Long-distance cluster scattering inhabiting unmanned system and unmanned aerial vehicle projection method thereof

Abstract

The invention discloses a long-distance cluster scattering inhabitation unmanned system and an unmanned aerial vehicle projection method thereof, and belongs to the field of unmanned aerial vehicle high-altitude scattering, and the long-distance cluster scattering inhabitation unmanned system comprises a mother rocket body which is used for cluster unmanned aerial vehicle long-distance scattering; the launching platform is used for transporting and launching the mother rocket body; the mother flight control system is used for launching and flight control of the mother rocket body; the sub-flight control system is used for throwing control of the cluster unmanned aerial vehicle and flight control of the unmanned aerial vehicle; a plurality of layers of sub-rocket bodies arranged in sequence are arranged on the mother rocket body, each sub-rocket body comprises a plurality of cluster scattering devices arranged in the circumferential direction, each cluster scattering device comprises an unmanned aerial vehicle loading box and a plurality of unmanned aerial vehicles loaded in the unmanned aerial vehicle loading box and used for scattering, and the unmanned aerial vehicle loading boxes are connected through connecting structures. The unmanned aerial vehicle cluster projection system adopts the mother rocket body to carry, adopts the split unmanned aerial vehicle loading box design and throws the unmanned aerial vehicle at the tail end, realizes the cluster projection of the unmanned aerial vehicle, and has the effects of wide coverage range and large monitoring range.

Description

Technical Field

[0001] The present invention relates to the technical field of high-altitude scattering by unmanned aerial vehicles, and in particular to a long-distance cluster scattering habitat unmanned system and a unmanned aerial vehicle projection method thereof. Background Art

[0002] A quadcopter is an unmanned aerial vehicle equipped with four rotors. Its background technology stems from in-depth research on flight stability. Traditional helicopters require complex mechanical structures to achieve stable flight, while quadcopters provide good stability and maneuverability through distributed rotors. With the development of micro-sensor and battery technology, quadcopters have become smaller and more powerful, and are widely used in photography, monitoring, rescue and agriculture. The continuous advancement of this technology has enabled quadcopters to play an important role in many industries. Especially after natural disasters (such as earthquakes, fires, and floods), many areas may face dangers such as structural instability and chemical leaks. Cluster drones can conduct reconnaissance and collect information in these areas without human entry, ensuring that human rescue teams do not have to venture into potentially dangerous environments. Cluster drones can be remotely controlled by operators at a safe distance, or automatically perform tasks through preset programs. This mode of operation avoids direct exposure of personnel in high-risk areas.

[0003] Swarm drones can also carry various sensors (such as thermal imaging, gas detection, etc.) to monitor large areas and collect real-time data. These sensors can identify hazards (such as heat sources, toxic gases, etc.) and provide real-time information to decision makers to help them develop safer rescue strategies.

[0004] China has carried out some work in the field of swarms, and some units have conducted swarm test verification, but the verification is mainly for the verification of basic theories and technologies such as swarm formation control, networking communication, collaborative situational awareness, and online decision-making and planning. However, there are few swarm system tests in high-dynamic environments combined with typical application scenarios. Existing drone launch systems mainly include ground-based single-launch and swarm platforms; vehicle-mounted swarm platforms, and airborne unpowered delivery platforms. At present, there are no related projects for long-range cluster drones equipped with dispensers.

[0005] Currently, most of the existing disaster rescue drones are single drones, and there are no cluster-related drones. Therefore, the monitoring and search range is small, and usually only a small area can be monitored and searched. It cannot effectively respond to post-disaster rescue of large-scale natural disasters. Therefore, there is an urgent need for a cluster drone projection method that can monitor a large area. Summary of the invention

[0006] The purpose of the present invention is to provide a long-range cluster scattering unmanned perching system and a UAV projection method thereof, which adopts a system of a mother arrow body carrying, a split UAV loading box design, and a terminal scattering UAV to realize the cluster projection of UAVs, and has the effects of wide coverage and large monitoring range.

