Highly versatile fixed-wing uav air-based launching and recovery device

Abstract

The application discloses a high-universality fixed-wing unmanned aerial vehicle air-based launching and recovering device, which is integrally installed on an air-based platform, and unmanned aerial vehicles are guided to complete docking through a four-cone-rod guiding and centering mechanism, a funnel-shaped butt joint area formed by four carbon tubes, and electromagnets fixed by supports arranged at front and back positions of the four-cone-rod guiding and centering mechanism and matched with electromagnets installed on the unmanned aerial vehicles to realize adsorption and fixation of the unmanned aerial vehicles during butt joint. A mechanical claw is designed in front of the front support, the mechanical claw clamps the nose of the unmanned aerial vehicle after fixation of the unmanned aerial vehicle, the unmanned aerial vehicle is further fixed, deviation of the unmanned aerial vehicle is corrected, and the unmanned aerial vehicle and the air-based platform have their body axes coplanar. The application can guarantee the accuracy and stability of recovery under certain wind disturbance conditions, the whole device is modularly designed, different locking mechanisms can be arranged according to types of carried sub-machines, and the device is convenient and fast to iterate, and has good universality and expansibility.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a highly universal air-based launching and recovering device for fixed-wing unmanned aerial vehicles. BACKGROUND

[0002] The take-off and landing stage is the most dangerous period for the deployment and use of fixed-wing unmanned aerial vehicles. The fixed-wing unmanned aerial vehicles have a high requirement for the take-off and landing site, and need to rely on a runway or a launching device to realize launching and recovering, which directly affects the flexibility, adaptability and economy thereof. Whether there is a safe and fast launching scheme and whether the recovering stage is reliable and accurate are important indicators for measuring the usability and economy of the unmanned aerial vehicle system. The long endurance time, strong load capacity and high flight speed of the fixed-wing unmanned aerial vehicle make it have a wide application in the military, surveying and mapping, geology, petroleum and forestry industries, and the difficulty in launching and recovering thereof also becomes an important factor restricting the deployment thereof. Taking the ship platform application as an example, under the premise of not considering the sea conditions, the site that can be used by the unmanned aerial vehicle is only about 20m*10m, and the existing take-off and landing mode is difficult to meet the task requirements of the fixed-wing unmanned aerial vehicle. In order to solve this shortcoming, the air-based launching and recovering system for the fixed-wing unmanned aerial vehicle emerges as the times require.

[0003] For the air-based launching and recovering system, the MX-1016 Tip-Tow project and the Reconnaissance Parasite Aircraft reconnaissance parasite aircraft project of the United States make a series of explorations on the air-based launching and recovering of the fixed-wing aircraft. Among them, the MX-1016 Tip-Tow project adopts the wing tip cone rod connection mode to realize the air interface and release of the B-29 bomber and the F-84 fighter, and the Parasite Aircraft reconnaissance parasite aircraft project adopts the belly truss connection mode to realize the air interface recovering and release of the B-36 bomber and the F-84 fighter. However, in a test of the MX-1016 Tip-Tow project, due to the aerodynamic interference between the mother aircraft and the child aircraft, the left F-86 fighter occurred right roll and collided with the B-29 wing, causing 1 person on the F-84 and 5 persons of the B-29 crew to die. The X-61 "Gremlin" unmanned aerial vehicle of the DRAPA plan of the United States is developed to perform more efficient and lower cost distributed air combat tasks, and it adopts the GAV connected to the stable tow interface device. It can be seen that the above launching and recovering devices all have shortcomings, and do not have high universality, and are only designed for the launching and recovering device of a certain type of air-based platform, and have poor economy and applicability. Therefore, it is necessary to carry out research on the new air-based launching and recovering device for the fixed-wing unmanned aerial vehicle, explore the new launching and recovering device, and provide technical support for the future air-based launching and recovering. SUMMARY

[0004] In view of the above problems, the application provides a high-universality fixed-wing unmanned aerial vehicle air-based launching and recovering device, which is suitable for a fixed-wing unmanned aerial vehicle air-based launching and recovering system and realizes air-based launching and recovering.

[0005] The high-universality fixed-wing unmanned aerial vehicle air-based launching and recovering device is installed on an air-based platform through a base.

