CN118306596B - Underwater anchoring type transmitting device for unmanned aerial vehicle - Google Patents
Underwater anchoring type transmitting device for unmanned aerial vehicle Download PDFInfo
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- CN118306596B CN118306596B CN202410740328.0A CN202410740328A CN118306596B CN 118306596 B CN118306596 B CN 118306596B CN 202410740328 A CN202410740328 A CN 202410740328A CN 118306596 B CN118306596 B CN 118306596B
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- 238000004873 anchoring Methods 0.000 title claims abstract description 12
- 238000007789 sealing Methods 0.000 claims abstract description 25
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- 230000005540 biological transmission Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
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- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
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- 238000007667 floating Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
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- XECAHXYUAAWDEL-UHFFFAOYSA-N acrylonitrile butadiene styrene Chemical compound C=CC=C.C=CC#N.C=CC1=CC=CC=C1 XECAHXYUAAWDEL-UHFFFAOYSA-N 0.000 description 1
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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
- B64U70/70—Launching or landing using catapults, tracks or rails
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Abstract
The invention relates to the technical field of underwater unmanned aerial vehicle emission, in particular to an underwater anchoring type emission device for an unmanned aerial vehicle. The device comprises a remote rope releasing device, an unmanned aerial vehicle ejection bin and an unmanned aerial vehicle emission bin which are sequentially connected in a sealing manner; the remote rope removing device comprises a base, an anchor chain, a chuck body, a steering engine, a framework oil seal and a plurality of chuck claws, wherein the bottom of the base is symmetrically provided with a plurality of sliding grooves along the radial direction, and each chuck claw is symmetrically clamped on the base through one of the sliding grooves to form a center surrounding structure; one end of the anchor chain is arranged above each chuck jaw, and the other end of the anchor chain penetrates through each chuck jaw and is fixedly connected with the seabed; the chuck body is arranged above the chuck jaw, and one surface close to the chuck jaw is provided with a spiral groove; the chuck claw is provided with claw legs matched with the spiral grooves; the framework oil seal is used for realizing dynamic sealing of the steering engine; the steering engine is used for driving the chuck body to rotate. The invention can realize remote safe emission of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of underwater unmanned aerial vehicle emission, in particular to an underwater anchoring type emission device for an unmanned aerial vehicle.
Background
With the development and utilization of the ocean going to the deep open sea, the right maintenance of the ocean space is increasingly important, and the right maintenance has become a vital part in the production and development of modern human beings. The ocean menstruation is an important space and resource base for future development of various large countries, reasonable development and utilization and practical protection of ocean resources become important problems for survival, development and growth of related coastal countries, and are also the focus of vigorous competition of countries around the world.
Unmanned aerial vehicles are becoming increasingly popular. In some cases, unmanned aerial vehicles need to launch from the water, but because of the large underwater resistance, the direct takeoff from the water has high requirements on the controller or structure. In order to simplify the structure of the unmanned aerial vehicle and the design of the controller, it has been proposed to eject the unmanned aerial vehicle out of the water using a special ejection device. Traditional underwater launching modes comprise underwater rocket ejection, high-pressure pump ejection and the like, but the modes have complex structures, high cost and poor compatibility, and are very wasteful for unmanned aerial vehicle launching.
In summary, in order to realize remote activation of the unmanned aerial vehicle to execute the marine task, an underwater launching device of the unmanned aerial vehicle is required to be low in cost, high in reliability and strong in compatibility.
