CN110155337B - Unmanned aerial vehicle empty-base recycling system and recycling method - Google Patents
Unmanned aerial vehicle empty-base recycling system and recycling method Download PDFInfo
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- CN110155337B CN110155337B CN201910356364.6A CN201910356364A CN110155337B CN 110155337 B CN110155337 B CN 110155337B CN 201910356364 A CN201910356364 A CN 201910356364A CN 110155337 B CN110155337 B CN 110155337B
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Abstract
The invention discloses an unmanned aerial vehicle empty-base recycling system and a recycling method, wherein the recycling system comprises a slide rail, a support, a guide rail, a first group of hydraulic rods for connecting the support and the guide rail, a second group of hydraulic rods for connecting different sections of the guide rail, a crawler belt arranged on the guide rail and a plurality of unmanned aerial vehicle recycling butt-joint devices which are distributed and fixed on the crawler belt according to a certain distance requirement; the guide rail is divided into three sections: a butt joint section, a transportation section and a working section; unmanned aerial vehicle retrieves interfacing apparatus comprises guide rail, recovery net and arresting cable device triplex, can guarantee that unmanned aerial vehicle docks stably. This system can realize accomplishing the way of returning the mother aircraft when a recovery unit docks with unmanned aerial vehicle, and unmanned aerial vehicle's recovery work can continue to be carried out to subsequent recovery mechanism, has guaranteed unmanned aerial vehicle recovery efficiency.
Description
Technical Field
The invention relates to an unmanned aerial vehicle air-based recycling system and a recycling method, and belongs to the field of unmanned aerial vehicle recycling of the aviation aircraft technology.
Background
With the continuous expansion of the demand of modern unmanned aerial vehicles and the continuous deepening of cost idea, except for unmanned targets, most unmanned aerial vehicles are recycled in different modes to more fully realize the value of the unmanned aerial vehicles after the unmanned aerial vehicles perform tasks. Wherein unmanned aerial vehicle's empty base is retrieved, can accomplish unmanned aerial vehicle's recovery aloft, and unmanned aerial vehicle after retrieving can carry out the second time task of fighting, save time and cost.
In recent years, with the development of unmanned aerial vehicle technology and the recent proposal of swarm unmanned aerial vehicle tactics, the air-based recovery technology of small unmanned aerial vehicles is more and more emphasized in the aviation field. In 2016, the first phase of the sprite project awarded composite engineering, Dynet-ics, Inc., USA, general atomic aviation systems, and Roman, to develop solutions for inexpensive small unmanned aerial vehicle technology that could saturate the enemy air defense system in a cluster battle manner. Wherein, because unmanned aerial vehicle is fast low, the radius of operation is little, and the proruption ability is poor before the operation, can not carry out remote combat task, need rely on large-scale cargo airplane as female machine, takes unmanned aerial vehicle to the task region, carries out quick aerial transmission, and after the operation was accomplished, retrieve female machine fast, transport unmanned aerial vehicle to next operation point. Therefore, the aerial accurate and rapid recovery technology of the small unmanned aerial vehicle is very important.
The existing method and device for precisely recovering the empty foundation, such as patents CN106516144A, CN205770184U, CN107792373A, CN204674845U and CN205971887U, adopt methods of net collision, wing tip line collision, etc. Among them, for example CN106516144A, CN107792373A etc. adopt the mode of hitting the net, can realize retrieving in batches, but, in order to make unmanned aerial vehicle avoid the torrent near mother, need design longer mechanical mechanism and make the net open the time apart from mother relatively far away, hit the net back and transport unmanned aerial vehicle back to the cabin through receiving the net simultaneously, need complicated folding mechanism. Simultaneously when retrieving, it is great to unmanned aerial vehicle damage, probably bump between the unmanned aerial vehicle. CN107933925A adopts the mode that the hawser buoy colluded, stability and security when having increased unmanned aerial vehicle recovery, but only be applicable to the low latitude field, and recovery efficiency is very low.
