An unmanned aerial vehicle airborne recovery apparatus and method

Abstract

The application provides a recovery device and method of an unmanned aerial vehicle which can be recovered in the air, the device comprising a mother plane, a recovery support, a recovery rope and a child plane. A hatch is opened on the lower front part of the mother plane, and the telescopic mechanism is extended in an eight-shaped manner after the hatch is opened, so as to leave sufficient docking space for the child plane. The recovery support comprises a telescopic mechanism and an outer extension rod, a pulley and a buckle are installed on the outer extension rod, the recovery rope is fixed at the end of the outer extension rod, and the recovery rope can be freely extended. The upper part of the child plane is provided with a docking rod which can be erected and lowered, and the child plane can be locked. A visual identification device is installed on the child plane, which is used for identifying the outer extension rod and the recovery rope of the mother plane, so as to facilitate the docking and recovery of the child plane and the mother plane. The recovery structure of the application is simple in structure and light in weight, and the method can ensure that the child plane is intact, so that the child plane has a wider longitudinal and lateral docking error, the docking precision requirement of the child plane is reduced, and the complexity of the recovery mechanism of the mother plane is reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) system technology, and more particularly to an unmanned aerial vehicle (UAV) capable of aerial recovery, a recovery device on the mother aircraft, and a recovery method for rapid aerial recovery of the UAV. Background Technology

[0002] After several years of rapid development, drone technology has penetrated into all aspects of national production, daily life, and military affairs. Among them, small military drones are widely used in reconnaissance, surveillance, search and patrol, and strike operations due to their advantages of flexibility, low cost, and high cost-effectiveness. However, cannon-launched and air-dropped small drones, especially high-speed drones weighing over 100 kilograms, are generally recovered by parachute or net, which limits their use in many ways.

[0003] Taking an existing small drone as an example, an aerial recovery method is used. During recovery, the mother aircraft releases a docking cone similar to a refueling cone. The drone extends its docking rod to dock with and lock onto the mother aircraft's docking cone. The mother aircraft then retrieves the docking cone and pulls the drone to its tail, where it releases a robotic arm to recover the drone. However, this method requires the drone to have high image recognition and position and attitude control accuracy to dock with the mother aircraft's cone, and for the mother aircraft's robotic arm to extend backward to capture the small drone. The mechanical mechanism is complex, and the control precision requirements are also high. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide an aerial recovery device and method for unmanned aerial vehicles (UAVs) to address the shortcomings of the existing technology.

[0005] To address the aforementioned technical problems, this invention discloses an aerial recovery device and method for unmanned aerial vehicles (UAVs). The technical solution of this invention is as follows:

[0006] An aerial recovery device for unmanned aerial vehicles (UAVs) includes a mother unit, a recovery support, a recovery rope, and a daughter unit. The recovery support is movably mounted inside the fuselage of the mother unit. The recovery rope is connected to the recovery support. The daughter unit, after being connected to the recovery rope, can be recovered into the mother unit.

[0007] Furthermore, the mother aircraft is a transport aircraft or bomber used for dropping and recovering the daughter aircraft. There are two hatches on the lower part of the mother aircraft fuselage that open on both sides. After the hatches are opened, the recovery support can extend out of the hatches.

[0008] Furthermore, the recovery support includes a telescopic mechanism with high strength, which is divided into two branches. Each branch consists of more than two segments. The segments extend or retract by hydraulic or electric means. The two branches extend out of the machine in a figure-eight shape to provide sufficient docking space for the submachine.

[0009] Furthermore, each segment of the telescopic mechanism has a retaining clip for the retrieval rope, ensuring the rope is securely bound to the mechanism before retrieval by the submachine. These retaining clips are located at the ends of each segment and consist of a clip and a roller, ensuring the retrieval rope is fixed to the telescopic mechanism while allowing it to extend freely. When the telescopic mechanism is in the retracted state, the retaining clips at the ends of each segment are arranged adjacently, and each segment is in a partially retracted state.

[0010] Furthermore, the recovery support includes an extension rod at the end of the telescopic mechanism. An extension rod pulley and an extension rod fixing buckle are installed on the extension rod to fix the recovery rope at the end of the extension rod and ensure that the recovery rope can extend freely.

[0011] Furthermore, the retrieval rope is made of high-modulus materials, including but not limited to Kevlar. Kevlar is preferred because it can withstand the impact of a drone while also possessing the flexibility to stretch freely. The retrieval rope is extended and retracted by a retrieval rope control motor. A pressure sensor is installed on the retrieval rope control motor.

