WO2024146452A1 - Système d'amarrage et de recyclage précis à cible différentielle - Google Patents

Système d'amarrage et de recyclage précis à cible différentielle Download PDF

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Publication number
WO2024146452A1
WO2024146452A1 PCT/CN2023/142975 CN2023142975W WO2024146452A1 WO 2024146452 A1 WO2024146452 A1 WO 2024146452A1 CN 2023142975 W CN2023142975 W CN 2023142975W WO 2024146452 A1 WO2024146452 A1 WO 2024146452A1
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WO
WIPO (PCT)
Prior art keywords
docking
cable
aircraft
telescopic mechanism
mechanical arm
Prior art date
Application number
PCT/CN2023/142975
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English (en)
Chinese (zh)
Inventor
姜军
王雪竹
Original Assignee
沈阳极动科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 沈阳极动科技有限公司 filed Critical 沈阳极动科技有限公司
Publication of WO2024146452A1 publication Critical patent/WO2024146452A1/fr

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  • the invention belongs to the technical field of aircraft recovery, and in particular relates to a differential target precision docking and recovery system.
  • Fixed-wing aircraft can be designed to have advantages such as high speed, long flight time, and large load capacity according to specific mission objectives, and therefore have a wide range of applications.
  • fixed-wing aircraft need to reach and maintain a certain speed as a take-off and landing condition, and it is difficult to complete landing in uneven terrain such as the wild, mountains, and cities. This problem seriously limits the application of fixed-wing aircraft.
  • scientific research and technology in this field naturally seek assisted landing and recovery methods to enable fixed-wing aircraft to land and recover in the above scenarios.
  • the methods for fixed-wing assisted platform landing mainly include: net recovery, wire recovery, and a combination of the above methods.
  • Patent CN112373711A uses a typical net-collision recovery method. Since the surface base of the recovery net is relatively large, the tolerance of the system is also large, thus having a higher recovery success rate. However, the disadvantages of net-collision recovery are also very obvious. The recovery net often occupies a large space, and in order to maintain the basic strength requirements of the system, the system structure will also be heavier, so the portability of the system is poor. In addition, since the aircraft randomly stays in a large space after hitting the net, it is not conducive to the subsequent automated storage operation. In actual use, this step is often completed by manual operation. Patent CN114715424A uses a large hanging mechanism to hang the recovery net in the air, optimizing the use of space. But the cost is that the volume and weight of the system are very large. Patents CN112340045A, CN105438494A, CN102040004A, CN106494631A, etc. all belong to this method.
  • FIG1 is a schematic structural diagram of Embodiment 1 according to one aspect of the present disclosure.
  • FIG6 is a schematic structural diagram of another docking device according to one aspect of the present disclosure.
  • 6-storage subsystem 601-storage compartment
  • the second type of impact load isolation means is designed to set a load isolation device between the manipulator servo drive and the manipulator arm rod to achieve the transmission and release of torque between the two.
  • the torque release can be a complete release or a controllable release according to the design scheme.
  • the load isolation device adopts a torque limiting device or sets a controllable physical isolation device between the driver and the rotating pair.
  • the torque limiting device is designed to: (1) ensure sufficient torque to enable the manipulator arm rod to have sufficient dynamic movement ability, so as to drive the docking device to dock the aircraft with high dynamics and lock the docking device on the aircraft; (2) after the docking device is locked with the aircraft, the manipulator is pulled by the aircraft, and the impact load caused by this is greater than the setting value of the load isolation device, thereby isolating the impact load from the manipulator drive.
  • a friction torque limiter or a ball torque limiter can be used. After the docking device is locked with the aircraft, the manipulator can enter a passive working state.
  • Example 1 please refer to FIG. 1 .
  • the number of degrees of freedom and the structural form of the manipulator 201 can be flexibly configured according to the task requirements. Generally, at least two degrees of freedom are required to control the docking device 301 so that the docking device 301 can better dock with the aircraft 1.
  • the RRP type 3-degree-of-freedom manipulator shown in Figure 5 is commonly used.
  • the guide cable 303 continues to be recovered to drive the guide rod 302 to shrink step by step, and at the same time, the aircraft 1 is pulled back for subsequent recovery operations.
  • only the first limit block 305 is provided on the guide cable 303, and the second limit block 306 is realized by the docking device 301.
  • a cable adjuster 312 is provided at the end of the guide rod 302, and the cable adjuster 312 controls the retraction and extension of the guide cable 303 to adjust the length of the guide cable 303 at the end of the guide rod 302.
  • the cable adjuster 312 includes a motor 3121, and the output end of the motor 3121 is provided with a cable shaft 3122 for winding the cable. After the guide cable 303 is taken out from the winch 304, it passes through the guide member along the guide rod 302 and then winds around the cable shaft 3122 and is connected to the docking device 301.
  • the guide rod 302 is an abstract expression of a telescopic mechanism along a certain linear degree of freedom, including but not limited to multi-stage telescopic rods, guide rail sliders, range-extending mechanisms and other mechanisms that can achieve this function, and combinations thereof.
  • the recycling system is provided with a perception control system 5, which includes a state perception subsystem 503 and a control system 501.
  • the state perception subsystem 503 is used to obtain the state information of each unit of the recovery system described in this application, as well as the state information of the aircraft 1. It includes sensors set in various components of the recovery system, and also includes a state observation device for observing the aircraft.
  • the state observation device is used to determine the motion state of the aircraft including the posture.
