Docking and releasing platform and docking and releasing method for dual-purpose water-air unmanned aerial vehicle

Abstract

The present invention provides a docking and releasing platform and a docking and releasing method for a dual-purpose water and air UAV, and belongs to the technical field of UAVs. The docking and releasing platform includes a runway, a guide slideway, and a locking device. The runway includes a deceleration section provided with a deceleration device and a locking section provided with a releasable locking device for locking the front wheel and / or the rear wheel of the UAV; the guide slideway is at least arranged on the deceleration section. The locking device includes two turntables and a first driving component and a second driving component respectively coupled to the two turntables; the two turntables can be rotated under the drive of the first driving component and the second driving component respectively so that the locking device has a first open state with an opening toward the rear end of the platform, a locked state, and a second open state with an opening toward the front end of the platform. Wherein, before the UAV is docked with the platform, after the docking is in place, and when preparing to take off from the platform, the locking device is in a first open state, a locked state, and a second open state, respectively. It has a simple structure and high reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an automatic recovery device and method for unmanned aerial vehicles in the air or underwater. Background Art

[0002] In the prior art, there are many methods and devices for releasing aerial or air-water dual-purpose drones (e.g., aerial drones, air-water dual-purpose submersibles, etc.), but there are relatively few devices that can be used for automatic locking and separation release of air-water dual-purpose drones during air recovery. In addition, due to the limited runway length, there is a high failure rate of recovery missions, and drones cannot be stably recovered to the recovery device and released again in the air to perform the next mission. It is urgent to design a docking and release platform for air-water dual-purpose drones to solve the problem of automatic recovery and release of air-water dual-purpose drones during air and underwater rendezvous and docking. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a docking and releasing platform and a docking and releasing method for a dual-purpose water-air UAV.

[0004] In the first aspect, the docking and release platform of the dual-purpose air-water UAV of the present invention comprises a runway, a guide slideway and a locking device. The runway comprises a deceleration section and a locking section, the deceleration section is provided with a deceleration device for decelerating the dual-purpose air-water UAV, the locking section is provided with a releasable locking device for locking the front wheel and / or rear wheel of the dual-purpose air-water UAV; the guide slideway is at least arranged on the deceleration section. The locking device comprises two turntables and a first driving component and a second driving component respectively coupled to the two turntables; the two turntables can be rotated under the drive of the first driving component and the second driving component respectively so that the locking device has a first open state with an opening toward the rear end of the docking and release platform, a locked state and a second open state with an opening toward the front end of the docking and release platform. Among them, before the amphibious aerial drone is docked with the docking and releasing platform, the locking device is in a first open state to limit the front wheels and / or rear wheels of the amphibious aerial drone; after the amphibious aerial drone is docked with the docking and releasing platform, the locking device enters a locked state under the drive of the first driving component and the second driving component; when the amphibious aerial drone is ready to take off on the docking and releasing platform, the locking device enters a second open state under the drive of the first driving component and the second driving component to unlock the amphibious aerial drone.

[0005] In some embodiments, when the locking device is in a first open state, the two turntables rotate to a first overlapping position; when the locking device is in a locked state, the two turntables form a cylindrical shape; when the locking device is in a second open state, the two turntables rotate to a second overlapping position.

[0006] In some embodiments, both turntables are constructed to have a connecting bottom and a semi-cylindrical side, and the connecting bottom is arranged at the bottom of the semi-cylindrical side; when the two turntables rotate to a first overlapping position and a second overlapping position, the semi-cylindrical side of one of the two turntables is located on the inner side of the semi-cylindrical side of the other, and the connecting bottom of one is located above the connecting bottom of the other; the first driving component and the second driving component are respectively coupled to the connecting bottoms of the two turntables.

[0007] Preferably, the turntable which may be located on the inner side is further provided with a semicircular top plate having an arc-shaped opening in the middle, and a recess suitable for receiving the front wheel or the rear wheel is further provided in the middle of the connecting bottom of the turntable which may be located on the inner side.

[0008] In some embodiments, the first driving component and the second driving component are both servo motors, and the first driving component is a hollow servo motor; the output shaft of the hollow servo motor is connected to the lower connecting bottom of the two connecting bottoms, and the other servo motor is connected to the upper connecting bottom of the two connecting bottoms; the two turntables rotate coaxially.

