Airbag horn flexible unmanned aerial vehicle recovery device and method

Abstract

This invention relates to a flexible UAV recovery device and method with an airbag-shaped horn-shaped opening, comprising a crane, a guide rail assembly, a multi-dimensional attitude adjustment device, an airbag-shaped horn-shaped opening, an electromagnetic rope coupling arresting device, and an integrated information management platform. The integrated information management platform receives and processes UAV data and flight status information during the recovery phase and issues commands to the device. An airbag ring is provided on the inner surface of the airbag-shaped horn-shaped opening, which, together with the electromagnetic rope coupling arresting device, ensures the UAV can safely decelerate and be recovered along the track. The multi-dimensional attitude adjustment device includes an articulated robotic arm and a horn-shaped opening connector for adjusting the attitude of the airbag-shaped horn-shaped opening. The guide rail assembly can retract in a "Z" shape, reducing the size of the device. This invention solves the safety problems caused by different flight attitudes and the inability to accurately recover UAVs during recovery, improving the accuracy, flexibility, and safety of UAV recovery, while reducing the footprint and saving space.

Description

Technical Field

[0001] This invention relates to the field of drone recovery technology, and in particular to a flexible drone recovery device and method with an airbag-shaped nozzle. Background Technology

[0002] In recent years, drones have been increasingly widely used, playing a vital role in both civilian and military fields. However, efficient and accurate recovery remains a key technology limiting their further adoption. Traditional drone recovery methods include runway recovery, parachute recovery, and net recovery. The first two methods lack precision and are prone to damaging the drones. The latter, due to the limited area of ​​the net, struggles to ensure accurate landing in adverse weather conditions, potentially leading to collisions with shipboard facilities. While the mature "skyhook recovery" technology is compact, the forceful pull of the arresting rope on the shipborne drone can cause uneven stress and excessive structural damage. Therefore, developing a highly efficient recovery device that ensures drone safety while improving accuracy and flexibility has become a major factor influencing drone development. Summary of the Invention

[0003] In view of this, it is necessary to provide a trumpet-shaped flexible airbag drone recovery device to solve the technical problems in the prior art.

[0004] This invention provides a flexible UAV recovery device with an airbag-shaped funnel-shaped nozzle. The device includes a crane, a guide rail assembly, a multi-dimensional attitude adjustment device, an airbag-shaped funnel, an electromagnetic rope coupling arresting device, and a comprehensive information management platform. The guide rail assembly includes a foldable guide rail and a slider. The foldable guide rail is mounted on the boom of the crane. The slider is slidably mounted on the foldable guide rail. The multi-dimensional attitude adjustment device is mounted on the bottom of the slider. The airbag-shaped funnel is mounted on the bottom of the multi-dimensional attitude adjustment device. The multi-dimensional attitude adjustment device is used to correct the attitude of the airbag-shaped funnel to match the UAV recovery flight path. The inner surface of the airbag-shaped funnel is covered with multiple airbag rings of different diameters made of flexible material to ensure that the UAV recovers safely after impacting the airbag-shaped funnel. It can safely buffer and decelerate; the electromagnetic rope coupling arresting device includes a rope arresting device and an electromagnetic arresting device, both of which are installed on the foldable guide rail and connected to the slider; the electromagnetic rope coupling arresting device is used to assist in blocking the slider's sliding; the integrated information management platform includes a data processing system and an equipment control system with communication connection; the data processing system is used to receive and process the UAV model and the UAV's flight status and route information data when the UAV begins recovery, and simultaneously transmits the processed data to the equipment control system; the equipment control system is electrically connected to the multi-dimensional attitude adjustment device and the electromagnetic arresting device, and controls the operation of the multi-dimensional attitude adjustment device and the electromagnetic arresting device according to the received information.

[0005] Optionally, the foldable guide rail includes three guide rail sections, a hinged connector, a fixing device, a first motor, and a second motor. The middle guide rail section is fixedly mounted on the boom of the crane, and the front and rear guide rails are rotatably mounted on the front and rear ends of the middle guide rail, respectively. Each pair of guide rail sections is connected on one side by the hinged connector, and the other side is provided with the fixing device. The hinged connector is driven to rotate by the first motor, thereby rotating the guide rail. The fixing device includes a protrusion on one side of the guide rail and a slot on the adjacent guide rail. The protrusion extends into the corresponding slot when the guide rail rotates into a straight line. The protrusion is retractable and extendable. The second motor connects to the protrusion and drives its movement. The fixing device is used to securely connect two adjacent guide rails. Every few guide rail sections, the positions of the hinged connector and the fixing device are interchanged. The connection method, the fixing device, and the hinged connector are used together for the "Z"-shaped retraction and unfolding of the track.

[0006] Optionally, when the foldable track retracts, the protrusion of the fixing device retracts, the first motor starts, driving the hinge connector to rotate, thereby driving the front guide rail and the rear guide rail to rotate clockwise, starting a "Z"-shaped retraction until the three guide rail sections are in contact, and the first motor shuts off; when the foldable track unfolds, the first motor starts, driving the hinge connector to rotate, thereby driving the front guide rail and the rear guide rail to rotate counterclockwise until the three guide rail sections are in a straight line, the second motor starts, the protrusion extends, and the protrusion on one side of the guide rail is engaged into the corresponding slot on the other side. At this time, the first motor shuts off, the guide rail is fixed, and the unfolding is completed.

[0007] Optionally, the foldable guide rail is divided into three parts according to its total length: an initial impact area, a middle buffer area, and a rear electromagnetic deceleration area, located at the first 15% of the length, the first 15% to the first 80% of the length, and the last 20% of the length, respectively. The sidewalls of the foldable guide rail are provided with multiple spaced openings. The diameters of the openings in the rear electromagnetic deceleration area, the initial impact area, and the middle position are smaller than the diameters of the openings in the remaining positions, in order to meet the strength requirements of the guide rail while maximizing its lightweight nature. Speed ​​detectors are installed at the front end of the initial impact area and in the rear electromagnetic deceleration area to monitor the initial velocity of the slider during impact. A photoelectric sensor is installed in the middle position of the foldable guide rail to monitor whether the slider has reached the middle area. Both the speed detectors and the photoelectric sensor are communicatively connected to the integrated information management platform.

[0008] Optionally, the upper back of the slider is provided with a C-shaped protruding limiting rod. The limiting rod has a metal rod inside, a polyurethane rubber rod outside, and is wrapped with deformable rubber and plastic cotton on the outermost layer. The end of the foldable guide rail is provided with an arc groove. The diameter of the arc groove is smaller than the diameter of the polyurethane rubber rod. The arc groove and the limiting rod are on the same horizontal plane. After the slider collides with the end of the foldable guide rail, the rubber and plastic cotton is squeezed and deformed due to the kinetic energy of the slider, and the limiting rod is locked into the arc groove at the end of the rail. The blocking part at the front end of the arc groove can be automatically retracted to allow the limiting rod to exit the arc groove.

[0009] Optionally, the foldable guide rail is made of high-strength low-alloy steel (HLSA), which reduces weight while increasing the rigidity of the guide rail. At the same time, the end of the guide rail is designed with a large thickness to further increase the rigidity of the end of the guide rail, so as to better bear the impact of the slider.

