Vehicle-mounted fixed-wing unmanned aerial vehicle nest and take-off method

Abstract

The invention discloses a nest of a vehicle-mounted fixed-wing unmanned aerial vehicle and a take-off method, and relates to the field of vehicle-mounted take-off devices of fixed-wing unmanned aerial vehicles. The nest can circularly operate, is installed on the vehicle-mounted platform in a modularized mode, accelerates to the take-off speed of the unmanned aerial vehicle through the vehicle-mounted platform, is matched with the mechanical arm and the end executor thereof to stabilize the take-off attitude of the unmanned aerial vehicle, and can carry out vehicle-mounted take-off of multiple fixed-wing unmanned aerial vehicles in a short time. Comprising a machine nest shell and a machine nest transfer device installed in the machine nest shell, a launching opening is reserved in the top of the machine nest shell, and the machine nest transfer device comprises a first lead screw sliding table, a second lead screw sliding table, two vertical actuators and three conveying plates. The launching preparation and turnover time is remarkably shortened, and the launching capacity of the fixed-wing unmanned aerial vehicle cluster can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted takeoff devices for fixed-wing unmanned aerial vehicles (UAVs), and more specifically to a vehicle-mounted fixed-wing UAV nest and its takeoff method. Background Technology

[0002] In recent years, drones have been widely used in emergency material delivery, inspection, surveying, logistics and other scenarios, continuously improving the operational efficiency of various industries. Their operation mode is gradually developing from single-aircraft execution to multi-aircraft collaborative operation. The deployment of multi-aircraft prototypes requires good ground take-off and landing support equipment to provide supply support for various operation tasks. In order to ensure the flexibility of mission operations, the ground support system usually needs to have good mobile deployment capabilities. As a ground support system, hangars can provide a good take-off environment for drones and can carry multiple drones to the operation scene in a short time, realizing the rapid deployment of drones in different mission environments.

[0003] Based on their characteristics, drones can be divided into rotorcraft drones and fixed-wing drones. Rotorcraft drones are vertical take-off and landing aircraft, including multi-rotor drones and rotor-fixed-wing hybrid drones. The vertical take-off and landing capability of rotorcraft drones greatly facilitates the execution of various missions and can well meet the needs of some tasks that require maintaining a stable state in the air, such as aerial photography and surveying. They have a wide range of applications, so most ground supply hangars are designed for rotorcraft aircraft. There are already many hangars available for rotary-wing UAVs. For example, Chinese patent document CN120308392A discloses a double hangar for parking small UAVs. This double hangar design allows for simultaneous opening from both the front and rear directions to release two corresponding landing pads, offering greater flexibility than a single-direction hangar design. It also allows for a wider range of applicable scenarios and installation locations, enabling the simultaneous operation of two UAVs. Another Chinese patent document, CN120171819A, discloses a UAV nest unit. This nest unit includes a nest body, a return mechanism, a lifting drive mechanism, and a first lateral movement mechanism. The nest body has two parallel parking bays, each containing a support platform and multiple parking platforms, enabling coordinated scheduling of two UAVs. However, existing research on mobile platform takeoff for multiple fixed-wing UAVs is still relatively limited.

[0004] Since fixed-wing drones need a certain relative speed with respect to the wind flow to generate lift and take off, hangars not only need to have a storage function, but also need to be equipped with a certain launch device for rapid deployment of drones. Ensuring that the two work in a coordinated manner requires a reasonable device design and solution. Summary of the Invention

[0005] To address the above problems, this invention proposes a vehicle-mounted fixed-wing UAV nest and takeoff method. The nest is cyclically operated and modularly installed on a vehicle platform. It accelerates to the takeoff speed of the UAV via the vehicle platform and, in conjunction with a robotic arm and its end effector, stabilizes the UAV's takeoff attitude. This allows for multiple vehicle-mounted takeoffs of fixed-wing UAVs in a short period of time, effectively improving the deployment mobility of fixed-wing UAVs.

