Active capturing and recycling system for vehicle-mounted fixed-wing unmanned aerial vehicle

Abstract

The invention discloses a vehicle-mounted fixed-wing unmanned aerial vehicle active capturing and recycling system, and relates to the field of fixed-wing unmanned aerial vehicle recycling. Starting from the design of the recovery equipment, 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. The vehicle-mounted fixed-wing unmanned aerial vehicle active capturing and recycling system comprises a blocking system, a robot system and a storage frame which are installed on a vehicle-mounted platform, the storage frame is fixedly installed on the vehicle-mounted platform, the robot system is a multi-axis robot, the multi-axis robot is installed on the vehicle-mounted platform, and the storage frame is connected with the vehicle-mounted platform. The output end of the fixed-wing unmanned aerial vehicle is fixedly connected with the arresting system, and the fixed-wing unmanned aerial vehicle is actively captured and recycled through the arresting system. According to the invention, the dependence of the recovery equipment on the self-positioning and control capability of the unmanned aerial vehicle is effectively reduced, and high environmental adaptability and maneuverability are achieved.

Description

Technical Field

[0001] The present invention relates to the field of fixed-wing UAV recovery, and in particular to a vehicle-mounted fixed-wing UAV active capture and recovery system. Background Art

[0002] Fixed-wing drones, with their advantages such as high speed, long flight time, and high cost-effectiveness, have demonstrated outstanding performance in fields such as topographic mapping, agricultural monitoring, and meteorological research, and enjoy widespread market demand. Smooth recovery of drones after mission completion is crucial for ensuring their efficient and reusable use. Due to the uncertainties of both ground and airborne environments during current drone recovery, traditional methods typically rely on airports or ground-based recovery equipment, such as landing gear roll recovery, parachute recovery, airbag-assisted recovery, net recovery, horizontal rope recovery, and skyhook recovery. However, these traditional methods have numerous limitations and urgently need to be improved to meet the demands of modern drone missions.

[0003] On the one hand, traditional recovery methods typically employ a strategy where the drone is the active party and the recovery system is the passive party. This approach places high demands on the drone's structure and control, typically requiring the drone to possess high-precision positioning and track tracking capabilities to accurately determine the recovery location and path, thereby achieving a safe recovery operation. Recovery strategies where the drone is the active party only offer one-way recovery calibration capabilities, meaning they rely entirely on the drone's own positioning and control. The recovery system's autonomous adjustment capabilities are limited and it generally cannot actively adapt to the drone's flight path to relieve the drone's positioning and control pressure. This places high demands on the drone's positioning accuracy, and the system suffers from deficiencies in dynamic environment adaptability, recovery accuracy, and efficiency.

[0004] On the other hand, in order to reduce the requirements for drone control accuracy during recovery, the traditional recovery method has a larger recovery area, a more complex system, and needs to be set up in advance at a preset recovery location. Therefore, it is difficult to quickly perform drone recovery operations at a designated location, and it is difficult to meet the needs of single or temporary drone recovery tasks.

[0005] Therefore, a drone recovery system combined with a vehicle-mounted platform has become one of the solutions to the above problems. Currently, traditional recovery technologies combined with vehicles mainly include skyhook recovery and net recovery. The following fixed-wing drone recovery solutions based on vehicle-mounted platforms have been announced: Patent publication number CN 119099915 A, "A Vehicle-mounted Skyhook UAV Convenient and Intensive Recovery System," proposes a vehicle-mounted recovery system combined with a skyhook to flexibly recover small fixed-wing UAVs. However, the solution requires a large recovery area and modifications to the UAV structure, making it difficult to universally apply.

[0006] The patent "Fixed-wing UAV Recovery System" with publication number CN 114715424 A proposes a vehicle-mounted system for recovering fixed-wing UAVs combined with a crash net. This system can achieve safe interception of UAVs, but lacks a UAV storage area and cannot achieve efficient and continuous recovery of multiple UAVs.

[0007] The above-mentioned recovery methods of fixed-wing UAVs each have their own advantages and disadvantages, but overall, existing recovery technologies are difficult to achieve continuous recovery of fixed-wing UAVs in a small area. Summary of the Invention

[0008] In response to the above problems, the present invention proposes a vehicle-mounted fixed-wing UAV active capture and recovery system. Starting from the design of the recovery equipment, the recovery equipment is made to bear more capacity requirements, thereby significantly reducing the performance requirements for the UAV, allowing it to focus more on mission execution.

