Ball-borne Suspension Launch System Based on Combined Unmanned Aerial Vehicle

Abstract

The present invention discloses a balloon-borne hanging launch system based on a combined unmanned aerial vehicle, comprising: a combined unmanned aerial vehicle provided with a flight control system; a high-altitude balloon connected to the combined unmanned aerial vehicle by a rope; a rope cutter fixed to the back of the combined unmanned aerial vehicle, and the rope is connected to the rope cutter; wherein, the combined unmanned aerial vehicle enters a cruising state after rising to a predetermined height by the buoyancy of the high-altitude balloon. The balloon-borne hanging launch system based on the combined unmanned aerial vehicle provided by the present invention waits for the balloon together with the combined unmanned aerial vehicle to rise to a predetermined height, and then remotely controls the rope cutter to cut the rope to separate the balloon from the unmanned aerial vehicle, so as to complete the launch of the combined unmanned aerial vehicle, saving the energy consumed by a general combined unmanned aerial vehicle during ground taxiing or catapult takeoff.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft control, and in particular to a balloon-borne suspension launch system based on a combined unmanned aircraft. Background Art

[0002] The combined flexible unmanned aerial vehicle is a structurally innovative unmanned aircraft that can switch between combined and separated flight states, taking into account the advantages of high-altitude long-endurance unmanned aircraft with large aspect ratios, high lift-drag ratios, and long endurance capabilities, as well as the low cost, high maneuverability, flexible structure, and distributed deployment of small cluster unmanned aircraft. In addition, it is expected to solve the problems of large flexibility, easy vibration, and aerodynamic failure of high-altitude long-endurance large-aspect-ratio unmanned aircraft, as well as the disadvantages of low ceiling and short range of cluster unmanned aircraft. From an aerodynamic design perspective, this configuration of unmanned aircraft can significantly increase the aspect ratio of the aircraft, greatly reduce the induced drag caused by the single wingtip vortex, and significantly increase the lift-drag ratio, thereby expanding the aircraft ceiling; from a structural perspective, the combination of local flexible structures and multi-control surface active control can significantly reduce the impact of gusts and improve the stability of the aircraft; it can flexibly allocate loads on multiple single aircraft, and for diverse mission requirements, the same or different equipment can be carried on different single aircraft to form a large-scale distributed dedicated mission capability in space or a three-dimensional integrated formation mission capability.

[0003] For this combined unmanned aircraft, its cruising altitude is relatively high. Taking off from a ground runway or by catapult will cause the aircraft to fly at a low altitude under non-rated conditions for a long time, and more energy is required for takeoff and climb, thus significantly reducing the aircraft's endurance. Therefore, using a balloon-borne method to directly lift the aircraft to the working altitude and release it is a more appropriate takeoff method, but a dedicated balloon-borne suspension launch technology needs to be developed according to the characteristics of the combined unmanned aircraft. Summary of the Invention

[0004] The purpose of the present invention is to provide a balloon-borne suspension launch system based on a combined unmanned aircraft to at least partially solve the above-mentioned technical problems.

[0005] In view of this, the present invention provides a balloon-borne suspension launch system based on a combined unmanned aircraft, which includes:

[0006] A high-altitude balloon;

[0007] A combined unmanned aircraft provided with a flight control system; and

[0008] A rope for connecting the high-altitude balloon and the combined unmanned aircraft;

[0009] Wherein, the combined unmanned aircraft rises to a predetermined height by the buoyancy of the high-altitude balloon and then breaks away from the control of the high-altitude balloon and enters the cruise state;

[0010] And / or, a transmitting base station transmits signals to the flight control system.

[0011] Furthermore, wherein:

[0012] In some embodiments, the transmitting base station further includes: a bracket, a limiter is provided at the top of the bracket, and the limiter lifts the combined unmanned aerial vehicle from the middle of the rope.

[0013] In some embodiments, the rope has a hanging point, multiple sub-ropes are connected at the hanging point, and each sub-rope is respectively connected to each single unit of the combined unmanned aerial vehicle.

[0014] In some embodiments, the hanging point is a metal frame.

[0015] In some embodiments, it further includes:

[0016] The sub-rope and the single unit are connected by a rope cutter.