[0006] The technical solution of the present invention is as follows: it includes a nest shell 1 and a nest transfer device 2 installed in the nest shell 1. The top of the nest shell 1 has a launch port, and the inner wall of the nest shell 1 is symmetrically provided with horizontal guide rails 203 and vertical guide rails 204. The horizontal guide rails 203 have two pairs, one above the other, and the vertical guide rails 204 have three pairs from front to back. The horizontal guide rails 203 and the vertical guide rails 204 are kept in communication, thereby forming a fixed walking channel. The machine nest transfer device 2 includes a first lead screw slide 201, a second lead screw slide 202, two vertical actuators 205, and three conveyor plates 23. The conveyor plate 23 is horizontally arranged, and four pulleys 236 are evenly distributed on both sides of it and rotatably connected to it. The pulleys 236 are housed in the travel channel, and the front-to-back distribution distance of the pulleys 236 on the conveyor plate is equal to the distance between adjacent vertical guide rails 204. The bottom surface of the conveyor plate 23 has an outwardly retractable displacement actuator 231 that plays a locking role. The inner wall of the machine housing 1 is symmetrically provided with four pairs of locking grooves 206. When the displacement actuator 231 extends into the locking groove 206, the conveyor plate 23 is locked. The first lead screw slide 201 is horizontally installed above the side wall of the nest housing 1 and above the travel channel. The second lead screw slide 202 is horizontally installed at the bottom of the nest housing 1 and below the travel channel. Two vertical actuators 205 are vertically installed one in front of the other at the bottom of the nest housing 1 and below the travel channel. The two vertical actuators 205 are located in the area between adjacent vertical guide rails 204.

[0007] Furthermore, the nest shell 1 includes a base 101, a front wall panel 102, side wall panels 103, and a top cover 104. The base 101 connects the front wall panel 102 and a pair of side wall panels 103. The front end of the top cover 104 is open as a launch port for the fixed-wing UAV 3. The side wall panels 103 are distributed on both sides of the nest as symmetrical components. The horizontal guide rail 203, the vertical guide rail 204, and the locking groove 206 are all provided on the side wall panels 103. The first lead screw slide 201 is fixedly installed on the top of the side wall panel 103. The second lead screw slide 202 and two vertical actuators 205 are fixedly installed on the top surface of the base 101.

[0008] Furthermore, the conveyor plate 23 includes a support plate 232, a fuselage support member 233, a wing support plate 235, and pulleys 236. The pulleys 236 are arranged at the four top corners of the support plate 232. The wing support plate 235 is fixedly connected to the side of the top surface of the support plate 232 and is used to support the wings of the fixed-wing UAV 3. The fuselage support member 233 is arranged in the middle of the top surface of the support plate 232 and is used to support the fuselage of the fixed-wing UAV 3.

[0009] Furthermore, the conveyor plate 23 also includes an L-shaped push rod 234, which is fixed to both sides of the top surface of the support plate 232. When it contacts the slide component of the first lead screw slide 201, it receives the power of the first lead screw slide 201 to drive the support plate 232 to move horizontally.

[0010] Furthermore, the displacement actuator 231 is installed on both sides below the support plate 232, and locks the transmission plate 23 when it extends outward.

[0011] Furthermore, the nest is fixedly installed in the vehicle platform 5, and the vehicle platform 5 is also equipped with a robotic arm 4. The robotic arm 4 includes an arm body 40, an end effector 41, and an electromagnetic adsorption unit 42. The end effector 41 is installed at the end of the robotic arm 4 and acts as an actuator to move accordingly according to the position of the fixed-wing UAV 3 in the nest. The electromagnetic adsorption unit 42 is installed in the end effector 41 and has electromagnetic adsorption capability after being powered on. It can support the magnetic adsorption component 30 in the wing of the fixed-wing UAV 3 by adsorption force. The magnetic adsorption component 30 is installed under the wing of the fixed-wing UAV 3. Follow these steps to take off your fixed-wing drone: Step S1: The nest transports the fixed-wing UAV to the launch port. The end effector of the robotic arm moves above the conveyor plate. The electromagnetic adsorption unit is energized to generate a magnetic field, and the adsorption force supports the wings of the fixed-wing UAV, thus achieving support and fixation. Step S2: The robotic arm supports the drone and pulls it stably into the air. The vehicle platform starts up, which drives the robotic arm to accelerate as a whole. At the same time, the robotic arm controls the drone to maintain a reasonable takeoff attitude. Step S3: After the vehicle-mounted platform reaches the takeoff speed of the UAV, the electromagnetic adsorption unit is de-energized. Under the lift of the UAV, it achieves automatic launch without mechanical locking. At the same time, the nest transports the next fixed-wing UAV to the launch port, and the robotic arm resets to execute the takeoff of the next fixed-wing UAV, and the cycle repeats.

