Vertical take-off and landing relay reconnaissance and attack primary-secondary unmanned aerial vehicle

Abstract

The invention discloses a vertical take-off and landing relay reconnaissance and attack child-mother unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the vertical take-off and landing relay reconnaissance and attack child-mother unmanned aerial vehicle comprises a mother vehicle assembly, the mother vehicle assembly comprises a mother vehicle body, and wings are arranged on the two sides of the mother vehicle body; according to the vertical take-off and landing relay reconnaissance and beating child-mother unmanned aerial vehicle, a servo motor is started, a winding reel is driven to rotate, a wound connecting rope and a connecting box are released downwards, meanwhile, a second electromagnet is powered on, a recycling induction system of a child-mother unmanned aerial vehicle body is started, a first electromagnet is powered on, and when the first electromagnet and the second electromagnet are close to each other, the child-mother unmanned aerial vehicle body reconnaissance and beating of the child-mother unmanned aerial vehicle body is started. And after the connection is completed, the servo motor is started again, the output shaft of the servo motor drives the winding reel to rotate again, so that the connecting rope is rolled up until the connecting box is received into the clamping groove, then the recovery of the unmanned aerial vehicle sub-aircraft is completed, and the unmanned aerial vehicle sub-aircraft recovery device has the advantage of rapid and accurate recovery.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing relay reconnaissance and strike mother-and-child unmanned aerial vehicle. Background Art

[0002] With the advancement of materials science, new lightweight and high-strength materials are constantly emerging, providing more optimized options for the structural design of UAVs, which can reduce the weight while ensuring the strength of the UAV, which is conducive to achieving the improvement of power performance and enhanced endurance required for vertical take-off and landing. In reconnaissance means, although helicopters can hover at low altitudes for reconnaissance, their range and speed are limited, and they are vulnerable to ground fire threats. Although small UAVs have the advantages of low cost and good concealment, a single UAV has limited payload, short range and easily interfered communications, making it difficult to meet the needs of continuous reconnaissance and precision strikes on long-distance targets in complex combat environments.

[0003] In the prior art, after completing the reconnaissance mission, the sub-machine will choose to land nearby or be recovered by the mother machine. Choosing the method of landing nearby will separate the mother machine and the sub-machine, and when the sub-machine lands nearby alone, its landing location is often difficult to ensure complete safety. However, the existing recovery mechanism usually uses mechanical devices to connect and fix the sub-machine to the mother machine, such as hooks, locks, etc. These mechanical structures are difficult to connect on the one hand, and are prone to wear, deformation and other faults after frequent use on the other hand, resulting in failure to work normally during recovery.

[0004] Therefore, we proposed a vertical take-off and landing relay reconnaissance and strike mother-and-child UAV to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV to solve the problem that the existing recovery method proposed in the above background technology is difficult and not easy to recover.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV, including a mother machine component, the mother machine component includes a mother machine body, wings are arranged on both sides of the mother machine body, the bottoms of the two wings are fixedly connected to connecting plates, the bottoms of the two connecting plates are fixedly connected to recovery components, the two recovery components include a fixed box and a recovery block, the tops of the two recovery blocks are provided with a first electromagnet, the interiors of the two fixed boxes are provided with mounting grooves, the inner walls of one side of the two mounting grooves are fixedly connected to support rods, the outer surfaces of the two support rods are rotatably connected to winding drums, the outsides of the two winding drums are wound and connected to connecting ropes, one end of the two connecting ropes are fixedly connected to the connecting box, the bottoms of the two connecting boxes are provided with a second electromagnet, each The outer surface of each of the first electromagnets is magnetically connected to the outer surface of each of the second electromagnets, and the bottoms of the two fixed boxes are fixedly connected to the card slots, and the two connection boxes are respectively arranged inside the two card slots; by starting the servo motor, the winding drum is driven to rotate, and the wound connection rope and the connection box are released downward, and at the same time, the second electromagnet is energized, and the recovery induction system of the sub-machine body is turned on. By energizing the first electromagnet, when the first electromagnet and the second electromagnet are close to each other, the magnetic force between the two will attract each other to complete the magnetic connection. After the connection, the servo motor is started again, so that its output shaft drives the winding drum to rotate again, thereby winding up the connection rope until the connection box is received inside the card slot, thereby completing the recovery of the drone sub-machine, which has the advantages of fast and accurate recovery.

