Aircraft rapid folding and unfolding device and method based on ship tail molded line design

Abstract

The invention relates to the technical field of small aircraft folding and unfolding, in particular to a small aircraft rapid folding and unfolding device based on ship tail molded line design and a control method of the small aircraft rapid folding and unfolding device. The claw device, the camera recognition device, the pulley block and the steel wire rope are matched with the upper-layer support of the small aircraft, the aircraft carried by the ship can be rapidly retracted and released, the ship and the aircraft do not need to be connected through a mooring rope in the sailing process, the weight of the ship in the sailing process can be reduced, and the working range of the aircraft is enlarged; the navigation performance of the aircraft is improved, and the manufacturing cost of the connecting cable is saved; according to the invention, image recognition is carried out through the camera recognition device, and an automatic control system combining the pulley block and the electromagnet is adopted, so that only one person is needed for control when the aircraft is folded and unfolded, the labor cost can be greatly saved, and the folding and unfolding efficiency of the aircraft is improved, and the aircraft can be folded and unfolded for multiple times in a short time.

Description

Technical Field

[0001] The present invention relates to the technical field of small-sized aircraft retracting and launching, and in particular to a small-sized aircraft rapid retracting and launching device based on a ship stern line design and a control method thereof. Background Art

[0002] At present, the existing solutions for the retrieval and deployment of surface ship-carried vehicles all require the use of cables and hooks to connect the carried vehicle body during navigation. However, the length of the cable will limit the working distance of the vehicle and the hydrodynamic characteristics during navigation to a certain extent. In addition, the retrieval and deployment process takes a long time and also increases labor costs. It is impossible to achieve multiple deployments of the vehicle in a short period of time. There is a large gap in the existing technology for the retrieval and deployment of ship-carried vehicles. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a rapid retrieval and release device and method for an aircraft based on the design of the stern line of a ship, which can realize the rapid retrieval and release of an aircraft carried by a ship, and no cables are required to connect the ship and the aircraft during navigation, which can reduce the weight of the ship during navigation, expand the working range of the aircraft, and save the manufacturing cost of the connecting cables.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] 1. Structure of the rapid retractable device for aircraft

[0006] The present invention provides a rapid retracting and releasing device for a vessel based on the design of the stern line of a ship, comprising a crossbeam 3 installed in a groove of the stern of the ship, a hook device 1 and a camera recognition device 2 are arranged in the middle of the crossbeam 3, pulley blocks 6 are symmetrically arranged at both ends of the interior of the crossbeam 3, a steel wire rope 7 is wound around the pulley block 6, and the steel wire rope 7 is connected to the hook device 1;

[0007] The hook device 1 includes a connecting column 16 connected to the wire rope 7, a pair of claw hooks 17 are hinged on both sides of the connecting column 16, and a connecting column electromagnet 10 is installed in the connecting column 16, and claw hook electromagnets 12 are installed at the ends of the claw hooks 17;

[0008] The size of the groove at the tail of the ship is adapted to the size of the small-sized craft 5. An upper bracket 14 is installed on the top of the small-sized craft 5. A grabbing slot 15 with a size adapted to the claw hook 17 is opened in the middle of the upper bracket 14. A magnetic block 13 matching the connecting column electromagnet 10 is installed on the top of the upper bracket 14.

[0009] The small-sized aircraft 5 is provided with a remote control module, and the pulley block 6, the connecting column electromagnet 10, the claw hook electromagnet 12 and the remote control module are all electrically connected to the aircraft launching and retracting control system in the ship.

[0010] Furthermore, a mounting groove 8 is provided in the middle of the connecting column 16 , and the connecting column electromagnet 10 is disposed in the mounting groove 8 .

[0011] Furthermore, the ends of the claw hooks 17 are each provided with a second mounting groove 9 , and the claw hook electromagnet 12 is disposed in the second mounting groove 9 .

