An inverted harpoon-type mother-and-child drone aerial release and recovery device

Abstract

The present invention relates to the technical field of drone release and recovery, and in particular to an inverted harpoon-type mother-and-child drone aerial release and recovery device. It includes a drone mother machine, a child machine, a retracting and releasing system, a child machine identification and positioning mechanism, an execution system and a visual recognition system, wherein the retracting and releasing system is arranged on the drone mother machine for releasing or retracting the child machine; the child machine identification and positioning mechanism is connected to the retracting and releasing system for identifying and locating the child machine; the execution system is arranged on the child machine for docking with the child machine identification and positioning mechanism; the visual recognition system is used to identify and locate the drone mother machine. The present invention can realize the stable release and recovery of a small multi-rotor drone by an aerial single-rotor drone, with controllable distance, simple principle, and convenient improvement and maintenance.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle release and recovery, and in particular to an inverted harpoon type mother-and-child unmanned aerial vehicle release and recovery device. Background Art

[0002] In recent years, intelligent devices such as drones have been put into use in many fields, such as power inspection, disaster relief, power installation, forest fire prevention, etc. However, there are still many problems in practical applications, such as insufficient endurance, limited working area space, poor flexibility and maneuverability of specific models, adaptability, load, cost, etc. In order to be safer and more efficient, invest heavily, reuse, and shorten the working cycle, the release and recovery of drones as a key link needs to be studied. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an inverted harpoon-type mother-and-child UAV aerial release and recovery device, which can realize the simultaneous release and recovery of multiple multi-rotor small UAVs by a single-rotor UAV in the air, and the recovery distance is controllable, simple and convenient.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An inverted harpoon type mother-and-child UAV aerial release and recovery device, comprising:

[0006] UAV mother aircraft;

[0007] Handset;

[0008] The retractable system is installed on the main UAV and is used to release or retract the sub-drone;

[0009] The handset identification and positioning mechanism is connected to the retractable system and is used for identification and positioning of the handset;

[0010] The execution system is arranged on the slave machine and is used for docking with the slave machine identification and positioning mechanism.

[0011] The inverted harpoon-type mother-and-child UAV aerial release and recovery device is characterized in that it also includes a visual recognition system arranged on the child machine, and the visual recognition system is used to identify and locate the mother UAV.

[0012] The sub-machine identification and positioning mechanism includes a flange, a ring, a connecting arm, a visual identification net and a detection and identification device, wherein the flange is connected to the end of the retractable system, and the ring is connected to the flange through a plurality of connecting arms distributed along the circumferential direction; the visual identification net is embedded in the ring; the detection and identification device is arranged at the edge of the visual identification net, and is used to identify and position the sub-machine; the visual identification system on the sub-machine can identify the color of the visual identification net.

[0013] The visual identification net is painted with a plurality of different colors for identifying and recycling a plurality of the sub-machines.

[0014] The upper end of the connecting arm is fixedly connected to the flange; the lower end of the connecting arm is connected to the ring through a clamp.

[0015] The retractable system includes a power device, a winch and a retractable rope, wherein the power device is arranged on the UAV mother machine, and the output end is connected to the winch; one end of the retractable rope is wound around the winch, and the other end is connected to the sub-machine identification and positioning mechanism.

[0016] The power device comprises a motor and an encoder, wherein the encoder is fixed on the motor shaft of the motor and is used for detecting the retracted length of the retracted rope.

[0017] The execution system includes a servo, a release and recovery narrow wing and a support rod, wherein the support rod is arranged on the sub-machine in a vertical direction, and the release and recovery narrow wing is slidably arranged on the upper end of the support rod; the servo is arranged on the support rod and connected to the release and recovery narrow wing; the servo is used to drive the release and recovery narrow wing to unfold or close.

[0018] The release and recovery narrow wing comprises a narrow wing, a parallel four-bar linkage and a sliding rod, wherein the narrow wing is arranged on the top of the support rod;

[0019] The sliding rod is slidably connected to the supporting rod and is hinged to the narrow wing through two sets of parallel four-bar linkage mechanisms;

[0020] The servo is arranged on the support rod and connected to the slide rod; the servo is used to drive the slide rod to slide relative to the support rod, thereby driving the narrow wing to be unfolded or closed through two sets of parallel four-bar linkage mechanisms.

[0021] The steering gear comprises a rack, a gear and a driving motor, wherein the rack is arranged on the sliding rod; the driving motor is arranged on the supporting rod; the gear is arranged on the output shaft of the driving motor and meshes with the rack.

