Cylinder type unmanned aerial vehicle recovery device and recovery method thereof

Abstract

The invention discloses a barrel type unmanned aerial vehicle recycling device and a recycling method thereof. The barrel type unmanned aerial vehicle recycling device comprises a main body frame and a barrel. The top of the barrel is wider than the bottom of the barrel, the bottom wall of the top of the barrel is connected with the main frame, and the bottom of the barrel extends into the main frame; a buffer net is arranged at the bottom of the barrel; and a positioning module is arranged at the bottom of the main body frame and is in communication connection with the cylindrical unmanned aerial vehicle. Landing recovery is effectively performed on the barrel type unmanned aerial vehicle, it is guaranteed that a long and thin vehicle body at the bottom of the barrel type unmanned aerial vehicle penetrates through the barrel, it can also be guaranteed that the bottoms of rotor wings of the barrel type unmanned aerial vehicle can stably fall on the upper portion of the barrel, recovery accuracy and success rate are improved, and the landing recovery problem of the barrel type unmanned aerial vehicle without the undercarriage is solved; the repeated utilization rate of the barrel type unmanned aerial vehicle is increased, the service life of the barrel type unmanned aerial vehicle is prolonged, the maintenance frequency and the part replacement cost are reduced, and safe recycling of the barrel type unmanned aerial vehicle in various environments or severe weather is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of recovery of cylindrical unmanned aerial vehicles, and specifically relates to a recovery device for a cylindrical unmanned aerial vehicle and a recovery method therefor. Background Art

[0002] Due to its small size, portability and deployability, a cylindrical unmanned aerial vehicle can be folded and stored in a cylindrical storage and launch device through its propellers, and is widely used in both military and civilian applications. It is a form of aircraft with great potential at present; especially in the military aspect, a cylindrical unmanned aerial vehicle can approach the target area quietly, and use equipment such as high-definition cameras and infrared sensors carried by it to obtain clear images and video materials, helping to timely master the real-time dynamics of the other party. However, currently, cylindrical unmanned aerial vehicles are not equipped with landing gear components for landing on the ground. Their slender cylindrical body structure makes it impossible to land vertically upright during landing, resulting in a large impact force between the entire body and the ground, making the body and internal equipment of the cylindrical unmanned aerial vehicle extremely vulnerable to damage, affecting the service life and performance of the unmanned aerial vehicle.

[0003] In related technologies, there are currently many unmanned aerial vehicle recovery devices. However, the landing and recovery of unmanned aerial vehicles mostly rely on landing gear components, and most of the unmanned aerial vehicles equipped with landing gear are flat and have a multi-axis and multi-rotor structure. The takeoff and launch method and the structure of the cylindrical unmanned aerial vehicle are not convenient for installing landing gear, so the landing of the cylindrical unmanned aerial vehicle needs to rely on the operator's control technology to minimize the impact force between the cylindrical unmanned aerial vehicle and the ground during landing, thereby minimizing the damage or damage to the cylindrical unmanned aerial vehicle to the greatest extent. However, the use environment of the cylindrical unmanned aerial vehicle is diverse, and it is impossible to completely avoid damage or damage during landing, resulting in a low recovery rate of the cylindrical unmanned aerial vehicle, greatly reducing the reuse rate and increasing the maintenance cost.

[0004] Therefore, there is an urgent need for a recovery device for a cylindrical unmanned aerial vehicle and a recovery method therefor to solve the problem of recovering the cylindrical unmanned aerial vehicle. Summary of the Invention

[0005] The purpose of the present invention is to provide a recovery device for a cylindrical unmanned aerial vehicle and a recovery method therefor to solve at least one of the problems and defects mentioned in the above background art.