[0007] Preferably, fixing grooves are provided inside the two fixing boxes, servo motors are arranged inside the two fixing grooves, and multiple heat dissipation holes are provided on the inner walls of the two fixing grooves, and the heat dissipation holes are used to dissipate heat generated by the operation of the servo motors.

[0008] Preferably, the inner walls on the other sides of the two installation grooves are provided with fixing holes, the output shafts of the two servo motors rotate inside the two fixing holes respectively, the output shafts of the two servo motors are fixedly connected to one end of the two winding reels respectively, and the inner bottom surfaces of the two installation grooves are provided with movable holes, and the two connecting ropes slide inside the two movable holes respectively.

[0009] Preferably, tail wings are provided on both sides of the tail of the mother machine body, and the mother machine body is used to serve as a carrying platform and a communication relay station.

[0010] Preferably, the bottoms of the two recovery blocks are fixedly connected to the reinforcement blocks, the bottoms of the two reinforcement blocks are fixedly connected to the sub-machine components, the two sub-machine components include mounting plates, the two reinforcement blocks are fixedly mounted on the tops of the two mounting plates, respectively, an electronic module is arranged in the middle of the bottoms of the two mounting plates, and the bottoms of the two mounting plates are fixedly connected to the fixing frames.

[0011] Preferably, driving mechanisms are arranged at the four ends of the two fixing frames, the driving mechanisms are used to provide flight power, the output shaft of each driving mechanism is fixedly connected to a plurality of rotating blades, the rotating blades are used to control the flight direction; the mother machine body is responsible for transporting the child machine body to the designated mission area, and during the flight, the wings generate lift when the mother machine body is flying, so that the mother machine body can overcome gravity and fly in the air, and the tail wing is mainly used to control the pitch attitude of the mother machine, which are all commonly used components in the flight of unmanned aerial vehicles, the child machine body is small in size and good in concealment, and can complete reconnaissance tasks, wherein the fixing frame is used to realize the connection between the rotating blades and the child machine body, and the driving of the rotating blades can be completed through the driving mechanism, so that the rotating blades are rotated, thereby making the child machine body fly, wherein the reinforcing rod is installed between two adjacent driving mechanisms, which effectively improves the stability of the child machine body during flight.

[0012] Preferably, a reinforcing rod is provided between the bottoms of every two of the driving mechanisms, and a sub-machine body is provided at the bottoms of the two fixing frames, and the sub-machine body is used for reconnaissance and attack on different targets.

[0013] Preferably, it also includes: a vertical take-off and landing relay reconnaissance and strike mother-and-child UAV system, which includes: a flight control module, a power module, an attitude conversion module, a safe altitude confirmation module, a child UAV release control module and a safety monitoring module.

[0014] Preferably, the flight control module is used to start the UAV power system and control the flight attitude and trajectory of the UAV, the power module is used to propel the UAV to vertical take-off and landing and horizontal flight, and is used to coordinate the switching of the working states of vertical flight and horizontal flight according to flight control instructions, and the attitude conversion module is used to start the horizontal flight propulsion device after the UAV reaches the transition height, and is used to convert the UAV from a vertical ascent attitude to a horizontal flight attitude.