[0010] Optionally, the multi-dimensional posture adjustment device includes a jointed robotic arm and a horn-shaped connector; the jointed robotic arm includes a base, a rotating seat, a first joint, and a second joint, the base being located at the bottom of the slider; the rotating seat being rotatably mounted on the bottom of the base; the upper end of the first joint being rotatably mounted on the bottom of the rotating seat; the upper end of the second joint being rotatably mounted on the lower end of the first joint; the horn-shaped connector being fixedly connected to the lower end of the second joint, and the airbag horn being mounted on the horn-shaped connector.

[0011] Optionally, the articulated robotic arm further includes a first drive device, a second drive device, and a third drive device. The first drive device is mounted on the rotating base and is used to drive the rotating base to rotate. The second drive device is mounted on the first joint and is used to drive the first joint to move. The third drive device is mounted on the second joint and is used to drive the second joint to move.

[0012] Optionally, the horn-shaped connector includes two vertical rods and one horizontal rod, two rotating devices, two angle sensors, and an arc-shaped slide rail; the horizontal rod is fixedly connected to the bottom of the second joint, and the two vertical rods are respectively connected to both ends of the horizontal rod; the two rotating devices are respectively installed at the bottom of the two vertical rods, and the rotating devices are connected to both sides of the airbag horn, for driving and adjusting the pitch angle of the airbag horn; the two angle sensors are respectively installed on the left and right rotating devices; the angle sensors are electrically connected to the data processing system; the angle sensors are used to measure the pitch angle of the airbag horn; the arc-shaped slide rail is located at the lower part of the horizontal rod and is fixedly connected between the two vertical rods; anti-detachment guardrails are provided on both the front and rear sides of the arc-shaped slide rail; the anti-detachment guardrails are vertically fixedly connected to the front and rear sides of the arc-shaped slide rail. The anti-detachment guardrails are used to restrict the airbag horn from sliding out of the slide rail.

[0013] Optionally, the airbag horn includes a horn and a horn fixing bracket; the two sides of the horn fixing bracket are respectively installed on the two rotating devices, and the horn fixing bracket is fixedly installed on the upper surface of the horn; the airbag ring is laid on the entire inner surface of the horn and has wavy undulations to prevent the drone from slipping off the horn; the horn fixing bracket includes three straight rods protruding from the upper surface of the horn, which abut against the arc-shaped slide rail to improve the stability of the attitude when adjusting the pitch angle of the horn.

[0014] Optionally, the airbag horn-shaped opening has a high-precision positioning device; the high-precision positioning device includes four high-precision lidar detectors installed at four positions (up, down, left, and right) on the outer side of the front end of the horn, and a GPS positioning device installed at the center of the back of the horn; both the high-precision lidar detectors and the GPS positioning device are communicatively connected to the integrated information management platform; the high-precision lidar detectors are used to acquire the dynamic relative position of the UAV with respect to the horn during UAV recovery, and the position information includes the speed of the UAV relative to the horn, the relative height, distance, and relative tilt angle of the horn, and simultaneously transmit the data to the data receiving and processing system; the GPS positioning device is used for the horn to determine its own altitude and horizontal position, and transmits the data to the data receiving and processing system in real time.

[0015] Optionally, the electromagnetic blocking device includes an electromagnet located at a slightly recessed position at the end of the foldable guide rail, an electromagnetic damping coil on the back of the slider, and an electromagnetic control system; the electromagnetic control system is electrically connected to the electromagnet and is used to control the magnetic strength of the electromagnet; the rope blocking device includes a pulley, a rope, an energy absorber, and a winch; the pulley is located on the outer extension of the head of the foldable guide rail and is fixed in the middle position by a fixed shaft; the winch is fixed to the upper part of the front end of the foldable guide rail, and the energy absorber is located on the winch; the rope passes over the pulley and is connected to the winch and the slider respectively; the rope blocking device assists in deceleration throughout the sliding of the slider; the electromagnetic blocking device begins to assist in deceleration when the slider slides to the tail electromagnetic deceleration area, and the electromagnet is de-energized when the slider collides with the end of the foldable guide rail.

[0016] In addition, the present invention also discloses a method for adjusting the attitude of the airbag horn, which is used in the above-mentioned flexible UAV recovery device with airbag horn. The entire process includes, in order of adjustment, the following steps: adjusting the dynamic horizontal parameters of the airbag horn and adjusting the dynamic pitch angle and dynamic basic height parameters of the airbag horn.

[0017] The method for adjusting the dynamic horizontal parameters of the airbag horn is as follows: After receiving the signal that the UAV has started to recover, the integrated information management platform transmits the relevant position information of the horn to the UAV. The data processing system receives the relative altitude, horizontal distance, pitch angle and other information transmitted from the UAV. Based on the relative altitude, horizontal distance and pitch angle information transmitted from the UAV and the data from the high-precision positioning device received by the data processing system, the equipment control system issues a command to the rotating seat. The relative positions of the first joint and the second joint remain unchanged, the rotating seat rotates, and the multi-dimensional attitude adjustment device and the airbag horn start to rotate at a certain angle and then stop. The horn is adjusted in the horizontal direction. During the entire adjustment process, the data processing system dynamically monitors and analyzes the data and dynamically adjusts the parameters at all times.

[0018] The data is based on the following analysis results:

[0019]

[0020]

[0021] in--

[0022] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0023] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0024] y1: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0025] y2: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0026] ψ: The azimuth angle of the drone, with the rightward deviation of the drone's nose as positive;

[0027] : The angular velocity of the drone adjusting its horizontal orientation;

[0028] The method for adjusting the dynamic pitch angle and dynamic basic height parameters of the airbag horn is as follows: After receiving the signal that the UAV has started to recover, the integrated information management platform, based on the relative altitude, horizontal distance, pitch angle information transmitted by the UAV and the data from the high-precision positioning device received by the data processing system, issues a command to the rotating device. The rotating device rotates, causing the horn to rotate upward or downward by a certain angle, thereby adjusting the pitch angle of the horn in the vertical direction. During the rotation, the horn fixing bracket rotates correspondingly on the arc-shaped slide to assist the coordinated movement of the horn. The rotating seat remains stationary, and the first joint begins to rotate forward or backward by a certain angle. During this process, the second joint does not rotate, thereby raising or lowering the entire horn by a certain height. If the first joint rotates to the critical angle but still does not raise or lower the specified height, then the first joint stops rotating, and the second joint begins to rotate forward or backward by a certain angle, thereby raising or lowering the horn by a certain height again, until the entire horn reaches the specified height. Throughout the adjustment process, the data processing system dynamically monitors and analyzes the data, and the adjustment parameters change dynamically at all times.

[0029] The data is based on the following analysis results:

[0030]

[0031]

[0032] Δh = z2 - z1 + (x2 - x1)tanθ;

[0033] in--

[0034] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0035] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0036] Z1: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0037] Z2: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0038] ω: Angular velocity used to adjust the drone's pitch angle;

[0039] θ: The pitch angle of the drone at this moment, with the drone pointing upwards as positive.

[0040] Optionally, the first joint has a rotation range of -45° to 45°.

[0041] Optionally, the second joint has a rotation range of -7° to 7°.

[0042] Optionally, the vertical pitch angle adjustment range of the horn opening is -30° to 30°.

[0043] The present invention also provides a method for recovering a flexible unmanned aerial vehicle with a flared airbag, which is used in the above-mentioned flexible unmanned aerial vehicle recovery device with a flared airbag. The entire process includes, in sequence: a preparation process before recovery, a flexible recovery process of the unmanned aerial vehicle, and a slider reset process.

