CN204270150U - Many rotor wing unmanned aerial vehicles recovery system - Google Patents
Many rotor wing unmanned aerial vehicles recovery system Download PDFInfo
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- CN204270150U CN204270150U CN201420712994.5U CN201420712994U CN204270150U CN 204270150 U CN204270150 U CN 204270150U CN 201420712994 U CN201420712994 U CN 201420712994U CN 204270150 U CN204270150 U CN 204270150U
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Abstract
The utility model is many rotor wing unmanned aerial vehicles recovery system, is applied to the unmanned plane retracting devices such as carrier-borne, vehicle-mounted, base station.What used initiatively reclaims the magnetic field that adsorbent equipment can produce orientation, acts on airborne passive recovery adsorbent equipment and reclaims unmanned plane.Within the system, airborne passive recovery adsorbent equipment to initiatively reclaiming adsorbent equipment search, and controls unmanned plane autonomous flight to best landing position by intelligent control system.When unmanned plane is in best landing state, absorption recovery unmanned plane is carried out to airborne passive retracting device in the oriented magnetic field of initiatively reclaiming adsorbent equipment generation.The surface of contact initiatively reclaimed between adsorbent equipment and airborne passive retracting device have employed anti-skidding process, ensures that many rotor wing unmanned aerial vehicles can not skid off by Automatic-falling when car, warship high-speed motion.After many rotor wing unmanned aerial vehicles reclaim, initiatively reclaiming adsorbent equipment can lock mechanically by airborne passive retracting device, and charges to many rotor wing unmanned aerial vehicles.
Description
Technical field
The utility model is the retracting device of the many rotor wing unmanned aerial vehicles being applied to the places such as carrier-borne, vehicle-mounted, base station.
Background technology
In recent years due to the tremendous development of unmanned air vehicle technique, SUAV (small unmanned aerial vehicle) has been widely used in military surveillance, tactics evade misleading, the condition of a disaster in-situ measurement, core biochemical pollution district the field such as sampling monitoring.Wherein giro has the specific function such as vertical takeoff and landing and hovering, and there is low cost, high efficiency-cost ratio, adaptable, the flexible configuration of surviving, the feature such as task diversification.The rotor wing unmanned aerial vehicle being representative with many rotor unmanned aircrafts has at present been widely used in military, civilian every field.Due to small-sized its stability of rotor type unmanned plane and wind resistance more weak, for the car, carrier-borne of high-speed mobile, the recovery of rotor type unmanned plane constrain the type unmanned plane car, carrier-borne in development.Strengthen the recovery lift-off technology of small-sized rotor wing unmanned aerial vehicle, by make many rotors type unmanned plane more flexible be applied to military, civilian field, many rotors type unmanned plane is played a significant role in Snoopy Protocol, tactics interference, early warning, assessment, attack, communication relaying etc.
Summary of the invention
For the problems referred to above, the purpose of this utility model be to provide a kind of easy to carry, be convenient to install, use simple, there is intelligence, autonomous many rotor wing unmanned aerial vehicles recovery system.
For achieving the above object, the utility model takes following technical scheme to realize:
The utility model provides a kind of many rotor wing unmanned aerial vehicles recovery system, comprises being arranged on reclaiming base, warship or vehicle-mounted initiatively reclaiming adsorbent equipment, and the passive recovery adsorbent equipment arranged on many rotor wing unmanned aerial vehicles;
The described adsorbent equipment that initiatively reclaims includes to High Magnetic Field Generator, guide icon, mechanical locking and charging device; Wherein: oriented High Magnetic Field Generator produces the oriented high-intensity magnetic field adsorbed many rotor wing unmanned aerial vehicles; Guide icon be sprayed on initiatively reclaim adsorbent equipment surface, as in be formed centrally recovery binding domain; Mechanical locking is arranged on and initiatively reclaims adsorbent equipment surface, for carrying out mechanical caging to many rotor wing unmanned aerial vehicles; Charging device is arranged on and initiatively reclaims in adsorbent equipment, for carrying out automatic charging to many rotor wing unmanned aerial vehicles;
Described passive recovery adsorbent equipment comprises and automatically locks target and follow position control device and magnetic absorption and reclaim frame; Wherein: automatically lock target and follow the below that position control device is arranged on many rotor wing unmanned aerial vehicles, the outer microcontroller hanging with camera head is adopted; It is a kind of outside framework made of magnetic material be arranged on bottom many rotor wing unmanned aerial vehicles that magnetic absorption reclaims frame.
