Constant pressure pneumatic pulley block traction type special-shaped unmanned aerial vehicle vertical cold launching system

Abstract

This invention discloses a constant-pressure pneumatic pulley system for vertical cold launch of irregularly shaped UAVs, comprising a carrier, an air source system, a loading and unloading system, multiple ejection systems, an energy storage system, and a control system. The air source system is connected to the energy storage system, and the energy storage system is connected to each ejection system. Each ejection system is externally housed in a housing. This invention possesses the capabilities for covert transport and parallel deployment, supports multiple consecutive launches, and can vertically launch irregularly shaped UAVs, covering various types of UAVs such as reconnaissance UAVs, attack UAVs, and multi-purpose UAVs. The invention features a compact design, occupies little space, and the payload remains within the housing throughout the launch process. The launch system control ensures a stable output of constant thrust.

Description

Technical Field

[0001] This invention relates to the field of catapult technology, and in particular to a constant pressure pneumatic pulley system for vertical cold launch of irregularly shaped unmanned aerial vehicles. Background Technology

[0002] With the rapid development of drone swarm warfare, the integration, automation, and adaptability of catapult systems using drones as payloads have received widespread attention. Catapult systems need to accurately detect launch conditions, comprehensively monitor system status, intelligently protect electromechanical equipment, process signals at high speed, optimize decision-making, and achieve rapid response for both routine automatic launch and emergency manual control.

[0003] Existing pneumatic catapult technologies mostly rely on creating a high-pressure airflow inside the launch tube to directly propel the payload. However, this requires high sealing and imposes strict limitations on the payload's shape, making it impossible to launch irregularly shaped payloads. In contrast, existing horizontal or inclined orbital launch systems expose the payload to the external environment during launch, and their structures are not compact enough, occupying a large amount of space and requiring long deployment times. Summary of the Invention

[0004] To address the problems of existing payload launch technologies being unable to launch irregularly shaped payloads, occupying large spaces, and requiring long deployment times, this invention proposes a constant-pressure pneumatic pulley system for traction-type vertical cold launch of irregularly shaped UAVs, thus solving the aforementioned problems.

[0005] This application discloses a constant pressure pneumatic pulley block traction type vertical cold launch system for irregularly shaped UAVs, including a carrier, an air source system, a loading and unloading system, multiple ejection systems, an energy storage system and a control system. The air source system is connected to the energy storage system, and the energy storage system is connected to each ejection system. Each ejection system is equipped with a box on its exterior.

[0006] Preferably, the ejection system includes a frame, symmetrically arranged about the center plane of the frame's width direction. A first fixed pulley is provided at the upper end of the rear inner wall of the frame. Guide rails and two adjacent second fixed pulleys are provided on both sides of the first fixed pulley. The four second fixed pulleys on both sides of the first fixed pulley are connected by a deceleration cable. Sleeve devices are connected to both ends of the deceleration cable. A third fixed pulley is provided below the first fixed pulley, and a fourth fixed pulley is provided to the right of the third fixed pulley. The guide rails are used to fix the push plate and make it move along the track. The deceleration cable is used to intercept the push plate, and the sleeve device is used to absorb the kinetic energy of the push plate.

[0007] Preferably, the ejection system further includes a push cylinder, a movable pulley, a transmission cable, and a push clamp. The push cylinder is fixed to the frame by a fixing plate, and its upper end is connected to the movable pulley. One end of the transmission cable is fixed to the rear side of the frame and sequentially passes over the movable pulley, the fourth fixed pulley, the third fixed pulley, and the first fixed pulley on the rear side of the frame. It then passes through the bottom of the push clamp and passes over the first fixed pulley, the third fixed pulley, the fourth fixed pulley, and the movable pulley on the front side of the frame, finally being fixed to the front side of the frame. The movable pulley is a double-linked pulley used to synchronously transmit power and ensure a uniform distribution of the push cylinder's thrust. The fixed pulley is used to change the direction of the transmission cable, assisting in transmission. The pulley system composed of fixed and movable pulleys optimizes power transmission and reduces vibration during movement, improving the performance and reliability of the ejection system.

[0008] Preferably, the sleeve device includes a first sleeve, a second sleeve, and a third sleeve. The second sleeve is nested outside the first sleeve, and the third sleeve is nested inside the first sleeve. The first sleeve and the second sleeve, as well as the first sleeve and the third sleeve, can slide linearly. The deceleration cable passes through the first sleeve and is connected to the bottom of the third sleeve. A first spring is nested above the second sleeve, and a second spring is nested below the second sleeve.