[0009] In some embodiments, the docking release platform also includes a clamping device arranged on the locking section, the clamping device includes a third driving component, two rocker arms and a mounting bracket; the mounting bracket is arranged at the lower part of the locking section, and its top is detachably connected to the locking section; the third driving component is a linear driving mechanism, which is mounted on the mounting bracket; one end of the two rocker arms is connected to the output shaft of the third driving component through a rocker arm connecting shaft, and the other end of the two rocker arms is a free end, and the middle part of the two rocker arms is connected to the mounting bracket through a rocker arm support shaft respectively; when the output shaft of the third driving component makes a linear motion, the two rocker arms are driven by the output shaft of the third driving component to rotate around their respective rocker arm connecting shafts, thereby opening or closing the two rocker arms; a transverse groove is provided on the locking section, and the two rocker arms can extend through the transverse groove to clamp the fuselage.

[0010] In some embodiments, the linear drive mechanism is an electric push rod. In a preferred embodiment, elastic clamping blocks are provided inside the free ends of the two rocker arms.

[0011] In some embodiments, the guide slide on the deceleration section includes two longitudinally extending limit bars, and the two limit bars are constructed so that the distance between them gradually narrows from the rear end of the docking release platform toward the front end of the docking release platform.

[0012] In some embodiments, the deceleration device is constructed as two groups of spring pins symmetrically arranged on both sides of the deceleration section in the longitudinal direction, and each spring pin is fixed on the deceleration section through a mounting bracket.

[0013] In a second aspect, the present invention provides a docking and releasing method for a dual-purpose water-air UAV, which uses the docking and releasing platform of the first aspect to complete the docking and releasing of the dual-purpose water-air UAV, including the following steps:

[0014] S01. When the dual-purpose air-water UAV needs to be recovered, the locking device is in the first open state, and the dual-purpose air-water UAV enters the runway from the rear end of the docking release platform;

[0015] S02, the dual-purpose water-air UAV decelerates on the deceleration section of the runway and glides toward the front end of the docking release platform;

[0016] S03. After the dual-purpose water-air UAV passes through the deceleration section on the runway, the dual-purpose water-air UAV continues to slide toward the front end of the docking release platform by its own inertia under the constraint of the guide slide until the front wheels and / or rear wheels abut against the locking device;

[0017] S04, driving one of the first turntable and the second turntable of the locking device to rotate, so that the first turntable and the second turntable are enclosed into a cylindrical shape, thereby completing the locking of the front wheel and / or the rear wheel;

[0018] S05. When the dual-purpose water-air drone needs to be released, the other of the first turntable and the second turntable is driven to rotate, and the locking device is in the second open state, thereby completing the unlocking of the front wheel and / or the rear wheel;

[0019] S06. The dual-purpose water and air drone flies away from the docking release platform under its own power.

[0020] The features and advantages of the present invention include:

[0021] When it is necessary to recover the dual-purpose air-water drone, the dual-purpose air-water drone enters the docking release platform from the rear end of the docking release platform, first passes through the deceleration device of the runway to decelerate the dual-purpose air-water drone, and then accurately guides the front wheels and / or rear wheels of the dual-purpose air-water drone into the locking device through the guide slideway, and then starts the locking device to lock the dual-purpose air-water drone to complete the recovery task. When it is necessary to release the dual-purpose air-water drone, the locking device is automatically unlocked, and the dual-purpose air-water drone then flies away from the docking release platform by its own power, thereby completing the release task. The reliability of the dual-purpose air-water drone recovery task can be greatly improved. The docking release platform of the present invention has a simple structure and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic diagram of the three-dimensional structure of the docking release platform of the present invention is shown;

[0024] Figure 2 It shows a schematic diagram of the three-dimensional structure of the docking release platform of the present invention when locking the dual-purpose water-air UAV;

[0025] Figure 3 Shows Figure 1 A schematic diagram of the three-dimensional structure of the clamping device in the unfolded state;

[0026] Figure 4 Shows Figure 1 A schematic diagram of the three-dimensional structure of the clamping device in the clamping state;

[0027] Figure 5 Shows Figure 3 A schematic diagram of the three-dimensional structure of the clamping device after removing the mounting bracket;

[0028] Figure 6 Shows Figure 1 A schematic diagram of the three-dimensional structure of the locking device in the first opening state;

[0029] Figure 7 Shows Figure 1 A schematic diagram of a three-dimensional structure when the locking device is in a locked state;

[0030] Figure 8 Shows Figure 1 A schematic diagram of the three-dimensional structure of the locking device in the second open state;

[0031] Fig. 9 Shows Figure 6 A schematic cross-sectional view of the locking device in the AA direction;

[0032] Fig.10 A schematic diagram showing the initial docking of the dual-purpose water-air UAV with the docking release platform of the present invention, wherein the locking device is in a first open state;

[0033] Fig.11 A schematic diagram showing a dual-purpose water-air UAV taxiing on a runway deceleration section of a docking and releasing platform of the present invention is shown;

[0034] Fig.12 A schematic diagram showing the dual-purpose water-air UAV and the docking release platform of the present invention when docked in place;

[0035] Fig.13 A schematic diagram showing a state where the clamping device is in a clamping state and the locking device is in a locking state after the dual-purpose water-air UAV is docked with the docking release platform of the present invention;

[0036] Fig.14A schematic diagram showing a state where the clamping device is in an unfolded state and the locking device is in a second open state after the dual-purpose water-air UAV is docked with the docking release platform of the present invention;

[0037] Fig.15 A schematic diagram is shown of a dual-purpose water-air UAV being released from the docking release platform of the present invention.