[0006] The four-cone-rod guiding and centering mechanism has four carbon tubes arranged along four edges of an inverted four-pyramid, and the four carbon tubes are adjustable in the included angle with the upper surface of the base.

[0007] The electromagnet locking mechanism includes a height-angle adjusting mechanism composed of a fixed-height support at the front of the four-cone-rod guiding and centering mechanism and a variable-height support at the rear of the four-cone-rod guiding and centering mechanism, and electromagnets installed at the top of the fixed-height support and the variable-height support.

[0008] The auxiliary mechanical claw grabbing mechanism is composed of two groups of left and right arc claws driven by a motor to open and close synchronously and is installed on the front extension platform at the upper part of the fixed-height support.

[0009] The unmanned aerial vehicle launching and recovering method of the high-universality fixed-wing unmanned aerial vehicle air-based launching and recovering device is as follows.

[0010] Using dynamic differential technology, the drone to be recovered is located and controlled to enter the docking range, specifically the upper plane area of ​​the inverted pyramid formed by four carbon tubes. The flight control and navigation module receives the relative position information between the fixed-wing drone and the airborne platform. Upon receiving the drone's presence within the docking range, it sends an electrical signal to the electromagnet locking mechanism, energizing and opening it. This, in conjunction with two magnet modules on the nose and fuselage, provides sufficient electromagnetic force to attract and secure the drone. Simultaneously, once the drone enters the docking range, a four-cone rod guiding centering mechanism limits its movement, guiding it closer to the electromagnet locking mechanism. When the timer within the flight controller determines that the fixed-wing drone's altitude remains relatively constant within a certain error margin for the required number of frames, the docking with the electromagnet locking mechanism is complete. Then, the flight management system sends an electrical signal to the auxiliary mechanical gripper mechanism to close, clamping the drone's nose. During the closing process, the fixed-wing drone's roll and yaw movements are constrained, and the drone's yaw angle is corrected, ensuring that the drone's fuselage axis is coplanar with that of the airborne platform.

[0011] During the drone release operation, after reaching the designated drop airspace, the release procedure begins. The drone, along with the airborne platform, flies at a certain speed. Under the control of the control system, a control command is sent to the auxiliary mechanical gripper mechanism to open, releasing the drone from its restraints. The control system then sends a signal to the electromagnet locking mechanism, causing it to de-energize and close, releasing the electromagnetic attraction on the drone. At this point, the drone increases its throttle, and the elevator deflects upward, allowing the drone to move out of the docking range, completing the drone release.

[0012] The advantages of this invention are:

[0013] 1. The present invention provides a highly versatile fixed-wing UAV airborne launch and recovery device, which adopts a modular design and can be set with different locking mechanisms according to the type of the carried sub-units, and is convenient for rapid iteration, and has good versatility and expandability;

[0014] 2. The highly versatile fixed-wing UAV airborne launch and recovery device provided by this invention adopts a four-cone rod guidance and centering + electromagnet locking + mechanical gripper assisted fixation scheme, which can ensure the accuracy and stability of recovery under certain wind disturbance conditions. This method has been verified in flight tests. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the highly versatile fixed-wing UAV airborne launch and recovery device of the present invention;

[0016] Figure 2 This is a schematic diagram of the fixed base structure in the highly versatile fixed-wing UAV airborne launch and recovery device of the present invention;

[0017] Figure 3 This is a schematic diagram of the four-cone rod guiding and centering mechanism and the auxiliary mechanical claw grasping mechanism in the highly versatile fixed-wing UAV airborne launch and recovery device of the present invention;

[0018] Figure 4 This is a schematic diagram of the carbon tube connecting sleeve structure in the four-cone rod guiding centering mechanism;

[0019] Figure 5 This is a schematic diagram of the electromagnet locking mechanism in the highly versatile fixed-wing UAV airborne launch and recovery device of the present invention.

[0020] Figure 6 This is a schematic diagram of the UAV's parking state when the highly versatile fixed-wing UAV airborne launch and recovery device of this invention is applied.

[0021] In the picture:

[0022] 1-Fixed base; 2-Auxiliary mechanical gripper mechanism; 3-Four-cone rod guiding and centering mechanism.