[0007] To achieve the above object, the present invention provides a remote cluster scattering unmanned habitat system, comprising: The mother rocket body is used for long-distance release of swarm drones; Launching platform, used for transporting and launching the rocket body; The mother flight control system is used for the launch and flight control of the mother rocket body; Sub-flight control system, used for swarm drone dispersal control and drone flight control; A plurality of layers of daughter rocket bodies are arranged in sequence on the mother rocket body. The daughter rocket bodies include a plurality of circumferentially arranged cluster scattering devices. The cluster scattering devices include a drone loading box and a plurality of drones loaded in the drone loading box for scattering. The drone loading boxes are connected by a connecting structure.

[0008] Preferably, the connection structure includes a scattering frame, which is the main skeleton of the mother arrow body, and a plurality of drone loading boxes are circumferentially arranged around the scattering frame.

[0009] Preferably, a deceleration and stabilization structure is provided on the drone loading box, and the deceleration and stabilization structure includes a stabilization umbrella arranged inside the top of the drone loading box, and a limit servo for opening the stabilization umbrella.

[0010] Preferably, an airbag for ejecting the drone loading box is provided on the inner side wall of the scattering rack, and a gas generator and an air guide hole are provided on the scattering rack, and the gas generator is connected to the airbag through the air guide hole.

[0011] Preferably, a plurality of loading cylinders for loading drones are provided in the drone loading box, each loading cylinder is provided with a drone, and the tube mouth of the loading cylinder is provided with a front end cover for limiting the drone, one side of the front end cover is hinged to the drone loading box, and the other side of the front end cover is connected to the drone loading box through a pin puller.

[0012] Preferably, a spring plate for assisting the ejection of the drone is provided at the bottom of the loading cylinder.

[0013] Preferably, the UAV is a foldable X-shaped four-rotor UAV, which includes a fuselage, four foldable arms are evenly arranged on the side of the fuselage, and the rotor assemblies are connected to the arms. Two groups of mechanical grippers for perching are symmetrically arranged at the bottom of the fuselage, and a reconnaissance module for reconnaissance of the target area is arranged at the top of the fuselage. The reconnaissance module includes a high-definition camera, and the high-definition camera is connected to the fuselage through a camera bracket.

[0014] Preferably, the fuselage is provided with electrical appliances and control modules for UAV attitude control and control signal feedback, a power battery assembly for providing a power source, a battery management board for controlling battery voltage reduction and energy distribution, a GPS module for positioning, and an intelligent sensor module for hazardous gas detection.

[0015] Preferably, the intelligent sensor module includes a plurality of sensors, which are evenly and circumferentially arranged on the fuselage, and the rotor assembly includes a propeller rotatably arranged at the end of the arm, and the propeller is a foldable double-blade propeller.

[0016] The present invention also provides a UAV projection method, which uses the above-mentioned long-distance cluster scattering habitat unmanned system, including the following steps: Step 1, projection preparation stage: In the target area, after receiving the mission, the long-range cluster scattering habitat unmanned system is activated; Step 2, low altitude flight phase: Under the control of the mother flight control system, the mother rocket body is launched through the launch platform. After launch, the mother rocket body flies at a low altitude. After approaching the mission area, the mother rocket body increases its altitude. After the flight is stable, the mother rocket body transmits its position and attitude information to the UAV, and the sub-flight control system completes the initialization; Step 3, scattering stage: According to the pre-set scattering point location information, the gas generator is activated to generate high-pressure gas to rapidly expand the airbag and scatter the drone loading box radially; Step 4, parachute stage: After the drone loading box is thrown away, after a certain number of seconds, the stabilizing parachute pops out from the parachute cabin and unfolds. Under the action of the stabilizing parachute, the drone loading box is decelerated to a stable speed. Step 5, initial stage: After the stabilizing parachute is deployed for several seconds, the pin-pulling actuator is activated, and the drone pushes open the front cover under the combined action of gravity and the base spring plate, pops out from the loading tube, and deploys the arms and rotor assembly; After the drone is ejected from the loading tube, the data link is initialized, the sub-flight control system starts to receive magnetic sensor information and Beidou information, and calculates the drone's attitude in combination with image information, performs position and attitude calibration in real time, and the drone performs large maneuvers and enters normal patrol status; Step 6: Network formation and patrol flight phase: After the drone enters the normal patrol state, it shares position information through the networking data link and conducts collaborative formation flight. After arriving at the target area, it conducts collaborative reconnaissance of the target area and shares the reconnaissance results to the ad hoc network. Step 7, task execution phase: When a UAV finds a target, the sub-flight control system classifies the target's importance to achieve task allocation and flight trajectory planning; each UAV conducts collaborative reconnaissance or inhabits the target area based on the task planning results.