[0015] Preferably, the safety altitude confirmation module is used to enable the flight control module to send a pre-release instruction to the sub-machine release control module after confirming that the safety altitude has been reached. The sub-machine release control module is used to smoothly separate the sub-machine body from the mother machine body. The safety monitoring module is used to monitor the environment around the drone in real time to prevent collisions. When faults and abnormalities are found, it will promptly alarm and take safety protection measures. The flight control module generates control instructions to command the flight attitude and movements of the drone. The power module provides power to provide ascending power when the mother-child drone rises vertically, and to provide horizontal power when the mother-child drone flies horizontally. The attitude conversion module is used to gradually change the drone from a vertical ascending attitude to a horizontal attitude. Gradually convert to a horizontal flight attitude, and in this process, continuously monitor the attitude, speed and altitude changes of the drone. During the horizontal flight, the drone uses the safe altitude confirmation module to ensure a smooth transition and avoid unstable states such as stalling or excessive tilting until it reaches the predetermined speed and altitude for horizontal flight. When it is confirmed that the safe altitude has been reached, the flight control module sends a pre-release instruction to the sub-machine release control module. The sub-machine release control module starts various preparations for the sub-machine, so that the sub-machine is separated and released from the mother machine. The safety monitoring module monitors the surrounding environment of the drone in real time to prevent collisions. At the same time, the safety monitoring module monitors the working status of the drone. When a fault or abnormality is found, it will promptly alarm and automatically return.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is in use, the servo motor is started to drive the winding drum to rotate, and the wound connection rope and the connection box are released downward. At the same time, the second electromagnet is energized, and the recovery induction system of the sub-machine body is turned on. By energizing the first electromagnet, when the first electromagnet and the second electromagnet are close to each other, the magnetic force between the two will attract each other to complete the magnetic connection. After the connection, the servo motor is started again, so that its output shaft drives the winding drum to rotate again, thereby winding up the connection rope until the connection box is received in the card slot, thereby completing the recovery of the drone sub-machine, which has the advantages of fast and accurate recovery.

[0017] 2. In the present invention, when in use, the mother machine body is responsible for transporting the sub-machine body to the designated mission area. During the flight, the wings generate lift when the mother machine body is flying, so that the mother machine body can overcome gravity and fly in the air. The tail wing is mainly used to control the pitch attitude of the mother machine. They are all commonly used components in the flight of unmanned aerial vehicles. The sub-machine body is small in size and has good concealment, and can complete reconnaissance tasks. The fixing frame is used to realize the connection between the rotating blades and the sub-machine body. The driving mechanism can complete the driving of the rotating blades, so that the rotating blades rotate, thereby making the sub-machine body fly. The reinforcing rod is installed between two adjacent driving mechanisms, which effectively improves the stability of the sub-machine body during flight.

[0018] 3. When the present invention is in use, the flight control module generates control instructions to command the flight attitude and action of the UAV, and the power module provides power. When the mother-child UAV rises vertically, it provides ascending power, and when the mother-child UAV flies horizontally, it provides horizontal power. The attitude conversion module realizes that the UAV is gradually converted from a vertical ascending attitude to a horizontal flight attitude. In this process, the attitude, speed and altitude changes of the UAV are continuously monitored. During the horizontal flight of the UAV, the safe altitude confirmation module ensures a smooth transition to avoid unstable states such as stalling or excessive tilting until the predetermined speed and altitude of horizontal flight are reached. When it is confirmed that the safe altitude has been reached, the flight control module sends a pre-release instruction to the sub-machine release control module, and the sub-machine release control module starts various preparations for the sub-machine, so that the sub-machine is separated and released from the mother machine. The safety monitoring module monitors the surrounding environment of the UAV in real time to prevent collision. At the same time, the safety monitoring module monitors the working status of the UAV, and when a fault or abnormality is found, it promptly alarms and automatically returns. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A first-person perspective stereogram of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 2 A second-angle stereoscopic image of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 3 This is a first-perspective stereoscopic view of a sub-machine component portion of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 4 A second-angle stereoscopic view of a sub-machine component part of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 5 A partial three-dimensional diagram of a recovery component of a vertical take-off and landing relay reconnaissance and strike mother-and-child UAV of the present invention; Figure 6 This is a perspective view of the partial structure of the recovery component of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 7 It is a cross-sectional perspective view of a partial structure of a recovery component of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV of the present invention; Figure 8 The present invention is a system diagram of a vertical take-off and landing relay reconnaissance and attack mother-and-child UAV.

