A UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery

Abstract

The present invention discloses a drone take-off and landing vehicle based on high-altitude and surface dual recovery, comprising a drone recovery ship; the drone recovery ship has a high-altitude drone recovery device and a surface drone recovery device located at the hangar entrance; the drone entry and exit grabbing mechanism corresponding to the hangar; the hangar is divided into a high-altitude drone hangar corresponding to high-altitude drones and a surface drone hangar corresponding to surface drones, and a shuttle channel is provided in the hangar to connect the high-altitude drone hangar with the surface drone hangar. The drone entry and exit grabbing mechanism shuttles through the shuttle channel to switch the hangar position between the high-altitude drone hangar and the surface drone hangar. The present invention realizes dual recovery and entry and exit operations of both high-altitude and surface drones by cooperating with the drone entry and exit grabbing mechanisms of the high-altitude drone recovery device and the surface drone recovery device to correspondingly grab the high-altitude drone and the surface drone when switching the hangar position.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV recovery, and in particular relates to a UAV take-off and landing vehicle based on dual recovery from high altitude and water surface. Background Art

[0002] The rapid development of the modern shipping industry has raised higher requirements and posed greater challenges for maritime safety management. Integrating drone systems into daily maritime management can effectively enhance maritime equipment and ensure efficient maritime patrols and emergency response. Therefore, with the increasing advancement of drone technology and related infrastructure such as 5G, drones will play an increasingly important role in maritime patrols and will undoubtedly expand existing maritime law enforcement methods. In many cases, it is necessary to conduct necessary inspections of ships while underway, and drones are the most convenient option. Effectively utilizing drones and establishing a mechanism for coordinating and integrating them with existing maritime forces has great potential for application and development in areas such as navigation order and environmental management, ship pollution prevention, and maritime search and rescue, promoting the formation and development of a three-dimensional regulatory framework encompassing land, sea, and air. However, if drones are required, launching them directly from shore consumes significant power and has limited range. Therefore, a vehicle is required that can reach the vessel and launch the drone to carry out the mission. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a UAV take-off and landing vehicle based on dual recovery of high altitude and surface water. By cooperating with the UAV recovery device of the high altitude UAV and the surface UAV recovery device, the UAV storage grabbing mechanism can grab the high altitude UAV and the surface UAV accordingly when the storage position is converted, thereby realizing the dual recovery and storage operation of both high altitude and surface UAVs.

[0004] Technical solution: To achieve the above-mentioned purpose, the present invention provides a UAV take-off and landing vehicle based on high-altitude and surface dual recovery, including a UAV recovery ship; the UAV recovery ship has a first UAV recovery platform and a second UAV recovery platform located on the hangar entrance side; the first UAV recovery platform is correspondingly provided with a high-altitude UAV recovery device, corresponding to the recovery of high-altitude UAVs in the air; the second UAV recovery platform is correspondingly provided with a surface UAV recovery device, corresponding to the recovery of surface UAVs landed on the water surface; including a UAV entry and exit grabbing mechanism corresponding to the hangar; the hangar is divided into a high-altitude UAV hangar corresponding to high-altitude UAVs and a surface UAV hangar corresponding to surface UAVs, and a shuttle channel is provided in the hangar to connect the high-altitude UAV hangar with the surface UAV hangar, and the UAV entry and exit grabbing mechanism shuttles through the shuttle channel to switch its hangar position between the high-altitude UAV hangar and the surface UAV hangar.

[0005] Furthermore, when the drone entry and exit grabbing mechanism shuttles to the high-altitude drone hangar position, the drone entry and exit grabbing mechanism grabs the high-altitude drone to perform the high-altitude drone entry and exit operations between the first drone recovery platform and the high-altitude drone hangar; when the drone entry and exit grabbing mechanism shuttles to the surface drone hangar position, the drone entry and exit grabbing mechanism grabs the surface drone to perform the surface drone entry and exit operations between the second drone recovery platform and the surface drone hangar.