[0017] Therefore, the present invention adopts the above-mentioned long-distance cluster scattering habitat unmanned system and its unmanned aerial vehicle projection method, which has the following beneficial effects: (1) The present invention utilizes a mother rocket body for long-range launch and scattering, which can quickly cover a large area and significantly improve the scattering efficiency and range. The existing small rotor UAVs have a short single-machine endurance time and a small effective working range. The method of using a mother rocket body to carry and scatter the UAV at the end can effectively improve the effective working range of the UAV. The split UAV loading box design can achieve a UAV cluster effect with a wide coverage range.

[0018] (2) The present invention uses a gas generating device and a gas guide hole in conjunction with an airbag ejection drone loading box to increase the drone dispersal efficiency and coverage.

[0019] (3) The system of the present invention can detect and identify, track targets, and detect the environment through the drone. It can be used for multiple purposes and flexibly respond to various needs, thus reducing the limitations of a single-function system.

[0020] (4) The present invention uses a bionic mechanical gripper design to enable the UAV to inhabit complex terrain and environments, thereby enhancing the reconnaissance capability and increasing the reconnaissance time of the UAV.

[0021] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the system structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a mother arrow body according to an embodiment of the present invention; Figure 3 It is a schematic diagram of the overall structure of a cluster scattering device according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of various parts of the cluster scattering device according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the air bag ejection structure of the cluster scattering device according to an embodiment of the present invention; Figure 6 A schematic diagram of a drone pop-up according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a loading cylinder of a loading box of a drone according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a drone according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the structure of a drone in a folded state according to an embodiment of the present invention; Fig.10 This is a schematic diagram of the structure of the drone in the unfolded state according to an embodiment of the present invention; Fig.11 This is a schematic diagram of the structure of a drone in a folded state according to an embodiment of the present invention; Fig.12 This is a schematic diagram of the UAV projection operation according to an embodiment of the present invention; Fig.13 A schematic diagram of the system process of an embodiment of the present invention; Fig.14 A schematic diagram of the structure of a gas generating device according to an embodiment of the present invention; Fig.15 This is a schematic diagram of the gripping state of a mechanical gripper according to an embodiment of the present invention; Fig.16 This is a schematic diagram of the mechanical gripper in an open state according to an embodiment of the present invention; Fig.17 A schematic diagram of a deceleration stabilization structure according to an embodiment of the present invention; Reference numerals 1. UAV loading box; 2. Dispersing rack; 3. Deceleration and stabilization structure; 31. Stabilizing umbrella cover; 32. Stabilizing umbrella base; 33. Spring top plate; 34. Limiting servo; 4. Airbag; 5. Front cover; 6. Gas generating device; 61. Electric squib; 62. Ignition powder; 63. Sealing spacer; 64. High-pressure gas chamber; 65. Sealing ring; 66. High-pressure gas pore; 7. Pore; 8. Packing tube; 9. Spring plate; 10. Pin puller; 11. Reconnaissance module; 12. Electrical and control module; 13. Power battery assembly; 14. Power management board; 15. GPS module; 16. Intelligent sensor module; 17. Rotor assembly; 18. Fuselage; 19. Arm; 20. Mechanical gripper; 201. Travel motor; 202. Mechanical frame; 203. Fixed rod; 204. Connecting rod one; 205. Machine claw; 206. Connecting rod two. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0024] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0025] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Example like Figure 1 As shown, the long-distance cluster scattering unmanned habitat system described in the present invention includes a mother rocket body, a launch platform, a mother flight control system and a sub-flight control system. The mother rocket body is used for long-distance scattering of clustered unmanned aerial vehicles, the launch platform is used for the transportation and launch of the mother rocket body, the mother flight control system is used for the launch and flight control of the mother rocket body, and the sub-flight control system is used for the scattering control of clustered unmanned aerial vehicles and the flight control of unmanned aerial vehicles.

