arranged on the outer side of the transmitting tube (1) far away from the transmitter (3), is electrically connected with the control device (5), and can buckle a plurality of stabilizing blades (91) on the outer side of the transmitting tube (1);
the elastic pieces are respectively arranged on the outer wall of the transmitting tube (1) above the equipment cabin (2), are connected between the stabilizing blades (91) and the transmitting tube (1), have a certain pretightening force, and can be used for unfolding the stabilizing blades (91) after the buckling pieces fail.
10. A method of controlling an unmanned aerial vehicle launching device, comprising:
The unmanned aerial vehicle launching device loaded with the unmanned aerial vehicle (10) floats to the water surface after being released by the underwater carrying platform at the appointed position;
When the water pressure sensor (7) detects that the launching device floats out of the water, a signal of water output by the launching device of the unmanned aerial vehicle is fed back to the control device (5), the buckling piece is controlled to be opened through the control device (5), and the stabilizing blades (91) are unfolded;
When the stable blade (91) is unfolded and the inclination angle detected by the dynamic attitude meter (8) is in a preset range, the control device (5) controls the top cover (41) to be opened, and controls the emitter (3) and the thrust reverser (6) to be started simultaneously after a preset time delay, so that the unmanned aerial vehicle (10) is driven to be ejected out from the inside of the emitting tube (1), and the unmanned aerial vehicle (10) is emitted to a preset height.
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| CN118145048B (en) | 2024-08-06 |
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