[0023] 4-Electromagnetic locking mechanism 101-Front mounting plate 102-Rear mounting plate

[0024] 103-Base plate connecting plate; 104-Base plate; 201-Arc-shaped rod

[0025] 202-Base 301-Carbon Tube 302-Carbon Tube Mounting Socket

[0026] 303-Adapter plate; 302a-Fan-shaped support frame; 302b-Carbon tube connecting sleeve

[0027] 302c - Arc-shaped slide rail; 401 - Fixed height bracket; 402 - Variable height bracket

[0028] 403-Rectangular electromagnet; 401a-Side support plate; 401b-Front support platform

[0029] 401c - Rear Support Platform 401d - Slide Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings.

[0031] like Figure 1 As shown, the highly versatile fixed-wing UAV airborne launch and recovery device of the present invention includes a fixed base 1, an auxiliary mechanical claw grasping mechanism 2, a four-cone rod guiding and centering mechanism 3, and an electromagnet locking mechanism 4.

[0032] like Figure 2As shown, the fixed base 1 serves as the mounting seat of the other three mechanisms, which is composed of a bottom plate 104, a bottom plate connecting plate 103, and front and rear mounting plates. Among them, the front mounting plate 101 is located between the bottom plate connecting plate 103 and the rear mounting plate 102. The front part of the front mounting plate 101 and the rear part of the rear mounting plate 102 are used to install the electromagnet locking mechanism 4. The rear part of the front mounting plate 101 and the front part of the rear mounting plate 102 have a sliding pair in the front-rear direction; the front part of the rear mounting plate 102 is fixedly installed with the four-cone-rod guiding and centering mechanism 3.

[0033] The four-cone-rod guiding and centering mechanism 3 serves as the main body of the airbase launching and recovering device, including four carbon tubes 301, four carbon tube mounting seats 302, and an adapter plate 303, as shown. Figure 3 Among them, the four carbon tubes 301 are arranged along four edges of an inverted four-sided pyramid, and the whole forms a funnel-shaped structure, which is used to park unmanned aerial vehicles. The bottom ends of the four carbon tubes 301 are installed on the adapter plate 303 through the carbon tube mounting seats 302.

[0034] The carbon tube mounting seat 302 includes a bottom fan-shaped support frame 302a and a top carbon tube connecting sleeve 302b, as shown. Figure 4 Among them, the fan-shaped support frame 302a is composed of two symmetrically arranged fan-shaped support plates. One side edge of the two fan-shaped support plates is fixed to the adapter plate 303. On the two fan-shaped support plates, three arc-shaped sliding grooves 302c located on the same circumference are designed near the arc side, and the three arc-shaped sliding grooves on the two fan-shaped support plates are symmetrically arranged, and a set of mutually symmetrical arc-shaped sliding grooves forms an arc-shaped sliding way.

[0035] The end of the carbon tube connecting sleeve 302b is located between the two fan-shaped support plates, and a threaded hole is designed at the opposite position of the end, which corresponds to the position of a set of mutually symmetrical sliding grooves on the two fan-shaped support plates; and a sliding pair is formed by connecting the arc-shaped sliding way and the threaded hole through a bolt. The carbon tube connecting sleeve 302b is coaxially inserted into the bottom of the carbon tube 301, and is fixedly connected through a bolt penetrating the lateral through holes of the two and cooperating with a nut. In this way, the carbon tube connecting sleeve 302b moves along the arc-shaped sliding way to adjust the angle between the carbon tube 301 and the adapter plate 303. After the angle is determined, the carbon tube 301 is fixed by tightening the bolt. Thus, the angle of the four carbon tubes 301 can be adjusted according to the aerodynamics of the unmanned aerial vehicle to be parked, so as to adapt to unmanned aerial vehicles of different configurations.

[0036] The specific connection mode between the four-cone-rod guiding and centering mechanism 3, the front mounting plate 101, the rear mounting plate 102, the bottom plate connecting plate 103 and the bottom plate 104 is as follows: In the four-cone-rod guiding and centering mechanism 3, two screw holes are respectively formed in the left side and the right side of the middle part of the adapter plate 303 along the front-rear direction, and correspond to the through holes formed in the front part of the rear mounting plate 102. The positioning between the four-cone-rod guiding and centering mechanism 3 and the rear mounting plate 102 is realized by passing the locking bolts through the corresponding through holes. Further, the locking screws are passed through the sliding grooves formed along the front-rear direction on the left and right sides of the rear part of the front mounting plate 101, and are screwed with the screw holes on the bottom plate connecting plate 103, so as to realize the left-right direction positioning between the front mounting plate 101, the bottom plate connecting plate 103 and the rear mounting plate 102. The fixing between the parts is realized by tightening the bolts. After the bolts are loosened, the front mounting plate 101 can be moved along the sliding grooves, so as to realize the length adjustment of the whole recycling device, so as to adapt to unmanned aerial vehicles of different sizes. The bottom plate connecting plate 103 is fixedly installed on the bottom plate 104, and the bottom plate 104 is fixedly installed on the air-based platform.