[0022] The present invention has the following beneficial effects and advantages: the present invention can realize the stable release and recovery of a small multi-rotor by an aerial single-rotor UAV, the distance is controllable, the principle is simple, and it is convenient to improve and maintain, providing reference ideas for the field of release and recovery of aerial UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the inverted harpoon type mother-and-child UAV aerial release and recovery device of the present invention;

[0024] Figure 2It is a structural diagram of the visual recognition network in the present invention;

[0025] Figure 3 It is a structural schematic diagram of the neutron machine of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of releasing and recovering narrow wings in the present invention;

[0027] Figure 5 It is a structural schematic diagram of the steering gear in the present invention.

[0028] In the figure: 1 is the mother UAV, 2 is the winch, 3 is the motor, 4 is the locking ring, 5 is the flange, 6 is the clamp, 7 is the ring, 8 is the retractable rope, 9 is the connecting arm, 10 is the sub-machine, 11 is the steering gear, 12 is the release and recovery narrow wing, 13 is the support rod, 14 is the visual recognition system, 15 is the visual recognition network, 16 is the detection and recognition device, 17 is the narrow wing, 18 is the slide, 19 is the parallel four-bar linkage, 20 is the slide slot, 21 is the connecting rod, 22 is the slide rod, 23 is the rack, and 24 is the gear. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 As shown, the present invention provides an inverted harpoon-type mother-and-child UAV aerial release and recovery device, comprising a mother UAV 1, a child UAV 10, a retracting and releasing system, a child UAV identification and positioning mechanism, and an execution system, wherein the retracting and releasing system is arranged on the mother UAV 1, and is used for releasing or retracting the child UAV 10; the child UAV identification and positioning mechanism is connected to the retracting and releasing system, and is used for identifying and positioning the child UAV 10; the execution system is arranged on the child UAV 10, and is used for docking with the child UAV identification and positioning mechanism.

[0031] Based on the above embodiments, Figure 3 As shown, the inverted harpoon type mother-and-child UAV aerial release and recovery device provided by the present invention also includes a visual recognition system 14 arranged on the child machine 10, and the visual recognition system 14 is used to identify and locate the UAV mother machine 1.

[0032] like Figure 1 As shown, in an embodiment of the present invention, the retracting and releasing system includes a power device, a winch 2 and a retracting and releasing rope 8, wherein the power device is arranged on the UAV mother machine 1, and the output end is connected to the winch 2; one end of the retracting and releasing rope 8 is wound around the winch 2, and the other end is connected to the sub-machine identification and positioning mechanism.

[0033] In this embodiment, the power device includes a motor 3 and an encoder, and the encoder is fixed on the motor shaft of the motor 3. The output shaft of the motor 3 is connected to the winch 2, and the motor 3 drives the winch 2 to rotate to retract and release the retractable rope 8, thereby realizing the recovery and release of the sub-machine identification positioning mechanism, and the encoder is used to detect the retracted length of the retractable rope 8, so as to calculate the height of the recovery device.

[0034] like Figure 1 , Figure 2 As shown, in an embodiment of the present invention, the sub-machine identification and positioning mechanism includes a flange 5, a ring 7, a connecting arm 9, a visual identification net 15 and a detection and identification device 16, wherein the flange 5 is connected to the end of the retracting system. Specifically, a locking ring 4 is provided at the end of the retracting rope 8, and the flange 5 can be quickly connected to the locking ring 4. The ring 7 is connected to the flange 5 through a plurality of connecting arms 9 distributed along the circumferential direction; the visual identification net 15 is embedded in the ring 7; the detection and identification device 16 is arranged at the edge of the visual identification net 15, and is used to identify and position the sub-machine 10; the visual identification net 15 is coated with a plurality of different colors, and is used for identifying and recovering a plurality of sub-machines 10. The visual identification system 14 on the sub-machine 10 can identify the color of the visual identification net 15.

[0035] In this embodiment, the visual identification net 15 is a three-color steel wire net, which is painted with red, yellow and blue colors, and is used for recycling different sub-machines 10 respectively.

[0036] Furthermore, the upper end of the connecting arm 9 is fixedly connected to the flange 5 ; the lower end of the connecting arm 9 is connected to the ring 7 via the clamp 6 , so that the ring 7 and the visual identification net 15 can be quickly installed and replaced.

[0037] like Figure 3 As shown, in an embodiment of the present invention, the execution system includes a servo 11, a release and recovery narrow wing 12 and a support rod 13, wherein the support rod 13 is arranged on the sub-machine 10 in a vertical direction, and the release and recovery narrow wing 12 is slidably arranged on the upper end of the support rod 13; the servo 11 is arranged on the support rod 13 and is connected to the release and recovery narrow wing 12; the servo 11 is used to drive the release and recovery narrow wing 12 to unfold or close.