[0006] Specifically, the present invention discloses a recovery device for a cylindrical unmanned aerial vehicle, including:

[0007] A main body frame and a cylinder body;

[0008] The width of the top of the cylinder body is greater than the width of the bottom of the cylinder body. The bottom wall of the top of the cylinder body is connected to the main body frame, and the bottom of the cylinder body extends into the main body frame;

[0009] A buffer net is arranged at the bottom of the cylinder body;

[0010] A positioning module is provided at the bottom of the main frame, and the positioning module is communicatively connected to the tube-type UAV.

[0011] The tube-type UAV recovery device according to the present invention has at least the following beneficial effects:

[0012] Through the upper-wide and lower-narrow cylinder structure, the tube-type UAV recovery device can adapt to the characteristics of the slender tube-type body of the tube-type UAV, effectively land and recover the tube-type UAV. It not only ensures that the slender body at the bottom of the tube-type UAV passes through the cylinder, but also ensures that the bottom of the rotor of the tube-type UAV can stably land on the upper part of the cylinder, so that the rotor of the UAV does not interfere with the recovery device. Moreover, the buffer net at the bottom of the cylinder can bear the impact force when the tube-type UAV lands and recovers, enabling the tube-type UAV to maintain a vertical posture to complete the buffer when touching the net, protecting the safety and integrity of the recovery of the tube-type UAV. At the same time, the positioning module can accurately guide the tube-type UAV to land on the recovery device, improving the recovery accuracy and success rate, effectively solving the problem of the landing and recovery of the tube-type UAV without landing gear, and improving the reuse rate and service life of the tube-type UAV.

[0013] As a further aspect of the present invention: The main frame includes a plurality of brackets and a plurality of legs, and the plurality of brackets and legs are detachably connected.

[0014] Since the main frame includes a plurality of brackets and a plurality of legs, and the plurality of brackets and legs are detachably connected, it is convenient to adjust the combination mode of the brackets and legs, change the structure and size of the main frame, and be applicable to cylinder structures of different sizes, so that tube-type UAVs of different models or types can be recovered, and it can also be applicable to different recovery environments, improving the versatility and applicability of the device.

[0015] As a further aspect of the present invention: An inclined surface is provided at the top of the cylinder, and the inclined surface is adapted to the bottom of the rotor of the tube-type UAV.

[0016] By providing an inclined surface at the top of the cylinder, which is adapted to the bottom of the rotor of the tube-type UAV, when the slender body of the tube-type UAV lands on the buffer net at the lower part of the cylinder, although the rotation of its rotor cannot maintain the lift-off strength, it is still rotating at a high speed. The bottom of the rotor above the tube-type UAV can abut against the inclined surface of the cylinder, so that the tube-type UAV is clamped on the inclined surface at the bottom of the cylinder through the bottom of the rotor, preventing the rotation of the rotor from causing vibration or shaking of the tube-type UAV during the recovery process and resulting in lateral offset, ensuring the stability of the tube-type UAV during recovery. At the same time, the width of the top of the inclined surface can avoid contact with the rotor at the top of the tube-type UAV, avoiding damage to the rotor and power assembly components of the tube-type UAV, and ensuring the stability and safety of the recovery.

[0017] As a further solution of the present invention: a flexible anti-slip layer is provided along the inclined surface.

[0018] Since a flexible anti-skid layer is arranged along the inclined surface, the friction force when the bottom of the rotor of the cylinder-type UAV contacts the inclined surface can be increased, preventing the UAV from sliding on the inclined surface due to airflow disturbance or its own shaking during the recovery process, further improving the stability of the UAV engaged on the inclined surface, and ensuring the smooth recovery operation; at the same time, the buffering force at the moment of contact between the bottom of the rotor of the cylinder-type UAV and the inclined surface can be further improved, reducing the damage to the rotor and the body of the impact force, and ensuring the performance and life of the cylinder-type UAV.

[0019] As a further solution of the present invention: an electromagnetic adsorption device is provided on the inner side wall of the bottom of the cylinder.