[0038] Description of reference numerals:

[0039] 100-water-air dual-purpose UAV, 200-docking and release platform, 202-front end, 204-rear end;

[0040] 21-runway, 211-deceleration section, 212-locking section, 213-spring pin, 214-mounting support, 215-side plate, 216-transverse groove;

[0041] 22-guide slide;

[0042] 23-locking device, 231-first turntable, 232-second turntable, 233-first driving component, 234-second driving component, 235-housing, 236-recess, 237-semicircular top plate, 238-connecting bottom, 239-semi-cylindrical side;

[0043] 24-clamping device, 241-rocker arm, 242-third driving component, 243-driving member supporting shaft, 244-rocker arm connecting shaft, 245-rocker arm supporting shaft, 246-elastic clamping block, 247-mounting bracket;

[0044] 301-first overlapping position, 303-second overlapping position. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0046] In the present disclosure, when one or more components are described as being connected, linked, fixed, coupled, attached or otherwise interconnected, such interconnection may be a direct interconnection between the components, or may be an indirect interconnection, such as by using one or more intermediate components. In the present disclosure, the head position of the amphibious aerial drone is defined as "front", and the tail position of the amphibious aerial drone is defined as "rear", "longitudinal" refers to the front and rear direction of the amphibious aerial drone, "lateral" refers to the direction parallel to the horizontal plane and perpendicular to the "longitudinal", that is, "lateral" is the left and right direction, and "vertical" refers to the direction perpendicular to the plane where the "longitudinal" and "lateral" are located.

[0047] refer to Figure 1 and Figure 2 The docking and releasing platform 200 for dual-purpose air-water drone provided by the present invention comprises a runway 21, a guide slideway 22 and a locking device 23. The runway 21 is constructed as a longitudinally extending flat plate, and comprises a deceleration section 211 and a locking section 212 arranged in the longitudinal direction. The deceleration section 211 is provided with a deceleration device for decelerating the dual-purpose air-water drone 100, and the locking section 212 is provided with a releasable locking device 23 for locking the front wheel and / or the rear wheel of the dual-purpose air-water drone 100. The guide slideway 22 is at least arranged on the deceleration section 211, and the locking section 212 can also be provided with a guide slideway 22 to prevent the dual-purpose air-water drone from side sliding when taking off. The guide slideway 22 is used to guide the dual-purpose air-water drone 100 so that the front wheel and / or the rear wheel of the dual-purpose air-water drone 100 can accurately enter the locking device 23. After the dual-purpose air-water drone passes through the deceleration area, under the guiding effect of the guide slideway 22, it reaches the preset position of the locking device 23 by its own inertia. Specifically, a guide slide 22 and a deceleration device are arranged on the docking release platform 200, which can not only decelerate the dual-purpose water-air UAV 100 through the deceleration device to prevent the dual-purpose water-air UAV 100 from rushing out of the docking release platform due to the excessive initial speed during docking, but also accurately guide the dual-purpose water-air UAV to the locking device 23 through the guide slide 22 to complete the docking and locking of the dual-purpose water-air UAV, which can greatly improve the reliability of the dual-purpose water-air UAV recovery task. The docking release platform of the present invention can be built on various different aircrafts as needed to provide power for them, such as a single-body aircraft, a catamaran aircraft, a fixed-wing aircraft, a rotary-wing UAV, a composite-wing aircraft, etc.

[0048] Specifically, in Figures 6 to 9 In the illustrated embodiment, only one locking device 23 is provided to lock the front wheel of the dual-purpose air-water UAV 100. Optionally, two or three locking devices 23 may be provided, and the additional locking devices 23 are used to lock the rear wheels of the dual-purpose air-water UAV 100. Fig. 9The locking device 23 includes two turntables (a first turntable 231 and a second turntable 232 ), a first driving component 233 and a second driving component 234 respectively coupled to the two turntables, and a housing 235 . The first driving component 233 and the second driving component 234 are arranged in the housing 235 , and the two turntables are arranged on the top of the housing 235 .

