A test system for launching unmanned aerial vehicles (UAVs) across water media

Abstract

This invention discloses a cross-medium water launch test system for unmanned aerial vehicles (UAVs). The system comprises a frame, a launch platform translation device, a launch platform lifting device, a UAV launch device, and a launch platform rotation device. This invention features a simple structure, good sealing, and strong applicability. By adjusting the vertical, forward / backward, and pitch angles of the launch platform, it can meet different attitude requirements for UAV launches into water. Simultaneously, the launch device can achieve multi-level speed adjustment to meet the acceleration parameter requirements of different UAV models. This provides a high-precision test device with a wide range of adjustable parameters for cross-medium UAV launch tests in complex environments, greatly improving the efficiency and reliability of UAV launch tests. It ensures non-destructive testing of the UAV body while guaranteeing zero pollution in the test environment.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) launch testing, specifically a UAV cross-medium water launch test system. Background Technology

[0002] In recent years, with the advancement of science and technology, drones have been used more and more widely in the military and civilian fields. In particular, they have great potential in the three-dimensional warfare of air, land, sea and air in the military field. Their advantages of low cost and zero casualties have attracted widespread attention from countries around the world.

[0003] Among the numerous theoretical studies on unmanned aerial vehicles (UAVs), UAV launch and recovery is a key research issue, especially the cross-medium launch problem in recent years. UAVs have many launch methods, such as ground takeoff, catapult launch, rocket-assisted launch, and aerial drop; based on the launch site, they can be divided into sea, land, and air-based launches; based on launch power, they can be divided into self-powered, externally powered, and combined launches. In the field of cross-medium UAV launches, the main focus is on the launch and recovery of underwater-to-air cross-medium UAVs. Underwater-to-air launches mainly include dry and wet launches, while air-to-water launches are more flexible and can be designed using traditional launch methods. However, currently, there is no relevant theoretical or experimental research in this field in China. This invention adopts a catapult launch method using a motor-wound traction rope. This scheme has a simple structure, is multi-stage adjustable, and has low power, making it suitable for launching small UAVs.

[0004] Currently, my country lacks dedicated testing equipment for cross-medium water launch of unmanned aerial vehicles (UAVs). In addition, with the rapid development of cross-medium UAVs worldwide, my country's cross-medium navigation and launch system is still in the prototype stage. Therefore, there is an urgent need to develop a cross-medium water launch test system for UAVs to provide technical support for research on cross-medium launch and navigation of UAVs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a test system for launching unmanned aerial vehicles (UAVs) across water media.

[0006] The technical solution of the present invention to solve the aforementioned technical problem is to provide a UAV cross-medium water entry launch test system, characterized in that the system includes a frame, a launch platform translation device, a launch platform lifting device, a UAV launch device, and a launch platform rotation device;

[0007] The launch platform lifting device is slidably mounted on the frame and can be raised and lowered vertically along the frame to achieve vertical height adjustment of the UAV.

[0008] The launch platform rotation device is rotatably mounted on the launch platform lifting device and can rotate 360° to enable the launch of the UAV at any angle to the horizontal plane.

[0009] The launch platform translation device is slidably mounted on the launch platform rotation device and can extend and retract to adjust the launch position of the UAV.

[0010] The UAV launching device includes a UAV launching vehicle, a rear drum drive motor, a rear drum, a launching vehicle slide rail, a launching traction rope, a buffer, a fixed pulley, a horizontal cable feeder, a vertical cable feeder, a front drum, a front drum drive motor, a movable pulley, a movable pulley slide rail, a movable pulley traction rope, and a movable pulley shaft.