[0009] Preferably, the push clamp includes a bearing platform, a linear sliding bearing at the bottom of the bearing platform, a connecting plate on the side of the bearing platform, a deceleration hook passing through the side wall of the bearing platform, a support sleeve above the bearing platform, and a clamp on the support sleeve. The clamp is used to hold the load, and different clamps can be used according to different loads.

[0010] Preferably, the housing includes a shell, a lid is fixedly connected to the top of the shell by a pin, and a fixing bracket is provided on the side of the shell. The housing is fixed to the carrier by the fixing bracket, and a speed-changing gear is connected to the housing. The speed-changing gear is connected to a motor. The motor and the speed-changing gear work together to achieve a maximum opening and closing of 180° for the lid. During launch, the motor drives the speed-changing gear to open the lid, and the motor reverses when the lid closes.

[0011] Preferably, the energy storage system includes multiple gas cylinders, the number of which is the same as the number of ejection systems. Each gas cylinder is equipped with a pressure sensor at its bottom and a second solenoid valve at its opening. Each second solenoid valve is connected to one end of a regulating valve via a pipeline, and the other end of the regulating valve is connected to multiple first solenoid valves via a pipeline. Each first solenoid valve is connected to a push cylinder of an ejection system. The regulating valve and the first solenoid valves are mounted on a support.

[0012] Preferably, the gas supply system includes an air compressor, a safety valve, and a rupture disc. The air compressor is divided into three lines via pipelines: one line connects to the gas cylinder via a second solenoid valve, one line connects to the safety valve, and one line connects to the rupture disc. The safety valve and the rupture disc are connected in parallel. The air compressor is used to replenish high-pressure gas to the gas cylinder. The second solenoid valve can automatically open and close according to the set opening pressure. When the pressure exceeds the preset pressure value, the safety valve opens to release pressure. When an abnormal operating condition occurs that causes the pressure inside the pressure vessel to rise rapidly, requiring a large venting area, the rupture disc activates to begin rapid pressure release.

[0013] Preferably, the loading and unloading system includes a folding boom crane and a remote control. The loading and unloading system loads the load into the designated position of the container. The folding boom crane is designed for folding and storage, has three-stage telescopic extension, and uses a fully hydraulic telescopic boom.

[0014] Preferably, it includes a central control system, and a catapult control system, a communication control system, a loading and unloading control system, an energy storage control system, and a gas source control system connected to the central control system.

[0015] The beneficial effects of this invention are:

[0016] (1) The constant pressure pneumatic pulley block traction type vertical cold launch system for irregular UAVs of the present invention has the ability to be deployed in parallel, supports multiple launches in a continuous manner, and can launch irregular payloads vertically, covering a variety of UAV models.

[0017] (2) The present invention is compact in design, occupies little space, and the load is located inside the box throughout the launch process. The launch system control can ensure a stable output of constant thrust. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the constant pressure pneumatic pulley block traction type irregular UAV vertical cold launch system according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the catapult system structure according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram illustrating the working principle of the catapult system according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the sleeve structure according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the push-clamp plate structure according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the box structure according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the gas source system connection according to an embodiment of the present invention;

[0025] Figure 8 This is a flowchart illustrating the automatic constant voltage launch and manual emergency launch procedures according to an embodiment of the present invention;

[0026] Figure 9 This is a self-test control logic diagram of the catapult control system according to an embodiment of the present invention;

[0027] Figure 10 This is a logic control diagram of the catapult control system according to an embodiment of the present invention;

[0028] Figure 11 This is a control flowchart of the energy storage control system according to an embodiment of the present invention;

[0029] Figure 12 This is a control logic diagram of the gas source control system according to an embodiment of the present invention;

[0030] Figure 13 This is a detection logic diagram of the gas source control system according to an embodiment of the present invention;

[0031] Figure 14 This is a flowchart of the operation of the overall control system according to an embodiment of the present invention.