[0020] In the figure: 1. Mother machine assembly; 101. Mother machine body; 102. Wing; 103. Tail; 104. Connecting plate; 2. Sub-machine assembly; 201. Mounting plate; 202. Electronic module; 203. Fixing frame; 204. Sub-machine body; 205. Driving mechanism; 206. Rotating blades; 207. Reinforcement rod; 3. Recovery assembly; 301. Reinforcement block; 302. Recovery block; 303. First electromagnet; 304. Second electromagnet; 305. Drive mechanism; 206. Rotating blades; 207. Reinforcement rod; 306. Drive mechanism; 307. Reinforcement block; 308. Recovering block; 309. First electromagnet; 310. Second electromagnet; 311. 5. Connection box; 306. Fixing box; 307. Installation slot; 308. Movable hole; 309. Support rod; 310. Fixing hole; 311. Slot; 312. Fixing slot; 313. Heat dissipation hole; 314. Servo motor; 315. Winding reel; 316. Connection rope; 4. Flight control module; 5. Power module; 6. Attitude conversion module; 7. Safety altitude confirmation module; 8. Sub-machine release control module; 9. Safety monitoring module. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1: Reference Figure 1-Figure 8As shown, the present invention provides a technical solution: a vertical take-off and landing relay reconnaissance mother-and-child UAV, including a mother machine component 1, the mother machine component 1 includes a mother machine body 101, wings 102 are arranged on both sides of the mother machine body 101, the bottoms of the two wings 102 are fixedly connected to the connecting plates 104, the bottoms of the two connecting plates 104 are fixedly connected to the recovery components 3, the two recovery components 3 include a fixed box 306 and a recovery block 302, the tops of the two recovery blocks 302 are provided with a first electromagnet 303, the interiors of the two fixed boxes 306 are provided with mounting grooves 307, the inner walls of one side of the two mounting grooves 307 are fixedly connected to the support rod 309, the outer surfaces of the two support rods 309 are rotatably connected to the winding drum 315, the outsides of the two winding drums 315 are wound and connected to the connecting rope 316, one end of the two connecting ropes 316 are fixedly connected to the connecting box 305, the bottoms of the two connecting boxes 305 are provided with a second electromagnet 304, the outer surface of each first electromagnet 303 is respectively connected to each second electromagnet 3 04, the bottoms of the two fixing boxes 306 are fixedly connected to the card slots 311, and the two connection boxes 305 are respectively arranged inside the two card slots 311, and the interiors of the two fixing boxes 306 are provided with fixing slots 312, and the interiors of the two fixing slots 312 are provided with servo motors 314, and the inner walls of the two fixing slots 312 are provided with a plurality of heat dissipation holes 313, and the heat dissipation holes 313 are used to dissipate the heat generated by the operation of the servo motors 314, and the inner walls of the other sides of the two installation slots 307 are provided with fixing holes 310, and the output shafts of the two servo motors 314 rotate inside the two fixing holes 310 respectively, and the output shafts of the two servo motors 314 are fixedly connected to one end of the two winding drums 315 respectively, and the inner bottom surfaces of the two installation slots 307 are provided with movable holes 308, and the two connecting ropes 316 slide inside the two movable holes 308 respectively, and tail wings 103 are provided on both sides of the tail of the mother machine body 101, and the mother machine body 101 is used to serve as a carrying platform and a communication relay station.

[0023] In this embodiment, when in use, when the mother machine body 101 carries the sub-machine body 204 and rises vertically to a safe height, it then performs horizontal flight and releases the sub-machine body 204. When releasing, the first electromagnet 303 and the second electromagnet 304 are powered off at the same time, so that the adsorption force disappears and the sub-machine body 204 is released. When the reconnaissance mission of the sub-machine body 204 is completed and needs to be recovered, the servo motor 314 is started to rotate its output shaft, thereby driving the winding drum 315 to rotate. When rotating, the winding drum 315 is sleeved on the outside of the support rod 309 to play a supporting role. When the winding drum 315 rotates, the wound connecting rope 316 is released downward. When released downward, the connecting box 305 is lowered. At the same time, the second electromagnet 304 is powered on, and the recovery induction system of the sub-machine body 204 is turned on. High-precision optical cameras and infrared positioning sensors are respectively installed on the main body 204. By using image recognition and infrared tracking technology, the sub-machine body 204 can obtain the position, posture and relative speed of the main machine body 101 in real time when approaching the main machine body 101. Through the built-in intelligent algorithm, the sub-machine body 101 automatically adjusts the flight posture and speed to achieve accurate docking with the main machine body 204. By energizing the first electromagnet 303, when the first electromagnet 303 and the second electromagnet 304 are close to each other, the magnetic force between the two will attract each other to complete the magnetic connection. After the connection, the servo motor 314 is started again, so that its output shaft drives the winding drum 315 to rotate again, thereby winding up the connection rope 316 until the connection box 305 is received in the card slot 311, thereby completing the recovery of the drone sub-machine, which has the advantages of fast and accurate recovery.