[0049] The two turntables can be driven by the first driving member 233 and the second driving member 234 to rotate so that the locking device 23 has a first open state ( Figure 6 )、Locked state( Figure 7 ) and a front end 202 ( Figure 8 ). When the dual-purpose air-water drone 100 needs to be recovered, the first driving component 233 and the second driving component 234 respectively drive the two turntables to rotate until the locking device 23 is in the first open state, so that the front wheel and / or rear wheel of the dual-purpose air-water drone 100 can enter the locking device 23, and the front wheel and / or rear wheel of the dual-purpose air-water drone 100 can be limited to prevent it from continuing to slide forward. When the dual-purpose air-water drone 100 is docked in place, the first driving component 233 and the second driving component 234 respectively drive the two turntables to rotate until the locking device 23 is in the locked state, and the front wheel and / or rear wheel of the dual-purpose air-water drone 100 is restricted in the locking device 23 and cannot slide forward or backward. In some embodiments, when the locking device 23 is in the locked state, the locking device 23 does not limit the vertical freedom of the front wheel and / or rear wheel of the dual-purpose air-water drone 100, and the dual-purpose air-water drone 100 can take off vertically in an emergency. When the amphibious drone 100 needs to perform a mission, the first driving component 233 and the second driving component 234 respectively drive the two turntables to rotate until the locking device 23 is in the second open state, and the front wheels and / or rear wheels of the amphibious drone 100 can be limited to prevent them from sliding backwards. The amphibious drone 100 can take off forward or vertically from the docking release platform, that is, the amphibious drone 100 can be released.

[0050] More specifically, in Figures 6 to 9 In the illustrated embodiment, when the locking device 23 is in the first open state, the first turntable 231 and the second turntable 232 rotate to the first overlapping position 301; when the locking device 23 is in the locked state, the first turntable 231 and the second turntable 232 form a cylindrical shape; when the locking device 23 is in the second open state, the first turntable 231 and the second turntable 232 rotate to the second overlapping position 303.

[0051] More specifically, see Figures 6 to 9The first turntable 231 and the second turntable 232 are both configured to have a connecting bottom 238 and a semi-cylindrical side portion 239, the connecting bottom 238 is arranged at the bottom of the semi-cylindrical side portion 239, and the connecting bottom 238 is configured to be plate-shaped. Figure 6 In the illustrated embodiment, the connecting bottom 238 is configured as a circular plate. When the first rotating table 231 and the second rotating table 232 rotate to the first overlapping position 301 and the second overlapping position 303, the semi-cylindrical side portion 239 of the second rotating table 232 is located inside the semi-cylindrical side portion 239 of the first rotating table 231, and the connecting bottom 238 of the second rotating table 232 is located above the connecting bottom 238 of the first rotating table 231; the first driving component 233 is coupled to the connecting bottom 238 of the first rotating table 231, and the second driving component 234 is coupled to the connecting bottom 238 of the second rotating table 232.

[0052] In a preferred embodiment, see Figures 6 to 9 When the two turntables (the first turntable 231 and the second turntable 232) rotate to the first overlap position 301 and the second overlap position 303, the turntable located on the inner side (the second turntable 232) is further provided with a semicircular top plate 237 with an arc-shaped opening in the middle, and the middle part of the connecting bottom 238 of the turntable located on the inner side (the second turntable 232) is also provided with a recess 236. The recess 236 in the middle part of the connecting bottom 238 of the second turntable 232 can further limit the front wheel and / or rear wheel of the dual-purpose water and air UAV 100 to prevent its lateral displacement. The semicircular top plate 237 with an arc-shaped opening in the middle part provided on the second turntable 232 can limit the brackets of the front wheel and / or rear wheel of the dual-purpose water and air UAV 100 on the one hand, and on the other hand, the semicircular top plate 237 will not limit the vertical freedom of the front wheel and / or rear wheel of the dual-purpose water and air UAV, and the dual-purpose water and air UAV 100 can take off vertically in an emergency.

[0053] In some embodiments, the first driving component 233 and the second driving component 234 are configured as a coaxial structure. For example, the first driving component 233 and the second driving component 234 are both servo motors, and one of them is a hollow servo motor. Fig. 9, the first driving component 233 is a hollow servo motor, and the second driving component 234 is a common servo motor. The output shaft of the hollow servo motor is coupled to the connecting bottom 238 of the first turntable 231, and the output shaft of the common servo motor passes through the hollow position of the hollow servo motor and then passes through the connecting bottom 238 of the first turntable 231 to be coupled to the connecting bottom 238 of the second turntable 232; the rotating shaft of the first turntable 231 is the same as the rotating shaft of the second turntable 232. The two turntables are driven independently, with a simple structure and high reliability. In other embodiments, the first driving component 233 and the second driving component 234 can be replaced by dual servos and gears, as long as the rotating shafts of the first turntable 231 and the second turntable 232 are concentric and coaxial.

