A soft and hard combined active in-flight refueling device and method

Abstract

This application belongs to the field of aerial refueling technology, and specifically relates to an active aerial refueling device and method that combines rigid and flexible mechanisms. The device includes a rigid recovery boom (2) and a retractable rigid fixed boom (7). The deflection angle of the rigid recovery boom (2) is controlled by extending and retracting the retractable rigid fixed boom (7). A projection catcher (10) is provided at the end of the rigid recovery boom (2), and the projection catcher (10) has a rope loop to be launched. A sensing layer is provided on the rope loop. A docking connector (12) is provided on the back of the receiving aircraft. The docking connector (12) captures the rope loop, achieving a flexible connection between the tanker and the receiving aircraft. This application effectively reduces the difficulty of docking between the aerial tanker and the receiving aircraft and improves docking efficiency.

Description

Technical Field

[0001] This application belongs to the field of aircraft aerial refueling technology, and specifically relates to an active aerial refueling device and method that combines hardware and software. Background Technology

[0002] Aerial refueling technology is mainly divided into hose-and-drogue refueling and boom refueling. Hose-and-drogue refueling uses a 15-20 meter hose for refueling, and multiple hoses can be deployed for refueling, but the refueling efficiency is low. Boom refueling uses a retractable metal refueling hose, which has high refueling efficiency, but can only refuel one aircraft at a time, and docking is difficult. It is also less safe and less stable than hose-and-drogue refueling.

[0003] Existing aerial refueling technologies mainly rely on hose-and-drogue refueling, while rigid boom refueling has not yet yielded any practical research results. Furthermore, the refueling technology has a low level of intelligence and requires a high degree of intelligence from the receiving aircraft. Summary of the Invention

[0004] To address at least one of the aforementioned technical problems, this application presents a combined hardware and software active aerial refueling device and method. By using a projector and a rope loop, the refueling aircraft and the receiver aircraft can achieve flexible docking, significantly improving the docking success rate of the refueling aircraft and the receiver aircraft, enhancing the stability and safety of the refueling aircraft and the receiver aircraft during the refueling process, and improving the practical effectiveness of the solution.

[0005] The first aspect of this application provides a hardware-software combined active aerial refueling device, mainly comprising:

[0006] A rigid recovery rod has one end hinged to the front of the fuel dispenser and the other end free. The free end of the rigid recovery rod is provided with a locking device, a retractable fueling cone relative to the free end, and a projection catcher provided at the free end. The locking device is configured to be controllably locked to a locking end on the back of the fuel dispenser, and in the locked state, the fueling cone can engage with the fuel receiving port of the fuel dispenser.

[0007] The retractable rigid fixing rod has one end hinged to the rear of the fuel dispenser, and the other end is a retractable end that is hinged to the rigid recovery rod.

[0008] The refueling controller is electrically connected to the retractable rigid fixed rod and is used to control the extension and retraction of the retractable rigid fixed rod. At the same time, it is electrically connected to the locking device and the refueling cone located at the end of the rigid retraction rod through the rigid retraction rod and is used to control the extension and retraction of the refueling cone and to control the opening and closing of the locking device.

[0009] The projection capture device includes a cylinder with one end open. A motor is fixed at the bottom of the cylinder. A rope bag is provided inside the cylinder near the open end. A rope loop coated with a sensing layer is provided inside the rope bag. The free end of the rope loop passes through the opening at the tail of the rope bag and is wound around the rotating shaft of the motor by the projection rope. The cylinder also has a fixing plate provided on the inner wall of the cylinder. A compressed spring is provided between the fixing plate and the rope bag. The rope loop can be ejected from the open end of the projection capture device by the spring.

[0010] The receiving machine is equipped with a connector, which includes a barb. The barb is rotatably connected to the back of the receiving machine via a rotating shaft. The barb is driven to rotate around the rotating shaft by a control actuator, so that the barb switches between an open state and a closed state. In the open state, a touch sensor located on the barb is exposed to the outside of the machine body. The touch sensor has a mating sensing layer that matches the sensing layer on the rope loop to sense the rope loop. In the closed state, the barb is fastened to the back of the receiving machine to lock the rope loop.