Disclosure of Invention
In order to solve the technical problems of complex structure, high cost and poor reliability of an unmanned aerial vehicle underwater transmitting device in the prior art, the invention provides an underwater anchoring type transmitting device for an unmanned aerial vehicle, which greatly reduces the transmitting cost on the premise of ensuring the transmitting reliability of the unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme: an underwater anchored launch device for an unmanned aerial vehicle, comprising: the remote rope releasing device, the unmanned aerial vehicle ejection bin and the unmanned aerial vehicle ejection bin are sequentially connected in a sealing mode; the unmanned aerial vehicle ejection bin is used for arranging an ejection assembly, and the unmanned aerial vehicle ejection bin is used for placing an unmanned aerial vehicle;
The remote rope removing device comprises a base, an anchor chain, a chuck body, a steering engine, a framework oil seal and a plurality of chuck claws, wherein the bottom of the base is symmetrically provided with a plurality of sliding grooves along the radial direction, and each chuck claw is symmetrically clamped on the base through one of the sliding grooves to form a center surrounding structure; one end of the anchor chain is arranged above the central enclosing structure formed by each chuck jaw through the limiting part, and the other end of the anchor chain penetrates through the central enclosing structure formed by each chuck jaw and is fixedly connected with the seabed; the chuck body is arranged above the chuck jaw, a spiral groove is formed in one surface, close to the chuck jaw, of the chuck body, and jaw legs matched with the spiral groove are arranged on the chuck jaw; the framework oil seal is used for realizing dynamic sealing of the steering engine; the steering engine is used for driving the chuck body to rotate, and then drives the chuck jaws to slide along the sliding grooves, so that the anchor chain falls off from the central surrounding structure.
A control circuit is further arranged in the unmanned aerial vehicle ejection bin;
The ejection assembly comprises a high-pressure gas cylinder, an inflation valve, a high-pressure electromagnetic valve and an air duct; the high-pressure gas cylinder is filled with high-pressure gas, one end of the gas guide pipe is connected with the high-pressure gas cylinder through a high-pressure electromagnetic valve, and the other end of the gas guide pipe is used for outputting the high-pressure gas to the unmanned aerial vehicle launching bin;
the control circuit is used for controlling the steering engine and the high-pressure electromagnetic valve to work.
The underwater anchoring type transmitting device for the unmanned aerial vehicle further comprises a gyroscope, a hydrophone and a depth gauge; the data output ends of the gyroscope, the hydrophone and the depth gauge are connected with the control circuit; the control circuit is used for controlling the steering engine to work according to the emission command, and also used for controlling the high-pressure electromagnetic valve to work according to the underwater sound signal collected by the hydrophone, the collected depth data of the depth gauge and the deflection angle data collected by the gyroscope.
The unmanned aerial vehicle launching bin comprises an unmanned aerial vehicle launching bin body, wherein an unmanned aerial vehicle base used for arranging an unmanned aerial vehicle is arranged at the bottom of the unmanned aerial vehicle launching bin body, the diameter of the unmanned aerial vehicle base is smaller than or equal to the inner diameter of the unmanned aerial vehicle launching bin body, and two annular grooves are formed in the periphery of the unmanned aerial vehicle base to form a closed ring; the other end of air duct sets up in unmanned aerial vehicle base bottom center department.
The control circuit is also used for carrying out wireless communication with the unmanned aerial vehicle.
The remote cable removing device further comprises a steering engine base and a steering engine coupler, wherein the steering engine base is arranged in the base in a sealing manner and is fixedly connected with the base, and the steering engine is fixedly arranged on the steering engine base; one end of the steering engine coupler is connected with a rotating shaft of the steering engine, and the other end of the steering engine coupler penetrates through the base to be connected with the chuck body; the skeleton oil seal is arranged on the outer side of the steering engine coupling.
The base is in sealing connection with the unmanned aerial vehicle ejection bin through the fine thread and the O-shaped ring, and the unmanned aerial vehicle ejection bin is in sealing connection with the unmanned aerial vehicle ejection bin through the fine thread and the O-shaped ring.
The sliding groove is a T-shaped groove;
the anchor chain comprises an anchor rod and a limiting part with increased diameter, wherein the limiting part is arranged at the top of the anchor rod; the anchor rod is provided with a hole connected with the steel anchor, and the anchor chain is fixedly connected with the seabed through the steel anchor;
the chuck jaw be close to the one end top of anchor chain be provided with spacing portion complex first arc recess, chuck jaw be close to the one end below of anchor chain be provided with stock complex second arc recess, chuck jaw keep away from the one end of anchor chain be provided with sliding tray complex T type portion.
The unmanned aerial vehicle launches storehouse and unmanned aerial vehicle and launches storehouse and be cylindric, just unmanned aerial vehicle launches storehouse top and is provided with the sealed lid in transmission storehouse, and the sealed multichannel groove that covers in transmission storehouse evenly distributed has for it is sealed that burst the sealed lid in transmission storehouse when guiding unmanned aerial vehicle to launch.