[0006] Furthermore, the drone entry and exit grabbing mechanism includes a lifting slide rail, a translation slide rail and a turntable connected in sequence; the lifting slide rail extends through the shuttle channel to cover the high-altitude drone hangar and the surface drone hangar; a rotating arm is provided on the rotating shaft of the turntable, and a suction cup for grabbing the drone is provided on the rotating arm through an air box slidably connected to the rotating arm; the lifting driving force is provided by the lifting slide rail, so that the drone entry and exit grabbing mechanism can switch positions between the high-altitude drone hangar and the surface drone hangar.

[0007] Furthermore, the drone in-and-out warehouse grabbing mechanism includes a movable connecting piece; the legs of the suction cup and the air inlet end of the air box are connected and movably connected through the movable connecting piece, so that the suction cup and the relative air box are in a micro-connected state.

[0008] Furthermore, the movable connecting part includes an outer spherical shell connected to the air inlet end of the docking air box and an inner spherical shell connected to the coil leg of the docking suction cup. The inner spherical shell is movably adapted in the outer spherical shell, and the inner spherical shell maintains communication with the air inlet end of the air box through a shell hole opened thereon; a limiting expansion body is circumferentially arranged at the connection between the inner spherical shell and the coil leg, and the movable adaptation between the inner spherical shell and the outer spherical shell is limited by the limiting expansion body colliding with the outer spherical shell, thereby ensuring that the suction cup is in a micro-connected state relative to the air box.

[0009] Furthermore, the high-altitude UAV recovery device includes an electromagnet that shuttles through the UAV platform through a lifting mechanism; a thin iron sheet is provided at the bottom of the high-altitude UAV; when the lifting mechanism is raised to make the electromagnet close to the high-altitude UAV, the high-altitude UAV is captured by the electromagnet magnetically attracting the thin iron sheet.

[0010] Furthermore, the thin iron sheet is suspended by a rope led out from a retractable rope mechanism on the high-altitude UAV; when the lifting mechanism rises, the rope is released by the retractable rope mechanism to separate the thin iron sheet from the high-altitude UAV; when the electromagnet magnetically attracts the thin iron sheet and the lifting mechanism gradually descends and resets, the rope is retracted by the retractable rope mechanism to bring the thin iron sheet closer to the high-altitude UAV and form a whole.

[0011] Furthermore, the surface drone recovery device includes a lifting plate and a lifting plate driving mechanism; a receiving opening for accommodating the lifting plate is opened at a position corresponding to the second drone recovery platform on the drone recovery ship, and when the lifting plate descends, it forms a recovery slot for recovering the surface drone with the receiving opening, and when the lifting plate rises, it drives the surface drone on the plate out of the slot to the hull deck.

[0012] Beneficial effects: The present invention cooperates with the drone entry and exit grabbing mechanisms of the high-altitude drone recovery device and the surface drone recovery device to correspondingly grab high-altitude drones and surface drones when converting the warehouse position, thereby realizing dual recovery and entry and exit operations of both high-altitude and surface drones; in addition, the recovery of high-altitude drones is safer, and the recovery of surface drones is more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Attachment Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0014] Attachment Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0015] Attachment Figure 3 This is a structural diagram of the UAV's entry and exit grabbing mechanism;

[0016] Attachment Figure 4 It is a structural diagram of the suction cup, air box and movable connecting parts;

