Target device for recovering unmanned aerial vehicle in air
By designing a self-generating and self-delineating air target device, the air recovery and locking unloading of drones are achieved using wind turbines and Hall components, the instructions and locking unloading of drones in the prior art are solved, and environmental adaptability and reliability are improved.
Patent Information
- Application Number
- CN202411976127.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-28
AI Technical Summary
The prior art is difficult to achieve efficient indication and locking unloading of air recovery drones, especially in high-altitude and low-temperature environments with challenges in power supply stability and control accuracy.
A target device with self-generating self-deline profile is designed, using a wind turbine power supply indicator light array, and the drone shutdown is controlled by cutting the induction coil through Hall elements. The device adopts a locking and unloading mechanism with a purely mechanical structure, which avoids the complexity of electrically controlled crosslinking.
It realizes stable power supply in high-altitude and low-temperature environments, and simple and efficiently controls drone shutdown and locking unloading, and improves the environmental adaptability and reliability of the overall structure.
Smart Images
Figure CN119705916A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of aerial recovery unmanned aerial vehicles, and in particular relates to a self-generating and self-outlined target device. Background Art
[0002] Conventional small and medium-sized drones that take off and land on the ground are limited by their size and weight, and their cruising range is relatively limited. If drones can be recovered in the air using transport aircraft, the cruising range of drones will be greatly increased, and targets with high-value payloads can also be urgently recovered. Based on the need to recover drones in the air, it is necessary to design a target device that can highlight the direction of the drone and can lock and unload the drone. Summary of the invention
[0003] The purpose of the present invention is to provide a target device for recovering unmanned aerial vehicles in the air.
[0004] The technical solution to achieve the purpose of the present invention is: a target device for recovering drones in the air, a generator is installed at the head of the target device, the circuit of the generator is connected to the indicator light array at the tail of the target, the generator supplies power to the indicator light array, the drone to be recovered finds the position of the aerial target through image recognition, and extends the capture rod fixed on the top of the drone through the cone sleeve opening in the target at a certain speed; when the Hall element inside the capture rod and the electromagnetic induction coil installed at the cone sleeve port are relatively displaced, the Hall element sends a stop signal to the drone, and the drone drives the capture rod to move to the locking position under the action of inertia, and the locking slider in the target completes the aerial capture of the drone; after reaching the designated unloading position, the unloading push rod is pushed to control the movement of the double slider mechanism to unlock the drone.
[0005] Furthermore, the main structure of the cone sleeve is similar to a horn, with the end with a smaller diameter being the front end and the end with a larger diameter being the rear end. The cone sleeve includes a cone surface similar to a horn mouth at the rear end, a cylindrical main shaft with the same diameter as the front end, a stopping groove located inside the main shaft close to the front end, a stopping slider limit shoulder that is coaxial with the stopping groove and has a diameter slightly smaller than the former, locking grooves that are evenly distributed on the outside of the main shaft and form a certain angle with the main shaft, and a locking slider limit shoulder that is coaxial with the locking groove and has a diameter slightly smaller than the former.
[0006] Furthermore, M grid wings are symmetrically mounted on the grid wing mounting holes of the cone sleeve, N indicator light arrays are symmetrically mounted on the N indicator light array mounting holes of the cone sleeve, the cylindrical shell is fixedly connected with the through holes evenly distributed at the tail and the threaded holes evenly distributed laterally at the tail of the cone sleeve by a number of screws, and an induction coil is built-in at the end of the cone; the lifting device is fixedly connected to the main shaft through the fixing hole, and the lifting ear at the top of the lifting device is connected to the steel cable on the aircraft; the stop slider is pushed in from the port of the main shaft to form a sliding pair with the stop slide groove, and then the spring and the main shaft end cover are installed in turn. The spring always pushes the stop slider against the stop slider limit shoulder through the elastic force, the generator is glued to the generator mounting groove of the main shaft end cover, and the fan faces the flight direction; the locking slider is placed in the locking slide groove with the tip facing forward to form a moving pair, and then the spring and the locking end cover are installed in turn. The spring in the locking slide groove always pushes the locking slider against the locking slider limit shoulder to ensure that the locking slider always extends into the inner hole of the main shaft.