[0012] Furthermore, a protruding buckle 4 is installed on the top of the upper bracket 14 , and the magnetic block 13 is arranged in the protruding buckle 4 .

[0013] Furthermore, a plurality of magnetic blocks 13 are symmetrically arranged in the protruding buckle 4 , and magnetic isolation plates 11 are arranged between the plurality of magnetic blocks 13 .

[0014] Furthermore, the installation height of the crossbeam 3 is adapted to the draft of the ship and the height of the upper support 14 above the small-sized craft 5 .

[0015] Furthermore, the pulley block 6 is connected to a lifting drive motor, and an encoder for calculating the lifting height of the hook device is installed on the lifting drive motor;

[0016] The small-sized craft 5 is provided with a positioning device and a speed regulating module. When the small-sized craft 5 enters the groove at the tail of the ship, the speed regulating module controls the speed of the small-sized craft 5 to match the speed of the ship.

[0017] Furthermore, the outer wall of the connecting column 16 is coated with a magnetic insulating material except for the bottom portion in contact with the protruding buckle 4, and the outer wall of the claw hook 17 is coated with a magnetic insulating material except for the grasping end surface.

[0018] II. Control Method of Aircraft Rapid Retracting and Retracting Device

[0019] Based on the same inventive concept, the present invention also provides a control method for the small aircraft rapid retracting and releasing device as described above, which specifically includes the following steps:

[0020] S1, determine whether the current task is a vehicle collection task or a vehicle delivery task. If it is a vehicle collection task, execute step S11; if it is a vehicle delivery task, execute step S21;

[0021] S11, when the small-sized aircraft sails into the preset range of the stern of the ship, the staff monitors the position of the small-sized aircraft in real time through the camera recognition device;

[0022] S12, when the small-sized aircraft reaches the designated position in the groove at the tail of the ship, the two claw hook electromagnets are controlled to generate repulsive force, so that the two claw hooks of the claw device are opened, and then the claw device is lowered as a whole into the grabbing slot range of the upper bracket of the small-sized aircraft by controlling the pulley block;

[0023] S13, controlling the two claw hook electromagnets to generate suction force, so that the two claw hooks of the claw device are closed to grab the upper bracket of the small aircraft, and at the same time, the connecting column electromagnet is turned on to absorb the magnetic block installed on the top of the upper bracket, so that the grabbing process is more stable and reliable;

[0024] S14, controlling the pulley block to make the hook device drive the small-sized aircraft to rise to a preset collection height, and taking the small-sized aircraft into the cabin for maintenance through the conveying device at the stern of the ship, so as to realize the rapid recovery of the small-sized aircraft;

[0025] S21, when the hook device drives the small-sized aircraft to descend to a preset range above the water surface by controlling the pulley block, the staff monitors the height of the small-sized aircraft in real time through the camera recognition device;

[0026] S22, when the small aircraft descends to contact the water surface, the two claw hook electromagnets are controlled to generate repulsion, so that the two claw hooks of the claw device are opened, and the connecting column electromagnet is closed at the same time, so that the upper support of the small aircraft is separated from the claw device, so as to achieve rapid release of the small aircraft;

[0027] S23, by controlling the pulley block, the hook device is raised as a whole to the starting position at the beam.

[0028] Furthermore, in step S12, when the small-sized vehicle reaches the designated position in the groove at the stern of the ship, the speed of the small-sized vehicle is controlled by the speed regulating module to match the speed of the ship.

[0029] Compared with the prior art, the present invention has the following main advantages:

[0030] 1. The present invention cooperates with the upper bracket of the small aircraft through the hook device, the camera recognition device, the pulley block, the wire rope and the small aircraft, so as to realize the rapid retrieval and release of the aircraft carried by the ship, and no cable is required to connect the ship and the aircraft during the voyage, which can reduce the weight of the ship during voyage, expand the working range of the aircraft, improve the navigation performance of the aircraft, and save the manufacturing cost of the connecting cable;

[0031] 2. The present invention uses a camera recognition device to perform image recognition, combined with an automatic control system of a pulley block and an electromagnet, so that only one person is required to control the folding and unfolding of the aircraft, which can greatly save labor costs. The folding and unfolding efficiency of the aircraft is high, and the aircraft can be folded and unfolded multiple times in a short time.