The chuck body and the chuck jaws are respectively provided with a plurality of weight reducing holes so as to control the weight and the gravity center.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention provides an underwater anchoring type launching device for an unmanned aerial vehicle, which is characterized in that chuck claws, chuck bodies and a base are combined to be matched with each other, so that when a steering engine controls the chuck bodies to rotate, each chuck claw can be driven to slide along a sliding groove on the base to be separated, and then an anchor chain is thrown away, and the rope releasing and floating of the device are realized, therefore, the automatic unlocking of the launching device can be realized;
2. According to the unmanned aerial vehicle launching bin, high-pressure air pressure is provided by the launching component in the unmanned aerial vehicle launching bin, the unmanned aerial vehicle base at the bottom of the unmanned aerial vehicle launching bin is launched to realize unmanned aerial vehicle launching, moreover, the steering engine can be automatically controlled to rotate through the control circuit, automatic remote unlocking of the launching device is realized, the high-pressure electromagnetic valve is controlled through the control circuit to realize an automatic launching process, and the launching safety and reliability are improved;
3. The invention is also provided with the gyroscope, the hydrophone and the depth gauge, and the depth signal and the angle signal of the acquisition device can control the device to emit under the premise of meeting the depth condition and the angle condition, so as to provide a relatively stable emitting condition for the emission of the unmanned aerial vehicle load together, and further improve the safety and the reliability of the unmanned aerial vehicle emission;
4. the transmitting device has low power consumption, can stand by and remotely activate at the water bottom for a long time, does not actively transmit signals, has low cost, is convenient for a large number of arrangement, has high concealment, is not easy to detect when being arranged at the sea bottom, can conceal and transmit various task loads, and can observe ocean information in real time.
Drawings
Fig. 1 is a schematic diagram of an overall structure of an underwater anchored launching device for an unmanned aerial vehicle according to an embodiment of the present invention when the device is placed horizontally;
Fig. 2 is a partial connection cross-sectional view of a remote cable release device and an unmanned aerial vehicle ejection bin in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle ejection cabin according to an embodiment of the present invention;
FIG. 4 is a schematic view of a spiral groove according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of circuit connection in an embodiment of the present invention;
fig. 6 is a partial connection cross-sectional view of an unmanned aerial vehicle ejection bin and an unmanned aerial vehicle ejection bin in an embodiment of the invention;
FIG. 7 is a schematic view of a partial structure of a remote cable removing device according to an embodiment of the present invention;
FIG. 8 is a schematic view of the chuck jaws engaging an anchor chain in an embodiment of the present invention;
FIG. 9 is another angular schematic view of the chuck jaws engaging the anchor chain in accordance with an embodiment of the invention;
FIG. 10 is a schematic bottom view of the chuck jaws mated with the base in an embodiment of the invention;
FIG. 11 is a schematic workflow diagram of the present invention;
In the figure: 100 is a remote rope-releasing device, 101 is a base, 102 is a spiral groove, 103 is a claw leg, 104 is a first arc-shaped groove, 105 is a second arc-shaped groove, 106 is a limiting part, 109 is a framework oil seal, 110 is a sliding groove, 111 is a steering engine, 112 is a steering engine coupling, 113 is a steering engine base, 114 is a stand column, 115 is a chuck claw, 116 is an anchor chain, 117 is a hydrophone, 118 is a depth gauge, 119 is a chuck body, 200 is an unmanned aerial vehicle ejection bin, 201 is a high-pressure gas cylinder, 202 is an inflation valve, 203 is a high-pressure electromagnetic valve, 204 is a gas guide tube, 205 is a gas guide tube fixing seat, 221 is a control circuit, 300 is an unmanned aerial vehicle ejection bin, 301 is an ejection bin sealing cover, 302 is an unmanned aerial vehicle base, and 303 is an annular groove.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments; 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.
As shown in fig. 1, an embodiment of the present invention provides an underwater anchored type launching device for an unmanned aerial vehicle, including: the remote rope-releasing device 100, the unmanned aerial vehicle ejection bin 200 and the unmanned aerial vehicle ejection bin 300 are sequentially connected in a sealing manner; the remote rope releasing device 100 is used for controlling rope releasing of the transmitting device, the unmanned aerial vehicle catapulting bin 200 is used for setting a catapulting assembly, and the unmanned aerial vehicle transmitting bin 300 is used for setting an unmanned aerial vehicle. The unmanned aerial vehicle may be a folding unmanned aerial vehicle.