[0012] The beneficial effects of this invention are as follows: I. The vehicle-mounted fixed-wing UAV pod proposed in this invention can realize the automated cyclic launch of multiple UAVs on a mobile platform, reduce manual intervention, significantly shorten launch preparation and turnaround time, and improve the sortie capability of fixed-wing UAV swarms.

[0013] II. The vehicle-mounted fixed-wing UAV nest proposed in this invention can obtain takeoff speed through the vehicle-mounted platform without relying on traditional runways under complex terrain conditions, reducing site constraints and having a certain degree of deployment mobility and environmental adaptability.

[0014] Third, the vehicle-mounted fixed-wing UAV takeoff method proposed in this invention requires less energy compared to other launch methods. The UAV is controlled by the end effector of the vehicle-mounted robotic arm to adjust its body attitude for stable launch. Fixed-wing UAVs can be launched from a high-speed mobile platform to respond to emergency missions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a vehicle-mounted fixed-wing UAV nest. Figure 2 This is a detailed diagram of the nest structure of a vehicle-mounted fixed-wing UAV. Figure 3 Details of a vehicle-mounted fixed-wing UAV nest structure Figure 2 ; Figure 4 This is a schematic diagram of the opening and closing mechanism of the transfer device; Figure 5 This is a schematic diagram of the operation of a vehicle-mounted fixed-wing UAV nest; Figure 6 This is a schematic diagram illustrating the takeoff of a fixed-wing drone based on a vehicle-mounted platform; Figure 7 yes Figure 6 A magnified view of part A in the diagram; Figure 8 This is a schematic diagram of a fixed-wing drone taking off based on a vehicle-mounted platform. Figure 2 ; The labels in the diagram are as follows: 1. Housing shell, 101. Base, 102. Front wall panel, 103. Side wall panel, 104. Top cover; 2. Nest transfer device, 201. First lead screw slide, 202. Second lead screw slide, 203. Horizontal guide rail, 204. Vertical guide rail, 205. Vertical actuator, 206. Locking groove, 207. Guide rail connector, 23. Conveyor plate, 231. Displacement actuator, 232. Support plate, 233. Fuselage support component, 234. L-shaped push rod, 235. Wing support plate, 236. Pulley; 3. Fixed-wing UAV, 30. Magnetic adsorption component, 4. Robotic arm, 40. Arm body, 41. End effector, 42. Electromagnetic adsorption unit, 5. Vehicle platform. Detailed Implementation

[0016] To clearly illustrate the technical features of the present invention, the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, the vehicle-mounted fixed-wing UAV nest comprises three main parts: a nest shell 1, a nest transfer device 2, and fixed-wing UAVs 3. The nest shell 1 and the nest transfer device 2 are combined to form the nest, which can deploy three fixed-wing UAVs, enabling the continuous takeoff of the three UAVs. It should be noted that this example applies to fixed-wing UAVs, and further improvements to the conveyor plate 23 in the nest transfer device 2 can adapt it to the takeoff of swarms of multi-rotor UAVs.