[0032] 3. The present invention can realize the rapid opening and closing of the claw hook of the claw device through the electromagnetic induction principle of the claw hook electromagnet, further improving the efficiency of retracting and releasing the aircraft, and by connecting the column electromagnet with the magnetic block on the top of the upper bracket of the small aircraft, the grasping of the aircraft can be made more secure, thereby improving the stability and safety of the aircraft grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the overall structure of the rapid retracting and releasing device for an aircraft in an embodiment of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the crossbeam part in an embodiment of the present invention;

[0035] Figure 3 A side view of a hook portion in an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of an upper support of an aircraft in an embodiment of the present invention;

[0037] Figure 5 The figure is a flow chart of a method for controlling a rapid retracting and launching device of an aircraft in an embodiment of the present invention.

[0038] In the figure: 1-claw device, 2-camera recognition device, 3-crossbeam, 4-raised buckle, 5-small aircraft, 6-pulley block, 7-wire rope, 8-installation slot one, 9-installation slot two, 10-connecting column electromagnet, 11-magnetic insulation partition, 12-claw hook electromagnet, 13-magnetic block, 14-upper bracket, 15-grabbing slot, 16-connecting column, 17-claw hook. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0041] Embodiment 1: This embodiment provides a rapid retracting and launching device for a vessel based on the design of the stern line of a ship, such as Figures 1 to 4As shown, it comprises a crossbeam 3 installed in a groove at the stern of a ship, a hook device 1 and a camera recognition device 2 are provided in the middle of the crossbeam 3, pulley blocks 6 are symmetrically provided at both ends of the interior of the crossbeam 3, a steel wire rope 7 is wound around the pulley block 6, and the steel wire rope 7 is connected to the hook device 1;

[0042] The hook device 1 includes a connecting column 16 connected to the wire rope 7, a pair of claw hooks 17 are hinged on both sides of the connecting column 16, and a connecting column electromagnet 10 is installed in the connecting column 16, and claw hook electromagnets 12 are installed at the ends of the claw hooks 17;

[0043] The size of the groove at the tail of the ship is adapted to the size of the small-sized craft 5. An upper bracket 14 is installed on the top of the small-sized craft 5. A grabbing slot 15 with a size adapted to the claw hook 17 is opened in the middle of the upper bracket 14. A magnetic block 13 matching the connecting column electromagnet 10 is installed on the top of the upper bracket 14.

[0044] The small-sized aircraft 5 is provided with a remote control module, and the pulley block 6, the connecting column electromagnet 10, the claw hook electromagnet 12 and the remote control module are all electrically connected to the aircraft launching and retracting control system in the ship.

[0045] Furthermore, a mounting groove 8 is provided in the middle of the connecting column 16 , and the connecting column electromagnet 10 is disposed in the mounting groove 8 .

[0046] Furthermore, the ends of the claw hooks 17 are each provided with a second mounting groove 9 , and the claw hook electromagnet 12 is disposed in the second mounting groove 9 .

[0047] Furthermore, a protruding buckle 4 is installed on the top of the upper bracket 14 , and the magnetic block 13 is arranged in the protruding buckle 4 .

[0048] Furthermore, a plurality of magnetic blocks 13 are symmetrically arranged in the protruding buckle 4 , and magnetic isolation plates 11 are arranged between the plurality of magnetic blocks 13 .

[0049] Furthermore, the installation height of the crossbeam 3 is adapted to the draft of the ship and the height of the upper support 14 above the small-sized craft 5 .