[0032] The attached figures are labeled as follows:

[0033] 1-Carrier, 2-Air source system, 3-Loading and unloading system, 4-Ejection system, 6-Box body, 201-Air compressor, 202-Safety valve, 203-Rupture disc, 401-Frame, 402-First fixed pulley, 403-Guide rail, 404-Second fixed pulley, 405-Reduction cable, 406-Third fixed pulley, 407-Fourth fixed pulley, 408-Push cylinder, 409-Moving pulley, 410-Transmission cable, 411-Fixed plate, 412-First sleeve, 413-Second sleeve, 414-Third sleeve, 41 5-First spring, 416-Second spring, 417-Bearing platform, 418-Connecting plate, 419-Linear sliding bearing, 420-Deceleration hook, 421-Support sleeve, 422-Clamp, 501-Gas cylinder, 502-Pipeline, 503-Regulating valve, 504-Solenoid valve, 505-Bracket, 506-Pressure sensor, 507-Second solenoid valve, 601-Housing, 602-Case cover, 603-Speed ​​change gear, 604-Motor. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments.

[0035] This application discloses a constant-pressure pneumatic pulley system for vertical cold launch of irregularly shaped unmanned aerial vehicles (UAVs). The system is modularly designed, comprising multiple subsystems that can be added or removed as needed. This embodiment uses two catapult systems as an example. Figure 1 As shown, it includes a carrier 1, an air source system 2, a loading and unloading system 3, two catapult systems 4, an energy storage system, and a control system. The air source system 2 is connected to the energy storage system, and the energy storage system is connected to each catapult system 4. Each catapult system 4 is equipped with a box 6 on its exterior.

[0036] The ejection system 4 includes a frame 401 for fixing guide rails 403, push cylinders 408, and pulleys. The ejection system 4 is symmetrically arranged about the center plane of the frame 401 in the width direction. The ejection system 4 includes multiple fixed pulleys, all of which are fixedly connected to the frame 401 by pins, ensuring the stability and safety of the fixed pulleys during high-speed operation. The ejection system 4 is symmetrical in structure, taking the structure on the rear side of the frame 401 as an example. A first fixed pulley 402 is provided at the upper end of the inner wall of the rear side of the frame 401. Guide rails 403 and two adjacent second fixed pulleys 404 are provided on both sides of the first fixed pulley 402. The four second fixed pulleys 404 on both sides of the first fixed pulley 402 are connected by a deceleration cable 405. Both ends of the deceleration cable 405 are connected to sleeve devices. A third fixed pulley 406 is provided below the first fixed pulley 402, and a fourth fixed pulley 407 is provided to the right of the third fixed pulley 406. The guide rail 403 is used to fix the pusher plate and make it move along the track. The deceleration cable 405 is used to intercept the pusher plate. The sleeve device is used to absorb the kinetic energy of the pusher plate.

[0037] The ejection system 4 also includes a push cylinder 408, a movable pulley 409, a transmission cable 410, and a push clamp. The push cylinder 408 is fixed to the frame 401 by a fixing plate 411, and the upper end of the push cylinder 408 is connected to the movable pulley 409. In this embodiment, the movable pulley 409 is a double-linkage pulley used to synchronously transmit power and ensure the uniform distribution of the thrust of the push cylinder 408. The fixed pulley is used to change the routing direction of the deceleration cable 405 and assist in transmission. The pulley group composed of the fixed pulley and the movable pulley can optimize the power transmission and reduce vibration during movement, thereby improving the performance and reliability of the ejection system 4. The transmission cable 410 is made of a single piece of alloy steel. One end is fixed to the rear side of the frame 401 with a lock, and then passes in sequence around the movable pulley 409, the fourth fixed pulley 407, the third fixed pulley 406 and the first fixed pulley 402 on the rear side of the frame 401. After passing through the linear sliding bearing 419 at the bottom of the push plate, it passes around the first fixed pulley 402, the third fixed pulley 406, the fourth fixed pulley 407 and the movable pulley 409 on the front side of the frame 401, and is finally fixed to the front side of the frame 401 with a lock.

[0038] like Figure 4As shown, the sleeve device includes a first sleeve 412, a second sleeve 413, and a third sleeve 414. The second sleeve 413 is nested outside the first sleeve 412, and the third sleeve 414 is nested inside the first sleeve 412. Both the first sleeve 412 and the second sleeve 413, and the first sleeve 412 and the third sleeve 414, can slide linearly. A deceleration cable 405 passes through the first sleeve 412 and connects to the bottom of the third sleeve 414, so that when the deceleration cable 405 moves, it pulls the third sleeve 414 and compresses the spring. The spring includes a first spring 415 nested above the second sleeve 413 and a second spring 416 nested below the second sleeve 413.