  • the state observation device can be flexibly placed in a position convenient for state observation, including but not limited to: on a mechanical arm, on a base, on the aircraft body, and a combination of the above positions.
  • the state observation device can be a device that directly obtains the relative state of the observed object. For example, an optical measurement-based method is adopted, usually monocular, binocular or multi-eye camera and its visual method, and is identified and measured by machine vision methods.
  • the control system 501 is used to drive the manipulator 201 to dock with the aircraft 1, communicate with the aircraft 1, control the load isolation device, adjust the state of the guide device, control the state of the brake unit, etc., and coordinate the work of each unit of the control system in the subsequent recovery process.
  • the perception control system determines the recovery track of the aircraft and preliminarily determines the docking area according to the state of the aircraft and the recovery system.
  • the docking area here refers to an area near the collision point between the docking device of the recovery system and the docking device of the aircraft, which is preliminarily determined according to the control algorithm.
  • the control system controls the manipulator to enter the standby state so that the manipulator can quickly drive the docking device to dock the aircraft when the docking device of the aircraft passes through the docking area.
  • the control system calculates the new docking area in real time during the process of the aircraft flying to the docking area to achieve accurate and reliable docking.
  • the control system is mainly used to run the control algorithm and issue execution instructions based on the feedback data obtained and the information of other parts.
  • Its carrier includes one or more of the independent controller of the recovery system, the controller of the recovered aircraft, and the controller outside the recovery system to achieve collaborative implementation.
  • the algorithms executed include, but are not limited to, algorithms that only consider the dynamics of the recovery system without considering the dynamics of the carrier aircraft, algorithms that comprehensively consider the complex multi-rigid body dynamics of the recovery system and the carrier aircraft, and comprehensive dynamics algorithms that comprehensively consider the recovery system, the recovered aircraft, and the environmental interference of the links.
  • the execution of the algorithm can be centralized calculation by a certain independent controller, or distributed calculation by the above-mentioned controllers distributed in different parts, or calculation by an external server.
  • an environmental perception subsystem 502 is also included, which is used to perceive the environmental information required for the recovery process, which includes at least one of anemometer, wind direction meter, radar, laser radar, visual sensor and acquisition from a third-party information source, and these perception detection devices are electrically connected to the control system.
  • the perception control system After confirming the recovery task, the perception control system obtains the environmental parameters at the recovery system, determines the track, speed and other mission information of the recovered aircraft, and sends the information to the aircraft.
  • the state observation device obtains the aircraft status information and allows other participants in the recovery process to obtain the information when necessary.
  • the system When the aircraft 1 arrives at the designated area, the system sends a recovery message to the aircraft 1 or the aircraft 1 sends a return message to the system, and the system and the aircraft 1 enter the recovery program.
  • the system makes preliminary preparations for recovery.
  • the perception control system 5 monitors the status of the system and the aircraft 1, and sends docking and recovery information in a timely manner.
  • the high-dynamic precision docking subsystem 2 and the guidance and braking subsystem 3 are in place, and the docking device 301 can be pre-placed on the U-shaped clamp 202 of the robotic arm 201, or the robotic arm 201 controls the U-shaped clamp 202 to pick up the docking device 301.
  • the aircraft 1 enters the docking range, and the robotic arm 201 completes rapid docking with the aircraft 1 with its high-dynamic and high-precision movement ability.
  • the aircraft 1 drives the docking device 301 to detach from the U-shaped clamp 202 of the robotic arm 201 to complete the load transfer.
  • the guide rod 302 and the winch 304 work together to provide guidance and deceleration buffering for the motion trajectory of the aircraft 1. In this process, the guide rod 302 and the winch 304 work together to pull the aircraft 1 back in time to complete the recovery task of this stage.
  • Embodiment 2 please refer to FIG. 10.
  • the size of the mechanical arm 201 can be very small, so the operating space is also small. If it is installed on the base 4, the aircraft 1 needs to fly very low before recovery, which affects safety.
  • the difference from embodiment 1 is that the fixed end of the mechanical arm 201 is installed at the highest point of the primary outermost shell of the guide rod 302, so that the aircraft 1 can be prevented from flying too low.
  • the guide rod 302 can be used as a component of the mechanical arm 201 and provide a certain height support for the mechanical arm 201. Therefore, the mechanical arm 201 can be designed to be smaller, further making it lighter.
  • a brake member is provided between each rod member of the guide rod 302, and its implementation method has been recorded in embodiment 1, so that the guide rod 302 participates in the braking of the aircraft 1. It is also possible to select a guide rod 302 with the ability to extend and contract autonomously, which is helpful for the braking and recovery of the aircraft 1.
  • the guide cable 3031 is directly connected to the cable adjuster 312 at the end of the guide rod 302 , and the length of the guide cable 3031 at the end of the guide rod 302 is controlled by the cable adjuster 312 .
  • Embodiment 3 is based on Embodiment 2, but differs from Embodiment 2 in that:
  • the fixed end of the RRP type manipulator 2011 is mounted on the terminal end of the guide rod 302, and the docking device 301 is fixedly connected to the free end of the manipulator 2011 by a fastener, which can also be regarded as a realization of a retaining member.
