Unmanned aerial vehicle recovery system and method based on fixing pins and aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle recovery system and method based on a fixing pin and an aerial vehicle, and the unmanned aerial vehicle recovery system based on the fixing pin comprises an ejection parachute cabin, a parachute cabin, a main parachute pack, a main parachute, a brake parachute, the fixing pin and a separation joint. The parachute bay is used for loading the ejection parachute bay, the parachute bay, the main parachute pack, the main parachute, the brake parachute, the fixing pin and the separation joint, the brake parachute is connected with the main parachute pack through a brake parachute connecting rope, the main parachute pack is connected with the main parachute through a main parachute connecting rope, and the main parachute pack is connected with the main parachute through a fixing pin. The main parachute is connected to the separating connector through a hanging belt, and the separating connector is connected with the unmanned aerial vehicle. The three-stage parachute opening process is achieved through the brake parachute, the main parachute and the corresponding main parachute closing opening, the requirement of the main parachute for materials is reduced, meanwhile, the separation connector is adopted to avoid winding of parachute cords, and the recycling stability is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle recovery parachute, and particularly relates to an unmanned aerial vehicle recovery system and method based on a fixed pin and an aerial vehicle. BACKGROUND

[0002] The unmanned aerial vehicle has the characteristics of small size, light weight, low cost, flexible operation and high safety, and can be widely applied to multiple fields such as aerial photography and search and rescue. Meanwhile, as a reusable device, the unmanned aerial vehicle needs to be recovered after each use. At present, in the case that the unmanned aerial vehicle is not faulty, the corresponding control system is usually used to control the unmanned aerial vehicle to land in a fixed posture to realize recovery.

[0003] When the unmanned aerial vehicle is faulty and cannot realize stable posture descent recovery based on battery power, the landing gear is usually used to buffer the aerial vehicle to realize recovery, but this recovery method does not consider the impact generated by the high-speed descent of the unmanned aerial vehicle, and cannot guarantee the integrity of the unmanned aerial vehicle. In view of this, at present, a parachute is arranged to reduce the descent speed of the unmanned aerial vehicle to ensure the safety of the unmanned aerial vehicle. However, when the main parachute is used to directly slow down the unmanned aerial vehicle, the extremely high demand for the material of the main parachute and the extremely high overload at the moment of opening the parachute make it difficult to apply to the unmanned aerial vehicle, and at the same time, when the parachute is opened, the unmanned aerial vehicle may rotate around the central axis of the parachute, causing the parachute rope to be wound, so that the unmanned aerial vehicle cannot be stably recovered.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The main purpose of the present application is to provide an unmanned aerial vehicle recovery method, method and aerial vehicle based on a fixed pin, which aims to solve the problem that when the main parachute is used to directly slow down the unmanned aerial vehicle, the extremely high demand for the material of the main parachute and the extremely high overload at the moment of opening the parachute make it difficult to apply to the unmanned aerial vehicle, and at the same time, when the parachute is opened, the unmanned aerial vehicle may rotate around the central axis of the parachute, causing the parachute rope to be wound, so that the unmanned aerial vehicle cannot be stably recovered.

[0006] To achieve the above purpose, the present application provides an unmanned aerial vehicle recovery system based on a fixed pin, which comprises an ejection parachute cabin, a parachute cabin, a main parachute pack, a main parachute, a deceleration parachute, a fixed pin and a separation joint. The parachute cabin is used to load the ejection parachute cabin, the parachute cabin, the main parachute pack, the main parachute, the deceleration parachute, the fixed pin and the separation joint. The deceleration parachute is connected with the main parachute pack through a deceleration parachute connecting rope. The main parachute pack is connected with the main parachute through a main parachute connecting rope. The main parachute is connected to the separation joint through a sling. The separation joint is connected with the unmanned aerial vehicle. The ejection parachute compartment is used to deploy the deceleration parachute upon receiving a recovery signal; The deceleration parachute is mounted on the canopy of the ejection parachute compartment and is used to deploy the deceleration parachute through the ejection parachute compartment when the unmanned aerial vehicle malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the unmanned aerial vehicle after being pulled out by the deceleration chute. The fixing pin is used to fix the main parachute pack. When the unmanned aerial vehicle reaches the first release condition, the cotter pin on the fixing pin pops out to release the main parachute pack. The separation connector is used to connect the unmanned aerial vehicle recovery system and the unmanned aerial vehicle, and adopts a ball bearing structure to achieve despinning.

