Primary-secondary fixed-wing unmanned aerial vehicle system and working method thereof
By designing a docking and releasing device and using flexible cables and ring wings to lift the docking cone sleeve away from the wake of the mother aircraft, the stability and safety issues in the release and recovery process of the daughter aircraft in the mother-daughter fixed-wing UAV system are solved, and a high success rate of safe release and recovery is achieved.
Patent Information
- Application Number
- CN202510860781.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-25
- Publication Date
- 2025-09-26
AI Technical Summary
In the existing mother-and-child fixed-wing UAV system, during the release and recovery process of the child aircraft, the wake of the mother aircraft has a significant impact on the aerodynamic performance of the child aircraft, making it difficult to fly stably. The existing recovery method has many defects and it is difficult to ensure safety and success rate.
A docking and receiving device is designed, which includes a docking rod, a ring wing, a flexible cable, a docking cone sleeve and a docking limit device. The flexible cable and the ring wing are used to lift the docking cone sleeve away from the wake area of the mother aircraft. The ring wing provides lift and the flexible cable is used for traction to achieve the safe release and recovery of the daughter aircraft. The large-opening angle parachute design reduces the docking accuracy requirements.
The safety and success rate of the launch and recovery of the sub-machine are significantly improved, and the impact of the mother machine's wake turbulence docking process is reduced. The flexible cable allows for large speed differences and deformations, adapts to complex meteorological environments, reduces the risk of structural damage, and reduces the cost of use.
Smart Images
Figure CN120697997A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of fixed-wing UAVs, and in particular relates to a mother-and-child fixed-wing UAV system and a working method thereof. Background Art
[0002] The mother-and-child fixed-wing UAV system is a collaborative fixed-wing unmanned aerial vehicle system consisting of a mother aircraft and multiple child aircraft. The mother aircraft usually has a long range and large payload capacity, and is responsible for carrying, releasing and recovering the child aircraft, and undertakes tasks such as command and control, and communication relay. The child aircraft are flexibly configured according to mission requirements to perform precise tasks such as reconnaissance, strike, and inspection. The mother aircraft and child aircraft collaborate through a wireless communication network to form a layered mission architecture, which has the characteristics of both "air carrier" and "swarm combat", and has the effects of reducing the crash rate of the mother aircraft, increasing the operating radius of small UAVs, and saving return costs. It has shown broad application value and prospects in both military and civilian fields.
[0003] At present, during the release and recovery process of the sub-drone of a mother-and-child fixed-wing UAV system, the sub-drone and the mother drone need to ensure synchronized high-speed flight. However, the sub-drone is in the wake of the mother drone, and the flow field around the sub-drone is complex, making it difficult to maintain stable flight. Therefore, it is urgent to design a new automatic release and recovery mechanism and method to achieve the safe release and recovery of the sub-drone. Explaining this with specific examples, existing recovery methods for mother-and-child drone systems primarily include net recovery, wire recovery, air taxiing, magnetic recovery, mechanical gripping, harpoon grid recovery, and passive drogue recovery. Net recovery poses the problem of uncontrollable attitude of the child drone and affects the flight of the mother drone. Wire recovery involves a high instantaneous load, which can easily cause structural damage. Air taxiing requires high control precision for the mother drone, but has limited wind resistance, making collisions more likely. While magnetic recovery and mechanical gripping strategies have lower requirements for landing environment and accuracy, they often come with significant bulk and weight penalties, or risk sudden load changes in gusty winds that can lead to structural damage. Harpoon grid recovery is suitable for vertical takeoff and landing drones, but not for fixed-wing drones. Passive drogue recovery resembles aerial refueling, but due to the wake of the mother drone, the drogue will swing or fluctuate with the wind, making docking difficult and the recovery success rate low. Similarly, the complex wake of the mother drone poses significant challenges to the stable release of the child drone.
[0004] In summary, in view of the existing difficulties in the release and recovery process of the daughter aircraft in the mother-child fixed-wing UAV system, it is urgent to develop new release and recovery schemes to minimize the impact of the mother aircraft's wake on the aerodynamic performance of the daughter aircraft and improve the safety and success rate of the daughter aircraft's release and recovery. Summary of the Invention
[0005] The present invention aims to provide a mother-and-child fixed-wing UAV system and its operating method to address one or more of the aforementioned technical issues. The technical solution disclosed in this invention includes a newly designed docking and release device that reduces the impact of the mother aircraft's wake on the aerodynamic performance of the child aircraft, significantly improving the docking and recovery success rate and release safety of the child aircraft.