[0054] In other embodiments, the first driving component 233 and the second driving component 234 are configured to be non-coaxial. For example, a gear is provided on both sides of the first turntable 231 and the second turntable 232, respectively. The two gears are respectively engaged with the side walls of the semi-cylindrical side portions 239 of the first turntable 231 and the second turntable 232. The rotation of the two gears can drive the two semi-cylindrical side portions 239 to rotate.

[0055] In some embodiments, see Figures 3 to 5 The docking release platform of the present invention further includes a clamping device 24, which is used to clamp the fuselage of the dual-purpose water and air drone 100. Specifically, the clamping device 24 is arranged at the locking section 212. Figure 1 and Figure 3 , the clamping device 24 is in the unfolded state, see Figure 2 and Figure 4 , the clamping device 24 is in a clamping state.

[0056] Specifically, the clamping device 24 includes a third driving component 242, two rocker arms 241 and a mounting bracket 247. Figure 1 and Figure 3 The mounting bracket 247 is disposed at the lower part of the locking section 212 of the runway 21, and the top of the mounting bracket 247 is detachably connected to the locking section 212 by a bolt or other connecting member. Optionally, the top of the mounting bracket 247 may be in contact with the lower surface of the runway 21. When the third driving component 242 performs linear motion, the free ends of the two rocker arms may be driven to move away from each other or toward each other, thereby releasing or clamping the fuselage.

[0057] Continue to see Figures 3 to 5 The third driving component 242 is a linear driving mechanism, which is mounted on the mounting bracket 247. In some embodiments, the third driving component 242 is configured as an electric push rod. Alternatively, the third driving component 242 can also be configured as a hydraulic push rod, a gear rack mechanism, etc. Figure 3 and Figure 4In the illustrated embodiment, the bottom of the electric push rod is supported and fixed on the mounting bracket 247 via the drive member support shaft 243.

[0058] Continue to see Figure 1 , Figures 3 to 5 The clamping device 24 further includes a rocker arm connecting shaft 244, and one end of the two rockers 241 is connected to the output shaft of the third driving component 242 through the rocker arm connecting shaft 244. Specifically, one end of the two rockers 241 is provided with a hole, and the rocker arm connecting shaft 244 extends through the holes of the two rockers 241. In some embodiments, the rocker arm connecting shaft 244 is configured as two, and the two rockers 241 are respectively coupled to the output shaft of the third driving component 242 through one rocker arm connecting shaft 244. In other embodiments, see Figure 3 , Figure 5 , the rocker arm connecting shaft 244 is configured as one rocker arm connecting shaft 244, and the two rockers 241 are coupled to the output shaft of the third driving component 242 through one rocker arm connecting shaft 244. The clamping device 24 also includes two rocker arm support shafts 245, the other ends of the two rockers 241 are free ends, and the middle parts of the two rockers 241 are connected to the mounting bracket 247 through one rocker arm support shaft 245 respectively. Specifically, for example, the two rocker arm support shafts 245 are fixed to the mounting bracket 247, the middle parts of the two rockers 241 are provided with holes, and each rocker arm support shaft 245 extends through the middle hole of one rocker arm 241, so that each rocker arm 241 can rotate relative to the corresponding rocker arm support shaft 245. A transverse slot 216 is provided on the locking section 212 of the docking release platform 200, and the two rockers 241 can extend through the transverse slot 216 to clamp the fuselage. In particular, the transverse groove 216 can accommodate the two rocker arms 241 of the clamping device 24 when in the unfolded state, that is, the two rocker arms 241 can be retracted into the transverse groove 216 when unfolded.

[0059] See also Figure 1 , Figure 3 and Figure 5 Before the dual-purpose water-air UAV 100 is docked with the docking release platform, the electric push rod moves upward (i.e., the electric push rod extends) to put the clamping device 24 in an unfolded state, and the two rocker arms 241 are located in the transverse groove 216. Figure 2 and Figure 4When the dual-purpose air-water UAV 100 is docked with the docking release platform, the electric push rod moves downward (i.e., the electric push rod retracts), one end of the two rockers 241 moves downward following the rocker connecting shaft 244, and under the restriction of the rocker supporting shaft 245, the two rockers 241 are respectively rotated around the corresponding rocker supporting shaft 245, so that the free ends of the two rockers 241 move toward each other until the fuselage of the dual-purpose air-water UAV 100 is clamped. When the dual-purpose air-water UAV 100 needs to be released, the electric push rod moves upward, one end of the two rockers 241 moves upward following the rocker connecting shaft 244, and under the restriction of the rocker supporting shaft 245, the two rockers 241 are respectively rotated in opposite directions around the corresponding rocker supporting shaft 245, so that the free ends of the two rockers 241 move away from each other until the two rockers 241 are accommodated in the transverse groove 216.

