Fixed-wing unmanned aerial vehicle cluster recovery system based on large vehicle-mounted platform

Abstract

The invention discloses a fixed-wing unmanned aerial vehicle cluster recovery system based on a large vehicle-mounted platform, and relates to the field of fixed-wing unmanned aerial vehicle recovery. Starting from the design of the recovery equipment, an innovative idea of active capture and recovery is provided, and the recovery equipment bears more capability requirements, so that the performance requirements on the unmanned aerial vehicle are remarkably reduced, and the unmanned aerial vehicle is more focused on task execution. According to the technical scheme, the system comprises an arresting system, a robot system, a transfer system and a storage system which are mounted on a vehicle-mounted platform; the robot system is a multi-axis robot, the multi-axis robot is installed on a vehicle-mounted platform, the output end of the multi-axis robot is fixedly connected with the arresting system, and the fixed-wing unmanned aerial vehicle is actively captured and recycled through the arresting system; the storage system is of a multi-layer structure and is used for storing the recycled fixed-wing unmanned aerial vehicle. According to the invention, the dependence on the self-positioning and control capability of the unmanned aerial vehicle is effectively reduced, so that the unmanned aerial vehicle focuses on task execution.

Description

Technical Field

[0001] The present invention relates to the field of fixed-wing UAV recovery, and particularly to a fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform. Background Art

[0002] With the continuous increase in the cost of large UAV systems, neither in military aspects such as reconnaissance, surveillance, and strike, nor in civilian aspects such as monitoring, exploration, and transportation, can meet the requirements of large-scale and sustainable development. Medium and small UAVs will provide more powerful support for the above fields at a lower application cost. Among them, the smooth recovery of UAVs after performing tasks is the key to ensuring their efficient and repeated use. Due to the uncertainties of the ground and air environments faced by current UAVs during the recovery phase, traditional recovery methods usually rely on airports or ground recovery equipment for recovery, such as landing gear roll-out recovery, parachute recovery, airbag-assisted recovery, net-capturing recovery, horizontal rope recovery, and skyhook recovery. However, these traditional methods have many limitations and need to be improved to meet the requirements of modern UAV tasks. Especially in scenarios with restricted flight environments, how to achieve precise, safe, and efficient recovery operations is a major problem for the large-scale and cluster application of medium and small fixed-wing UAVs.

[0003] On the one hand, traditional recovery methods usually adopt a recovery strategy with the UAV as the active party and the recovery system as the passive party. This method places high requirements on the structure and control of the UAV. Usually, the UAV needs to have high-precision positioning and trajectory tracking capabilities to ensure accurate determination of the recovery position and path, so as to achieve safe recovery operations. The recovery strategy with the UAV as the active party only has one-way recovery calibration ability, that is, it completely relies on the positioning and control of the UAV itself, while the autonomous adjustment ability of the recovery system is limited and generally cannot actively adapt to the UAV flight path to share the positioning and control pressure of the UAV. This requires a high positioning accuracy for the UAV, and the system has deficiencies in dynamic environment adaptability, recovery accuracy, and efficiency.

[0004] On the other hand, in order to reduce the requirements for the control accuracy of the UAV during recovery, the size of the recovery area of traditional recovery methods is large, the system is complex, and it needs to be set up in advance at the preset recovery position. Therefore, it is difficult to quickly perform UAV recovery operations at the designated position and difficult to meet the requirements of single or temporary UAV recovery tasks.

[0005] Therefore, the UAV recovery system combined with a vehicle-mounted platform becomes one of the solutions to the above problems. Currently, the traditional recovery technologies combined with vehicle-mounted platforms mainly include skyhook recovery and net-capturing recovery. The published fixed-wing UAV recovery schemes based on vehicle-mounted platforms are as follows: The patent "A Convenient and Intensive Recovery System for On-Vehicle Skyhook UAVs" with the publication number CN 119099915 A proposes a recovery system combining a vehicle and a skyhook, which can flexibly recover small fixed-wing UAVs. However, the proposed solution requires a large recovery area and modifications to the UAV structure, and thus cannot be widely applied.