[0037] The electromagnet locking mechanism 4 includes a height-angle-of-attack adjusting mechanism composed of a front fixed height support 401 and a rear variable height support 402, and two rectangular electromagnets 403, as shown in Figure 5

[0038] The front fixed height support 401 has two side support plates 401a which are arranged in parallel and are fixed to the front part of the front mounting plate 101. A rectangular electromagnet 403 is fixedly installed between the top parts of the two side support plates 401a. Meanwhile, a front support platform 401b arranged horizontally is also installed between the two side support plates 401a. The front part of the front support platform 401b extends forward beyond the front edge of the rectangular electromagnet 403, and the top surface of the extended part is provided with an auxiliary mechanical claw grabbing mechanism 2.

[0039] The rear variable height support 402 has two side L-shaped plates 402a. One end of each of the two side L-shaped plates 402a is a fixed end which is fixed to the rear part of the rear mounting plate 102. The other end of each of the two side L-shaped plates 402a is a connecting end which faces the rear and is provided with a variable support sliding main body.

[0040] The variable support main body is two longitudinal strip-shaped plates 402b. The top ends of the two longitudinal strip-shaped plates 402b are respectively connected and fixed to a rear support platform 402c arranged horizontally. The rear support platform 402c is provided with a rectangular electromagnet 403. The lower parts of the two strip-shaped plates 402b are respectively provided with two longitudinal sliding grooves 402d which are arranged in parallel and are respectively matched with the screw holes formed on the connecting end of the two side L-shaped plates 402a. The fixing between the same side strip-shaped plate 402b and the connecting end of the L-shaped plate 402a is realized by passing the locking bolts through the screw holes and the sliding grooves 402d and cooperating with the nuts. When the nuts are loosened, the two strip-shaped plates 402b can be synchronously moved along the sliding grooves 402d, so as to realize the height adjustment of the variable support main body. ​

[0041] The front fixed-height bracket 401 and the rear variable-height bracket 402 respectively support the head and tail of the drone as it is guided and centered by the four-cone rod, thus achieving the purpose of constraining the drone's pitch freedom. By selecting appropriate models and sizes of rectangular electromagnets 403, the front and rear rectangular electromagnets 403 provide sufficient electromagnetic attraction, effectively constraining the drone's vertical and pitch freedom. In this invention, the front and rear rectangular electromagnets 403 are models XDA-80 / 40 / 30 and XDA-60 / 30 / 25, respectively, which attract and fix the drone's head and tail, generating a measured attraction force of 25 kg.

[0042] Fixed-wing drones are capable of Figure 6 The method shown is applied to the device of the present invention, wherein the height of the variable support body 401 is changed by longitudinally sliding the variable support body 401, thereby changing the static docking position of the UAV, raising or lowering the rear of the fixed-wing UAV, and thus changing the attitude pitch angle of the fixed-wing UAV during launch and recovery, so that the fixed-wing UAV to be docked and the air-based platform (the installation platform of the docking device of the present invention) maintain a certain level flight angle of attack. When the combined body (air-based platform and UAV) flies at the same speed, the wings of the fixed-wing UAV have the ability to generate a certain positive lift, ensuring that the fixed-wing UAV maintains lift and gravity balance during launch and recovery, and reducing unnecessary force and torque interference.

[0043] like Figure 3 As shown, the gripping part of the auxiliary mechanical claw mechanism 2 consists of four arc-shaped rods 201, which are mounted on the base 202. The base 202 has a U-shaped structure with a front side, a rear side, and a bottom surface. The four arc-shaped rods 201 are arranged in pairs, with two pairs of arc-shaped rods symmetrically mounted on the base 1. The left pair of arc-shaped rods is symmetrically arranged front and rear, respectively located on the front and rear left sides of the base 202, and their ends are connected and fixed by a pivot A that passes through the front and rear sides of the base 202. The right pair of arc-shaped rods 201, in conjunction with pivot B, is mounted on the front and rear right sides of the base 202 in the same manner as the two left arc-shaped rods 201.