[0060] In order to increase the clamping force and prevent damage to the shell of the dual-purpose air-water drone, in a preferred embodiment, an elastic clamp block 246 is provided inside the free end of the rocker arm 241. For example, the elastic clamp block 246 can be a rubber block, which has a lower stiffness coefficient and can better fit the shell of the dual-purpose air-water drone 100.

[0061] Optionally, the mounting bracket 247 is provided with a vertical guide groove, which extends vertically, and the rocker arm connecting shaft 244 is slidably coupled to the vertical guide groove. The vertical guide groove has a guiding and limiting function. When the electric push rod performs a linear motion, the rocker arm connecting shaft 244 can slide in the vertical guide groove.

[0062] exist Figure 1 In the embodiment shown, the guide slideway 22 on the deceleration section 211 includes two longitudinally extending limit bars, and the two limit bars are configured such that the distance between them gradually narrows from the rear end 204 of the docking release platform toward the front end 202 of the docking release platform. Figure 2 Under the constraint of the guide slide 22, when the dual-purpose water-air UAV 100 is docked on the docking release platform, its rear wheels abut against the inner side of the guide slide 22, and the rear wheels are subjected to the lateral force of the guide slide 22, so that the dual-purpose water-air UAV is guided to align with the locking device 23. Alternatively, in other embodiments, the guide slide 22 on the deceleration section 211 is configured in a V shape, and when the dual-purpose water-air UAV 100 is docked on the docking release platform, its rear wheels abut against the inner side of the guide slide 22. When the dual-purpose water-air UAV takes off, in order to prevent the guide slide 22 from hindering the front and rear wheels from sliding forward, the dual-purpose water-air UAV can take off vertically.

[0063] In some embodiments, side panels 215 are further provided on both longitudinal sides of the deceleration section 211. When the dual-purpose water-air drone 100 docks with the docking release platform 200, the dual-purpose water-air drone 100 enters the runway 21 from the rear end 204 of the docking release platform 200, and the side panels 215 can prevent the dual-purpose water-air drone 100 from rushing out of the docking release platform 200 due to the incorrect initial docking direction, which can further improve the reliability of the docking process between the dual-purpose water-air drone 100 and the docking release platform 200.

[0064] In other embodiments, see Figure 1 A guide slide 22 may also be provided on the locking section 212. The guide slide 22 of the locking section 212 includes two longitudinally extending limit bars, and the two limit bars are constructed so that the distance between them gradually widens from the rear end 204 of the docking release platform toward the front end 202 of the docking release platform.

[0065] In some embodiments, the deceleration device may be configured as a deceleration belt disposed on the upper surface of the deceleration section 211. In a preferred embodiment, the deceleration device uses an elastic deceleration element. Figure 1 In the illustrated embodiment, the deceleration device is constructed as two groups of spring pins 213 symmetrically arranged on both sides of the deceleration section 211 in the longitudinal direction. Each spring pin 213 is fixed to the deceleration section 211 through a mounting bracket 214, and each spring pin 213 extends in the transverse direction. After the UAV enters the deceleration section 211, the UAV that continues to slide forward is blocked by the spring pins 213 and decelerated. For example, the front wheel and / or rear wheel of the UAV is blocked by the spring pins 213. The spring pins can provide a buffer force to reduce the speed of the dual-purpose water and air UAV. In a preferred embodiment, the stiffness coefficient of the spring pins gradually decreases from the starting end of the deceleration section 211 toward the end, ensuring that the dual-purpose water and air UAV has sufficient initial velocity to slide into the locking device 23 while not interfering with the normal sliding of the UAV due to excessive stiffness of the spring pins.

[0066] Reference Figures 10 to 15 A method for docking and releasing a dual-purpose air-water drone using the docking and releasing platform of the present invention is described below. A method for docking and releasing a dual-purpose air-water drone using the docking and releasing platform of the present invention comprises the following steps:

[0067] Reference Fig.10When the air-water dual-purpose UAV 100 docks with the runway 21, both are in the air or underwater. Relative to the air-water dual-purpose UAV 100, the runway 21 is in the air (or underwater) hovering or accompanying flight state; and the first turntable 231 and the second turntable 232 are located at the first overlapping position 301, that is, the locking device 23 is in the first open state. When the air-water dual-purpose UAV 100 docks with the docking release platform, the air-water dual-purpose UAV 100 actively approaches the entrance of the runway 21 (the rear end 204 of the docking release platform), that is, the air-water dual-purpose UAV 100 enters the runway 21 from the rear end 204 of the docking release platform, and the front wheels (front landing gear) of the air-water dual-purpose UAV 100 first slide into the runway 21, and then the rear wheels of the air-water dual-purpose UAV 100 slide into the runway 21, completing the docking process.