The described upper surface initiatively reclaiming adsorbent equipment forms a skid resistant course; Described magnetic absorption reclaims frame and also forms a skid resistant course with the surface of contact initiatively reclaiming adsorbent equipment.
Described guide icon is the cross guide icon of class.
Described mechanical locking comprises four mechanical lock buckles controlled by control gear.
The utility model has the following advantages:
1, the utility model uses advanced electromagnetic technique to carry out absorption recovery to unmanned plane.It is reclaim base, warship or vehicle-mounted initiatively reclaim adsorbent equipment that this device is divided into two main devices one, and two is passive recovery adsorbent equipments that the many rotor wing unmanned aerial vehicles of target carry.When target many rotor wing unmanned aerial vehicles loading device arrives at the effective binding domain in device overhead, device automatically will start as required and produces oriented high-intensity magnetic field and adsorb unmanned plane.
2, the passive recovery adsorbent equipment that the utility model carries on the many rotor wing unmanned aerial vehicles of target is loaded with automatic tracing positioning apparatus.When target many rotor wing unmanned aerial vehicles loading device arrives at the effective binding domain in device overhead, device searches the locating and displaying icon on device automatically by camera optical flow algorithm.The control module that device carries will control the autonomous tracing positioning apparatus of many rotor wing unmanned aerial vehicles, carry out recovery landing to reach best landing position.
3, the utility model is provided with mechanical locking initiatively reclaiming on adsorbent equipment.When many rotor wing unmanned aerial vehicles land initiatively reclaim on adsorbent equipment time, control system will control the passive recovery adsorbent equipment that mechanical lock buckle lock onto target many rotor wing unmanned aerial vehicles carry, thus the many rotor wing unmanned aerial vehicles of lock onto target.
4, the utility model is initiatively reclaiming adsorbent equipment landing surface and target many rotor wing unmanned aerial vehicles loading device landing face all through anti-skidding process, to increase many rotor wing unmanned aerial vehicles in the damping of initiatively reclaiming transverse shifting on adsorbent equipment.
5, the utility model is provided with automatic charge device initiatively reclaiming on adsorbent equipment, when many rotor wing unmanned aerial vehicles land initiatively reclaim on adsorbent equipment time, the passive recovery adsorbent equipment by the many rotor wing unmanned aerial vehicles of target carry charges to the many rotor wing unmanned aerial vehicles of target by control system.
Accompanying drawing explanation
Fig. 1 is the utility model single unit system schematic diagram.
In figure: 1, initiatively reclaim adsorbent equipment, 2, many rotor wing unmanned aerial vehicles, 3, oriented High Magnetic Field Generator, 4, automatic guide icon, 5, mechanical locking, 6, charging device, 7, automatically lock target and follow position control device, 8, magnetic absorption reclaim frame, 9, camera head.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in detail.
As shown in Figure 1:
The utility model provides a kind of many rotor wing unmanned aerial vehicles recovery system, comprises being arranged on reclaiming base, warship or vehicle-mounted initiatively reclaiming adsorbent equipment 1, and the passive recovery adsorbent equipment of setting on many rotor wing unmanned aerial vehicles 2.
The described adsorbent equipment 1 that initiatively reclaims includes to High Magnetic Field Generator 3, guide icon 4, mechanical locking 5 and charging device 6.Oriented High Magnetic Field Generator 3 can produce the oriented high-intensity magnetic field adsorbed many rotor wing unmanned aerial vehicles 2.Guide icon 4 is the cross guide icon of class, be sprayed on initiatively reclaim adsorbent equipment 1 surface, as in be formed centrally recovery binding domain, for guiding recovery to many rotor wing unmanned aerial vehicles.Mechanical locking 5 is arranged on and initiatively reclaims adsorbent equipment surface, comprise four mechanical lock buckles controlled by control gear, for carrying out mechanical caging to many rotor wing unmanned aerial vehicles, prevent many rotor wing unmanned aerial vehicles in recovery base, warship or vehicle-mounted high speed movement from coming off from initiatively reclaiming adsorbent equipment.Charging device 6 is a kind of intelligent chargers, is arranged on and initiatively reclaims in adsorbent equipment, for carrying out automatic charging to many rotor wing unmanned aerial vehicles, ensures the continuous use of many rotor wing unmanned aerial vehicles.In addition, the upper surface initiatively reclaiming adsorbent equipment 1, by anti-skidding process, forms a skid resistant course, is initiatively reclaiming the transverse shifting damping on adsorbent equipment 1 to increase many rotor wing unmanned aerial vehicles 2.
