A net hitting unmanned aerial vehicle automatic recovery device

Abstract

The application provides a net collision type unmanned aerial vehicle automatic recovery device, and belongs to the technical field of unmanned aerial vehicle recovery. The net collision type unmanned aerial vehicle automatic recovery device comprises two fixing frames, an intercepting net for intercepting unmanned aerial vehicles is arranged between the two fixing frames, at least two moving pieces capable of moving up and down relative to the fixing frames are arranged on each fixing frame, and a driving structure for driving the moving pieces to move up and down is arranged on each fixing frame; and the two sides of the intercepting net are connected with the moving pieces on the fixing frames. Under the driving action of the driving structure, the moving pieces drive the intercepting net to move up and down, so that the unmanned aerial vehicles are accurately captured and intercepted.

Description

Technical Field

[0001] This invention relates to an automatic recovery device for unmanned aerial vehicles (UAVs) that uses a net-collision mechanism, belonging to the field of UAV recovery technology. Background Technology

[0002] Net-based recovery is the most suitable recovery method for small drones, enabling precise point-to-point recovery. It is particularly suitable for use in confined spaces or limited recovery sites such as ships, making it an all-terrain recovery method. Drones using net-based recovery do not require the precise pitch angles and descent speeds of conventional runway recovery or hook-based recovery, nor do they need to perform high-maneuverability flight maneuvers such as leveling off or stalling. Only a certain net entry speed needs to be maintained, making it a simple and easy-to-implement recovery method.

[0003] Currently, Chinese utility model patent with authorization announcement number CN218986956U discloses a drone recovery device, which includes two mounting frames (i.e., fixed frames) fixed on a base plate, an interception net for intercepting drones is set between the two mounting frames, a buffer pad for drone recovery after hitting the net is set on the base plate, and multiple connecting components are set between the mounting frames and the interception net.

[0004] In the aforementioned drone recovery device, the connecting components can generate a damping mechanism during drone recovery to cushion the movement of the interceptor net after impact. However, the interceptor net in this drone recovery device is narrow and immobile, making it impossible to accurately capture and intercept the drone. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic recovery device for drones that uses a net to intercept them, in order to solve the problem that the interception net in the prior art is too small and cannot be moved, which makes it impossible to accurately capture and intercept drones.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An automatic recovery device for unmanned aerial vehicles (UAVs) with a net-type impact mechanism includes two fixed frames and an interception net for intercepting UAVs between the two fixed frames. Each fixed frame is equipped with at least two movable components that can move up and down relative to the fixed frame and a drive structure for driving the movable components to move up and down. The two sides of the interception net are respectively connected to the movable components on the fixed frames.

[0008] The beneficial effects of the above technical solution are as follows: The present invention improves upon the prior art. Under the driving action of the drive structure, the moving part drives the interception net to move up and down. Compared with the prior art where the interception net has a narrow area and cannot move, the present invention achieves precise capture and interception of drones by moving the interception net up and down.

[0009] Furthermore, a planar motor is installed on the fixed frame. The planar motor includes a stator and a mover. The mover is attached to the stator to form the moving part. The stator is vertically arranged on the mounting frame to form the driving structure. Under the driving action of the stator, the mover has an adjustment position that moves up and down before the UAV hits the net to change the height and angle of the interception net, and also has a buffer position that moves backward after the UAV hits the net to buffer the UAV.

[0010] The advantages of the above technical solution are: the planar motor has a simple structure, high thrust density, high precision, and low loss. Driven by the stator of the planar motor, the mover moves within the vertical plane formed by the stator, allowing the mover to have different positions. When the mover is in the adjustment position, the device is in a state of readiness to intercept, and the mover continuously adjusts its position to achieve precise capture and interception of the UAV. When the mover is in the buffer position, the UAV impacts the interception net, and the mover drives the interception net backward to buffer the impact force of the UAV upon impact.

[0011] Furthermore, a connector is mounted on the moving part via a ball joint structure, and the intercepting net is connected to the connector.

[0012] The beneficial effect of the above technical solution is that the connector installed by the ball joint structure can rotate 360 ​​degrees, which makes it easy for the moving part to drive the interception net to move.

[0013] Furthermore, the connector is a universal hook.

[0014] The beneficial effects of the above technical solution are as follows: since the interception net is a mesh structure, the universal hook structure is simple and easy to connect with the interception net.

