Active buoy device for airborne recovery of UAVs

Abstract

The present invention discloses an active buoy device for airborne recovery of unmanned aerial vehicles (UAVs), belonging to the technical field of UAV aerial recovery, comprising a buoy body, a recovery mechanism, a connecting mechanism, and a UAV. The buoy body is arranged parallel to the top of the UAV, and the recovery mechanism is arranged on the outer side wall of the buoy body. The UAV comprises a UAV body and a back plate. A groove is provided on the top of the UAV body, and the back plate is rotatably arranged at one end of the groove. The connecting mechanism is arranged above one side of the back plate, and an air inlet is provided on the buoy body. The present invention adopts an active buoy device for airborne recovery of UAVs of the above structure, which uses an air rudder combined with active jets to control movement and attitude, thereby achieving active approach and capture of the target UAV. The device has the characteristics of simple and reliable structure, can actively adjust position and attitude, and has low control accuracy requirements for fixed-wing UAVs under high-speed movement, thus meeting the requirements of increasing capture accuracy and reducing the interference of carrier aircraft turbulence and wake on the rendezvous and capture process.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial recovery of unmanned aerial vehicles (UAVs), and in particular to an active buoy device for air-based recovery of UAVs. Background Art

[0002] High levels of autonomy and large-scale swarming are two major development trends in drones. Countries around the world are actively conducting research in autonomous drone swarms, and major aviation powers are incorporating drone swarm combat into their national defense development strategies. To maximize the advantages of drones—low cost, reusability, low combat damage, high maneuverability, and flexibility—airborne recovery has become an essential component of swarm drone applications. In the future, swarm drones utilizing airborne carrier platforms to implement a "drop-recovery-re-drop" operation model will significantly improve the cost-effectiveness and deployment efficiency of autonomous swarm drone operations.

[0003] Currently, a range of drone recovery methods suitable for both ground and water applications, including parachute recovery, runway landing recovery, net recovery, and tether recovery, have matured both domestically and internationally. However, airborne recovery has become a hot topic and a challenge in recent years. In this airborne recovery mode, multiple drones are transported to a designated mission location using airborne platforms such as transport aircraft and fighter jets. After completing their mission, the drones are captured and recovered through rendezvous and docking with the carrier aircraft. After refueling, they can be deployed to the next mission location or returned safely. Compared to other drone recovery methods, aerial recovery offers greater operational value, significantly expanding the drone's operational range and effective operating time. It also enables the reuse of drones equipped with high-performance, high-value payloads, comprehensively improving the drone's mission flexibility and operational effectiveness. However, aerial recovery is also technically challenging, involving numerous complex techniques, including efficient aerial rendezvous and capture, and optimizing aerodynamic conditions to minimize the effects of aerodynamic interference from the carrier aircraft. Furthermore, the safety of both the carrier aircraft and the drones must be carefully considered. Summary of the Invention

[0004] The purpose of the present invention is to provide an active buoy device for air-based recovery of UAVs, so as to solve the problem that during the aerial recovery of UAVs, the control accuracy of fixed-wing UAVs is relatively low and the changes in the airflow field around the carrier aircraft body will seriously interfere with the rendezvous and capture process between the UAV body and the buoy.

[0005] To achieve the above-mentioned objectives, the present invention provides an active buoy device for air-based recovery of unmanned aerial vehicles, comprising a buoy body, a recovery mechanism, a connecting mechanism and a unmanned aerial vehicle, wherein the buoy body is arranged parallel to the top of the unmanned aerial vehicle, the recovery mechanism is arranged on the outer side wall of the buoy body, the unmanned aerial vehicle comprises a unmanned aerial vehicle body and a back plate, a groove is provided on the top of the unmanned aerial vehicle body, the back plate is rotatably arranged at one end of the groove, the connecting mechanism is arranged above one side of the back plate, and an air inlet is provided on the buoy body.