[0017] Attachment Figure 5 Schematic diagram of the structure for capturing a high-altitude drone through a high-altitude drone recovery device. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] As attached Figure 1 and attached Figure 2As shown, it includes a drone recovery ship 1; the drone recovery ship 1 has a first drone recovery platform and a second drone recovery platform located at the hangar entrance side of the hangar 4; the first drone recovery platform is correspondingly provided with a high-altitude drone recovery device 2, corresponding to the recovery of high-altitude drones 6a in the air; the second drone recovery platform is correspondingly provided with a surface drone recovery device 3, corresponding to the recovery of surface drones 6b landed on the water surface; it includes a drone entry and exit grabbing mechanism 5 corresponding to the hangar 4; the hangar 4 is divided into a high-altitude drone hangar 4a corresponding to the high-altitude drone 6a and a surface drone hangar 4b corresponding to the surface drone 6b, and a shuttle channel 40 is provided in the hangar 4 to connect the high-altitude drone hangar 4a with the surface drone hangar 4b, and the drone entry and exit grabbing mechanism 5 shuttles through the shuttle channel 40 to switch the hangar position between the high-altitude drone hangar 4a and the surface drone hangar 4b. When the drone in-and-out grabbing mechanism 5 shuttles to the position of the high-altitude drone hangar 4a, the drone in-and-out grabbing mechanism 5 grabs the high-altitude drone 6a and performs the in-and-out operation of the high-altitude drone 6a between the first drone recovery platform and the high-altitude drone hangar 4a; when the drone in-and-out grabbing mechanism 5 shuttles to the position of the surface drone hangar 4b, the drone in-and-out grabbing mechanism 5 grabs the surface drone 6b and performs the in-and-out operation of the surface drone 6b between the second drone recovery platform and the surface drone hangar 4b. After the drone is recovered by the recovery device, it is difficult for it to be stored in the warehouse by itself. By setting a drone entry and exit grabbing mechanism 5 in the hangar 4, the recovered drone can be accurately stored in the warehouse by grabbing. Moreover, due to the limited space of the hangar 4, it is obviously inappropriate to equip each hangar with a manipulator for grabbing drones. Based on this, the present invention cooperates with the drone entry and exit grabbing mechanism 5 of the high-altitude drone recovery device 2 and the surface drone recovery device 3 to correspondingly grab the high-altitude drone 6a and the surface drone 6b when converting the warehouse position, thereby realizing dual recovery and entry and exit operations of both high-altitude and surface drones.

[0020] As attached Figure 3As shown, the drone entry and exit grasping mechanism 5 includes a lifting slide 51, a translation slide 53 and a turntable 54 connected in sequence; the lifting slide 51 extends through the shuttle channel 40 to cover the high-altitude drone hangar 4a and the surface drone hangar 4b; a rotating arm 55 is provided on the rotating shaft of the turntable 54, and a suction cup 59 for grasping the drone is provided on the rotating arm 55 through an air box 57 slidingly connected to the rotating arm 55; the lifting driving force is provided by the lifting slide 51, so that the drone entry and exit grasping mechanism 5 can be switched between the high-altitude drone hangar 4a and the surface drone hangar 4b. The lifting slide 51 and the translation slide 53 both use electric slide modules. The translation slide 53 is fixedly connected to the slider of the lifting slide 51 through the connecting plate 52; the turntable 54 is an electric turntable, which is installed on the slider of the translation slide 53; a first screw drive mechanism 56 is provided on the rotating arm 55, and the first screw drive mechanism 56 corresponds to drive the air box 57 to slide on the rotating arm 55, and the air outlet 57a of the air box 57 is connected to the suction equipment through the air duct.

[0021] As attached Figure 4 As shown, the drone entry and exit grasping mechanism 5 includes a movable connecting piece 58; the disc leg 59a of the suction cup 59 and the air inlet end 57b of the air box 57 are connected and movably connected through the movable connecting piece 58, so that the suction cup 59 and the relative air box 57 are in a micro-connected state. The reason why the connection between the suction cup 59 and the air box 57 is in a micro-connected state is that when the suction cup is used to absorb the drone, the micro-motion of the suction cup can adapt to the shape of the top surface of the drone, so that the suction cup can better absorb and grasp the drone and improve the grasping stability.