[0018] like Figure 2 , Figure 3 , Figure 4 As shown, the nest shell 1 includes a base 101, a front wall panel 102, a side wall panel 103, and a top cover 104. The base 101 is used to support the weight of the entire nest and connects the front wall panel 102, the side wall panel 103, and the top cover 104. The front end of the top cover is open as a launch port for the fixed-wing UAV 3, which can be adapted to the end effector 41 of the robotic arm 2 to lift the fixed-wing UAV 3 and take off. The side wall panels 103 are distributed on both sides of the nest as symmetrical components, and the inner sides are respectively fixed to the horizontal guide rail 203 and the vertical guide rail 204.

[0019] The nest transfer device 2, as the core component of the nest, is responsible for the rotational transport of multiple fixed-wing UAVs 3. It includes a first lead screw slide 201, a second lead screw slide 202, a horizontal guide rail 203, a vertical guide rail 204, a vertical actuator 205, a locking groove 206, a guide rail connector 207, and a conveyor plate 23. The first lead screw slide 201 is installed above the side wall plate 103 and symmetrically arranged on both sides of the nest. Its slide component can move forward along the axial direction of the lead screw motor. A groove is provided in the middle to push the L-shaped push rod 234 of the conveyor plate, thereby pushing the conveyor plate 23 to transport the fixed-wing UAVs 3. The second lead screw slide 202 is installed above the base 101 and symmetrically arranged on the base 101. Its slide component can move backward along the axial direction of the lead screw motor to push the conveyor plate 23, thereby transporting the fixed-wing UAVs 3. Together with the first lead screw slide 201, it enables the forward and backward cyclical operation of multiple fixed-wing UAVs 3 within the nest. The horizontal guide rails 203 are mounted above the base and symmetrically arranged on the left and right sides of the machine nest. They are used for the horizontal movement of the conveyor plate 23 and are connected to the vertical guide rails 204 via guide rail connectors 207. The horizontal guide rails 203 have a locking groove 206 in the middle. When the conveyor plate 23 moves into position, it is locked by the displacement actuator 231 on the conveyor plate 23, ensuring the horizontal and vertical displacement of the conveyor plate 23 is locked. The vertical guide rails 204 are symmetrically arranged on the left and right sides of the machine nest and work with the vertical actuator 205 for the vertical movement of the conveyor plate 23. The vertical actuator 205 is mounted above the base 101 and arranged at the front and rear of the base 101. It can extend and retract vertically along the axial direction and also serves as a load-bearing component for the conveyor plate 23.

[0020] The conveyor plate 23 includes a displacement actuator 231, a support plate 232, a fuselage support member 233, an L-shaped push rod 234, a wing support plate 235, and pulleys 236. The support plate 232 serves as a connector, linking the displacement actuator 231, fuselage support member 233, L-shaped push rod 234, wing support plate 235, and pulleys 236. It contacts the vertical actuator 205 below and can move as a reciprocating component within the housing. The pulleys 236 are located at the four corners of the support plate 232 and can move along the horizontal guide rail 203, vertical guide rail 204, and track connector 207. The wing support plate 235 is connected to the left and right sides of the conveyor plate 23, supporting the wings of the fixed-wing UAV 3. The fuselage support member 233 is located in the upper middle of the conveyor plate 23, cooperating with the wing support plate 235 to stabilize the fixed-wing UAV 3. The L-shaped push rod 234 is fixed to the outside of both sides of the conveyor plate 23. The slide components of the first lead screw slide 201 on the left and right sides of the machine nest move the conveyor plate 23 by pushing the L-shaped push rod 234. The displacement actuator 231 is installed on both sides below the support plate 232 and can be actuated outward to lock the conveyor plate 23.

[0021] like Figure 5 As shown, the specific method for cyclically transporting multiple fixed-wing UAVs 3 is as follows: When the fixed-wing UAV 3 on the front conveyor plate 23 of the nest takes off, the displacement actuator 231 in the conveyor plate 23 retracts inward, at which time the conveyor plate 23 can move. The vertical actuator 205 retracts downward, supporting the downward movement of the conveyor plate 23. At the same time, the rear conveyor plate 23 moves forward to the launch port of the nest along with the first screw slide 201. The vertical actuator 205 at the rear of the nest moves upward to the designated position. The displacement actuator 231 retracts outward to lock the conveyor plate 23. The rear vertical actuator 205 then retracts downward, and the second screw slide 202 pushes the conveyor plate 23 into the rear vertical actuator 205. This back-and-forth movement realizes the cyclic scheduling of the conveyor plate 23 in the nest.