[0011] Preferably, the combined hardware and software active aerial refueling device further includes optical measuring instruments and video monitoring equipment installed on the belly of the tanker aircraft. The optical measuring instruments and video monitoring equipment are electrically connected to the refueling controller and are used to feed back the position data of the receiver aircraft to the refueling controller.

[0012] Preferably, the rigid recovery rod is connected to the hinge point of the front part of the refueling machine via a ball joint.

[0013] Preferably, the rigid recovery rod is hinged to the front end of the central axis of the fuel dispenser's abdomen, and the retractable rigid fixing rod is located at the rear end of the central axis of the fuel dispenser's abdomen.

[0014] Preferably, the locking device includes an arc-shaped cavity with two symmetrical latches at the opening of the arc-shaped cavity. One end of each latch is hinged to the inner wall of the arc-shaped cavity, and the other end is a free end. The free end has a limiting device that can be controlled to extend or retract. The arc-shaped cavity also has two restoring springs. One end of each of the two restoring springs is connected to the two limiting devices in pairs, and the other end of each of the two restoring springs is connected to the inner wall of the arc-shaped cavity.

[0015] Preferably, the barb is connected to the back of the receiving machine via a torsion spring at one end of the connecting shaft. After the support force of the control actuator is removed, the barb moves from the open state to the closed state by the force of the torsion spring.

[0016] Preferably, the connector further includes a solenoid valve, which is electrically connected to the touch sensor and the control actuator to release the support force of the control actuator after receiving the capture signal from the touch sensor.

[0017] Preferably, the barb has a connecting rod, one end of which is connected to the rotating shaft, and the other end is provided with a release hook perpendicular to the connecting rod. The back of the receiving machine is provided with a groove to accommodate the release hook located at the end of the barb when the barb is in the closed state. The touch sensor is provided on the connecting rod.

[0018] The second aspect of this application provides a combined hardware and software active aerial refueling method, mainly including:

[0019] Step S1: Control the receiver aircraft to cruise at a constant speed in the stable airflow area directly below the tanker aircraft, and keep the flight attitude of the receiver aircraft consistent with that of the tanker aircraft;

[0020] Step S2: Extend the retractable rigid fixing rod so that the rigid recovery rod deflects downward and places the refueling cone in the airflow stabilization area at the bottom of the refueling machine body;

[0021] Step S3: Unlock the motor so that the rope bag pops out from the open end of the cylinder of the projection capture device. After the projection rope is stretched to the maximum extent, tear the rope bag and release the rope loop.

[0022] Step S4: When the touch sensor on the receiving end of the oil receiving machine senses the contact of the rope loop, the barb closes to lock the rope loop.

[0023] Step S5: Control the motor to retract the projection rope to pull the receiving machine toward the refueling machine, and retract the receiving machine to the connection point between the rigid recovery rod and the refueling cone;

[0024] Step S6: Use the locking device to lock the receiving machine, and operate the refueling cone to extend and retract until it connects with the receiving port of the receiving machine to refuel.

[0025] This application has the following advantages:

[0026] (1) Video monitoring equipment and optical measuring instruments are used to achieve accurate identification and positioning of the refueling machine docking joint, thereby improving the docking success rate;

[0027] (2) The three-point fixation of the refueling machine to the receiving machine is achieved by using a locking device and fixing the receiving machine connector and rope ring, which enhances stability and improves refueling safety.

[0028] (3) By expanding the area of ​​multiple rope loops, the success rate of docking between the rope loops and the connector is increased, the docking time is reduced, and the docking efficiency is improved.

[0029] (4) The use of a catapult-assisted flexible capture device to achieve rapid and flexible collision docking between the refueling aircraft and the receiving aircraft can effectively reduce the collision risk between the capture device and the receiving aircraft, enhance docking safety and stability, and improve the actual effectiveness of the solution. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a preferred embodiment of the active aerial refueling device combining hardware and software according to this application.

