Universal launching device for unmanned aerial vehicle and unmanned underwater vehicle

Abstract

The invention relates to a universal launching device for an unmanned aerial vehicle and an underwater unmanned underwater vehicle, and belongs to the technical field of unmanned equipment launching. The device comprises a launching bin made of a closed stainless steel material, a split type launching tube in the launching bin is matched with a UAV through an inner-layer launching tube, a split type launching tube in the launching bin is matched with an AUV through an outer-layer launching tube, and an outer-layer electromagnetic coil and a propelling column electromagnetic coil are integrated to achieve electromagnetic driving; the release device is linked with the high-pressure gas release bin through the push rod controller to complete ejection; the detection and control unit realizes automatic target identification and emission instruction generation through an optical fiber laser radar and an embedded system; the horizontal adjusting device and the pitching adjusting device cooperatively adjust the launching angle. The method solves the problems of poor compatibility, platform dependence, insufficient automation and weak environmental adaptability in the prior art, has the advantages of rapid multi-task deployment, high-precision adjustment and stable operation in a complex environment, and is suitable for the fields of military reconnaissance, marine exploration and anti-unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned device launching devices, and particularly relates to a universal launching device for unmanned aerial vehicles and autonomous underwater vehicles. Background Art

[0002] With the wide application of unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs) in fields such as military and ocean exploration, there is an urgent need for a universal launching device that can simultaneously accommodate the rapid deployment of UAVs and AUVs to achieve multi-task coordination such as reconnaissance, anti-UAV, and underwater detection.

[0003] However, the existing technologies have the following problems:

[0004] 1. Poor compatibility: Traditional UAV launching devices have single functions and cannot be adapted to AUVs; AUVs need to be manually put into the water, resulting in low efficiency.

[0005] 2. Dependence on platform limitations: For example, although the torpedo tubes carried by submarines can launch AUVs, they cannot be extended to UAVs and rely on specific platforms.

[0006] 3. Insufficient automation: Existing launching devices (such as a UAV cluster launching device disclosed in Patent CN222713765U) lack automatic target detection and launching functions and require manual aiming, making it difficult to meet the rapid task requirements.

[0007] 4. Weak environmental adaptability: For example, the American "Bluefin Tuna-21" AUV uses a shipborne sling system, with a long launch cycle and being significantly affected by sea conditions.

[0008] Therefore, there is an urgent need for a universal launching device with high integration, strong automation, and compatibility with multiple types of unmanned devices to improve the deployment efficiency and environmental adaptability in multi-task scenarios. Summary of the Invention

[0009] To overcome the problems in the background art, the present invention provides a universal launching device for unmanned aerial vehicles and autonomous underwater vehicles.

[0010] To achieve the above object, the present invention is implemented through the following technical solutions:

[0011] A universal launching device for unmanned aerial vehicles and autonomous underwater vehicles, comprising:

[0012] A launch chamber made of airtight stainless steel, inside which there is a split launch tube, and the split launch tube includes an inner launch tube and an outer launch tube;

[0013] A release device, mechanically connected to the launch chamber;

[0014] The detection and control unit is independently arranged beside the launch bin and conducts data interaction with the release device through a data transmission line;

[0015] The horizontal adjustment device is connected to the launch bin through a slewing support mechanism;

[0016] The pitching and yawing adjustment device carries the horizontal adjustment device and adjusts the launch angle;

[0017] The equipment bin is fixedly connected to the launch bin and internally houses a push rod controller, a high-pressure gas release bin, a super capacitor bank, and a power supply system.

[0018] Furthermore, a folding-wing unmanned aerial vehicle (UAV) and an autonomous underwater vehicle (AUV) can be installed in the launch bin. An MPU6050 six-axis motion sensor is integrated into the body of the UAV, and the AUV is adapted to the launch tube structure of the launch bin.

[0019] Furthermore, the specific structure of the split launch tube is as follows:

[0020] The inner wall of the outer launch tube is evenly wound with an outer electromagnetic coil;

[0021] A propulsion column is arranged inside the inner launch tube. The outer surface of the propulsion column is wrapped with a propulsion column electromagnetic coil, and propulsion column limit blocks are provided at its four corners. The propulsion column limit blocks are embedded in the sliding grooves on the inner wall of the launch tube;

[0022] A nozzle limit block is provided at the nozzle of the inner launch tube, and the nozzle limit block, the sliding groove, and the propulsion column limit block are arranged collinearly.

[0023] Furthermore, the propulsion column limit block is connected to the driving end of the release device through a common connecting rod; the contact surface between the sliding groove and the propulsion column limit block uses a copper-based alloy conductive rail material.