[0017] In some embodiments, the rope cutter includes:

[0018] A bolt, provided with a thread;

[0019] A separation section, provided with an internal thread, and the internal thread meshes with the thread of the bolt;

[0020] A separation ring, sleeved outside the separation section, for constraining the separation section;

[0021] A piston, arranged between the separation ring and the separation section;

[0022] An initiator, when the initiator detonates, it pushes the piston to release the constraint on the separation section, so that the bolt and the separation section are disengaged; and

[0023] A base, the bolt passes through the base and is connected to the separation section.

[0024] In some embodiments, the rope is fixed in the rope cutter through the bolt and the separation section.

[0025] In some embodiments, the flight control system controls the detonation of the initiator.

[0026] In some embodiments, the initial relative angle between every two single units of the combined unmanned aerial vehicle is set to [0°, 45°], and the hanging points of the ropes on the single units of the combined unmanned aerial vehicle are staggered front and back.

[0027] The spherical carrier hanging launch system based on the combined unmanned aerial vehicle provided by the present invention has the following beneficial effects:

[0028] (1) In the present invention, a high-altitude balloon is used to lift the combined unmanned aerial vehicle to a high altitude and then enter the cruise state, saving the energy consumed by traditional unmanned aerial vehicles during the process of taking off by ground taxiing or catapulting. At the same time, this part of the energy can be used more in the aerial cruise process of the unmanned aerial vehicle, further significantly increasing the endurance energy of the unmanned aerial vehicle and improving the cruise efficiency of the unmanned aerial vehicle.

[0029] (2) In the present invention, the wing tips of adjacent single aircraft in the combined unmanned aerial vehicle are designed into concave / convex isosceles triangle symmetric airfoils. At the same time, the rope hanging points on each single aircraft adopt a method of staggered arrangement front and back, which can further improve the stability of the whole aircraft during hanging and the stability of the overall aerial aircraft attitude, reducing the risk of overturning.

[0030] (3) A rope cutter is provided in the system of the present invention, which is easy to realize the disconnection and connection of the ropes in the whole system under the control of the high-altitude balloon.

[0031] (4) The combined unmanned aerial vehicle of the present invention is not limited to a specific number of single aircraft, and any multiple combined unmanned aerial vehicles can be launched by hanging through this technology.

[0032] (5) The ball-borne hanging launch system based on the combined unmanned aerial vehicle of the present invention is completed, with a simple structure, easy to launch, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of the ground state of the ball-borne hanging system of the combined unmanned aerial vehicle according to an embodiment of the present invention;

[0034] Figure 2 is a schematic diagram of the structure of the rope cutter mounted on the fuselage of the combined unmanned aerial vehicle according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of the air state of the ball-borne hanging system of the combined unmanned aerial vehicle according to an embodiment of the present invention;

[0036] Figure 4 is a flowchart of the launch process of the ball-borne hanging system of the combined unmanned aerial vehicle according to an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram of the relative position distribution of each single aircraft in the combined unmanned aerial vehicle according to an embodiment of the present invention.

[0038] In the figure:

[0039] High-altitude balloon 1, Rope 2

[0040] Combined unmanned aerial vehicle 3, Launch vehicle 4

[0041] Limit lock 5, Hanging point 6

[0042] Bolt 71, Base 72

[0043] Separation ring 73, Initiator 75

[0044] Separation section 76, Piston 77 Specific embodiments

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the following further describes the specific embodiments of the present invention with reference to the accompanying drawings.

[0046] The present invention provides a balloon-borne suspension launch system based on a combined unmanned aerial vehicle. Specifically, it includes:

[0047] High-altitude balloon;

[0048] Combined unmanned aerial vehicle, equipped with a flight control system; and

[0049] Rope, realizing the connection between the high-altitude balloon and the combined unmanned aerial vehicle;

[0050] Among them, after the combined unmanned aerial vehicle rises to a predetermined height by the buoyancy of the high-altitude balloon, it breaks away from the control of the high-altitude balloon and enters the cruise state.

[0051] In some embodiments, the balloon-borne suspension launch system further includes a launch base station, which transmits signals to the above-mentioned flight control system;

[0052] In some embodiments, the launch base station further includes: a bracket, the top of the bracket is provided with a limiter, and the limiter hoists the combined unmanned aerial vehicle from the middle section of the rope.