[0006] The patent "Fixed-Wing UAV Recovery System" with the publication number CN 114715424 A proposes a system for recovering fixed-wing UAVs by combining a vehicle and a net. It can achieve the safe interception of UAVs, but lacks a UAV storage area and cannot efficiently and continuously recover multiple UAVs.

[0007] The patent "A Ground Rotary Recovery System for Fixed-Wing UAVs" with the publication number CN 116477091 A proposes a rotary lateral interception recovery system, which reduces the control accuracy of UAVs. However, this is achieved by completely transferring the accuracy requirements to the recovery system, and manual disassembly of the UAV is required after recovery.

[0008] Generally speaking, the above-mentioned solutions are all committed to finding active recovery solutions for the recovery system. However, the active adaptation and adjustment are still limited, and the degree of automation needs to be improved. When facing large-scale UAV cluster recovery operations, they are limited by the recovery capacity and efficiency. Summary of the Invention

[0009] In view of the above problems, the present invention proposes a fixed-wing UAV cluster recovery system based on a large vehicle platform. Starting from the design of the recovery equipment, an innovative idea of active capture and recovery is proposed. By allowing the recovery equipment to undertake more capacity requirements, the performance requirements for UAVs are significantly reduced, enabling them to focus more on task execution. In addition, by giving full play to the characteristics of the active capture and recovery system with high integration and small floor space, and combining it with the vehicle platform, the problem of insufficient mobility of the recovery system can be effectively solved.

[0010] The technical solution of the present invention is as follows: It includes an interception system 100, a robot system 200, a transfer system 300, and a storage system 400 installed on a vehicle platform 500; the robot system 200 is a multi-axis robot, which is installed on the vehicle platform 400, and its output end is fixedly connected to the interception system 100 to actively capture and recover the fixed-wing UAV through the interception system 100; the transfer system 300 is placed in the middle of the vehicle platform, and the storage system 400 is placed at the tail of the vehicle platform. The storage system 400 is a multi-layer structure for storing the recovered fixed-wing UAVs; The interception system 100 includes an interception frame 101, an interception block 102, a slide rail 103, a front limit 104, a rear limit 105, a buffer 108, and an interception cable 108c; The arresting frame 101 is fixedly installed at the output end of the multi-axis robot. A pair of slide rails 103 are arranged in parallel and are both fixedly installed on the arresting frame 101. The arresting blocks 102 are slidably installed on each slide rail 103. The front limit 104 and the rear limit 105 are fixedly installed at the head and tail ends of the slide rail 103 respectively. A number of pulleys are installed at the front part and below of the slide rail 103. The cylinder body of the buffer 108 is fixedly installed below the slide rail 103, and a pulley is also installed on the pull rod 108b of the buffer 108. One end of the arresting cable 108c is fixedly connected to the arresting frame 101, and after passing around each pulley in turn, the other end is fixedly connected to the arresting block 102. A card slot adapted to the wing of the fixed-wing UAV is provided on one side of the arresting block 102.

[0011] Regarding the specific structure of the arresting block: The arresting block 102 includes a horseshoe plate 102a, impact sponge 102b, a trolley 102c and a limit pulley 102d. The limit pulley 102d is rotatably connected to the bottom of the trolley 102c and is accommodated in the slide rail 103. The horseshoe plate 102a is fixedly installed on the trolley 102c. The impact sponge 102b is fixedly installed in the horseshoe plate 102a, and the card slot is provided in the impact sponge 102b.

[0012] Furthermore, the arresting block 102 further includes a braking lug 102e; As a matching part, a number of electromagnetic locks 107 are fixedly installed on the slide rail 103 at equal intervals. The braking lug 102e is located in the area directly above the electromagnetic lock 107 and is used to lock the position of the arresting block 102 when the UAV arrest is completed.