[0029] like Figure 2 , Figure 3 As shown, a plurality of layers of daughter arrow bodies arranged in sequence are arranged on the mother arrow body, and the daughter arrow body includes a plurality of cluster scattering devices arranged circumferentially. The cluster scattering device includes a drone loading box 1, and a plurality of drones loaded in the drone loading box 1 for scattering, and the drone loading boxes 1 are connected by a connecting structure. In this embodiment, one daughter arrow body includes three drone loading boxes 1, and each drone loading box 1 is loaded with 16 drones.

[0030] like Figure 4 , Figure 5 As shown, the connection structure includes a throwing frame 2, which is the main frame of the mother arrow body, and three drone loading boxes 1 are arranged circumferentially around the throwing frame 2. The drone loading box 1 is provided with a deceleration and stabilization structure 3, which includes a stabilization parachute arranged inside the top of the drone loading box and a limit servo 34 for opening the stabilization parachute. Fig.17 As shown, a stable umbrella base 32 is provided at the top of the drone loading box, and a stable umbrella cover 31 is hinged on the stable umbrella base 32, so that the stable umbrella cover 31 can be flipped open to 90 degrees. A warehouse for containing a stable umbrella is provided at the top of the drone loading box, and the stable umbrella cover 31 is used to close the top of the warehouse. A spring top plate 33 is provided in the middle of the warehouse. In the deceleration stage, the spring top plate 33 is pushed by the spring to pop out the stable umbrella cover 31. The stable umbrella cover 31 is closed on the warehouse through a limit steering gear 34. In the deceleration stage, a signal is sent through the sub-flight control system, and the limit steering gear 34 works. The limit steering gear 34 drives the limit rod to release the limit on the stable umbrella cover 31, so that the stable umbrella cover 31 can be opened under the action of the spring top plate 33, and the stable umbrella pops up, which plays a deceleration role.

[0031] The inner wall of the scattering frame 2 is provided with an airbag 4 for ejecting the drone loading box 1. The scattering frame 2 is provided with a gas generator 6 and an air guide hole 7. The gas generator 6 is connected to the airbag 4 through the air guide hole 7. The stabilizing parachute can provide a deceleration and stabilization function after the drone loading box 1 is ejected. The airbag 4 is installed on the inner wall of the scattering frame 2, and can be quickly inflated and expanded under the action of the gas generator 6 to eject the drone loading box 1. The air holes 7 are arranged on the arc surface of the scattering frame 2, and two air holes 7 are arranged on each surface. The main function is to serve as the air guide hole 7 of the gas generator 6 to fill the high-pressure gas into the airbag 4. The airbag 4 is installed along the wall of the scattering frame 2, and the drone loading box 1 is tightly attached to the scattering airbag 4. The gas generator 6 is arranged at the center of the scattering frame 2, and a regularly controllable gunpowder is used as the detonator. The drone loading box 1 on each sub-arrow body is scattered in three directions, each sub-arrow body has an independent gas generator 6, and each drone adopts an independent scattering separation unit. The main function of the cluster scattering device is to stably bind the drone loading box 1 to the scattering frame 2 for reliable fixation; when reaching the predetermined task area, the cluster scattering device ejects the drone loading box 1 through the airbag 4 to complete the scattering task of the drone.