[0015] Furthermore, the mover, driven by the stator, also has a landing position that moves downward after the drone is intercepted to control the landing of the interception net and the drone, and a departure position that controls the interception net to flip after it lands at a suitable position on the ground so that the drone can freely detach from the interception net. Alternatively, the mover, driven by the stator, also has a departure position that controls the interception net to flip after the drone is intercepted so that the drone can freely detach from the interception net.

[0016] The beneficial effects of the above technical solution are as follows: the mover has a landing position under the drive of the stator, which enables the UAV to be recovered near the ground after being intercepted; at the same time, the mover has a detachment position, which allows the UAV to automatically fall to the ground or a buffer pad during recovery, improving the convenience of UAV recovery.

[0017] Furthermore, the net-type automatic drone recovery device also includes monitoring equipment for acquiring the drone's location and a monitoring station for controlling the operation of the drive structure. The monitoring equipment can transmit the acquired location information to the monitoring station.

[0018] The beneficial effects of the above technical solution are as follows: by monitoring the drone position information transmitted by the monitoring equipment, the monitoring station can automatically adjust the position of the moving part so that the interception net can achieve the best interception height and angle, thereby improving the accuracy of the device in capturing and intercepting drones and realizing the automated control of drone capture and interception tasks.

[0019] Furthermore, each fixed frame has two movable parts, and a total of four movable parts on the two fixed frames are connected to the four corners of the interception net. The two movable parts on each fixed frame are spaced apart and arranged at different heights to form a high-position movable part and a low-position movable part, respectively. The high-position movable parts on the two fixed frames are located on the same horizontal line, and the low-position movable parts on the two fixed frames are also located on the same horizontal line.

[0020] The beneficial effects of the above technical solution are: the interception net is arranged at an angle, so that the drone will not fall directly to the ground after it hits the interception net; at the same time, the high and low ends of the interception net are arranged horizontally to increase the strength of the mover adsorbing on the stator.

[0021] Furthermore, the vertical distance between the high-position moving component and the low-position moving component is 1 / 3 to 2 / 3 of the total length of the interception net. The horizontal distance between the high-position moving component and the low-position moving component is 1 / 3 to 2 / 3 of the total length of the interception net, so that the interception net is concave.

[0022] The beneficial effects of the above technical solution are as follows: A suitable vertical distance exists between the high-position moving component and the low-position moving component, preventing the drone from colliding with the lower end of the interception net and falling directly to the ground. Simultaneously, a suitable horizontal distance exists between the high-position moving component and the low-position moving component, ensuring that after the drone collides with the interception net, it remains within the concave shape of the net, thus preventing damage caused by the drone falling to the ground.

[0023] Furthermore, the fixing frame includes a vertical frame and a diagonal brace disposed on one side of the vertical frame. The stator is disposed on the opposite sides of the two vertical frames respectively, and the diagonal brace is located on the side of the vertical frame opposite to the stator.

[0024] The beneficial effect of the above technical solution is that the diagonal bracing increases the stability of the fixed frame, thereby preventing the equipment from shaking when the drone collides with the interception net.

[0025] Furthermore, the diagonal brace is connected to a horizontal brace and a vertical brace. The end of the horizontal brace is connected to the vertical frame, and the bottom of the vertical brace is used to support the ground.

[0026] The beneficial effects of the above technical solution are that the setting of horizontal and vertical braces further improves the stability of the fixed frame and increases the connection strength between the diagonal brace and the fixed frame. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the automatic recovery device for net-collision type unmanned aerial vehicles in this invention;

[0028] Figure 2 for Figure 1 The diagram shows the structural structure of the connector of the net-collision type drone automatic recovery device.

[0029] In the diagram: 1. Fixed frame; 101. Vertical frame; 102. Diagonal brace; 103. Horizontal brace; 104. Vertical brace; 2. Stator; 3. Mover; 301. Ball joint structure; 302. Universal hook; 303. High-position mover; 304. Low-position mover; 4. Interception net; 5. UAV; 6. Binocular camera; 7. Monitoring station. Detailed Implementation

[0030] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0031] Specific embodiment 1 of the net-collision type automatic recovery device for unmanned aerial vehicles provided by the present invention:

[0032] The main concept of this embodiment is to install a planar motor on a fixed frame. The stator of the planar motor is vertically arranged on the mounting frame to form a drive structure and drive the mover attached to the stator to move. A universal hook is installed on the mover through a ball joint structure, and the two sides of the interception net are hung on the universal hooks. By moving the mover between different work positions, the automatic recovery device for the net-collision type UAV has different functions.