[0011] The launch vehicle slide rail is fixed to the launch platform support plate of the launch platform translation device; the UAV launch vehicle is slidably installed in the launch vehicle slide rail for placing the UAV; the buffer is fixed to the front end of the launch platform support plate for buffering the kinetic energy of the UAV launch vehicle during a sudden stop impact; the movable pulley slide rail is fixed to the launch platform support plate; the bottom of the movable pulley shaft is slidably installed in the movable pulley slide rail, and the top is rotatably installed with a movable pulley; the longitudinal feeder, horizontal feeder, and fixed pulley are all installed on the launch platform support plate;

[0012] The housings of the two front drum drive motors are symmetrically fixed to the front of the launch platform support plate, and the output ends of the two motors are fixed with front drums. The two ends of a launch traction rope are wound around the two front drums respectively, and then pass through the longitudinal feeder, the horizontal feeder, the movable pulley and the fixed pulley in sequence. The middle part passes through the UAV launch vehicle and is slidably connected to the UAV launch vehicle.

[0013] The housings of the two rear drum drive motors are symmetrically fixed to the rear of the launch platform support plate, and the output ends of each motor are fixed with a rear drum. One end of each movable pulley traction rope is wound around its respective rear drum, and then passes through its respective longitudinal and horizontal feeders in sequence, with the other end fixed to its respective movable pulley shaft.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] (1) The present invention has a simple structure, good sealing performance and strong applicability. It can adjust the vertical orientation, front and rear orientation and pitch angle of the launch platform to meet the different attitude requirements of the UAV when it enters the water for launch. At the same time, the launch device can also realize multi-level speed adjustment to meet the acceleration parameter requirements of different UAV models. It provides a high-precision test equipment with a wide range of adjustable parameters for UAV cross-medium launch tests in complex environments, which greatly improves the efficiency of UAV launch tests and the reliability of the test process. While ensuring the test of the UAV body without damage, it also ensures zero pollution of the test environment.

[0016] (2) The UAV launching device provided by the present invention adopts a mechanical acceleration method of pulley block, and achieves multi-level speed regulation through the combination of moving pulley and fixed pulley to meet the target parameter requirements of different launch tests. Moreover, this type of launching mechanism has a simple structure and low cost.

[0017] (3) In accordance with the requirements of the test environment, the present invention has carried out waterproof and rust-proof design in the frame and various parts of the mechanism. The drive motor and transmission device of each motion mechanism are equipped with waterproof covers, and the whole system has good sealing performance.

[0018] (4) The entire frame adopts a truss structure made of hollow square steel, which is simple in structure, has good stability, low cost, high degree of integration, and is easy to move.

[0019] (5) The launch platform rotation module of the present invention adopts a hollow shaft type envelope wheel rotation support design, which improves the stability of the rotation mechanism, greatly reduces material consumption, lightens the overall weight, and effectively reduces structural cost.

[0020] (6) The present invention adopts a method of drone net collision recovery, which has a simple structure and low cost. A cylinder is provided at the connection between the support frame of the recovery device and the carrier plate of the launch platform, so as to control the angle of the recovery net and realize the precise recovery of the drone. In addition, the recovery net is an elastic net, which minimizes the damage to the drone caused by the impact force.

[0021] (7) The present invention can achieve a launch angle range of 0 to 180°, and can also control the distance of the UAV from the water surface when it leaves the launch trolley. There are no other mechanisms obstructing the UAV water launch test system below, and the launch platform support plate can move back and forth through the gear and rack transmission mechanism, thereby avoiding interference between the launch platform support plate and the horizontal support frame on the top of the equipment when it rotates. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic front view of the overall structure of the present invention;

[0024] Figure 3 This is a bottom view of the overall structure of the present invention;

[0025] Figure 4 This is a three-dimensional schematic diagram of the drone launching device of the present invention;

[0026] Figure 5 This is a front view schematic diagram of the UAV launch vehicle of the present invention;

[0027] Figure 6This is a three-dimensional schematic diagram of the frame of the present invention;

[0028] Figure 7 This is a three-dimensional schematic diagram of the drone recovery device of the present invention;

[0029] Figure 8 This is a front view schematic diagram of the launch platform rotation device of the present invention.

[0030] In the diagram: 1. Frame; 2. UAV recovery device; 3. Launch platform translation device; 4. Launch platform lifting device; 5. UAV; 6. UAV launch device; 7. Launch platform rotation device.