[0024] Embodiment 2: Figure 1-Figure 8As shown, the mother machine component 1 includes a mother machine body 101, wings 102 are arranged on both sides of the mother machine body 101, the bottoms of the two wings 102 are fixedly connected to the connecting plate 104, the bottoms of the two connecting plates 104 are fixedly connected to the recovery component 3, the two recovery components 3 include a fixing box 306 and a recovery block 302, the bottoms of the two recovery blocks 302 are fixedly connected to the reinforcing block 301, the bottoms of the two reinforcing blocks 301 are fixedly connected to the sub-machine component 2, the two sub-machine components 2 include a mounting plate 201, the two reinforcing blocks 301 are fixedly installed on the top of the two mounting plates 201, and the two mounting An electronic module 202 is arranged in the middle of the bottom of the plate 201, the bottoms of the two mounting plates 201 are fixedly connected to the fixing frames 203, driving mechanisms 205 are arranged at the four ends of the two fixing frames 203, the driving mechanisms 205 are used to provide flight power, the output shaft of each driving mechanism 205 is fixedly connected to a plurality of rotating blades 206, the rotating blades 206 are used to control the flight direction, a reinforcing rod 207 is arranged between the bottoms of every two driving mechanisms 205, and a sub-machine body 204 is arranged at the bottom of the two fixing frames 203, the sub-machine body 204 is used to scout and attack different targets.

[0025] In this embodiment, when in use, the mother machine body 101 is the vertically ascending carrying platform of the sub-machine body 204 in the mother-sub UAV. It is responsible for transporting the sub-machine body 204 to the designated mission area. After reaching a safe height and a suitable position, the sub-machine body 204 is accurately released according to preset instructions, so that the sub-machine body 204 can smoothly enter the reconnaissance state. During the reconnaissance process, the mother machine body 101 acts as a communication relay station between the sub-machine body 204 and the ground control station. Since the sub-machine body 204 is easily affected by factors such as distance, terrain or electromagnetic interference when performing tasks, direct communication with the ground control station is limited. The mother machine body 101 receives the reconnaissance data, status information, etc. transmitted by the sub-machine body 204 through its powerful communication equipment, and forwards it to the ground control station, and at the same time transmits the ground control station's The instructions are accurately conveyed to the sub-machine body 204 to ensure smooth transmission of information. During the flight, the wing 102 generates lift when the mother machine body 101 is flying, so that the mother machine body 101 can overcome gravity and fly in the air. The tail 103 is mainly used to control the pitch attitude of the mother machine. They are all commonly used components in the flight of unmanned aerial vehicles. The sub-machine body 204 is small in size and has good concealment, and can complete reconnaissance tasks. The fixing frame 203 is used to realize the connection between the rotating blades 206 and the sub-machine body 204. The driving mechanism 205 can complete the driving of the rotating blades 206, so that the rotating blades 206 rotate, thereby making the sub-machine body 204 fly. The reinforcing rod 207 is installed between two adjacent driving mechanisms 205, which effectively improves the stability of the sub-machine body 204 during flight.

[0026] Embodiment three: Figure 1-Figure 8As shown, it also includes: a vertical take-off and landing relay reconnaissance and attack mother-child UAV system, which includes: a flight control module 4, a power module 5, an attitude conversion module 6, a safe height confirmation module 7, a sub-machine release control module 8 and a safety monitoring module 9, the flight control module 4 is used to start the UAV power system and control the flight attitude and trajectory of the UAV, the power module 5 is used to promote the vertical take-off and landing and horizontal flight of the UAV, and it is used to coordinate the switching of the working states of the vertical flight and the horizontal flight according to the flight control command, the attitude conversion module 6 is used to start the horizontal flight propulsion device after the UAV reaches the transition height, and it is used to convert the UAV from a vertical ascending attitude to a horizontal flight attitude, the safe height confirmation module 7 is used to make the flight control module 4 send a pre-release instruction to the sub-machine release control module 8 after confirming that the safe height has been reached, and the sub-machine release control module 8 is used to smoothly separate the sub-machine body 204 from the mother machine body 101, and the safety monitoring module 9 is used to monitor the surrounding environment of the UAV in real time to prevent collisions, and it will promptly alarm and take safety protection measures when faults and abnormalities are found.

