Unmanned aerial oil receiving docking success detection device

Abstract

The invention belongs to the field of aircraft refueling control, and particularly relates to an unmanned aerial refueling butt joint success detection device which comprises an air path connected with a refueling pipeline of a refueling plane in parallel, the air inlet end of the air path is connected with a supercharging device located on the refueling plane, and the air outlet end of the air path is communicated with the outside atmosphere at the tail end probe of the refueling pipeline. A pressure detection device is further arranged on the gas circuit, and after a tail end probe of an oil filling pipeline of the oil receiver extends into an umbrella cone of an oil filling machine, the gas outlet end of the gas circuit is sealed by the umbrella cone. And the controller is connected with the pressure detection device, and when the pressure output by the pressure detection device is higher than a preset value, a signal for indicating successful butt joint of the oil adding and receiving machine is given. The method can quickly, safely and accurately judge whether the oil adding and receiving machine is successfully butted or not.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of aircraft refueling control, and particularly relates to a device for detecting successful docking of unmanned aerial refueling. BACKGROUND

[0002] Aerial refueling technology is one of the key technologies for improving the endurance of aircraft tasks and performing complex tasks, and has a research history of more than a hundred years. Traditional aerial refueling operations require pilots to rely on visual and manual control for docking, which has the problems of high operation risk and low efficiency, and especially in complex weather conditions and night environment, the judgment of the pilot may deviate, which affects the task execution. With the rapid development of unmanned aerial vehicle technology, countries have begun to focus on researching automatic aerial refueling technology without the need for pilot judgment, in order to improve the reliability and safety of the task.

[0003] In recent years, foreign countries have made certain research progress in the field of aerial refueling technology without the need for pilot judgment, especially in the automatic docking and fuel delivery between unmanned aerial vehicles and manned aircraft. For example, the MQ-9 Reaper unmanned aerial vehicle, X-47B unmanned combat aircraft and other projects of the United States have carried out verification tests of related technologies. In addition, the United Kingdom, France and Israel and other countries are also actively promoting the research and application of unmanned aerial refueling technology. The research progress of these countries shows that automatic aerial refueling technology has important potential in improving the autonomy of unmanned aerial vehicles, prolonging the endurance time and reducing the risk of tasks.

[0004] At present, foreign technology makes full use of satellite navigation (such as GPS) and inertial navigation system, combined with high-precision sensors (such as laser radar, camera, etc.), to realize precise docking between unmanned aerial vehicles and tankers. For example, the X-47B project of the United States improves the environmental perception ability in complex weather conditions through advanced navigation and sensor fusion technology, so as to ensure the stability and reliability of automatic docking, and realizes high-precision relative position control of unmanned aerial vehicles and tankers.

[0005] However, the performance of sensors in extreme weather conditions may be limited, resulting in a decrease in docking accuracy. In some cases, the automatic system may fail or misjudge, especially when facing dynamic changes in the environment, the reliability and safety of the system still need to be further improved. SUMMARY

[0006] In order to solve the above problems, the application provides a device for detecting successful docking of unmanned aerial refueling, mainly comprising:

[0007] The gas path is connected with the oiling pipe of the receiving aircraft in parallel, the inlet of the gas path is connected with the booster device on the receiving aircraft, the outlet of the gas path is communicated with the outside atmosphere at the end probe of the oiling pipe, the end probe of the oiling pipe of the receiving aircraft is inserted into the umbrella cone of the oiling aircraft, and the outlet of the gas path is sealed by the umbrella cone.

[0008] The controller is connected with the pressure detecting device, and outputs a signal indicating that the receiving aircraft is successfully connected when the pressure output by the pressure detecting device is higher than a preset value.

[0009] Preferably, the preset value is 0.8-0.9 times of the pressure applied by the booster device to the gas path.

[0010] Preferably, the gas path has a plurality of outlets located at different positions of the end probe of the oiling pipe, the inlets of the gas paths are connected with the booster device, and the pressure detecting device is arranged on each gas path.

[0011] Preferably, the controller is configured to output a signal indicating that the receiving aircraft is separated when the pressure output by the pressure detecting device is lower than a second preset value after being higher than the preset value.

[0012] Preferably, the outlet of the gas path is provided with a one-way valve configured to allow the gas to be discharged from the gas path to the outside, but prevent the foreign matters and liquid drops in the outside from entering the gas path.

[0013] Preferably, the booster device is a micro electric air pump or a high-pressure gas cylinder, the working of the booster device is controlled by the controller, and the controller is configured to start the booster device when it is predicted that the receiving aircraft is connected, and to stop the booster device when the separation signal is received.