[0031] Lateral support frame 1-1, auxiliary support frame 1-2, lifting slide rail support frame 1-3, transverse support frame 1-4, lifting motor support frame 1-5, fixed foot 1-6;

[0032] Longitudinal recycling net 2-1, recycling net support frame 2-2, recycling device cylinder 2-3, transverse recycling net 2-4;

[0033] Launch platform support plate 3-1, slide rail support frame 3-2, horizontal moving slide rail 3-3, horizontal moving slider 3-4, rack 3-5, translation drive gear 3-6, translation drive motor 3-7;

[0034] 4-1 Lifting slide rail, 4-2 Lifting slider, 4-3 Lifting chain, 4-4 Lifting motor, 4-5 Drive sprocket, 4-6 Driven sprocket, 4-7 Driven sprocket support shaft, 4-8 Driven sprocket shaft base;

[0035] The components of the UAV launch vehicle are as follows: frame 6-1, rear drum drive motor 6-2, rear drum 6-3, launch vehicle slide rail 6-4, launch traction rope 6-5, buffer 6-6, fixed pulley 6-7, horizontal cable feeder 6-8, longitudinal cable feeder 6-9, front drum 6-10, front drum drive motor 6-11, movable pulley 6-12, launch vehicle roller 6-13, rear bracket 6-14, wing support frame 6-15, front bracket 6-16, front stop arm 6-17, movable pulley slide rail 6-18, launch vehicle slider 6-19, movable pulley traction rope 6-20, and movable pulley shaft 6-21.

[0036] Launch platform rotation drive motor 7-1, rotation support frame 7-2, rotation plate 7-3, radial envelope support wheel 7-4, radial envelope support wheel shaft 7-5, rotation drive gear 7-6, rotation driven gear 7-7, rotation intermediate gear 7-8. Detailed Implementation

[0037] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the claims of the present invention.

[0038] The present invention provides a test system for launching unmanned aerial vehicles (UAVs) across media into water (hereinafter referred to as the system), characterized in that the system includes a frame 1, a launch platform translation device 3, a launch platform lifting device 4, a UAV launch device 6, and a launch platform rotation device 7;

[0039] The launch platform lifting device 4 is slidably mounted on the frame 1 and can be raised and lowered vertically along the frame 1 to realize the height adjustment of the UAV 5 in the vertical direction;

[0040] The launch platform rotating device 7 is rotatably mounted on the launch platform lifting device 4, and can achieve 360° rotation, which is used to enable the UAV 5 to be launched at any angle to the horizontal plane;

[0041] The launch platform translation device 3 is slidably mounted on the launch platform rotation device 7 and can extend and retract to adjust the launch position of the UAV 5.

[0042] The UAV launching device 6 includes a UAV launching vehicle, a rear drum drive motor 6-2, a rear drum 6-3, a launching vehicle slide rail 6-4, a launching traction rope 6-5, a buffer 6-6, a fixed pulley 6-7, a horizontal cable feeder 6-8, a vertical cable feeder 6-9, a front drum 6-10, a front drum drive motor 6-11, a movable pulley 6-12, a movable pulley slide rail 6-18, a movable pulley traction rope 6-20, and a movable pulley shaft 6-21.

[0043] The launch vehicle slide rail 6-4 is fixed to the launch platform support plate 3-1 of the launch platform translation device 3; the UAV launch vehicle is slidably installed in the launch vehicle slide rail 6-4 for placing the UAV 5 (preferably a fixed-wing UAV); the buffer 6-6 is fixed to the front end of the launch platform support plate 3-1 for buffering the kinetic energy of the UAV launch vehicle during a sudden stop impact; the movable pulley slide rail 6-18 is fixed to the launch platform support plate 3-1; the bottom of the movable pulley shaft 6-21 is slidably installed in the movable pulley slide rail 6-18, and the top is rotatably installed with the movable pulley 6-12; the longitudinal feeder 6-9, the horizontal feeder 6-8, and the fixed pulley 6-7 are all installed on the launch platform support plate 3-1;

[0044] The housings of the two front drum drive motors 6-11 are symmetrically fixed to the front of the launch platform support plate 3-1, and the output ends of each motor are fixed with a front drum 6-10. The two ends of a launch traction rope 6-5 are respectively wound around the two front drums 6-10, and then pass through the longitudinal feeder 6-9, the horizontal feeder 6-8, the movable pulley 6-12 and the fixed pulley 6-7 in sequence, and pass through the middle of the UAV launch vehicle and slides with the UAV launch vehicle.