[0038] like Figure 4 As shown, in the embodiment of the present invention, the release and recovery narrow wing 12 includes a narrow wing 17, a parallel four-bar linkage 19 and a slide bar 22, wherein the narrow wing 17 is arranged on the top of the support rod 21, and the top of the narrow wing 17 is connected to the support rod 13 through the connecting rod 21. The slide bar 22 is slidably connected to the support rod 13, and the upper end of the slide bar 22 is hinged to the narrow wing 17 through two sets of parallel four-bar linkages 19; the steering gear 11 is arranged on the support rod 13 and connected to the slide bar 22; the steering gear 11 is used to drive the slide bar 22 to slide relative to the support rod 13, thereby driving the narrow wing 17 to unfold or close through the two sets of parallel four-bar linkages 19.

[0039] Specifically, a slideway 18 is provided on the narrow wing 17, and one link of the parallel four-bar linkage 19 is accommodated in the slideway 18 and can slide along the slideway 18. The parallel four-bar linkage 19 ensures the stable deployment and closure of the narrow wing 17, while enhancing the overall strength of the release and recovery narrow wing 12.

[0040] like Figure 5 As shown, in this embodiment, the steering gear 11 includes a rack 23, a gear 24 and a driving motor, wherein the rack 23 is arranged on the slide bar 22; the driving motor is arranged on the support rod 13; the gear 24 is arranged on the output shaft of the driving motor and meshes with the rack 23. The driving motor drives the gear 24 to rotate, and because the gear 24 meshes with the rack 23, the slide bar 22 is driven to slide in the slide groove 20 on the support rod 13, so that the narrow wing 17 is opened or closed.

[0041] In this embodiment, the release and recovery narrow wing 12 is an inverted harpoon structure, and the flight control controls the servo 11 to rotate forward and reverse, so that the inverted harpoon-shaped release and recovery narrow wing 12 forms a certain angle in space, which facilitates the release and recovery narrow wing 12 to enter and exit the visual recognition network 15, thereby realizing the release and recovery of the sub-machine 10.

[0042] The specific working process of the inverted harpoon type mother-and-child UAV aerial release and recovery device provided by the present invention is:

[0043] When the multi-rotor drone is released, the motor 3 rotates forward, and the retractable cable 8 on the winch 2 is released immediately. The encoder reads the release height, and when the retractable cable 8 stops releasing, the visual recognition net 15 is suspended in the air. At this time, the three sub-machines that were originally "stuck" to the steel wire mesh in the red, yellow and blue areas are in a state where the narrow wings 17 are nearly horizontally hung on the visual recognition net 15. The servo 11 receives the signal, and the internal gear 24 of the servo 11 starts to rotate. Because the gear 24 is engaged with the rack 23, it drives the slide bar 22 to move upward in the slideway 20, and the narrow wings 17 are stretched into a "V" shape, as shown in FIG. Figure 3 At this time, the release recovery narrow wing 12 falls off from the net opening of the visual recognition net 15, and the release of the sub-machine 10 is completed.

[0044] When the multi-rotor drone is recovered, the sub-machine 10 detects one of the three colors of red, yellow and blue on the visual recognition network 15 through the visual recognition system 14 on its fuselage, and after determining that the position is directly below the drone mother machine 1, the release and recovery narrow wing 12 on the sub-machine 10 is controlled to vertically insert into the network port of the visual recognition network 15. When the detection and recognition device 16 detects the narrow wing 17 on the sub-machine 10, a signal is sent to the steering gear 11, and the internal gear 24 of the steering gear 11 rotates in the opposite direction, driving the slide rod 22 to move downward in the slide slot 20. Figure 4As shown, the narrow wing 17 of the entire umbrella-like structure is opened, and when fully opened, it reaches the limit position, at which time the narrow wing 17 is stuck on the visual recognition net 15. Then the motor 3 is reversed, and the retractable rope 8 drives the sub-machine 10 to be retracted until it is under the UAV mother machine 1, completing the aerial recovery action.

[0045] The inverted harpoon type mother-and-child UAV aerial release and recovery device provided by the present invention can realize the simultaneous release and recovery of multiple multi-rotor small UAVs by a single-rotor UAV in the air, and the recovery distance is controllable, which is simple and convenient.