[0027] In this embodiment, when in use, the relay reconnaissance and attacking mother-and-child UAV is in flight operation, and the flight control module 4 can receive and process the information from various sensors on the mother-and-child UAV, and generate control instructions according to the preset flight program and control algorithm to command the flight attitude and action of the UAV. The flight control module 4 includes a high-performance flight control computer and integrates multiple sensors, such as a gyroscope, for accurately measuring the attitude, speed, position and altitude information of the UAV. At this time, power is provided by the power module 5. When the mother-and-child UAV rises vertically, it provides ascending power, and when the mother-and-child UAV flies horizontally, it provides horizontal power. When the mother-and-child UAV reaches the transition height, the flight control module 4 gradually adjusts the output of the vertical take-off and landing power, and starts the horizontal flight propulsion power at the same time, and realizes the gradual conversion of the UAV from the vertical ascending attitude to the horizontal flight through the attitude conversion module 6. The control module 4 controls the attitude of the drone, and in this process, continuously monitors the attitude, speed and altitude changes of the drone. During the horizontal flight, the drone uses the safety altitude confirmation module 7 to ensure a smooth transition and avoid unstable states such as stalling or excessive tilting until the predetermined speed and altitude of the horizontal flight are reached. After confirming that the safety altitude has been reached, the flight control module 4 sends a pre-release instruction to the sub-machine release control module 8. The sub-machine release control module 8 starts various preparations for the sub-machine, so that the sub-machine is separated and released from the mother machine. At the moment of separation, the sensor on the mother machine monitors the separation state of the sub-machine and feeds back the information to the flight control module 4. During their respective flight missions, the mother machine and the sub-machine use the safety monitoring module 9 to monitor the surrounding environment of the drone in real time to prevent collisions. At the same time, the safety monitoring module 9 monitors the working status of the drone. When a fault or abnormality is found, it will alarm in time and automatically return.