[0032] like Figure 6 As shown, after the main rocket body reaches the target area and receives the scattering instruction, the sub-flight control system controls the gas generator 6 to ignite, and after the high-pressure gas is introduced into the airbag 4, the drone loading box 1 is thrown out at a predetermined speed and direction under the action of each airbag 4. Fig.14As shown, the gas generating device 6 in this embodiment generates gas by burning the propellant and releases the gas stored in the pressure vessel. The pressure vessel combines the technology of the pyrotechnic gas generator and the gas storage gas generator. The gas generating device 6 includes an electric squib 61 arranged inside the shell, and an ignition powder 62, a sealing diaphragm 63, and a high-pressure gas chamber 64 are arranged in sequence behind the electric squib 61. The electric squib 61 transmits an electrical signal to detonate the ignition powder 62, and uses a regularly controllable gunpowder as the ignition powder 62. The sealing diaphragm 63 isolates the ignition powder 62 from the high-pressure gas, and transmits the pressure to the high-pressure gas chamber 64 when the ignition powder 62 is detonated. The high-pressure gas chamber 64 stores a certain amount of high-pressure inert gas. A sealing ring 65 is arranged on the outside of the high-pressure gas chamber 64. The sealing ring 65 ensures that the high-pressure gas does not leak under normal conditions, and is greatly deformed when impacted by the ignition powder 62, causing the gas to overflow. Eight high-pressure gas holes 66 are arranged circumferentially on the high-pressure gas chamber 64 . The high-pressure gas holes 66 ensure that the high-pressure gas can be quickly and stably diffused circumferentially to the center of the spreading frame 2 when in action, and then rush into the airbag 4 through the holes 7 .

[0033] like Figure 7 , Figure 8 As shown, 16 loading cylinders for loading drones are arranged in the drone loading box 1, and a drone is arranged in each loading cylinder. A front end cover 5 for limiting the position of the drone is arranged at the tube mouth of the loading cylinder. One side of the front end cover 5 is hinged to the drone loading box 1, and the other side of the front end cover 5 is connected to the drone loading box 1 through a pin puller 10. A spring plate 9 for assisting the drone to pop out is arranged at the bottom of the loading cylinder, which plays a boosting role in the drone pop-up stage. A circle of packaging cylinder 8 is wrapped around the outer side of the main body of the drone loading box 1 to stabilize it. A pin puller 10 is arranged at the tube mouth of each loading cylinder. When the drone pops out, each pin puller 10 is instructed by a signal to open in sequence to release the drone.

[0034] The main function of the drone loading box 1 is to realize the integration of the drone and the spreading frame 2, electrical and other physical functions, as well as the interconnection of information; to ensure the relevant needs of system storage, maintenance, transportation and work. During the spreading process, the drone is adapted to the spreading overload; after the spreading, the drone is decelerated and stabilized to provide a stable posture for the drone to be initially modified, which is conducive to the initialization of the onboard electrical and initial control.

[0035] like Fig. 9 , Fig.10 , Fig.11As shown, the UAV is a foldable X-shaped four-rotor UAV. The UAV includes a fuselage 18, and four foldable arms 19 are evenly arranged on the side of the fuselage 18. The arms 19 are connected to the rotor assembly 17, and two groups of mechanical grippers 20 for perching are symmetrically arranged at the bottom end of the fuselage 18. The rotor assembly 17 includes a propeller rotatably arranged at the end of the arm 19, and the propeller is a foldable two-blade propeller. The bottom end of the arm 19 is hinged to the fuselage 18 by a torsion spring hinge, and when the arm 19 is unfolded, it is unfolded to a horizontal state by the action of the torsion spring. When the arm 19 is not unfolded, the foldable two-blade propeller is retracted into the fuselage 18. After the arm 19 is unfolded, the motor is started, and the two-blade propeller is thrown open under the rotation of the motor, presenting a straight-line working state.