Disclosure of Invention
In order to solve the problem, the invention provides an unmanned aerial vehicle air-based recycling system which can realize efficient, stable and rapid recycling of a small unmanned aerial vehicle in the air.
The invention adopts the technical scheme that the basic concept is as follows:
(1) this recovery system comprises slide rail, support, two sets of hydraulic stem, a plurality of unmanned aerial vehicle retrieve interfacing apparatus, guide rail, track.
(2) The slide rail is fixed on the upper part of the cabin, and the length of the slide rail meets the requirement that the recovery system can be completely collected into the cabin; the support can slide along the slide rail, can slide to the cabin door top from the cabin inside, after butt joint is retrieved, can move to the cabin inside along the slide rail, bring the system into the cabin inside and pack up. The skid length is between the length of the guide rail and the length of the nacelle.
(3) The guide rail divide into the three-section, and under operating condition, the butt joint section is inside in the cabin, and the cabin is stretched out with the working section to the transportation section, and the transportation section transports unmanned aerial vehicle interfacing apparatus and accomplishes the unmanned aerial vehicle after the butt joint, and unmanned aerial vehicle retrieves interfacing apparatus and accomplishes the butt joint with unmanned aerial vehicle at the working section, is connected through the pivot between guide rail working section and the transportation section. The length of the guide rail depends on the size of the main engine room, and the guide rail is required to be as long as possible under the condition that the guide rail can move along the sliding rail and enter the interior of the main engine room after the two groups of hydraulic rods are contracted.
(4) The first group of hydraulic rods is connected with the bracket and the guide rail, the inclination degree of the guide rail is changed through expansion, and after the guide rail extends out of the cabin door, the first group of hydraulic rods is opened, and the guide rail is inclined; the second group is connected with the transportation section and the working section of the guide rail, and after the second group is extended, the working section is in a horizontal state in a working state. The back of the guide rail is provided with a track fixing structure, so that the stability of the track in the power conveying process is ensured. The extended lengths of the two groups of hydraulic rods meet a certain geometrical relationship, and the working sections of the guide rails are ensured to be in a horizontal state. The concrete expression is as follows: (l3-l 1): l 2: l4 ═ l 6: l 7: l 8.
(5) The track is wound on the guide rail before the second group of hydraulic rods extend, a certain margin is reserved to be in a loose state, the second group of hydraulic rods extend, the working section of the guide rail is in a horizontal state, and the track is tensioned and moves along the guide rail in a circulating mode.
(6) Unmanned aerial vehicle retrieves interfacing apparatus comprises guide rail, recovery net and arresting cable triplex. The guide rail is a groove-shaped slide rail, so that the recovery net and the arresting cable device can slide in the groove. The recovery net is always kept in a unfolding state in the process of stretching the mechanical arm. The arresting cable device is a double-rod support structure, and after the device was caught the crossbeam in the device as the long-rod hook lock device at unmanned aerial vehicle back, the recovery net was pricked into to the barb couple at unmanned aerial vehicle advantage of new line back, then slided until flying together with the mother machine along the guide rail speed reduction.
(7) Each retrieve interfacing apparatus and install on the track, along with track along guide rail cyclic motion, keep the certain distance between, guarantee unmanned aerial vehicle butt joint work noninterference. When one docking device completes docking and returns to the master machine, the subsequent docking device enters a docking state, and the working efficiency of the recovery system can be improved. The working section only has a docking device to complete docking with the unmanned aerial vehicle at every time. After the butt joint is completed, the unmanned aerial vehicle is conveyed to return to the mother machine, and the next butt joint device enters the working section to complete the butt joint. One docking device returns to the cabin, and when the unmanned aerial vehicle is unloaded, the other docking device is in the working section and carries out docking work with the unmanned aerial vehicle. And finally, the unmanned aerial vehicle is collected into the main engine cabin, and the recovery butt joint device continues to move along with the crawler belt and is recycled.
