An unmanned aerial vehicle recovery system and method of operation thereof

Abstract

The application discloses a UAV recovery system and a working method thereof, which comprises a launching cylinder, a recovery rod, a control device and a metal sheet installed at the bottom of a fixed-wing UAV. An elastic rubber rope is arranged in the launching cylinder to provide power for the recovery rod. An electric wire reel is arranged on the inner bottom surface of the launching cylinder, and a flexible electric wire is arranged in the electric wire reel. The recovery rod comprises a carbon fiber tube and a grabbing head. The grabbing head comprises a connecting table, a first half head and a second half head. First and second self-resetting hinges are arranged on the connecting table. An electric clamping device is arranged in the launching cylinder to clamp the recovery rod. First, second and third electromagnets are arranged on the connecting table, the first half head and the second half head respectively. The UAV recovery system can quickly recover the fixed-wing UAV and reduce the difficulty of landing the fixed-wing UAV.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of unmanned plane recycling system and its working method. BACKGROUND

[0002] Unmanned aerial vehicle, in short, is the unmanned aerial vehicle of using radio remote control equipment and self-provided program control device. Unmanned aerial vehicle is actually the general term of unmanned aerial vehicle, and can be divided into: fixed-wing aircraft, vertical take-off and landing aircraft, multi-rotor unmanned aerial vehicle from the technical point of view definition.

[0003] Fixed-wing unmanned aerial vehicle is a kind of unmanned aerial vehicle, and fixed-wing unmanned aerial vehicle has unique advantages, and is often used in various fields. However, the current fixed-wing unmanned aerial vehicle is not convenient to land, therefore, it is necessary to provide a recycling system to improve the convenience of use. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an unmanned aerial vehicle recycling system capable of quickly recycling fixed-wing unmanned aerial vehicle and reducing the difficulty of landing fixed-wing unmanned aerial vehicle.

[0005] To solve the above problems, the technical scheme adopted by the present application is as follows:

[0006] An unmanned aerial vehicle recycling system, comprising a launching tube, a recycling rod, a control device and a metal sheet installed at the bottom of a fixed-wing unmanned aerial vehicle, wherein the launching tube is provided with a rubber cord inside for providing power to the recycling rod, the inner bottom surface of the launching tube is provided with an electric wire reel, the electric wire reel is provided with a flexible electric wire inside, the recycling rod comprises a carbon fiber tube and a grabbing head, the grabbing head comprises a connecting table, a first half head and a second half head, the connecting table is provided with a first self-resetting hinge and a second self-resetting hinge, the first half head and the second half head are fixedly connected with the first self-resetting hinge and the second self-resetting hinge respectively, the launching tube is provided with an electric clamping device for clamping the recycling rod, the connecting table, the first half head and the second half head are respectively provided with a first electromagnet, a second electromagnet and a third electromagnet, the first electromagnet adsorbs the first half head and the second half head and makes the whole form a bullet-shaped arrangement, and the electric wire reel, the electric clamping device, the first electromagnet, the second electromagnet and the third electromagnet are electrically connected with the control device.

[0007] Preferably, the launching barrel is provided with a first linear bearing and a second linear bearing matched with the recovery rod, outer rings of the first linear bearing and the second linear bearing are provided with connecting pipes, the first linear bearing and the second linear bearing are integrally provided with the connecting pipes thereon, the connecting pipes are provided with external threads, the launching barrel is provided with internal threads matched with the external threads, the first linear bearing and the second linear bearing have good connection stability, and the first linear bearing and the second linear bearing are adjusted in height by using the threaded connection structure, so that the convenience is good.

[0008] Preferably, the elastic rubber rope is fixedly connected with the second linear bearing at both ends, the flexible wire is inserted into and bonded with the carbon fiber pipe, the flexible wire comprises a first wire body, a second wire body, a third wire body and a fourth wire body, the first wire body, the second wire body, the third wire body and the fourth wire body are arranged in a mutual weaving manner, the first wire body, the second wire body and the third wire body are electrically connected with the first electromagnet, the second electromagnet and the third electromagnet respectively, the flexible wire is woven by a plurality of wire rods, has good stress performance and good stability during use.