[0028] The use method and working principle of the device are as follows: when the mother machine body 101 carries the sub-machine body 204 and rises vertically to a safe height, it will fly horizontally and release the sub-machine body 204. When releasing, the first electromagnet 303 and the second electromagnet 304 are powered off at the same time, so that the adsorption force disappears and the sub-machine body 204 is released. When the reconnaissance mission of the sub-machine body 204 is completed and needs to be recovered, the servo motor 314 is started to rotate its output shaft, thereby driving the winding drum 315 to rotate. When rotating, the winding drum 315 is sleeved on the outside of the support rod 309 to play a supporting role. When the winding drum 315 rotates, it will release the wound connecting rope 316 downwards. When releasing downwards, the connecting box 305 will be lowered. At the same time, the second electromagnet 304 is energized, and the recovery sensing system of the sub-machine body 204 is turned on. High-precision optical cameras and infrared positioning sensors are installed on the mother machine body 101 and the sub-machine body 204 respectively. By using image recognition and infrared tracking technology, the sub-machine body 204 can obtain the position, posture and relative speed of the mother machine body 101 in real time when approaching the mother machine body 101. Through the built-in intelligent algorithm, the sub-machine body 101 automatically adjusts the flight posture and speed to achieve precise docking with the mother machine body 204. By energizing the first electromagnet 303, when the first electromagnet 303 and the second electromagnet 304 are close to each other, the magnetic force between the two will attract each other to complete the magnetic connection. After the connection, the servo motor is started again. 314, so that its output shaft drives the winding drum 315 to rotate again, thereby winding up the connecting rope 316, until the connecting box 305 is received in the card slot 311, thereby completing the recovery of the drone sub-machine. When in use, the mother machine body 101 is the vertically rising carrying platform of the sub-machine body 204 in the mother-child drone. It is responsible for transporting the sub-machine body 204 to the designated mission area. After reaching a safe height and a suitable position, the sub-machine body 204 is accurately released according to the preset instructions, so that the sub-machine body 204 can smoothly enter the reconnaissance state. During the reconnaissance process, the mother machine body 101 acts as a communication relay station between the sub-machine body 204 and the ground control station. Since the sub-machine body 204 is easily affected by distance, terrain or electromagnetic interference when performing tasks Due to factors such as the direct communication with the ground control station, the mother machine body 101 receives the reconnaissance data, status information, etc. transmitted by the sub-machine body 204 through its powerful communication equipment, and forwards it to the ground control station. At the same time, the instructions of the ground control station are accurately conveyed to the sub-machine body 204 to ensure the smooth transmission of information. During the flight, the wing 102 generates lift when the mother machine body 101 is flying, so that the mother machine body 101 can overcome gravity and fly in the air. The tail 103 is mainly used to control the pitch attitude of the mother machine. They are all commonly used components in the flight of unmanned aerial vehicles. The sub-machine body 204 is small in size and has good concealment, and can complete the reconnaissance mission. The fixed frame 203 is used to realize the connection between the rotating blades 206 and the sub-machine body 204.The driving mechanism 205 can drive the rotating blades 206 to rotate, so that the sub-machine body 204 can fly. When in use, the relay reconnaissance and striking of the mother-and-child UAV during flight operation can receive and process information from various sensors on the mother-and-child UAV through the flight control module 4, and generate control instructions according to the preset flight program and control algorithm to command the flight attitude and action of the UAV. The flight control module 4 includes a high-performance flight control computer and integrates a variety of sensors, such as a gyroscope, for accurately measuring the attitude, speed, position and altitude information of the UAV. At this time, power is provided by the power module 5. When the mother-and-child UAV rises vertically, it provides ascending power, and when the mother-and-child UAV flies horizontally, it provides horizontal power. When the mother-and-child UAV reaches the transition height, the flight control module 4 gradually adjusts the output of the vertical take-off and landing power, and starts the horizontal flight propulsion power at the same time, through the attitude conversion module Block 6 realizes the gradual conversion of the drone from a vertical ascending posture to a horizontal flight posture. During this process, the attitude, speed and altitude changes of the drone are continuously monitored. During the horizontal flight, the drone uses the safe altitude confirmation module 7 to ensure a smooth transition and avoid unstable states such as stalling or excessive tilting until the predetermined speed and altitude of the horizontal flight are reached. When it is confirmed that the safe altitude has been reached, the flight control module 4 sends a pre-release instruction to the sub-machine release control module 8. The sub-machine release control module 8 starts various preparations for the sub-machine, so that the sub-machine is separated and released from the mother machine. At the moment of separation, the sensor on the mother machine monitors the separation state of the sub-machine and feeds back the information to the flight control module 4. During their respective flight missions, the mother machine and the sub-machine monitor the surrounding environment of the drone in real time through the safety monitoring module 9 to prevent collisions. At the same time, the safety monitoring module 9 monitors the working status of the drone. When a fault or abnormality is found, it will promptly alarm and automatically return.

[0029] The wiring diagram of the first electromagnet 303, the second electromagnet 304 and the servo motor 314 in the present invention is common knowledge in the art, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring arrangement of the first electromagnet 303, the second electromagnet 304 and the servo motor 314 are no longer explained in detail.