[0045] The housings of the two rear drum drive motors 6-2 are symmetrically fixed to the rear of the launch platform support plate 3-1, and the output ends of each motor are fixed with a rear drum 6-3. One end of each movable pulley traction rope 6-20 is wound around its respective rear drum 6-3, and then passes through its respective longitudinal feeder 6-9 and horizontal feeder 6-8 in sequence, with the other end fixed to its respective movable pulley shaft 6-21.

[0046] Preferably, the UAV launch vehicle includes a UAV launch vehicle frame 6-1, launch vehicle rollers 6-13, a rear bracket 6-14, a wing support frame 6-15, a front bracket 6-16, a front stop arm 6-17, and a launch vehicle slider 6-19.

[0047] The launch vehicle roller 6-13 is rotatably mounted on the bottom of the UAV launch vehicle frame 6-1; the front bracket 6-16, wing support frame 6-15 and rear bracket 6-14 are respectively fixed to the front, middle and rear of the UAV launch vehicle frame 6-1 to support the UAV 5; a front stop arm 6-17 is fixed to the front of the UAV launch vehicle frame 6-1, which can automatically release the UAV 5 when the UAV launch vehicle reaches a certain separation speed; the launch vehicle slider 6-19 is fixed to the bottom of the UAV launch vehicle frame 6-1 and is slidably mounted in the launch vehicle slide rail 6-4; the launch traction rope 6-5 passes through the middle of the launch vehicle slider 6-19 and is slidably connected to the launch vehicle slider 6-19.

[0048] Preferably, the surface of the UAV launcher frame 6-1 is provided with a slotted opening, which allows for position adjustment of the rear bracket 6-14 to accommodate the launch of UAVs 5 of different sizes.

[0049] Preferably, the front section of the UAV 5 is supported on the UAV launch vehicle by the front bracket 6-16, and the rear section of the UAV 5 is supported on the UAV launch vehicle by the rear bracket 6-14; the wing section of the UAV 5 is supported on the wing support frame 6-15, which restricts the displacement of the fuselage axis.

[0050] Preferably, the frame 1 is the supporting part of the entire equipment, and is made of hollow square steel and steel plate, including a side support frame 1-1, an auxiliary support frame 1-2, a lifting slide rail support frame 1-3, a transverse support frame 1-4, a lifting motor support frame 1-5, and a fixed foot 1-6;

[0051] Auxiliary support frame 1-2 is welded to the inside of lifting slide rail support frame 1-3 at a certain angle to ensure the support strength of frame 1; lateral support frames 1-1 are welded to both sides of lifting slide rail support frame 1-3 to assist in supporting frame 1; a transverse support frame 1-4 and a lifting motor support frame 1-5 are welded to the top of lifting slide rail support frame 1-3; fixed feet 1-6 are provided at the bottom of slide rail support frame 1-3 for fastening to the ground with bolts, ensuring the overall stability of the system during launch and recovery tests. The above components are assembled into a lightweight and stable truss structure to form frame 1.