[0068] Reference Fig.11 When the dual-purpose water-air drone 100 slides forward due to inertia on the deceleration section 211 of the runway 21, its rear wheel is blocked by the spring pin 213, so that the dual-purpose water-air drone 100 decelerates and slides toward the front end 202. In addition, it is also necessary to ensure that the dual-purpose water-air drone has a sufficient initial velocity to slide into the locking device 23 without running out of the runway 21.

[0069] Reference Fig.12 After the dual-purpose water-air drone passes through the deceleration area on the runway 21, it reaches the preset position of the locking device 23 by its own inertia under the guidance of the guide slide 22. When the dual-purpose water-air drone 100 is docked on the docking release platform, its rear wheels abut against the guide slide 22, and the rear wheels are subjected to the lateral force of the guide slide 22.

[0070] Reference Fig.13 After the dual-purpose water-air UAV 100 is docked on the docking release platform (the front wheel and / or the rear wheel enter the locking device 23), the third driving component 242 of the clamping device 24 drives the two rockers 241 to rotate around the corresponding rocker support shafts 245, and under the restriction of the rocker support shafts 245, the free ends of the two rockers 241 move toward each other until the fuselage of the dual-purpose water-air UAV 100 is clamped. The second driving component 234 of the locking device 23 drives the second turntable 232 to rotate 180°, and the first turntable 231 and the second turntable 232 are enclosed in a cylindrical shape, thereby completing the locking of the front wheel and / or the rear wheel.

[0071] Reference Fig.14When the dual-purpose water-air UAV 100 needs to perform a mission, the first driving component 233 drives the first turntable 231 to rotate 180°, the first turntable 231 and the second turntable 232 are located at the second overlapping position 303, and the locking device 23 is in the second open state, thereby completing the unlocking of the front wheel and / or the rear wheel. At the same time, the third driving component 242 of the clamping device drives the two rockers 241 to rotate around the corresponding rocker support shaft 245 respectively, and under the restriction of the rocker support shaft 245, the free ends of the two rockers 241 move in a direction away from each other until the two rockers 241 are accommodated in the transverse groove 216, thereby completing the unlocking of the fuselage.

[0072] Reference Fig.15 The dual-purpose water and air UAV 100 relies on its own power to fly away from the docking and release platform, thus completing the release mission.

[0073] The docking release platform and the docking release method of the present invention provide a solution that meets engineering applications for the recovery and release of a dual-purpose water and air UAV.

[0074] The above are only several embodiments of the present disclosure. Those skilled in the art may make various changes or modifications to the embodiments of the present disclosure based on the contents disclosed in the application documents without departing from the spirit and scope of the present disclosure.

Claims

1. A dual-purpose water-air UAV docking and release platform, characterized in that: It comprises a runway (21), a guide slideway (22) and a locking device (23); The runway (21) comprises a deceleration section (211) and a locking section (212); the deceleration section (211) is provided with a deceleration device for decelerating the dual-purpose air-water drone; the locking section (212) is provided with a releasable locking device (23) for locking the front wheels and / or rear wheels of the dual-purpose air-water drone; the guide slideway (22) is at least arranged on the deceleration section (211); The locking device (23) comprises two turntables and a first driving component (233) and a second driving component (234) respectively coupled to the two turntables; the two turntables can be driven by the first driving component (233) and the second driving component (234) to rotate so that the locking device (23) has a first open state with an opening toward the rear end (204) of the docking release platform, a locked state, and a second open state with an opening toward the front end (202) of the docking release platform; Wherein, before the dual-purpose air-water drone is docked with the docking release platform, the locking device (23) is in a first open state to limit the front wheels and / or rear wheels of the dual-purpose air-water drone; after the dual-purpose air-water drone is docked with the docking release platform, the locking device (23) enters a locked state under the drive of the first drive component (233) and the second drive component (234); when the dual-purpose air-water drone is ready to take off on the docking release platform, the locking device (23) enters a second open state under the drive of the first drive component (233) and the second drive component (234) to unlock the dual-purpose air-water drone.

2. The docking release platform according to claim 1, characterized in that: When the locking device (23) is in a first open state, the two turntables rotate to a first overlapping position (301); when the locking device (23) is in a locked state, the two turntables form a cylindrical shape; when the locking device (23) is in a second open state, the two turntables rotate to a second overlapping position (303).