Specifically, as shown in fig. 2, in this embodiment, the remote cable removing device 100 includes a base 101, an anchor chain 116, a chuck body 119, a skeleton oil seal 109, a steering engine 111, and a plurality of chuck jaws 115, where a plurality of sliding grooves 110 are symmetrically arranged at the bottom of the base 101 along a radial direction, and each chuck jaw 115 is symmetrically clamped on the base 101 through one of the sliding grooves 110, so as to form a central surrounding structure; one end of the anchor chain 116 is arranged above the central enclosing structure formed by each chuck jaw 115, and the other end of the anchor chain passes through the central enclosing structure formed by each chuck jaw 115 and is fixedly connected with the seabed; the chuck body 119 is arranged above the chuck jaw 115, a spiral groove 102 is formed in one surface, close to the chuck jaw 115, of the chuck body 119, and jaw legs 103 matched with the spiral groove 102 are arranged on the chuck jaw 115; the skeleton oil seal 109 is arranged on the outer side of the steering engine coupler 112 and is used for realizing dynamic sealing of the steering engine 111, the steering engine 111 is used for driving the chuck body 119 to rotate, and then the chuck jaws 115 are driven to slide along the sliding grooves 110, so that the anchor chain 116 falls off from the central surrounding structure.
Specifically, in the present embodiment, the number of the chuck jaws 115 is 3, and in addition, it may be 4 or more.
Specifically, in this embodiment, the chuck body 119 and the chuck jaw 115 are each provided with a plurality of weight reducing holes to control the weight and center of gravity.
Further, as shown in fig. 2 to 3, in this embodiment, a control circuit 221 is further disposed in the unmanned aerial vehicle ejection bin 200; as shown in fig. 3, the ejection assembly disposed in the unmanned aerial vehicle ejection chamber 200 includes a high-pressure gas cylinder 201, an inflation valve 202, a high-pressure electromagnetic valve 203, and a gas guide tube 204; the inside of the high-pressure gas cylinder 201 is filled with high-pressure gas through the charging valve 202, one end of the gas guide tube 204 is connected with the high-pressure gas cylinder 201 through the high-pressure valve 203, and the other end is used for outputting the high-pressure gas to the unmanned aerial vehicle launching bin 300; wherein the control circuit 221 is used for controlling the operation of the steering engine 111 and the high-pressure solenoid valve 203.
Specifically, as shown in fig. 3, in this embodiment, four circular ejection bases and a plurality of connecting rods are disposed in the unmanned aerial vehicle ejection bin 200, each ejection base is sequentially connected through a plurality of connecting rods, the two lower ejection bases are respectively used for placing the control circuit 221 and the high-pressure gas cylinder 201, and an inflation valve 202 and a high-pressure electromagnetic valve 203 are disposed between the two upper ejection bases. In addition, a top plate connected with the steering engine base is further arranged above the steering engine 111, and the ejection base used for setting the control circuit 221 is fixedly connected with the top plate through the upright post 114. In particular, the posts 114 may be boy screws.
As shown in fig. 4, a schematic structure of the spiral groove 102 provided on the chuck body 119 in this embodiment is shown. Wherein the cylindrical legs 103 of each of the chuck jaws 115 are disposed in different positions of the spiral groove 102, and when the chuck body 119 is rotated counterclockwise, the legs 103 slide in the spiral groove 102, and the chuck jaws 115 slide in a direction away from the center along the sliding grooves 110 due to different distances from the center in the different positions of the spiral groove 102. Furthermore, it should be noted that the radial distribution of the jaw legs 103 on each chuck jaw 115 is different on the chuck jaw 115 due to the non-centrosymmetric nature of the helical groove 102.
Further, an underwater anchoring type transmitting device for an unmanned aerial vehicle of the present embodiment further includes a gyroscope, a hydrophone 117, and a depth gauge 118.
