All-electric shipboard unmanned aerial vehicle and autonomous take-off and landing control method thereof

Abstract

The invention discloses an all-electric ship-borne unmanned aerial vehicle and an autonomous take-off and landing control method thereof. The method comprises the following steps of machine vision and artificial intelligence autonomous take-off, fault self-diagnosis, artificial intelligence full-autonomous precision approach landing guide and all-electric arresting hook servo driving. The system has the beneficial effects that the airborne energy mainly adopts a high-voltage direct-current power supply system as a unified secondary energy form to drive an airborne system and equipment, the traditional energy forms such as gas and hydraulic pressure are completely replaced, the system has higher energy utilization rate and economical efficiency, meanwhile, the system has lower failure rate, and the system is suitable for large-scale popularization and application in the aspects of take-off and landing. The unmanned aerial vehicle can automatically slide in and out, can realize automatic short-distance catapult-assisted take-off, can quickly enter and exit a battlefield through artificial intelligence full-automatic precision approaching and autonomous guided carrier landing based on machine vision, and improves the departure rate, the recovery rate and the safety.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an all-electric shipborne unmanned aerial vehicle and an autonomous takeoff and landing control method therefor. Background Art

[0002] Shipborne unmanned aerial vehicles are a new concept flight combat system for mobile combat at sea, and are important equipment for the future concept of air-sea integrated warfare. They can undertake tasks such as early warning, reconnaissance and surveillance, electronic warfare, and swarm combat. Although shipborne unmanned aerial vehicles can perform many combat tasks, higher requirements and goals are also put forward for them. For example, they have higher intelligence and can achieve precise approach and autonomous landing guidance without a pilot; they have stronger flexibility and mobility, can achieve rapid and safe takeoff and arrest recovery, and complete manned / unmanned formation flight combat tasks; they have higher stealth requirements and can complete covert tasks. Due to various factors such as the marine environment, aircraft carrier attitude, and shipboard environment, the steady-state control during the landing process of shipborne aircraft is more complex and difficult, and most shipborne aircraft accidents occur during the landing stage. During landing, there will be violent airflows at the stern of the aircraft carrier and the deck will swing irregularly with the waves. It is very difficult to control the aircraft attitude and the aircraft carrier attitude, often resulting in the arrestor hook being disengaged and having to go around and land again, greatly reducing the attendance rate, and at the same time, the safety cannot be guaranteed. Therefore, the landing of shipborne unmanned aerial vehicles is more difficult.

[0003] At present, large-load systems such as wing folding, landing gear retraction and extension, arrester hook retraction and extension, and catapult rod retraction and extension of shipborne unmanned aerial vehicles all use hydraulic drive. However, the hydraulic system is heavy, has a high failure rate, and low maintenance efficiency. Since shipborne unmanned aerial vehicles usually take off and recover in the form of catapulting and arresting, but the marine environment is complex and the position of the ship is unstable, the takeoff and landing risks of shipborne unmanned aerial vehicles are extremely high. Summary of the Invention

[0004] The object of the present invention is to overcome the disadvantages that large-load systems such as wing folding, landing gear retraction and extension, arrester hook retraction and extension, and catapult rod retraction and extension of current shipborne unmanned aerial vehicles all use hydraulic drive, and the hydraulic system is heavy, has a high failure rate, and low maintenance efficiency. For shipborne unmanned aerial vehicles operating in a complex marine environment, hydraulic drive will gradually be replaced by electric drive to improve the energy utilization rate and economy of shipborne unmanned aerial vehicles, and at the same time reduce the failure rate. In addition, since shipborne unmanned aerial vehicles usually take off and recover in the form of catapulting and arresting, but the marine environment is complex and the position of the ship is unstable, the takeoff and landing risks of shipborne unmanned aerial vehicles are extremely high, and to provide an all-electric shipborne unmanned aerial vehicle and an autonomous takeoff and landing control method therefor.