[0052] Preferably, the launch platform lifting device 4 includes a lifting slide rail 4-1, a lifting slider 4-2, a lifting chain 4-3, a lifting motor 4-4, a drive sprocket 4-5, a driven sprocket 4-6, a driven sprocket support shaft 4-7, and a driven sprocket shaft base 4-8;

[0053] The lifting slide rail 4-1 is fixed on the lifting slide rail support frame 1-3 of the frame 1; the lifting slider 4-2 is slidably disposed in the lifting slide rail 4-1; the housing of the lifting motor 4-4 is fixed on the transverse support frame 1-4 of the frame 1, and the output end is fixed with the drive sprocket 4-5; the driven sprocket shaft base 4-8 is fixed on the frame 1; the driven sprocket support shaft 4-7 is rotatably installed in the driven sprocket shaft base 4-8, and the end is fixed with the driven sprocket 4-6; the drive sprocket 4-5 and the driven sprocket 4-6 are connected by meshing transmission through the lifting chain 4-3; the lifting slider 4-2 is fixed on the lifting chain 4-3.

[0054] Preferably, the launch platform rotation device 7 includes a launch platform rotation drive motor 7-1, a rotation support frame 7-2, a rotation plate 7-3, a radial envelope support wheel 7-4, a radial envelope support wheel shaft 7-5, a rotation drive gear 7-6, a rotation driven gear 7-7, and a rotation intermediate gear 7-8;

[0055] The rotating support frame 7-2 is fixed to the lifting slider 4-2 of the launching platform lifting device 4; the rotating plate 7-3 is rotatably mounted on the rotating support frame 7-2 through evenly distributed radial enveloping support wheels 7-4, the inner ring of the radial enveloping support wheels 7-4 is fixed to their respective radial enveloping support wheel shafts 7-5, and the outer ring rotates relative to the rotating support frame 7-2; the radial enveloping support wheel shafts 7-5 are fixed to the rotating support frame 7-2; the housing of the launching platform rotating drive motor 7-1 is fixed on the rotating support frame 7-2, and a rotating drive gear 7-6 is fixed at the output end; the rotating driven gear 7-7 is fixed on the rotating plate 7-3; the rotating intermediate gear 7-8 is rotatably mounted on the rotating support frame 7-2; the rotating drive gear 7-6 is connected to the rotating driven gear 7-7 through the meshing of the rotating intermediate gear 7-8.

[0056] Preferably, the launch platform translation device 3 includes a launch platform support plate 3-1, a slide rail support frame 3-2, a horizontal moving slide rail 3-3, a horizontal moving slider 3-4, a rack 3-5, a translation drive gear 3-6, and a translation drive motor 3-7;

[0057] The horizontal moving slider 3-4 is fixed on the rotating plate 7-3 of the launch platform rotating device 7; the slide rail support frame 3-2 is slidably installed on the horizontal moving slider 3-4 through the horizontal moving slide rail 3-3; the launch platform bearing plate 3-1 is fixed on the slide rail support frame 3-2; the housing of the translation drive motor 3-7 is fixed on the rotating plate 7-3, and the output end is fixed with the translation drive gear 3-6; the rack 3-5 is fixed on the slide rail support frame 3-2, and the rack 3-5 is meshed with the translation drive gear 3-6 to realize the translation adjustment of the launch platform bearing plate 3-1.

[0058] Preferably, the system further includes a drone recovery device 2; the drone recovery device 2 is hinged to the end of the launch platform translation device 3 and can rotate 360° for the recovery of the drone 5 after launch.

[0059] Preferably, the UAV recovery device 2 is used for recovering the UAV after launch, and includes a longitudinal recovery net 2-1, a recovery net support frame 2-2, a recovery device cylinder 2-3, and a transverse recovery net 2-4;

[0060] The top of the recovery net support frame 2-2 is hinged to the slide rail support frame 3-2; the output end of the recovery device cylinder 2-3 is hinged to the middle of the recovery net support frame 2-2, and the cylinder body is hinged to the slide rail support frame 3-2 of the launch platform translation device 3, which is used to adjust the angle of the recovery net support frame 2-2 relative to the launch platform bearing plate 3-1 to ensure the accuracy of the recovery process; the longitudinal recovery net 2-1 is fixed to the end of the recovery net support frame 2-2; the transverse recovery net 2-4 is fixed to the recovery net support frame 2-2, and is angled with the longitudinal recovery net 2-1 and connected to form an integral whole, which is used for the recovery of the UAV 5 after launch.