[0013] Regarding the specific structure of the arresting frame: The main body of the arresting frame 101 adopts a frame structure. The front side is connected to an arc-shaped guiding device 106. There are two cross beams extending backward, on which the slide rails 103 are installed; The guiding device 106 includes a roller seat 106a, a roller 106b and an I-beam 106c. The I-beam 106c is an arc structure and is fixedly connected to the arresting frame 101. The roller seats 106a are arranged in series on it. Each roller seat 106a has the same structure, and a flexible roller 106b is installed on it to guide the UAV smoothly into the arresting frame during the UAV recovery process; The guiding device 106 has four and is arranged in two pairs symmetrically. The space between the I-beams 106c of the same pair of guiding devices 106 is the wing receiving space. The wing receiving space gradually narrows and then accesses the area where the arresting block 102 is located; During the UAV recovery process, the guiding device 106 is used for guiding, so that the UAV can be smoothly docked with the arresting frame 101 and the wing is introduced into the arresting block 102.

[0014] Regarding the specific structure of the vehicle-mounted platform: A turntable is provided in the middle of the vehicle-mounted platform 500. A ground rail is fixedly installed on the turntable. The bottom of the multi-axis robot is movably installed on the ground rail, and a traveling mechanism for driving it to reciprocate is provided at the bottom of the multi-axis robot. Thus, circumferential and radial movements can be achieved through the cooperation of the turntable and the ground rail.

[0015] Furthermore, deployable support arms are provided on both sides of the vehicle-mounted platform 500. The vehicle-mounted platform is retracted during movement and deployed when the recovery system works, for platform stability enhancement during the recovery process.

[0016] Regarding the specific structure of the transfer system: The transfer system 300 includes a column 301, a first-stage transfer belt motor 301a, a first-stage transfer belt 301b, a second-stage transfer belt motor 302a, a second-stage transfer belt 302b, a lifting platform 302, and a lifting platform motor 302c; The column 301 is fixedly arranged beside the robot system 200, and a triangular support platform is provided at its top. Two rows of first-stage belt pulleys are rotatably connected to the triangular support platform. Two first-stage transfer belts 301b are respectively wound around the two rows of first-stage belt pulleys. The housings of the two first-stage transfer belt motors 301a are fixedly installed on the triangular support platform, and their output shafts are respectively in linkage with one of the two rows of first-stage belt pulleys; the two first-stage transfer belts 301b are driven to reciprocate circumferentially by the two first-stage transfer belt motors 301a; The lifting platform 302 is slidably installed on the column 301. The housing of the lifting platform motor 302c is fixedly installed on the lifting platform 302, and a lifting drive wheel that fits with the column 301 is fixedly installed on its output shaft; the lifting platform 302 is driven to reciprocate up and down by the lifting platform motor 302c; Two rows of second-stage belt pulleys are rotatably connected to the lifting platform 302. Two second-stage transfer belts 302b are respectively wound around the two rows of second-stage belt pulleys. The housings of the two second-stage transfer belt motors 302a are fixedly installed on the lifting platform 302, and their output shafts are respectively in linkage with one of the two rows of second-stage belt pulleys; the two second-stage transfer belts 302b are driven to reciprocate circumferentially by the two second-stage transfer belt motors 302a.

[0017] Regarding the specific structure of the conveyor system: There are multiple conveyor systems 400, and the multiple conveyor systems 400 are arranged at intervals from top to bottom; The conveying system 400 includes a conveying system motor 401, a conveying system support wheel 402 and a conveyor belt 403. The conveying system support wheel 402 in each layer of the conveying system 400 is arranged next to the transfer system 300 through a wheel frame, and is arranged in two rows. The two conveyor belts 403 are respectively wound on the two rows of conveying system support wheels 402. The conveying system motor 401 is also fixedly arranged next to the transfer system 300, and its output shaft is respectively linked to one of the two rows of conveying system support wheels 402; the two conveyor belts 403 are driven to reciprocate in a circumferential direction by the two conveying system motors 401.