The specific technical scheme of the invention is as follows: an unmanned aerial vehicle empty foundation recycling system comprises a slide rail, a support, a guide rail, a first group of hydraulic rods, a second group of hydraulic rods, a crawler and a plurality of unmanned aerial vehicle recycling butt-joint devices, wherein the first group of hydraulic rods are used for connecting the support and the guide rail; the sliding rail is fixed on the upper part of a cabin of the main engine, and the length of the sliding rail meets the requirement that the unmanned aerial vehicle space-based circulation recovery system can be completely collected into the cabin; the support can slide along the slide rail, can slide to a position above the cabin door from the inside of the main engine cabin, and can move to the inside of the main engine cabin along the slide rail after the butt joint and recovery of the unmanned aerial vehicle are finished, so that the whole recovery system is brought into the cabin for collection; the guide rail is divided into three sections: a butt joint section, a transportation section and a working section; in a working state, the butt joint section is arranged in the main engine cabin, and the transportation section and the working section extend out of the cabin; the transportation section conveys the unmanned aerial vehicle recovery and docking device to a working position and returns the unmanned aerial vehicle after docking to the mother machine, the unmanned aerial vehicle recovery and docking device completes docking with the unmanned aerial vehicle in the working section, and the working section and the transportation section of the guide rail are connected through a rotating shaft; the first group of hydraulic rods are connected with the bracket and the guide rail, the inclination degree of the guide rail is changed by stretching the first group of hydraulic rods, and after the guide rail extends out of the cabin door, the first group of hydraulic rods are opened, and the guide rail is inclined; the second group of hydraulic rods are connected with the transportation section and the working section of the guide rail, and after the second group of hydraulic rods are extended, the working section is in a horizontal state when in a working state; the whole crawler belt is wrapped on the guide rail, a certain margin is left before the second group of hydraulic rods extend, the crawler belt is in a loose state, and after the second group of hydraulic rods extend, the crawler belt is tensioned along with the second group of hydraulic rods and reciprocates along the guide rail to convey the captured unmanned aerial vehicle; the unmanned aerial vehicle recovery butt joint device consists of a first guide rail, a recovery net and a blocking cable device; the first guide rail is a groove-shaped slide rail, and the recovery net and the arresting cable device slide in the groove of the first guide rail; the recovery net is always kept in a unfolded state in the recovery process; the arresting cable device is of a double-rod support structure, when the long-rod hook lock device at the back of the unmanned aerial vehicle hooks the arresting cable device, the unmanned aerial vehicle lifts up along the trend, the barb hook at the back of the unmanned aerial vehicle is pricked into the recovery net, and then the unmanned aerial vehicle slides along the first guide rail at a reduced speed until the unmanned aerial vehicle flies together with the mother aircraft; each unmanned aerial vehicle recovery and docking device is installed on the track, and a certain distance is reserved between the unmanned aerial vehicles as the track circularly moves along the guide rail, so that the unmanned aerial vehicles are guaranteed to be not interfered with each other in docking work; when an unmanned aerial vehicle retrieves interfacing apparatus and accomplishes the butt joint and return the parent machine in-process, next unmanned aerial vehicle retrieves interfacing apparatus and then gets into the butt joint state, has improved recovery system's work efficiency.
Preferably, the length of the guide rail depends on the size of the main engine room, and the guide rail is required to be as long as possible under the condition that the guide rail can move along the sliding rail and retract into the interior of the main engine room after the two sets of hydraulic rods are contracted.
Preferably, the slide rail length is between the guide rail length and the nacelle length.