[0006] Preferably, the buoy body includes a control valve, an air nozzle, a capture and docking mechanism, an air rudder and a buoy shell. The control valve is arranged inside the buoy shell. The control valve controls the opening and closing of the air nozzle. By simultaneously controlling the operation of different air nozzles, the buoy can be actively moved and its posture adjusted. The air nozzle is arranged on the buoy shell. The capture and docking mechanism is arranged at one end of the buoy shell. When the buoy approaches the connecting mechanism, it is captured. The air rudder is arranged on the periphery of the buoy shell.

[0007] Preferably, the recovery mechanism includes an air intake pipe and a recovery rope, the recovery rope is vertically arranged on the buoy shell, the air intake pipe is arranged inside the recovery rope, and one end of the air intake pipe is connected to the air inlet hole to supply air to the buoy.

[0008] Preferably, eight of the air nozzles and eight of the control valves are provided.

[0009] Preferably, the air rudder is arranged around the side wall of the buoy shell, and there are several air rudders. When the air rudder is used to control the buoy to approach the recovered drone, the jet volume and the gas flow rate of the jet nozzle are adjusted by the control valve to compensate for turbulent disturbances and drone motion deviations, and the drone can be actively approached within a certain range.

[0010] Therefore, the present invention adopts the above-mentioned structure of an active buoy device for airborne recovery of drones. After the carrier aircraft throws the active buoy capture device, air is supplied to the buoy through the air intake pipe in the recovery rope. The control valve controls the opening and closing of the air nozzle. The different air nozzles on each surface of the buoy work in combination to achieve up and down, left and right movement. The pitch, roll, and yaw attitude changes are controlled by the air rudder. Due to the large turbulent disturbance near the carrier aircraft, compared to ordinary buoys, the active buoy can actively approach the drone after leaving the carrier aircraft, adjust its attitude and relative position, and then approach and capture the recovered drone. This greatly reduces the control difficulty during the drone recovery process. In addition, this buoy can reduce the flight control accuracy requirements of the drone and realize the sequential recovery of drones of various models and functions.

[0011] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the buoy main structure of an embodiment of an active buoy device for air-based recovery of a UAV according to the present invention;

[0013] Figure 2 This is a schematic diagram of an active buoy of an embodiment of an active buoy device for air-based recovery of a UAV according to the present invention;

[0014] Figure 3 This is a capture diagram of an active buoy of an embodiment of an active buoy device for air-based recovery of a UAV of the present invention and its approach to the docking mechanism on the back of the UAV;

[0015] Reference numerals:

[0016] 1. Buoy body; 11. Control valve; 12. Jet nozzle; 13. Capture docking mechanism; 14. Air rudder; 15. Buoy shell; 2. Recovery mechanism; 21. Air intake pipe; 22. Recovery rope; 3. Connecting mechanism; 4. UAV; 41. UAV body; 42. Back panel; 5. Air intake hole. DETAILED DESCRIPTION

[0017] Example

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0019] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0020] like Figure 1-3As shown, an active buoy device for air-based recovery of unmanned aerial vehicles includes a buoy body 1, a recovery mechanism 2, a connecting mechanism 3 and a unmanned aerial vehicle 4. The buoy body 1 is arranged parallel to the top of the unmanned aerial vehicle 4, and the recovery mechanism 2 is arranged on the outer side wall of the buoy body 1. The unmanned aerial vehicle 4 includes a unmanned aerial vehicle body 41 and a back plate 42. A groove is provided on the top of the unmanned aerial vehicle body 41, and the back plate 42 is rotatably provided at one end of the groove. The connecting mechanism 3 is arranged above one side of the back plate 42, and an air inlet 5 is provided on the buoy body 1.