[0033] Specifically, such as Figure 1 As shown, the automatic recovery device for drones with a net impact mechanism includes two fixed frames 1 on the left and right, with an interception net 4 between the two fixed frames 1 for intercepting drones 5. Each fixed frame 1 includes a vertical frame 101. To improve the stability of the vertical frame 101 and prevent the device from shaking when the drone 5 impacts the interception net 4, diagonal braces 102 are respectively provided on the opposite sides of the two vertical frames 101. In this embodiment, each vertical frame 101 is provided with two diagonal braces 102. A horizontal brace 103 and a vertical brace 104 are connected to the diagonal brace 102. The end of the horizontal brace 103 is connected to the vertical frame 101, and the bottom of the vertical brace 104 is used to support the ground.

[0034] To enable the interception net 4 to move and thus accurately capture and intercept the drone 5, at least two movable components capable of moving up and down relative to the fixed frame 1, along with a drive structure for driving these components, are provided on the fixed frame 1. In this embodiment, a planar motor is mounted on the vertical frame 101 of the fixed frame 1. The stator 2 of the planar motor is vertically arranged on the vertical frame 101 to form the drive structure, and the mover 3 of the planar motor is attached to the stator 2 to form the movable component. Figure 2 As shown, a connector is installed on the mover 3 via a ball joint structure 301 that can rotate 360 ​​degrees. In this embodiment, the connector is a universal hook 302. The interception net 4 is hung on the universal hook 302 so that its height and angle can be changed under the drive of the mover 3, thereby achieving precise capture and interception of the drone 5.

[0035] like Figure 1 As shown, in this embodiment, two movers 3 are provided on each of the stators 2 on both the left and right sides, and the four movers 3 of the flat motor are respectively connected to the four corners of the interception net 4. In order to prevent the drone 5 from falling directly to the ground after hitting the interception net 4, the two movers 3 on each side of the stator 2 are arranged with a gap between them and one at a higher position to form a high-position mover 303 and a low-position mover 304, so that the interception net 4 is arranged at an angle. In order to facilitate the interception of the drone 5 and to ensure that the four movers 3 of the flat motor are subjected to uniform force when the drone 5 hits the interception net 4, so as to increase the strength of the movers 3 adhering to the stator 2, the edges of the front and rear ends of the interception net 4 are arranged horizontally; that is, the two high-position movers 303 are located on the same horizontal line, and similarly, the two low-position movers 304 are also located on the same horizontal line.

[0036] To prevent the drone 5 from crashing into the front edge of the interception net 4 and falling directly to the ground, the vertical distance between the high-position mover 303 and the low-position mover 304 is set to 1 / 3 to 2 / 3 of the total length of the interception net 4, which is 1 / 2 in this embodiment. Simultaneously, the horizontal distance between the high-position mover 303 and the low-position mover 304 is also set to 1 / 3 to 2 / 3 of the total length of the interception net 4, which is 1 / 2 in this embodiment, so that after the drone 5 crashes into the interception net 4, it remains within the concave interception net 4.

[0037] like Figure 1As shown, to further improve the accuracy of the device in intercepting the drone 5, a monitoring device for acquiring the position of the drone 5 and a monitoring station 7 for controlling the operation of the stator 2 are set near the stator 2. In this embodiment, the monitoring device adopts a high-precision, low-cost binocular camera 6, which can acquire the real-time position of the drone 5 in three-dimensional space and transmit the acquired position information to the monitoring station 7. According to the real-time position of the drone 5, the monitoring station controls the winding of the stator 2 of the planar motor. The stator 2 drives the mover 3 to move up and down before the drone 5 hits the net to change the height and angle of the interception net 4, waiting for the drone 5 to hit the net. That is, the mover has an adjustment position under the driving action of the stator to move up and down before the drone hits the net to change the height and angle of the interception net. In addition, under the driving action of the stator, the mover also has a buffer position to move backward after the drone hits the net to buffer the drone, a landing position to move downward after the drone is intercepted to control the landing of the interception net and the drone, and a departure position to control the interception net to flip after the interception net lands at a suitable position on the ground so that the drone can freely escape from the interception net.

[0038] The working principle of the net-collision type automatic recovery device for unmanned aerial vehicles in this invention is as follows:

[0039] First, the moving part is used to adjust the interception net to a suitable attitude. When the drone 5 collides with the interception net 4, the monitoring station 7 controls the moving part 3 to move slowly backward (in the direction of the drone's impact) to cushion the impact force of the drone hitting the net. After the drone 5 stops moving completely on the interception net 4, the monitoring station 7 controls the moving part 3 to move the interception net 4 and the drone 5 downward to achieve the landing of the drone 5. When the interception net 4 and the drone 5 move downward to a suitable position on the ground, the monitoring station 7 controls the high-position moving part 303 to move downward and then forward. At the same time, the monitoring station 7 controls the low-position moving part 304 to move upward and then backward to achieve the flipping of the interception net 4, so that the drone can freely detach from the interception net and fall to the ground, completing the drone recovery. After the drone is recovered, the monitoring station 7 controls the moving part 3 to move back to its original position to intercept the collision of the next drone.