[0050] Furthermore, the pulley block 6 is connected to a lifting drive motor, and an encoder for calculating the lifting height of the hook device is installed on the lifting drive motor;

[0051] The small-sized craft 5 is provided with a positioning device and a speed regulating module. When the small-sized craft 5 enters the groove at the tail of the ship, the speed regulating module controls the speed of the small-sized craft 5 to match the speed of the ship.

[0052] Furthermore, the outer wall of the connecting column 16 is coated with a magnetic insulating material except for the bottom portion in contact with the protruding buckle 4, and the outer wall of the claw hook 17 is coated with a magnetic insulating material except for the grasping end surface.

[0053] Embodiment 2: This embodiment provides a rapid retracting and releasing device for a craft based on the design of the ship's stern line, including an electromagnetic hook device, which is installed at the open crossbeam at the stern and connected to a steel wire rope in the crossbeam, and the steel wire rope is connected to a fixed pulley block to control the lifting and lowering of the hook device. A corresponding electromagnet is installed inside the hook device, and a camera recognition device is installed next to the hook device;

[0054] An electromagnetic block matching the electromagnet is also installed on the top of the upper bracket of the small aircraft. The electromagnetic block of the small aircraft is installed in the raised part of the upper bracket. Multiple electromagnetic blocks are symmetrically installed in this part, and magnetically insulating partitions are installed between each electromagnetic block to prevent the two electromagnetic blocks from attracting each other when working.

[0055] Furthermore, fixed pulley blocks and steel wire ropes are symmetrically distributed in the crossbeam, two ends of the steel wire rope are connected to corresponding fixed pulleys, and the middle part is connected to the hook device.

[0056] Furthermore, the claw hook is opened and closed quickly through the operation of the electromagnet, and the traction wire rope of the pulley block is raised and lowered, thereby realizing the rapid retrieval and deployment of the small aircraft.

[0057] Furthermore, except for the direction where the interaction is required, the rest of the area around each electromagnet is wrapped with magnetic insulating material to prevent the force generated by it from having unnecessary effects on surrounding equipment.

[0058] When the small aircraft sails to the stern of the ship, the micro camera will control the pulley group to lower the claw device when it recognizes the small aircraft. After determining that it has reached the correct position, the claw hook grabs the card slot and the electromagnet adsorbs and fixes it, and then collects the small aircraft from the water and sends it into the cabin for maintenance. When the aircraft needs to be launched, the claw device grabs the aircraft and controls the hook device to descend through the fixed pulley group and wire rope. When the aircraft descends to the water surface, the camera recognizes it and controls the claw device to release so as to launch the aircraft, thereby achieving the effect of rapid launch.

[0059] Embodiment 3, based on the same inventive concept, this embodiment also provides a control method for the small aircraft rapid retracting and releasing device as described above, such as Figure 5 As shown, the specific steps include:

[0060] S1, determine whether the current task is a vehicle collection task or a vehicle delivery task. If it is a vehicle collection task, execute step S11; if it is a vehicle delivery task, execute step S21;

[0061] S11, when the small-sized aircraft sails into the preset range of the stern of the ship, the staff monitors the position of the small-sized aircraft in real time through the camera recognition device;

[0062] S12, when the small-sized aircraft reaches the designated position in the groove at the tail of the ship, the two claw hook electromagnets are controlled to generate repulsive force, so that the two claw hooks of the claw device are opened, and then the claw device is lowered as a whole into the grabbing slot range of the upper bracket of the small-sized aircraft by controlling the pulley block;

[0063] S13, controlling the two claw hook electromagnets to generate suction force, so that the two claw hooks of the claw device are closed to grab the upper bracket of the small aircraft, and at the same time, the connecting column electromagnet is turned on to absorb the magnetic block installed on the top of the upper bracket, so that the grabbing process is more stable and reliable;