[0039] like Figure 5 As shown, the push clamp includes a support platform 417, with a linear sliding bearing 419 at the bottom of the support platform 417 for the transmission cable 410 to pass through. Connecting plates 418 are provided on the side of the support platform 417, the number and position of which correspond to the guide rail 403. The push clamp is connected to the guide rail 403 via the connecting plates 418. A deceleration hook 420 is provided through the side wall of the support platform 417, and a support sleeve 421 is provided above the support platform 417. A clamp 422 is provided on the support sleeve 421. The clamp 422 is used to clamp the load, and different clamps 422 can be used depending on the load. In this embodiment, the clamp 422 is set up for a thin plate load.

[0040] To ensure that the push plate is not damaged due to high-speed movement after ejection, this embodiment uses a two-stage deceleration to reduce the speed of the push plate and prevent excessive ejection. Before deceleration, the deceleration cable 405 remains horizontally taut. At the end of the push plate's stroke, the deceleration hook 420 grabs the deceleration cable 405, initiating deceleration and compressing the spring to complete the first stage of deceleration. After the first stage of deceleration, the push plate still carries residual speed. At this point, the push plate will collide with the first fixed pulley 402, triggering the second stage of deceleration to ensure complete stop.

[0041] Catapult System 4 Working Process Reference Figure 3 High-pressure gas is injected into the push cylinder 408, and the push rod of the push cylinder 408 is pushed out under the action of air pressure, causing the movable pulley 409 to push the steel cable transmission cable 410. The transmission cable 410 passes through the fourth fixed pulley 407, the third fixed pulley 406 and the first fixed pulley 402 on the frame 401, pulling the push clamp plate and driving the load clamped on the push clamp plate clamp 422 to move, accelerating the load to the end of the guide rail 403 and ejecting it. At the end of the stroke, the deceleration hook 420 on the push clamp plate hooks onto the deceleration cable 405. The deceleration cable 405 is connected to the sleeve device. Through the buffering effect of the spring in the sleeve device, the speed of the push clamp plate is reduced. The push clamp plate continues to move until it comes to a complete stop at the first fixed pulley 402.

[0042] like Figure 6As shown, the housing 6 includes a shell 601, with a cover 602 fixedly connected to the top of the shell 601 via a pin. A fixing bracket 605 is provided on the side of the shell 601, and the housing 6 is fixed to the carrier 1 via the fixing bracket 605. A speed-changing gear 603 is connected to the housing 6, and a motor 604 is connected to the speed-changing gear 603. The motor 604 and the speed-changing gear 603 work together to achieve a maximum opening and closing of 180° for the cover 602. During launch, the motor 604 drives the speed-changing gear 603 to open the cover 602; when the cover 602 closes, the motor 604 reverses.

[0043] The energy storage system includes multiple gas cylinders 501 for storing high-pressure gas. The number of gas cylinders 501 is the same as the number of catapult systems 4, and in this embodiment, there are two, model Xingyi CYYZ16A. Each gas cylinder 501 has a pressure sensor 506 at its bottom, and each gas cylinder 504 has a second solenoid valve 507 at its inlet. Each second solenoid valve 507 is connected to one end of a regulating valve 503 via a pipe 502. The other end of the regulating valve 503 is connected to multiple first solenoid valves 504 via a pipe 502. Each first solenoid valve 504 is connected to a push cylinder 408 of the catapult system 4. The regulating valve 503 and the first solenoid valves 504 are mounted on a bracket 505. In this embodiment, the first solenoid valve 504 is a Wolbos HM809-DN8, and the second solenoid valve is a Dunming solenoid valve DN8 (1 / 4-3 / 8) 30MP.

[0044] like Figure 7 As shown, the gas supply system 2 includes an air compressor 201, a safety valve 202, and a rupture disc 203. The air compressor 201 is divided into three lines via pipeline 502: one line connects to the gas cylinder 501 via a second solenoid valve 507, one line connects to the safety valve 202, and one line connects to the rupture disc 203. The safety valve 202 and the rupture disc 203 are connected in parallel. The air compressor 201 is used to replenish high-pressure gas to the gas cylinder 501. The second solenoid valve 507 can automatically open and close according to the set opening pressure. When the pressure exceeds the preset pressure value, the safety valve 202 opens to release pressure. When an abnormal operating condition occurs that causes the pressure inside the pressure vessel to rise rapidly, requiring a large venting area, the rupture disc 203 operates to begin rapid pressure release.