[0024] Furthermore, the release device includes:

[0025] A bracket, whose four corners are connected to the launch bin through release device push rods;

[0026] An adaptive clamping arm is hinged to the bracket through a clamping arm rotating shaft and fixed by an angle code;

[0027] A piston is arranged on the release device push rod and is communicated with the high-pressure gas release bin through an upper gas pipe and a lower gas pipe. The piston divides the interior of the push rod controller into independent upper and lower cavities.

[0028] Furthermore, the detection and control unit includes:

[0029] An optical fiber lidar, which is installed at the top of a pillar through a lidar pitching regulator and a lidar horizontal regulator;

[0030] A telescopic control device that drives the strut for height adjustment;

[0031] A chassis with an embedded system and a processor built-in, used for real-time image processing, launch angle calculation, and launch instruction generation.

[0032] Furthermore, the horizontal adjustment device and the pitch adjustment device work together to achieve stepless angle adjustment of the launch bin within the ranges of 0° to 360° horizontally and -15° to 45° in pitch.

[0033] Advantages of the present invention:

[0034] 1. Solve the problem of poor compatibility: The split launch tube, with the inner launch tube adapted to folding-wing unmanned aerial vehicles (UAVs) and the outer launch tube adapted to autonomous underwater vehicles (AUVs). Through the co-linear design of the nozzle limit block and the propulsion column limit block, it ensures that both devices can be stably loaded and launched, achieving general compatibility of sea and air equipment.

[0035] 2. Solve the problem of platform dependence:

[0036] Modular equipment bin: It has a built-in supercapacitor bank and an independent power supply system, without relying on submarine or ship platforms, and can be independently deployed on land or mobile carriers.

[0037] Electromagnetic drive structure: The outer electromagnetic coil and the propulsion column electromagnetic coil drive the propulsion column through electromagnetic force, replacing the hydraulic or mechanical dependence of traditional torpedo tubes, achieving lightweight and platform independence.

[0038] 3. Solve the problem of insufficient automation: The detection and control unit integrates a fiber optic lidar and an embedded system, generates launch instructions through real-time image processing and algorithms, and automatically completes target recognition, angle calculation, and ejection control without manual intervention throughout the process.

[0039] 4. Solve the problem of weak environmental adaptability:

[0040] The copper-based alloy slide rail uses corrosion-resistant and low-friction materials to ensure the stable movement of the propulsion column in a salt spray or humid environment.

[0041] Stepless angle adjustment system: The horizontal adjustment device and the pitch adjustment device are controlled by servo motors and slewing support mechanisms, supporting precise adjustment of 0° to 360° horizontally and -15° to 45° in pitch, adapting to complex terrains and harsh sea conditions. Description of the Drawings

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0043] Figure 1 Schematic diagram of loading a UAV on a general launch device;

[0044] Figure 2 Schematic diagram of loading an AUV on a general launch device;

[0045] Figure 3 Front perspective view of the inside of the launch tube;

[0046] Figure 4 Side perspective view of the inside of the launch tube;

[0047] Figure 5 Schematic diagram of the structure of the release device;

[0048] Figure 6 Schematic diagram of the structure of the detection and control unit;

[0049] Figure 7 Schematic diagram of the structure of the push rod controller of the release device;

[0050] Figure 8 Schematic diagram of launching a UAV or an AUV;

[0051] 1 - Launch bin, 2 - Release device, 3 - Detection and control unit, 4 - Data transmission line, 5 - Horizontal adjustment device, 6 - Pitch adjustment device, 7 - Equipment bin, 8 - Folding-wing unmanned aerial vehicle (UAV), 9 - Autonomous underwater vehicle (AUV), 11 - Common connecting rod, 12 - Propulsion column limit block, 13 - Pipe orifice limit block, 14 - Outer layer electromagnetic coil, 15 - Propulsion column, 16 - Propulsion column electromagnetic coil, 17 - Push rod controller, 21 - Bracket, 22 - Release device push rod, 23 - Adaptive clamping arm, 24 - Clamping arm rotating shaft, 25 - Angle code, 31 - Fiber optic lidar, 32 - Lidar pitch adjuster, 33 - Lidar horizontal adjuster, 34 - Support column, 35 - Telescopic control device, 36 - Chassis, 171 - Upper gas vent pipe, 172 - High-pressure gas release chamber, 173 - Lower gas vent pipe, 174 - Piston. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0053] Refer to Figure 1 、 Figure 2 the general launch device loading UAV and the general launch device loading AUV shown in the figures, including: launch chamber 1, release device 2, detection and control unit 3, data transmission line 4, horizontal adjustment device 5, pitch adjustment device 6, equipment chamber 7, folding-wing UAV 8, and underwater unmanned vehicle AUV 9.