[0005] The object of the present invention is achieved by the following technical solutions: an all-electric shipborne unmanned aerial vehicle and an autonomous takeoff and landing control method therefor, characterized by including the following steps:

[0006] S1, Machine vision and artificial intelligence for autonomous takeoff: After receiving the mission deployment order, the aircraft first automatically conducts a self-inspection of its status. Then, through the forward-looking reconnaissance equipment, it senses the environmental status, autonomously taxis out, and simultaneously autonomously adjusts the front wheel angle. After aligning the ejection rod with the shuttle of the catapult, it electrically lowers the ejection rod, docks with the catapult, and enters the ejection preparation state. After the ejection command is sent, the aircraft is catapulted out, and the ejection rod automatically folds with the landing gear retraction mechanism without separate drive. The entire process is completely autonomously completed by the flight control system, improving the deployment rate.

[0007] S2, Fault self-diagnosis: During the preparation to ejection process, if any equipment malfunctions, the system will automatically report the fault and locate the faulty part and cause, reducing the maintenance and support time.

[0008] S3, Artificial intelligence for fully autonomous precision approach and landing guidance: When the carrier-based UAV is preparing to land, it uses the forward-looking reconnaissance equipment to detect the status of the aircraft carrier deck, simulates the mathematical models of the deck movement and the wake model at the stern of the ship, and thus calculates the movement trajectory of the ideal landing point. Then, according to the change of the ideal landing point, it compensates the ideal glide trajectory of the carrier-based UAV, and conducts lateral and longitudinal translational trajectory tracking control, longitudinal relative attitude and relative trajectory decoupling control, and aircraft glide speed control, thereby achieving precision approach and guiding the landing.

[0009] S4, All-electric arresting hook servo drive: The retraction and extension of the arresting hook adopt all-electric position servo drive, with precise angle control function. During the process of precision approach and guiding the landing, the reconnaissance detector at the rear fuselage aligns and captures the position of the deck arresting cable. According to the current aircraft attitude and deck status, the flight control automatically calculates the arresting hook angle with the highest success rate of hooking the cable, sends the arresting hook angle command to the flight control management computer, and the flight control management computer then controls the arresting hook drive motor to control the angle and feeds back the angle parameter to the flight control management computer, thereby realizing the real-time adjustment of the arresting hook angle and increasing the success rate of the arresting hook hooking the cable.

[0010] A further technical solution is that the UAV adopts a tailless flying wing layout with highly integrated wing and fuselage.

[0011] A further technical solution is that the flight control, navigation, communication equipment, etc. are arranged in the front fuselage compartments, the aircraft electromechanical system, power supply system, environmental control system, etc. are arranged in the middle fuselage compartments, the power system is arranged in the rear fuselage, the weapon missiles are arranged in the internal buried bomb bay in the abdomen of the middle fuselage, and the reconnaissance equipment is respectively placed under the lower abdomen of the front and rear fuselages.

[0012] A further technical solution is that the UAV is stored in the form of folding wings.

[0013] A further technical solution is that the UAV takes off by catapulting.

[0014] The present invention has the following advantages: 1. The present invention adopts fully autonomous precision approach and landing guidance based on machine vision, which can significantly improve the safety of the UAV during landing. The airborne system of the present invention adopts all-electric drive, replacing traditional energy forms such as hydraulic and pneumatic, reducing environmental pollution and having good environmental protection performance. At the same time, it can reduce the weight of the whole aircraft, lower the R & D and manufacturing costs, and improve the economy.

[0015] 2. The airborne energy of the present invention mainly adopts a high-voltage DC power supply system as a unified secondary energy form to drive the airborne system and equipment, completely replacing traditional energy forms such as gas and hydraulic. It has higher energy utilization rate and economy, and at the same time has lower failure rate. In terms of takeoff and landing, it can taxi in and out autonomously, and achieve autonomous short-distance catapult takeoff, and artificial intelligence fully automatic precision approach and autonomous guidance landing based on machine vision. It can quickly enter and exit the battlefield, improving the sortie rate, recovery rate and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view structural schematic diagram of the UAV of the present invention;

[0017] Figure 2 It is a side view structural schematic diagram of the UAV of the present invention;

[0018] Figure 3 It is a curve graph of the lift coefficient of the present invention changing with the angle of attack;

[0019] Figure 4 It is a curve graph of the drag coefficient of the present invention changing with the angle of attack;

[0020] Figure 5 It is a curve graph of the lift-drag ratio of the present invention changing with the angle of attack;

[0021] Figure 6 It is a block diagram of the autonomous catapult control of the present invention;