[0064] S14, controlling the pulley block to make the hook device drive the small-sized aircraft to rise to a preset collection height, and taking the small-sized aircraft into the cabin for maintenance through the conveying device at the stern of the ship, so as to realize the rapid recovery of the small-sized aircraft;

[0065] S21, when the hook device drives the small-sized aircraft to descend to a preset range above the water surface by controlling the pulley block, the staff monitors the height of the small-sized aircraft in real time through the camera recognition device;

[0066] S22, when the small aircraft descends to contact the water surface, the two claw hook electromagnets are controlled to generate repulsion, so that the two claw hooks of the claw device are opened, and the connecting column electromagnet is closed at the same time, so that the upper support of the small aircraft is separated from the claw device, so as to achieve rapid release of the small aircraft;

[0067] S23, by controlling the pulley block, the hook device is raised as a whole to the starting position at the beam.

[0068] Furthermore, in step S12, when the small-sized vehicle reaches the designated position in the groove at the stern of the ship, the speed of the small-sized vehicle is controlled by the speed regulating module to match the speed of the ship.

[0069] Furthermore, all parts involved in this application that are not described in detail are the same as the prior art or are implemented using the prior art.

[0070] In summary:

[0071] 1. The present invention cooperates with the upper bracket of the small aircraft through the hook device, the camera recognition device, the pulley block, the wire rope and the small aircraft, so as to realize the rapid retrieval and release of the aircraft carried by the ship, and no cable is required to connect the ship and the aircraft during the voyage, which can reduce the weight of the ship during voyage, expand the working range of the aircraft, improve the navigation performance of the aircraft, and save the manufacturing cost of the connecting cable;

[0072] 2. The present invention uses a camera recognition device to perform image recognition, combined with an automatic control system of a pulley block and an electromagnet, so that only one person is required to control the folding and unfolding of the aircraft, which can greatly save labor costs. The folding and unfolding efficiency of the aircraft is high, and the aircraft can be folded and unfolded multiple times in a short time.

[0073] 3. The present invention can realize the rapid opening and closing of the claw hook of the claw device through the electromagnetic induction principle of the claw hook electromagnet, further improving the efficiency of retracting and releasing the aircraft, and by connecting the column electromagnet with the magnetic block on the top of the upper bracket of the small aircraft, the grasping of the aircraft can be made more secure, thereby improving the stability and safety of the aircraft grasping.

[0074] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rapid retracting and launching device for a craft based on the tail line design of a ship, characterized in that: The invention comprises a crossbeam (3) installed in a groove at the stern of a ship, a hook device (1) and a camera recognition device (2) being provided in the middle of the crossbeam (3), pulley blocks (6) being symmetrically provided at both ends of the interior of the crossbeam (3), a steel wire rope (7) being wound around the pulley block (6), and the steel wire rope (7) being connected to the hook device (1); The hook device (1) comprises a connecting column (16) connected to a steel wire rope (7), a pair of claw hooks (17) are hingedly connected to both sides of the connecting column (16), a connecting column electromagnet (10) is installed in the connecting column (16), and claw hook electromagnets (12) are installed at the ends of the claw hooks (17); The size of the groove at the tail of the ship is compatible with the size of the small-sized craft (5); an upper bracket (14) is installed on the top of the small-sized craft (5); a grabbing slot (15) whose size is compatible with the claw hook (17) is opened in the middle of the upper bracket (14); and a magnetic block (13) matching the connecting column electromagnet (10) is installed on the top of the upper bracket (14); The small-sized aircraft (5) is provided with a remote control module, and the pulley block (6), the connecting column electromagnet (10), the claw hook electromagnet (12) and the remote control module are all electrically connected to the aircraft retracting and launching control system in the ship.

2. The rapid retracting and launching device for a craft based on the stern line design of a ship according to claim 1 is characterized in that: A mounting groove (8) is provided in the middle of the connecting column (16), and the connecting column electromagnet (10) is arranged in the mounting groove (8).