Preferably, the extended lengths of the two groups of hydraulic rods meet a certain geometrical relationship, so that the working sections of the guide rails are ensured to be in a horizontal state; the concrete expression is as follows: (l3-l 1): l 2: l4 ═ l 5: l 6: l 7; wherein l1Indicates the length of the stent,/2Indicating the distance of the carriage from the first set of hydraulic rams, l3Length, l, of the first set of hydraulic rods after elongation4Indicating the length of the guide rail between the carriage and the first set of hydraulic rams, l5Indicating the distance of the second group of hydraulic rods from the rotating shaft at the installation position of the guide rail transportation section, l6Length, l, of the second set of hydraulic rods after elongation7The distance between the installation position of the second group of hydraulic rods on the working section of the guide rail and the rotating shaft is shown.
Preferably, a plurality of unmanned aerial vehicle interfacing apparatus are fixed on the track, and installation distance and quantity depend on the required quantity requirement of unmanned aerial vehicle of retrieving simultaneously to and the size of the unmanned aerial vehicle of being retrieved.
Preferably, the working section only has one unmanned aerial vehicle to retrieve the interfacing apparatus and accomplish the butt joint with unmanned aerial vehicle at a time. After the butt joint is completed, the unmanned aerial vehicle is conveyed back to the mother machine, and the next unmanned aerial vehicle recovery butt joint device enters a working section to complete butt joint; an unmanned aerial vehicle retrieves interfacing apparatus and returns the under-deck, when unloading unmanned aerial vehicle, another unmanned aerial vehicle retrieves interfacing apparatus and is carrying out butt joint work with unmanned aerial vehicle at the working section.
Preferably, retrieve interfacing apparatus when unmanned aerial vehicle and move to the butt joint section, unmanned aerial vehicle income mother aircraft cabin, unmanned aerial vehicle retrieves interfacing apparatus and continues to move along with the track, and the circulation goes on.
Preferably, the middle section of the back of the guide rail is provided with a clamping groove for fixing the crawler belt, so that the back of the guide rail is attached to the crawler belt.
A recovery method for accurately recovering an unmanned aerial vehicle in the air by using the unmanned aerial vehicle air-based circulation recovery system is characterized in that after a cabin door of a main machine is opened, a support moves to a position above the cabin door along a slide rail, a guide rail butt joint section is left in the cabin, and a transportation section and a working section extend out of the cabin door; the first group of hydraulic rods extends, the guide rail inclines, the second group of hydraulic rods extends subsequently, the working section is horizontal, the crawler belt is opened, and the crawler belt starts to move along the guide rail; the unmanned aerial vehicle docking device moves along with the unmanned aerial vehicle docking device, when one unmanned aerial vehicle docking device moves to a working section, the subsequent device is still in a transportation section, the unmanned aerial vehicle is docked with the unmanned aerial vehicle docking device, after the unmanned aerial vehicle docking device leaves the working section, the next unmanned aerial vehicle docking device enters the working section, the next unmanned aerial vehicle is recovered, when the unmanned aerial vehicle is conveyed back to the mother machine, the subsequent unmanned aerial vehicle recovery device just enters a working state to be docked with the unmanned aerial vehicle when the unmanned aerial vehicle is taken down; after the unmanned aerial vehicle is withdrawn to the mother aircraft, the unmanned aerial vehicle recovery device continues to move along with the crawler belt and continues to work; after all unmanned aerial vehicles retrieved, two sets of hydraulic stem shrink, inside whole unmanned aerial vehicle empty base circulation recovery system transported back female aircraft cabin along the slide rail along the support, the hatch door was closed.
The invention can achieve the following beneficial technical effects:
(1) the unmanned aerial vehicle can be accurately recovered in the air;
(2) compared with a net collision recovery mode, the blocking rope structure is added, and damage to the unmanned aerial vehicle is reduced;
(3) compared with a towing cable recovery mode, the recovery process has small swing and the recovery butt joint window is stable;
(4) compared with a mechanical arm grabbing mode, the recovery efficiency can be improved, when one recovery device finishes recovery and conveying to the mother machine, the other recovery device enters a working state, and the unmanned aerial vehicle recovery device is recycled, so that the recovery efficiency is improved;
(5) the distribution and the number of the recovery devices can be changed according to the number of the unmanned aerial vehicles to be recovered and the specifications of the unmanned aerial vehicles, so that the flexibility is strong;
(6) only dock an unmanned aerial vehicle at every turn, avoided the risk of striking each other when big unmanned aerial vehicle retrieves in batches.