[0009] The technical solution of the present invention is as follows: it includes an arresting system 100, a robot system 200, and a storage rack 300 installed on a vehicle-mounted platform 400. The storage rack 300 is fixedly mounted on the vehicle-mounted platform 400. The robot system 200 is a multi-axis robot, which is mounted on the vehicle-mounted platform 400 and has its output end fixedly connected to the arresting system 100. The arresting system 100 actively captures and recovers the fixed-wing UAV 500. The arresting system 100 includes an arresting frame 101, an arresting block 102, a slide rail 103, a front limit stop 104, a rear limit stop 105, a buffer 108, and an arresting cable 108c. The arresting frame 101 is fixedly mounted on the output end of the multi-axis robot, and a pair of slide rails 103 are arranged in parallel, both of which are fixedly mounted on the arresting frame 101. The arresting block 102 can be slidably mounted on each slide rail 103, and the front limit 104 and the rear limit 105 are fixedly mounted at the head and tail ends of the slide rail 103. A number of pulleys are installed at the front and bottom of the slide rail 103. The cylinder of the buffer 108 is fixedly mounted 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 the other end is fixedly connected to the arresting block 102 after passing around each pulley in turn. One side of the arresting block 102 is provided with a slot adapted to the wing of the fixed-wing UAV 500.

[0010] About the specific structure of the blocking block: The blocking block 102 includes a horseshoe plate 102a, an impact sponge 102b, a pulley 102c and a limiting pulley 102d. The limiting pulley 102d is rotatably connected to the bottom of the pulley 102c and accommodated in the slide rail 103. The horseshoe plate 102a is fixedly installed on the pulley 102c. The impact sponge 102b is fixedly installed in the horseshoe plate 102a, and the impact sponge 102b is provided with the card slot.

[0011] Furthermore, the blocking block 102 further includes a brake lug 102e; As a supporting device, a number of electromagnetic locks 107 are fixedly installed on the slide rail 103 at equal intervals. The brake ear 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 drone is arrested.

[0012] Regarding the specific structure of the arresting frame: The main body of the arresting frame 101 adopts a frame structure, with an arc-shaped guide device 106 connected to the front side, and two horizontal 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 the I-beam 106c. Each roller seat 106a has the same structure and is equipped with a flexible roller 106b to guide the drone smoothly into the arresting frame during recovery. There are four guiding devices 106, which are arranged symmetrically in pairs. The I-beams 106c of the same pair of guiding devices 106 are between the wing receiving spaces, which gradually narrow and connect to the area where the arresting block 102 is located. The guiding devices 106 are used to guide the drone 500 during the recovery process, so that the drone can be smoothly docked with the arresting frame 101 and the wing can be introduced into the arresting block 102.

[0013] About the specific structure of the storage rack: The storage rack 300 includes a frame body 301, wing hooks 302, a belly support plate 303 and a wing support plate 304. The main body of the frame body 301 is divided into three layers, and each layer is provided with four independent support beams, the two inner beams being longer than the two outer beams.

[0014] Furthermore, each layer of the frame 301 includes a pair of wing support plates 304, a pair of wing hooks 302 and four belly support plates 304; the wing support plates 304 and wing hooks 302 are respectively installed at the ends of the two support beams on the inside and outside of the frame 301, and the four belly support plates 304 are symmetrically installed in pairs at the front of the inner support beam, and the upper surface is arc-shaped, which fits tightly with the recovered drone fuselage.

[0015] About the specific structure of the vehicle platform: A turntable is provided at the tail of the vehicle-mounted platform 400, on which a ground rail is fixedly mounted. The bottom of the multi-axis robot is walkably mounted on the ground rail, and a walking mechanism for driving the multi-axis robot to move back and forth is provided at the bottom, thereby realizing circumferential and radial motion through the cooperation of the turntable and the ground rail.

[0016] Furthermore, both sides of the vehicle-mounted platform 400 are provided with deployable support arms, which are folded during movement and deployed when the recovery system is working, so as to stabilize the platform during the recovery process.