[0022] More specifically, the present invention provides an embodiment of a movable connecting member 58, specifically: the movable connecting member 58 includes an outer spherical shell 58.1 of the air inlet end 57b of the docking air box 57 and an inner spherical shell 58.2 of the dish leg 59a of the docking suction cup 59, the inner spherical shell 58.2 is movably adapted in the outer spherical shell 58.1, and the inner spherical shell 58.2 maintains communication with the air inlet end 57b of the air box 57 through the shell hole 20 opened thereon; a limiting expansion body 59.1 is circumferentially arranged at the connection between the inner spherical shell 58.2 and the dish leg 59a, and the movable adaptation between the inner spherical shell 58.2 and the outer spherical shell 58.1 is limited by the collision of the limiting expansion body 59.1 with the outer spherical shell 58.1, thereby ensuring that the suction cup 59 is in a micro-connected state relative to the air box 57.

[0023] As attached Figure 5As shown, the high-altitude drone recovery device 2 includes an electromagnet 23 that is shuttled to the drone platform 21 via a lifting mechanism 22. A thin iron sheet 61 is provided at the bottom of the high-altitude drone 6a. When the lifting mechanism 22 is raised and the electromagnet 23 approaches the high-altitude drone 6a, the electromagnet 23 magnetically attracts the thin iron sheet 61, thereby capturing the high-altitude drone 6a. To successfully magnetically capture the high-altitude drone 6a, the magnetic attraction force of the electromagnet 23 is relatively strong. Direct magnetic attraction of the electromagnet 23 to the high-altitude drone 6a will affect the aircraft body. Wings and other components are damaged. Therefore, in order to avoid the above situation, the present invention adopts a flexible suspension method of the thin iron sheet 61. During magnetic attraction, only the thin iron sheet 61 is magnetically attracted, and the thin iron sheet 61 is away from the high-altitude drone 6a. The specific real-time method is: the thin iron sheet 61 is suspended by a rope 62 led out from the retractable rope mechanism on the high-altitude drone 6a; when the lifting mechanism 22 is raised, the rope is released by the retractable rope mechanism to separate the thin iron sheet 61 from the high-altitude drone 6a; when the electromagnet 23 magnetically attracts the thin iron sheet 61 and the lifting mechanism 22 gradually descends and resets, the rope is retracted by the retractable rope mechanism to make the thin iron sheet 61 move closer to the high-altitude drone 6a and form a whole. When the high-altitude drone 6a descends to the drone platform 21, the electromagnet 23 is powered off, the magnetic attraction disappears, and the lifting mechanism 22 continues to descend, so that the electromagnet 23 passes through the platform hole 210 and is placed under the drone platform 21, while the high-altitude drone 6a stays on the drone platform 21. Finally, the drone entry and exit grabbing mechanism 5 can be used to perform the warehousing operation.

[0024] As attached Figure 1 As shown, the surface drone recovery device 3 includes a lifting platform 31 and a lifting platform drive mechanism 32. A receiving opening for the lifting platform 31 is provided on the drone recovery vessel 1 at a location corresponding to the second drone recovery platform. When the lifting platform 31 descends, it forms a recovery trough 30 with the receiving opening for recovering the surface drone 6b. When the lifting platform 31 ascends, it drives the surface drone 6b on the platform out of the trough and onto the vessel deck. The lifting platform drive mechanism 32 is a second screw drive mechanism.