Drawings
Fig. 1 is an overall schematic diagram of the unmanned aerial vehicle air-based recovery system installed on a mother aircraft.
FIG. 2 is a schematic diagram of the mechanism of the unmanned aerial vehicle air-based recovery system in the invention,
fig. 3 is a schematic diagram of the geometrical relationship between two groups of hydraulic rods in the mechanism of the unmanned aerial vehicle air-based recovery system.
Fig. 4 is a schematic view of a guide rail of the unmanned aerial vehicle air-based recovery system in the invention being collected in a main engine cabin.
Fig. 5 is a schematic perspective view of the overall structure of the unmanned aerial vehicle recovery docking device of the unmanned aerial vehicle air-based recovery system of the present invention.
Fig. 6 is a top view of the structure of the unmanned aerial vehicle recovery docking device of the unmanned aerial vehicle air-based recovery system of the present invention.
Fig. 7 is an overall schematic diagram of the unmanned aerial vehicle air-based recovery system applied to a mother aircraft as a transport aircraft.
Fig. 8-10 are schematic diagrams of recovery of the unmanned aerial vehicle at different stages of aerial accurate recovery by using the unmanned aerial vehicle air-based recovery system of the invention.
Wherein the drawings are described as follows: 1. the system comprises a main machine, 2. an unmanned aerial vehicle, 3. a slide rail, 4. a support, 5. a hydraulic rod, 6. an unmanned aerial vehicle recovery butt joint device, 7. a guide rail, 8. a crawler belt, 9. a first guide rail, 10. a recovery net, 11. a blocking cable and 12. a hydraulic rod.
Specifically, 1 in FIG. 31Indicates the length of the stent 4,/2Indicating the distance, l, of the carriage 4 from the first set of hydraulic rams 53Indicating the length of the first set of hydraulic rods 5 after extension, l4Indicating the length of the guide 7 between the carriage 4 and the first set of hydraulic rods 5, l5The distance l between the installation position of the second group of hydraulic rods 5 on the transportation section of the guide rail 7 and the rotating shaft is shown6Indicating the length, l, of the extended second set of hydraulic rods 57Representing the second groupThe installation position of the hydraulic rod 5 at the working section of the guide rail 7 is away from the rotating shaft.
Detailed Description
The medium-sized transport plane is used as a mother plane, 8 small folding unmanned planes with the takeoff weight of 10kg and the voyage of 150km are transported to a target place beyond 600km to execute tasks. After the unmanned aerial vehicle task is completed, the door of the main engine is opened, the support (4) moves to the position above the cabin door along the sliding rail (3), the butt joint section of the guiding rail is left in the cabin, and the transportation section and the working section extend out of the cabin door. The first set of hydraulic rods (5) is extended, the guide rail (7) is inclined, the second set of hydraulic rods (5) is extended subsequently, the working section is horizontal, the crawler belt (8) is opened and starts to move along the guide rail (7), and the state of the whole system on the mother machine is shown in figure 7. The 4 unmanned aerial vehicles retrieve interfacing apparatus (6) and move thereupon. As shown in fig. 8, the first unmanned aerial vehicle recovery docking device (6) first moves to the working section to dock with the unmanned aerial vehicle (2). After a long rod hook lock device at the back of the unmanned aerial vehicle hooks a cross beam in the device, barb hooks at the head raising back of the unmanned aerial vehicle prick into a recovery net (10), and then the barb hooks slide along a guide rail (9) in a speed reducing manner until flying together with a mother machine (1) to complete butt joint. After the butt joint is completed, the unmanned aerial vehicle leaves the working section, returns to the mother aircraft in-process, and the next unmanned aerial vehicle recovery butt joint device (6) enters the working section and recovers the next unmanned aerial vehicle (2), as shown in fig. 9. The second frame unmanned aerial vehicle butt joint is accomplished, leaves the working section, and first unmanned aerial vehicle retrieves interfacing apparatus and takes unmanned aerial vehicle to reach mother's