[0053] In this embodiment, the balloon-borne suspension launch system of the combined unmanned aerial vehicle mainly consists of a launch base station part (launch vehicle 4), an aircraft part (combined unmanned aerial vehicle 3), and a balloon part (high-altitude balloon 1). The overall ground state of the system is as Figure 1 shown. The top of the bracket of the launch vehicle 4 is provided with a limiter for fixing the position of the rope and the aircraft. The limiter opens during the process of the high-altitude balloon inflating and ascending. Specifically, on the ground, the launch vehicle 4 hoists the combined unmanned aerial vehicle 3 from the middle section of the rope 2, and the other end of the uninflated high-altitude balloon 1 can be placed on the ground. And in the ground state, the connected aircraft and balloon are launched into the air by the launch base station, and the combined unmanned aerial vehicle is lifted to a predetermined height by the buoyancy of the high-altitude balloon and then disconnected. The aircraft completes the pull-up and turns to level flight during the falling process, and then enters the normal cruise state. Thus, the balloon-borne suspension launch process is completed.

[0054] In some embodiments, the rope has a suspension point 6, and multiple sub-ropes are led out from the suspension point 6, and each sub-rope is respectively connected to each single aircraft of the combined unmanned aerial vehicle.

[0055] Furthermore, in some embodiments:

[0056] The sub-rope is connected to the single aircraft through a rope cutter.

[0057] In this embodiment, after the rope 2 is led out from the tail of the high-altitude balloon 1, it is connected to multiple sub-ropes. Each single aircraft of the combined unmanned aircraft is provided with a rope cutter, and each sub-rope is connected to each single aircraft through this rope cutter.

[0058] In some embodiments, the rope cutter includes:

[0059] A bolt, which is provided with a thread;

[0060] A separation section, which is provided with an internal thread, and this internal thread meshes with the thread of the bolt;

[0061] A separation ring, which is sleeved outside the separation section and is used to restrain the separation section;

[0062] A piston, which is arranged between the separation ring and the separation section;

[0063] An initiator, when the initiator detonates, it pushes the piston, releases the restraint on the separation section, and separates the bolt from the separation section; and

[0064] A base, the bolt passes through the base and is connected to the separation section.

[0065] In this embodiment, as Figure 2 shown is a schematic diagram of the rope cutter mounted on the fuselage. The rope 2 is fixedly connected to the bolt 71, and is fastened to the base through the bolt 71. The base 72 is fixed to the unmanned aircraft fuselage. The thread connecting the bolt 71 meshes with the internal thread of the separation section 76. The separation ring 73 restrains the separation section 76 from the outside, so that there is no radial movement between the separation section 76 and the thread of the bolt 71. There is gunpowder inside the base for initiating separation. During separation, the initiator 75 detonates, driven by the gunpowder gas, and pushes the piston 77 to move the separation ring 73 axially to release the restraint, so that the separation section 76 moves radially outward and disengages from the thread of the bolt 71, releasing the bolt 71, and thus the rope 2 is disengaged from the combined unmanned aircraft 3. It should be noted that in the specific implementation process, the detonation of the initiator is not limited to the gunpowder gas drive mentioned here, and can also be driven by air pressure or other actions, and is not limited here.

[0066] In some embodiments, the rope is fixed in the rope cutter through a bolt and a separation section.

[0067] Based on the above-mentioned airborne suspension launch system of the combined unmanned aircraft, as Figure 3 shown is the state when the balloon part and the aircraft part of the airborne suspension launch system rise into the air. The rope 2 is led out from the tail of the high-altitude balloon 1. The rope 2 is divided into multiple strands at the suspension point 6. After the end of each rope is fixedly connected to the bolt 71 on the rope cutter, it is threadedly connected to the rope cutters at the fuselage positions of each single aircraft of the combined unmanned aircraft 3.

[0068] In this embodiment, the suspension point 6 of the rope 2 can also be changed to a metal frame. The balloon lifts the metal frame through the rope, and ropes are led out in parallel from multiple points of the metal frame to connect with the parallel drone.

[0069] In some embodiments, the flight control system controls the detonation of the detonator in the rope cutter.