[0040] Specific Embodiment 2 of the automatic recovery device for net-collision type drones provided by the present invention: The reinforcement method of the diagonal bracing provided in this embodiment is different from that in Specific Embodiment 1. In this embodiment, no horizontal or vertical bracing is provided. Instead, a reinforcing rib is provided between the middle of the diagonal bracing and the bottom of the vertical frame. In other embodiments, no horizontal or vertical bracing is provided, nor are reinforcing ribs.

[0041] The specific embodiment 3 of the automatic recovery device for net-type drones provided by the present invention: The fixing method of the fixing frame provided in this embodiment is different from that in specific embodiment 1. The difference is that no diagonal brace is set. In this case, a groove is set on the ground, and the fixing frame is installed in the groove. The fixing frame is fixed by the compression between the side wall of the groove and the bottom end of the fixing frame.

[0042] Specific embodiment 4 of the automatic recovery device for net-type drones provided by the present invention: The degree of concavity of the interception net provided in this embodiment is different from that in specific embodiment 1. The difference is that the vertical distance between the high-position moving part and the low-position moving part is 1 / 4, 1 / 3, 2 / 3, or 3 / 4 of the total length of the interception net. At the same time, the horizontal distance between the high-position moving part and the low-position moving part is 1 / 4, 1 / 3, 2 / 3, or 3 / 4 of the total length of the interception net.

[0043] Specific embodiment 5 of the automatic recovery device for net-type drones provided by the present invention: The arrangement of the interception net provided in this embodiment is different from that in specific embodiment 1. The difference is that the high-position moving parts on the two fixed frames are not on the same horizontal line, and the low-position moving parts on the two fixed frames are not on the same horizontal line. At this time, the angle between the line connecting the high-position moving parts on the two fixed frames and the horizontal plane is not greater than 20 degrees, and the angle between the line connecting the low-position moving parts on the two fixed frames and the horizontal plane is not greater than 20 degrees.

[0044] Specific Embodiment 6 of the automatic recovery device for net-collision type unmanned aerial vehicles provided by the present invention: The number and arrangement of the movers in this embodiment are different from those in Specific Embodiment 1. The difference lies in that three movers are arranged on a single vertical frame. These three movers are not on the same horizontal plane, forming a high-position mover, a middle-position mover, and a low-position mover. The high-position and low-position movers are located on the same vertical plane, and the middle-position mover is located at the rear end of the high-position and low-position movers. In other embodiments, four movers are arranged on a single vertical frame in an arc shape.

[0045] Specific embodiment 7 of the automatic recovery device for net-collision type UAV provided by the present invention: The monitoring equipment provided in this embodiment is different from that in specific embodiment 1, the monitoring equipment is radar.

[0046] Specific Embodiment 8 of the Automatic Retrieval Device for Net-Collision Drones Provided by the Present Invention: The automatic retrieval device for net-collision drones provided in this embodiment differs from Specific Embodiment 1 in that, after the drone is intercepted, the mover, driven by the stator, controls the intercepting net to flip directly, allowing the drone to freely detach from the net and fall to the ground. At this time, a cushioning pad can be placed to prevent damage to the drone. In other embodiments, after the drone is intercepted, the mover neither controls the intercepting net to move downwards nor controls it to flip. In this case, the drone can be manually retrieved from the net.

[0047] Specific embodiment 9 of the automatic recovery device for net-collision type drones provided by the present invention: The control method of the automatic recovery device for net-collision type drones provided in this embodiment is different from that in specific embodiment 1. The difference is that the automatic recovery device for net-collision type drones does not have monitoring equipment and monitoring station. In this case, the position of the drone is observed by human eyes and the movement of the actuator is manually controlled.

[0048] Specific embodiment 10 of the automatic recovery device for net-type drones provided by the present invention: The type of connector provided in this embodiment is different from that in specific embodiment 1. The connector is a U-bolt, which is used to fix the corner of the interception net.

[0049] Specific embodiment 11 of the automatic recovery device for net-type drones provided by the present invention: The connection method between the connector and the moving part provided in this embodiment is different from that in specific embodiment 1. The connector is installed on the moving part by a hinge. At this time, the hinge can only rotate in the vertical plane.