[0017] This invention proposes an innovative approach to active capture and recovery. By placing greater demands on the recovery equipment, the performance requirements for drones are significantly reduced, allowing them to focus more on mission execution. Furthermore, by leveraging the high integration and small footprint of the active capture and recovery system and integrating it with a vehicle-mounted platform, the recovery system's lack of mobility can be effectively addressed. By carrying the recovery equipment on a mobile platform and simultaneously providing certain drone storage and transportation capabilities, it not only provides a flexible recovery site but also facilitates drone transportation.

[0018] The present invention includes an arresting system, a robot system, a storage rack and a vehicle-mounted platform, which can realize the active capture, recovery and storage of drones. The arresting system is installed at the execution end of the robot system and can be dynamically adjusted according to the position of the drone to achieve high-precision capture and recovery. The vehicle-mounted platform provides drone storage and transportation functions, and is also equipped with a deployable support arm to ensure the stability of the recovery operation. Based on the strategy of drones as the passive party and the recovery system as the active party, an innovative solution for active capture and recovery of drones based on a vehicle-mounted platform is proposed. On the one hand, this solution can reduce the recovery system's dependence on the drone's positioning accuracy and control capabilities, and improve the recovery success rate and recovery efficiency; on the other hand, this solution has high environmental adaptability and maneuverability, and can quickly build a recovery platform at a designated location, which is widely applicable to drone recovery tasks in complex environments.

[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, has higher environmental adaptability and maneuverability, and enables it to focus more on mission execution.

[0020] 2. The active capture and recovery system proposed in the present invention has the ability to adjust itself and can adapt to a variety of application scenarios. Through the system integration design of the vehicle-mounted platform, it enhances flexibility and effectively solves the problem of insufficient maneuverability of traditional recovery systems.

[0021] 3. The present invention is aimed at an active capture and recovery system, and is equipped with a storage rack so that the vehicle-mounted platform has the function of storing and transporting drones, which is suitable for multiple drone recovery scenarios in actual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the working status of the active capture and recovery system of the vehicle-mounted fixed-wing UAV; Figure 2 This is a schematic diagram of the arresting system; Figure 3 It is a schematic diagram of the blocking block and electromagnetic lock structure; Figure 4 Schematic diagram of the front limit and guide device structure; Figure 5 This is a schematic diagram of the arrangement of buffers and arresting cables; Figure 6 This is a schematic diagram of the drone interception process; Figure 7 This is a schematic diagram of a single-layer storage rack structure; Figure 8 Schematic diagram of the drone loading process; Figure 9 Schematic diagram of the mobile status of the active capture and recovery system of a vehicle-mounted fixed-wing UAV.

[0023] In the figure: 100-arresting system, 200-robot system, 300-storage rack, 400-vehicle platform, 500-UAV, 101-arresting frame, 102-arresting block, 103-slide rail, 104-front limit, 105-rear limit, 106-guiding device, 107-electromagnetic lock, 108-buffer, 104a-gas rod No. 1, 104b-gas rod No. 2, 106a-roller seat, 1 06b-roller, 106c-I-beam, 102a-shoe plate, 102b-impact sponge, 102c-pulley, 102d-limiting pulley, 102e-brake ear, 107a-lock tongue, 107b-lock body, 108a-buffer cavity, 108b-buffer rod, 108c-arresting cable, 301-frame, 302-wing hook, 303-belly support plate, 304-wing support plate. DETAILED DESCRIPTION

[0024] In order to clearly illustrate the technical features of this patent, this patent is described in detail below through specific implementation methods and in combination with its accompanying drawings.

[0025] The vehicle-mounted fixed-wing UAV active capture and recovery system includes an arresting system 100 , a robot system 200 , a storage rack 300 , a vehicle-mounted platform 400 and a UAV 500 .

[0026] Figure 1The figure shows the state of the fixed-wing UAV active capture and recovery system based on the vehicle-mounted platform proposed in the present invention when performing a UAV recovery operation. The arresting system 100 is connected to the power output end of the robot system 200. The two constitute the fixed-wing UAV active capture and recovery system for completing the UAV arresting task; the vehicle-mounted platform 400 is provided with deployable support arms on both sides of the vehicle body, which are folded up when the vehicle is moving and lowered when working, and are used to increase the stability of the platform during the UAV recovery operation; a storage rack 300 is fixed at the front of the vehicle-mounted platform 400, and a turntable and the robot system 200 are arranged at the rear of the vehicle; the storage rack 300 is used to store the fixed-wing UAV that has completed the arrest and recovery.