[0045] The loading and unloading system 3 includes a folding boom crane and a remote control. The system 3 loads the load into the designated location within the container. The folding boom crane is designed for folding and storage, with three-stage telescopic movement and a fully hydraulic telescopic boom. Characterized by cyclical and intermittent operation, the folding boom crane lifts the load from the storage point, moves it horizontally to the opening of the container 6, places it in the ejection system 4, and then returns to the starting point for the next cycle. The folding boom crane optimizes installation and usage space, saves operating and storage space, and is suitable for confined installation environments. In this embodiment, the folding boom crane model is DRFZZBD0 from Jining Dongrunfengzhi Heavy Industry Machinery Co., Ltd., and the remote control is included with the crane.

[0046] The control system adopts existing systems, including a central control system, as well as a catapult control system, a communication control system, a loading and unloading control system, an energy storage control system, and a gas source control system connected to the central control system.

[0047] The ejection control system acquires data from pressure sensor 506, executes control logic, manages communication, and monitors the system to achieve automated control of the ejection system 4. In this embodiment, the ejection control system provides two launch modes: automatic constant-pressure launch and manual emergency launch. The automatic constant-pressure launch mode intelligently adjusts the launch pressure according to different payload masses to ensure the payload takes off safely with a consistent initial velocity. The manual mode serves as an emergency backup plan, providing additional protection for payload launch; the control process is as follows: Figure 8 As shown. In manual emergency launch mode, the operator can bypass the constant pressure controller and directly operate the air switch to directly control the high-frequency solenoid valve group (which includes all first solenoid valves 504). Once the high-frequency solenoid valve group is activated, it immediately triggers the launch action, successfully completing the payload launch process.

[0048] Figure 8 The operation procedures for automatic and manual launch are described in detail. In automatic constant pressure launch mode, the analog-to-digital converter (AD) sampling module continuously monitors the pipeline pressure and captures pipeline pressure data in real time. This real-time pressure data is compared with the preset expected pressure value to calculate the pressure difference or deviation. To improve system performance and response speed, this system adopts Direct Memory Access (DMA) technology. The application of this technology allows data to be directly transferred from the AD sampling module to Random Access Memory (RAM), eliminating the intermediate processing stage of the CPU. This optimization significantly reduces the CPU workload while improving data transmission efficiency and real-time performance. After further processing, the data in RAM is output by the AD converter to the PID controller. Based on the instructions of the PID controller, the lower-level microcontroller generates pulse width modulation (PWM) waves or digital output (DO) waves with different duty cycles. These waveform signals effectively drive the solenoid valve group, ensuring that the load is launched with constant acceleration by precisely adjusting the opening and closing time of the first solenoid valve 504. The microcontroller used in this implementation is model M48Z-M3STM32F103C8T6.

[0049] Automatic constant-pressure launch utilizes a PID control algorithm combined with a closed-loop feedback system to control the current of the high-frequency solenoid valve assembly, maintaining constant air pressure during launch and ensuring the payload can be launched with constant acceleration. Manual emergency launch allows direct control of the high-frequency solenoid valve assembly to trigger the payload launch process.

[0050] System self-test control logic as follows Figure 9As shown, before launch, the system performs a self-test procedure to ensure that the ejection, energy storage, and main control systems meet launch standards before allowing the operator to select the launch mode. When the UAV is installed in place, the pressure of gas cylinder 501 is normal, the pressure of pipeline 502 is normal, the first solenoid valve 504 is closed, the launch device angle is normal, the circuit temperature is normal, and the emergency stop button is not pressed, press the self-test button. After pressing the main control start button, the indicator light will indicate that launch is allowed, and the launch mode can be selected.