[0025] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery, characterized by: The invention comprises a drone recovery ship (1); the drone recovery ship (1) has a first drone recovery platform and a second drone recovery platform located at the side of the hangar (4); the first drone recovery platform is correspondingly provided with a high-altitude drone recovery device (2) for recovering a high-altitude drone (6a) in the air; the second drone recovery platform is correspondingly provided with a surface drone recovery device (3) for recovering a surface drone (6b) that has landed on the water surface; the invention comprises a drone entry and exit grabbing mechanism (5) corresponding to the hangar (4); the hangar (4) is divided into a high-altitude drone hangar (4a) corresponding to the high-altitude drone (6a) and a surface drone hangar (4b) corresponding to the surface drone (6b); a shuttle channel (40) is provided in the hangar (4) for connecting the high-altitude drone hangar (4a) with the surface drone hangar (4b); the drone entry and exit grabbing mechanism (5) shuttles through the shuttle channel (40) to switch the hangar position between the high-altitude drone hangar (4a) and the surface drone hangar (4b); The drone in-and-out storage grabbing mechanism (5) comprises a lifting rail (51), a translation rail (53) and a turntable (54) connected in sequence; the lifting rail (51) extends through the shuttle channel (40) to cover the high-altitude drone hangar (4a) and the surface drone hangar (4b); a rotating arm (55) is provided on the rotating shaft of the turntable (54); a suction cup (59) for grabbing the drone is provided on the rotating arm (55) through an air box (57) slidingly connected to the rotating arm (55); the lifting driving force is provided by the lifting rail (51), so that the drone in-and-out storage grabbing mechanism (5) can be switched between the high-altitude drone hangar (4a) and the surface drone hangar (4b); The drone in-and-out storage grabbing mechanism (5) includes a movable connecting piece (58); the legs (59a) of the suction cup (59) and the air inlet end (57b) of the air box (57) are connected and movably connected via the movable connecting piece (58); The movable connecting member (58) comprises an outer spherical shell (58.1) of the air inlet end (57b) of the docking air box (57) and an inner spherical shell (58.2) of the dished leg (59a) of the docking suction cup (59), wherein the inner spherical shell (58.2) is movably adapted in the outer spherical shell (58.1), and the inner spherical shell (58.2) is connected with the air inlet end (57b) of the air box (57) via a shell hole (20) provided thereon; a limiting expansion body (59.1) is circumferentially provided at the connection between the inner spherical shell (58.2) and the dished leg (59a), and the movable adaptation between the inner spherical shell (58.2) and the outer spherical shell (58.1) is limited by the limiting expansion body (59.1) colliding with the outer spherical shell (58.1), thereby ensuring that the suction cup (59) and the air box (57) are in a micro-movement connection state.

2. The UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery according to claim 1 is characterized by: When the drone in-and-out grabbing mechanism (5) shuttles to the position of the high-altitude drone hangar (4a), the drone in-and-out grabbing mechanism (5) grabs the high-altitude drone (6a) and performs an in-and-out operation of the high-altitude drone (6a) between the first drone recovery platform and the high-altitude drone hangar (4a); when the drone in-and-out grabbing mechanism (5) shuttles to the position of the surface drone hangar (4b), the drone in-and-out grabbing mechanism (5) grabs the surface drone (6b) and performs an in-and-out operation of the surface drone (6b) between the second drone recovery platform and the surface drone hangar (4b).

3. The UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery according to claim 1 is characterized by: The high-altitude UAV recovery device (2) comprises an electromagnet (23) that shuttles through a UAV platform (21) via a lifting mechanism (22); a thin iron sheet (61) is provided at the bottom of the high-altitude UAV (6a); when the lifting mechanism (22) is raised to bring the electromagnet (23) close to the high-altitude UAV (6a), the electromagnet (23) magnetically attracts the thin iron sheet (61) to capture the high-altitude UAV (6a).

4. The UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery according to claim 3 is characterized by: The thin iron sheet (61) is suspended by a suspension rope (62) drawn from a retractable rope mechanism on a high-altitude UAV (6a); when the lifting mechanism (22) is raised, the retractable rope mechanism releases the rope to separate the thin iron sheet (61) from the high-altitude UAV (6a); when the electromagnet (23) magnetically attracts the thin iron sheet (61) and the lifting mechanism (22) gradually descends and resets, the retractable rope mechanism retracts the rope to bring the thin iron sheet (61) closer to the high-altitude UAV (6a) and merge into a whole.

5. The UAV take-off and landing vehicle based on high-altitude and water-surface dual recovery according to claim 4 is characterized in that: The surface drone recovery device (3) comprises a lifting plate (31) and a lifting plate driving mechanism (32); a receiving opening for receiving the lifting plate (31) is provided at a position corresponding to the second drone recovery platform on the drone recovery ship (1); when the lifting plate (31) descends, it forms a recovery slot (30) for recovering the surface drone (6b) with the receiving opening; when the lifting plate (31) ascends, it drives the surface drone (6b) on the plate out of the slot to the ship deck.

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