Specifically, in this embodiment, as shown in fig. 5, the data output terminals of the gyroscope, the hydrophone 117, and the depth gauge 118 are connected to the control circuit 221. The control circuit 221 is configured to control the steering engine 111 to operate according to a transmission command, and is further configured to control the high-voltage electromagnetic valve 203 to operate according to the collected depth data of the depth gauge 118 and the offset angle data collected by the gyroscope. Then, by setting the gyroscope, the hydrophone 117 and the depth gauge 118, when receiving the transmitting command, the control circuit 221 controls the steering engine 111 to rotate, so that the anchor chain 116 falls off, the whole transmitting device starts to float upwards, when the depth gauge 118 for detecting the depth monitors that the device floats upwards to the sea surface in real time, and the gyroscope detects that the deflection angle of the device is within the safety range allowing the transmission, for example, when the angle between the device and the sea surface is greater than 40 degrees, the control circuit 221 controls the high-pressure electromagnetic valve 203 to be connected, so that the air duct 204 outputs high-pressure air to the unmanned aerial vehicle transmitting bin 300, and the unmanned aerial vehicle is transmitted. In addition, the underwater acoustic signal collected by the hydrophone 117 can also be used as a first unlocking condition for controlling the emission, namely, when the hydrophone 117 recognizes the underwater acoustic signal on the water surface, the underwater acoustic signal is emitted to the control circuit 221, and the control circuit 221 judges whether to emit or not through the depth data collected by the depth gauge 118 and the gesture data collected by the gyroscope, so that the risk of emitting is reduced, and the success rate of emitting is improved.
In addition, in this embodiment, the control circuit 221 is further configured to perform wireless communication with the unmanned aerial vehicle, so as to send or receive signals to the unmanned aerial vehicle. Specifically, the transmission command may be a timing activation signal set in advance, or may be a remote control signal sent by a remote control device to an unmanned aerial vehicle, and after the unmanned aerial vehicle receives the transmission signal, the unmanned aerial vehicle sends the transmission signal to the control circuit 221.
Further, in this embodiment, as shown in fig. 6, an unmanned aerial vehicle base 302 for setting an unmanned aerial vehicle is disposed at the bottom of the unmanned aerial vehicle emission bin 300, the diameter of the unmanned aerial vehicle base 302 is less than or equal to the inner diameter of the unmanned aerial vehicle emission bin 300, and two annular grooves 303 are disposed at the periphery of the unmanned aerial vehicle base 302 to form a closed ring; the other end of the air duct 204 is arranged at the bottom center of the unmanned aerial vehicle base 302 through an air duct fixing seat 205. Through setting up the closed loop, then the air duct 204 can form the high pressure in the twinkling of an eye for the high-pressure gas that unmanned aerial vehicle base 302 provided, and drive unmanned aerial vehicle base 302 is in unmanned aerial vehicle launching bin 300 internal axis motion, and unmanned aerial vehicle base 302 can bear the great pressure when atmospheric pressure catapult, reduces gas release loss pressure in the twinkling of an eye, plays the effect of protection unmanned aerial vehicle, and in addition, it can be in the cylinder launching tube internal axis motion of unmanned aerial vehicle launching bin 300 to drive unmanned aerial vehicle and launch together.
In this embodiment, the unmanned aerial vehicle base 302 uses carbon fiber reinforced resin as the subject material, which has the advantages of strong compressive strength, corrosion resistance, burning resistance, and light weight.
Further, as shown in fig. 2, in this embodiment, the remote cable removing device 100 further includes a steering engine base 113 and a steering engine coupling 112, where the steering engine base 113 is sealed in the base 101 and is fixedly connected to the base 101, and the steering engine 111 is fixedly disposed on the steering engine base 113; one end of the steering engine coupler 112 is connected with a rotating shaft of the steering engine 111, and the other end of the steering engine coupler passes through the base 101 to be connected with the chuck body 119; the skeleton oil seal 109 is arranged on the outer side of the steering engine coupler 112 and is used for realizing dynamic sealing of the steering engine 111.
Specifically, in this embodiment, the base 101 is in sealing connection with the unmanned aerial vehicle ejection bin 200 through a fine thread and an O-ring, and the unmanned aerial vehicle ejection bin 200 is in sealing connection with the unmanned aerial vehicle ejection bin 300 through a fine thread and an O-ring. In addition, the steering engine base 113 is also in sealing connection with the base 101 through fine threads and O-rings.