[0044] The auxiliary mechanical gripper mechanism 2 comprises a drive motor, a drive gear, an active gear, and a passive gear. The active gear and passive gear are coaxially mounted and fixed on rotating shafts A and B, respectively, and mesh with each other. The drive motor is mounted on the output shaft inside the base 202, coaxially connected to the drive gear, which meshes with the active gear. Thus, driven by the drive motor, and through transmission between the three gears, the two sets of arc-shaped rods 201 rotate relative to each other to complete the gripping action, and rotate in opposite directions to complete the opening action, thereby achieving the gripping and releasing of the drone.

[0045] The high-universal fixed-wing unmanned aerial vehicle air-based launching and recovering device of the application is guided to the position by the four-cone-rod guiding and centering mechanism 3 after the unmanned aerial vehicle reaches the recovering device; further, the unmanned aerial vehicle head and the belly of the unmanned aerial vehicle body are adsorbed and fixed by the electromagnet locking mechanism 4, and the magnet modules are installed on the lower part of the fixed-wing unmanned aerial vehicle head and the belly of the unmanned aerial vehicle body in order to cooperate with the electromagnet locking mechanism 4, and according to the designed pitch angle of the unmanned aerial vehicle parking state, the adsorption surface of the magnet module installed on the unmanned aerial vehicle body and the unmanned aerial vehicle body are at a certain angle, the plane contact between the magnet module and the top surface of the rectangular electromagnet 403 is ensured, and the contact surface is large enough. Further, the unmanned aerial vehicle head is gripped by the relative rotation of the two groups of arc-shaped rods in the auxiliary mechanical claw gripping mechanism 2, and the fixed-wing unmanned aerial vehicle is locked by cooperating with the electromagnet locking mechanism 4.

[0046] In the unmanned aerial vehicle recovery operation of the application, first, the dynamic difference technology is used to locate the unmanned aerial vehicle to be recovered. When the unmanned aerial vehicle is detected by the dynamic difference technology to enter the docking range of the application (the docking range is limited to the longitudinal height between the base of the recovery device and the top of the carbon tube, and the horizontal plane is in the area of the upper plane of the funnel shape formed by the four carbon tubes), the flight control and navigation module receives the relative position information of the fixed-wing unmanned aerial vehicle and the air-based platform, and after receiving that the unmanned aerial vehicle is in the docking range, sends a level signal to the electromagnet locking mechanism 4 to make the electromagnet locking mechanism 4 energized and opened, and cooperates with the two magnet modules at the nose and the abdomen of the fuselage to provide sufficient electromagnetic attraction. At the same time, after the unmanned aerial vehicle enters the docking range, the four conical rod guiding and centering mechanisms 3 are similar to a funnel, and the position and angle are adjusted by the chute before use with reference to the static placement of the electromagnet adsorption and mechanical claw fixing position, so that the unmanned aerial vehicle is adsorbed and fixed by the electromagnet locking mechanism 4, and the funnel-shaped boundary area formed by the four conical rod guiding and centering mechanisms 3 covers the upper surface of the rectangular electromagnet 403, which limits the position of the unmanned aerial vehicle in the range and helps to eliminate the relative position with the docking reference center, guiding the unmanned aerial vehicle to approach the electromagnet locking mechanism 4. If the unmanned aerial vehicle deviates from the docking position slightly and exceeds the cutting planes formed by the funnel-shaped four carbon tubes, the four carbon rods will contact the unmanned aerial vehicle, and due to the corresponding deformation of the carbon tube, a slight centering force is applied to the unmanned aerial vehicle to make it approach the docking range. After the unmanned aerial vehicle is docked with the electromagnet locking mechanism 4, the height of the fixed-wing unmanned aerial vehicle relative to the air-based platform remains relatively unchanged, realizing the constraint of the vertical direction and the pitch attitude freedom degree. When the flight control determines that the height of the fixed-wing unmanned aerial vehicle remains relatively unchanged within a certain error allowable range to reach the required frame number, the docking of the electromagnet locking mechanism 4 is completed; then the flight management system sends a level signal to the auxiliary mechanical claw grabbing mechanism 2 to control the closure of the two groups of arc-shaped rods 201 to clamp the unmanned aerial vehicle nose, and cooperate with the electromagnet locking mechanism 4 to fix the unmanned aerial vehicle. Since the mechanical claw clamping closure axis is parallel to the axis of the large unmanned aerial vehicle fuselage as the air-based platform, if the fuselage axis of the fixed-wing unmanned aerial vehicle deviates from the axis of the air-based platform when it is docked with the electromagnet locking mechanism 4, the mechanical claw will constrain the roll and heading movement of the fixed-wing unmanned aerial vehicle during the closure process and drive the unmanned aerial vehicle to correct the yaw angle, so that the two fuselage axes are coplanar, thus completing the recovery operation and fixing the unmanned aerial vehicle.