[0007] Furthermore, P groups of locking sliders, locking end covers and corresponding springs are evenly distributed in the circumferential direction.
[0008] Furthermore, the unlocking slide slides in from the front end of the taper sleeve, and the sliding surface forms a moving pair with the outer surface of the main shaft.
[0009] Furthermore, the sliding link hinge holes at both ends of the P sliding links are respectively hinged with the unlocking slider hinge holes of the P unlocking sliders and the locking slider hinge holes of the P locking sliders, thereby finally forming a double slider mechanism with virtual constraints.
[0010] Further, the P-only unloading push rod is connected to the unlocking slide block through a thread.
[0011] Furthermore, a plurality of evenly distributed through holes are provided at the rear of the spherical shell, and are fixedly connected with a plurality of evenly distributed threaded holes of the same number provided at the front end of the cylindrical shell through a corresponding number of screws, thereby completely or partially enveloping the remaining components except the grid wings.
[0012] Further, after being installed in place, P unloading push rods extend out from the P push rod holes on the spherical housing.
[0013] Furthermore, the generator is a wind turbine; the capture rod is fixed on the top of the UAV and can extend into the interior of the aerial target from the conical surface of the cone sleeve; and a Hall element is installed on the head of the capture rod.
[0014] Compared with the prior art, the present invention has the following significant advantages: (1) The indicator light array is powered by a wind turbine. Compared with lithium battery power supply, the low temperature environment at high altitude will not affect the power supply; (2) The shutdown of the drone is controlled by cutting the induction coil with a Hall element. This control method is simple and efficient, does not require direct electrical signal contact with the drone, and has low requirements on the accuracy of the drone's flight control; (3) The locking and unloading mechanism adopts a purely mechanical structure, which only requires mechanical triggering and does not require additional electrical control cross-linking with the system. All driving actions are highly reliable and the overall structure has good environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is the general assembly diagram of the present invention.
[0016] Figure 2 It is a schematic diagram of a lifting device of the present invention.
[0017] Figure 3 It is a schematic diagram of a ball head housing of the present invention.
[0018] Figure 4 Schematic diagram of the grid wing of the present invention.
[0019] Figure 5 It is a schematic diagram of the cone sleeve of the present invention.
[0020] Figure 6 It is a schematic diagram of a capture rod of the present invention.
[0021] Figure 7 It is a schematic diagram of a locking slide block of the present invention.
[0022] Figure 8 It is a schematic diagram of the unloading push rod of the present invention.
[0023] Fig. 9 It is a schematic diagram of the unlocking slider of the present invention.
[0024] Fig.10 It is a schematic diagram of a sliding connecting rod of the present invention.
[0025] Fig.11 It is a schematic diagram of the spindle end cover of the present invention.
[0026] Fig.12 It is a schematic diagram of the locking end cover of the present invention. DETAILED DESCRIPTION
[0027] The present invention is a mechanical aerial target, which is dropped into the target airspace for recovery through a flexible steel cable. Its aerodynamic shape and mass characteristics can achieve posture stability at a certain towing speed, which is specifically manifested in that the opening direction of the cone sleeve is parallel to the flight direction.
[0028] A wind turbine is installed on the head of the aerial target. The generator's circuit is connected to the indicator light array at the tail of the aerial target. Under the action of wind, the generator's blades rotate to generate electricity to power the indicator light array. The drone to be recovered finds the position of the aerial target through image recognition, gradually adjusts the flight coordinates, and slowly extends the capture rod fixed on the top of the drone into the opening of the cone sleeve at a certain speed.
[0029] When the Hall element inside the capture rod and the electromagnetic induction coil installed at the cone sleeve port undergo relative displacement, the Hall element sends a stop signal to the drone. The drone drives the capture rod to move to the locked position under the action of inertia, and the locking slider completes the aerial capture of the drone.
[0030] After reaching the designated unloading position, push the unloading lever to control the movement of the double slider mechanism to unlock the drone.