[0061] The working principle and workflow of this invention are as follows:

[0062] UAV installation and fixation process: First, the launch platform support plate 3-1 is reset. At this time, the launch platform support plate 3-1 is in a horizontal state, and the UAV launch vehicle is in the initial launch position. The UAV 5 is hoisted onto the UAV launch vehicle using hoisting equipment. The UAV 5 is fixed to the UAV launch vehicle by the rear bracket 6-14, wing support frame 6-15, front bracket 6-16, and front stop arm 6-17 on the UAV launch vehicle. By increasing the speed of the rear drum drive motor 6-2 and the front drum drive motor 6-11, the rear drum 6-3 and the front drum 6-10 are driven to rotate faster, and the launch traction rope 6-5 and the movable pulley traction rope 6-20 are straightened and tightened, entering the launch preparation state.

[0063] The height adjustment process of the launch platform support plate 3-1: By controlling the lifting motor 4-4 located at the top of the frame 1, the drive sprocket 4-5 is rotated, and at the same time, the rotating support frame 7-2 is raised and lowered through the lifting chain 4-3, thereby realizing the height adjustment of the launch platform support plate 3-1.

[0064] The process of adjusting the angle of the launch platform support plate 3-1: The launch angle is determined according to the test requirements. The launch platform rotation drive motor 7-1 is controlled to drive the rotation drive gear 7-6 to rotate. The power is transmitted to the rotation driven gear 7-7 fixed on the rotation plate 7-3. The rotation plate 7-3 drives the launch platform support plate 3-1 to rotate, thereby realizing the angle adjustment of the launch platform support plate 3-1.

[0065] Drone launch and water entry stroke adjustment process: After determining the distance between the end of the launch platform support plate 3-1 and the water surface according to the test requirements, control the translation drive motor 3-7 to drive the translation drive gear 3-6 to rotate. The power is transmitted to the rack 3-5 fixed on the launch platform support plate 3-1, and the launch platform support plate 3-1 moves forward and backward to realize the stroke adjustment of the drone launch and water entry.

[0066] Drone recovery device 2 angle adjustment process: After the drone 5 is launched into the water, the recovery net support frame 2-2 is driven by the recovery device cylinder 2-3 to adjust the recovery angle, and then the drone 5 is recovered underwater by relying on the longitudinal recovery net 2-1 and the transverse recovery net 2-4.

[0067] The UAV launch process upon entering the water: After UAV 5 is fixed on the UAV launch vehicle and the launch platform support plate 3-1 is positioned and adjusted, the front drum 6-10 and the rear drum 6-3, driven by the front drum drive motor 6-11 and the rear drum drive motor 6-2 respectively, quickly wind the launch traction rope 6-5 onto the drums, completing the rope winding process; the high-speed rotation of the front drum 6-10 gives the launch traction rope 6-5 traction force, thereby driving the UAV launch vehicle to accelerate forward; under the high-speed rotation of the rear drum 6-3, the traction rope 6-20 drives the movable pulley 6... -12 moves rapidly along the movable pulley rail 6-18. The movable pulley 6-12 drives the launch traction rope 6-5 to enhance its acceleration effect. By controlling the rotation speed of the front drum 6-10 and the rear drum 6-3, it is ensured that the UAV 5 can reach the launch speed required for the test when it leaves the UAV launch vehicle. When the UAV launch vehicle enters the UAV 5 departure position, the UAV launch vehicle contacts the buffer 6-6. At this time, the front stop arm 6-17 is released downward under the action of the inertial force of the UAV 5, and the UAV 5 leaves the UAV launch vehicle, thus realizing the directional water entry launch of the UAV 5.