[0051] The transmit logic is as follows Figure 10 As shown, the system operates according to the following procedure: Task start, vehicle startup, power-on of the main control system; if the wiring or the first solenoid valve 504 is abnormal, the damaged component is replaced; when the wiring and the first solenoid valve 504 are normal, the gas cylinder 501 and the first solenoid valve 504 are opened, and the air compressor 201 is turned on; if the load is not installed in place, the loading and unloading system 3 is used to adjust the load; after the load is installed in place, it is determined whether the pressure of the gas cylinder 501 has reached the preset value; if it has not reached the preset value, the air compressor 201 continues to work; when the predicted value is reached, the air compressor 201 is turned off; and the longitudinal and tilt angles of the carrier are determined to be qualified; if they are not qualified, [further action is taken]. Adjust the vehicle position until the launch indicator light illuminates. Select the launch mode. When automatic launch mode is selected, press the launch button. The housing cover 602 opens, the launch pressure remains constant under the control of the controller, the first solenoid valve 504 opens, and the loading and unloading system 3 loads the load. Then, starting from checking if the circuit and the first solenoid valve 504 are normal, repeat the above process. When manual launch mode is selected, press the manual launch button. The housing cover 602 opens, the high-pressure protection is activated, the first solenoid valve 504 opens, and the loading and unloading system 3 loads the load. Then, starting from checking if the circuit and the first solenoid valve 504 are normal, repeat the above process.

[0052] For the communication control system, the host computer configures and communicates with the controller of the first solenoid valve 504 through the CAN bus network to achieve precise control of multiple first solenoid valves 504, ensuring that the load is ejected in a predetermined order and at a predetermined speed; by precisely controlling the opening degree of the first solenoid valve 504, precise control of the gas is achieved to ensure the realization of constant pressure launch.

[0053] The loading and unloading control system integrates CAN bus communication technology with a portable remote controller, enabling connection with the hoisting equipment via wireless remote control and providing remote wireless operation.

[0054] The energy storage control system is based on an STM32 microcontroller and communicates with external systems via a CAN bus. It monitors the real-time status of the air compressor 201, the pressure and volume of the gas cylinder 501, and tracks the number of filling and discharging cycles and operating time. The system features automatic interlock control, automatically filling or triggering an alarm based on preset thresholds. The second solenoid valve 507 enables automatic operation of the gas cylinder 501. The control flow is as follows: Figure 11As shown. The energy storage control system collects data in real time from the pressure of the gas cylinder 501, the number of times the gas cylinder 501 operates, the speed of the air compressor 201, and the exhaust temperature of the air compressor 201 via the pressure sensor 506, and stores the data in the microcontroller's memory. The microcontroller determines whether the pressure of the gas cylinder 501 has reached the preset value based on the data. If it exceeds the preset value, it opens the second solenoid valve 507 to release gas; if it does not reach the preset value, it controls the second solenoid valve 507 to refill gas.

[0055] To monitor the gas supply system 2 in real time, the gas supply control system in this embodiment uses an STM32 microcontroller to build a monitoring and control module, integrating speed, pressure, and temperature sensors to comprehensively monitor the compressor status, speed, pressure, temperature, and operating time. The STM32 core processor receives and processes the sensor data, and transmits it efficiently and stably to the central control display module via CAN communication, ensuring timely and accurate information. The control logic is as follows: Figure 12 As shown, when the power supply voltage and current are normal, the internal temperature of air compressor 201 is normal, the internal pressure of air compressor 201 is normal, there are no impurities at the air inlet of air compressor 201, the internal pressure of gas cylinder 501 is normal, the internal pressure of pipeline 502 is normal, the first solenoid valve 504 of gas cylinder 501 is open and the start standby indicator is activated, and the start button is pressed, air compressor 201 starts. The detection logic is as follows: Figure 13 As shown, the air compressor 201 will shut down under the following three conditions: If any of the following is abnormal: power supply voltage, current, internal temperature of the air compressor 201, internal pressure of the air compressor 201, air inlet of the air compressor 201, or pressure in pipeline 502, the alarm will sound and pipeline 502 will be shut down; when the pressure inside the gas cylinder 501 is abnormal or reaches a preset value, the first solenoid valve 504 will close, and the air compressor 201 will shut down; when the emergency stop button is pressed, the air compressor 201 will shut down.