[0027] The above generally describes the vehicle-mounted fixed-wing UAV active capture and recovery system proposed in the present invention, and explains the overall layout and functions of the arresting system 100, robotic system 200, storage rack 300, vehicle-mounted platform 400 and UAV 500. The composition and principles of the above five systems will be described in detail below.

[0028] 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.

[0029] like Figure 3 As 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] like Figure 5 As shown in the schematic diagram of the arrangement of the buffer and the arresting cable, the buffer 108 includes a buffer cavity 108a, a buffer rod 108b and an arresting cable 108c; the buffer cavity 108a is fixed to the rear end of the arresting frame 101; the two ends of the arresting cable 108c are respectively fixed to the steel plate in the middle of the arresting frame 101 and the front end of the pulley 102c, and the middle part of the arresting cable is supported by a plurality of fixed pulleys under the arresting frame and passes around the movable pulley at the end of the buffer rod 108b, thereby increasing the deceleration stroke during the recovery of the UAV and reducing the overload of the UAV recovery; in addition, when the electromagnetic lock is energized, the lock tongue will automatically retract the lock body, and the buffer rod will automatically retract the buffer cavity, thereby driving the arresting block to reset, and its movement direction is shown in FIG. Figure 5 Annotation.

[0035] The robot system 200 has six independent rotating shafts, with a turntable and ground rails arranged underneath, so that it can adjust its posture according to the position and heading of the drone, thereby expanding the recovery range and recovery success rate.

[0036] The frame 301 of the storage rack 300 is a rack structure, which is divided into three layers. Figure 7As shown in the structural diagram of a single-layer storage rack, each layer includes four outward-extending support beams, on which are provided a pair of wing support plates 303, a pair of wing hooks 302 and four belly support plates 304; the wing hooks 302 and wing support plates 303 are respectively installed at the ends of the two inner and outer support beams, and the four belly support plates 304 are symmetrically installed at the front of the two inner support beams.

[0037] The storage rack 300 can remove the drone from the arresting system 100 and store it securely.

[0038] The vehicle-mounted fixed-wing UAV active capture and recovery system proposed in the present invention includes the following specific steps when performing UAV recovery and transportation operations: Step 1: After the vehicle-mounted platform 400 reaches the desired position, it stops and deploys the support arms on both sides of the vehicle body. The turntable at the rear of the vehicle rotates to the direction of the drone 500 recovery, and the robot system 200 starts working; Step 2: As the drone flies toward the planned recovery trajectory, the robotic system 200 adjusts its posture based on the drone's real-time position information, accurately positioning the arresting system 100 at the end of the drone's desired recovery trajectory. Simultaneously, the guidance device 106 on the recovery system faces the drone's flight path and prepares for arresting and recovering. Step 3: After reaching the recovery area, the drone rushes into the arresting system 100. The guiding device 106 guides the drone into the arresting frame 101. The drone collides with the arresting block 102, driving the arresting block to continue moving along the slide rail 103. Step 4: The arresting block 102 is decelerated 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 electromagnetic lock 107 is energized and the lock tongue 107a is retracted into the lock body 107b. Under the action of the arresting cable 108c and the buffer 108, the arresting block 102 drives the drone back to its initial position. Step 6: The robot system 200 adjusts its posture to transfer the drone, aligning the arrested drone with the storage rack so that the drone's belly is placed on the upper surface of the belly support plate 303; Step 7: The robot system 200 moves away from the storage rack. Under the action of the wing hook 302, the UAV gradually separates from the arresting frame until it is completely on the storage rack. The specific process is shown in Figure 8 ; Step 8: The robotic system and arresting system are reset to prepare for active capture and recovery of the next drone.

[0039] Step 9: If Figure 9As shown in the moving state diagram of the vehicle-mounted fixed-wing UAV active capture and recovery system, after all recovery work is completed, the robot system and arresting system are tightened, the support arms on both sides of the vehicle body are folded, and the vehicle-mounted active capture system moves to the designated position.

[0040] There are many specific implementation ways of the present invention. The above is only the preferred implementation method of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be considered as the scope of protection of the present invention.