Further, as shown in fig. 7, in this embodiment, the sliding groove 110 is a T-shaped groove; as shown in fig. 8 to 9, the anchor chain 116 includes an anchor rod and a limiting portion 106 with an increased diameter disposed at the top of the anchor rod; the bottom of the anchor rod is provided with a hole connected with a steel anchor, and the anchor chain 116 is fixedly connected with the seabed through the steel anchor; the chuck jaw 115 is provided with the first arc recess 104 that cooperates with the spacing portion 106 near the one end top of anchor chain 116, the chuck jaw 115 is provided with the second arc recess 105 that cooperates with the stock near the one end below of anchor chain 116, the chuck jaw 115 is provided with the T type portion that cooperates with the sliding tray 110 far away from the one end of anchor chain 116.
As shown in fig. 10, the hydrophone 117 and depth gauge 118 are provided on the base 101, and furthermore, the gyroscope is provided with a control circuit 221.
Specifically, as shown in fig. 1, in this embodiment, the unmanned aerial vehicle catapulting bin 200 and the unmanned aerial vehicle transmitting bin 300 are cylindrical, and the top of the unmanned aerial vehicle transmitting bin 300 is provided with a transmitting bin sealing cover 301, and a plurality of grooves are uniformly distributed on the transmitting bin sealing cover 301 and used for guiding the unmanned aerial vehicle to burst the transmitting bin sealing cover 301 during transmitting.
Specifically, in this embodiment, the unmanned aerial vehicle launching bin 300 employs a low quality, high strength, corrosion resistant polycarbonate and an acrylonitrile-butadiene-styrene copolymer and blend. In the experiment for verifying the strength of the material, the launching bin is subjected to an underwater pressure-resistant test, and the results of multiple tests prove that the launching bin can not deform under the pressure within 50m of water depth. The unmanned aerial vehicle base 302 adopts carbon fiber reinforced resin as a main material, has stronger compressive strength, corrosion resistance and burning resistance, and simultaneously has the advantage of light weight.
Further, the transmitting bin sealing cover 301 and the unmanned aerial vehicle transmitting bin 300 are sealed at the top by threads, twelve channels of grooves are uniformly distributed on the transmitting bin sealing cover 301, so that the transmitting bin sealing cover 301 is easy to crush and can resist water pressure when the unmanned aerial vehicle transmits at a high speed. In addition, the firing chamber seal cap 301 is made of a brittle material having pressure resistance.
As shown in fig. 11, a workflow diagram of an embodiment of the present invention is shown. The device is anchored to the seabed to be transmitted by a diver or a submarine, after receiving a signal or a timing activation signal set in advance, the control circuit 221 controls the steering engine 111 to rotate, the anchor chain 116 falls off from a central surrounding structure, the whole device floats stably under the buoyancy until reaching the sea surface, when a sensor (gyroscope) in the device detects that the deflection angle of the transmitting device is within a set safe transmitting range, the control circuit 221 controls the high-pressure electromagnetic valve 203 to be opened, and unmanned aerial vehicle transmission is performed under the action of high-pressure gas.