[0022] like Figure 6 , Figure 7 , Figure 8 As shown, the takeoff method of the vehicle-mounted fixed-wing UAV 3 requires the cooperation of the vehicle platform 5, the robotic arm 4, and the fixed-wing UAV 3. The robotic arm 4 includes an arm body 40, an end effector 41, and an electromagnetic adsorption unit 42. It can be adapted to a suitable vehicle platform 5 according to its size. The end effector 41 is installed at the end of the robotic arm 4. As an actuator, it can move accordingly according to the position of the fixed-wing UAV 3 in the nest. The electromagnetic adsorption unit 42 is installed in the end effector 41. After being powered on, it has electromagnetic adsorption capability and can support the magnetic adsorption component in the wing of the fixed-wing UAV 3 by adsorption force. The magnetic adsorption component 30 is installed under the wing of the fixed-wing UAV 3.

[0023] The aforementioned method for taking off a vehicle-mounted fixed-wing UAV specifically comprises the following steps: Step S1: The nest transports the fixed-wing UAV to the launch port. The end effector of the robotic arm moves above the conveyor plate. The electromagnetic adsorption unit is energized to generate a magnetic field, and the adsorption force supports the wings of the fixed-wing UAV, thus achieving support and fixation.

[0024] Step S2: The robotic arm supports the drone and pulls it stably into the air. The vehicle platform drives the robotic arm to accelerate as a whole, while the robotic arm controls the drone to maintain a reasonable takeoff attitude.

[0025] Step S3: After the vehicle-mounted platform reaches the takeoff speed of the UAV, the electromagnetic adsorption unit is de-energized. Under the lift of the UAV, it achieves automatic launch without mechanical locking. At the same time, the nest transports the next fixed-wing UAV to the launch port, and the robotic arm resets to execute the takeoff of the next fixed-wing UAV, and the cycle repeats.

[0026] There are many specific ways to implement this invention. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. A nest for a vehicle mounted fixed wing unmanned aerial vehicle, characterized in that, The utility model provides a kind of fixed-wing unmanned aerial vehicle launching device, including nest shell (1) and nest transfer device (2) installed in nest shell (1), the top of the nest shell (1) is left with launching port, and the inner wall of nest shell (1) is symmetrically provided with horizontal guide rail (203) and vertical guide rail (204), the horizontal guide rail (203) has two pairs from top to bottom, the vertical guide rail (204) has three pairs from front to back, the horizontal guide rail (203) and vertical guide rail (204) are kept in communication, to form fixed walking channel; The nest transfer device (2) includes a first lead screw sliding table (201), a second lead screw sliding table (202), two vertical actuators (205), and three transmission plates (23). The transmission plate (23) is horizontally arranged, and four pulleys (236) are rotatably connected to both sides of the transmission plate (23). The pulleys (236) are accommodated in the walking channel, and the front and back distribution spacing of the pulleys (236) on the transmission plate is equal to the spacing of adjacent vertical guide rails (204). The bottom surface of the transmission plate (23) has an outwardly retractable displacement actuator (231) for locking. The inner wall of the nest shell (1) is symmetrically provided with four pairs of locking grooves (206). When the displacement actuator (231) extends into the locking groove (206), the transmission plate (23) is locked. The first lead screw sliding table (201) is horizontally installed above the side wall of the nest shell (1) and above the walking channel. The second lead screw sliding table (202) is horizontally installed at the bottom of the nest shell (1) and below the walking channel. The two vertical actuators (205) are vertically installed at the bottom of the nest shell (1) and below the walking channel. The two vertical actuators (205) are located in the area between adjacent vertical guide rails (204).