[0018] The present invention uses a mobile platform to carry recovery equipment and has certain drone storage and transportation functions. It not only provides a flexible recovery site but also facilitates the transportation of drones. Based on the above characteristics and functions, a fully automated fixed-wing drone cluster recovery operation is achieved, improving recovery efficiency and recovery success rate. The system includes an arresting system, a robotic system, a transfer system, and a storage system, which can achieve continuous recovery and automated transfer of drones. The arresting system includes an arresting frame, an arresting block, a slide rail, and a buffer device. The guiding device ensures that the drone smoothly enters the deceleration track and stops safely. The arresting system is installed at the execution end of the robotic system and can be dynamically adjusted according to the position of the drone to achieve active capture and recovery of the drone. The transfer system consists of a multi-stage transfer belt and a lifting platform, which cooperates with the storage system to realize the automatic removal and transfer of drones. The vehicle-mounted platform provides drone storage and transportation functions and has a deployable support arm to ensure the stability of the recovery operation. To address the problem of how to recover drone clusters on a mobile platform, the present invention proposes a vehicle-mounted fixed-wing drone cluster recovery solution. On the one hand, this solution can reduce the recovery system's dependence on the drone's positioning accuracy and control capabilities, and improve recovery and transportation efficiency through a highly automated storage and transportation system; on the other hand, this solution has high environmental adaptability and maneuverability, and can quickly build a recovery platform at a designated location, making it suitable for large-scale clustered drone continuous recovery tasks.

[0019] The benefits of the present invention are: 1. Starting from the design of the recovery equipment, this invention proposes an innovative idea of active capture and recovery. By allowing the recovery equipment to take on some tracking and attitude adjustment functions, it reduces the reliance on the UAV's own positioning and control capabilities, allowing it to focus more on mission execution.

[0020] 2. The active capture and recovery system proposed in the present invention has the characteristics of high integration and small space occupation. By combining with the vehicle-mounted platform, it effectively solves the problem of insufficient mobility of the recovery system.

[0021] III. For the active capture and recovery system, a transfer system and a storage system are also designed to enable the vehicle-mounted platform to have certain functions of transporting and storing unmanned aerial vehicles (UAVs). This not only provides a recovery site flexibly and maneuverably but also facilitates the transportation of UAVs. Through the highly automated continuous UAV recovery system, it becomes possible to achieve cyclic operation for large-scale clustered UAVs. Description of the Drawings

[0022] Figure 1 Schematic diagram of a fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform; Figure 2 Schematic diagram of the arresting system; Figure 3 Schematic diagram of the structure of the arresting block and the electromagnetic lock; Figure 4 Schematic diagram of the structure of the front limit and guiding device; Figure 5 Schematic diagram of the layout of the buffer and the arresting cable; Figure 6 Schematic diagram of the UAV arresting process; Figure 7 Schematic diagram of the UAV transfer process; Figure 8 Schematic diagram of the structure of the transfer system and the storage system; In the figures: 100 - arresting system, 200 - robot system, 300 - transfer system, 400 - storage system, 500 - vehicle-mounted platform, 101 - arresting frame, 102 - arresting block, 103 - slide rail, 104 - front limit, 105 - rear limit, 106 - guiding device, 107 - electromagnetic lock, 108 - buffer, 104a - first air rod, 104b - second air rod, 106a - roller seat, 106b - roller, 106c - I-beam, 102a - hoof-shaped plate, 102b - impact sponge, 102c - pulley block, 102d - limit pulley, 102e - braking lug, 107a - locking tongue, 107b - lock body, 108a - buffer cavity, 108b - buffer pull rod, 108c - arresting cable, 301 - column, 301a - first transfer belt motor, 301b - first transfer belt, 302 - lifting platform, 302a - second transfer belt motor, 302b - second transfer belt, 302c - lifting platform motor, 401 - storage system motor, 402 - storage system support plate, 403 - conveyor belt. Detailed Description of the Invention

[0023] To clearly illustrate the technical features of this patent, the following provides a detailed description of this patent through specific embodiments and in conjunction with its drawings.

[0024] The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform includes an arresting system 100, a robot system 200, a transfer system 300, a storage system 400 and a vehicle-mounted platform 500.