[0021] The buoy body 1 includes a control valve 11, an air nozzle 12, a capture docking mechanism 13, an air rudder 14 and a buoy shell 15. There are eight air nozzles 12 and eight control valves 11. The control valve 11 is arranged inside the buoy shell 15. The control valve 11 controls the opening and closing of the air nozzle 12. By simultaneously controlling the operation of different air nozzles 12, the active movement and attitude adjustment of the buoy can be performed. The air nozzle 12 is arranged on the buoy shell 15, and the capture docking mechanism 13 is arranged at one end of the buoy shell 15. When the buoy approaches the connecting mechanism 3, it is To capture the drone, the air rudder 14 is arranged on the periphery of the buoy shell 15. The air rudder 14 is arranged around the side wall of the buoy shell 15, and there are four air rudders 14. When the air rudder 14 is used to control the buoy to approach the recovered drone 4, the jet volume and the gas flow rate of the jet nozzle 12 are adjusted by the control valve 11 to compensate for the turbulent disturbance and the motion deviation of the drone 4, and the drone 4 is actively approached within a certain range. The whole device has a certain adaptability, and its adaptability depends on the design of the jet nozzle 12 and the load capacity of the air supply.

[0022] The recovery mechanism 2 includes an air intake pipe 21 and a recovery rope 22. The recovery rope 22 is vertically arranged on the buoy shell 15. The air intake pipe 21 is arranged inside the recovery rope 22, and one end of the air intake pipe 21 is connected to the air inlet hole 5 to supply air to the buoy.

[0023] When this device is used, first, the drone 4 moves to a certain range below the carrier aircraft and lifts its back plate 42, and the corresponding connecting mechanism 3 is lifted together with the back plate 42. At this time, the carrier aircraft throws out the active buoy capture docking mechanism 13, and supplies air to the buoy through the air intake pipe 21 in the recovery rope 22. The control valve 11 in the buoy body 1 controls the opening and closing of the air nozzle 12. The combination of different air nozzles 12 in various directions of the buoy can realize movement in the up and down, left and right directions. Combined with the air rudder 14, it can realize pitch, roll, and yaw posture changes, and at the same time control the drone to realize relative movement in the front and back directions.

[0024] Therefore, the present invention adopts the above-mentioned active buoy device for air-based recovery of drones, which realizes the active approach and rendezvous capture of drones, reduces the aerodynamic interference of turbulence and eddies under the carrier aircraft, and reduces the control accuracy required for high-speed movement of fixed-wing drones, meeting the requirements of increasing capture accuracy, reducing the control accuracy required for the recovered drone, and reducing the interference of turbulence and eddies of the carrier aircraft on the rendezvous and capture process.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An active buoy device for airborne recovery of unmanned aerial vehicles, characterized by: The invention comprises a buoy body, a recovery mechanism, a connection mechanism and a drone, wherein the buoy body is arranged parallel to and above the drone, the recovery mechanism is arranged on the outer side wall of the buoy body, the drone comprises a drone body and a back plate, a groove is provided on the top of the drone body, the back plate is rotatably provided at one end of the groove, the connection mechanism is provided above one side of the back plate, and an air inlet is provided on the buoy body; The buoy body includes a control valve, an air jet, a capture and docking mechanism, an air rudder and a buoy shell. The control valve is arranged inside the buoy shell, the air jet is arranged on the buoy shell, the capture and docking mechanism is arranged at one end of the buoy shell, and the air rudder is arranged on the periphery of the buoy shell.

2. The active buoy device for airborne recovery of unmanned aerial vehicles according to claim 1, characterized in that: The recovery mechanism includes an air intake pipe and a recovery rope. The recovery rope is vertically arranged on the buoy shell. The air intake pipe is arranged inside the recovery rope, and one end of the air intake pipe is connected to the air inlet.

3. The active buoy device for airborne recovery of unmanned aerial vehicles according to claim 1, characterized in that: The number of the air nozzles and the number of the control valves are both eight.

4. The active buoy device for airborne recovery of unmanned aerial vehicles according to claim 1, characterized in that: The air rudders are arranged around the side wall of the buoy shell, and a plurality of the air rudders are provided.

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