3. The docking release platform according to claim 2, characterized in that: The two turntables are each constructed to have a connecting bottom (238) and a semi-cylindrical side portion (239), wherein the connecting bottom (238) is arranged at the bottom of the semi-cylindrical side portion (239); when the two turntables rotate to a first overlapping position (301) and a second overlapping position (303), the semi-cylindrical side portion (239) of one of the two turntables is located on the inner side of the semi-cylindrical side portion (239) of the other, and the connecting bottom (238) of one is located above the connecting bottom (238) of the other; the first driving component (233) and the second driving component (234) are respectively coupled to the connecting bottoms (238) of the two turntables.

4. The docking release platform according to claim 3, characterized in that: The turntable which can be located on the inner side is also provided with a semicircular top plate with an arc-shaped opening in the middle, and the middle part of the connecting bottom (238) of the turntable which can be located on the inner side is also provided with a recess (236) suitable for receiving the front wheel or the rear wheel.

5. The docking release platform according to any one of claims 3 or 4, characterized in that: The first drive component (233) and the second drive component (234) are both servo motors, and the first drive component (233) is a hollow servo motor; the output shaft of the hollow servo motor is connected to the lower connecting bottom (238) of the two connecting bottoms (238), and the other servo motor is connected to the upper connecting bottom (238) of the two connecting bottoms (238); the two turntables rotate coaxially.

6. The docking release platform according to claim 5, characterized in that: The docking release platform further comprises a clamping device (24) arranged on the locking section (212), the clamping device (24) comprising a third driving component (242), two rocker arms (241) and a mounting bracket (247); the mounting bracket (247) is arranged at the lower part of the locking section (212), and the top of the mounting bracket (247) is detachably connected to the locking section (212); the third driving component (242) is a linear driving mechanism, and is mounted on the mounting bracket (247); one end of the two rocker arms (241) is connected to the output shaft of the third driving component (242) via a rocker arm connecting shaft (244), The other ends of the two rocker arms (241) are free ends, and the middle parts of the two rocker arms (241) are connected to the mounting bracket (247) via a rocker arm support shaft (245). When the output shaft of the third driving component (242) performs linear motion, the two rocker arms (241) are driven by the output shaft of the third driving component (242) to rotate around their respective rocker arm connecting shafts (244), thereby opening or closing the two rocker arms (241). The locking section (212) is provided with a transverse groove (216), and the two rocker arms (241) can extend through the transverse groove (216) to clamp the fuselage.

7. The docking release platform according to claim 6, characterized in that: The linear drive mechanism is an electric push rod, and elastic clamping blocks (246) are provided inside the free ends of the two rocker arms (241).

8. The docking release platform according to claim 7, characterized in that: The guide slideway (22) on the deceleration section (211) comprises two longitudinally extending limit bars, and the two limit bars are constructed such that the distance between them gradually narrows from the rear end (204) of the docking release platform toward the front end (202) of the docking release platform.

9. The docking release platform according to claim 8, characterized in that: The deceleration device is constructed of two groups of spring pins (213) symmetrically arranged on both sides of the deceleration section (211) in the longitudinal direction, and each spring pin (213) is fixed to the deceleration section (211) via a mounting support (214).

10. A docking and releasing method for a dual-purpose water-air drone, characterized in that: The docking release platform according to any one of claims 1 to 9 comprises the following steps: S01, when the dual-purpose air-water drone (100) needs to be recovered, the locking device (23) is in a first open state, and the dual-purpose air-water drone (100) enters the runway (21) from the rear end (204) of the docking release platform; S02, the dual-purpose water-air drone (100) decelerates on the deceleration section (211) of the runway (21) and glides toward the front end (202) of the docking release platform; S03, after the dual-purpose air-water drone (100) passes through the deceleration section (211) on the runway (21), the dual-purpose air-water drone (100) continues to slide toward the front end (202) of the docking release platform by its own inertia under the constraint of the guide slideway (22) until the front wheels and / or rear wheels abut against the locking device (23); S04, driving one of the first rotating table (231) and the second rotating table (232) of the locking device (23) to rotate, so that the first rotating table (231) and the second rotating table (232) are enclosed into a cylindrical shape, thereby completing the locking of the front wheel and / or the rear wheel; S05. When it is necessary to release the dual-purpose water-air drone (100), the other of the first rotating table (231) and the second rotating table (232) is driven to rotate, and the locking device (23) is in the second open state, thereby completing the unlocking of the front wheel and / or the rear wheel; S06. The dual-purpose water-air UAV (100) flies away from the docking release platform by its own power.

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