[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a mother-child fixed-wing UAV system, comprising: a mother fixed-wing UAV and a plurality of daughter fixed-wing UAVs; wherein: The fixed-wing UAV mother machine is provided with a plurality of docking and receiving devices at a preset position, and the docking and receiving devices are used to release and recover the fixed-wing UAV daughter machine; wherein, the docking and receiving devices include: a docking rod, a ring wing, a cable retracting device, a flexible cable, a docking cone sleeve and a docking limit device, the docking rod is provided with a hollow connecting pipe, the docking rod is provided with a plurality of ring wings, the cable retracting device is installed at a preset position of the fixed-wing UAV mother machine, the cable retracting device is used to retract the flexible cable, the free end of the flexible cable passes through the hollow connecting pipe provided on the docking rod and is connected to the docking cone sleeve, and the docking limit device is provided in the docking cone sleeve; The front end of the fixed-wing UAV sub-machine is provided with a sub-machine docking rod, and the sub-machine docking rod is used to cooperate with the docking limit device to realize the recovery, locking and release of the fixed-wing UAV sub-machine.
[0007] A further improvement of the technical solution of the present invention is that the docking cone sleeve adopts a large-opening-angle umbrella surface design structure.
[0008] A further improvement of the technical solution of the present invention is that the docking cone sleeve is also provided with a driving device and a sensor; wherein, the sensor is used to obtain the position information of the docking rod of the sub-machine of the fixed-wing UAV to be recovered, and the driving device is used to adjust the position and angle of the docking limit device according to the position information of the sub-machine docking rod, so that the sub-machine docking rod can be inserted into the docking limit device to achieve recovery locking.
[0009] A further improvement of the technical solution of the present invention is that the docking cone sleeve is further provided with an electromagnetic release actuator, and the electromagnetic release actuator is used to control the opening and closing state of the docking limit device according to the received control signal.
[0010] A further improvement of the technical solution of the present invention is that, in the docking receiving and placing device, the number of the ring wings provided on the docking rod is multiple, and the size of the ring wings gradually increases in the direction away from the fixed-wing UAV mother aircraft.
[0011] A further improvement of the technical solution of the present invention is that the ring wings adopt an inflatable or foldable design structure.
[0012] A further improvement of the technical solution of the present invention is that the flexible cable adopts a shape memory alloy or an intelligent composite material with adaptive characteristics.
[0013] A further improvement of the technical solution of the present invention is that a camera is provided on the ring wing, and the camera is used to obtain image data of the fixed-wing UAV sub-machine, and the image data is used to adjust the posture of the fixed-wing UAV sub-machine.
[0014] The second aspect of the present invention provides a working method of a mother-child fixed-wing UAV system. During the docking and recovery process of the sub-machine, the flexible cable is released by the cable retraction device, and the docking rod and the docking cone sleeve are lifted by the ring wing, so that the docking cone sleeve is away from the wake area of the fixed-wing UAV mother machine; the posture of the fixed-wing UAV sub-machine to be recovered is adjusted so that the sub-machine docking rod is inserted into the docking limit device and the recovery lock is achieved; the flexible cable is retracted by the cable retraction device, and the docking rod, the ring wing, and the fixed-wing UAV sub-machine to be recovered are pulled back to the fixed-wing UAV mother machine to complete the docking and recovery of the sub-machine; wherein, the docking cone sleeve in the expanded state is retracted into the tail of the ring wing through the flexible cable.
[0015] The third aspect of the present invention provides a working method of a mother-and-child fixed-wing UAV system. During the release process of the child, the fixed-wing UAV child and the docking rod in the recovery lock state are lifted together under the lift provided by the ring wing. During this period, under the traction of the flexible cable, the fixed-wing UAV child and the fixed-wing UAV mother maintain synchronous movement; the flexible cable is continuously released by the cable retraction device, so that the fixed-wing UAV child continues to move away from the fixed-wing UAV mother. When the fixed-wing UAV child leaves the wake area of the fixed-wing UAV mother, the docking limit device on the docking cone sleeve is opened to complete the release of the child.