[0047] In the unmanned aerial vehicle release operation, after reaching the predetermined drop air space, the drop program is started to be executed, the unmanned aerial vehicle is levelled with the air base platform at a certain speed, the device sends control instructions to the auxiliary mechanical claw grabbing mechanism 2 under the control of the control system, so that the two groups of arc-shaped rods 201 are opened to release the constraint on the unmanned aerial vehicle. The system circuit sends signals to the electromagnet locking mechanism 4 again, so that the electromagnet locking mechanism 4 is closed to release the electromagnetic attraction on the unmanned aerial vehicle; at this time, the unmanned aerial vehicle increases the throttle, the elevator is upwardly deflected, so that the unmanned aerial vehicle is separated from the device, and the release of the unmanned aerial vehicle is completed. In the application, each part is fixed by plug-in, including:

[0048] The four conical rod guiding and centering mechanism 3 is arranged between the four side walls of the carbon tube mounting seat 302, between the carbon tube 301 and the carbon tube mounting seat 302, between the fan-shaped support frame 302a and the adapter plate 303, and between the front fixed height support 401 and the rear variable height support 402, between the two side support plates 401a and the front mounting plate, between the two side support plates 401a and the front support platform 401b, between the two side L-shaped plates 402a and the rear mounting plate 102, between the strip-shaped plate 402b and the rear support platform 402c. Therefore, the device has high universality, and each component can be adjusted according to different unmanned aerial vehicles.

Claims

1. A high-universal fixed-wing UAV air-based launching and recovering device, which is mounted on an air-based platform as a whole through a base, characterized in that An auxiliary mechanical claw grabbing mechanism, a four-cone-rod guiding and centering mechanism, and an electromagnet locking mechanism are mounted on the base; The four-cone-rod guiding and centering mechanism has four carbon tubes arranged along four edges of an inverted quadrangular pyramid, and the four carbon tubes have an adjustable angle with the upper surface of the base; when the UAV enters the inverted quadrangular pyramid surrounded by the four carbon tubes, the UAV is guided to a recovering position by the four carbon tubes; The electromagnet locking mechanism includes a height-angle adjusting mechanism composed of a fixed-height support at the front of the four-cone-rod guiding and centering mechanism and a variable-height support at the rear of the four-cone-rod guiding and centering mechanism, and electromagnets mounted at the top ends of the fixed-height support and the variable-height support; when the UAV reaches the recovering position, the head and tail of the UAV are supported by the fixed-height support and the variable-height support respectively, and the UAV is adsorbed and fixed by the electromagnets on the two supports and the magnets mounted on the UAV; and the attitude pitch angle of the UAV is changed by adjusting the height of the variable-height support. The auxiliary mechanical claw grabbing mechanism is composed of two groups of left and right arc-shaped claws driven by a motor to open and close synchronously, which are mounted on the front extension platform of the upper part of the fixed-height support; the arc-shaped claws are used to clamp the head of the UAV and correct the axis of the UAV body at the same time, so that the axis of the UAV body is kept coplanar with the axis of the air-based platform.

2. The high utility fixed wing UAV airbase launching and recovery apparatus of claim 1, wherein: The base has a three-layer structure, including a lower fixed plate, a middle sliding plate, and a top fixed plate; the lower fixed plate is fixed between the air-based platform and the base; the middle sliding plate has a sliding pair along the front-rear direction; the four-cone-rod guiding and centering mechanism is mounted at the front end of the top sliding plate, the variable-height support is mounted at the rear end of the top sliding plate, and the fixed-height support is mounted at the front end of the middle sliding plate. The four carbon tubes are mounted on four carbon tube mounting seats respectively; the carbon tube mounting seat includes a bottom fan-shaped support frame and a top carbon tube connecting sleeve; the carbon tube connecting sleeve is connected between the end of the fan-shaped support frame and the fan-shaped support frame, and has a sliding pair along the arc length direction; the end of the carbon tube connecting sleeve is inserted into the carbon tube.