[0036] The top of the fuselage 18 is provided with a reconnaissance module 11 for reconnaissance of the target area. The reconnaissance module includes a high-definition camera, which is connected to the fuselage 18 through a camera bracket. The fuselage 18 is provided with an electrical and control module 12 for the attitude control and control signal feedback of the UAV, a power battery assembly 13 for providing a power source, a battery management board for controlling the battery voltage reduction and energy distribution, a GPS module 15 for positioning, and an intelligent sensor module 16 for hazardous gas detection. The intelligent sensor module 16 includes a number of sensors, which are evenly arranged circumferentially on the fuselage 18. The electrical and control module 12 uses an existing integrated circuit board, and realizes the attitude adjustment of the UAV through the control of the sub-flight control system. Its main flight control system and the sub-flight control system are both existing flight control systems, and all the electrical control connections in the present invention adopt the existing electrical connection control method. The intelligent sensors are natural gas sensors, carbon dioxide sensors, carbon monoxide sensors, sulfide sensors, etc., all of which use existing sensors.

[0037] The high-definition camera of the reconnaissance module 11 can scout the target area and output signals; the electrical and control module 12 is responsible for the attitude control of the UAV and the feedback of the control signals of each electrical appliance; the power battery pack is a whole lithium battery, installed in the center of the fuselage 18, providing a power source for the electrical components of the fuselage 18; the power management board 14 is installed on the inner side of the bottom of the fuselage 18, responsible for controlling the battery voltage reduction and energy distribution; the GPS module 15 is arranged at the tail of the fuselage 18, extending out of the fuselage 18 to enhance the accuracy of the UAV flight positioning and the reliability of the inter-machine networking; the sensor is embedded in the surface of the fuselage 18, and can detect hazardous gases in the target area under the habitat reconnaissance mission state.

[0038] The mechanical gripper 20 is fixedly connected to the fuselage 18 and can be perched according to the task requirements. Fig.15 , Fig.16As shown, the mechanical gripper 20 includes a travel motor 201 fixedly mounted at the bottom of the body, a mechanical frame 202 is fixedly mounted on the travel motor 201, the output bottom end of the travel motor is connected to the fixed rod 203, and the two ends of the fixed rod 203 are symmetrically hinged with a connecting rod group, the connecting rod group includes three connecting rods 1 204 hinged in sequence, and the hinges of the two connecting rods 1 204 far from the fixed rod 203 in the connecting rod group are rotatably connected to the mechanical frame 202. The lowest connecting rod 1 204 is hinged to the top of the machine claw 205, the top of the machine claw 205 is hinged to one end of the connecting rod 206, and the other end of the connecting rod 206 is hinged to the mechanical frame 202. The travel motor 201 drives the fixed rod 203 to rise and fall, and then drives the connecting rod group to move, operating the mechanical gripper to move, and the connecting rod group is in an open state when it is pushed to the lowest end, and in a gripping state when it is pushed to the top.

[0039] In the initial state, the drone is against the inner side of the front cover 5, one side of the front cover 5 is hinged to the drone cabin, and one side is fixed by the pin puller 10. After popping out, the arms 19 are opened, and the four sets of arms 19 can be fully opened to a horizontal state. The motor is started, the foldable propeller is opened, and the drone performs a large maneuver and enters a normal patrol state.

[0040] The UAV integrates multiple reconnaissance functions. The first is high-altitude reconnaissance. During the network formation patrol stage, if a high-value tracking target is found, the reconnaissance module 11 can be used for real-time tracking and shooting. The second is perching reconnaissance. If no target is found during the network formation patrol stage, it will fly to the target area before the motor battery is exhausted and perch with the tail mechanical gripper 20. Sensors are installed on the side walls of the fuselage 18 to detect hazardous gases according to mission requirements.

[0041] When in use, the mother rocket body is above the target area, and the drone is powered on and relevant data is loaded about 30 seconds before being thrown. After preliminary theoretical calculations and consideration of the initial safety height of the drone cutting parachute, when the mother rocket body is about 500m above the target area, the drone loading box 1 is thrown out, and the stabilizing parachute opens under the action of the airflow to adjust the cylinder posture to maintain stability.

[0042] When the scheduled parachute opening time is reached, the limit servo 34 acts to eject the stabilizing parachute. Under the action of aerodynamic force, the stabilizing parachute quickly fills up and unfolds. The four-petal parachute canopy rotates rapidly under aerodynamic force, generating resistance to adjust the attitude and slow down the UAV.

