A telescopic sleeve-type unmanned aerial vehicle space-based recovery device and a method for modeling the safety docking envelope

Abstract

The invention discloses a telescopic sleeve-type unmanned aerial vehicle air-based recovery device and a method for modeling a safe docking envelope. The recovery device includes a fixed platform placed at the tail of a main engine cabin; the lower end of the fixed platform is connected with a rotating base, which can be controlled by The pitch joint is connected with the sleeve arm; the rotating base and the controllable pitch joint are driven by the servo motor to realize the rotation and pitch adjustment of the sleeve arm; the inside of the sleeve arm is hollow, and a telescopic arm is installed; the lead screw is controlled to rotate by the end rotating shaft; the end of the extension end of the telescopic arm is provided with a manipulator; the lower end of the manipulator is provided with a mechanical clamp; the invention establishes a safe recovery docking according to the movement constraint of the telescopic arm and the recovery safety constraint The envelope model, which cooperates with the end manipulator and the mechanical fixture within the safe docking envelope, realizes the grasping and recovery of the flying drone, which significantly improves the recovery efficiency of the drone and ensures the safety of the recovery of the drone.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle recovery, and mainly relates to a telescopic sleeve-type unmanned aerial vehicle air-based recovery device and a method for modeling a safe docking envelope. Background technique [0002] With the continuous maturity of UAV technology, the use of UAVs in the military has received extensive attention from the military circles of various countries, and the research and application of "UAV swarm operations" has received the most attention. However, due to the structural limitations of the small and medium-sized UAVs used in cluster operations, the combat radius is limited, and long-distance operations cannot be performed, which limits the application of UAVs in the military. To this end, a "mother-child" plan is proposed, which is transported by a "mother machine" with a long range and a heavy load to release the "sub-machine" of the UAV, and uses the aerial launch and recovery techno...

AI Technical Summary

Problems solved by technology

In the collision net recovery, the UAV is recovered by colliding the front end of the UAV fuselage with the interception net of the parent aircraft, which can easily cause damage to the sensitive equipment at the front end of the UAV, and is not suitable for UAVs with propellers.

The cable hook recovery method uses a cable with a docking buoy at the end to hook the UAV, and drags the UAV back to the parent aircraft through the recovery cable to achieve air-based recovery. Poor performance, resulting in a longer docking recovery process and lower recovery efficiency

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