2. The vehicle mounted fixed wing drone nest of claim 1, wherein, The nest shell (1) includes a base (101), a front wall plate (102), a side wall plate (103), and a top cover (104). The base (101) connects the front wall plate (102) and a pair of side wall plates (103). The top cover (104) is open at the front end to serve as the launching port for the fixed-wing unmanned aerial vehicle (3). The side wall plates (103) are symmetrically arranged on both sides of the nest. The horizontal guide rail (203), the vertical guide rail (204), and the locking groove (206) are arranged on the side wall plate (103). The first lead screw sliding table (201) is fixedly installed on the top of the side wall plate (103). The second lead screw sliding table (202) and the two vertical actuators (205) are fixedly installed on the top surface of the base (101).

3. The vehicle mounted fixed wing drone nest of claim 1, wherein, The conveying plate (23) comprises a support plate (232), a fuselage support (233), a wing support plate (235) and a pulley (236), the pulley (236) is arranged on the four top corners of the support plate (232), the wing support plate (235) is fixedly connected to the side of the top surface of the support plate (232) and is used for lifting the wing of the fixed-wing unmanned aerial vehicle (3), and the fuselage support (233) is arranged in the middle of the top surface of the support plate (232) and is used for lifting the fuselage of the fixed-wing unmanned aerial vehicle (3).

4. The vehicle mounted fixed wing drone nest of claim 3, wherein, The conveying plate (23) further comprises an L-shaped pushing rod (234) which is fixedly connected to the two sides of the top surface of the support plate (232) and is used for receiving the power of the first lead screw sliding table (201) to drive the support plate (232) to translate when the first lead screw sliding table (201) sliding table component is contacted.

5. The vehicle mounted fixed wing drone nest of claim 3, wherein, The displacement actuator (231) is installed on the two sides below the support plate (232) and is used for locking the conveying plate (23) when the displacement actuator (231) is actuated to stretch outwards.

6. A method for launching a vehicle mounted fixed wing unmanned aerial vehicle based on the nest of claim 1, characterized in that, The nest is fixedly installed in the vehicle-mounted platform (5), and a mechanical arm (4) is also installed in the vehicle-mounted platform (5), the mechanical arm (4) comprises an arm body (40), an end effector (41) and an electromagnetic adsorption unit (42), the end effector (41) is installed at the end of the mechanical arm (4) and is used as an execution mechanism to move according to the position of the fixed-wing unmanned aerial vehicle (3) in the nest, the electromagnetic adsorption unit (42) is installed in the end effector (41) and has electromagnetic adsorption capacity after being powered on, and can support the magnetic adsorption part in the wing of the fixed-wing unmanned aerial vehicle (3) by adsorption force, and the magnetic adsorption part (30) is installed below the wing of the fixed-wing unmanned aerial vehicle (3); The fixed-wing unmanned aerial vehicle is controlled to take off in the following steps: Step S1: the nest conveys the fixed-wing unmanned aerial vehicle to the launch port, the end effector of the mechanical arm is moved above the conveying plate, the electromagnetic adsorption unit is powered on to generate a magnetic field, the adsorption force supports the wing of the fixed-wing unmanned aerial vehicle, and the support is realized; Step S2: the mechanical arm supports the unmanned aerial vehicle to be stably pulled to the air, the vehicle-mounted platform drives the mechanical arm to accelerate as a whole, and the mechanical arm controls the unmanned aerial vehicle to keep in a reasonable take-off posture; Step S3: after the vehicle-mounted platform reaches the take-off speed of the unmanned aerial vehicle, the electromagnetic adsorption unit is powered off, the unmanned aerial vehicle is automatically released without mechanical locking under the action of the lift force of the unmanned aerial vehicle, the nest conveys the next fixed-wing unmanned aerial vehicle to the launch port, the mechanical arm is reset to execute the take-off of the next fixed-wing unmanned aerial vehicle, and the cycle is repeated.

Images