[0009] Preferably, the launching barrel is further provided with a storage battery, and the electric take-up device, the electric clamping device, the control device, the first electromagnet, the second electromagnet and the third electromagnet are electrically connected with the storage battery.

[0010] Preferably, the connecting table is provided with an obstacle sensor, and the obstacle sensor is electrically connected with the control device through the fourth wire body, the obstacle sensor can detect the unmanned aerial vehicle above, which is helpful to improve the success rate of recovery and improve the degree of automation.

[0011] Preferably, the recovery rod is provided with a holding device for delaying the falling of the recovery rod, the holding device can improve the lifting force and delay the falling of the recovery rod, so as to improve the success rate of recovery.

[0012] As preferred, the holding device comprises a brushless motor, a rotating disc bearing and a rotor blade, the brushless motor is located in a carbon fiber tube, a connecting frame is arranged in the carbon fiber tube, the connecting frame is fixedly connected with the brushless motor, an opening is formed in the side wall of the carbon fiber tube, a driving gear is arranged on the output shaft of the brushless motor, the driving gear is located on one side of the opening, the inner ring of the rotating disc bearing is fixedly connected with the carbon fiber tube, a connecting shaft is arranged on the inner ring of the rotating disc bearing, the rotating disc bearing is fixedly connected with the connecting shaft, a driven gear matched with the driving gear is arranged on the connecting shaft, the driven gear is rotatably connected with the connecting shaft, gear teeth matched with the driven gear are arranged on the outer ring of the rotating disc bearing, the brushless motor is linked with the outer ring of the rotating disc bearing through the driving gear, the driven gear and the gear teeth, and the rotor blade is hingedly connected with the outer ring of the rotating disc bearing.

[0013] As preferred, the first electromagnet, the second electromagnet and the third electromagnet are respectively embedded in the connecting table, the first half head and the second half head, and the connecting table, the first half head and the second half head are all hollow, so that the overall weight can be effectively reduced.

[0014] As preferred, the rotating shaft of the electric take-up device is connected with an encoder, and the encoder is electrically connected with the control device.

[0015] The application also provides a working method of the unmanned aerial vehicle recycling system, comprising the following steps:

[0016] 1) the recycling rod is inserted into the launching cylinder, and after storing power through the rubber cord, the electric clamping device is started to clamp the recycling rod through the control device, and the first electromagnet is started to attract the first half head and the second half head and make the whole into a bullet shape;

[0017] 2) when the fixed-wing unmanned aerial vehicle flies above the launching cylinder, the electric clamping device is closed through the control device, so that the recycling rod is released and shot into the air, and the encoder feeds back information to the control device;

[0018] 3) once the encoder detects that the rotating shaft of the electric take-up device does not rotate, the information is fed back to the control device, and then the control device stops the first electromagnet from working, so that the first self-resetting hinge and the second self-resetting hinge are reset, and the first half head and the second half head are opened;

[0019] 4) the control device starts the brushless motor, the rotor blade is opened by inertia and provides lifting force;

[0020] 5) control fixed wing unmanned aircraft close to the first half head and the second half head, once the obstacle sensor detects the fixed wing unmanned aircraft, feedback information to the control device, then the control device starts the second electromagnet and the third electromagnet to adsorb the metal sheet on the fixed wing unmanned aircraft, and then starts the first electromagnet to adsorb the metal sheet;

[0021] 6) after confirming that the fixed wing unmanned aircraft is adsorbed, the control device is started to adsorb the fixed wing unmanned aircraft, and the brushless motor and the obstacle sensor are stopped.

[0022] The beneficial effects of the present application are: the fixed wing unmanned aircraft can be quickly recovered, the difficulty of landing the fixed wing unmanned aircraft is reduced, thereby solving the problem of slow landing speed of the fixed wing unmanned aircraft and large demand for the site, so that the fixed wing unmanned aircraft can be better used in various fields. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0024] Fig. 1 It is a whole structure schematic diagram of the unmanned aerial vehicle recovery system of the present application.

[0025] Fig. 2 It is a structure schematic diagram of the grabbing head of the unmanned aerial vehicle recovery system of the present application.

[0026] Fig. 3 It is a section view of the recovery rod of the unmanned aerial vehicle recovery system of the present application.