[0068] When the front drum 6-10 rotates while the rear drum 6-3 remains stationary, the movement speed of the UAV launch vehicle is determined solely by the winding speed of the front drum 6-10, and is equal to the winding speed of the front drum 6-10. When the front drum 6-10 remains stationary while the rear drum 6-3 rotates, the movement speed of the UAV launch vehicle is determined solely by the winding speed of the rear drum 6-3, and is twice the winding speed of the rear drum 6-3. When both the front drum 6-10 and the rear drum 6-3 rotate simultaneously, the traction force of the launch traction rope 6-5 on the UAV launch vehicle is determined by the winding speeds of both drums. Therefore, different combinations can be used to create different traction forces in the launch traction rope 6-5, thus meeting the requirements of different launch test missions.

[0069] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. An unmanned aerial vehicle cross-medium water-entry launch test system, characterized in that, The system comprises a rack, a launching platform translation device, a launching platform lifting device, a UAV launching device and a launching platform rotating device; The launching platform lifting device is slidingly installed on the rack and can be vertically lifted along the rack to realize the height adjustment of the UAV in the vertical direction; The launching platform rotating device is rotatably installed on the launching platform lifting device and can be rotated by 360 degrees to realize the launching of the UAV at any angle with the horizontal plane; The launching platform translation device is slidingly installed on the launching platform rotating device and can be telescopically moved to realize the adjustment of the launching position of the UAV; The UAV launching device comprises a UAV launching vehicle, rear winding drum driving motors, rear winding drums, launching vehicle sliding rails, launching traction ropes, buffers, fixed pulleys, horizontal line feeders, longitudinal line feeders, front winding drums, front winding drum driving motors, movable pulleys, movable pulley sliding rails, movable pulley traction ropes and movable pulley shafts; The launching vehicle sliding rails are fixed on the launching platform bearing plate of the launching platform translation device; the UAV launching vehicle is slidingly installed in the launching vehicle sliding rails for placing the UAV; The buffers are fixed at the front end of the launching platform bearing plate to buffer the kinetic energy when the UAV launching vehicle suddenly stops; the movable pulley sliding rails are fixed on the launching platform bearing plate; the bottom of the movable pulley shaft is slidingly installed in the movable pulley sliding rails, and the top of the movable pulley shaft is rotatably installed with the movable pulley; the longitudinal line feeders, the horizontal line feeders and the fixed pulleys are all installed on the launching platform bearing plate; The housings of the two front winding drum driving motors are symmetrically fixed at the front of the launching platform bearing plate, and the output ends are fixed with the front winding drums; one end of each of the two launching traction ropes is wound around the front winding drums, and then the two launching traction ropes are in turn passed through the longitudinal line feeders, the horizontal line feeders, the movable pulleys and the fixed pulleys, and the middle portions of the two launching traction ropes are slidingly connected with the UAV launching vehicle. The housings of the two rear winding drum driving motors are symmetrically fixed at the rear of the launching platform bearing plate, and the output ends are fixed with the rear winding drums; one end of each of the two movable pulley traction ropes is wound around the rear winding drum, and then the two movable pulley traction ropes are in turn passed through the longitudinal line feeder and the horizontal line feeder of the respective movable pulley, and the other end of each of the two movable pulley traction ropes is fixed on the movable pulley shaft.

2. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The UAV launching vehicle comprises a UAV launching vehicle frame, launching vehicle rollers, a rear bracket, a wing support frame, a front bracket, a front blocking arm and a launching vehicle sliding block; The launching vehicle rollers are rotatably installed at the bottom of the UAV launching vehicle frame; the front bracket, the wing support frame and the rear bracket are respectively fixed at the front, middle and rear portions of the UAV launching vehicle frame to support the UAV; the front portion of the UAV launching vehicle frame is fixed with the front blocking arm to automatically release the UAV when the UAV launching vehicle reaches a certain separation speed; the launching vehicle sliding block is fixed at the bottom of the UAV launching vehicle frame and slidingly installed in the launching vehicle sliding rails; the middle portion of the launching traction rope is slidingly connected with the launching vehicle sliding block.