aircraft cabin this moment, and at the in-process of taking off first unmanned aerial vehicle, third unmanned aerial vehicle recovery unit (6) have also accomplished the butt joint with third frame unmanned aerial vehicle, and fourth retrieves interfacing apparatus still in the middle of the transportation section, prepares to get into the working section, as shown in fig. 10. The recovery docking device which takes off the unmanned aerial vehicle continues to move along with the crawler belt (8), and the recovery docking device continues to work and starts the next cycle. After two circulations, 8 unmanned aerial vehicle retrieve and finish, two sets of hydraulic stem (5) shrink, inside the system transported back the cabin along slide rail (3) along support (4), the hatch door was closed. And the mother aircraft transports the recovered unmanned aerial vehicle to the next task place to execute the second task.
Those skilled in the art will appreciate that the invention may be practiced without these specific details. The above-described embodiments of the present invention are illustrative of the scheme and are not intended to limit the present invention, and any changes within the meaning and range equivalent to the protection range of the present invention should be considered to be included in the protection range of the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle empty base circulation recovery system which characterized in that: the recovery system comprises a sliding rail (3), a support (4), a guide rail (7), a first group of hydraulic rods (5) for connecting the support (4) and the guide rail (7), a second group of hydraulic rods (12) for connecting different sections of the guide rail (7), a crawler (8) installed on the guide rail (7) and a plurality of unmanned aerial vehicle recovery butt-joint devices (6) which are distributed and fixed on the crawler (8) according to a certain distance requirement; the sliding rail (3) is fixed on the upper part of a cabin of the main engine, and the length of the sliding rail meets the requirement that the unmanned aerial vehicle space-based circulation recovery system can be completely collected into the cabin; the support (4) can slide along the sliding rail (3), can slide to a position above a cabin door from the inside of a cabin of the main machine (1), and can move to the inside of the cabin of the main machine (1) along the sliding rail (3) after the butt joint and recovery of the unmanned aerial vehicle (2) are completed, so that the whole recovery system is brought into the cabin to be retracted; the guide rail (7) is divided into three sections: a butt joint section, a transportation section and a working section; in a working state, the butt joint section is arranged in the cabin of the main machine (1), and the transportation section and the working section extend out of the cabin; the transportation section conveys the unmanned aerial vehicle recovery and docking device (6) to a working position, conveys the docked unmanned aerial vehicles together and returns to the mother machine (1), the unmanned aerial vehicle recovery and docking device (6) completes docking with the unmanned aerial vehicle (2) in the working section, and the working section and the transportation section of the guide rail (7) are connected through a rotating shaft; the first group of hydraulic rods (5) are connected with the sliding rail (3) and the guide rail (7), the inclination degree of the guide rail (7) is changed by stretching the first group of hydraulic rods (5), and after the guide rail (7) extends out of the cabin door, the first group of hydraulic rods (5) are opened, and the guide rail (7) is inclined; the second group of hydraulic rods (12) is connected with the transportation section and the working section of the guide rail (7), and after the second group of hydraulic rods is extended, the working section is in a horizontal state when in a working state; the whole crawler belt (8) is wrapped on the guide rail (7), a certain margin is left before the second group of hydraulic rods (12) extend to be in a loose state, and after the second group of hydraulic rods (12) extend, the crawler belt (8) is tensioned along with the second group of hydraulic rods and moves in a reciprocating and circulating mode along the guide rail (7) to convey the captured unmanned aerial vehicle; the unmanned