[0044] The pre-recovery preparation process is as follows: the crane moves to the designated position, the first motor turns on, driving the hinge connector to rotate, causing the foldable guide rail to unfold and be fixed; the slider is located at the initial position of the foldable guide rail and locked; the UAV sends a recovery signal and begins transmitting relevant information to the data processing system; when the UAV is within a set critical distance L1 from the horn opening, the UAV recovery flight path is calculated; when the UAV is within a set critical distance L2 from the horn opening, the equipment control system issues a command to the multi-dimensional attitude adjustment device, which adjusts the attitude of the horn opening until it is in contact with the UAV. The recovery route is matched. During this process, the high-precision positioning device dynamically monitors the changes in the UAV's flight status at all times, thereby continuously correcting the instructions of the multi-dimensional attitude adjustment device to achieve precise matching. When the UAV is within a set critical distance L3 from the horn, the high-precision positioning device located on the horn detects whether the horn has been adjusted to the correct attitude. If the attitude is correct, the height difference, tilt angle difference, and horizontal angle difference between the horn and the UAV are all within the convergence range. Then, a normal recovery signal is issued to the UAV, and recovery continues. If the adjustment is still not correct at this time, a recovery refusal signal is issued to the UAV, and the UAV immediately changes direction to avoid colliding with the device and is recovered again.

[0045] The method for determining the convergence value of the height difference between the horn-shaped opening and the UAV is as follows:

[0046]

[0047] in--

[0048] R: The radius of the outermost circumference of the bell mouth;

[0049] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0050] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0051] θ1: The pitch angle of the bell mouth at this time, with the upward tilt as positive;

[0052] θ2: The pitch angle of the drone at this moment, with the nose pointing upwards as positive;

[0053] The method for determining the convergence value of the angle difference between the horn-shaped opening and the UAV (Δθ) and the convergence value of the horizontal angle difference (Δψ) is as follows:

[0054]

[0055]

[0056] in--

[0057] R: The radius of the outermost circumference of the bell mouth;

[0058] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0059] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0060] The flexible recovery process of the drone is as follows: The drone collides with the airbag ring on the inner surface of the horn-shaped opening, causing the airbag horn, the multi-dimensional attitude adjustment device, the slider, and the rope to slide along the foldable guide rail. At the initial moment of impact, the velocimeter at the front end of the foldable guide rail measures the initial velocity of the drone after colliding with the horn and transmits the data to the data processing system. Combined with the drone model information transmitted before the collision, the electromagnetic resistance levels S1, S2, and S3 of the electromagnetic arresting device are matched. The electromagnetic resistance level is determined by the kinetic energy of the entire device when the drone initially collides with the horn. When the slider passes the middle position of the foldable guide rail, the photoelectric sensor detects this, and the electromagnetic control system immediately energizes the electromagnet at the end of the track, with the current corresponding to the matched electromagnetic resistance level. The slider continues to slide forward and decelerates significantly under the action of electromagnetic resistance. The speed sensor at the end of the foldable guide rail continuously monitors the speed of the slider. When the slider reaches the tail electromagnetic deceleration area and its speed is lower than the threshold v1, the electromagnet continues to be energized normally, and the slider stops normally or hits the end of the foldable guide rail at a lower speed. If the slider reaches the tail electromagnetic deceleration area and its speed is higher than the threshold v1, the electromagnet current is increased to increase the resistance until the drone's speed decreases to the threshold v1. The slider then hits the end of the foldable guide rail, and the slider's limiting rod is locked into the arc-shaped groove, preventing the slider from rebounding. When the slider stops on the foldable guide rail or hits the end of the foldable guide rail, the electromagnet is de-energized. At this time, the slider is stationary on the surface of the foldable guide rail, and the multi-dimensional attitude adjustment device begins to adjust the horn opening to the lowest position. The staff then safely removes the drone from the horn opening along the steps, thus safely recovering the drone.

[0061] The method for determining the threshold velocity v1 is as follows:

[0062]

[0063]

[0064] in--

[0065] m T Total weight of the horn, slider, robotic arm, and connectors;

[0066] V: The velocity of the slider at the end of the collision track;

[0067] L': 15% length after the track;

[0068] F 磁 : The magnitude of electromagnetic resistance at that moment;

[0069] F 绳 : The magnitude of the rope resistance at that moment;

[0070] μ: Coefficient of friction between the slider and the guide rail contact surface;

[0071] The slider reset process is as follows: After the UAV is recovered, the equipment management system issues a command, the front baffle of the arc-shaped groove automatically retracts, and at the same time, the winch of the rope blocking device rotates to start retrieving the rope. The rope is used to pull the slider, the multi-dimensional attitude adjustment device, and the airbag horn to their initial positions. The multi-dimensional attitude adjustment device adjusts the horn to its initial position and confirms it. At the same time, the equipment control system checks whether the switches, the slider position, and the airtightness of the airbag ring are normal. If there is a safety problem with the device, the recovery is stopped and feedback is sent to start manual inspection. If there is no problem, preparations are made for the next recovery.

[0072] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0073] This invention uses UAV data received from a comprehensive information management platform and flight status information during the recovery phase to perform multi-dimensional attitude adjustment of the horn-shaped nozzle, thereby matching it with the UAV recovery flight path. This solves the safety problems caused by different flight attitudes and inaccurate recovery during UAV recovery, and enables information interaction between the device and the UAV during recovery, thus greatly increasing the accuracy of recovery.

[0074] This invention improves the safety of the drone during recovery by using an electromagnetic rope coupling blocking device and a flexible airbag horn design, while also meeting the energy buffering requirements during drone recovery.

[0075] This invention reduces the footprint of the device and improves convenience and flexibility by using a foldable guide rail that retracts and unfolds in a "Z" shape.

[0076] This invention utilizes a comprehensive information management platform to make drone recycling intelligent and data-visualized, and adds data judgment on whether the drone can be recycled, thereby improving the safety of the drone and the device.

[0077] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail in the following embodiments and their accompanying drawings. Attached Figure Description

[0078] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0079] Figure 1 This is a system composition diagram of the flexible UAV recovery device with airbag horn-shaped nozzle in an embodiment of the present invention;

[0080] Figure 2 This is an overall schematic diagram of the flexible UAV recovery device with airbag horn-shaped opening in an embodiment of the present invention;

[0081] Figure 3 This is a schematic diagram of the foldable guide rail fixing device in an embodiment of the present invention;

[0082] Figure 4 This is a schematic diagram of the foldable guide rail hinge connector in an embodiment of the present invention;

[0083] Figure 5 This is a schematic diagram of the foldable guide rail telescopic mechanism in an embodiment of the present invention;

[0084] Figure 6 This is a schematic diagram of the slider in an embodiment of the present invention;

[0085] Figure 7 This is a schematic diagram of the end of the foldable guide rail in an embodiment of the present invention;

[0086] Figure 8 This is a schematic diagram of the multi-dimensional posture adjustment device and the horn mouth in an embodiment of the present invention;

[0087] Figure 9 This is a schematic diagram of a multi-dimensional attitude adjustment device in an embodiment of the present invention;

[0088] Figure 10 This is a schematic diagram of the airbag flare in an embodiment of the present invention;

[0089] Figure 11 This is a schematic diagram of the rope blocking device in an embodiment of the present invention;

[0090] Figure 12 A flowchart illustrating the pre-recovery device preparation process in this embodiment of the invention;

[0091] Figure 13 This is a flowchart of the flexible recovery process of the UAV in an embodiment of the present invention.