[0020] By setting an electromagnetic adsorption device on the inner wall of the bottom of the cylinder, when the slender body of the cylinder-type UAV falls into the buffer net, the electromagnetic adsorption device can be turned on so that the body of the cylinder-type UAV is fixed by the adsorption force generated by the electromagnetic adsorption device, ensuring the stability and stability of the UAV before the rotor stops rotating, thereby improving the reliability of the entire recovery process of the cylinder-type UAV.

[0021] As a further solution of the present invention: the buffer net includes an outer net layer and an inner net layer, and the outer net layer and the inner net layer are independently selected to be elastic materials.

[0022] Since the buffer net includes an outer net layer and an inner net layer, the outer net layer and the inner net layer are independently selected to be elastic materials. The outer net layer and the inner net layer made of elastic materials have good vibration absorption performance and can play a role of graded buffering. When the cylinder-type UAV lands on the buffer net, it first contacts the body of the cylinder-type UAV through the inner net layer, bears and disperses part of the impact force, and initially slows down the descent speed of the UAV. The remaining impact force is then absorbed and dispersed through the outer net, further playing a buffering role, which can effectively reduce the impact force of the cylinder-type UAV when it lands, and protect the UAV and its internal equipment from damage; at the same time, the impact force is dispersed to the two layers of buffer nets, which reduces the stress borne by each layer of the buffer net, reduces the risk of wear and breakage of the network cable, and increases the service life of the buffer net.

[0023] As a further solution of the present invention: a pressure sensor is arranged at the bottom inner side of the outer net layer of the buffer net.

[0024] Since a pressure sensor is provided at the inner bottom of the outer net layer of the buffer net, the pressure condition on the buffer net during the recovery landing of the tube-type UAV can be monitored. Especially in some special environments or bad weather conditions, as well as when the weight carried by the tube-type UAV during the mission exceeds the expectation or the landing speed is too fast, the buffer net may bear too much impact force or pressure. Through the tracking of impact force or pressure parameters, the type or tension of the elastic material of the buffer net can be adjusted under different environmental or weather conditions, avoiding damage to the buffer net due to overload of impact force or pressure.

[0025] As a further solution of the present invention: the positioning module includes a positioning sensor and a signal processing unit.

[0026] Since the positioning module includes a positioning sensor and a signal processing unit, the positioning sensor can real-time obtain information such as the position and attitude of the UAV, and transmit the data to the signal processing unit. The signal processing unit analyzes and processes the data in real time, dynamically adjusts the positioning strategy and parameters according to the motion state and environmental changes of the tube-type UAV, and corrects the positioning error in time to ensure that the tube-type UAV can always accurately locate the recovery device, meeting the requirements for high-precision positioning during the recovery process.

[0027] As a further solution of the present invention: counterweights are respectively arranged in the vertical direction on the legs at the bottom of the main body frame.

[0028] The recovery location of this recovery device will be placed in an open environment according to the mission requirements of the tube-type UAV, making it impossible to effectively fix the bottom of the recovery device. However, due to the impact force during the landing recovery of the tube-type UAV or strong winds in the open environment, the recovery device may shake or tip over, causing the recovery device to be unable to be fixed in place. And counterweights are respectively arranged in the vertical direction on the legs at the bottom of the main body frame. By fixing the bottom of the main body frame with counterweights, the structural stability of the recovery device can be effectively enhanced in the case where it cannot be effectively fixed by fixing parts, preventing damage to the tube-type UAV during recovery or inability to recover due to shaking or tipping over of the recovery device, ensuring that the tube-type UAV can land safely and stably on this recovery device, and improving the stability of the recovery device and the recovery success rate of the UAV.

[0029] The second aspect of the present invention also discloses a recovery method for a tube-type UAV recovery device, including the following steps:

[0030] S1. Fix the recovery device at the recovery point and send a landing signal to the tube-type UAV;

[0031] S2. Transmit the specific position of the recovery device to the tube-type UAV through the positioning module by signal;

[0032] S3. The cylindrical UAV flies above the recovery point and reduces its speed. The body of the cylindrical UAV drops into the buffer net, and the bottom of the rotor of the cylindrical UAV lands on the top of the cylinder body.