[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0032] Combination Figures 1 to 12 , the numbers in the figure are: 1, lifting device; 101, lifting ear; 102, fixing hole; 2, spherical shell; 201, fan hole; 202, push rod hole; 3, cylindrical shell; 4, grid wing; 401, grid; 5, cone sleeve; 501, cone surface; 502, main shaft; 503, stop slide groove; 504, main shaft thread; 505, stop slider limit shoulder; 506, locking slide groove; 507, locking slide groove thread; 508, locking slider limit shoulder; 509, grid wing mounting hole; 510, indicator light array mounting hole; 6, generator; 7, indicator light array; 8, capture rod; 801, capture groove; 9, induction coil; 10, Hall element; 11. Stop slider; 12. Locking slider; 1201. Locking slider hinge hole; 1202. Retracting pressure surface; 1203. Locking end surface; 13. Unloading push rod; 1301. Pressing ball head; 14. Unlocking slider; 1401. Unlocking slider hinge hole; 1402. Sliding surface; 15. Sliding connecting rod; 1501. Sliding connecting rod hinge hole; 16. Spindle end cover; 1601. Spindle end cover thread; 1602. External hexagonal tool surface of spindle end cover; 1603. Generator mounting groove; 1604. Duct vent; 17. Locking end cover; 1701. Locking end cover thread; 1702 External hexagonal tool surface of locking end cover.
[0033] The target device for recovering a drone in the air described in the present invention comprises a lifting device 1, a spherical shell 2, a cylindrical shell 3, a grid wing 4, a cone sleeve 5, a generator 6, an indicator light array 7, a capture rod 8, an induction coil 9, a Hall element 10, a stop slider 11, a locking slider 12, an unloading push rod 13, an unlocking slider 14, a sliding connecting rod 15, a main shaft end cover 16, a locking end cover 17, and a plurality of standard parts such as screws, springs and pins.
[0034] On an aircraft cruising at a certain altitude and speed, the aerial target is connected to a flexible steel cable through a hoisting device 1 and slowly dropped into the drone recovery airspace. The spherical shell 2 and cylindrical shell 3 and several symmetrically distributed grid wings 4 installed at the tail of the aerial target play a role in stabilizing the posture of the aerial target, so that the opening direction of the drogue 5 is parallel to the flight direction of the aircraft. After the aerial target is stabilized, the generator 6 at its head generates electricity under the action of wind power, and supplies power to the indicator light array 7 at the tail of the aerial target, which is convenient for the drone to find its direction. When recovering the drone, the capture rod 8 connected to the drone slowly moves from the tail opening of the cone sleeve 5 toward the flight direction of the aircraft under the flight adjustment of the drone. The small port of the cone sleeve 5 and the capture rod 8 are respectively equipped with an induction coil 9 and a Hall element 10. After the recovery rod moves to the small port of the cone sleeve 5, the Hall element 10 sends a stop signal to the drone. The capture rod 8 continues to move under the action of inertia, and gradually decelerates under the action of the spring after contacting the stop slider 11. At this time, the locking slider 12 also contacts the groove of the recovery rod under the push of the spring and prevents the recovery rod from separating from the aerial target in the direction opposite to the flight direction of the aircraft, completing the aerial capture of the drone by the aerial target. After the drone is recovered into the cargo hold of the aircraft, the unloading push rod 13 is pushed, the unloading push rod 13 pushes the unlocking slider 13, the unlocking slider 14 drives the sliding connecting rod 15, and the sliding connecting rod 15 pushes the locking slider 12 away from the capture rod 8, finally realizing the unloading of the drone.