[0054] Refer to Figure 3 、 Figure 4 the front and side perspective views of the inside of the launch tube shown in the figures, including: common connecting rod 11, propulsion column limit block 12, nozzle limit block 13, outer electromagnetic coil 14, propulsion column 15, propulsion column electromagnetic coil 16, push rod controller 17, bracket 21, and release device push rod 22.

[0055] The launch chamber 1 is a cube, and the launch chamber is connected to the release device 2 and the equipment chamber 7. Since the application scenario of this device is an area vulnerable to seawater erosion, stainless steel is selected as the material for making the chamber wall.

[0056] The launch tubes inside the launch chamber 1 are divided into an inner layer and an outer layer:

[0057] The inner wall of the outer launch tube is wound with an outer electromagnetic coil 14, the material is high-purity copper wire with a diameter of 2-3 mm, and the insulating layer uses polyimide high-temperature resistant material. The coil pitch is 1.5 times the wire diameter (about 4.5 mm), and it is wound in 6 segments with the number of turns decreasing, and the propulsion efficiency is enhanced by the gradient magnetic field; when power is supplied in segments, the timing control is to energize each segment from bottom to top to form a moving magnetic field, driving the propulsion column 15 to move from bottom to top.

[0058] The inner launch tube is equipped with a propulsion column 15, surrounded by a propulsion column electromagnetic coil 16 (superconducting coil MgB2 material), and the inner wall is a ceramic-coated aluminum alloy guide rail to reduce friction; both the inner and outer launch tubes are provided with a liquid nitrogen circulation cooling layer to cool the superconducting coil.

[0059] At the four corners of the propulsion column 15 are propulsion column limit blocks 12 located in the sliding grooves on the inner wall of the launch tube. The function of the propulsion column limit blocks 12 is to ensure that the propulsion column 15 moves in a straight line inside the launch tube; there is a nozzle limit block 13 at the nozzle of the inner launch tube, which is in a straight line with the sliding groove and the propulsion column limit block 12. The nozzle limit block 13 and the propulsion column limit block 12 work together to prevent the propulsion column 15 from flying out of the launch tube.

[0060] A common connecting rod 11 is installed at the edge of the propulsion column limit block 12. The other end of the common connecting rod 11 is connected to the release device 2. The function of the common connecting rod 11 is to connect the propulsion column 15 and the release device 2 so that they move together; the propulsion column limit block 12 and the sliding groove adopt the copper-based alloy of the conductive slide rail material; the propulsion column electromagnetic coil 16 is in a moving state, and its transmitted current is through the contact point between the propulsion column limit block 12 and the sliding groove.

[0061] The data transmission line 4 connects the equipment bin 7 and the chassis 36, adopts a double-layer shielding structure (aluminum foil wrapping layer + metal braided net) and a silica gel waterproof sheath, and the interface is sealed with waterproof glue to ensure anti-electromagnetic interference and waterproof performance.

[0062] The horizontal rotation device 5 is connected to the pitch adjustment device 6, is driven by a digital servo motor, has strong anti-interference ability and high rotation control accuracy, and the pitch angle range is set from -30° to 60°; both the horizontal rotation device and the pitch adjustment device are made of stainless steel and are hermetically waterproof.

[0063] The equipment bin 7 is internally provided with a super capacitor, a push rod controller 17, a high-pressure gas release bin 172 and a power supply system; the shell is detachable for convenient maintenance. The super capacitor provides transient high-energy power for the electromagnetic coil to drive the movement of the propulsion column 15.

[0064] Launch target adaptability:

[0065] Folding-wing unmanned aerial vehicle UAV8: Integrated with MPU6050 six-axis motion sensor, supporting dynamic adjustment of flight attitude.

[0066] Underwater unmanned submersible AUV9: Compatible with small (Bluefin-9), medium (REMUS 600), and large (Bluefin-21) AUVs; the adaptive clamping arm 23 dynamically adjusts the clamping force through a force sensing sensor and a PID algorithm to adapt to devices of different sizes.

[0067] As Figure 5 shown in the structure of the release device, including: a bracket 21, a release device push rod 22, an adaptive clamping arm 23, a clamping arm rotating shaft 24, and an angle code 25.