aerial vehicle recovery butt joint device (6) consists of a first guide rail (9), a recovery net (10) and a blocking cable device (11); the first guide rail (9) is a groove-shaped slide rail, and the recovery net (10) and the arresting cable device (11) slide in the groove of the first guide rail (9); the recovery net (10) is always kept in a unfolded state in the recovery process; the arresting cable device (11) is of a double-rod support structure, when the long-rod hook lock device at the back of the unmanned aerial vehicle hooks the arresting cable device (11), the unmanned aerial vehicle (2) lifts up along the trend, barb hooks at the back of the unmanned aerial vehicle (2) prick into the recovery net (10), and then the unmanned aerial vehicle decelerates along the first guide rail (9) to slide until the unmanned aerial vehicle flies together with the main aircraft (1); each unmanned aerial vehicle recovery butt joint device (6) is arranged on the crawler belt (8), and a certain distance is reserved between the unmanned aerial vehicles (2) along with the circular motion of the crawler belt (8) along the guide rail (7), so that the butt joint work of the unmanned aerial vehicles (2) is not interfered with each other; when one unmanned aerial vehicle recovery docking device (6) finishes docking and returns to the parent machine (1), the next unmanned aerial vehicle recovery docking device (6) enters a docking state, and the working efficiency of the recovery system is improved;
the extended lengths of the two groups of hydraulic rods of the first group of hydraulic rods (5) and the second group of hydraulic rods (12) satisfy the following geometrical relationship: (l)3-11)∶l2∶l4＝l5∶l6∶l7(ii) a The working section of the guide rail (7) is ensured to be in a horizontal state; wherein 1 is1Represents the length of the stent (4)/2Indicates the distance l between the bracket (4) and the first group of hydraulic rods (5)3Indicates the extended length of the first set of hydraulic rods (5)/4Indicates the length of the guide rail (7) between the bracket (4) and the first group of hydraulic rods (5) |5The distance between the installation position of the second group of hydraulic rods (12) at the transportation section of the guide rail (7) and the rotating shaft is shown as l6Indicating the length, l, of the second set of hydraulic rods (12) after extension7The distance between the installation position of the second group of hydraulic rods (12) on the working section of the guide rail (7) and the rotating shaft is shown.
2. An unmanned aerial vehicle empty base recycling system according to claim 1, wherein: the length of the guide rail (7) depends on the size of the main engine room, and the guide rail is required to be as long as possible under the condition that the two groups of hydraulic rods, namely the first group of hydraulic rods (5) and the second group of hydraulic rods (12), can move along the sliding rail (3) and be retracted into the interior of the main engine room after being contracted.
3. An unmanned aerial vehicle space-based recycling system according to claim 1 or 2, wherein: the length of the slide rail (3) is between the length of the guide rail (7) and the length of the engine room.
4. An unmanned aerial vehicle space-based recycling system according to claim 1 or 2, wherein: a plurality of unmanned aerial vehicle retrieve interfacing apparatus (6) and fix on track (8), installation distance and quantity depend on the required unmanned aerial vehicle (2)'s of retrieving simultaneously quantity requirement to and the size of being retrieved unmanned aerial vehicle (2).
5. An unmanned aerial vehicle space-based recycling system according to claim 1 or 2, wherein: only one unmanned aerial vehicle recovery docking device (6) and the unmanned aerial vehicle (2) complete docking in the working section at a time; after the butt joint is completed, the unmanned aerial vehicle (2) is conveyed to return to the mother machine (1), and the next unmanned aerial vehicle recovery butt joint device (6) enters a working section to complete butt joint; an unmanned aerial vehicle retrieves interfacing apparatus (6) and returns the under-deck, when unloading unmanned aerial vehicle (2), another unmanned aerial vehicle retrieves interfacing apparatus (6) and is carrying out butt joint work with unmanned aerial vehicle (2) at the working section.