[0092] Explanation of reference numerals in the attached figures:

[0093] 1-Crane; 2-Guide rail assembly, 21-Foldable guide rail, 211-Front guide rail, 212-Middle guide rail, 213-Rear guide rail, 2131-Arc groove, 214-Hinge connector, 215-Fixing device, 2151-Protrusion, 2152-Slot, 22-Slider, 221-Limiting bar; 3-Multi-dimensional posture adjustment device, 31-Articulated robotic arm, 311-Base, 312-Rotating seat, 313-First joint, 31 4-Second joint, 32-Flare connector, 321-Vertical rod, 322-Horizontal rod, 323-Rotating device, 324-Arc-shaped slide; 4-Airbag flare, 41-Flare fixing frame, 42-Flare, 421-Airbag ring; 5-Electromagnetic rope coupling barrier device, 51-Rope barrier device, 511-Pulley, 512-Rope, 513-Wind, 52-Electromagnetic barrier device, 521-Electromagnet, 522-Electromagnetic damping coil. Detailed Implementation

[0094] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0095] like Figures 1 to 2As shown, this embodiment provides a flexible UAV recovery device with an airbag-shaped funnel opening, including a crane 1, a guide rail assembly 2, a multi-dimensional attitude adjustment device 3, an airbag-shaped funnel opening 4, an electromagnetic rope coupling arresting device 5, and an integrated information management platform. The crane 1 includes a rotatable base, a telescopic arm, and a power unit, which supports the UAV recovery device and provides power to the entire device. The guide rail assembly 2 includes a foldable guide rail 21 and a slider 22. The foldable guide rail 21 is mounted on the telescopic arm. The slider 22 is slidably mounted on the foldable guide rail 21. The multi-dimensional attitude adjustment device 3 is mounted at the bottom of the slider 22. The airbag-shaped funnel opening 4 is mounted at the bottom of the multi-dimensional attitude adjustment device 3. The multi-dimensional attitude adjustment device 3 is used to correct the attitude of the airbag-shaped funnel opening 4 to match the UAV recovery flight path. The inner surface of the airbag-shaped funnel opening 4 is covered with multiple flexible materials of different shapes. The airbag ring 421 of a certain diameter is used to ensure that the UAV can safely buffer and decelerate after colliding with the airbag horn 4; the electromagnetic rope coupling arresting device 5 includes a rope arresting device 51 and an electromagnetic arresting device 52, both of which are mounted on the foldable guide rail 21 and connected to the slider 22; the electromagnetic rope coupling arresting device 5 is used to assist in hindering the sliding of the slider 22; the integrated information management platform includes a data processing system and an equipment control system with communication connection; the data processing system is used to receive and process the UAV model and the flight status and route information data when the UAV begins to recover, and transmits the processed data to the equipment control system; the equipment control system is electrically connected to the multi-dimensional attitude adjustment device 3 and the electromagnetic arresting device, and controls the operation of the multi-dimensional attitude adjustment device 3 and the electromagnetic arresting device 52 according to the received information.

[0096] Optionally, such as Figures 3 to 5As shown, the foldable guide rail 21 includes three guide rail sections, a hinge connector 214, a fixing device 215, a first motor, and a second motor. The middle guide rail section is fixedly mounted on the boom of the crane 1, and the front and rear guide rails are rotatably mounted on the front and rear ends of the middle guide rail, respectively. Each pair of guide rail sections is connected on one side by the hinge connector 214, and the fixing device 215 is provided on the other side. The hinge connector 214 is driven to rotate by the first motor to drive the guide rail to rotate. The fixing device 215 includes a protrusion 21 on one side of the guide rail. 51 and the slot 2152 of the guide rail on the adjacent side; the protrusion 2151 extends into the corresponding slot 2152 when the guide rail rotates into a straight line; the protrusion 2151 can retract and extend; the second motor is connected to the protrusion 2151 and drives the protrusion 2151 to move; the fixing device 215 is used to fasten two adjacent guide rails; every section of guide rail, the position of the hinge connector 214 and the fixing device 215 are interchanged; the connection method, the fixing device 215, and the hinge connector 214 are used together for the "Z"-shaped retraction and unfolding of the track.

[0097] Specifically, the three guide rails are a front guide rail 211, a middle guide rail 212, and a rear guide rail 213; each pair of guide rails is connected on one side by the hinge connector 214, and the other side is provided with the fixing device 215.

[0098] Furthermore, when the foldable guide rail 21 retracts, the protrusion 2151 of the fixing device 215 retracts, the first motor starts, driving the hinge connector 214 to rotate, thereby driving the front guide rail 211 and the rear guide rail 213 to rotate clockwise, starting a "Z"-shaped retraction until the three guide rail sections are in contact, and the first motor shuts off; when the foldable guide rail 21 unfolds, the first motor starts, driving the hinge connector 214 to rotate, thereby driving the front guide rail 211 and the rear guide rail 213 to rotate counterclockwise until the three guide rail sections are in a straight line, the second motor starts, the protrusion 2151 extends, and the protrusion 2151 on one side of the guide rail is inserted into the corresponding slot 2152 on the other side. At this time, the first motor shuts off, the guide rail is fixed, and the unfolding is completed.

[0099] Optionally, the foldable guide rail 21 is divided into three parts according to its total length: an initial impact area, a middle buffer area, and a rear electromagnetic deceleration area, located at the first 15% of the length, the first 15% to the first 80% of the length, and the last 20% of the length, respectively. The sidewall of the foldable guide rail is provided with multiple spaced openings. The apertures of the rear electromagnetic deceleration area, the initial impact area, and the middle position of the foldable guide rail 201 are smaller than the apertures of the remaining positions, in order to meet the strength requirements of the guide rail while maximizing its lightweight nature. A speed sensor is provided at the front end of the initial impact area and the rear electromagnetic deceleration area to monitor the initial velocity of the slider 22 during impact. A photoelectric sensor is provided at the middle position of the foldable guide rail to monitor whether the slider 22 has reached the middle area. Both the speed sensor and the photoelectric sensor are communicatively connected to the integrated information management platform.

[0100] Specifically, such as Figure 6 As shown, the upper back of the slider 22 is provided with a C-shaped protruding limiting rod 221. The limiting rod 221 has a metal rod inside, a polyurethane rubber rod outside, and a deformable rubber-plastic cotton outermost layer. The rear guide rail 213 has an arc groove 2131 at its end. The diameter of the arc groove 2131 is smaller than the diameter of the polyurethane rubber rod. The arc groove 2131 and the limiting rod 221 are on the same horizontal plane. After the slider 22 collides with the end of the rail, the rubber-plastic cotton is squeezed and deformed due to the kinetic energy of the slider 22, and the limiting rod 221 is inserted into the arc groove 2131 to lock its position. The blocking part at the front end of the arc groove 2131 can be automatically retracted to allow the limiting rod 221 to exit the arc groove 2131.

[0101] Optionally, the end of the foldable guide rail 21 is also provided with a collision sensor, which is connected to the device control system.

[0102] Optionally, the foldable guide rail 21 is made of high-strength low-alloy steel (HLSA), which reduces weight while increasing the rigidity of the guide rail. At the same time, the end of the guide rail is designed with a large thickness to further increase the rigidity of the end of the guide rail, so as to better bear the impact of the slider 22.

[0103] like Figure 8 and 9As shown, the multi-dimensional posture adjustment device 3 includes a jointed robotic arm 31 and a horn-shaped connector 32; the jointed robotic arm 31 includes a base 311, a rotating seat 312, a first joint 313, and a second joint 314. The base 311 is located at the bottom of the slider 22; the rotating seat 312 is rotatably mounted on the bottom of the base 311; the upper end of the first joint 313 is rotatably mounted on the bottom of the rotating seat 312; the upper end of the second joint 314 is rotatably mounted on the lower end of the first joint 313; the horn-shaped connector 32 is fixedly connected to the lower end of the second joint 314, and the airbag horn 3 is mounted on the horn-shaped connector 32.