Described passive recovery adsorbent equipment comprises and automatically locks target and follow position control device 7 and magnetic absorption and reclaim frame 8.Automatically lock target and follow the below that position control device 7 is arranged on many rotor wing unmanned aerial vehicles 2, adsorbent equipment 1 is initiatively reclaimed for automatically locking, control many rotor wing unmanned aerial vehicles 2 automatically to follow and initiatively reclaim adsorbent equipment 1, and accurately turn back to the recovery binding domain initiatively reclaimed above adsorbent equipment 1.Automatically lock target to follow position control device 7 and adopt the outer microcontroller hanging with camera head 9, the cross guide icon 4 of class initiatively being reclaimed adsorbent equipment 1 surface spraying by microcontroller lock for sweep obtains target location director information, control many rotor wing unmanned aerial vehicles 2 according to target location director information automatically to follow and initiatively reclaim adsorbent equipment 1, control many rotor wing unmanned aerial vehicle 2 flight attitudes by microcontroller, accurately turn back to and initiatively reclaim on adsorbent equipment 1.It is a kind of outside frameworks made of magnetic material be arranged on bottom many rotor wing unmanned aerial vehicles 2 that magnetic absorption reclaims frame 8, is mainly used in carrying out absorption recovery by initiatively reclaiming the oriented high-intensity magnetic field that adsorbent equipment 1 produces to unmanned plane 2; This magnetic absorption reclaims frame 8 also for carrying many rotor wing unmanned aerial vehicle 2 load, and it adopts different face shapings by according to the difference of carrying load.This magnetic absorption reclaims frame 8 and initiatively reclaims the surface of contact of adsorbent equipment 1 by anti-skidding process, forms a skid resistant course, to increase many rotor wing unmanned aerial vehicles in the damping of initiatively reclaiming transverse shifting on adsorbent equipment.
The utility model is further, recovery base, warship or vehicle-mounted in be provided with system control panel, initiatively reclaim in adsorbent equipment 1 and many rotor wing unmanned aerial vehicles 2 and be provided with radio communication device, the wireless communication system of common composition whole system, this wireless communication system will complete the information interaction of each equipment and system control panel in whole system, and the information interactive process between each device.This system control panel to initiatively reclaiming adsorbent equipment, passive recovery adsorbent equipment, automatically lock target and follow position control device etc. and control.Native system parametric controller by by wireless communication system with initiatively reclaim adsorbent equipment 1, passive recovery adsorbent equipment, automatically lock target and follow position control device 7 etc. and carry out communicating and obtain the real-time information of each device; Native system parametric controller, by the real-time information according to each device, carries out the real-time status that analytical solution calculates each device, and the algorithm routine loaded according to inside and the control inputs of manipulation draw the control information of each device; The control information of each device is sent to by wireless communication system and initiatively reclaims adsorbent equipment 1, passive recovery adsorbent equipment by native system parametric controller, automatically lock target follows the devices such as position control device 7, automatically lock target to follow position control device 7 and be controlled by system control panel, the flight attitude of many rotor wing unmanned aerial vehicles can be controlled again simultaneously, control each device and make corresponding responsive state.