3. The high utility fixed wing UAV airbase launching and recovery apparatus of claim 1, wherein: The sliding pair between the carbon tube connecting sleeve and the carbon tube mounting seat is realized by designing multiple arc-shaped sliding grooves along the arc length direction on the side of the circular arc of the fan-shaped support frame; at the same time, screw holes are opened at the end of the carbon tube connecting sleeve, and the sliding pair is formed by connecting the arc-shaped sliding grooves and the screw holes through bolts; the carbon tube connecting sleeve is clamped by tightening the bolts.

4. The high utility fixed wing UAV airbase launching and recovery apparatus of claim 3, wherein: According to the pitch angle of the UAV in the parking state, the angle between the adsorption surface of the magnet module mounted on the UAV body and the UAV body is designed to ensure that the magnet module and the top surface of the rectangular electromagnet are in plane contact.

5. The high utility fixed wing UAV airbase launching and recovery apparatus of claim 1, wherein: The four-cone-rod guiding and centering mechanism needs to refer to the position of the electromagnet adsorption and the mechanical claw fixation of the UAV in the static state, and the position of the four-cone-rod guiding and centering mechanism and the angle of the carbon rod are adjusted to ensure that, after the UAV is adsorbed and fixed by the electromagnet locking mechanism, the inverted quadrangular pyramid-shaped boundary area formed by the four-cone-rod guiding and centering mechanism covers the upper surface of the rectangular electromagnet.

6. The high utility fixed wing UAV airbase launching and recovery apparatus of claim 1, wherein:

7. The method for launching and recovering the UAV by using the high-universal fixed-wing UAV air-based launching and recovering device according to claim 1. ​ The dynamic differential technique is used to position the unmanned aerial vehicle to be recycled, and the unmanned aerial vehicle is controlled to enter the docking range, that is, the upper flat area of the inverted pyramid formed by the four carbon tubes. After the flight control and navigation module receives the relative position information of the fixed-wing unmanned aerial vehicle and the air-based platform, and receives that the unmanned aerial vehicle is in the docking range, a level signal is sent to the electromagnetic iron locking mechanism to make the electromagnetic iron locking mechanism energized and opened. Through the cooperation of the two magnet modules at the nose and the abdomen of the fuselage, sufficient electromagnetic attraction is provided to adsorb and fix the unmanned aerial vehicle. At the same time, when the unmanned aerial vehicle enters the docking range, the four conical rod guiding and centering mechanism limits the unmanned aerial vehicle and guides the unmanned aerial vehicle to approach the electromagnetic iron locking mechanism. When the flight control determines that the height of the fixed-wing unmanned aerial vehicle remains relatively unchanged within a certain error allowable range to reach the required frame number, the docking of the electromagnetic iron locking mechanism is completed. Then the flight management system sends a level signal to the auxiliary mechanical claw grabbing mechanism to close, clamps the nose of the unmanned aerial vehicle, and in the closing process, restricts the roll and heading movement of the fixed-wing unmanned aerial vehicle and drives the unmanned aerial vehicle to correct the yaw angle, so as to ensure that the axis of the unmanned aerial vehicle and the air-based platform is coplanar. In the unmanned aerial vehicle release operation, after reaching the predetermined drop air space, the drop program is started to be executed. The unmanned aerial vehicle and the air-based platform fly horizontally at a certain speed, and under the control of the control system, a control command is sent to the auxiliary mechanical claw grabbing mechanism to open, so as to release the constraint on the unmanned aerial vehicle. The system circuit sends a signal to the electromagnetic iron locking mechanism again to make the electromagnetic iron locking mechanism de-energized and closed, so as to release the electromagnetic attraction on the unmanned aerial vehicle. At this time, the unmanned aerial vehicle increases the throttle, the elevator deflects upward, so that the unmanned aerial vehicle leaves the docking range, and the release of the unmanned aerial vehicle is completed.

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