[0035] The target device is assembled as follows: M grid wings 4 are symmetrically mounted on the grid wing mounting holes 509 by 2M screws, M is an even number, and M=4 is taken here. N indicator light arrays 7 are also symmetrically mounted on N indicator light array mounting holes by threaded connection, N is an even number, and N=10 is taken here. The cylindrical shell 3 is connected to the cone sleeve by screws, and the end of the cone 501 is built-in with an induction coil. The lifting device 1 is fixedly connected to the main shaft 502 of the cone sleeve 5 by a fixing hole 102 and a plurality of pins, and the steel cable on the aircraft is connected to the lifting lug 101 to ensure the mooring of the aerial target. The stopper slide 11 is pushed in from the port of the main shaft 502, forming a sliding pair with the stopper slide groove 503, and then the spring and the main shaft end cover 16 are installed in sequence. The spring always presses the stopper slide 11 against the stopper slide limit shoulder 505 through the elastic force. The main shaft end cover 16 is connected to the main shaft thread 504 through the main shaft end cover thread 1601. When installing, use a wrench of corresponding size to clamp the external hexagonal tool surface 1602 of the main shaft end cover and screw it in. The generator 6 is glued to the generator installation groove 1603, and the fan faces the flight direction. Put the locking slider 12 into the locking slot 506 with the tip facing forward to form a moving pair, and then install the spring and the locking end cover 17 in sequence. Similarly, use a wrench of corresponding size to clamp the outer hexagonal tool surface 1702 of the locking end cover and screw the locking end cover thread 1701 into the locking slot thread 507. The spring in the locking slot 506 always pushes the locking slider 12 against the locking slider limit shoulder 508 to ensure that the locking slider 12 always extends into the inner hole of the main shaft 502. In order to ensure the reliability of the locking function, it is necessary to evenly distribute P groups of locking sliders 12, locking end covers 17 and corresponding springs in the circumferential direction, where P = 3. Slide the unlocking slider 14 from the front end of the taper sleeve 5, and the sliding surface 1402 forms a moving pair with the outer surface of the main shaft 502. P sliding links 15 are hinged to P unlocking slider hinge holes 1401 and P locking slider hinge holes 1201 respectively through 2P screws and sliding link hinge holes 1501 at both ends, and finally a double slider mechanism with virtual constraints is formed. P unloading push rods 13 are connected to the unlocking slider 14 through threads. The spherical shell 2 is connected to the element shell 3 through screws. After being installed in place, the P unloading push rods 13 extend from the P push rod holes 202. At this point, the main structure of the aerial target is completely installed.
[0036] The working process of the target device is divided into the delivery phase, the capture phase, the recovery phase, and the unloading phase. When the transport aircraft is in stable flight, the aerial target is slowly delivered to the target airspace through the steel cable. Under the combined effect of the traction of the steel cable, the air resistance, and the mass characteristics of the aerial target itself, the aerial target finally reaches a static state. Its aerodynamic shape and the grid 401 structure of the tail grid wing 4 make the main axis 502 of the aerial target basically parallel to the flight direction of the transport aircraft. The generator 6 installed at the head of the aerial target takes in air through the fan hole 201 and exhausts air through the duct vent 1604. It generates electricity under the action of the airflow and supplies power to the indicator light array 7 at the tail of the aerial target. At this time, the posture of the aerial target is stable, the indicator light array 7 is lit, and the conditions for recovering the drone are met. The drone to be recovered flies to the recovery airspace, finds its direction under the guidance of the indicator array 7, and finally slowly extends the capture rod 8 fixed on the top of the drone from the cone surface 501 into the interior of the aerial target. When the Hall element 10 installed on the head of the capture rod 8 and the induction coil 9 installed on the end of the cone surface 501 are relatively displaced, a shutdown signal is generated to shut down the drone. Under the action of inertia, the capture rod 8 pushes the retracted pressure surface 1202 to retract the locking slider 12. Under the action of the spring thrust, the locking slider 12 is always in contact with the outer surface of the capture rod 8. When the head of the capture rod 8 contacts the stop slider 11, it slowly stops under the action of the spring. Since the windward area of the drone is larger than that of the aerial target, the two will slide relative to each other. When the drone drives the capture rod 8 to slide to the position of the end face of the capture groove 801 and the locking end face 1203, it can no longer move, and the capture stage of the drone aerial recovery ends. The transport plane slowly recovers the steel cable, driving the aerial target and the drone back to the cabin, completing the recovery stage. After reaching the designated unloading position, push the pressing ball heads 1301 of the P unloading push rods, the double slider mechanism works, and the P stop sliders 11 are simultaneously pushed away from the capture grooves 801. At this time, the UAV can be freely pulled out of the cone sleeve 5, and the unloading of the UAV is completed.