Automatically lock and follow position control device 7 base, warship or the automatic guide icon 4 initiatively reclaimed on adsorbent equipment 1 of carrying such as vehicle-mounted are reclaimed in the camera head 9 autoscan locking controlling self to load;
Automatically lock and follow position control device 7 by institute's lock for sweep information and many rotor wing unmanned aerial vehicles 2 self-position position, status information etc., be sent to base parametric controller by wireless communication system;
Base parametric controller calculates according to gained information and history flight track information comprehensive analysis, draws many rotor wing unmanned aerial vehicle 2 flight control informations;
Many rotor wing unmanned aerial vehicle 2 flight control informations send to automatically lock by wireless communication system by base parametric controller follows position control device 7;
Automatically lock and follow position control device 7 according to many rotor wing unmanned aerial vehicle 2 flight control informations, control the flight of many rotor wing unmanned aerial vehicles 2 follow reclaim base, warship or vehicle-mounted etc. carry initiatively reclaim adsorbent equipment 1;
Automatically lock and follow position control device 7 and constantly carry out message exchange with base parametric controller, continuous correction many rotor wing unmanned aerial vehicles 2 flight control information, carry out controlling the flight of many rotor wing unmanned aerial vehicles 2 follow reclaim base, warship or vehicle-mounted etc. carry initiatively reclaims adsorbent equipment 1, and finally arrive at and initiatively reclaim adsorbent equipment 1 side and effectively reclaim binding domain and maintenance geo-stationary (adsorbable recovery state);
When many rotor wing unmanned aerial vehicles 2 reach adsorbable recovery state, control is initiatively reclaimed adsorbent equipment 1 and is produced strong oriented magnetic field by base parametric controller, adsorb on many rotor wing unmanned aerial vehicles 2 and carry passive recovery adsorbent equipment, follow position control device 7 and control many rotor wing unmanned aerial vehicles 2 by automatically locking and reduce gradually and slowly land in initiatively reclaiming on adsorbent equipment 1 simultaneously;
When many rotor wing unmanned aerial vehicles 2 lands after initiatively reclaiming adsorbent equipment 1, base parametric controller controls the mechanical locking 5 initiatively reclaimed on adsorbent equipment 1 and locks on many rotor wing unmanned aerial vehicles 2 and carry passive recovery adsorbent equipment, ensure ought recovery base, warship or vehicle-mounted etc. in high speed movement can not because of inertia Automatic-falling;
The process that mechanical locking 5 locks passive recovery adsorbent equipment is, the circular magnetized absorption recovery frame 8 that four mechanical lock buckle move toward one another choke passive recovery adsorbent equipment is controlled by control gear, adsorptive racks is reclaimed frame 8 to lock onto and initiatively reclaim adsorbent equipment 1 center, thus lock passive recovery adsorbent equipment;
The magnetic absorption many rotor wing unmanned aerial vehicles 2 carrying passive recovery adsorbent equipment reclaims frame 8 and initiatively reclaims the surface of contact of adsorbent equipment 1 by anti-skidding process, initiatively reclaim adsorbent equipment upper surface has slight amplitude semisphere recessed simultaneously, both actings in conjunction increase many rotor wing unmanned aerial vehicles in the damping of initiatively reclaiming transverse shifting on adsorbent equipment above, strengthen many rotor wing unmanned aerial vehicles and are initiatively reclaiming the tack on adsorbent equipment;
When initiatively reclaiming after adsorbent equipment 1 successfully locks many rotor wing unmanned aerial vehicles 2, it is many rotor wing unmanned aerial vehicle 2 intelligent charges that base parametric controller can control the charging device 6 initiatively reclaimed in adsorbent equipment 1, for aerial mission is prepared next time.
Various facilities in the utility model, following position control device 7, oriented High Magnetic Field Generator 3, mechanical locking 5 and wireless communication system etc. as automatically locked target, being existing technology and equipment, no longer too much illustrating in this instructions.
The various embodiments described above are only for illustration of the utility model; wherein the structure, connected mode etc. of each parts all can change to some extent; every equivalents of carrying out on the basis of technical solutions of the utility model and improvement, all should not get rid of outside protection domain of the present utility model.
Claims (4)
1. the recovery system of rotor wing unmanned aerial vehicle more than, comprises being arranged on and reclaims base, warship or vehicle-mounted initiatively reclaim adsorbent equipment (1), and at the passive recovery adsorbent equipment of the upper setting of many rotor wing unmanned aerial vehicles (2); It is characterized in that:
The described adsorbent equipment (1) that initiatively reclaims includes to High Magnetic Field Generator (3), guide icon (4), mechanical locking (5) and charging device (6); Wherein: oriented High Magnetic Field Generator (3) produces the oriented high-intensity magnetic field adsorbed many rotor wing unmanned aerial vehicles (2); Guide icon (4) be sprayed on initiatively reclaim adsorbent equipment (1) surface, as in be formed centrally recovery binding domain; Mechanical locking (5) is arranged on and initiatively reclaims adsorbent equipment surface, for carrying out mechanical caging to many rotor wing unmanned aerial vehicles; Charging device (6) is arranged on and initiatively reclaims in adsorbent equipment, for carrying out automatic charging to many rotor wing unmanned aerial vehicles;
Described passive recovery adsorbent equipment comprises and automatically locks target and follow position control device (7) and magnetic absorption and reclaim frame (8); Wherein: automatically lock target and follow the below that position control device (7) is arranged on many rotor wing unmanned aerial vehicles (2), the outer microcontroller hanging with camera head (9) is adopted; It is the outside framework made of magnetic material that one is arranged on many rotor wing unmanned aerial vehicles (2) bottom that magnetic absorption reclaims frame (8).