In addition, in the invention, through designing the gravity center and the relative position of the floating center of the whole transmitting device, the ratio of the length to the diameter and the ratio of the length to the gravity center position are controlled, and in the floating stability test, the transmitting device can stably maintain the deflection angle within 40 degrees under the 3-level sea condition, so that the stability and the feasibility of the transmitting device are effectively verified, and a reliable basis is provided for the normal transmission of an unmanned plane.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention 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 by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. An underwater anchored launch device for an unmanned aerial vehicle, comprising: the remote rope-releasing device (100), the unmanned aerial vehicle ejection bin (200) and the unmanned aerial vehicle emission bin (300) are sequentially and hermetically connected, and the remote rope-releasing device also comprises a gyroscope, a hydrophone (117) and a depth gauge (118); the unmanned aerial vehicle ejection bin (200) is used for arranging an ejection assembly, and the unmanned aerial vehicle ejection bin (300) is used for placing an unmanned aerial vehicle;
The remote rope removing device (100) comprises a base (101), an anchor chain (116), a chuck body (119), a steering engine (111), a framework oil seal (109) and a plurality of chuck claws (115), wherein a plurality of sliding grooves (110) are symmetrically arranged at the bottom of the base (101) along the radial direction, and each chuck claw (115) is symmetrically clamped on the base (101) through one of the sliding grooves (110) to form a central surrounding structure; one end of the anchor chain (116) is arranged above the central enclosing structure formed by each chuck jaw (115) through the limiting part (106), and the other end of the anchor chain passes through the central enclosing structure formed by each chuck jaw (115) and is fixedly connected with the seabed; the chuck body (119) is arranged above the chuck jaw (115), a spiral groove (102) is formed in one surface, close to the chuck jaw (115), of the chuck body (119), and jaw legs (103) matched with the spiral groove (102) are arranged on the chuck jaw (115); the framework oil seal (109) is used for realizing dynamic sealing of the steering engine (111); the steering engine (111) is used for driving the chuck body (119) to rotate, so that the chuck claw (115) is driven to slide along the sliding groove (110), and the anchor chain (116) is enabled to fall off from the central surrounding structure;
a control circuit (221) is further arranged in the unmanned aerial vehicle ejection bin (200) and is used for controlling the steering engine (111) to rotate according to a remote emission command control signal so as to further realize unlocking of the anchor chain (116);
The ejection assembly comprises a high-pressure gas cylinder (201) and a high-pressure electromagnetic valve (203), wherein the high-pressure gas cylinder (201) is connected with the high-pressure electromagnetic valve (203);
The data output ends of the gyroscope, the hydrophone (117) and the depth gauge (118) are connected with the control circuit (221); the control circuit also controls the high-pressure electromagnetic valve (203) to work according to the underwater sound signal collected by the hydrophone (117), the collected depth data of the depth gauge (118) and the deflection angle data collected by the gyroscope, and outputs high-pressure gas to the unmanned aerial vehicle emission bin (300).
2. An underwater anchored launching device for unmanned aerial vehicle as claimed in claim 1, wherein,
The ejection assembly also comprises an inflation valve (202) and an air duct (204); the high-pressure gas cylinder (201) is internally filled with high-pressure gas, one end of the gas guide tube (204) is connected with the high-pressure gas cylinder (201) through a high-pressure gas valve (203), and the other end of the gas guide tube is used for outputting the high-pressure gas to the unmanned aerial vehicle launching bin (300).
3. The underwater anchoring type launching device for an unmanned aerial vehicle according to claim 2, wherein the control circuit controls the high-pressure electromagnetic valve (203) to work according to the underwater sound signal collected by the hydrophone (117), the collected depth data of the depth gauge (118) and the deflection angle data collected by the gyroscope, and the specific method for outputting the high-pressure gas to the unmanned aerial vehicle launching bin (300) is as follows: when the hydrophone (117) recognizes the underwater sound signal on the water surface, the underwater sound signal is transmitted to the control circuit (221), and the control circuit (221) judges whether to transmit or not through depth data acquired by the depth gauge (118) and attitude data acquired by the gyroscope, so that the transmission risk is reduced, and the transmission success rate is improved.
4. The underwater anchoring type launching device for the unmanned aerial vehicle according to claim 2, wherein an unmanned aerial vehicle base (302) for arranging the unmanned aerial vehicle is arranged at the bottom of the unmanned aerial vehicle launching bin (300), the diameter of the unmanned aerial vehicle base (302) is smaller than or equal to the inner diameter of the unmanned aerial vehicle launching bin (300), and two annular grooves (303) are formed in the periphery of the unmanned aerial vehicle base (302) to form a closed ring; the other end of the air duct (204) is arranged at the center of the bottom of the unmanned aerial vehicle base (302).
5. A submerged anchored transmitting device for a unmanned aerial vehicle according to claim 2 or 3, wherein the control circuit (221) is further adapted to communicate wirelessly with the unmanned aerial vehicle.