[0012] Furthermore, the sub-unit has a low-wing configuration, and its upper fuselage is equipped with two docking and striking rods that can be raised and lowered, and are locked in place. The docking and striking rods include a first docking rod and a second docking rod, each raised or lowered by an independent motor. Each docking and striking rod has a locking buckle at its end, which can be engaged with the recovery rope.

[0013] Furthermore, a visual recognition device is installed on the slave unit to identify the mother unit's extended rod and retrieval rope, facilitating docking and retrieval between the slave unit and the mother unit.

[0014] A method for aerial recovery of a drone using the above-mentioned device, the recovery method comprising the following steps:

[0015] Step 1: After the recovery bracket of the mother machine extends with the recovery rope, the mother machine enters the recovery operation state.

[0016] Step 2: The drone adjusts its speed to be close to that of the mother drone and flies behind it. The visual recognition system on the drone identifies the telescopic mechanism and recovery rope on the mother drone and adjusts itself to the flight path behind the recovery rope.

[0017] Step 3: The slave unit raises the first and second docking rods, with the latches at the ends of the docking rods in a freely closed state. The first and second docking rods approach the retrieval rope in the same direction, meaning the line connecting the latches at the ends of the two docking rods is nearly parallel to or completely parallel to the retrieval rope at the end of the extension rod. The latches at the ends of the docking rods, under the pressure of the retrieval rope, create an opening, allowing the retrieval rope to fall into the latch. When the retrieval rope at the fixed buckle at the end of the extension rod slides into the latch at the end of the docking rod on the slave unit, the sensor output signal at the retrieval rope motor on the master unit increases instantaneously, indicating that the master unit senses a sudden increase in tension on the retrieval rope. It then retracts the retrieval bracket, leaving the retrieval rope in a freely extended state.

[0018] Step 4: The first docking rod motor controls the first docking rod to fold forward of the submachine, and the second docking rod motor controls the second docking rod to fold backward of the submachine, retracting it into the groove above the submachine body and locking it.

[0019] Step 5: The mother aircraft rewinds the recovery rope, the daughter aircraft folds its wings back under the fuselage, and the daughter aircraft is pulled into the mother aircraft's cabin along with the recovery rope. The hatch is then closed, completing the recovery.

[0020] Beneficial effects:

[0021] (1) Compared with the parachute or net-crashing recovery methods used for tube-launched and airdropped small UAVs in the prior art, the mother machine recovery structure in the present invention is not only simple in structure and light in weight, but also ensures that the daughter machine is intact. The daughter machine can be reused without the need to check the condition of the whole machine parts and replace the vulnerable parts, which greatly reduces the maintenance cost.

[0022] (2) The solution of the present invention reduces the docking accuracy requirements of the submachine and at the same time reduces the complexity of the mother machine recovery mechanism;

[0023] (3) The solution of the present invention allows the submachine to have a wider longitudinal and lateral docking error, and the mother machine uses ropes and winches to retrieve the submachine, making the structure more simplified. Attached Figure Description

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0025] Figure 1 A schematic diagram of the state before docking between the mother machine and the daughter machine, according to an embodiment of the present invention;

[0026] Figure 2 A schematic diagram illustrating the completion of the docking between a mother machine and a daughter machine, according to one embodiment of the present invention;

[0027] Figure 3A schematic diagram showing the locking of the slave unit and the gradual retraction of the recovery rope in one embodiment of the present invention;

[0028] Figure 4 A schematic diagram illustrating the process of the mother machine retrieving the submachine after it has been folded, according to one embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the locking buckle at the end of the impact rod on the upper part of the submachine body provided by the present invention.

[0030] Figure 6 This is a schematic diagram of the fixing buckle after the telescopic mechanism provided by the present invention has been extended. Detailed Implementation

[0031] The reference numerals in the accompanying drawings of this invention are as follows: mother machine 1, telescopic mechanism 2, outward extension rod 3, recovery rope 4, daughter machine 5, mother machine body 6, mother machine hatch 7, first docking and impact rod 8, second docking and impact rod 9, latch 10, latch 10 is composed of movable opening 10a and latch spring 10b, outward extension rod pulley 11, fixed buckle 12, fixed buckle is composed of buckle 12a and roller 12b.

[0032] This invention provides an aerial recovery device for unmanned aerial vehicles (UAVs), which includes a mother aircraft recovery mechanism comprising: a mother aircraft 1, a recovery support frame, a recovery rope 4, and a daughter aircraft 5.

[0033] The mother aircraft 1 is a transport aircraft or bomber used to drop and recover the daughter aircraft 5. There are two hatches 7 on the lower part of the mother aircraft fuselage 6. After the hatches 7 are opened, the recovery support can extend out of the hatches 7.