[0022] Figure 7 It is a block diagram of the fully automatic guided arrestment landing control of the present invention;

[0023] In the figure, 1. air inlet; 2. folding wing; 3. internal bomb bay; 4. front fuselage equipment bay; 5. all-electric catapult rod device; 6. catapult rod drive motor; 7. electric arrestor hook device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0026] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0027] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0029] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Such as Figures 1-7As shown in the figure, a fully electric shipborne unmanned aerial vehicle (UAV) and its autonomous takeoff and landing control method include the following steps: S1, machine vision and artificial intelligence autonomous takeoff: After receiving the mission dispatch command, first automatically conduct a self-inspection of the aircraft status, then perceive the environmental status through the forward-looking reconnaissance equipment, autonomously taxi out, and at the same time autonomously adjust the front wheel angle. After aligning the ejection rod with the catapult shuttle, electrically lower the ejection rod and dock with the catapult to enter the ejection preparation state; after the ejection command is sent, the aircraft is catapulted out, and the ejection rod automatically folds with the landing gear retraction mechanism without separate drive. The entire process is completely autonomously completed by the flight control system, improving the dispatch rate;

[0031] S2, fault self-diagnosis: During the preparation to the ejection process, if the equipment malfunctions, the system will automatically report the fault and locate the faulty part and cause, reducing the maintenance and support time;

[0032] S3, artificial intelligence fully autonomous precision approach landing guidance: When the shipborne UAV is preparing to land, it detects the status of the aircraft carrier deck through the forward-looking reconnaissance equipment, simulates the mathematical model of the deck movement and the wake model at the stern of the ship, and thus calculates the movement trajectory of the ideal landing point; then compensates the ideal glide trajectory of the shipborne UAV according to the change of the ideal landing point, and conducts lateral and longitudinal translational trajectory tracking control, longitudinal relative attitude and relative trajectory decoupling control, and aircraft glide speed control, so as to achieve precision approach guidance for landing;

[0033] S4, fully electric arresting hook servo drive: The retraction and extension of the arresting hook adopt a fully electric position servo drive, with precise angle control function. During the process of precision approach guidance for landing, the reconnaissance detector at the rear fuselage aligns with and captures the position of the deck arresting cable. According to the current aircraft attitude and deck status, the flight control automatically calculates the arresting hook angle with the highest success rate of hooking the cable, sends the arresting hook angle command to the flight control management computer, and the flight control management computer then controls the arresting hook drive motor to control the angle and feedback the angle parameter to the flight control management computer, so as to realize the real-time adjustment of the arresting hook angle and increase the success rate of hooking the arresting cable.

[0034] In terms of aerodynamic stealth, a tailless flying wing layout is adopted, with a highly integrated wing-body structure and a large internal space. Weapons and engines can be buried inside, and the radar stealth characteristics are excellent. The adoption of the tailless layout can reduce weight, reduce drag, reduce the radar cross-section, and improve stealth performance.

[0035] From the lift curve (Appendix Figure 2 -Appendix Figure 4 ), when Ma = 0.2, the maximum lift coefficient C lmax = 1.785, and the lift curve slope is C la = 0.09; when Ma = 0.6, the maximum lift coefficient C lmax = 1.688, and the lift curve slope is C la=0.1, it can be seen that the aircraft has good lift characteristics compared with the same type of UAV; from the lift-to-drag ratio curve, it can also be seen that when Ma=0.2, the maximum lift-to-drag ratio k max =20.1, Ma = 0.6, the maximum lift-to-drag ratio k max =19.8, making full use of the high lift-to-drag ratio cruise to further extend the flight time. In addition, the stall angle of the aircraft at Ma=0.2 and Ma=0.6 also reached 24° and 20° respectively. The larger stall angle provides it with a larger attitude range.