[0031] Figure 2 This application Figure 1 A schematic diagram of the locking device structure in the embodiment shown.

[0032] Figure 3 This application Figure 1 A schematic diagram of the projection capture device structure in the embodiment shown.

[0033] Figure 4 This application Figure 1 The diagram shows a schematic of the connector structure in the embodiment shown.

[0034] Figure 5 This application Figure 1 A schematic diagram of the rope loop near the connector in the embodiment shown.

[0035] Figure 6 This application Figure 1 The diagram shows the rope loop and the connector being connected in the embodiment shown.

[0036] Figure 7 A schematic diagram of the refueling process for the receiving aircraft.

[0037] Among them, 1-fuel dispenser, 2-rigid recovery bar, 3-fuel controller, 4-optical measuring instrument, 5-video monitoring equipment, 6-fuel receiver, 7-retractable rigid fixing bar, 8-locking device, 9-fuel cone, 10-projection capture device, 11-fuel receiving port, 12-connector.

[0038] 8-1 is an arc-shaped cavity, 8-2 is a latch, 8-3 is a limiting device, and 8-4 is a recovery spring.

[0039] 10-1 is the motor, 10-2 is the fixing plate, 10-3 is the projection rope, 10-4 is the spring, 10-5 is the rope bag, and 10-6 is the rope loop;

[0040] 12-1 is a barb, 12-2 is a touch sensor, 12-3 is a control actuator, 12-4 is a solenoid valve, and 12-5 is a rotating shaft. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0042] The first aspect of this application provides a hardware-software combined active aerial refueling device, such as... Figure 1 As shown, it mainly includes: a rigid recovery rod 2, one end of which is hinged to the front of the fuel dispenser 1, and the other end is a free end. The free end of the rigid recovery rod 2 is provided with a locking device 8, a retractable fueling cone 9 relative to the free end, and a projection catcher 10 provided at the free end. The locking device 8 is configured to be able to be locked in a controlled manner with the locking end on the back of the fuel receiver 6. In the locked state, the fueling cone 9 can dock with the fuel receiving port 11 of the fuel receiver 6.

[0043] The retractable rigid fixing rod 7 has one end hinged to the rear of the fuel dispenser 1, and the other end is a retractable end, which is hinged to the rigid recovery rod 2.

[0044] The refueling controller 3 is electrically connected to the retractable rigid fixing rod 7 and is used to control the extension and retraction of the retractable rigid fixing rod 7. At the same time, it is electrically connected to the locking device 8 and the refueling cone 9 located at the end of the rigid retraction rod 2 through the rigid retraction rod 2 and is used to control the extension and retraction of the refueling cone 9 and to control the opening and closing of the locking device 8.

[0045] The projection capture device 10 includes a cylindrical body with one end open. A motor 10-1 is fixed at the bottom of the cylindrical body. A rope bag 10-5 is provided inside the cylindrical body near the open end. A rope loop 10-6 coated with a sensing layer is provided inside the rope bag 10-5. The free end of the rope loop 10-6 passes through the opening at the tail of the rope bag 10-5 and is wound around the shaft of the motor 10-1 by the projection rope 10-3. The cylindrical body also has a fixing plate 10-2 provided on the inner wall of the cylindrical body. A compressed spring 10-4 is provided between the fixing plate 10-2 and the rope bag 10-5. The rope loop 10-6 can be ejected from the open end of the cylindrical body of the projection capture device 10 by the spring 10-4.

[0046] The receiving machine 6 is equipped with a connector 12, which includes a barb 12-1. The barb 12-1 is rotatably connected to the back of the receiving machine 6 via a rotating shaft 12-5. The control actuator 12-3 drives the barb 12-1 to rotate around the rotating shaft 12-5, so that the barb 12-1 switches between an open state and a closed state. In the open state, the touch sensor 12-2 located on the barb 12-5 is exposed to the outside of the machine body. The touch sensor 12-2 has a matching sensing layer that matches the sensing layer on the rope loop 10-6 to sense the rope loop 10-6. In the closed state, the barb 12-5 is fastened to the back of the receiving machine 6 to lock the rope loop 10-6.