[0014] Preferably, the device further comprises a pressure relief valve connected with the gas path, and the controller is connected with the pressure relief valve.

[0015] The application can quickly, safely and accurately determine whether the receiving aircraft is successfully connected. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structure schematic diagram of the receiving aircraft before the receiving aircraft is connected with the oiling aircraft according to the preferred embodiment of the unmanned aerial receiving oiling connection success detection device.

[0017] Figure 2 is a structure schematic diagram of the receiving aircraft after the receiving aircraft is connected with the oiling aircraft according to the preferred embodiment of the unmanned aerial receiving oiling connection success detection device.

[0018] In the drawings, 1 is an oiling pipe, 2 is a gas path, and 3 is an umbrella cone. DETAILED DESCRIPTION

[0019] For the purpose, technical solutions and advantages of the present application, the technical solutions in the embodiments of the present application will be described in more detail below. In the drawings, the same or similar reference numbers represent the same or similar elements or elements with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all embodiments. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0020] The present application provides a successful detection device for unmanned aerial refueling docking, as shown in Figure 1 and Figure 2 mainly includes:

[0021] The air path 2 is connected in parallel with the refueling pipeline 1 of the receiver, the air inlet end of the air path 2 is connected to the pressure increasing device on the receiver, the air outlet end of the air path 2 is connected to the atmosphere at the end of the refueling pipeline 1, and the air path 2 is also provided with a pressure detection device. After the end probe of the refueling pipeline 1 of the receiver is inserted into the umbrella cone 3 of the tanker, the air outlet end of the air path 2 is sealed by the umbrella cone 3.

[0022] The controller is connected to the pressure detection device, and when the pressure output by the pressure detection device is higher than the preset value, a signal indicating successful docking of the refueling receiver is given.

[0023] In order to realize efficient detection and control of the docking process of the tanker, the present application proposes a docking state monitoring scheme based on air pressure change. The scheme improves the reliability and efficiency of the docking process by modifying the refueling probe, using pressure detection technology to monitor the air pressure change in real time, and judging the docking state.

[0024] The present application mainly relates to the modification of the original refueling probe. In the original probe, a gas path is added inside the outer structure of the oil pipe. The starting point of the gas path is on the receiver, and a high-precision pressure detection device is added at the receiver end. The terminal point of the gas path is at the tip of the probe, and the pressure bearing capacity of the gas path is greater than 5 atm (5 standard atmospheric pressure). During the refueling stage, 5 atm compressed air is applied to the gas path at the receiver end, and then the gas path pressure is detected to determine the successful docking. Before docking, as Figure 1As shown, the receiver is at a distance from the receiver, and the pressure of the gas path is less than 1 atm because the gas path is exposed to air, indicating that the docking is not successful. After successful docking, as shown, the gas path is sealed by the umbrella cone, and the gas in the gas path does not leak in large quantities. When the pressure of the gas path is detected to rise to greater than a preset value, for example, greater than 4.5 atm, it is considered that the docking is successful, and the flight stage becomes the post-docking maintenance stage. Figure 2

[0025] In some optional embodiments, the preset value is 0.8-0.9 times the pressure applied to the gas path by the pressure increasing device.

[0026] It can be understood that this range is an empirical safety threshold. If the preset value is too low (such as 0.5 times), a false signal may be generated when the docking is not completely in place and only partially sealed. If the preset value is too high (such as 0.95 times), the system sensitivity may be reduced due to a small leakage or sensor fluctuation. 0.8-0.9 times can provide a fast and reliable response under the premise of ensuring sufficient sealing, and has sufficient margin to cope with sensor errors and pressure fluctuations.

[0027] In some optional embodiments, the gas path has multiple, and the gas outlet end of each gas path 2 is located at different positions at the end probe of the refueling pipeline 1, the gas inlet end of each gas path 2 is gathered to a pipeline connected to the pressure increasing device, and the pressure detecting device is arranged on each gas path 2.

[0028] This embodiment is mainly considered for redundancy backup and fault tolerance. The gas outlet end of each gas path 2 is intentionally arranged at the end probe of the refueling pipeline 1 and at different orientations along the circumference, for example, one each in the up, down, left, and right directions. The gas inlet ends of all gas paths are gathered to a common pipeline connected to the pressure increasing device, and the pressure detecting device is arranged on each independent gas path. This embodiment improves the system reliability, so that even if one sensor or its gas path fails, the other paths can still work normally, greatly improving the task reliability of the system. In addition, due to the slight deflection of the unmanned aerial vehicle during docking, the umbrella cone can only seal part of the probe. The multi-path arrangement can ensure that at least one gas path outlet can be effectively sealed and trigger a pressure rise. The controller can use "voting" logic (such as two out of three) or "any trigger" logic to determine docking, enhancing the adaptability in different docking attitudes.