[0070] In this embodiment, Figure 4 The figure shows a flow chart of the combined unmanned aerial vehicle ball-borne hanging launch. A launch vehicle is arranged on the ground to support the unlaunched ball-borne system. In this state, the launch can be started after all parts of the system are checked and found to be correct. After the high-altitude balloon 1 is inflated, the balloon begins to rise. When the high-altitude balloon 1 enters the ascending stage, the limit lock 5 at the bracket of the launch vehicle 4 is opened, and the bracket is withdrawn. The load is then borne by the high-altitude balloon 1. When the balloon hanging system rises to a predetermined height, the launch vehicle 4 sends a signal, and the flight control system receives the signal and triggers the detonator of the rope cutter, so that the bolt is separated from the rope cutter, thereby separating the high-altitude balloon part from the aircraft part. After separation, the aircraft adjusts its attitude, realizes pull-up and level flight, and enters a normal flight state.

[0071] In some embodiments, the initial relative angle between every two single units of the combined drone is set to [0°, 45°], and the hanging points of the ropes on the single units of the combined drone are staggered front and back.

[0072] In this embodiment, Figure 5 The figure shows the relative position distribution diagram of each single unit in the combined UAV. The wing tips of adjacent UAVs are designed to be concave / convex isosceles triangle symmetrical wings. Two or more UAVs are connected together with a flexible mechanical structure. The combined UAV is yz The plane shows limited freedom mode motion, and the adjacent UAVs are in O xz The plane can be twisted to a limited extent. When not launched, the initial relative angle α between each single aircraft is set to a specific value in the range of [0°, 45°], so that the whole aircraft is in an upward inverted posture during lifting, and the center of gravity is moved above the fuselage, which improves the overall stability of the system and keeps the aircraft attitude stable during lifting. At the same time, the rope hanging points on each single aircraft are arranged in a staggered manner, which can further improve the stability of the aircraft attitude during hanging and reduce the risk of overturning. It should be noted that the angle α between each aircraft can be adjusted according to factors such as aircraft size, center of gravity, number of aircraft, and location.

[0073] The present invention is not limited to the five aircraft connected launch shown in the above embodiment and schematic diagram. The method provided by the present invention can realize the hanging launch of multiple aircraft.

[0074] As mentioned above, it is only the preferred specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. Any modification, improvement, equivalent replacement, etc. made within the spirit and principle of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A balloon-borne suspension launch system based on a combined unmanned aerial vehicle, characterized in that Comprising: High-altitude balloon; Combined unmanned aerial vehicle (UAV) equipped with a flight control system, and the wingtips of adjacent single UAVs in the combined UAV are designed as concave / convex isosceles triangle symmetric airfoils; And A rope for connecting the high-altitude balloon and the combined UAV. The rope has a suspension point, and multiple sub-ropes are connected at the suspension point. Each sub-rope is respectively connected to each single UAV of the combined UAV, and the sub-rope and the single UAV are connected through a rope cutter. The rope cutter includes: a bolt with a thread; a separation section with an internal thread that meshes with the thread of the bolt; a separation ring sleeved outside the separation section for restricting the separation section; a piston disposed between the separation ring and the separation section; a detonator that, when detonated, pushes the piston to release the restriction on the separation section, causing the bolt and the separation section to disengage; and a base through which the bolt passes and is connected to the separation section; A launch base station for transmitting signals to the flight control system; Wherein, after the combined UAV rises to a predetermined height by the buoyancy of the high-altitude balloon, it breaks away from the control of the high-altitude balloon and enters a cruising state.

2. The airborne suspension launch system based on the combined unmanned aerial vehicle according to claim 1, wherein The launch base station further includes: A bracket with a limiter at the top, and the limiter lifts the combined UAV from the middle section of the rope.

3. The airborne suspension launch system based on the combined unmanned aerial vehicle according to claim 2, wherein The suspension point is a metal frame.

4. The airborne suspension launch system based on the combined unmanned aerial vehicle according to claim 3, wherein The rope is fixed in the rope cutter through the bolt and the separation section.

5. The airborne suspension launch system based on the combined unmanned aerial vehicle according to claim 4, wherein, The flight control system controls the detonation of the detonator.

6. The airborne suspension launch system based on the combined unmanned aerial vehicle according to claim 5, characterized in that The initial relative angle between every two single UAVs of the combined UAV is set to [0°, 45°], and the hanging points of the ropes on the single UAVs are staggered front and back.

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