[0025] Figure 1 The invention shows the state of the fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform during the UAV recovery operation. The arresting system 100 is connected to the power output end of the robot system 200. The two constitute a fixed-wing UAV active capture and recovery system to complete the UAV arresting task. The vehicle-mounted platform 500 includes a front and a trailer, wherein two deployable support arms are arranged on both sides of the front of the vehicle, which are folded up when the vehicle is moving and lowered when working, and are used to stabilize the platform during the UAV recovery operation. The trailer is divided into two parts, the front part is connected to the rotating shaft at the bottom. It is connected to the front of the vehicle, and a turntable and a robot system 200 are arranged on it. The front of the trailer is slightly higher than the rear of the trailer to increase the recoverable height of the drone; a transfer system 300 and a storage system 400 are arranged at the rear of the trailer, wherein the storage system 400 is located behind the transfer system 300 and at an appropriate distance from it; the transfer system can be docked with the drone active capture and recovery system to realize the removal of the drone after the interception is completed and transfer it to the storage system; the storage system has a drone storage function to store fixed-wing drones that have completed interception and recovery.

[0026] The above generally describes the fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform proposed in the present invention, and explains the overall layout and functions of the arresting system 100, robotic system 200, transfer system 300, storage system 400 and vehicle-mounted platform 500. The composition and principles of the above five systems will be explained in detail below.

[0027] like Figure 2 As shown in the schematic diagram of the arresting system, the arresting system 100 includes an arresting frame 101, an arresting block 102, a slide rail 103, a front limit 104, a rear limit 105, a guiding device 106, an electromagnetic lock 107 and a buffer 108; the main body of the arresting frame 101 adopts a truss structure, with a hollow middle portion for passing the drone, and a trapezoidal steel plate installed underneath to enhance the frame strength. Ten mounting holes are punched on one side of the steel plate to connect it to the power output end of the robot system.

[0028] like Figure 3As shown in the structural diagram of the blocking block and the electromagnetic lock, the blocking block 102 includes a horseshoe plate 102a, an impact sponge 102b, a pulley 102c, a limiting pulley 102d and a brake ear 102e; the horseshoe plate 102a constitutes the main body of the blocking block 102, and its outer side has two symmetrical U-shaped ribs to enhance the bending resistance of the horseshoe plate, so that it is not easy to deform when subjected to the impact load during the recovery process of the drone; the impact sponge 102b is installed on the inner side of the horseshoe plate 102a, which is made of flexible material and can absorb part of the impact energy to avoid damage to the drone during the recovery process; the pulley 102c is installed on the lower side of the horseshoe plate 102a to connect the blocking block body and the slide rail, and a brake ear is provided on one side of the pulley, and its main body is rectangular with a flexible roller installed underneath; there are multiple limiting pulleys 102d installed below the pulley 102c, and its groove is U-shaped, so that the pulley can move longitudinally along the slide rail.

[0029] The slide rails 103 have two sections and are symmetrically mounted on the longitudinal beams on both sides of the arresting frame 101, forming a deceleration channel during the recovery process of the UAV.

[0030] The electromagnetic lock 107 includes a lock tongue 107a and a lock body 107b, which are arranged at intervals on one side of the slide rail 103; the lock tongue is a 45-degree triangle. When the blocking block moves from front to back, the lock tongue will be pressed into the lock body by the flexible roller under the brake ear, and when the blocking block moves from back to front, the brake ear will be blocked by the lock tongue, thereby realizing the unidirectional movement of the blocking block; when the electromagnetic lock 107 is energized, the lock tongue 107a will automatically retract into the lock body 107b.

[0031] like Figure 4 As shown in the structural diagram of the front limit and guide device, the front limit 104 has two and is respectively fixed at the front end of the two slide rails 103, including a No. 1 gas rod 104a and a No. 2 gas rod 104b; the rear limit 105 has two and is respectively fixed at the end of the two slide rails 103, also including a No. 1 gas rod and a No. 2 gas rod; the front limit and the rear limit jointly constrain the longitudinal movement of the slider to prevent it from leaving the slide rail.

[0032] The main body of the guiding device 106 is four cantilever beams extending forward from the front end of the arresting frame 101, on which an arc-shaped I-beam 106c is installed to form two convergent channels that continuously narrow from front to back; the guiding device 106 also includes rollers 106a and roller seats 106b, and the rollers 106a and roller seats 106b are arranged and covered on the I-beam 106c, wherein the rollers 106a are made of flexible material to reduce impact overload during the recovery process of the drone.