6. The underwater anchoring type launching device for an unmanned aerial vehicle according to claim 1, wherein the remote cable releasing device (100) further comprises a steering engine base (113) and a steering engine coupling (112), the steering engine base (113) is arranged in the base (101) in a sealing manner and fixedly connected with the base (101), and the steering engine (111) is fixedly arranged on the steering engine base (113); one end of the steering engine coupler (112) is connected with a rotating shaft of the steering engine (111), and the other end of the steering engine coupler passes through the base (101) to be connected with the chuck body (119); the framework oil seal (109) is arranged on the outer side of the steering engine coupler (112).
7. An underwater anchored launching device for an unmanned aerial vehicle as claimed in claim 1, wherein the base (101) is sealingly connected to the unmanned aerial vehicle ejection chamber (200) by means of fine threads and O-rings, and the unmanned aerial vehicle ejection chamber (200) is sealingly connected to the unmanned aerial vehicle ejection chamber (300) by means of fine threads and O-rings.
8. An underwater anchored launching device for unmanned aerial vehicles as claimed in claim 1, wherein the sliding channel (110) is a T-channel;
The anchor chain (116) comprises an anchor rod and a limiting part (106) with increased diameter, wherein the limiting part is arranged at the top of the anchor rod; the anchor rod is provided with a hole connected with a steel anchor, and the anchor chain (116) is fixedly connected with the seabed through the steel anchor;
The chuck jaw (115) is provided with spacing portion (106) complex first arc recess (104) near one end top of anchor chain (116), chuck jaw (115) be provided with near one end below of anchor chain (116) with stock complex second arc recess (105), chuck jaw (115) keep away from one end of anchor chain (116) be provided with sliding tray (110) complex T type portion.
9. The underwater anchoring type launching device for the unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle ejection bin (200) and the unmanned aerial vehicle launching bin (300) are cylindrical, a launching bin sealing cover (301) is arranged at the top of the unmanned aerial vehicle launching bin (300), and a plurality of grooves are uniformly distributed on the launching bin sealing cover (301) and used for guiding the unmanned aerial vehicle to burst the launching bin sealing cover (301) during launching.
10. An underwater anchored launch apparatus for unmanned aerial vehicles as claimed in claim 1, wherein the chuck body (119) and chuck jaws (115) are each provided with a plurality of lightening holes for controlling the weight and centre of gravity.
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Citations (3)
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| CN106965913A (en) * | 2017-04-05 | 2017-07-21 | 西北工业大学 | A kind of delivery of unmanned plane under water and catapult-launching gear |
| CN218224702U (en) * | 2022-09-02 | 2023-01-06 | 马鞍山市泽瑞生产力促进中心有限公司 | Three-jaw chuck of machine tool |
| CN117944858A (en) * | 2024-01-05 | 2024-04-30 | 中国船舶科学研究中心 | Underwater self-floating unmanned aerial vehicle group carrying device and working process |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ITBO20110431A1 (en) * | 2011-07-19 | 2013-01-20 | Calzoni Srl | APPARATUS AND METHOD FOR THE LAUNCH OF AN AEROMOBILE WITH REMOTE DRIVING FROM A SUBMERSIBLE |
| GB2514770B (en) * | 2013-06-03 | 2015-08-05 | Lockheed Corp | Launched air vehicle system |
| US20200013263A1 (en) * | 2017-03-30 | 2020-01-09 | Oksos Locator Solutions Inc. | Autonomous aircraft locator system |
| CN212766804U (en) * | 2020-08-21 | 2021-03-23 | 天津启鹏信息技术有限公司 | Unmanned aerial vehicle emitter |
| CN112319837B (en) * | 2020-11-24 | 2022-03-01 | 中国航天空气动力技术研究院 | Underwater unmanned aerial vehicle ejection device |
| CN115339599B (en) * | 2022-08-31 | 2023-06-02 | 浙江东溟科技有限公司 | Underwater unmanned aerial vehicle carrying and ejecting device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965913A (en) * | 2017-04-05 | 2017-07-21 | 西北工业大学 | A kind of delivery of unmanned plane under water and catapult-launching gear |
| CN218224702U (en) * | 2022-09-02 | 2023-01-06 | 马鞍山市泽瑞生产力促进中心有限公司 | Three-jaw chuck of machine tool |
| CN117944858A (en) * | 2024-01-05 | 2024-04-30 | 中国船舶科学研究中心 | Underwater self-floating unmanned aerial vehicle group carrying device and working process |
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