[0033] S4. Stop the rotation of the rotor of the cylindrical UAV, complete the recovery, take it out of the buffer net, and place it in the corresponding storage and transportation device.

[0034] The recovery method of this recovery device can, through the positioning module, emit a positioning signal, accurately transmit the position of the recovery device. After issuing the recovery landing command, the cylindrical UAV can quickly and accurately reach above the recovery device and decelerate for landing through the positioning signal. During landing, the buffer net can effectively buffer the body of the cylindrical UAV, and at the same time make the bottom of the rotor of the cylindrical UAV engage with the top of the cylinder body, thereby ensuring the vertical landing and recovery posture of the cylindrical UAV, effectively avoiding damage or destruction to the cylindrical UAV during landing, enabling the cylindrical UAV to land and recover safely and stably, improving the reuse rate and lifespan of the cylindrical UAV, and greatly reducing the maintenance frequency and the cost of replacing parts; at the same time, this recovery method is simple and efficient, meeting the safe recovery of the cylindrical UAV in various environments or bad weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the accompanying drawings.

[0036] Figure 1 It is a schematic diagram of the overall structure of a cylindrical UAV recovery device;

[0037] Figure 2 It is a schematic diagram of the main frame structure of a cylindrical UAV recovery device;

[0038] Figure 3 It is a schematic diagram of the cylinder body structure of a cylindrical UAV recovery device;

[0039] Figure 4 It is a schematic diagram of the buffer net structure of a cylindrical UAV recovery device;

[0040] Figure 5 It is a schematic diagram of the counterweight structure of a cylindrical UAV recovery device;

[0041] Figure 6 It is a schematic diagram of a cylindrical UAV structure.

[0042] REFERENCE MARKS:

[0043] 1. Main frame; 101. Bracket; 102. Leg; 2. Cylinder body; 201. Inclined surface; 3. Buffer net; 4. Positioning module; 5. Counterweight. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the technical solutions of the present invention will be further specifically described below through embodiments in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation on the present invention.

[0045] In addition, in the following detailed description, for the sake of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of this disclosure. However, it is obvious that one or more embodiments can be implemented without these specific details. In other instances, well-known structures and devices are shown in diagrammatic form to simplify the drawings.

[0046] As Figure 1-6 shown in the embodiments of the present invention, a cylindrical UAV recovery device includes: a main body frame 1 and a cylinder 2; the width of the top of the cylinder 2 is greater than the width of the bottom of the cylinder 2, the bottom wall of the top of the cylinder 2 is connected to the main body frame 1, and the bottom of the cylinder 2 extends into the main body frame 1; a buffer net 3 is provided at the bottom of the cylinder 2; a positioning module 4 is provided at the bottom of the main body frame 1, and the positioning module 4 is communicatively connected to the cylindrical UAV.

[0047] Specifically, the cylindrical UAV recovery device can adapt to the characteristics of the slender cylindrical body of the cylindrical UAV through the structure of the cylinder 2 with a wider top and a narrower bottom, effectively targeting the cylindrical UAV for landing and recovery. It not only ensures that the slender body at the bottom of the cylindrical UAV can pass through the cylinder 2, but also ensures that the bottom of the rotor of the cylindrical UAV can stably land on the upper part of the cylinder 2, so that there is no interference between the rotor of the UAV and the recovery device. Moreover, the buffer net 3 at the bottom of the cylinder 2 can bear the impact force during the landing and recovery of the cylindrical UAV, enabling the cylindrical UAV to maintain a vertical posture to complete the net-touching buffer, protecting the safety and integrity of the recovery of the cylindrical UAV. At the same time, through the positioning module 4, the cylindrical UAV can be accurately guided to land on the recovery device, improving the recovery accuracy and success rate, effectively solving the problem of landing and recovery of the cylindrical UAV without a landing gear, and improving the reuse rate and lifespan of the cylindrical UAV.