[0033] like Figure 5As shown in the schematic diagram of the buffer and arrester cable arrangement, the buffer 108 includes a buffer cavity 108a, a buffer pull rod 108b, and an arrester cable 108c; the buffer cavity 108a is fixed to the tail of the frame of the arrester frame 101; both ends of the arrester cable 108c are respectively fixed to the middle steel plate of the arrester frame 101 and the front end of the pulley 102c. The middle of the arrester cable is supported by multiple fixed pulleys under the frame of the arrester frame and bypasses the movable pulley at the end of the buffer pull rod 108b, thereby increasing the deceleration stroke during the recovery of the UAV and further reducing the recovery overload of the UAV. In addition, after the electromagnetic lock is powered on, the lock tongue will automatically retract into the lock body, and the buffer pull rod will automatically retract into the buffer cavity, thereby driving the arrester block to reset. The direction of its movement is shown in Figure 5 annotation.

[0034] The robot system 200 has six independent rotating shafts, and a turntable and a ground rail are arranged below it, enabling it to adjust its attitude according to the position and heading of the UAV, thereby expanding the recovery range and the success rate of recovery.

[0035] As Figure 8 As shown in the schematic diagram of the structure of the transfer system and the storage system, the main body of the transfer system 300 consists of two independent columns 301, on which triangular support platforms extending outward are respectively arranged. The width of the support platforms is slightly larger than the distance between the two slide rails in the arrester system, enabling the support platforms to penetrate into the middle frame of the arrester system, thereby realizing the transfer of the UAV.

[0036] The transfer system 300 also includes a first-stage transfer belt motor 301a, a first-stage transfer belt 301b, a second-stage transfer belt motor 302a, a second-stage transfer belt 302b, a lifting platform 302, and a lifting platform motor 302c; the first-stage transfer belt motor 301a and the first-stage transfer belt 301b are arranged on the triangular support platforms at the top of the column 301; the second-stage transfer belt motor 302a and the second-stage transfer belt 302b are arranged on the triangular support platforms at the top of the lifting platform 302; wherein the surfaces of the first-stage transfer belt and the second-stage transfer belt are relatively rough, and the UAV can be moved out of the arrester block through the friction force with the UAV wing; the lifting platform 302 is arranged on the vertical guide rail on one side of the vertical surface of the column and moves along the vertical direction of the guide rail through the lifting platform motor 302c.

[0037] The above transfer system 300 can take out the UAV from the arrester system and transfer it to any height.

[0038] The main structure of the storage system 400 is divided into three layers: upper, middle, and lower. Each layer is provided with a storage system motor 401, a storage system support plate 402, and a conveyor belt 403; under the drive of the storage system motor 401 on each layer, the UAV on the conveyor belt 403 can be moved to the rear, thereby providing space for the storage of the next UAV; the storage system can store three UAVs on each layer, with a total of nine UAVs on the three layers.