[0034] The recovery support includes a telescopic mechanism 2, which has high strength and is divided into two branches. Each branch consists of two or more segments. The segments extend or retract by hydraulic or electric means. The two branches extend out of the machine in a figure-eight shape to provide sufficient docking space for the submachine.

[0035] Each segment of the telescopic mechanism 2 has a retaining buckle 12 for the retraction rope 4, such as... Figure 6 As shown. The recovery rope 4 is fixedly constrained to the telescopic mechanism 2 before being retrieved by the submachine 5. The fixing buckles 12 are located at the ends of each segment of the telescopic mechanism 2, and consist of buckles 12a and rollers 12b, ensuring that the recovery rope 4 can extend freely while being fixed to the telescopic mechanism 2. When the telescopic mechanism 2 is in the retracted state, the fixing buckles at the ends of each segment are arranged adjacently, and each segment is in a partially retracted state.

[0036] The recovery bracket includes an extension rod 3, which is located at the end of the telescopic mechanism 2. An extension rod pulley 11 and an extension rod fixing buckle 12 are installed on the extension rod 3 to fix the recovery rope 4 at the end of the extension rod 3 and ensure that the recovery rope 4 can extend freely.

[0037] The retrieval rope 4 is made of a high-modulus material, including but not limited to Kevlar. Kevlar is preferred because it can withstand the impact of a drone while also possessing the flexibility to stretch freely. The retrieval rope is extended and retracted by a retrieval rope control motor. A pressure sensor is installed on the retrieval rope control motor.

[0038] The sub-machine 5 has a low-wing configuration, with two docking and striking rods on the upper part of the fuselage that can be raised and lowered, and are locked in place. The docking and striking rods include a first docking and striking rod 8 and a second docking and striking rod 9, which are each controlled by an independent motor to be raised or lowered. Each docking and striking rod has a locking buckle 10 at its end, which can be engaged with the recovery rope, such as... Figure 5 As shown. When the latch 10 is not subjected to external force, the movable opening 10a is in a closed state. When the latch 10 is subjected to upward pressure from the bottom by the retraction rope 4, the latch spring 10b controls the movable opening 10a to contract inward, forming a movable opening. The retraction rope slides into the latch, the movable opening 10a returns to the closed state, and the retraction rope and the latch are successfully fastened.

[0039] The slave unit 5 is equipped with a visual recognition device to identify the mother unit's extension rod 3 and recovery rope 4, which facilitates the docking and recovery of the slave unit 5 with the mother unit 1.

[0040] Example 1:

[0041] See Figures 1 to 6 This implementation method describes a method for recovering unmanned aerial vehicles (UAVs) in mid-air, including the following steps:

[0042] Step 1: Initially, the recovery bracket of the mother machine 1, carrying the recovery rope, gradually extends. The telescopic structure 2, carrying the recovery rope 4, is in the extended state. The outward extension rod 3 at the end of the recovery bracket, carrying the recovery rope 4, unfolds outward, and the mother machine 1 enters the recovery operation state. Figure 1 As shown.

[0043] Step 2: The speed of the slave aircraft 5 is adjusted to be similar to that of the mother aircraft 1, and it flies stably behind the mother aircraft 1. The visual recognition system on the slave aircraft 5 identifies the telescopic mechanism 2 and the recovery rope 4 on the mother aircraft 1, and adjusts itself to the flight path behind the recovery rope 4.

[0044] Step 3: Submachine 5 raises the first docking rod 8 and the second docking rod 9 (e.g.) Figure 1As shown), the latch 10 at the end of the impact bar is in a free and closed state. Adjust the flight attitude of the submachine 5 so that it slowly increases its flight speed, causing the two impact bars to approach the recovery rope 4 in the same direction. That is, the line formed between the latches 10 at the ends of the two impact bars is close to or completely parallel to the recovery rope 4 between the ends of the extension bar 3. When the latch 10 is subjected to the upward pressure applied by the recovery rope 4, the latch spring 10b controls the movable opening 10a to contract inward, forming a movable opening. The recovery rope 4 slides into the latch 10, and the movable opening 10a returns to the closed state. The recovery rope and the latch are successfully engaged (as shown). Figure 5 (As shown). When the retrieval rope at the end of the extended rod slides into the locking buckle at the end of the docking rod of the slave unit 5, the slave unit 5 automatically adjusts its relative position to the mother unit 1. The sensor output signal at the retrieval rope motor of the mother unit 1 increases instantaneously, that is, the mother unit senses an instantaneous increase in the tension on the retrieval rope 4, retracts the retrieval bracket, and puts the retrieval rope 4 in a free-extending state, reducing the tension on the docking rod of the slave unit 5 (such as...). Figure 2 (As shown), this facilitates the insertion and locking of the impact rod into the groove on the body of the submachine 5.