[0048] As Figure 2 shown, the main body frame 1 includes a plurality of brackets 101 and a plurality of legs 102, and the plurality of brackets 101 and legs 102 are detachably connected.

[0049] Specifically, since the main body frame 1 includes several brackets 101 and several legs 102, and the several brackets 101 and legs 102 are detachably connected, it is convenient to adjust the combination mode of the brackets 101 and legs 102, change the structure and size of the main body frame 1, and be applicable to the barrel structures of different sizes. Thus, it is possible to recover different models or types of barrel-shaped unmanned aerial vehicles, and it can also be applicable to different recovery environments, improving the versatility and applicability of the device.

[0050] As Figure 3 shown, a slope 201 is provided at the top of the barrel 2, and the slope 201 is adapted to the bottom of the rotor of the barrel-shaped unmanned aerial vehicle.

[0051] Specifically, by providing the slope 201 at the top of the barrel 2, and the slope 201 is adapted to the bottom of the rotor of the barrel-shaped unmanned aerial vehicle. When the slender body of the barrel-shaped unmanned aerial vehicle lands on the buffer net 3 at the lower part of the barrel 2, although the rotation of its rotor cannot maintain the lift-off strength, it is still rotating at a high speed. The bottom of the rotor above the barrel-shaped unmanned aerial vehicle can abut against the slope 201 of the barrel 2, so that the barrel-shaped unmanned aerial vehicle is clamped on the slope 201 at the bottom of the barrel 2 through the bottom of the rotor, preventing the rotor from rotating and causing vibration or shaking of the barrel-shaped unmanned aerial vehicle during the recovery process and resulting in lateral deviation, ensuring the stability of the barrel-shaped unmanned aerial vehicle during recovery; at the same time, the width of the top of the slope 201 can avoid contact with the rotor at the top of the barrel-shaped unmanned aerial vehicle, avoiding damage to the rotor and power assembly components of the barrel-shaped unmanned aerial vehicle, ensuring the stability and safety of the recovery.

[0052] Furthermore, a flexible anti-slip layer is provided along the slope 201.

[0053] Specifically, since a flexible anti-slip layer is provided along the slope 201, it can increase the friction force when the bottom of the rotor of the barrel-shaped unmanned aerial vehicle abuts against the slope, preventing the unmanned aerial vehicle from sliding on the slope 201 due to air flow disturbance or its own shaking during the recovery process, further improving the stability of the unmanned aerial vehicle clamped on the slope 201 and ensuring the smooth progress of the recovery operation; at the same time, it can further increase the buffer force at the moment when the bottom of the rotor of the barrel-shaped unmanned aerial vehicle contacts the slope 201, reducing the damage of the impact force to the rotor and the body, ensuring the service performance and lifespan of the barrel-shaped unmanned aerial vehicle.

[0054] Furthermore, an electromagnetic adsorption device is provided on the inner side wall of the bottom of the barrel 2.

[0055] Specifically, by providing an electromagnetic adsorption device on the inner side wall of the bottom of the barrel 2, when the slender body of the barrel-shaped unmanned aerial vehicle falls into the buffer net 3, at this time, the electromagnetic adsorption device can be turned on, so that the body of the barrel-shaped unmanned aerial vehicle is fixed by the adsorption force generated by the electromagnetic adsorption device, ensuring the smoothness and stability of the unmanned aerial vehicle before the rotor stops rotating, and improving the reliability of the entire recovery process of the barrel-shaped unmanned aerial vehicle.

[0056] According to an embodiment of the present invention, the buffer net 3 includes an outer net layer and an inner net layer (not shown in the figure), and the outer net layer and the inner net layer are independently selected as elastic materials.