3. The unmanned aerial vehicle cross-medium water entry launch test system of claim 2, wherein, The front section of the fuselage of the UAV is supported on the UAV launching vehicle through the front bracket, and the rear section of the fuselage of the UAV is supported on the UAV launching vehicle through the rear bracket; the wing part of the UAV is supported on the wing support frame to limit the displacement of the fuselage axis direction of the UAV.

4. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The rack comprises lateral support frames, auxiliary support frames, lifting slide rail support frames, transverse support frames, lifting motor support frames and fixed feet; The auxiliary support frames are welded inside the lifting slide rail support frames at a certain inclination angle to ensure the support strength of the rack; the two sides of the lifting slide rail support frames are welded with lateral support frames to assist in supporting the rack; the top of the lifting slide rail support frames is welded with the transverse support frames and the lifting motor support frames; the bottom of the slide rail support frames is provided with fixed feet for bolt fastening connection with the ground.

5. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The launching platform lifting device comprises lifting slide rails, lifting sliding blocks, lifting chains, lifting motors, driving sprockets, driven sprockets, driven sprocket support shafts and driven sprocket shaft bases; The lifting slide rails are fixed on the lifting slide rail support frames of the rack; the lifting sliding blocks are slidingly arranged in the lifting slide rails; the housing of the lifting motor is fixed on the transverse support frame of the rack, and the output end is fixed with the driving sprocket; the driven sprocket shaft base is fixed on the rack; the driven sprocket support shaft is rotatably installed in the driven sprocket shaft base, and the end is fixed with the driven sprocket; the driving sprocket and the driven sprocket are meshingly and drivingly connected through the lifting chain; the lifting sliding block is fixed on the lifting chain.

6. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The launching platform rotating device comprises a launching platform rotating drive motor, a rotating support frame, a rotating plate, radial envelope supporting wheels, a rotating driving gear, a rotating driven gear and a rotating intermediate gear; The rotating support frame is fixed on the lifting sliding block of the launching platform lifting device; the rotating plate is rotatably installed on the rotating support frame through the uniformly distributed radial envelope supporting wheels; the housing of the launching platform rotating drive motor is fixed on the rotating support frame, and the output end is fixed with the rotating driving gear; The rotating driven gear is fixed on the rotating plate; The rotating intermediate gear is rotatably installed on the rotating support frame; The rotating driving gear is meshingly and drivingly connected with the rotating driven gear through the rotating intermediate gear.

7. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The launching platform translating device comprises a launching platform bearing plate, a slide rail support frame, horizontal moving slide rails, horizontal moving sliding blocks, a rack, a translating drive gear and a translating drive motor; The horizontal moving sliding block is fixed on the rotating plate of the launching platform rotating device; the slide rail support frame is slidingly installed on the horizontal moving sliding block through the horizontal moving slide rails; the launching platform bearing plate is fixed on the slide rail support frame; the housing of the translating drive motor is fixed on the rotating plate, and the output end is fixed with the translating drive gear; the rack is fixed on the slide rail support frame, and the rack is meshingly and drivingly connected with the translating drive gear.

8. The unmanned aerial vehicle cross-medium water entry launch test system of claim 1, wherein, The system further comprises a UAV recovery device; the UAV recovery device is hingedly connected to the end of the launching platform translating device, can realize 360° rotation, and is used for recovering the launched UAV.

9. The unmanned aerial vehicle cross-medium water entry launch test system of claim 8, wherein, The UAV recovery device is used for recovering the launched UAV, and comprises longitudinal recovery nets, recovery net support frames, recovery device cylinders and transverse recovery nets. The top end of the recovery net support frame is hinged to the slide rail support frame; the output end of the recovery device cylinder is hinged to the middle part of the recovery net support frame, and the cylinder body is hinged to the slide rail support frame of the launching platform translation device, for adjusting the angle of the recovery net support frame relative to the bearing plate of the launching platform, and ensuring the accuracy of the recovery process; the longitudinal recovery net is fixed to the end of the recovery net support frame; the transverse recovery net is fixed to the recovery net support frame, and has an angle with the longitudinal recovery net and is connected to form a whole, for the recovery of the unmanned aerial vehicle after launching.

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