[0027] In the drawings:

[0028] 1, launching tube; 2, recovery rod; 3, control device; 4, rubber cord; 5, electric reel; 6, flexible wire; 7, carbon fiber tube; 8, connecting table; 9, first half head; 10, second half head; 11, electric clamping device; 12, first electromagnet; 13, second electromagnet; 14, third electromagnet; 15, first linear bearing; 16, second linear bearing; 17, obstacle sensor; 18, holding device; 19, brushless motor; 20, turntable bearing; 21, rotor blade; 22, connecting frame; 23, driving gear; 24, connecting shaft; 25, driven gear. DETAILED DESCRIPTION

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left", "above", "back", "center", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] In addition, unless otherwise specified in this specific embodiment, the connection or fixing method between components can be conventional methods commonly used in the prior art, such as bolt fixing, pin fixing, pin connection, adhesive fixing, or riveting fixing. Therefore, they will not be described in detail in the embodiments. Example

[0032] like Figs. 1-3 As shown, a drone recovery system includes a launch tube 1, a recovery rod 2, a control device 3, and a metal plate (not shown) mounted on the bottom of a fixed-wing drone. The launch tube 1 contains an elastic cord 4 for powering the recovery rod 2. An electric retractor 5 is located on the bottom surface of the launch tube 1, and a flexible wire 6 is installed inside the electric retractor 5. The recovery rod includes a carbon fiber tube 7 and a gripping head. The gripping head includes a connecting platform 8, a first half-head 9, and a second half-head 10. The connecting platform 8 is equipped with a first self-resetting hinge (not shown) and a second self-resetting hinge (not shown). The first half-head... The head 9 and the second half-head 10 are fixedly connected to the first self-resetting hinge and the second self-resetting hinge, respectively. The launching tube 1 is provided with an electric clamping device 11 for clamping the retrieval rod. The connecting platform 8, the first half-head 9 and the second half-head 10 are respectively provided with a first electromagnet 12, a second electromagnet 13 and a third electromagnet 14. The first electromagnet 12 attracts the first half-head 9 and the second half-head 10 and makes the whole form a bullet shape. The electric retractor 5, the electric clamping device 11, the first electromagnet 12, the second electromagnet 13 and the third electromagnet 14 are all electrically connected to the control device 3.

[0033] In the embodiment, the first linear bearing 15 and the second linear bearing 16 matched with the recovery rod 2 are arranged in the launching barrel 1, outer rings of the first linear bearing 15 and the second linear bearing 16 are provided with connecting pipes (not shown), the first linear bearing 15 and the second linear bearing 16 are integrally arranged with the connecting pipes thereon, the connecting pipes are provided with external threads (not shown), the launching barrel 1 is provided with internal threads (not shown) matched with the external threads, the first linear bearing 15 and the second linear bearing 16 have good connection stability, and the threaded connection structure can adjust the height of the first linear bearing 15 and the second linear bearing 16, and has good convenience.

[0034] In the embodiment, the elastic rubber rope 4 is fixedly connected with the second linear bearing 16 at both ends, the flexible wire 6 is inserted into the carbon fiber pipe 7 and is bonded with the carbon fiber pipe 7, the flexible wire comprises a first wire body (not shown), a second wire body (not shown), a third wire body (not shown) and a fourth wire body (not shown), the first wire body, the second wire body, the third wire body and the fourth wire body are arranged in a mutual weaving manner, the first wire body, the second wire body and the third wire body are electrically connected with the first electromagnet 12, the second electromagnet 13 and the third electromagnet 14 respectively, the flexible wire is woven by a plurality of wire rods, has good stress performance and good stability during use.

[0035] In the embodiment, the launching barrel 1 is further provided with a storage battery (not shown), the electric wire collector, the electric clamping device, the control device 3, the first electromagnet 12, the second electromagnet 13 and the third electromagnet 14 are electrically connected with the storage battery, and the first electromagnet 12, the second electromagnet 13 and the third electromagnet 14 are electrically connected with the storage battery through the first wire body, the second wire body and the third wire body respectively.

[0036] In the embodiment, the connecting table 8 is provided with an obstacle sensor 17, the obstacle sensor 17 is electrically connected with the control device 3 through the fourth wire body, the obstacle sensor 17 can detect the unmanned aerial vehicle above, which is helpful to improve the success rate of recovery and improve the degree of automation.