[0036] The airborne energy mainly adopts high-voltage DC power supply system as a unified secondary energy form to drive airborne systems and equipment (such as all-electric retractable landing gear, all-electric arresting hook drive, all-electric ejection rod drive, all-electric folding wings, all-electric brakes, etc.), completely replacing traditional gas, hydraulic and other energy forms, with higher energy utilization and economy, and lower failure rate. In terms of take-off and landing, it can slide in and out autonomously, realize autonomous short-range catapult take-off, and fully automatic precision approach autonomously guided by artificial intelligence based on machine vision. The ship can quickly enter and exit the battlefield, improve the dispatch rate, recovery rate and safety. Due to the limited area of the ship, the folding wings are used for storage. The flight control, navigation, and communication equipment are arranged in the front fuselage compartment. The aircraft electromechanical system, power supply system, and environmental control system are arranged in the middle fuselage compartment. The power system is arranged in the rear fuselage. Weapons and missiles are arranged in the bomb bay buried in the belly of the middle fuselage. The reconnaissance equipment is placed in the lower abdomen of the front and rear fuselages. The length of the aircraft carrier deck is limited, so the carrier-based aircraft takes off by catapult to achieve short-range takeoff. However, there will be a series of preparations before the catapult, and personnel will guide the aircraft to slide in and out, and the front landing gear catapult rod will be aligned with the catapult shuttle, which greatly reduces the dispatch rate and inevitably delays the fighter plane.

[0037] 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. An all-electric shipborne unmanned aerial vehicle and its autonomous takeoff and landing control method, characterized in that Including the following steps: S1, Machine vision and artificial intelligence for autonomous takeoff: After receiving the mission deployment instruction, first automatically conduct a self-inspection of the aircraft status, then perceive the environmental status through the forward-looking reconnaissance equipment, taxi out autonomously, and at the same time autonomously adjust the front wheel angle to align the catapult rod with the catapult shuttle. After that, electrically lower the catapult rod to dock with the catapult and enter the catapult preparation state; after the catapult instruction is sent, the aircraft is catapulted, and the catapult rod automatically folds with the landing gear retraction mechanism without separate drive. The whole process is completely autonomously completed by the flight control system, improving the deployment rate; S2, Fault self-diagnosis: During the preparation to catapult process, if the equipment shows abnormalities, the system will automatically report the fault and locate the faulty part and cause, reducing the maintenance guarantee time; S3, Artificial intelligence for fully autonomous precision approach and landing guidance: When the carrier-based UAV is preparing to land, it uses the forward-looking reconnaissance equipment to detect the status of the aircraft carrier deck surface, simulates the mathematical models of the deck surface movement and the wake model at the stern of the ship, and thus calculates the movement trajectory of the ideal landing point; then compensates the ideal glide trajectory of the carrier-based UAV according to the change of the ideal landing point, and conducts lateral and longitudinal translational trajectory tracking control, longitudinal relative attitude and relative trajectory decoupling control, and aircraft glide speed control, so as to achieve precision approach and landing guidance; S4, All-electric arrestor hook servo drive: The retraction and extension of the arrestor hook adopt all-electric position servo drive, with precise angle control function. During the process of precision approach and landing guidance, the reconnaissance detector at the rear fuselage aligns and captures the position of the deck arrestor cable. According to the current aircraft attitude and deck surface status, the flight control automatically calculates the arrestor hook angle with the highest probability of successful cable engagement, sends the arrestor hook angle instruction to the flight control management computer, and the flight control management computer then controls the arrestor hook drive motor to control the angle and feedback the angle parameter to the flight control management computer, so as to realize the real-time adjustment of the arrestor hook angle and increase the success rate of arrestor hook cable engagement.

2. The all-electric shipborne unmanned aerial vehicle and its autonomous takeoff and landing control method according to claim 1, characterized in that: The UAV adopts a tailless flying wing layout with highly integrated wing and fuselage.

3. The all-electric shipborne unmanned aerial vehicle and its autonomous takeoff and landing control method according to claim 1, characterized in that: Flight control, navigation, communication equipment, etc. are arranged in the front fuselage part of the cabin, the aircraft electromechanical system, power supply system, environmental control system, etc. are arranged in the middle fuselage part of the cabin, the power system is arranged in the rear fuselage, the weapon missiles are arranged in the internal buried bomb bay in the abdomen of the middle fuselage, and the reconnaissance equipment is respectively placed in the lower abdomen of the front and rear fuselages.

4. A fully electric shipborne unmanned aerial vehicle and its autonomous takeoff and landing control method according to claim 1, characterized in that: The UAV adopts a folding wing form for storage.

5. A fully electric shipborne unmanned aerial vehicle and its autonomous takeoff and landing control method according to claim 1, characterized in that: The UAV takes off by catapulting.

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