[0050] Specific embodiment 12 of the automatic recovery device for net-collision type drones provided by the present invention: The structure of the moving mechanism provided in this embodiment is different from that in specific embodiment 1. The planar motor is not installed on the fixed frame. In this case, a hydraulic cylinder, pneumatic cylinder, or electric push rod connected to the moving component is installed on the vertical frame. The hydraulic cylinder, pneumatic cylinder, or electric push rod drives the moving component to move up and down to achieve precise interception of the drone. Simultaneously, a slide rail is installed on the vertical frame for the horizontal movement of the hydraulic cylinder, pneumatic cylinder, or electric push rod. Under the drive of the driving mechanism, the hydraulic cylinder, pneumatic cylinder, or electric push rod moves horizontally along the slide rail to buffer the impact force of the drone when it collides with the net. In other embodiments, only a hydraulic cylinder, pneumatic cylinder, or electric push rod connected to the moving component is installed on the vertical frame. The hydraulic cylinder, pneumatic cylinder, or electric push rod drives the moving component to move up and down. In this case, the automatic recovery device for net-collision type drones no longer buffers the impact of the drone.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A net-type automatic drone recovery device, comprising two fixed frames, with an interception net for intercepting drones disposed between the two fixed frames, characterized in that, Each fixed frame is equipped with at least two movable parts that can move up and down relative to the fixed frame, as well as a drive structure for driving the movable parts to move up and down. The two sides of the interception net are respectively connected to the movable parts on the fixed frame. A planar motor is installed on the fixed frame. The planar motor includes a stator and a mover. The mover is attached to the stator to form the movable part. The stator is vertically arranged on the mounting frame to form the drive structure. Under the drive of the stator, the mover has an adjustment position that moves up and down before the UAV hits the net to change the height and angle of the interception net, and a buffer position that moves backward after the UAV hits the net to buffer the UAV.

2. The automatic recovery device for net-type unmanned aerial vehicles according to claim 1, characterized in that, A connector is mounted on the moving part via a ball joint structure, and the interception net is connected to the connector.

3. The automatic recovery device for net-collision type unmanned aerial vehicles according to claim 2, characterized in that, The connector is a universal hook.

4. The automatic recovery device for a net-collision type unmanned aerial vehicle according to any one of claims 1-3, characterized in that, The mover, driven by the stator, also has a landing position that moves downward after the drone is intercepted to control the landing of the interception net and the drone, and a departure position that controls the interception net to flip after it lands at a suitable position on the ground so that the drone can freely detach from the interception net. Alternatively, the mover, driven by the stator, also has a departure position that controls the interception net to flip after the drone is intercepted so that the drone can freely detach from the interception net.

5. The automatic recovery device for a net-type unmanned aerial vehicle according to any one of claims 1-3, characterized in that, The net-crashing type automatic drone recovery device also includes monitoring equipment for acquiring the drone's location and a monitoring station for controlling the operation of the drive structure. The monitoring equipment can transmit the acquired location information to the monitoring station.

6. The automatic recovery device for a net-type unmanned aerial vehicle according to any one of claims 1-3, characterized in that, Each fixed frame has two movable parts, and a total of four movable parts on the two fixed frames are connected to the four corners of the interception net. The two movable parts on each fixed frame are spaced apart and arranged at different heights to form a high-position movable part and a low-position movable part, respectively. The high-position movable parts on the two fixed frames are located on the same horizontal line, and the low-position movable parts on the two fixed frames are also located on the same horizontal line.

7. The automatic recovery device for net-collision type unmanned aerial vehicles according to claim 6, characterized in that, The vertical distance between the high-position moving component and the low-position moving component is 1 / 3 to 2 / 3 of the total length of the interception net, and the horizontal distance between the high-position moving component and the low-position moving component is 1 / 3 to 2 / 3 of the total length of the interception net, so that the interception net is concave.

8. The automatic recovery device for a net-type unmanned aerial vehicle according to any one of claims 1-3, characterized in that, The fixing frame includes a vertical frame and a diagonal brace set on one side of the vertical frame. The stator is set on the opposite sides of the two vertical frames respectively, and the diagonal brace is located on the side of the vertical frame away from the stator.

9. The automatic recovery device for net-collision type unmanned aerial vehicles according to claim 8, characterized in that, The diagonal brace is connected to a horizontal brace and a vertical brace. The end of the horizontal brace is connected to the vertical frame, and the bottom of the vertical brace is used to support the ground.

Images