[0047] This application adjusts the extension and retraction of the retractable rigid fixing rod 7 by the refueling controller 3, thereby adjusting the vertical deflection of the rigid recovery rod 2, so that the refueling machine actively approaches the docking ring of the receiving machine, ensuring the initiative of the refueling machine and reducing the intelligent requirements of the receiving machine.

[0048] In some optional embodiments, the combined hardware and software active aerial refueling device further includes an optical measuring instrument 4 and a video monitoring device 5 disposed on the belly of the tanker aircraft 1. The optical measuring instrument 4 and the video monitoring device 5 are electrically connected to the refueling controller 3 and are used to feed back the position data of the receiver aircraft 6 to the refueling controller 3. In this embodiment, the relative position of the tanker aircraft and the receiver aircraft is determined based on the fed-back position data, or the positional relationship between the refueling cone 9 of the tanker aircraft and the refueling port 12 of the receiver aircraft 6 is determined, thereby achieving precise control of the rigid recovery boom 2 of the tanker aircraft.

[0049] The optical measuring instrument 4 and video monitoring equipment 5 of this application are electrically connected to the refueling controller 3 and controlled by the refueling controller 3. The electrical connection here is usually a cable connection. In an alternative embodiment, a wireless connection can also be used, that is, a wireless receiving device is installed on each controlled device and a wireless transmitting device is installed on the refueling controller 3. In an alternative embodiment, the refueling controller 3 can be a part of the program code located inside the airborne control system, which realizes precise control of each controlled device according to the predetermined logic.

[0050] In some alternative embodiments, the rigid recovery rod 2 is connected to the hinge point of the front part of the refueling machine 1 by a ball joint.

[0051] In some alternative embodiments, the rigid recovery rod 2 is hinged to the front end of the central axis of the abdomen of the fuel dispenser 1, and the retractable rigid fixing rod 7 is located at the rear end of the central axis of the abdomen of the fuel dispenser 1.

[0052] In some alternative embodiments, the telescopic rod at the free end of the rigid recovery rod 2 is driven to extend and retract hydraulically; in alternative embodiments, it can also be driven mechanically.

[0053] In some optional embodiments, the locking device 8 includes an arc-shaped cavity 8-1, with two symmetrical latches 8-2 at the opening of the arc-shaped cavity 8-1. One end of each latch 8-2 ​​is hinged to the inner wall of the arc-shaped cavity 8-1, and the other end is a free end. The free end has a limiting device 8-3 that can be controlled to extend or retract. The arc-shaped cavity 8-1 is also provided with two restoring springs 8-4. One end of each of the two restoring springs 8-4 is connected to the two limiting devices 8-3 in pairs, and the other end of each of the two restoring springs 8-4 is connected to the inner wall of the arc-shaped cavity.

[0054] One end of the locking device 8 is typically hinged to the free end of the rigid recovery lever 2, while the other end of the locking device 8 is a free end. (Refer to...) Figure 2 When the locking device 8 is pressed down, the limiting device 8-3 is pressed and deflects upward with the opening of the arc-shaped cavity 8-1 as the rotation point, squeezing the restoring spring 8-4. After the locked part enters the arc-shaped cavity 8-1, the restoring spring 8-4 drives the limiting device 8-3 to return to its original position, thereby preventing the locked part from sliding out from the opening of the arc-shaped cavity 8-1. Figure 6 As can be seen, the locking device 8 provides two latches 8-2 to lock the locked parts. Combined with the locking of the docking device 10, it realizes the three-point fixation of the receiving machine, which improves the stability of the docking process and the refueling process between the refueling machine and the receiving machine, and further enhances the safety.

[0055] When it is necessary to release the receiver, the drive limit device 8-3 retracts to both sides into the latch 8-2, thereby increasing the opening of the arc-shaped cavity 8-1 and releasing the locked part.