[0068] The four corners of the bracket 21 of the release device are connected to the release device push rod 22; the bracket 21 of the release device is connected to the clamping arm rotating shaft 24 and the adaptive clamping arm 23 through the angle code 25; the adaptive clamping arm 23 is driven by a high-precision servo motor or a stepper motor, a force sensing sensor such as a piezoelectric film or a strain gauge is embedded in the clamping arm to monitor the clamping force in real time, and the clamping force is dynamically adjusted in combination with a PID algorithm, and the clamping arm size is automatically adjusted according to the diameter of the filled object; the inner side of the clamping arm is wrapped with a flexible material on the surface to increase friction and protect the object.

[0069] AsFigure 6 The detection and control unit structure shown includes: a fiber optic lidar 31, a lidar pitch adjuster 32, a lidar horizontal adjuster 33, a support column 34, a telescopic control device 35, and a chassis 36.

[0070] The fiber optic lidar 31 used for detection in the detection and control unit 3 is connected to the lidar pitch adjuster 32 and the lidar horizontal adjuster 33. The fiber optic lidar 31 can achieve 360° horizontal rotation and -30° to 60° pitch adjustment; the support column 34 is connected to the telescopic control device 35, and the support column 34 can be automatically telescoped to adjust the detection height; the chassis 36 is located at the bottom of the recognition mechanism, and there is an embedded system and a processor for image processing, angle adjustment, and control of emission inside.

[0071] The fiber optic lidar 31 uses the MS07 fiber optic lidar with ultra-long detection distance of Leishen Intelligence. The MS07 can detect ultra-far, perceive with high precision, and has adaptability to complex environments. It can build a low-altitude security three-dimensional defense system to achieve automatic identification and tracking of drone intrusion; when the fiber optic lidar captures the task target, it transmits the signal to the chassis 36; the main control unit of the chassis 36 uses NVIDIA Jetson AGX Orin 64GB to process the data of the fiber optic lidar 31 and its angle control module in real time, control the angle adjustment of the emission mechanism, coordinate the emission of the release mechanism, power supply, etc.; the fiber optic lidar 31 is encapsulated in a sealed stainless steel to adapt to the seawater erosion environment.

[0072] As Figure 7 The structure of the push rod controller shown includes: an upper gas pipe 171, a high-pressure gas release chamber 172, a lower gas pipe 173, and a piston 174.

[0073] The high-pressure gas release chamber 172 controls the air flow through a pneumatic valve to drive the piston 174 to push the release device push rod 22.

[0074] The upper gas pipe 171 and the lower gas pipe 173 are connected to the high-pressure gas release chamber 172, and the piston 174 is located on the release device push rod 22; the piston 174 is hermetically attached to the inner wall of the push rod controller 17, dividing the inner chamber of the push rod controller 17 into upper and lower parts. The high-pressure gas release chamber 172 contains a gas source to provide high-pressure gas and is equipped with a pneumatic valve to control the gas flow direction through a pressure signal.

[0075] The working process of this device:

[0076] 1. Loading stage

[0077] During loading, regardless of whether it is a UAV or an AUV being loaded, the electromagnetic coils in the launch tube are not energized; the elevation and depression adjustment device 6 adjusts the angle of the launch mechanism to 35°, and then the high-pressure gas release chamber 172 releases gas through the lower gas pipe 173 to the push rod controller 17. The high-pressure gas pushes the piston 174 in the push rod controller 17 and also pushes the push rod 22 to push the release device 2 upwards; at this time, the adaptive clamping arm 23 opens to the maximum size. After placing the UAV or AUV, the adaptive clamping arm 23 automatically contracts to the diameter size of the placed UAV or AUV and clamps it; then the high-pressure gas release chamber 172 releases gas through the upper gas pipe 171 to the push rod controller 17. The high-pressure gas pushes the piston 174 in the push rod controller 17 and also pushes the push rod 22 to push the release device 2 downwards back to the launch tube opening, and at this time the loading is completed.

[0078] 2. Launch stage

[0079] During launch, if a UAV is to be launched, the elevation and depression adjustment device 6 adjusts the angle of the launch mechanism to 15° to 60°; the super capacitor in the equipment compartment 7 releases a huge amount of electrical energy to supply the electromagnetic coil in the launch tube to push the propulsion column 15 to move. At the same time, the high-pressure gas release chamber 172 quickly releases gas from the lower gas pipe 173 to the push rod controller 17 to push the release device 2. The propulsion column 15 and the release device simultaneously provide kinetic energy for the UAV launch; when the propulsion column 15 is pushed to the nozzle limit block 13, the trigger sensor causes the adaptive clamping arm 23 to open to the maximum size and throw the UAV out.