6. An unmanned aerial vehicle space-based recycling system according to claim 1 or 2, wherein: when unmanned aerial vehicle (2) and unmanned aerial vehicle retrieve interfacing apparatus (6) and move to the butt joint section, main quick-witted (1) cabin is retrieved in unmanned aerial vehicle (2), and unmanned aerial vehicle retrieves interfacing apparatus (6) and continues along with track (8) motion, and the circulation goes on.
7. An unmanned aerial vehicle space-based recycling system according to claim 1 or 2, wherein: the middle section of the back of the guide rail (7) is provided with a clamping groove for fixing the crawler belt (8), so that the back of the guide rail (7) is attached to the crawler belt (8).
8. A recovery method for aerial precision recovery of an unmanned aerial vehicle by using the unmanned aerial vehicle air-based circulation recovery system of any one of claims 1-7, wherein the recovery method comprises the following steps: after the cabin door of the mother machine (1) is opened, the bracket (4) moves to the position above the cabin door along the slide rail (3), the butt joint section of the guide rail (7) is left in the cabin, and the transportation section and the working section extend out of the cabin door; the first group of hydraulic rods (5) extends, the guide rail (7) inclines, the second group of hydraulic rods (12) extends subsequently, the working section is horizontal, the crawler belt (8) is opened, and the crawler belt starts to move along the guide rail (7); the unmanned aerial vehicle recovery butt joint device (6) moves along with the unmanned aerial vehicle recovery butt joint device, when one unmanned aerial vehicle recovery butt joint device (6) moves to a working section, the subsequent device is still in a transportation section, the unmanned aerial vehicle (2) is in butt joint with the unmanned aerial vehicle recovery butt joint device (6), after the unmanned aerial vehicle (2) leaves the working section, the next unmanned aerial vehicle recovery butt joint device (6) enters the working section, the next unmanned aerial vehicle (2) is recovered, when the unmanned aerial vehicle (2) is conveyed back to the mother machine (1), when the unmanned aerial vehicle is taken down, the subsequent unmanned aerial vehicle recovery butt joint device (6) just enters the working state to be in butt joint with the; after the unmanned aerial vehicle (2) is retracted into the mother aircraft (1), the unmanned aerial vehicle recovery docking device (6) continues to move along with the crawler belt (8) and continues to work; after all unmanned aerial vehicle (2) retrieve and finish, this two sets of hydraulic stem shrink of first group hydraulic stem (5) and second group hydraulic stem (12), inside whole unmanned aerial vehicle empty base circulation recovery system transported back female aircraft cabin along slide rail (3) along support (4), the hatch door was closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910356364.6A CN110155337B (en) | 2019-04-29 | 2019-04-29 | Unmanned aerial vehicle empty-base recycling system and recycling method |
Applications Claiming Priority (1)
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| CN113335531B (en) * | 2021-05-13 | 2022-07-26 | 南京航空航天大学 | Telescopic cantilever type unmanned aerial vehicle air-based recovery device and safe butt-joint envelope modeling method |
| CN113264188B (en) * | 2021-06-08 | 2022-07-29 | 哈尔滨工业大学 | Aerial winding and unwinding devices of mechanical traction type unmanned aerial vehicle |
| CN113911366B (en) * | 2021-11-09 | 2022-05-20 | 南京航空航天大学 | Air base recovery device and method for flying wing type unmanned aerial vehicle |
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| CN107264829A (en) * | 2017-07-06 | 2017-10-20 | 上海复亚通信科技有限公司 | Reclaim unmanned plane and the recycle bin of underground can be delivered in ground |
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Application publication date: 20190823 Assignee: Beijing northern sky long hawk UAV Technology Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021990000039 Denomination of invention: An air based recycling system and method for UAV Granted publication date: 20201222 License type: Exclusive License Record date: 20210119 |