[0016] Compared with the prior art, the present invention has the following beneficial effects: In response to the problems of the complex wake of the mother aircraft during the release and recovery of the child aircraft in a mother-and-child fixed-wing UAV system, which makes it difficult for the child aircraft to maintain stable flight, and the numerous defects in existing recovery methods, the present invention specifically discloses a new mother-and-child fixed-wing UAV system. It designs a new docking and release device to achieve the safe release and recovery of the fixed-wing UAV child aircraft, minimize the impact of the mother aircraft's wake on the aerodynamic performance of the child aircraft, and improve the safety and success rate of the child aircraft release and recovery. Specifically, the present invention utilizes ring wings to lift the docking rod and docking cone sleeve during the release and recovery of the child aircraft, significantly reducing the impact of the mother aircraft's wake on the docking process of the child aircraft, reducing docking failures caused by wake turbulence, and improving the docking success rate.
[0017] In the preferred technical solution of the present invention, the docking cone sleeve of the large-opening-angle umbrella design allows for docking errors, reduces the requirements for the control accuracy of the mother-and-child machine during the docking process, makes docking easier to achieve, and further improves the success rate of release and recovery.
[0018] In the preferred technical solution of the present invention, the design of the flexible cable and the feature that allows a large speed difference between the sub-machine and the main machine can ensure the structural safety of the sub-machine and the main machine after the first docking fails, reduce the risk of damage to the mechanical structure due to docking failure, and enhance the safety of the entire release and recovery process. In addition, the use of flexible cables instead of rigid mechanical structures avoids damage to the mechanical structure in gusty environments, allowing the retractable device to be reused multiple times, reducing the cost of use and improving the reliability and economy of the system. Furthermore, the flexible cable allows the sub-machine and the main machine to undergo large relative deformation during the docking process, which can better adapt to complex meteorological environments and flight conditions, and improves the adaptability and stability of the retractable device.
[0019] In the technical solution of the second aspect of the present invention, during the docking and recovery process, the docking and receiving device designed by the present invention can lift the docking cone sleeve through flexible cables and ring wings, so that the docking process is away from the wake area of the mother aircraft, and significantly reduces the impact of the wake of the mother aircraft on the docking cone sleeve; at the same time, through the self-stabilizing structural characteristics of the ring wings, the cone sleeve swinging with the wind or high and low oscillations of the passive cone sleeve docking device can be overcome without the need for rudder adjustment, thereby significantly improving the docking and recovery success rate and release safety.
[0020] In the technical solution of the third aspect of the present invention, during the release process, the ring wing is used to generate lift and flexible cable traction to lift the sub-aircraft to a position away from the wake area of the mother aircraft, ensuring that the sub-aircraft can fly stably in the initial stage of release, avoiding the interference of the mother aircraft's wake on the sub-aircraft's posture, and improving the success rate and safety of the sub-aircraft release. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below; obviously, the drawings described below are some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0022] Figure 1 1 is a schematic diagram of the overall structure of a mother-and-child fixed-wing UAV system in an embodiment of the present invention; Figure 2 is a schematic diagram of a receiving and releasing device in an embodiment of the present invention; Figure 3 1 is a structural diagram of a butt-jointed cone sleeve according to an embodiment of the present invention; The explanations of the reference numerals in the figure are as follows: 1. Fixed-wing UAV mother machine; 2. Fixed-wing UAV daughter machine; 3. Docking rod; 4. Ring wing; 5. Cable retraction device; 6. Flexible cable; 7. Docking cone sleeve; 8. Camera; 9. Daughter machine docking rod; 10. Docking limit device; 11. Electromagnetic release actuator. DETAILED DESCRIPTION
[0023] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments and technical solutions are only part of the embodiments of the present invention, not all of the embodiments.
[0024] All other embodiments obtained by persons of ordinary skill in the art based on the technical solutions disclosed in the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.
[0025] See also Figures 1 to 3 The embodiment of the present invention provides a mother-child fixed-wing UAV system, comprising: a mother fixed-wing UAV 1 and a plurality of daughter fixed-wing UAVs 2; wherein, The fixed-wing UAV mother aircraft 1 is provided with a plurality of docking and receiving devices at preset positions, and the docking and receiving devices are used to release and recover the fixed-wing UAV daughter aircraft 2. Specifically, fixed-wing UAVs have advantages such as high speed and long flight time, and are very suitable for swarm operations in the form of a mother-and-child aircraft system. However, the recovery and release of such fixed-wing mother-and-child UAV systems are more difficult and more difficult to achieve than the retraction and release of rotary-wing mother-and-child UAV systems due to problems such as complex aerodynamic interference between the mother aircraft and the daughter aircraft and low docking accuracy under high-speed flight. The docking receiving and releasing device includes: a docking rod 3, a ring wing 4, a cable retracting device 5, a flexible cable 6, a docking cone sleeve 7 and a docking limit device 10; wherein, the docking rod 3 is provided with a hollow connecting pipe, and a plurality of ring wings 4 are provided on the docking rod 3 (in a further preferred technical solution, the size of the ring wings 4 gradually increases in the direction away from the fixed-wing UAV mother machine 1); the cable retracting device 5 is installed at a preset position of the fixed-wing UAV mother machine 1, and the cable retracting device 5 is used to retract and release the flexible cable 6. The free end of the flexible cable 6 passes through the hollow connecting pipe provided on the docking rod 3 and is connected to the docking cone sleeve 7. The docking limit device 10 is provided at a preset position in the docking cone sleeve 7; A sub-machine docking rod 9 is provided at the front end of the fixed-wing UAV sub-machine 2. The sub-machine docking rod 9 is used to cooperate with the docking limit device 10 to realize the release and recovery of the fixed-wing UAV sub-machine 2.