Claims

1. A vehicle-mounted fixed-wing UAV active capture and recovery system, characterized in that: The invention comprises an arresting system (100), a robot system (200), and a storage rack (300) installed on a vehicle-mounted platform (400); the storage rack (300) is fixedly installed on the vehicle-mounted platform (400); the robot system (200) is a multi-axis robot, the multi-axis robot is installed on the vehicle-mounted platform (400), and the output end of the multi-axis robot is fixedly connected to the arresting system (100); the arresting system (100) is used to realize active capture and recovery of the fixed-wing UAV (500); The arresting system (100) includes an arresting frame (101), an arresting block (102), a slide rail (103), a front limiter (104), a rear limiter (105), a buffer (108), and an arresting cable (108c); The arresting frame (101) is fixedly mounted on the output end of the multi-axis robot, a pair of slide rails (103) are arranged in parallel and are fixedly mounted on the arresting frame (101), the arresting block (102) is slidably mounted on each slide rail (103), and the front limit (104) and the rear limit (105) are fixedly mounted on the front and rear ends of the slide rail (103), a plurality of pulleys are mounted on the front and bottom of the arresting frame (101), the cylinder of the buffer (108) is fixedly mounted below the slide rail (103), and a pulley is also mounted 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 the other end is fixedly connected to the arresting block (102) after passing through each pulley in turn, and one side of the arresting block (102) is provided with a slot adapted to the wing of the fixed-wing UAV (500).

2. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 1, characterized in that: The blocking block (102) comprises a horseshoe plate (102a), an impact sponge (102b), a pulley (102c) and a limiting pulley (102d), wherein the limiting pulley (102d) is rotatably connected to the bottom of the pulley (102c) and accommodated in the slide rail (103), the horseshoe plate (102a) is fixedly mounted on the pulley (102c), the impact sponge (102b) is fixedly mounted in the horseshoe plate (102a), and the impact sponge (102b) is provided with the card slot.

3. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 2, characterized in that: The blocking block (102) further includes a brake lug (102e); A plurality of electromagnetic locks (107) distributed at equal intervals are also fixedly mounted on the slide rail (103), and the brake 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 drone is arrested.

4. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 1, characterized in that: The main body of the arresting frame (101) adopts a frame structure, the front side of which is connected to an arc-shaped guide device (106), and has two horizontal beams extending backward, on which slide rails (103) are installed; The guiding device (106) comprises 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 the I-beam. Each roller seat (106a) has the same structure and is equipped with a flexible roller (106b) to guide the UAV to smoothly enter the arresting frame during the recovery process. The guiding devices (106) have four components and are arranged symmetrically in pairs. A wing receiving space is provided between the I-beams (106c) of the same pair of guiding devices (106). The wing receiving space is gradually narrowed and connected to the area where the arresting block (102) is located. The guiding devices (106) guide the drone (500) during the recovery process, so that the drone can be docked with the arresting frame (101) smoothly, and the wing is introduced into the arresting block (102).

5. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 1, characterized in that: The storage rack (300) comprises a rack body (301), wing hooks (302), a belly support plate (303) and a wing support plate (304). The main body of the rack body (301) is divided into three layers, and each layer is provided with four independent support beams, the two inner beams being longer than the two outer beams.

6. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 5, characterized in that: Each layer of the frame (301) comprises a pair of wing support plates (304), a pair of wing hooks (302) and four belly support plates (304); the wing support plates (304) and the wing hooks (302) are respectively mounted at the ends of two support beams on the inner and outer sides of the frame (301); the four belly support plates (304) are symmetrically mounted in pairs at the front of the inner support beam, with the upper surfaces presenting an arc shape, and closely fitting with the recovered UAV fuselage.

7. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 1, characterized in that: The rear of the vehicle-mounted platform (400) is provided with a turntable, a ground rail is fixedly mounted on the turntable, the bottom of the multi-axis robot is walkably mounted on the ground rail, and a walking mechanism for driving the multi-axis robot to walk back and forth is provided at the bottom of the multi-axis robot, so that circumferential and radial motions can be achieved through the cooperation of the turntable and the ground rail.

8. The vehicle-mounted fixed-wing UAV active capture and recovery system according to claim 1, characterized in that: Both sides of the vehicle-mounted platform (400) are provided with deployable support arms, which are folded during movement and deployed when the recovery system is working, and are used to stabilize the platform during the recovery process.

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