[0057] Specifically, since the buffer net 3 includes an outer net layer and an inner net layer, and the outer net layer and the inner net layer are independently selected as elastic materials, the elastic outer net layer and inner net layer have good vibration absorption performance and can play a role in hierarchical buffering. When the barrel-type unmanned aerial vehicle lands on the buffer net 3, it first contacts the body of the barrel-type unmanned aerial vehicle through the inner net layer, bears and disperses part of the impact force, initially slows down the descending speed of the unmanned aerial vehicle, and then absorbs and disperses the remaining impact force through the outer net layer, further playing a buffering role, which can effectively reduce the impact force when the barrel-type unmanned aerial vehicle lands and protect the unmanned aerial vehicle and its internal equipment from damage; at the same time, the impact force is dispersed to the two-layer buffer net, reducing the stress borne by each layer of the buffer net, reducing the risk of wear and breakage of the wire mesh, and improving the service life of the buffer net 3.

[0058] Further, a pressure sensor (not shown in the figure) is provided at the bottom inside the outer net layer of the buffer net 3.

[0059] Specifically, since a pressure sensor is provided at the bottom inside the outer net layer of the buffer net 3, the pressure situation on the buffer net 3 can be monitored when the barrel-type unmanned aerial vehicle is recovered and landed. Especially in some special environments or bad weather conditions, as well as when the weight carried by the barrel-type unmanned aerial vehicle during the mission exceeds the expectation or the landing speed is too fast, the buffer net 3 may bear too much impact force or pressure. Through the tracking of the impact force or pressure parameters, the type or tension of the elastic material of the buffer net 3 can be adjusted under different environmental or weather conditions of use, avoiding damage to the buffer net 3 due to overload of the impact force or pressure.

[0060] According to an embodiment of the present invention, the positioning module 4 includes a positioning sensor and a signal processing unit.

[0061] Specifically, since the positioning module 4 includes a positioning sensor and a signal processing unit, the positioning sensor can obtain information such as the position and attitude of the unmanned aerial vehicle in real time and transmit the data to the signal processing unit. The signal processing unit analyzes and processes the data in real time, dynamically adjusts the positioning strategy and parameters according to the motion state and environmental changes of the barrel-type unmanned aerial vehicle, and corrects the positioning error in time to ensure that the barrel-type unmanned aerial vehicle can always accurately locate the recovery device and meet the requirements of high-precision positioning during the recovery process.

[0062] As Figure 1 and Figure 5 shown, counterweight blocks 5 are respectively provided on the legs 102 at the bottom of the main body frame 1 in the vertical direction.

[0063] Specifically, the recovery location of the recovery device will be placed in an open environment according to the mission requirements of the barrel-type UAV, making it impossible to effectively fix the bottom of the recovery device. However, due to the impact force during the landing and recovery of the barrel-type UAV or strong winds in the open environment, the recovery device may shake or tip over, causing the recovery device to be unable to stay fixed in place. The legs 102 at the bottom of the main frame 1 are respectively provided with counterweights 5 in the vertical direction. By fixing the bottom of the main frame 1 with the counterweights 5, the structural stability of the recovery device can be effectively enhanced when it cannot be effectively fixed by fixing parts, preventing the recovery device from being damaged or unable to be recovered due to shaking or tipping over during the recovery of the barrel-type UAV, ensuring that the barrel-type UAV can land safely and smoothly on the recovery device, and improving the stability of the recovery device and the recovery success rate of the UAV.

[0064] The second aspect of the present invention also discloses a recovery method for a barrel-type UAV recovery device, including the following steps:

[0065] S1. Fix the recovery device at the recovery point and send a landing signal to the barrel-type UAV;

[0066] S2. Transmit the specific position of the recovery device to the barrel-type UAV through the positioning module 4 by signal;

[0067] S3. The barrel-type UAV flies above the recovery point and reduces its speed. The body of the barrel-type UAV falls into the buffer net, and the bottom of the rotor of the barrel-type UAV lands on the top of the barrel body;

[0068] S4. Stop the rotation of the rotor of the barrel-type UAV, complete the recovery, take it out of the buffer net, and put it into the corresponding storage and transportation device.