[0026] In the embodiment of the present invention, the following description is provided regarding the reduction in the impact of the mother aircraft's wake on the child aircraft: The technical solution of the embodiment of the present invention is provided with a flexible cable 6 and a ring wing 4. During the docking and placement of the child aircraft, the docking drogue 7 can be lifted away from the mother aircraft's wake area, reducing the impact of the mother aircraft's wake on the child aircraft. Further explanatory note, the flexible cable 6 passes through the hollow connecting pipe of the docking rod 3 to connect to the docking drogue 7. The tension of the flexible cable 6 and the aerodynamic effect of the ring wing 4 can keep the docking drogue 7 away from the mother aircraft's wake area. This design significantly reduces the impact of the mother aircraft's wake on the docking drogue 7, thereby reducing the interference of the mother aircraft's wake on the aerodynamic performance of the child aircraft during the docking process, creating favorable conditions for the stable docking of the child aircraft. Further explanatory note, the ring wing has a self-stabilizing structural feature. In complex airflow environments such as the mother aircraft's wake, the problem of the drogue swaying or high and low oscillation existing in passive drogue docking devices can be overcome without the need for rudder adjustment. This makes the docking process more stable, reduces the difficulty of docking, and improves the success rate of docking.
[0027] In an embodiment of the present invention, the following description is provided regarding the improved success rate and safety of the sub-drone release: In the initial stages of the sub-drone release process, the ring wings of the receiving and placing device can generate some lift for the sub-drone. At the same time, cable traction is used to maintain the synchronous movement of the sub-drone and the mothership. The flexible cable is continuously released to lift the sub-drone to a certain height, away from the mothership wake area. This process ensures that the sub-drone can fly stably in the initial stages of release, avoids interference from the mothership wake on the sub-drone's attitude, and improves the success rate and safety of the sub-drone release. After the sub-drone is lifted to a certain height and can fly autonomously and safely, the docking cone sleeve is released. This phased release method further ensures the safety of the sub-drone release and reduces the risk of sub-drone release failure due to factors such as the mothership wake.
[0028] In a further preferred technical solution of the embodiment of the present invention, the docking cone sleeve 7 adopts a large-opening-angle umbrella structure design. This design allows a certain error in the docking process. Compared with recovery methods such as aerial taxiing and landing, it significantly reduces the difficulty of docking. The sub-machine does not need extremely high control accuracy during the docking process to complete docking with the docking cone sleeve, thereby improving the success rate of docking.
[0029] In an embodiment of the present invention, the flexible cable 6 is constructed of a shape-memory alloy or intelligent composite material with adaptive properties. Using a flexible cable instead of a rigid mechanical structure as the primary load-bearing structure for the docking and release device allows for significant relative deformation of the parent-child fixed-wing drone during docking. Compared to recovery methods involving collision with a wire or mechanical capture, this design is less likely to cause mechanical structural damage in gusty winds, allowing the retractable device to be reused multiple times, reducing operational costs. Furthermore, the flexible cable, depending on its relaxed and taut states, allows for a significant speed difference between the child drone and the parent drone. This significantly ensures the structural safety of the child drone and the parent drone after an initial docking failure, allowing for a faster next docking attempt. This improves the fault tolerance of the parent-child drone system during the release and recovery process, further ensuring the safety and success rate of both the release and recovery of the child drone.
[0030] As a preferred technical solution of an embodiment of the present invention, during the docking process, a slot is provided on the docking rod 9 of the fixed-wing drone 2. The slot enters the interior of the docking drogue 7 through the canopy of the docking drogue and is secured by a docking stopper 10. An electromagnetic release actuator 11 may also be provided to control the opening and closing state of the docking stopper 10 according to received control commands.