[0056] The core of the overall control system is the control module, responsible for critical payload launch operations. The module features both automatic constant voltage and manual emergency launch modes, which operators can quickly adapt to different needs by switching a toggle switch. Automatic constant voltage mode ensures stable launch, while manual emergency mode provides rapid response in emergencies, ensuring uninterrupted mission operation. Workflow: Before launch, the system performs a precise self-check, verifying each component and module to the overall system to ensure all details meet standards. The operation process is as follows: Figure 14As shown. After the main control system switch is turned on, the air compressor 201 starts, and the gas cylinder 501 begins to fill with gas. The pressure of the gas cylinder 501 is checked. If the pressure of the gas cylinder 501 is insufficient, the filling continues. When the pressure reaches the standard, the system self-check is started to determine whether the catapult system 4 and the energy storage system are normal and have been loaded with a load. If not, an alarm is triggered and the catapult system 4 is disabled. If yes, launch is allowed and the launch mode is selected. When the manual launch button is pressed, the high-pressure protection is activated, the solenoid valve group is activated, the load is launched, and preparation for launch is made. When automatic launch is selected, AD sampling is performed, the data is stored in the microcontroller memory, and the signal is output to the PID controller through the digital-to-analog converter to control the PWM / DO driver, drive the first solenoid valve 504, launch the load, and prepare for launch. At the same time, the pressure sensor 506 collects data, processes the data, and feeds it back to the AD sampling.

[0057] In this embodiment, the launch system's operation sequence is as follows: After the user inputs the payload launch command, the launch system begins a self-check of launch conditions; once the launch conditions are met, the system activates the launch button, opens the first solenoid valve 504, and opens the housing cover 602; after opening the first solenoid valve 504 and the housing cover 602, the system checks the launch conditions: whether the pressure sensor 506 has reached the preset pressure value (20 MPa in this embodiment), and whether the housing cover 602 is fully open; after the checks are completed and the conditions are met, the first solenoid valve 504 is opened to complete the payload ejection. The main working principle of the launch system in this embodiment is based on a pneumatic ejection system. First, before the ejection process begins, the air compressor 201 pressurizes high-pressure air into the gas cylinder 501 for energy storage. The payload is installed and locked on the ejection system 4 inside the housing 6, and the guide rail 403 ensures that the payload remains stable during the ejection process. When the ejection begins, the high-pressure gas in the gas cylinder 501 enters the push cylinder 408 through the pneumatic pipeline 502. The high-pressure gas pushes the piston in the push cylinder 408 to move at high speed. The piston pushes the pulley block, and the transmission cable 410 drives the push clamp to eject the load.

[0058] In one specific embodiment, it is necessary to launch reconnaissance drones and attack drones simultaneously, forming a joint formation to carry out reconnaissance and strike missions. Specific implementation steps include:

[0059] Deployment: Based on the site conditions, deploy a constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs at a suitable location.

[0060] Energy storage: Start the air compressor 201 to pressurize high-pressure air into the gas cylinder 501 to store energy.

[0061] Installing fixed drones: Install the reconnaissance drone and the attack drone on the catapult system 4 inside the housing 6 and lock them with push clamps.

[0062] Ejection preparation: Check whether the gas cylinder 501, pipeline 502, push cylinder 408, pulley block, steel cable and other components are in good condition, and ensure that the guide rail 403 is smooth and unobstructed.

[0063] Ejection: Press the launch button, and the high-pressure gas in the gas cylinder 501 will quickly enter the push cylinder 408 through the pipeline 502, pushing the piston to move at high speed.

[0064] Drone ejection: The piston pushes the pulley block, and the steel cable drives the push plate, causing the reconnaissance drone and the attack drone to eject from the box 6 in sequence.

[0065] Joint formation of drones to carry out missions: After the drones are deployed, the flight control system intervenes to control the drones and carry out the mission according to the predetermined plan.

[0066] Clean up the site: After the ejection is completed, reset the launch system and clean up the site to prepare for the next launch.

[0067] Through the above implementation methods, drones can be secretly transported, rapidly deployed, and launched continuously to form a drone swarm, leveraging the advantages of swarm operations to efficiently execute missions.

[0068] The launch system disclosed in this application possesses the capabilities for covert transportation and parallel deployment, supports multiple consecutive launches, and can vertically launch various types of UAVs, including reconnaissance UAVs, attack UAVs, and multi-purpose UAVs. Its compact design occupies little space, and the payload remains within the enclosure throughout the launch process. The launch system control ensures a stable output of constant thrust.