[0046] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An inverted harpoon type mother-and-child UAV aerial release and recovery device, characterized in that: include: UAV mother aircraft (1); Submachine (10); A retractable system, arranged on the drone mother machine (1), for releasing or retracting the sub-machine (10); A sub-unit identification and positioning mechanism, connected to the retractable system, for identifying and positioning the sub-unit (10); An execution system, arranged on the slave (10), for docking with the slave identification and positioning mechanism; The retractable system comprises a power device, a winch (2) and a retractable rope (8), wherein the power device is arranged on the UAV mother machine (1), and the output end is connected to the winch (2); one end of the retractable rope (8) is wound around the winch (2), and the other end is connected to the identification and positioning mechanism of the sub-machine; The power device comprises a motor (3) and an encoder, wherein the encoder is fixed on the motor shaft of the motor (3) and is used to detect the retracted length of the retracted rope (8); The execution system comprises a steering gear (11), a release and recovery narrow wing (12) and a support rod (13), wherein the support rod (13) is arranged on the sub-machine (10) in a vertical direction, and the release and recovery narrow wing (12) is slidably arranged on the upper end of the support rod (13); the steering gear (11) is arranged on the support rod (13) and connected to the release and recovery narrow wing (12); the steering gear (11) is used to drive the release and recovery narrow wing (12) to unfold or close; The release and recovery narrow wing (12) comprises a narrow wing (17), a parallel four-bar linkage (19) and a sliding rod (22), wherein the narrow wing (17) is arranged on the top of the support rod (13); The sliding rod (22) is slidably connected to the support rod (13), and is hinged to the narrow wing (17) through two sets of parallel four-bar linkage mechanisms (19); The steering engine (11) is arranged on the support rod (13) and connected to the sliding rod (22); the steering engine (11) is used to drive the sliding rod (22) to slide relative to the support rod (13), thereby driving the narrow wing (17) to unfold or close through two sets of parallel four-bar linkage mechanisms (19); The steering gear (11) comprises a rack (23), a gear (24) and a driving motor, wherein the rack (23) is arranged on the sliding rod (22); the driving motor is arranged on the supporting rod (13); the gear (24) is arranged on the output shaft of the driving motor and meshes with the rack (23); When the multi-rotor drone is released, the motor (3) rotates forward, the retracting rope (8) on the winch (2) is released immediately, and the encoder reads the release height. When the retracting rope (8) stops releasing, the visual recognition net (15) of the sub-machine identification and positioning mechanism is suspended in the air; at this time, the sub-machine (10) is in a state where the narrow wing (17) is nearly horizontally hung on the visual recognition net (15); the steering gear (11) receives the signal, and the internal gear (24) of the steering gear (11) starts to rotate. Because the gear (24) is meshed with the rack (23), the slide bar (22) is driven to move upward in the slide groove (20) of the support rod (13), and the narrow wing (17) is stretched into a "V" shape; at this time, the released and recovered narrow wing (12) falls off from the net mouth of the visual recognition net (15), and the release of the sub-machine (10) is completed; When the multi-rotor UAV is recovered, the sub-machine (10) detects the color on the visual recognition net (15) through the visual recognition system (14) on its fuselage, determines that the position is directly below the UAV mother machine (1), and then controls the release recovery narrow wing (12) on the sub-machine (10) to be vertically inserted into the network port of the visual recognition net (15). When the sub-machine identification and positioning mechanism detects the narrow wing (17) on the sub-machine (10) through the detection and recognition device (16), a signal is sent to the steering gear (11), and the internal gear (24) of the steering gear (11) rotates in the opposite direction, driving the slide bar (22) to move downward in the slide groove (20) of the support rod (13); the narrow wing (17) of the entire umbrella-shaped structure is opened, and when fully opened, it reaches the limit position, at which time the narrow wing (17) is stuck on the visual recognition net (15); then the motor (3) is reversed, and the retracting rope (8) drives the sub-machine (10) to be retracted until it is below the UAV mother machine (1), completing the aerial recovery action.

2. The inverted harpoon type mother-and-child UAV aerial release and recovery device according to claim 1 is characterized in that: The sub-machine identification and positioning mechanism comprises a flange (5), a circular ring (7), a connecting arm (9), a visual identification net (15) and a detection and identification device (16), wherein the flange (5) is connected to the end of the retractable system, and the circular ring (7) is connected to the flange (5) via a plurality of connecting arms (9) distributed along the circumferential direction; the visual identification net (15) is embedded in the circular ring (7); the detection and identification device (16) is arranged at the edge of the visual identification net (15) and is used to identify and position the sub-machine (10); and the visual identification system (14) on the sub-machine (10) can identify the color of the visual identification net (15).

3. The inverted harpoon type mother-and-child UAV aerial release and recovery device according to claim 2 is characterized in that: The visual identification net (15) is painted with a plurality of different colors and is used for identifying and recycling a plurality of sub-machines (10).

4. The inverted harpoon type mother-and-child UAV aerial release and recovery device according to claim 2 is characterized in that: The upper end of the connecting arm (9) is fixedly connected to the flange (5); the lower end of the connecting arm (9) is connected to the ring (7) via a clamp (6).

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