[0030] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertical take-off and landing relay reconnaissance and attack mother-and-child UAV, comprising a mother aircraft component (1), the mother aircraft component (1) comprising a mother aircraft body (101), wings (102) being arranged on both sides of the mother aircraft body (101), the bottoms of the two wings (102) being fixedly connected to a connecting plate (104), the bottoms of the two connecting plates (104) being fixedly connected to a recovery component (3), characterized in that: The two recycling components (3) each comprise a fixed box (306) and a recycling block (302); a first electromagnet (303) is disposed on the top of each recycling block (302); a mounting groove (307) is provided inside each of the two fixed boxes (306); one side inner wall of each of the two mounting grooves (307) is fixedly connected to a support rod (309); the outer surfaces of each of the two support rods (309) are rotatably connected to a winding drum (315); the outer surfaces of each of the two winding drums (315) are wound around a connecting rope (316); one end of each of the two connecting ropes (316) is fixedly connected to a connecting box (305); a second electromagnet (304) is disposed on the bottom of each of the two connecting boxes (305); the outer surface of each of the first electromagnets (303) is magnetically connected to the outer surface of each of the second electromagnets (304); the bottoms of the two fixed boxes (306) are fixedly connected to a card slot (311); and the two connecting boxes (305) are disposed inside the two card slots (311), respectively.

2. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 1 is characterized in that: The two fixing boxes (306) are each provided with a fixing groove (312), a servo motor (314) is disposed inside the two fixing grooves (312), and the inner walls of the two fixing grooves (312) are each provided with a plurality of heat dissipation holes (313), and the heat dissipation holes (313) are used to dissipate heat generated by the operation of the servo motor (314).

3. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 2 is characterized in that: The inner walls of the other sides of the two installation grooves (307) are each provided with a fixing hole (310), the output shafts of the two servo motors (314) rotate inside the two fixing holes (310), the output shafts of the two servo motors (314) are respectively fixedly connected to one end of the two winding drums (315), and the inner bottom surfaces of the two installation grooves (307) are each provided with a movable hole (308), and the two connecting ropes (316) slide inside the two movable holes (308).

4. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 3 is characterized by: Tail wings (103) are provided on both sides of the tail of the mother machine body (101), and the mother machine body (101) is used to serve as a carrying platform and a communication relay station.

5. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 4 is characterized in that: The bottoms of the two recovery blocks (302) are fixedly connected to the reinforcing blocks (301), the bottoms of the two reinforcing blocks (301) are fixedly connected to the sub-machine assembly (2), the two sub-machine assemblies (2) each comprise a mounting plate (201), the two reinforcing blocks (301) are respectively fixedly mounted on the tops of the two mounting plates (201), the electronic modules (202) are arranged in the middle of the bottoms of the two mounting plates (201), and the bottoms of the two mounting plates (201) are fixedly connected to the fixing frame (203).

6. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 5, characterized in that: Driving mechanisms (205) are provided at the four ends of the two fixing frames (203), the driving mechanisms (205) are used to provide flight power, and the output shaft of each driving mechanism (205) is fixedly connected to a plurality of rotating blades (206), and the rotating blades (206) are used to control the flight direction.

7. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 6, characterized in that: A reinforcing rod (207) is provided between the bottoms of every two of the driving mechanisms (205), and a sub-machine body (204) is provided at the bottoms of the two fixing frames (203). The sub-machine body (204) is used to conduct reconnaissance and attack on different targets.

8. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 7, characterized in that: Also includes: A vertical take-off and landing relay reconnaissance and attack mother-and-child UAV system comprises: a flight control module (4), a power module (5), an attitude conversion module (6), a safety altitude confirmation module (7), a child aircraft release control module (8) and a safety monitoring module (9).

9. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 8, characterized in that: The flight control module (4) is used to start the UAV power system and control the flight attitude and trajectory of the UAV. The power module (5) is used to propel the UAV to vertical take-off and landing and horizontal flight, and is used to coordinate the switching of the vertical flight and horizontal flight working states according to the flight control instructions. The attitude conversion module (6) is used to start the horizontal flight propulsion device after the UAV reaches the transition height, and is used to convert the UAV from a vertical ascending attitude to a horizontal flight attitude.

10. The vertical take-off and landing relay reconnaissance and attack mother-and-child UAV according to claim 9, characterized in that: The safety altitude confirmation module (7) is used to enable the flight control module (4) to send a pre-release instruction to the sub-machine release control module (8) after confirming that the safety altitude has been reached. The sub-machine release control module (8) is used to smoothly separate the sub-machine body (204) from the mother machine body (101). The safety monitoring module (9) is used to monitor the environment around the drone in real time to prevent collisions. When a fault or abnormality is found, it will promptly alarm and take safety protection measures.

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