[0056] refer to Figure 3 In this application, the rope loop 10-6 is a flexible loop coated with a special sensing layer. The rope loop 10-6 is initially housed in the rope pouch 10-5, which is located inside the projection capture device. The free end of the rope loop 10-6 extends out of the rope pouch 10-5 and connects to the projection rope 10-3. Therefore, the rope pouch 10-5 can be considered as pressing the spring 10-4 under the tension of the projection rope 10-3. The pressing force of the spring 10-4 needs to ensure that the rope pouch 10-5 is not torn apart by the tension of the projection rope 10-3, but is close to being torn apart. When the projection rope 10-3 is released, the rope bag 10-5 carrying the rope loop 10-6 is projected out. When the projection rope 10-3 is stretched to its maximum extent, the combined force of the projection force and the airflow exceeds the tension limit, causing the rope bag 10-5 to tear, exposing the rope loop 10-6. The rope loop 10-6 floats in the air until it touches the touch sensor 12-2. At this time, the connector 12 quickly closes the barb 12-1 to lock the rope loop 10-6, realizing the soft connection between the refueling aircraft and the receiving aircraft.

[0057] In some optional embodiments, the barb 12-1 is connected to the back of the receiver 6 via a torsion spring at one end of the connecting shaft 12-5. After the support force of the control actuator 12-3 is released, the barb 12-1 moves from the open state to the closed state by the force of the torsion spring. In some optional embodiments, the connector 12 further includes a solenoid valve 12-4, which is electrically connected to the touch sensor 12-2 and the control actuator 12-3 to release the support force of the control actuator 12-3 after receiving a capture signal from the touch sensor 12-2. In some optional embodiments, the barb 12-1 has a connecting rod, one end of which is connected to the shaft 12-5, and the other end is provided with a release hook perpendicular to the connecting rod. The back of the receiver 6 is provided with a groove to accommodate the release hook located at the end of the barb 12-1 when the barb 12-1 is in the closed state. The touch sensor 12-2 is disposed on the connecting rod.

[0058] refer to Figure 4 The solenoid valve 12-4 is electrically connected to the control actuator 12-3 and the touch sensor 12-2 respectively. When the touch sensor 12-2 senses the rope loop, the solenoid valve controls the actuator 12-3 to retract and no longer supports the barb 12-1. Under the action of the torsion spring, the barb 12-1 is quickly closed and stored in the barb storage compartment on the back of the fuselage.

[0059] Based on the above structure, the second aspect of this application provides a combined hardware and software active aerial refueling method, such as... Figures 5-7 As shown, it mainly includes:

[0060] Step S1: Control the receiver aircraft 6 to cruise at a constant speed in the stable airflow area directly below the tanker aircraft 1, and keep the flight attitude of the tanker aircraft 1 consistent.

[0061] Step S2: Extend the retractable rigid fixing rod 7 so that the rigid recovery rod 2 deflects downward, and place the refueling cone 9 in the airflow stabilization area at the bottom of the refueling machine body.

[0062] In this step, the optical measuring equipment and video monitoring equipment on the lower part of the refueling aircraft begin to search for the docking head on the receiving aircraft, locate the barb on the docking head, and complete the aiming operation.

[0063] Step S3: Unlock motor 10-1 to allow the rope bag 10-5 to pop out from the open end of the cylinder of the projection capture device 10. After the projection rope 10-3 has extended to its maximum extent, tear the rope bag 10-5 to release the rope loop 10-6, as shown. Figure 5As shown, the rope bag approaches the docking point under the combined action of the spring's projection force and the airflow. When the rope bag is launched and the projection rope is extended to its maximum extent, the projection rope pulls the free end of the rope loop, forcing the rope loop to move in the opposite direction to the rope bag, tearing the rope bag, releasing the rope loop, and the rope loop unfolds.

[0064] Step S4: When the touch sensor 12-2 on the connector 12 of the receiving machine 6 senses the contact of the rope loop 10-6, the barb 12-1 closes to lock the rope loop 10-6, as shown. Figure 6 As shown, when the touch sensor on the connector senses the contact of the rope loop, it immediately activates the solenoid valve. The solenoid valve sends a command to control the connector to close quickly, thereby clamping the rope loop between the connector and the receiver machine body.