[0104] The articulated robotic arm 31 further includes a first driving device, a second driving device, and a third driving device. The first driving device is mounted on the rotating seat 312 and is used to drive the rotating seat 312 to rotate. The second driving device is mounted on the first joint 313 and is used to drive the first joint 313 to move. The third driving device is mounted on the second joint 314 and is used to drive the second joint 314 to move.

[0105] Optionally, the horn-shaped connector 32 includes two vertical rods 321 and one horizontal rod 322, two rotating devices 323, two angle sensors, and an arc-shaped slide rail 324; the horizontal rod 322 is fixedly connected to the bottom of the second joint 314, and the two vertical rods 321 are respectively connected to both ends of the horizontal rod 322, forming a "Π" structure; the two rotating devices 323 are respectively installed at the bottom of the two vertical rods 321, and the rotating devices 323 are connected to both sides of the airbag horn 4 for driving and adjusting the airbag horn 4. Pitch angle; two angle sensors are respectively installed on the left and right rotating devices 323; the angle sensors are electrically connected to the data processing system; the angle sensors are used to measure the pitch angle of the airbag horn 4; the arc-shaped slide 324 is located at the lower part of the crossbar 322; the front and rear sides of the arc-shaped slide 324 are provided with anti-detachment guardrails to restrict the airbag horn 4 from sliding out of the arc-shaped slide 324; the anti-detachment guardrails are vertically fixedly connected to the front and rear sides of the arc-shaped slide 324.

[0106] Optionally, such as Figure 10 As shown, the airbag horn 4 includes a horn 42 and a horn fixing bracket 41; the two sides of the horn fixing bracket 41 are respectively installed on the two rotating devices 323, and the horn fixing bracket 41 is fixedly installed on the upper surface of the horn 42; the airbag ring 421 is laid on the entire inner surface of the horn 42 and has a wave-like undulation to prevent the drone from slipping off the horn 42; the horn fixing bracket 41 includes three straight rods protruding from the upper surface of the horn 42, which abut against the arc-shaped slide rail 324 to improve the stability of the attitude when the pitch angle of the horn 42 is adjusted.

[0107] Optionally, the material selected for the horn 42 is low-strength alloy steel (HLSA), which reduces weight while increasing the rigidity of the horn 42. Combined with the flexible airbag ring 421 on the inner surface of the horn, it not only meets the rigidity requirements of the horn 42, but also provides a flexible airbag deceleration environment for the UAV, ensuring the safety of the UAV.

[0108] Optionally, the front of the horn-shaped opening 42 is equipped with a high-precision positioning device. The high-precision positioning device includes four high-precision lidar detectors installed at four positions (up, down, left, and right) on the outer front of the horn-shaped opening 42, and a GPS positioning device installed at the center of the back of the horn-shaped opening 42. Both the high-precision lidar detectors and the GPS positioning device are communicatively connected to the integrated information management platform. The high-precision lidar detectors are used to acquire the dynamic relative position of the UAV with respect to the horn-shaped opening 42 during UAV recovery. The position information includes the speed of the UAV relative to the horn-shaped opening 42, its relative height, distance, and relative tilt angle with respect to the horn-shaped opening 42, and simultaneously transmits the data to the data processing system. The GPS positioning device is used for the horn-shaped opening 42 to determine its own altitude and horizontal position, and transmits the data to the data processing system in real time.

[0109] Optionally, such as Figure 6 , 7 As shown in Figure 11, the electromagnetic blocking device 52 includes an electromagnet 521 located at a slightly recessed position at the end of the foldable guide rail 21, an electromagnetic damping coil 522 on the back of the slider 22, and an electromagnetic control system; the electromagnet 521 is located at a slightly recessed position at the end of the foldable guide rail 21 to prevent the slider from hitting the end of the guide rail and damaging the electromagnet 521; the electromagnetic control system is electrically connected to the electromagnet 521 and is used to control the magnetic strength of the electromagnet 521; the rope blocking device 51 includes a pulley 511, a rope 512, a winch 513, and an energy absorber; the pulley 511 is located on the outer extension of the head of the foldable guide rail 21 and is fixed in the middle position by a fixed axis; the winch 513 is fixed to the upper front end of the foldable guide rail 21, and the energy absorber is located on the winch 513; the rope 512 passes over the pulley 511 and is connected to the winch 513 and the slider 22 respectively; the rope blocking device 51 assists in deceleration throughout the sliding of the slider 22; the electromagnetic blocking device 52 begins to assist in deceleration when the slider 22 slides to the tail electromagnetic deceleration area, and the electromagnet 521 is de-energized when the slider 22 collides with the end of the foldable guide rail 21.

[0110] Optionally, this embodiment also discloses a method for adjusting the attitude parameters of the airbag flexible flare, the entire process including the following steps in the order of adjustment: adjusting the dynamic horizontal parameters of the airbag flare, and adjusting the dynamic pitch angle and dynamic basic height parameters of the airbag flare.

[0111] The method for adjusting the dynamic horizontal parameters of the airbag horn is as follows: After receiving the signal that the UAV has begun recovery, the integrated information management platform transmits the relevant position information of the horn to the UAV. The data processing system receives the relative altitude, horizontal distance, pitch angle, and other information transmitted from the UAV. Based on the relative altitude, horizontal distance, pitch angle information transmitted from the UAV and the data from the high-precision positioning device received by the data processing system, the equipment control system issues a command to the rotating seat 312. The relative positions of the first joint 313 and the second joint 314 remain unchanged, the rotating seat 312 rotates, and the multi-dimensional attitude adjustment device 3 and the airbag horn 4 rotate at a certain angle and then stop. The horn 42 achieves horizontal adjustment. Throughout the adjustment process, the data processing system dynamically monitors and analyzes the data and dynamically adjusts the parameters at all times.

[0112] The data is based on the following analysis results:

[0113]

[0114]

[0115] in--

[0116] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0117] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0118] y1: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0119] y2: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0120] ψ: The azimuth angle of the drone, with the rightward deviation of the drone's nose as positive;

[0121] The drone adjusts its angular velocity for horizontal orientation;

[0122] The method for adjusting the dynamic pitch angle and dynamic basic altitude parameters of the airbag horn is as follows: After receiving the signal that the UAV has started to recover, the integrated information management platform, based on the relative altitude, horizontal distance, pitch angle information transmitted by the UAV and the data from the high-precision positioning device received by the data processing system, issues a command to the rotating device 323. The rotating device 323 rotates, causing the horn 42 to rotate upward or downward by a certain angle, thereby realizing the adjustment of the pitch angle of the horn 42 in the vertical direction. During the rotation, the horn fixing bracket 41 rotates correspondingly on the arc-shaped slide 324 to assist the horn 42 in coordination. During the adjustment process, the rotating seat 312 remains stationary, while the first joint 313 begins to rotate forward or backward at a certain angle. During this process, the second joint 314 does not rotate, thereby raising or lowering the flared opening 42 by a certain height. If the first joint 313 rotates to the critical angle but still does not raise or lower the specified height, then the first joint 313 stops rotating, and the second joint 314 begins to rotate forward or backward at a certain angle, thereby raising or lowering the flared opening 42 by a certain height again. The entire flared opening 42 reaches the specified height. Throughout the entire adjustment process, the data processing system dynamically monitors and analyzes the data and dynamically adjusts the parameters.