[0037] The above description is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician in this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of implementation of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the invention in order to depart from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A target device for recovering a drone in the air, characterized by: A generator (6) is installed at the head of the target device. The circuit of the generator (6) is connected to the indicator light array (7) at the tail of the target. The generator (6) supplies power to the indicator light array (7). The drone to be recovered finds the position of the aerial target through image recognition, and extends a capture rod (8) fixed on the top of the drone into the opening of a cone sleeve (5) in the target at a certain speed. When a Hall element (10) inside the capture rod (8) and an electromagnetic induction coil (9) installed at the port of the cone sleeve (5) undergo relative displacement, the Hall element (10) sends a stop signal to the drone. The drone drives the capture rod (8) to move to a locking position under the action of inertia, and a locking slider (12) in the target completes the aerial capture of the drone. After reaching a designated unloading position, an unloading push rod (13) is pushed to control the movement of a double slider mechanism to unlock the drone.
2. The target device for recovering a drone in the air according to claim 1, characterized in that: The main structure of the cone sleeve (5) is similar to a trumpet, with the end with a smaller diameter being the front end and the end with a larger diameter being the rear end. The cone sleeve (5) comprises a cone surface (501) located at the rear end similar to the trumpet mouth, a main shaft (502) in the shape of a cylinder with the same diameter as the front end, a stop slide groove (503) located inside the main shaft near the front end, a stop slider limit shoulder (505) coaxial with the stop slide groove (503) and with a diameter slightly smaller than the former, locking slide grooves (506) uniformly distributed outside the main shaft and forming a certain angle with the main shaft (502), and a locking slider limit shoulder (508) coaxial with the locking slide groove (506) and with a diameter slightly smaller than the former.
3. The target device for recovering a drone in the air according to claim 1 or 2, characterized in that: M grid wings (4) are symmetrically mounted on the grid wing mounting holes (509) of the cone sleeve (5); N indicator light arrays (7) are symmetrically mounted on the N indicator light array mounting holes (510) of the cone sleeve (5); the cylindrical shell (3) is fixedly connected with the through holes evenly distributed at the tail and the threaded holes evenly distributed at the side of the tail of the cone sleeve (5) by a plurality of screws; the end of the cone surface (501) is built with an induction coil (9); the lifting device (1) is fixedly connected with the main shaft (502) through the fixing hole (102); the lifting ear (101) at the top of the lifting device (1) is connected with the steel cable on the aircraft; the stop slide block (11) is pushed in from the end of the main shaft (502) and engages with the stop slide groove (503) forms a sliding pair, and then the spring and the main shaft end cover (16) are installed in turn. The spring always pushes the stop slider (11) against the stop slider limit shoulder (505) through elastic force. The generator (6) is glued to the generator mounting groove (1603) of the main shaft end cover (16), and the fan faces the flight direction; the locking slider (12) is placed in the locking groove (506) with the pointed end facing forward to form a moving pair, and then the spring and the locking end cover (17) are installed in turn. The spring in the locking groove (506) always pushes the locking slider (12) against the locking slider limit shoulder (508), ensuring that the locking slider (12) always extends into the inner hole of the main shaft (502).
4. The target device for recovering a drone in the air according to claim 3, characterized in that: P groups of locking slide blocks (12), locking end covers (17) and corresponding springs are evenly distributed in the circumferential direction.
5. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: The unlocking slide block (14) slides in from the front end of the taper sleeve (5), and the sliding surface (1402) forms a moving pair with the outer surface of the main shaft (502).
6. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: The sliding link hinge holes (1501) at both ends of the P sliding links (15) are respectively hinged with the unlocking slider hinge holes (1401) of the P unlocking sliders (14) and the locking slider hinge holes (1201) of the P locking sliders (12), thereby finally forming a double slider mechanism with virtual constraints.
7. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: The P-only unloading push rod (13) is connected to the unlocking slide block (14) through a thread.
8. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: The tail of the spherical shell (2) is provided with a plurality of evenly distributed through holes which are fixedly connected with the front end of the cylindrical shell (3) with a plurality of evenly distributed threaded holes of the same number via a corresponding number of screws, thereby completely or partially enveloping the remaining parts except the grid wing (4).
9. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: After being installed in place, P unloading push rods (13) extend out from the P push rod holes (202) on the spherical housing (2).
10. The target device for recovering a UAV in the air according to claim 1 or 2, characterized in that: The generator (6) is a wind turbine; the capture rod (8) is fixed on the top of the drone and can extend from the conical surface (501) of the cone sleeve (5) into the interior of the aerial target; and the head of the capture rod (8) is equipped with a Hall element (10).