2. many rotor wing unmanned aerial vehicles recovery system according to claim 1, is characterized in that: the described upper surface initiatively reclaiming adsorbent equipment (1) forms a skid resistant course; Described magnetic absorption reclaims frame (8) and also forms a skid resistant course with the surface of contact initiatively reclaiming adsorbent equipment (1).
3. unmanned plane recovery system according to claim 1, is characterized in that: described guide icon (4) is the cross guide icon of class.
4. unmanned plane recovery system according to claim 1, is characterized in that: described mechanical locking (5) comprises each locking mechanism controlled by control gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420712994.5U CN204270150U (en) | 2014-11-25 | 2014-11-25 | Many rotor wing unmanned aerial vehicles recovery system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420712994.5U CN204270150U (en) | 2014-11-25 | 2014-11-25 | Many rotor wing unmanned aerial vehicles recovery system |
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| CN204270150U true CN204270150U (en) | 2015-04-15 |
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| CN201420712994.5U Active CN204270150U (en) | 2014-11-25 | 2014-11-25 | Many rotor wing unmanned aerial vehicles recovery system |
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| CN106081147A (en) * | 2016-08-23 | 2016-11-09 | 成都翼高九天科技有限公司 | A kind of SUAV indoor retracting device |
| CN106101511A (en) * | 2016-08-10 | 2016-11-09 | 南京奇蛙智能科技有限公司 | A kind of full-automatic unmanned machine system |
| CN106681357A (en) * | 2017-01-11 | 2017-05-17 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack |
| CN107140145A (en) * | 2017-04-27 | 2017-09-08 | 上海大学 | A kind of unmanned boat folding and unfolding unmanned plane device |
| CN108945441A (en) * | 2018-08-01 | 2018-12-07 | 盛世瑶兰（深圳）科技有限公司 | A kind of attracted using magnetic force is automatically aligned to the unmanned plane wired charger for connecing electricity |
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| CN106101511A (en) * | 2016-08-10 | 2016-11-09 | 南京奇蛙智能科技有限公司 | A kind of full-automatic unmanned machine system |
| CN106081147B (en) * | 2016-08-23 | 2019-03-26 | 成都翼高九天科技有限公司 | Recyclable device in a kind of small drone room |
| CN106081147A (en) * | 2016-08-23 | 2016-11-09 | 成都翼高九天科技有限公司 | A kind of SUAV indoor retracting device |
| CN106681357A (en) * | 2017-01-11 | 2017-05-17 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack |
| CN107140145A (en) * | 2017-04-27 | 2017-09-08 | 上海大学 | A kind of unmanned boat folding and unfolding unmanned plane device |
| CN108945441B (en) * | 2018-08-01 | 2020-07-14 | 西安瀚业信息科技有限公司 | Wired charger of unmanned aerial vehicle for automatically aligning power connection by magnetic attraction |
| CN108945441A (en) * | 2018-08-01 | 2018-12-07 | 盛世瑶兰（深圳）科技有限公司 | A kind of attracted using magnetic force is automatically aligned to the unmanned plane wired charger for connecing electricity |
| CN109501969B (en) * | 2018-08-30 | 2020-04-07 | 广东华中科技大学工业技术研究院 | Unmanned surface vehicle-borne water surface self-balancing gripping device and gripping method thereof |
| CN109501969A (en) * | 2018-08-30 | 2019-03-22 | 广东华中科技大学工业技术研究院 | A kind of unmanned boat ship carries grabbing device and its grasping means of water surface self-balancing |
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| TWI732579B (en) * | 2020-06-02 | 2021-07-01 | 中華學校財團法人中華科技大學 | Intelligent charging method and system for unmanned vehicles |
| CN111977011A (en) * | 2020-09-04 | 2020-11-24 | 广东寻夏科技有限公司 | Throwing device for multi-rotor aircraft and control method thereof |
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| KR20220068448A (en) * | 2020-11-19 | 2022-05-26 | 백형민 | Apparatus for carrier of vehicle using platform for drone |
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