[0045] Step 4: The first docking rod motor controls the first docking rod 8 to fold forward towards the sub-machine 5, and the second docking rod motor controls the second docking rod 9 to fold backward towards the sub-machine 5, retracting it into the groove above the sub-machine 5 and locking it in place. Figure 3 As shown.

[0046] Step 5: The connection points between the recovery rope 4 and the daughter aircraft 5 can be considered as two hoisting points. At this time, the mother aircraft 1 rewinds the recovery rope 4, and the daughter aircraft 5 actively folds its wings back under the fuselage to reduce lift. Figure 4 As shown. The submachine 5 is pulled into the mother machine 1 along with the recovery rope 4, and the hatch is closed to complete the recovery.

[0047] The design of this drone aerial recovery solution reduces the docking accuracy requirements for drone recovery, and features a simple structure, light weight, and ease of maintenance.

[0048] This invention provides a concept and method for aerial recovery of unmanned aerial vehicles (UAVs). Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. An aerial recovery device for unmanned aerial vehicles (UAVs), characterized in that, Includes a mother machine (1), a recovery bracket, a recovery rope (4), and a daughter machine (5); The recovery support is movably installed inside the body (6) of the mother machine; The recycling rope (4) is connected to the recycling bracket; The submachine (5) can be retrieved into the mother machine (1) after being connected to the recovery rope (4); The recovery support includes a telescopic mechanism (2), which is divided into two branches. Each branch consists of two or more segments. The segments extend or retract by hydraulic or electric means. The two branches extend out of the machine in a figure-eight shape. Each segment of the telescopic mechanism (2) has a fixing buckle (12) for the recovery rope (4), so that the recovery rope (4) is fixedly constrained to the telescopic mechanism (2) before the submachine (5) recovers it. The fixing buckle is located at the end of each segment of the telescopic mechanism and consists of a buckle and a roller, ensuring that the recovery rope can extend freely while being fixed to the telescopic mechanism. The recovery bracket includes an extension rod (3), which is located at the end of the telescopic mechanism (2). An extension rod pulley (11) and a fixing buckle (12) are installed on the extension rod (3) to fix the recovery rope (4) at the end of the extension rod (3) and ensure that the recovery rope (4) can extend freely. When the machine (1) senses the instantaneous increase in tension on the recovery rope (4), it retracts the recovery bracket, so that the recovery rope (4) is in a free extension state. A vision recognition system is installed on the submachine (5) to identify the extension rod (3) and the recovery rope (4) of the mother machine (1), so as to facilitate the docking and recovery of the submachine (5) with the mother machine (1).

2. The apparatus according to claim 1, characterized in that, A hatch (7) is opened at the lower part of the mother machine fuselage (6). After the hatch (7) is opened, the recovery support can extend out of the hatch (7).

3. The apparatus according to claim 1, characterized in that, The recovery rope (4) is made of a high modulus material, which is Kevlar, capable of withstanding the impact of a drone while also being flexible enough to stretch freely.

4. The apparatus according to claim 1, characterized in that, The submachine (5) has two docking rods on its upper part that can be raised and lowered, and the ends of the docking rods have buckles that can be fastened to the recovery rope.

5. A method for aerial recovery of a drone using the apparatus of claim 1, characterized in that, The recycling method includes the following steps: Step 1: After the recovery bracket of the mother machine (1) extends with the recovery rope (4), the mother machine (1) enters the recovery operation state; Step 2: The visual recognition system on the submachine (5) identifies the telescopic mechanism (2) and the recovery rope (4) on the mother machine (1) and adjusts itself to the route behind the recovery rope (4); Step 3: The submachine (5) raises the first docking rod (8) and the second docking rod (9) and brings the first docking rod (8) and the second docking rod (9) close to the recovery rope (4) in the same direction. When the recovery rope at the fixed buckle at the end of the extension rod slides into the locking buckle at the end of the docking rod of the submachine (5), the mother machine (1) feels the instantaneous increase in the tension on the recovery rope (4), retracts the recovery bracket, and puts the recovery rope (4) in a free extension state. Step 4: Fold the first impact rod (8) forward toward the submachine (5), and fold the second impact rod (9) backward toward the submachine (5), retracting it into the groove above the submachine (5) and locking it. Step 5: The mother aircraft (1) rewinds the recovery rope (4), the daughter aircraft (5) folds its wings back under the fuselage, and the daughter aircraft (5) is pulled into the mother aircraft (1) along with the recovery rope (4), and the hatch is closed to complete the recovery.

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