[0043] When the drone loading box 1 reaches a stable falling speed under the action of the stabilizing parachute, the pin-pulling actuator pulls out the fixing pin. At this time, the tube cover is released and opens under the combined action of the spring plate 9 and the gravity of the drone, flips to a 90° position, and the drone is ejected from the tube and the arm 19 is unfolded.

[0044] like Fig.12 , Fig.13As shown, a drone projection method described in the present invention adopts the above-mentioned long-distance cluster scattering habitat unmanned system, comprising the following steps: Step 1, projection preparation stage: In the target area, after receiving the mission, the long-range cluster scattering habitat unmanned system is activated; Step 2, low altitude flight phase: Under the control of the mother flight control system, the mother rocket body is launched through the launch platform. After launch, the mother rocket body flies at a low altitude. When it approaches the mission area, the mother rocket body increases its altitude. After the flight is stable, the mother rocket body transmits its position and attitude information to the UAV, and the sub-flight control system completes the initialization; Step 3, scattering stage: According to the pre-set scattering point position information, the gas generator 6 is started to generate high-pressure gas to rapidly expand the airbag 4 and scatter the drone loading box 1 radially; Step 4, parachute stage: After the drone loading box 1 is thrown, after a certain number of seconds, the stabilizing parachute pops out from the parachute cabin and unfolds. Under the action of the stabilizing parachute, the drone loading box 1 is decelerated to a stable speed. Step 5, initial stage: After the stabilizer parachute is deployed for several seconds, the pin-pulling actuator acts, and the drone pushes open the front cover 5 under the combined action of gravity and the base spring plate 9, pops out from the loading tube, and deploys the arm 19 and the rotor assembly 17; After the drone is ejected from the loading tube, the data link is initialized, the sub-flight control system starts to receive magnetic sensor information and Beidou information, and calculates the drone's attitude in combination with image information, performs position and attitude calibration in real time, and the drone performs large maneuvers and enters normal patrol status; Step 6: Network formation and patrol flight phase: After the drone enters the normal patrol state, it shares position information through the networking data link and conducts collaborative formation flight. After arriving at the target area, it conducts collaborative reconnaissance of the target area, and the reconnaissance results are shared to the ad hoc network. Step 7, task execution phase: When a UAV finds a target, the sub-flight control system classifies the target's importance to achieve task allocation and flight trajectory planning; each UAV conducts collaborative reconnaissance or inhabits the target area based on the task planning results.

[0045] Therefore, the present invention adopts the above-mentioned long-distance cluster scattering unmanned perching system and its UAV projection method, adopts a system of mother arrow body carrying, split UAV loading box 1 design, and terminal scattering UAV, to realize the cluster projection of UAVs, which has the effect of wide coverage and large monitoring range.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A long-distance cluster scattering unmanned habitat system, characterized by: include The mother rocket body is used for long-distance release of cluster drones; Launching platform, used for transporting and launching the rocket body; The mother flight control system is used for the launch and flight control of the mother rocket body; Sub-flight control system, used for swarm drone dispersal control and drone flight control; A plurality of layers of daughter rocket bodies are arranged in sequence on the mother rocket body. The daughter rocket bodies include a plurality of circumferentially arranged cluster scattering devices. The cluster scattering devices include a drone loading box and a plurality of drones loaded in the drone loading box for scattering. The drone loading boxes are connected by a connecting structure.

2. The long-distance cluster scattering unmanned habitat system according to claim 1 is characterized by: The connection structure includes a throwing frame, which is the main frame of the mother arrow body, and a plurality of UAV loading boxes are circumferentially arranged around the throwing frame.

3. The long-distance cluster scattering unmanned habitat system according to claim 2 is characterized in that: The UAV loading box is provided with a deceleration and stabilization structure, which includes a stabilization parachute arranged inside the top of the UAV loading box and a limit servo for opening the stabilization parachute.