[0065] Step S5: Control motor 10-1 to retract projection rope 10-3 to pull oil receiver 6 toward refueling machine 1, and retract oil receiver 6 to the connection point between rigid recovery rod and refueling cone.

[0066] Step S6: Control the locking device 8 to lock the oil receiving machine 6, and control the oiling cone 9 to extend and retract until it connects with the oil receiving port 11 of the oil receiving machine 6 to perform oiling.

[0067] In this step, the refueling controller locks the receiving machine and operates the locking device to lock the receiving machine, achieving three-point fixation of the receiving machine, such as... Figure 7 As shown, the refueling controller locks the receiving port of the receiving machine and operates the telescopic refueling cone until the telescopic refueling cone is fully aligned with the receiving port of the receiving machine.

[0068] After refueling is completed, the next step involves separating the refueling machine from the receiving machine. This process is the reverse of the steps described above and mainly includes:

[0069] Step S7: Refueling complete. The refueling controller retracts the refueling cone.

[0070] Step S8: The refueling controller operates the locking device to unlock the receiving machine.

[0071] Step S9: Unlock the motor of the projection capture device and extend the projection rope until the receiver reaches the stable airflow zone.

[0072] Step S10: The power device of the connector controls the barb to unfold and detach from the rope loop.

[0073] Step S11: The projection capture device controls the motor to retract the projection rope.

[0074] Step S12: The refueling controller retracts the retractable rigid fixing rod, so that the rigid recovery rod is retracted to the vicinity of the rear compartment of the refueling machine.

[0075] This application achieves both the safety and stability of soft flexible docking with high docking efficiency, as well as the high efficiency of hard refueling, while having lower requirements for the intelligence level of the receiving machine.

[0076] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A soft and hard combined active in-flight refueling device, characterized in that, include: A rigid recovery rod (2) is hinged at one end to the front of the fuel dispenser (1) and the other end is a free end. The free end of the rigid recovery rod (2) is provided with a locking device (8), a retractable fuel cone (9) relative to the free end, and a projection catcher (10) provided at the free end. The locking device (8) is configured to be locked in a controlled manner with the locking end on the back of the receiving machine (6). In the locked state, the fuel cone (9) can dock with the receiving port (11) of the receiving machine (6). The retractable rigid fixing rod (7) is hinged at one end to the rear abdomen of the fuel dispenser (1) and the other end is a retractable end, which is hinged to the rigid recovery rod (2). The refueling controller (3) is electrically connected to the retractable rigid fixing rod (7) and is used to control the extension and retraction of the retractable rigid fixing rod (7). At the same time, it is electrically connected to the locking device (8) and the refueling cone (9) at the end of the rigid recovery rod (2) through the rigid recovery rod (2) and is used to control the extension and retraction of the refueling cone (9) and to control the opening and closing of the lock of the locking device (8). The projection capture device (10) includes a cylinder with one end open. A motor (10-1) is fixed at the bottom of the cylinder. A rope bag (10-5) is provided in the cylinder near the open end. A rope loop (10-6) coated with a sensing layer is provided in the rope bag (10-5). The free end of the rope loop (10-6) passes through the opening at the tail of the rope bag (10-5) and is wound around the shaft of the motor (10-1) by the projection rope (10-3). The cylinder also has a fixing plate (10-2) set on the inner wall of the cylinder. A compressed spring (10-4) is provided between the fixing plate (10-2) and the rope bag (10-5). The rope loop (10-6) can be ejected from the open end of the cylinder of the projection capture device (10) by the spring (10-4). The receiving machine (6) is provided with a connector (12), which includes a barb (12-1). The barb (12-1) is rotatably connected to the back of the receiving machine (6) via a rotating shaft (12-5). The barb (12-1) is driven to rotate around the rotating shaft (12-5) by a control actuator (12-3), so that the barb (12-1) switches between an open state and a closed state. In the open state, the touch sensor (12-2) located on the barb (12-5) is exposed to the outside of the machine body. The touch sensor (12-2) has a matching sensing layer that matches the sensing layer on the rope ring (10-6) to sense the rope ring (10-6). In the closed state, the barb (12-5) is fastened to the back of the receiving machine (6) to lock the rope ring (10-6).

2. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The combined hardware and software active aerial refueling device also includes an optical measuring instrument (4) and a video monitoring device (5) installed on the belly of the tanker (1). The optical measuring instrument (4) and the video monitoring device (5) are electrically connected to the refueling controller (3) and are used to feed back the position data of the receiver aircraft (6) to the refueling controller (3).

3. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The rigid recovery rod (2) is connected to the front of the refueling machine (1) by a ball joint at the hinge point.

4. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The rigid recovery rod (2) is hinged to the front end of the abdominal central axis of the fuel dispenser (1), and the retractable rigid fixing rod (7) is set at the rear end of the abdominal central axis of the fuel dispenser (1).

5. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The locking device (8) includes an arc-shaped cavity (8-1), and two symmetrical latches (8-2) are provided at the opening of the arc-shaped cavity (8-1). One end of each latch (8-2) is hinged to the inner wall of the arc-shaped cavity (8-1), and the other end is a free end. The free end has a limiting device (8-3) that can be controlled to extend or retract. Two restoring springs (8-4) are also provided in the arc-shaped cavity (8-1). One end of the two restoring springs (8-4) is respectively connected to the two limiting devices (8-3) in pairs, and the other end of the two restoring springs (8-4) is connected to the inner wall of the arc-shaped cavity.

6. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The barb (12-1) is connected to the back of the oil receiver (6) by a torsion spring at one end of the connecting shaft (12-5). After the support force of the control actuator (12-3) is removed, the barb (12-1) moves from the open state to the closed state by the force of the torsion spring.

7. The active aerial refueling device combining hardware and software as described in claim 6, characterized in that, The connector (12) also includes a solenoid valve (12-4), which is electrically connected to the touch sensor (12-2) and the control actuator (12-3) to release the support force of the control actuator (12-3) after receiving the capture signal from the touch sensor (12-2).

8. The active aerial refueling device combining hardware and software as described in claim 1, characterized in that, The barb (12-1) has a connecting rod, one end of which is connected to the rotating shaft (12-5), and the other end is provided with a release hook perpendicular to the connecting rod. The back of the oil receiving machine (6) is provided with a groove to accommodate the release hook located at the end of the barb (12-1) when the barb (12-1) is in the closed state. The touch sensor (12-2) is provided on the connecting rod.

9. A method for aerial refueling based on the active aerial refueling device combining hardware and software as described in any one of claims 1-8, characterized in that, include: Step S1: Control the receiver aircraft (6) to cruise at a constant speed in the stable airflow area directly below the tanker aircraft (1) and keep in the same flight attitude as the tanker aircraft (1); Step S2: Extend the retractable rigid fixing rod (7) so that the rigid recovery rod (2) deflects downward and places the refueling cone (9) in the airflow stabilization area at the bottom of the refueling machine body; Step S3: Unlock the motor (10-1) so that the rope bag (10-5) pops out from the open end of the cylinder of the projection capture device (10). After the projection rope (10-3) is stretched to the maximum extent, tear the rope bag (10-5) and release the rope loop (10-6). Step S4: When the touch sensor (12-2) on the connector (12) of the receiving machine (6) senses the touch of the rope loop (10-6), the barb (12-1) is closed to lock the rope loop (10-6). Step S5: Control motor (10-1) to retract projection rope (10-3) to pull oil receiver (6) toward refueling machine (1) and retract oil receiver (6) to the connection between rigid recovery rod and refueling cone; Step S6: Use the locking device (8) to lock the oil receiving machine (6) and use the refueling cone (9) to extend and retract to connect with the oil receiving port (11) of the oil receiving machine (6) to refuel.

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