[0029] In some optional embodiments, the controller is configured to give a signal for indicating the separation of the receiver and the receiver when the pressure output by the pressure detecting device is higher than the preset value and then lower than a second preset value.

[0030] ​In this embodiment, the controller can be configured to activate the separation detection function only after confirming the successful docking state first. This avoids the false separation signal caused by pressure fluctuation before docking. The second preset value of the present application is usually set to be much lower than the determination value during docking, for example, 0.2-0.3 times of the supply pressure of the pressure increasing device, or directly close to the ambient atmospheric pressure. In this way, it can be ensured that the separation signal is only sent out when the seal is indeed broken completely.

[0031] In some optional embodiments, the gas outlet end of the gas path 2 is provided with a one-way valve configured to allow gas to be discharged from the gas path 2 to the outside, but prevent foreign matter and liquid droplets from entering the inside of the gas path 2.

[0032] In some optional embodiments, the pressure increasing device is a miniature electric air pump or a high-pressure gas cylinder, and the operation of the pressure increasing device is controlled by the controller, which is configured to start the pressure increasing device when it is determined that the docking stage is entered, and to stop the pressure increasing device after receiving the separation signal.

[0033] In some optional embodiments, the device further comprises a pressure relief valve connected to the gas path 2, and the controller is connected to the pressure relief valve.

[0034] In this embodiment, the controller is configured to control the pressure relief valve to open after the separation signal is generated, so as to actively and quickly discharge the high-pressure gas in the gas path, so that the pressure is quickly reset to the initial value, and preparation is made for the next docking detection.

[0035] The present application only involves the gas path and the oil path at the docking position of the aerial refueling machine, and does not involve the circuit, so it is relatively safe and meets the principle of aerial refueling.

[0036] The present application has the advantages of high reliability, real-time monitoring of the docking state through pressure change, and quick and accurate judgment of whether the docking is successful, thereby avoiding false judgment.

[0037] Compared with the optical fiber signal transmission scheme, the present application has the advantages of lower cost and easy implementation.

[0038] The present application has relatively low requirements for the working environment and can maintain stable operation under harsh weather conditions.

[0039] The pressure change response speed of the present application is fast, and the docking state can be judged in a short time, so that the real-time performance is high and the system efficiency is improved.

[0040] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical range disclosed in the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A device for detecting successful unmanned aerial refueling and docking, characterized in that, include: An air passage (2) is connected in parallel with the refueling pipeline (1) of the receiving aircraft. The air inlet end of the air passage (2) is connected to a booster device located on the receiving aircraft. The air outlet end of the air passage (2) is connected to the outside atmosphere at the end probe of the refueling pipeline (1). A pressure detection device is also provided on the air passage (2). After the end probe of the refueling pipeline (1) of the receiving aircraft is inserted into the umbrella cone (3) of the refueling aircraft, the air outlet end of the air passage (2) is sealed by the umbrella cone (3). The controller is connected to the pressure detection device. When the pressure output by the pressure detection device is higher than a preset value, it gives a signal indicating that the oil receiving machine has been successfully docked.

2. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The preset value is 0.8 to 0.9 times the pressure applied by the booster device to the air passage.

3. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The gas path has multiple gas paths, and the outlet of each gas path (2) is located at a different position at the end probe of the refueling pipeline (1). The inlet of each gas path (2) is connected to the booster device after being gathered into one path. Each gas path (2) is equipped with a pressure detection device.

4. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The controller is configured to provide a signal indicating the separation of the oiler and receiver when the pressure output by the pressure detection device is higher than a preset value and then lower than a second preset value.

5. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The outlet of the gas path (2) is provided with a one-way valve, which is configured to allow gas to be discharged from the gas path (2) to the outside, but prevent foreign objects and droplets from entering the gas path (2).

6. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The pressurization device is a miniature electric air pump or a high-pressure air storage cylinder, and its operation is controlled by the controller. The controller is configured to start the pressurization device when it is predicted that the docking phase will begin, and to shut down the pressurization device after receiving a separation signal.

7. The unmanned aerial refueling and docking success detection device as described in claim 1, characterized in that, The device also includes a pressure relief valve connected to the gas path (2), and the controller is connected to the pressure relief valve.

Images