  • the first R axis of the manipulator 2011 is parallel to the length direction of the guide rod 302, and the second R axis is perpendicular to the first R axis.
  • the docking device 301 is driven to a specified position in three-dimensional space.
  • the end of the guide cable 303 is transferred from the docking device 301 to the fixed end of the manipulator 2011, or the guide cable 303 and the winch 304 are removed.
  • the arm of the manipulator can also be designed to be controllably coupled and disengaged with the guide rod.
  • the advantage is that multiple guide rods can be prepared, and multi-task cross-execution can be achieved by combining the manipulator with different guide rods 3021.
  • a controllable locking device 313 is provided on the final arm of the manipulator 2013, and the locking device 313 is implemented by a U-shaped controllable clamping mechanism, and the guide rod 3021 is connected to the manipulator 2013 through the locking device 313.
  • the recovery system is provided with a plurality of guide rods 3021, and the guide rods 3021 are reasonably arranged on the base 4.
  • the manipulator 2013 When the aircraft 1 starts to be recovered, the manipulator 2013 is engaged with one of the guide rods 3021 through the locking device 313, and then the aircraft 1 is docked. After the aircraft 1 on the current guide rod 3021 completes braking, the mechanical arm 2013 releases the connection relationship of the current guide rod 3021 through the locking device 313, and releases the current guide rod 3021 on the specially designed placement frame 316. At the same time, the mechanical arm 2013 is combined with another guide rod 3021 to dock and recover another aircraft 1.
  • the guiding device can be implemented by a mobile platform.
  • the mobile platform can be a platform that can move on the ground, water, snow, ice and near the ground.
  • a trolley a boat on the water, a pulley set on a guide rail, etc.
  • the mobile platform adopts a trolley 314.
  • a cushion for assisting the landing of the aircraft 1 is laid on the trolley 314.
  • a track 315 with a guiding function can be set for the trolley 314, and its function is similar to the control of the motion trajectory of the aircraft 1 by the guide rod 302.
  • One end of the guide cable 303 is connected to the guide 301, and the other end is connected to the trolley 314.
  • the guide 301 is still set on the mechanical arm 201.
  • the heading of the aircraft 1 is the same as the direction of the trolley 314.
  • the guide cable 303 is gradually tightened, thereby driving the trolley 314 to move.
  • the aircraft 1 Under the braking of the aircraft 1 and the trolley 314, the aircraft 1 will eventually fall onto the trolley 314 and gradually stop along with the trolley 314.
  • the trolley 314 can use the friction between the wheels and the track 315 as a braking force or a driving force.
  • the braking force or driving force of the trolley can be achieved by using a winch to tow the trolley.
  • a track with an additional kinematic pair such as a rack rail can be used to achieve a better braking force or driving force adjustment effect.
  • Embodiment 7 please refer to FIG. 16 , on the basis of Embodiment 5, the fixed end of the robot arm 2011 is fixed on the trolley 314 , and the robot arm 2011 is directly fixedly connected to the guide 301 , thereby achieving multi-path braking.
  • the telescopic mechanism and/or the mechanical arm in the above embodiments can be translated in the horizontal direction in some embodiments, preferably, can be translated in a direction perpendicular to the target flight direction, so as to expand and optimize the docking reachable range.
  • the guide rod 302 and/or the mechanical arm 201 in Example 1 can be provided with a translation device at their respective fixed ends, for example, two sets of slide rails and controllable slide seats are provided on the base, and the guide rod 302 and the mechanical arm 201 are respectively placed on their respective slide seats. It is also possible to provide a slide rail and a controllable slide seat provided thereon on the ground, and the base 4 is placed on the slide seat, and the above two methods can also be combined.
  • the recovery system is further provided with a storage subsystem 6, which includes at least one storage compartment 601.
  • the guide rod 302 can guide the aircraft 1 to the storage location, and the aircraft 1 can smoothly enter the storage compartment 601 by relying on the large tolerance entrance of the storage compartment 601 or a dedicated large tolerance device.
  • the guiding device moves the aircraft to a range that can be controlled by the robotic arm, and then the robotic arm and the guiding device, or the robotic arm alone, put the aircraft into the storage compartment.
  • the robotic arm here can be an independent robotic arm set up by the storage subsystem for storage, or it can be a robotic arm in a multiplexed high-dynamic precision docking subsystem.
  • the storage docking of the robot arm and the aircraft can be achieved with the help of a special docking design.
  • the special docking design is set at the end of the robot arm, the end of the aircraft, or both according to the specific situation.
  • the storage docking device at the end of the robot arm can be designed to be self-contained or attached.
  • the self-contained docking device can be placed on the last level of the robot arm or other suitable arm rods. Usually, in order not to affect the work of other parts, it can be designed to be folded.
  • the storage docking device in the form of an accessory can be placed at a specific position of the system.
  • the robot arm can be docked with it through a reconstruction method so that the robot arm can use the storage docking device. If the robot arm does not have enough degrees of freedom, some degrees of freedom can be added through reconstruction to reconstruct a robot arm with sufficient degrees of freedom.
  • the "reconstruction” here refers to the reconstruction technology in the field of robotics, which is not described in detail here.
  • a pneumatic device in the braking part, can be provided on the guide device to provide braking force.
  • a propeller 311 is used to provide braking force.
  • the propeller 311 can be provided on the guide rod 302 as shown in FIG. 19 , or on the trolley 314 as shown in FIG. 20 .
  • the advantage of using a pneumatic device is that it can provide braking force and can also be used to provide a driving force for the initial velocity of the guide device.