[0037] In the embodiment, the recovery rod 2 is provided with a holding device 18 for delaying the falling of the recovery rod 2, the holding device 18 can improve the lifting force and delay the falling of the recovery rod 2, so as to improve the success rate of recovery.

[0038] In the embodiment, the holding device 18 comprises a brushless motor 19, a turntable bearing 20 and a rotor blade 21. The brushless motor 19 is located in the carbon fiber tube 7. A connecting frame 22 is arranged in the carbon fiber tube 7 and fixedly connected with the brushless motor 19. An opening (not shown) is formed in the side wall of the carbon fiber tube 7. A driving gear 23 is arranged on the output shaft of the brushless motor 19 and located at one side of the opening. The inner ring of the turntable bearing 20 is fixedly connected with the carbon fiber tube 7. A connecting shaft 24 is arranged on the inner ring of the turntable bearing 20 and fixedly connected with the turntable bearing 20. A driven gear 25 matched with the driving gear 23 is arranged on the connecting shaft 24 and rotationally connected with the connecting shaft 24. A gear tooth (not shown) matched with the driven gear 25 is arranged on the outer ring of the turntable bearing. The brushless motor 19 is linked with the outer ring of the turntable bearing 20 through the driving gear 23, the driven gear 25 and the gear tooth. The rotor blade 21 is hingedly connected with the outer ring of the turntable bearing 20. The fourth wire body is electrically connected with the brushless motor 19.

[0039] In the embodiment, the first electromagnet 12, the second electromagnet 13 and the third electromagnet 14 are respectively embedded in the connecting table 8, the first half head 9 and the second half head 10. The connecting table 8, the first half head 9 and the second half head 10 are all hollowly arranged. The hollow design can effectively reduce the overall weight.

[0040] In the embodiment, the rotating shaft of the electric take-up device 5 is connected with an encoder (not shown). The encoder is electrically connected with the control device 3.

[0041] The embodiment also provides a working method of the unmanned aerial vehicle recovery system, which comprises the following steps:

[0042] 1) The recovery rod is inserted into the launching barrel. After the elastic force is stored through the rubber cord, the electric clamping device is started to clamp the recovery rod through the control device. Meanwhile, the first electromagnet is started to attract the first half head and the second half head and make the whole into a bullet shape.

[0043] 2) When the fixed-wing unmanned aerial vehicle flies above the launching barrel, the electric clamping device is turned off through the control device, so that the recovery rod is released and shot into the air. Meanwhile, the encoder feeds back information to the control device.

[0044] 3) Once the encoder detects that the rotating shaft of the electric take-up device does not rotate, the information is fed back to the control device. Then, the control device stops the first electromagnet from working, so that the first self-resetting hinge and the second self-resetting hinge are reset, and the first half head and the second half head are opened.

[0045] 4) The control device starts the brushless motor. The rotor blade is opened by inertia and provides an upward force.

[0046] 5) Control the fixed-wing unmanned plane to approach the first half head and the second half head, once the obstacle sensor detects the fixed-wing unmanned plane, feedback information to the control device, then the control device starts the second electromagnet and the third electromagnet to adsorb the metal sheet on the fixed-wing unmanned plane, and then starts the first electromagnet to adsorb the metal sheet;

[0047] 6) After confirming that the fixed-wing unmanned plane is adsorbed, the electric reel is started by the control device to recover the fixed-wing unmanned plane, and the brushless motor and the obstacle sensor are stopped.

[0048] The beneficial effects of the present application are: the fixed-wing unmanned plane can be quickly recovered, the difficulty of landing the fixed-wing unmanned plane is reduced, thereby solving the problem that the fixed-wing unmanned plane lands slowly and has a large demand for the site, so that the fixed-wing unmanned plane can be better used in various fields.

[0049] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement without creative labor should be covered within the protection scope of the present application.