[0123] The data is based on the following analysis results:

[0124]

[0125]

[0126] Δh = z2 - z1 + (x2 - x1)tanθ;

[0127] in--

[0128] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0129] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0130] Z1: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0131] Z2: The vertical coordinate of the horn mouth at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0132] ω: Angular velocity used to adjust the drone's pitch angle;

[0133] θ: The pitch angle of the drone at this moment, with the drone pointing upwards as positive.

[0134] Preferably, the first joint 313 has a rotation range of -45° to 45°.

[0135] Preferably, the second joint 314 has a rotation range of -7° to 7°.

[0136] Preferably, the vertical pitch angle adjustment range of the horn 42 is -30° to 30°.

[0137] like Figures 12 to 13 As shown, the present invention also provides a recovery method based on a flexible UAV recovery device with an airbag horn-shaped opening. The entire process includes, in sequence: a pre-recovery preparation process, a flexible UAV recovery process, and a slider reset process.

[0138] The pre-recovery preparation process is as follows: the crane 1 moves to the designated position, the first motor turns on, driving the hinge connector 214 to rotate, causing the foldable guide rail 21 to unfold and be fixed; the slider 22 is located at the initial position of the front guide rail 211 and locked; the UAV sends a recovery signal and begins transmitting relevant information to the data processing system; when the UAV is at a set critical distance L1 from the horn opening 42, the UAV recovery flight path is calculated; when the UAV is at a set critical distance L2 from the horn opening 42, the equipment control system issues a command to the multi-dimensional attitude adjustment device 3, and the multi-dimensional attitude adjustment device 3 adjusts the attitude of the horn opening 42 according to the above adjustment method. The high-precision positioning device continuously monitors the changes in the drone's flight status during this process, and continuously corrects the instructions of the multi-dimensional attitude adjustment device 3 to achieve precise matching. When the drone is at a set critical distance L3 from the horn 42, the high-precision positioning device on the horn 42 detects whether the horn 42 has been adjusted to the correct attitude. If the attitude is correct, the height difference, tilt angle difference, and horizontal angle difference between the horn 42 and the drone are all within the convergence range. Then, a signal indicating that normal recovery is possible is issued to the drone, and recovery continues. If the drone is still not adjusted correctly, a signal indicating that recovery is refused is issued to the drone. The drone immediately changes direction to avoid colliding with the device and is recovered again.

[0139] The method for determining the convergence value of the height difference between the horn-shaped opening 42 and the UAV is as follows:

[0140]

[0141] in--

[0142] R: The radius of the outermost circumference of the bell mouth;

[0143] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0144] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0145] θ1: The pitch angle of the bell mouth at this time, with the upward tilt as positive;

[0146] θ2: The pitch angle of the drone at this moment, with the nose pointing upwards as positive;

[0147] The method for determining the convergence value of the angle difference between the horn-shaped opening and the UAV (Δθ) and the convergence value of the horizontal angle difference (Δψ) is as follows:

[0148]

[0149]

[0150] in--

[0151] R: The radius of the outermost circumference of the bell mouth;

[0152] χ1: The x-coordinate of the coordinate system at this moment, with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis.

[0153] χ2: The x-coordinate of the UAV at this moment in the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis;

[0154] The flexible recovery process of the UAV: ​​The UAV collides with the airbag ring 421 on the inner surface of the horn-shaped opening, causing the airbag horn 4, the multi-dimensional attitude adjustment device 3, the slider 22, and the rope 512 to slide along the foldable guide rail 21. At the initial moment of the collision, the speed sensor at the front end of the front guide rail 211 measures the initial velocity of the UAV after colliding with the horn 42 and transmits the data to the data processing system. Combined with the UAV model information transmitted before the collision, the electromagnetic resistance level S1, S2, and S3 of the electromagnetic arresting device 52 are matched. The electromagnetic resistance level is determined by the kinetic energy of the entire device when the UAV begins to collide with the horn 42. When the slider 22 passes the middle position of the foldable guide rail 21, the photoelectric sensor senses it, and the electromagnetic control system immediately energizes the electromagnet 521 at the end of the track, with the current corresponding to the matched electromagnetic resistance level. The slider 22 continues to slide forward and decelerates significantly under the action of electromagnetic resistance. The speed sensor continuously monitors the speed of the slider. When the slider 22 slides to the tail electromagnetic deceleration area and its speed is lower than the threshold v1, the electromagnet 521 continues to be energized normally, and the slider 22 stops normally or hits the end of the foldable guide rail at a lower speed. If the slider 22 slides to the tail electromagnetic deceleration area and its speed is higher than the threshold v1, the current of the electromagnet 521 is increased to increase the resistance until the drone's speed decreases to the threshold v1, and the slider 22 hits the end of the foldable guide rail 21. The limiting bar 221 of the device is inserted into the arc-shaped groove 2131 and locks the position of the slider 22 to prevent rebound. When the slider 22 stops on the foldable guide rail 21 or hits the end of the foldable guide rail 21, the electromagnet 521 is de-energized. At this time, the slider 22 is stationary on the surface of the foldable guide rail 21, and the multi-dimensional attitude adjustment device 3 starts to adjust the horn 42 to the lowest position. The staff safely take the drone out of the horn 42 along the steps, and the drone is safely recovered.

[0155] The method for determining the threshold velocity v1 is as follows:

[0156]

[0157]

[0158] in--

[0159] m T Total weight of the horn, slider, robotic arm, and connectors;

[0160] V: The velocity of the slider at the end of the collision track;

[0161] L': 15% length after the track;

[0162] F 磁 : The magnitude of electromagnetic resistance at that moment;

[0163] F 绳 : The magnitude of the rope resistance at that moment;

[0164] μ: Coefficient of friction between the slider and the guide rail contact surface;

[0165] The slider reset process is as follows: After the UAV is recovered, the equipment management system issues a command, and the front baffle of the arc groove 2131 automatically retracts. At the same time, the winch 513 of the rope blocking device rotates to begin retrieving the rope 512. The rope 512 is used to pull the slider 22, the multi-dimensional attitude adjustment device 3, and the airbag horn 4 to their initial positions. The multi-dimensional attitude adjustment device 3 adjusts the horn 42 to its initial attitude and confirms it. Meanwhile, the equipment control system checks whether the switches, the position of the slider 22, and the airtightness of the airbag ring 421 are normal. If there is a problem with the safety of the device, the recovery is stopped and feedback is sent to the operator for manual inspection. If there is no problem, preparations are made for the next recovery.

Claims

1. A flexible unmanned aerial vehicle (UAV) recovery device with an airbag-shaped horn-shaped nozzle, characterized in that, It includes a crane, a guide rail assembly, a multi-dimensional attitude adjustment device, an airbag horn, an electromagnetic rope coupling arresting device, and an integrated information management platform. The guide rail assembly includes a foldable guide rail and a slider. The foldable guide rail is mounted on the crane's boom. The slider is slidably mounted on the foldable guide rail. The multi-dimensional attitude adjustment device is mounted on the bottom of the slider. The airbag horn is mounted on the bottom of the multi-dimensional attitude adjustment device. The multi-dimensional attitude adjustment device is used to correct the attitude of the airbag horn to match the UAV recovery flight path. The inner surface of the airbag horn is covered with multiple airbag rings of different diameters made of flexible material to ensure safe buffering and deceleration after the UAV collides with the airbag horn. The electromagnetic rope coupling arresting device... The blocking device includes a rope blocking device and an electromagnetic blocking device, both of which are mounted on the foldable guide rail and connected to the slider. The electromagnetic rope-coupled blocking device is used to assist in preventing the slider from sliding. The integrated information management platform includes a data processing system and an equipment control system connected by communication. The data processing system is used to receive and process data on the UAV model and the UAV's flight status and route information at the start of recovery, and simultaneously transmits the processed data to the equipment control system. The equipment control system is electrically connected to the multi-dimensional attitude adjustment device and the electromagnetic blocking device, and controls the operation of the multi-dimensional attitude adjustment device and the electromagnetic blocking device based on the received information.