[0069] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A constant-pressure pneumatic pulley system for traction-type vertical cold launch of irregularly shaped unmanned aerial vehicles, characterized in that, It includes a carrier (1), an air source system (2), a loading and unloading system (3), multiple ejection systems (4), an energy storage system and a control system. The air source system (2) is connected to the energy storage system, and the energy storage system is connected to each ejection system (4). Each ejection system (4) is equipped with a box (6) on its exterior. The ejection system (4) includes a frame (401). The ejection system (4) is symmetrically arranged about the center plane of the frame (401) in the width direction. A first fixed pulley (402) is provided on the upper end of the rear inner wall of the frame (401). Guide rails (403) and two adjacent second fixed pulleys (404) are provided on both the left and right sides of the first fixed pulley (402). The four second fixed pulleys (404) on both sides of the first fixed pulley (402) are connected by a deceleration cable (405). Both ends of the deceleration cable (405) are connected to a sleeve device. A third fixed pulley (406) is provided below the first fixed pulley (402). A fourth fixed pulley (407) is provided on the right side of the third fixed pulley (406). The ejection system (4) also includes a push cylinder (408), a movable pulley (409), a transmission cable (410), and a push clamp. The push cylinder (408) is fixed to the frame (401) by a fixing plate (411). The upper end of the push cylinder (408) is connected to the movable pulley (409). One end of the transmission cable (410) is fixed to the rear side of the frame (401) and passes around the movable pulley (409), the fourth fixed pulley (407), the third fixed pulley (406), and the first fixed pulley (402) on the rear side of the frame (401) in sequence. Then it passes through the bottom of the push clamp and passes around the first fixed pulley (402), the third fixed pulley (406), the fourth fixed pulley (407), and the movable pulley (409) on the front side of the frame (401). Finally, it is fixed to the front side of the frame (401). The sleeve device includes a first sleeve (412), a second sleeve (413), and a third sleeve (414). The second sleeve (413) is nested outside the first sleeve (412), and the third sleeve (414) is nested inside the first sleeve (412). The first sleeve (412) and the second sleeve (413), as well as the first sleeve (412) and the third sleeve (414), can slide linearly. The deceleration cable (405) passes through the first sleeve (412) and is connected to the bottom of the third sleeve (414). A first spring (415) is nested above the second sleeve (413), and a second spring (416) is nested below the second sleeve (413). The push clamp includes a bearing platform (417), a linear sliding bearing (419) is provided at the bottom of the bearing platform (417), a connecting plate (418) is provided on the side of the bearing platform (417), a deceleration hook (420) is provided through the side wall of the bearing platform (417), a support sleeve (421) is provided above the bearing platform (417), and a clamp (422) is provided on the support sleeve (421).

2. The constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs according to claim 1, characterized in that, The box (6) includes a shell (601), a box cover (602) is fixedly connected to the top of the shell (601) by a pin, a fixed bracket (605) is provided on the side of the shell (601), the box (6) is fixed on the carrier (1) by the fixed bracket (605), the box (6) is connected to a speed change gear (603), and the speed change gear (603) is connected to a motor (604).

3. The constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs according to claim 2, characterized in that, The energy storage system includes multiple gas cylinders (501), the number of gas cylinders (501) is the same as the number of catapult systems (4), each gas cylinder (501) is equipped with a pressure sensor (506) at the bottom, each gas cylinder (501) is equipped with a second solenoid valve (507) at the opening, each second solenoid valve (507) is connected to one end of a regulating valve (503) through a pipeline (502), the other end of the regulating valve (503) is connected to multiple first solenoid valves (504) through a pipeline (502), each first solenoid valve (504) is connected to a push cylinder (408) of a catapult system (4), and the regulating valve (503) and the first solenoid valve (504) are mounted on a bracket (505).

4. The constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs according to claim 3, characterized in that, The gas source system (2) includes an air compressor (201), a safety valve (202) and a rupture disc (203). The air compressor (201) is divided into three paths through a pipeline (502). One path is connected to the gas cylinder (501) through a second solenoid valve (507), another path is connected to the safety valve (202), and the third path is connected to the rupture disc (203). The safety valve (202) and the rupture disc (203) are connected in parallel.

5. The constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs according to claim 4, characterized in that, The loading and unloading system (3) includes a folding arm crane and a remote control.

6. The constant pressure pneumatic pulley block traction-type vertical cold launch system for irregularly shaped UAVs according to claim 5, characterized in that, It includes the central control system, as well as the catapult control system, communication control system, loading and unloading control system, energy storage control system and gas source control system connected to the central control system.

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