[0031] As a preferred technical solution in an embodiment of the present invention, the fixed-wing UAV mother aircraft 1 is equipped with a control unit, and the ring wing 4 is provided with a camera 8; the camera 8 is used to obtain image data of the fixed-wing UAV daughter aircraft 2 to be docked and recovered during the docking and recovery process, and adjust the position of the fixed-wing UAV daughter aircraft 2 and the retraction and extension of the cable based on the image data, so that the daughter aircraft docking rod 9 is inserted into the docking limit device 10 inside the docking cone sleeve 7. During the daughter aircraft release phase, the control unit is used to send a release signal to the electromagnetic release actuator 11, controlling the docking limit device 10 to open, thereby completing the daughter aircraft release operation.
[0032] In the preferred technical solution of the embodiment of the present invention, both the docking rod 3 and the ring wing 4 can be designed as a foldable structure (further, the ring wing 4 can also be designed to be inflatable) to further compress the occupied space after recovery and improve the recovery efficiency. Explanatory principle: the docking rod 3 provides a certain amount of lift through the ring wing 4 to achieve the effect of automatic lifting, and continuously releases the flexible cable 6 through the cable retracting device 5, so that the docking cone sleeve 7 can be away from the wake area of the mother aircraft, greatly enhancing the spatial stability of the docking cone sleeve 7 in the air. Further explanatory, the docking cone sleeve 7 in the stored state is thrown away from the ring wing 4 due to aerodynamic resistance, and the length of the flexible cable 6 is controlled by the cable retracting device 5, thereby maintaining a certain distance between the docking cone sleeve 7 and the ring wing 4.
[0033] In the preferred technical solution of the embodiment of the present invention, the docking cone sleeve 7 is also provided with a driving device and a sensor; wherein, the sensor is used to obtain the position information of the sub-machine docking rod 9 of the fixed-wing UAV sub-machine 2 to be recovered, and the driving device is used to adjust the position and angle of the docking limit device 10 according to the position information of the sub-machine docking rod 9 when the position information of the sub-machine docking rod 9 meets the preset threshold range requirements, so that the sub-machine docking rod 9 can be inserted into the docking limit device 10 to achieve recovery locking.
[0034] The automatic release and recovery method of a mother-and-child fixed-wing UAV system provided in an embodiment of the present invention includes: During the docking process, the ground pilot or flight control algorithm uses image data transmitted from the camera above the ring wing to adjust the attitude of the rear drone, allowing the drone's docking rod to penetrate the drogue docking stop within the docking drogue, completing the docking of the mother and daughter drones. The flexible cable retraction mechanism retracts the docking rod and ring wing back to the mother drone's preset position (e.g., at the wingtip). Furthermore, the deployed docking drogue is retracted back to the tail of the ring wing via the flexible cable. The drone is then retracted and locked by continuously tightening the flexible cable and adjusting the attitude of the fixed-wing drone.
[0035] The automatic release and recovery method of a mother-and-child fixed-wing UAV system provided in an embodiment of the present invention includes: During the release phase, the docked sub-machine and the docking rod are lifted together by the lift provided by the ring wing. At the same time, due to the traction of the flexible cable, the sub-machine and the mother machine maintain synchronous movement. By continuously releasing the flexible cable, the sub-machine moves away from the mother machine. The ground pilot or the flight control algorithm determines the position of the sub-machine through the image data sent back by the camera above the ring wing. When the sub-machine leaves the wake area of the mother machine, the docking limit device is opened by the electromagnetic release actuator on the docking cone sleeve, and the sub-machine and the mother machine are separated, thereby realizing the release of the sub-machine.
[0036] To sum up, the technical solution provided by the embodiment of the present invention, through the newly designed docking and receiving device, can make the docking position where the sub-machine is recovered or released away from the wake area of the mother machine, significantly reducing the impact of the mother machine's wake on the sub-machine during the docking process. At the same time, through the adoption of ring wing technology, it overcomes the problems of wind swing or high and low oscillation of the passive cone sleeve docking device, significantly improving the docking recovery success rate and safety.
[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.