2. The flexible UAV recovery device with airbag-shaped nozzle according to claim 1, characterized in that, The foldable guide rail includes three guide rail sections, a hinged connector, a fixing device, a first motor, and a second motor. The middle guide rail section is fixedly mounted on the boom of the crane, and the front and rear guide rails are rotatably mounted on the front and rear ends of the middle guide rail section, respectively. Each pair of guide rail sections is connected on one side by the hinged connector, and the other side is provided with the fixing device. The hinged connector is driven to rotate by the first motor to drive the guide rail to rotate. The fixing device includes a protrusion on one side of the guide rail and a slot on the adjacent guide rail. The protrusion extends into the corresponding slot when the guide rail rotates into a straight line. The protrusion can retract and extend. The second motor is connected to the protrusion and drives the protrusion to move. Every few sections of the guide rail, the positions of the hinged connector and the fixing device are interchanged.

3. The flexible UAV recovery device with airbag-shaped nozzle according to claim 2, characterized in that, The foldable guide rail is divided into three parts according to its total length: an initial impact area, a middle buffer area, and a rear electromagnetic deceleration area, located at the first 15% of the length, the first 15% to the first 80% of the length, and the last 20% of the length, respectively. The sidewalls of the foldable guide rail are provided with multiple spaced openings. The diameters of the openings in the rear electromagnetic deceleration area, the initial impact area, and the middle position are smaller than the diameters of the openings in the remaining positions. Speed ​​detectors are installed at the front end of the initial impact area and in the rear electromagnetic deceleration area to monitor the initial speed of the slider during impact. A photoelectric sensor is installed in the middle of the foldable guide rail to monitor whether the slider has reached the middle area. Both the speed detectors and the photoelectric sensor are communicatively connected to the integrated information management platform.

4. The flexible UAV recovery device with airbag-shaped nozzle according to claim 1, characterized in that, The upper back of the slider is provided with a C-shaped protruding limiting rod. The limiting rod is made of metal inside and covered with a polyurethane rubber rod outside. The outermost layer is wrapped with deformable rubber and plastic cotton. The end of the foldable guide rail is provided with an arc groove. The diameter of the arc groove is smaller than the diameter of the polyurethane rubber rod. The arc groove and the limiting rod are on the same horizontal plane. The blocking part at the front end of the arc groove can be automatically retracted to allow the limiting rod to exit the arc groove.

5. The flexible UAV recovery device with airbag-shaped nozzle according to claim 1, characterized in that, The multi-dimensional posture adjustment device includes a jointed robotic arm and a horn-shaped connector; the jointed robotic arm includes a base, a rotating seat, a first joint, and a second joint, the base being located at the bottom of the slider; the rotating seat is rotatably mounted on the bottom of the base; the upper end of the first joint is rotatably mounted on the bottom of the rotating seat; the upper end of the second joint is rotatably mounted on the lower end of the first joint; the horn-shaped connector is fixedly connected to the lower end of the second joint, and the airbag horn is mounted on the horn-shaped connector.

6. The flexible UAV recovery device with airbag-shaped nozzle according to claim 5, characterized in that, The horn-shaped connector includes two vertical rods and one horizontal rod, two rotating devices, two angle sensors, and an arc-shaped slide rail. The horizontal rod is fixedly connected to the bottom of the second joint, and the two vertical rods are respectively connected to both ends of the horizontal rod. The two rotating devices are respectively installed at the bottom of the two vertical rods and connected to both sides of the airbag horn, used to drive and adjust the pitch angle of the airbag horn. The two angle sensors are respectively installed on the left and right rotating devices. The angle sensors are electrically connected to the data processing system and are used to measure the pitch angle of the airbag horn. The arc-shaped slide rail is located at the lower part of the horizontal rod and is fixedly connected between the two vertical rods. Anti-detachment guardrails are provided on both the front and rear sides of the arc-shaped slide rail. The anti-detachment guardrails are vertically fixedly connected to the front and rear sides of the arc-shaped slide rail.

7. The flexible UAV recovery device with an airbag-shaped nozzle according to claim 6, characterized in that, The airbag flare includes a flare and a flare fixing bracket; the two sides of the flare fixing bracket are respectively installed on the two rotating devices, and the flare fixing bracket is fixedly installed on the upper surface of the flare; the airbag ring is laid on the entire inner surface of the flare; the flare fixing bracket includes three straight rods protruding from the upper surface of the flare, which abut against the arc-shaped slide rail. The airbag horn-shaped opening has a high-precision positioning device. This device includes four high-precision lidar detectors installed at four positions (up, down, left, and right) on the outer side of the front of the horn, and a GPS positioning device installed at the center of the back of the horn. Both the high-precision lidar detectors and the GPS positioning device are communicatively connected to the integrated information management platform. The high-precision lidar detectors are used to acquire the dynamic relative position of the UAV to the horn during recovery. The position information includes the UAV's speed relative to the horn, its relative height, distance, and relative tilt angle, and the data is transmitted to the data receiving and processing system. The GPS positioning device is used for the horn to determine its own altitude and horizontal position, and the data is transmitted to the data receiving and processing system in real time.

8. The flexible UAV recovery device with airbag-shaped nozzle according to claim 1, characterized in that, The electromagnetic arresting device includes an electromagnet located at a slightly recessed position at the end of the foldable guide rail, an electromagnetic damping coil on the back of the slider, and an electromagnetic control system; the electromagnetic control system is electrically connected to the electromagnet and is used to control the magnetic strength of the electromagnet; the rope arresting device includes a pulley, a rope, an energy absorber, and a winch; the pulley is located on the outer extension of the head of the foldable guide rail and is fixed in the middle position by a fixed axis; the winch is fixed to the upper part of the front end of the foldable guide rail, and the energy absorber is located on the winch; the rope passes over the pulley and is connected to the winch and the slider respectively.