Claims

1. An unmanned aerial vehicle recovery system, characterized by: The utility model provides a kind of unmanned aerial vehicle recovery device, including launching tube, recovery rod, control device and the metal sheet installed at the bottom of fixed wing unmanned aerial vehicle, the launching tube is provided with the rubber band for the recovery rod power supply inside, the bottom surface of the launching tube is provided with electric reel, the electric reel is provided with flexible wire inside, the recovery rod includes carbon fiber tube and grabbing head, the grabbing head includes connecting table, first half head and second half head, the connecting table is provided with first self-resetting hinge and second self-resetting hinge, the first half head and second half head are fixedly connected with first self-resetting hinge and second self-resetting hinge respectively, the launching tube is provided with electric clamping device for clamping recovery rod inside, the connecting table, first half head and second half head are respectively provided with first electromagnet, second electromagnet and third electromagnet, the first electromagnet adsorbs first half head and second half head and makes the whole formation bullet-like arrangement, and electric reel, electric clamping device, first electromagnet, second electromagnet and third electromagnet are electrically connected with control device; The recovery rod is provided with a holding device that slows its descent, providing an upward force to slow the descent of the recovery rod. The holding device includes a brushless motor, a turntable bearing, and a rotor blade. The brushless motor is located inside the carbon fiber tube. The carbon fiber tube has a connecting frame inside. The connecting frame is fixedly connected with the brushless motor. An opening is formed in the side wall of the carbon fiber tube. A driving gear is arranged on the output shaft of the brushless motor. The driving gear is located on one side of the opening. The inner ring of the turntable bearing is fixedly connected with the carbon fiber tube. A connecting shaft is arranged on the inner ring of the turntable bearing. The turntable bearing is fixedly connected with the connecting shaft. A driven gear that is paired with the driving gear is arranged on the connecting shaft. The driven gear is rotationally connected with the connecting shaft. Gear teeth that are paired with the driven gear are arranged on the outer ring of the turntable bearing. The brushless motor is linked with the outer ring of the turntable bearing through the driving gear, the driven gear, and the gear teeth. The rotor blade is hingedly connected with the outer ring of the turntable bearing. The fourth wire body is electrically connected with the brushless motor. The flexible wire is made of multiple strands of wire.

2. The unmanned aerial vehicle recovery system of claim 1, wherein: The launching tube is provided with a first linear bearing and a second linear bearing that are paired with the recovery rod. The outer rings of the first linear bearing and the second linear bearing are each provided with a connecting tube. The first linear bearing and the second linear bearing are integrally provided with their respective connecting tubes. The connecting tubes are provided with external threads. The launching tube is provided with internal threads that are paired with the external threads.

3. The unmanned aerial vehicle recovery system of claim 2, wherein: The ends of the rubber band are fixedly connected with the second linear bearing. The flexible wire is inserted into the carbon fiber tube and bonded with the carbon fiber tube. The flexible wire includes a first wire body, a second wire body, a third wire body, and a fourth wire body. The first wire body, the second wire body, the third wire body, and the fourth wire body are woven with each other. The first wire body, the second wire body, and the third wire body are electrically connected with the first electromagnet, the second electromagnet, and the third electromagnet, respectively.

4. The unmanned aerial vehicle recovery system of claim 3, wherein: The battery is arranged in the launching barrel, and the electric take-up device, the electric clamping device, the control device, the first electromagnet, the second electromagnet and the third electromagnet are electrically connected with the battery.

5. A method of operating an unmanned aerial vehicle recovery system as claimed in claim 4, wherein, The method comprises the following steps: 1) inserting the recovery rod into the launching barrel, storing energy through the rubber string, starting the electric clamping device through the control device to clamp the recovery rod, and starting the first electromagnet to attract the first half head and the second half head to form a bullet as a whole; 2) when the fixed-wing unmanned aerial vehicle flies above the launching barrel, the electric clamping device is turned off through the control device, so that the recovery rod is released and shot into the air, and the encoder feeds back information to the control device; 3) once the encoder detects that the rotating shaft of the electric take-up device does not rotate, the information is fed back to the control device, then the control device stops the first electromagnet from working, so that the first self-resetting hinge and the second self-resetting hinge reset, and the first half head and the second half head open; 4) the control device starts the brushless motor, the rotor blades are opened by inertia and provide lifting force; 5) the control device starts the brushless motor, the rotor blades are opened by inertia and provide lifting force; 6) after confirming that the fixed-wing unmanned aerial vehicle is attracted, the electric take-up device is started through the control device to recover the fixed-wing unmanned aerial vehicle, and the brushless motor and the obstacle sensor are stopped from working.

Images