[0039] A fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform proposed by the present invention can realize continuous recovery and storage and transportation operations of UAVs, which specifically includes the following steps: Step 1: After the vehicle-mounted platform 400 reaches the expected position, it stops stably and unfolds the support arms on both sides of the vehicle body. The turntable under the robot system rotates to the UAV recovery direction, and the robot system 200 starts to work; Step 2: During the process of the UAV flying towards the predetermined recovery flight path, the robot system 200 adjusts its own posture according to the real-time position information of the UAV, accurately places the arresting system 100 at the end of the expected recovery trajectory of the UAV, and at the same time, the guiding device 106 on the recovery system faces the flight direction of the UAV and is ready for arresting recovery; Step 3: After the UAV reaches the recovery area, it rushes into the arresting system 100. The UAV is introduced into the arresting frame 101 through the guiding device 106. The UAV collides with the arresting block 102 and drives the arresting block to continue moving along the slide rail 103; Step 4: The arresting block 102 decelerates to a stop under the action of the arresting cable 108c and the buffer 108, and is locked on the slide rail under the action of the electromagnetic lock 107. The specific process is shown in Figure 6 ; Step 5: The robot system 200 adjusts its posture to transfer the UAV. Align the arrested UAV with the triangular support platform at the upper end of the transfer system column 301, so that the lower wing surface of the UAV contacts the upper surface of the first-level transfer belt 301b. Driven by the first-level transfer belt motor 301a, the UAV moves synchronously with the first-level transfer belt until it completely retreats from the arresting frame. At the same time, the electromagnetic lock 107 is powered on and the lock tongue 107a is retracted into the lock body 107b. The arresting block returns to its initial position under the drive of the arresting cable. The specific process is shown in Figure 7 ; Step 6: When the UAV contacts the second-level transfer belt 302b, the second-level transfer belt motor 302a starts to rotate, driving the UAV to transfer from the first-level transfer belt to the second-level conveyor belt. When the UAV is completely on the second-level transfer belt, the second-level transfer belt motor stops rotating; Step 7: Driven by the lifting platform motor 302c, the lifting platform 302 moves downward along the vertical guide rail arranged on the side of the column until it is at the same height as the storage layer in the storage system 400 where the UAV is to be stored. The specific process is shown in Figure 8 ; Step 8: Synchronously start the second-level transfer belt motor and the storage system motor 401 in the corresponding storage layer to transport the UAV to the upper surface of the conveyor belt 403. When the UAV is completely placed on the storage system, the second-level transfer belt motor and the storage system motor stop working; Step Nine: Reset the transfer system, the robot system, and the blocking system to prepare for the recovery operation of the next unmanned aerial vehicle.

[0040] There are many specific implementation approaches for the present invention. The above description is only the preferred implementation manner of the present invention. It should be noted that for those of ordinary skill in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform, characterized in that, It includes an arresting system (100), a robot system (200), a transfer system (300) and a storage system (400) installed on a vehicle platform (500); the robot system (200) is a multi-axis robot, which is installed on the vehicle platform (400), and its output end is fixedly connected to the arresting system (100), and the fixed-wing UAV is actively captured and recovered through the arresting system (100); the transfer system (300) is placed in the middle of the vehicle platform, and the storage system (400) is placed at the tail of the vehicle platform. The storage system (400) is a multi-layer structure for storing the recovered fixed-wing UAVs; The arresting system (100) includes an arresting frame (101), an arresting block (102), a slide rail (103), a front limit (104), a rear limit (105), a buffer (108), and an arresting cable (108c); The arresting frame (101) is fixedly installed at the output end of the multi-axis robot. A pair of slide rails (103) are arranged in parallel and are both fixedly installed on the arresting frame (101). The arresting block (102) is slidably installed on each slide rail (103), and the front limit (104) and the rear limit (105) are fixedly installed at the head and tail ends of the slide rail (103). A number of pulleys are installed at the front part and below of the arresting frame (101). The cylinder body of the buffer (108) is fixedly installed below the slide rail (103), and a pulley is also installed on the pull rod (108b) of the buffer (108). One end of the arresting cable (108c) is fixedly connected to the arresting frame (101), and after sequentially bypassing each pulley, the other end is fixedly connected to the arresting block (102). A card slot adapted to the wing of the fixed-wing UAV is provided on one side of the arresting block (102).

2. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 1, characterized in that The arresting block (102) includes a hoof-shaped plate (102a), impact sponge (102b), a trolley (102c), and a limit pulley (102d). The limit pulley (102d) is rotatably connected to the bottom of the trolley (102c) and is accommodated in the slide rail (103). The hoof-shaped plate (102a) is fixedly installed on the trolley (102c), and the impact sponge (102b) is fixedly installed in the hoof-shaped plate (102a), and the card slot is provided in the impact sponge (102b).

3. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 2, wherein The arresting block (102) further includes a braking lug (102e); A number of equally spaced electromagnetic locks (107) are also fixedly installed on the slide rail (103). The braking lug (102e) is located in the area directly above the electromagnetic lock (107) and is used to lock the position of the arresting block (102) when the UAV arresting is completed.

4. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 1, wherein, The main body of the arresting frame (101) adopts a frame structure. The front side is connected to a guiding device (106) in an arc shape, and there are two cross beams extending backward, on which the slide rail (103) is installed; The guiding device (106) includes a roller base (106a), rollers (106b), and an I-beam (106c). The I-beam (106c) has an arc structure and is fixedly connected to the arresting frame (101). The roller bases (106a) are arranged in series thereon. Each roller base (106a) has the same structure, and flexible rollers (106b) are installed thereon to guide the UAV smoothly into the arresting frame during the UAV recovery process. The guiding device (106) has four and is arranged symmetrically in pairs. The space between the I-beams (106c) of the same pair of guiding devices (106) is the wing receiving space, and the wing receiving space gradually narrows and then accesses the area where the arresting block (102) is located. During the UAV recovery process, the guiding device (106) is used for guiding, so that the UAV can be smoothly docked with the arresting frame (101) and the wings are introduced into the arresting block (102).

5. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 1, wherein A turntable is provided in the middle of the vehicle-mounted platform (500). A ground rail is fixedly installed on the turntable. The bottom of the multi-axis robot is movably installed on the ground rail, and a traveling mechanism for driving it to reciprocate is provided at the bottom of the multi-axis robot, so that circumferential and radial movements can be realized through the cooperation of the turntable and the ground rail.

6. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 5, characterized in that Deployable support arms are provided on both sides of the vehicle-mounted platform (500). The vehicle-mounted platform is retracted during movement and deployed when the recovery system works to enhance the stability of the platform during the recovery process.

7. A fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 1, characterized in that, The transfer system (300) includes a column (301), a first-stage transfer belt motor (301a), a first-stage transfer belt (301b), a second-stage transfer belt motor (302a), a second-stage transfer belt (302b), a lifting platform (302), and a lifting platform motor (302c). The column (301) is fixedly arranged beside the robot system (200), and a triangular support platform is provided at its top. Two rows of first-stage belt pulleys are rotatably connected to the triangular support platform. Two first-stage transfer belts (301b) are respectively wound around the two rows of first-stage belt pulleys. The housings of the two first-stage transfer belt motors (301a) are fixedly installed on the triangular support platform, and their output shafts are respectively in linkage with one of the two rows of first-stage belt pulleys. The two first-stage transfer belt motors (301a) drive the two first-stage transfer belts (301b) to reciprocate circumferentially. The lifting platform (302) is slidably installed on the column (301). The housing of the lifting platform motor (302c) is fixedly installed on the lifting platform (302), and a lifting drive wheel that is in contact with the column (301) is fixedly installed on its output shaft. The lifting platform motor (302c) drives the lifting platform (302) to reciprocate up and down. Two rows of second-stage belt pulleys are rotatably connected to the lifting platform (302). Two second-stage transfer belts (302b) are respectively wound around the two rows of second-stage belt pulleys. The housings of the two second-stage transfer belt motors (302a) are fixedly installed on the lifting platform (302), and their output shafts are respectively in linkage with one of the two rows of second-stage belt pulleys. The two second-stage transfer belt motors (302a) drive the two second-stage transfer belts (302b) to reciprocate circumferentially.

8. The fixed-wing UAV cluster recovery system based on a large vehicle-mounted platform according to claim 1, characterized in that, The conveying system (400) has a plurality of them, and the plurality of conveying systems (400) are arranged at intervals from top to bottom; The conveying system (400) includes a conveying system motor (401), a conveying system support wheel (402), and a conveyor belt (403). The conveying system support wheels (402) in each layer of the conveying system (400) are arranged beside the transfer system (300) through a wheel frame and are arranged in two rows. Two conveyor belts (403) are respectively wound around the two rows of conveying system support wheels (402). The conveying system motor (401) is also fixedly arranged beside the transfer system (300), and its output shaft is respectively in linkage with one of the two rows of conveying system support wheels (402); the two conveyor belts (403) are driven by the two conveying system motors (401) to perform reciprocating circumferential motion.

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