9. A method for adjusting the attitude of an airbag horn-shaped nozzle, used in the airbag horn-shaped nozzle flexible UAV recovery device as described in any one of claims 1-8, characterized in that, The entire process, in the order of adjustment, includes: adjusting the dynamic horizontal parameters of the airbag flare, and adjusting the dynamic pitch angle and dynamic basic height parameters of the airbag flare. The method for adjusting the dynamic horizontal parameters of the horn opening is as follows: After receiving the signal that the UAV has started to recover, the integrated information management platform transmits the relevant position information of the horn opening to the UAV. The data processing system receives the relative altitude, horizontal distance, pitch angle and other information transmitted from the UAV at this time. Based on the relative altitude, horizontal distance and pitch angle information transmitted from the UAV and the data from the high-precision positioning device received by the data processing system, the equipment control system issues a command to the rotating seat. The relative positions of the first joint and the second joint remain unchanged, the rotating seat rotates, and the multi-dimensional attitude adjustment device and the airbag horn opening start to rotate at a certain angle and then stop. The horn opening achieves horizontal adjustment. Throughout the adjustment process, the data processing system dynamically monitors and analyzes the data and dynamically adjusts the parameters at all times. The data is based on the following analysis results: (x2>x1); (x2 <x1); in-- The x-coordinate of the horn-shaped opening at this moment is the x-axis of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The horizontal coordinate of the UAV at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The ordinate of the horn-shaped opening at this moment is the ordinate of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The ordinate of the horn-shaped opening at this moment is the ordinate of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The azimuth angle of the drone is positive when the nose deflects to the right. : The angular velocity of the drone adjusting its horizontal orientation; The method for adjusting the dynamic pitch angle and dynamic basic height parameters of the horn mouth is as follows: After receiving the signal that the UAV has started to recover, the integrated information management platform, based on the relative altitude, horizontal distance, pitch angle information transmitted by the UAV and the data from the high-precision positioning device received by the data processing system, issues a command to the rotating device. The rotating device rotates, causing the horn mouth to rotate upward or downward by a certain angle, thereby adjusting the pitch angle of the horn mouth in the vertical direction. During the rotation, the horn mouth fixing bracket rotates correspondingly on the arc-shaped slide to assist the coordinated movement of the horn mouth. The rotating seat remains stationary, and the first joint begins to rotate forward or backward by a certain angle. During this process, the second joint does not rotate, thereby raising or lowering the entire horn mouth by a certain height. If the first joint rotates to the critical angle but still does not raise or lower the specified height, then the first joint stops rotating, and the second joint begins to rotate forward or backward by a certain angle, thereby raising or lowering the horn mouth by a certain height again, until the entire horn mouth reaches the specified height. Throughout the adjustment process, the data processing system dynamically monitors and analyzes the data, and the adjustment parameters change dynamically at all times. The data is based on the following analysis results: (z2>z1); (z2<z1); ； in-- The x-coordinate of the horn-shaped opening at this moment is the x-axis of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The horizontal coordinate of the UAV at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The vertical coordinate of the horn-shaped opening at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The vertical coordinate of the horn-shaped opening at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The angular velocity at which the drone adjusts its pitch angle; The pitch angle of the drone at that moment is positive when the drone is tilted up.

10. A method for recovering a flexible unmanned aerial vehicle (UAV) with a flared nozzle and airbag design, used in the UAV recovery device with a flared nozzle and airbag design as described in any one of claims 1-8, characterized in that... The entire process of recovering a drone includes the following steps: preparation before recovery, flexible recovery of the drone, and slider reset. The pre-recovery preparation process is as follows: the crane moves to the designated position, the first motor turns on, driving the hinge connector to rotate, causing the foldable guide rail to unfold and be fixed; the slider is located at the initial position of the foldable guide rail and locked; the UAV sends a recovery signal and begins transmitting relevant information to the data processing system; when the UAV is within a set critical distance L1 from the horn opening, the UAV recovery flight path is calculated; when the UAV is within a set critical distance L2 from the horn opening, the equipment control system issues a command to the multi-dimensional attitude adjustment device, which adjusts the attitude of the horn opening until it is aligned with the UAV's return trajectory. The high-precision positioning device continuously monitors the changes in the UAV's flight status during the process of matching the recovery route, thereby constantly correcting the instructions of the multi-dimensional attitude adjustment device to achieve precise matching. When the UAV is within a set critical distance L3 from the horn, the high-precision positioning device located on the horn detects whether the horn has been adjusted to the correct attitude. If the attitude is correct, the height difference, tilt angle difference, and horizontal angle difference between the horn and the UAV are all within the convergence range. Then, a signal indicating that normal recovery is possible is issued to the UAV, and recovery continues. If the adjustment is still not correct at this time, a signal indicating that recovery is refused is issued to the UAV, and the UAV immediately changes direction to avoid colliding with the device and is recovered again. The method for determining the convergence value of the height difference between the horn-shaped opening and the UAV is as follows: ； in-- R: The radius of the outermost circumference of the bell mouth; The x-coordinate of the horn-shaped opening at this moment is the x-axis of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The horizontal coordinate of the UAV at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. 1: The pitch angle of the bell mouth at this time is positive when the head is raised; 2: The drone's pitch angle at this time is positive when it is pointing upwards; The convergence value of the angle difference between the horn mouth and the drone ( ) and horizontal convergence value of angle difference ( The method for determining this is as follows: ； ； in-- R: The radius of the outermost circumference of the bell mouth; The x-coordinate of the horn-shaped opening at this moment is the x-axis of a coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The horizontal coordinate of the UAV at this moment is the coordinate system with the middle position of the guide rail as the origin and the head of the guide rail as the positive x-axis. The drone's flexible recovery process is as follows: The drone collides with the airbag ring on the inner surface of the horn-shaped opening, causing the airbag horn, the multi-dimensional attitude adjustment device, the slider, and the rope to slide along the foldable guide rail. At the initial moment of impact, the velocimeter at the front end of the foldable guide rail measures the initial velocity of the drone after colliding with the horn and transmits the data to the data processing system. Combined with the drone model information received before the collision, the electromagnetic resistance levels S1, S2, and S3 of the electromagnetic arresting device are matched. The electromagnetic resistance level is determined by the kinetic energy of the entire device when the drone initially collides with the horn. When the slider passes the middle position of the foldable guide rail, the photoelectric sensor detects this, and the electromagnetic control system immediately energizes the electromagnet at the end of the track, with the current corresponding to the matched electromagnetic resistance level. The slider continues to slide forward and decelerates significantly under the action of electromagnetic resistance. The speedometer at the end continuously monitors the slider's speed. When the slider reaches the tail electromagnetic deceleration zone and its speed is lower than the threshold speed v1, the electromagnet continues to be energized normally, and the slider stops normally or hits the end of the foldable guide rail at a lower speed. If the slider reaches the tail electromagnetic deceleration zone and its speed is higher than the threshold speed v1, the electromagnet current is increased to increase resistance until the drone's speed decreases to the threshold speed v1. The slider then hits the end of the foldable guide rail, and the slider's limiting rod is locked into the arc-shaped groove, preventing rebound. When the slider stops on the foldable guide rail or hits the end of the foldable guide rail, the electromagnet is de-energized. At this time, the slider is stationary on the surface of the foldable guide rail, and the multi-dimensional attitude adjustment device begins to adjust the horn opening to the lowest position. The staff then safely removes the drone from the horn opening along the steps, thus safely recovering the drone. The method for determining the threshold velocity v1 is as follows: ； ； in-- Total weight of the horn, slider, robotic arm, and connectors; V: The velocity of the slider at the end of the collision track; : 15% of the track length; : The magnitude of electromagnetic resistance at that moment; : The magnitude of the rope resistance at that moment; The coefficient of friction between the slider and the guide rail contact surface; The slider reset process is as follows: After the UAV is recovered, the equipment management system issues a command, the front baffle of the arc-shaped groove automatically retracts, and at the same time, the winch of the rope blocking device rotates to start recovering the rope. The rope is used to pull the slider, the multi-dimensional attitude adjustment device, and the airbag horn to their initial positions. The multi-dimensional attitude adjustment device adjusts the horn to its initial attitude and confirms it. At the same time, the equipment control system checks whether the switches, the slider position, and the airtightness of the airbag ring are normal. If there is a safety problem with the device, the recovery is stopped and feedback is sent to the operator for manual inspection. If there is no problem, preparations are made for the next recovery.

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