[0069] Through the positioning module 4, the recovery method of the recovery device can emit a positioning signal, accurately transmit the position of the recovery device. After sending the recovery landing instruction, the barrel-type UAV can quickly and accurately reach above the recovery device and decelerate for landing through the positioning signal. At the same time, when landing, the buffer net 3 can effectively buffer the body of the barrel-type UAV, and at the same time make the bottom of the rotor of the barrel-type UAV engage with the top of the barrel body 2, so as to ensure the vertical landing and recovery attitude of the barrel-type UAV, effectively avoid the damage or injury suffered by the barrel-type UAV during landing, make the barrel-type UAV can be safely and smoothly recovered and landed, improve the reuse rate and service life of the barrel-type UAV, and greatly reduce the maintenance frequency and the cost of replacing parts; at the same time, this recovery method is simple and efficient, meeting the safe recovery of the barrel-type UAV in various environments or bad weather.

[0070] The specific embodiments described above further elaborate on the objective, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc., made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cylindrical UAV recovery device, characterized in that, Comprising: A main frame (1) and a cylinder (2); The width of the top of the cylinder (2) is greater than the width of the bottom of the cylinder (2). The bottom wall of the top of the cylinder (2) is connected to the main frame (1), and the bottom of the cylinder (2) extends into the main frame (1); A buffer net (3) is provided at the bottom of the cylinder (2); A positioning module (4) is provided at the bottom of the main frame (1), and the positioning module (4) is communicatively connected to a cylindrical unmanned aerial vehicle.

2. The barrel-type unmanned aerial vehicle recovery device according to claim 1, characterized in that The main frame (1) includes a plurality of brackets (101) and a plurality of legs (102), and the plurality of brackets (101) and legs (102) are detachably connected.

3. The tubular UAV recovery device according to claim 1, wherein An inclined surface (201) is provided at the top of the cylinder (2), and the inclined surface (201) is adapted to the bottom of the rotor of the cylindrical unmanned aerial vehicle.

4. The cylindrical UAV recovery device according to claim 3, characterized in that, A flexible anti-slip layer is provided along the inclined surface (201).

5. The cylindrical UAV recovery device according to claim 1, 3 or 4, characterized in that, An electromagnetic adsorption device is provided on the inner side wall of the bottom of the cylinder (2).

6. The barrel-type unmanned aerial vehicle recovery device according to claim 1, wherein The buffer net (3) includes an outer net layer and an inner net layer, and the outer net layer and the inner net layer are independently selected as elastic materials.

7. The tubular UAV recovery device according to claim 6, wherein A pressure sensor is provided at the inner bottom of the outer net layer of the buffer net (3).

8. The barrel-type unmanned aerial vehicle recovery device according to claim 1, wherein The positioning module (4) includes a positioning sensor and a signal processing unit.

9. The barrel-type unmanned aerial vehicle recovery device according to claim 2, wherein, Counterweight blocks (5) are respectively provided on the legs (102) at the bottom of the main frame (1) in the vertical direction.

10. A recovery method for the tubular UAV recovery device according to any one of claims 1 to 9, characterized in that, Including the following steps: S1. Fix the recovery device at the recovery point and send a landing signal to the cylindrical unmanned aerial vehicle; S2. Transmit the specific position of the recovery device to the cylindrical unmanned aerial vehicle through the positioning module (4) via a signal; S3. The cylindrical unmanned aerial vehicle flies above the recovery point and reduces its speed. The body of the cylindrical unmanned aerial vehicle falls into the buffer net (3), and the bottom of the rotor of the cylindrical unmanned aerial vehicle lands on the top of the cylinder (2); S4. Stop the rotation of the rotor of the cylindrical unmanned aerial vehicle, complete the recovery, take it out of the buffer net (3), and place it in a corresponding storage and transportation device.

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