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Abstract

Système d'amarrage et de recyclage précis à cible différentielle, comprenant : un sous-système de guidage et de freinage (3) ; un sous-système d'amarrage précis hautement dynamique (2) ; un moyen d'isolation de charge d'impact, utilisé pour libérer une cible dans un processus d'amarrage et de freinage ou optimiser la contrainte du sous-système d'amarrage précis hautement dynamique, et transférer ou transmettre, au sous-système de guidage et de freinage, une charge amenée par la cible à un système d'amarrage et de recyclage ; et un système de commande de détection (5). Le système d'amarrage et de recyclage est doté d'une capacité d'amarrage hautement dynamique de haute précision, de telle sorte que seul un très petit composant d'amarrage doit être utilisé en tant que partie d'amarrage, ce qui permet d'éviter des systèmes de tolérance de grande taille et à haute tolérance fréquemment retrouvés dans l'état de la technique. En raison de la conception de séparation d'amarrage et d'amortissement, le volume d'un bras mécanique de haute précision à haute valeur est réduit pour être très faible, et un composant d'amortissement ultérieur est souvent principalement tiré, de telle sorte que la contrainte de l'intérieur de chaque partie du système est relativement rationnelle, et chaque structure de composant peut être conçue pour être légère.
PCT/CN2023/142975 2023-01-02 2023-12-28 Système d'amarrage et de recyclage précis à cible différentielle WO2024146452A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310000226.0 2023-01-02
CN202310000226 2023-01-02

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090294584A1 (en) * 2008-06-02 2009-12-03 Gilbert Lovell Stabilized UAV recovery system
US20130082137A1 (en) * 2011-09-30 2013-04-04 Aurora Flight Sciences Corporation Rail recovery system for aircraft
CN106892129A (zh) * 2017-03-22 2017-06-27 哈尔滨工业大学 一种小型固定翼无人机回收系统
CN107585322A (zh) * 2017-09-06 2018-01-16 哈尔滨工业大学 一种线网复合机背天钩撞线式地面及舰载小型无人机回收系统及回收方法
CN108248864A (zh) * 2018-01-24 2018-07-06 北京正兴弘业科技有限公司 一种中小型无人机空中阻拦回收装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090294584A1 (en) * 2008-06-02 2009-12-03 Gilbert Lovell Stabilized UAV recovery system
US20130082137A1 (en) * 2011-09-30 2013-04-04 Aurora Flight Sciences Corporation Rail recovery system for aircraft
CN106892129A (zh) * 2017-03-22 2017-06-27 哈尔滨工业大学 一种小型固定翼无人机回收系统
CN107585322A (zh) * 2017-09-06 2018-01-16 哈尔滨工业大学 一种线网复合机背天钩撞线式地面及舰载小型无人机回收系统及回收方法
CN108248864A (zh) * 2018-01-24 2018-07-06 北京正兴弘业科技有限公司 一种中小型无人机空中阻拦回收装置

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