Claims
1. A mother-and-child fixed-wing UAV system, characterized in that: include: A fixed-wing UAV mother machine (1) and a plurality of fixed-wing UAV daughter machines (2); wherein, The fixed-wing UAV mother machine (1) is provided with a plurality of docking and releasing devices at a preset position, and the docking and releasing devices are used to release and recover the fixed-wing UAV sub-machine (2); wherein the docking and releasing devices include: a docking rod (3), a ring wing (4), a cable retracting device (5), a flexible cable (6), a docking cone sleeve (7) and a docking limit device (10), the docking rod (3) is provided with a hollow connecting pipe, the docking rod (3) is provided with a plurality of ring wings (4), the cable retracting device (5) is installed at a preset position of the fixed-wing UAV mother machine (1), the cable retracting device (5) is used to retract the flexible cable (6), the free end of the flexible cable (6) passes through the hollow connecting pipe provided on the docking rod (3) and is connected to the docking cone sleeve (7), and the docking limit device (10) is provided in the docking cone sleeve (7); A sub-machine docking rod (9) is provided at the front end of the fixed-wing unmanned aerial vehicle sub-machine (2), and the sub-machine docking rod (9) is used to cooperate with the docking limit device (10) to achieve recovery, locking and release of the fixed-wing unmanned aerial vehicle sub-machine (2).
2. The mother-child fixed-wing UAV system according to claim 1, characterized in that: The docking cone sleeve (7) adopts a large-opening-angle umbrella surface design structure.
3. The mother-child fixed-wing UAV system according to claim 1, characterized in that: The docking cone sleeve (7) is further provided with a driving device and a sensor; wherein the sensor is used to obtain position information of the docking rod (9) of the fixed-wing unmanned aerial vehicle (UAV) to be recovered, and the driving device is used to adjust the position and angle of the docking limit device (10) according to the position information of the docking rod (9) of the UAV, so that the docking rod (9) of the UAV can be inserted into the docking limit device (10) to achieve recovery locking.
4. The mother-child fixed-wing UAV system according to claim 1, characterized in that: The docking cone sleeve (7) is further provided with an electromagnetic release actuator (11), and the electromagnetic release actuator (11) is used to control the opening and closing state of the docking limit device (10) according to a received control signal.
5. The mother-child fixed-wing UAV system according to claim 1, characterized in that: In the docking receiving and placing device, the number of the ring wings (4) provided on the docking rod (3) is plural, and the size of the ring wings (4) gradually increases in a direction away from the fixed-wing UAV mother machine (1).
6. The mother-child fixed-wing UAV system according to claim 1, characterized in that: The ring wings (4) adopt an inflatable or foldable design structure.
7. The mother-child fixed-wing UAV system according to claim 1, characterized in that: The flexible cable (6) is made of a shape memory alloy or an intelligent composite material with adaptive characteristics.
8. The mother-child fixed-wing UAV system according to claim 1, characterized in that: A camera (8) is provided on the ring wing (4), and the camera (8) is used to obtain image data of the fixed-wing unmanned aerial vehicle (2), and the image data is used to adjust the posture of the fixed-wing unmanned aerial vehicle (2).
9. An operating method of the mother-and-child fixed-wing UAV system according to claim 1, characterized in that: During the docking and recovery process of the sub-machine, the flexible cable (6) is released through the cable retracting device (5), and the docking rod (3) and the docking cone sleeve (7) are lifted through the ring wing (4), so that the docking cone sleeve (7) is away from the wake area of the fixed-wing UAV mother machine (1); the posture of the fixed-wing UAV sub-machine (2) to be recovered is adjusted so that the sub-machine docking rod (9) is inserted into the docking limit device (10) and the recovery lock is achieved; the flexible cable (6) is retracted through the cable retracting device (5), and the docking rod (3), the ring wing (4), and the fixed-wing UAV sub-machine to be recovered (2) are pulled back to the fixed-wing UAV mother machine (1), completing the docking and recovery of the sub-machine; wherein, the docking cone sleeve (7) in the unfolded state is retracted into the tail of the ring wing (4) through the flexible cable (6).
10. An operating method of the mother-and-child fixed-wing UAV system according to claim 1, characterized in that: During the sub-machine release process, the fixed-wing UAV sub-machine (2) and the docking rod (3) in the recovery locking state are lifted together under the lift provided by the ring wing (4). During this period, under the traction action of the flexible cable (6), the fixed-wing UAV sub-machine (2) and the fixed-wing UAV mother machine (1) maintain synchronous movement; the flexible cable (6) is continuously released through the cable retracting device (5), so that the fixed-wing UAV sub-machine (2) is continuously moved away from the fixed-wing UAV mother machine (1); when the fixed-wing UAV sub-machine (2) leaves the wake area of the fixed-wing UAV mother machine (1), the docking limit device (10) on the docking cone sleeve (7) is opened to complete the sub-machine release.