3. The rapid retracting and launching device for a craft based on the stern line design of a ship according to claim 1 is characterized in that: The ends of the claw hooks (17) are each provided with a second mounting groove (9), and the claw hook electromagnet (12) is arranged in the second mounting groove (9).

4. The rapid retracting and launching device for a craft based on the stern line design of a ship according to claim 1, characterized in that: A protruding buckle (4) is installed on the top of the upper bracket (14), and the magnetic block (13) is arranged in the protruding buckle (4).

5. The rapid stowage and release device for a craft based on the stern line design of a ship according to claim 4, characterized in that: A plurality of magnetic blocks (13) are symmetrically arranged in the protruding buckle (4), and magnetic isolation partitions (11) are arranged between the plurality of magnetic blocks (13).

6. The rapid retracting and launching device for a craft based on the stern line design of a ship according to claim 1, characterized in that: The installation height of the crossbeam (3) is adapted to the draft of the ship and the height of the upper support (14) above the small-sized craft (5).

7. The rapid stowage and release device for a craft based on the stern line design of a ship according to claim 1, characterized in that: The pulley block (6) is connected to a lifting drive motor, and an encoder for calculating the lifting height of the hook device is installed on the lifting drive motor; The small-sized craft (5) is provided with a positioning device and a speed regulating module. When the small-sized craft (5) sails into the groove at the stern of the ship, the speed regulating module controls the speed of the small-sized craft (5) to match the speed of the ship.

8. The rapid retracting and launching device for a craft based on the stern line design of a ship according to claim 1 is characterized in that: The outer wall of the connecting column (16) is coated with a magnetic insulation material except for the bottom portion in contact with the raised buckle (4), and the outer wall of the claw hook (17) is coated with a magnetic insulation material except for the gripping end surface.

9. A method for controlling a rapid retracting and releasing device for an aircraft according to any one of claims 1 to 8, characterized in that: The steps include: S1, determine whether the current task is a vehicle collection task or a vehicle delivery task. If it is a vehicle collection task, execute step S11; if it is a vehicle delivery task, execute step S21; S11, when the small-sized aircraft sails into the preset range of the stern of the ship, the staff monitors the position of the small-sized aircraft in real time through the camera recognition device; S12, when the small-sized aircraft reaches the designated position in the groove at the tail of the ship, the two claw hook electromagnets are controlled to generate repulsive force, so that the two claw hooks of the claw device are opened, and then the claw device is lowered as a whole into the grabbing slot range of the upper bracket of the small-sized aircraft by controlling the pulley block; S13, controlling the two claw hook electromagnets to generate suction force, so that the two claw hooks of the claw device are closed to grab the upper bracket of the small aircraft, and at the same time, the connecting column electromagnet is turned on to absorb the magnetic block installed on the top of the upper bracket, so that the grabbing process is more stable and reliable; S14, controlling the pulley block to make the hook device drive the small-sized aircraft to rise to a preset collection height, and taking the small-sized aircraft into the cabin for maintenance through the conveying device at the stern of the ship, so as to realize the rapid recovery of the small-sized aircraft; S21, when the hook device drives the small-sized aircraft to descend to a preset range above the water surface by controlling the pulley block, the staff monitors the height of the small-sized aircraft in real time through the camera recognition device; S22, when the small aircraft descends to contact the water surface, the two claw hook electromagnets are controlled to generate repulsion, so that the two claw hooks of the claw device are opened, and the connecting column electromagnet is closed at the same time, so that the upper support of the small aircraft is separated from the claw device, so as to achieve rapid release of the small aircraft; S23, by controlling the pulley block, the hook device is raised as a whole to the starting position at the beam.

10. The control method according to claim 9, characterized in that In step S12, when the small-sized aircraft reaches the designated position in the groove at the stern of the ship, the speed of the small-sized aircraft is controlled by the speed regulating module to match the speed of the ship.

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