4. The long-distance cluster scattering unmanned habitat system according to claim 3 is characterized by: An air bag for ejecting the drone loading box is arranged on the inner side wall of the spreading rack, and a gas generating device and an air guide hole are arranged on the spreading rack, and the gas generating device is connected with the air bag through the air guide hole.

5. The long-distance cluster scattering unmanned habitat system according to claim 4 is characterized in that: A plurality of loading cylinders for loading drones are arranged in the drone loading box, each loading cylinder is provided with a drone, and a front end cover for limiting the position of the drone is arranged at the tube mouth of the loading cylinder, one side of the front end cover is hinged to the drone loading box, and the other side of the front end cover is connected to the drone loading box through a pin puller.

6. The long-distance cluster scattering unmanned habitat system according to claim 5 is characterized by: A spring plate is provided at the bottom of the loading cylinder to assist the ejection of the drone.

7. The long-distance cluster scattering unmanned habitat system according to claim 1 is characterized in that: The UAV is a foldable X-shaped four-rotor UAV, which includes a fuselage. Four foldable arms are evenly distributed on the side of the fuselage, and rotor assemblies are connected to the arms. Two sets of mechanical grippers for perching are symmetrically arranged at the bottom of the fuselage, and a reconnaissance module for reconnaissance of the target area is arranged at the top of the fuselage. The reconnaissance module includes a high-definition camera, which is connected to the fuselage through a camera bracket.

8. The long-distance cluster scattering unmanned habitat system according to claim 7 is characterized in that: The fuselage is equipped with electrical appliances and control modules responsible for drone attitude control and control signal feedback, a power battery assembly for providing power source, a battery management board responsible for controlling battery voltage reduction and energy distribution, a GPS module for positioning, and an intelligent sensor module for hazardous gas detection.

9. The long-distance cluster scattering unmanned habitat system according to claim 8, characterized in that: The intelligent sensor module includes a plurality of sensors, which are evenly and circumferentially arranged on the fuselage. The rotor assembly includes a propeller rotatably arranged at the end of the arm, and the propeller is a foldable double-blade propeller.

10. A drone projection method, characterized in that: The long-distance cluster scattering unmanned habitat system according to any one of claims 1 to 9 comprises the following steps: Step 1, projection preparation stage: In the target area, after receiving the mission, the long-range cluster scattering habitat unmanned system is activated; Step 2, low altitude flight phase: Under the control of the mother flight control system, the mother rocket body is launched through the launch platform. After launch, the mother rocket body flies at a low altitude. After approaching the mission area, the mother rocket body increases its altitude. After the flight is stable, the mother rocket body transmits its position and attitude information to the UAV, and the sub-flight control system completes the initialization; Step 3, scattering stage: According to the pre-set scattering point location information, the gas generator is activated to generate high-pressure gas to rapidly expand the airbag and scatter the drone loading box radially; Step 4, parachute stage: After the drone loading box is thrown away, after a certain number of seconds, the stabilizing parachute pops out from the parachute cabin and unfolds. Under the action of the stabilizing parachute, the drone loading box is decelerated to a stable speed. Step 5, initial stage: After the stabilizing parachute is deployed for several seconds, the pin-pulling actuator is activated, and the drone pushes open the front cover under the combined action of gravity and the base spring plate, pops out from the loading tube, and deploys the arms and rotor assembly; After the drone is ejected from the loading tube, the data link is initialized, the sub-flight control system starts to receive magnetic sensor information and Beidou information, and calculates the drone's attitude in combination with image information, performs position and attitude calibration in real time, and the drone performs large maneuvers and enters normal patrol status; Step 6: Network formation and patrol flight phase: After the drone enters the normal patrol state, it shares position information through the networking data link and conducts collaborative formation flight. After arriving at the target area, it conducts collaborative reconnaissance of the target area, and the reconnaissance results are shared to the ad hoc network. Step 7, task execution phase: When a UAV finds a target, the sub-flight control system classifies the target's importance to achieve task allocation and flight trajectory planning; each UAV conducts collaborative reconnaissance or inhabits the target area based on the task planning results.

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