[0080] If an AUV is to be launched, the elevation and depression adjustment device 6 adjusts the angle of the launch mechanism to 0° to -30°; at this time, there is high-pressure gas above the push rod controller 17 compartment to ensure that the release device is close to the launch chamber 1; when starting to release the AUV, the super capacitor in the equipment compartment 7 releases a huge amount of electrical energy to supply the electromagnetic coil in the launch tube to push the propulsion column 15 to move. At the same time, the high-pressure gas release chamber 172 quickly releases gas from the lower gas pipe 173 to the push rod controller 17 to push the release device 2. The propulsion column 15 and the release device simultaneously provide kinetic energy for the AUV launch; when the propulsion column 15 is pushed to the nozzle limit block 13, the trigger sensor causes the adaptive clamping arm 23 to open to the maximum size and throw the AUV out.

[0081] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A general launch device for an unmanned aerial vehicle and an underwater unmanned submersible, characterized in that, Comprising: An airtight stainless-steel launch chamber (1) with a split launch tube inside, and the split launch tube includes an inner launch tube and an outer launch tube; A release device (2) mechanically connected to the launch chamber (1); A detection and control unit (3) independently arranged beside the launch chamber (1) and performing data interaction with the release device (2) through a data transmission line (4); A horizontal adjustment device (5) connected to the launch chamber (1) through a slewing support mechanism; A pitch and roll adjustment device (6) carrying the horizontal adjustment device (5) and adjusting the launch angle; An equipment chamber (7) fixedly connected to the launch chamber (1), with a push rod controller (17), a high-pressure gas release chamber (172), a super capacitor bank and a power supply system built therein.

2. The general launch device for an unmanned aerial vehicle and an underwater unmanned submersible according to claim 1, characterized in that, A folding-wing unmanned aerial vehicle UAV (8) and an autonomous underwater vehicle AUV (9) can be installed in the launch chamber (1). An MPU6050 six-axis motion sensor is integrated in the body of the UAV (8), and the AUV (9) is adapted to the launch tube structure of the launch chamber (1).

3. The general launching device for an unmanned aerial vehicle and an underwater unmanned submersible according to claim 1, characterized in that, The specific structure of the split launch tube is as follows: The inner wall of the outer launch tube is evenly wound with an outer electromagnetic coil (14); A propulsion column (15) is arranged inside the inner launch tube. A propulsion column electromagnetic coil (16) is wrapped on the outer surface of the propulsion column (15). Propulsion column limit blocks (12) are arranged at its four corners, and the propulsion column limit blocks (12) are embedded in sliding grooves on the inner wall of the launch tube; A nozzle limit block (13) is arranged at the nozzle of the inner launch tube, and the nozzle limit block (13), the sliding groove and the propulsion column limit block (12) are arranged collinearly.

4. The general launch device for an unmanned aerial vehicle and an unmanned underwater vehicle according to claim 3, characterized in that, The propulsion column limit block (12) is connected to the driving end of the release device (2) through a common connecting rod (11); the contact surface between the sliding groove and the propulsion column limit block (12) adopts a copper-based alloy conductive slide rail material.

5. The general launching device for an unmanned aerial vehicle and an unmanned underwater vehicle according to claim 1, characterized in that, The release device (2) includes: A bracket (21) connected to the launch chamber (1) through release device push rods (22) at its four corners; An adaptive clamping arm (23) hinged to the bracket (21) through a clamping arm rotating shaft (24) and fixed by an angle code (25); A piston (174) is arranged on the release device push rod (22) and communicated with the high-pressure gas release chamber (172) through an upper gas pipe (171) and a lower gas pipe (173). The piston (174) divides the inside of the push rod controller (17) into independent upper and lower cavities.

6. The general launching device for an unmanned aerial vehicle and an underwater unmanned submersible according to claim 1, characterized in that, The detection and control unit (3) includes: An optical fiber lidar (31) installed at the top of a support column (34) through a lidar pitch and roll adjuster (32) and a lidar horizontal adjuster (33); A telescopic control device (35) driving the support column (34) to perform height adjustment; A chassis (36) with an embedded system and a processor built therein for real-time image processing, launch angle calculation and launch command generation.

7. A general launching device for an unmanned aerial vehicle and an underwater unmanned submersible according to claim 1, characterized in that, The horizontal adjustment device (5) and the pitch and roll adjustment device (6) work together to realize stepless angle adjustment of the launch chamber (1) within the ranges of horizontal 0° to 360° and pitch -15° to 45°.

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