[0007] Optionally, the main umbrella includes a drawstring and a time-delay cutter; The closing cord is used to close the main umbrella, and the closing cord is cut based on the time-delay cutter to open the main umbrella; The time-delay cutter is installed on the closing cord. When the main umbrella is pulled out and the main umbrella cord is straightened, the time-delay cutter is triggered and the closing cord is cut when the first cutting time is reached.

[0008] Optionally, the ejection parachute compartment includes a gas generator, an ejection airbag, an ejection chamber, and an ejection canopy; The ejection parachute compartment is used to load the gas generator and the ejection airbag; The gas generator is used to inflate the ejection airbag; The ejection airbag, after being inflated, ejects the ejection cover, causing the ejection cover to exert a pulling force on the deceleration parachute, thereby pulling the deceleration parachute out.

[0009] Optionally, an electric detonation tube is provided below the gas generator; When the fixed-pin-based unmanned aerial vehicle recovery system receives a recovery signal, it sends an electrical signal to the electric detonator and detonates the electric detonator, activating the gas generator.

[0010] Optionally, the fixing pin is disposed in the canopy compartment and is fixed to the canopy compartment by the fixing pin before the main canopy pack is pulled out; When the unmanned aerial vehicle (UAV) reaches the first release condition, the UAV energizes the fixing pin pyrotechnic device of the fixing pin, cuts off the safety pin of the fixing pin, and releases the main parachute pack.

[0011] Optionally, the separation connector includes an upper connector assembly, a lower connector assembly, a locking opening and closing element, and a separation pyrotechnic device; The upper connector assembly is connected to the main parachute via an upper sling, and the lower connector assembly is connected to the unmanned aerial vehicle via a lower sling. The upper connector assembly and the lower connector assembly are connected to each other via a ball bearing structure and a locking opening and closing component. The separation pyrotechnic device is disposed on the lower connector assembly and located below the locking opening and closing component, and is used to automatically separate the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle after the unmanned aerial vehicle lands.

[0012] Furthermore, to achieve the above objectives, the present invention also provides a method for recovering unmanned aerial vehicles (UAVs) based on fixed pins, wherein the method for recovering UAVs based on fixed pins specifically includes: Upon receiving the recovery signal, the deceleration parachute is ejected from the ejection canopy based on the electrical control device. When the unmanned aerial vehicle reaches the first release condition, the electrical control device controls the fixing pin to separate and release the main parachute pack. Once the main umbrella pack is pulled out, the closing cord is cut using a time-delay cutter, and the main umbrella opens. When the unmanned aerial vehicle lands and meets the second release condition, the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle are separated by the separation joint based on the electrical control device.

[0013] Optionally, when the unmanned aerial vehicle reaches the first release condition, controlling the fixing pin to separate and release the main parachute pack based on the electrical control device specifically includes: After the deceleration parachute is deployed, when the unmanned aerial vehicle reaches the first release condition, the electrical control device releases an electrical signal to the fixing pin, detonates the fixing pin pyrotechnic device, and pushes the locking and opening component of the fixing pin to cut off the safety pin. The main parachute pack is pulled out based on the traction force generated by the deceleration parachute.

[0014] Optionally, the step of cutting the closing cord using a time-delay cutter and opening the main umbrella after the main umbrella pack is pulled out specifically includes: Once the main parachute pack is pulled out, the main parachute is straightened by the traction force generated by the deceleration parachute. After the main umbrella is straightened, pull out the firing ring on the main umbrella and trigger the time-delay cutter on the main umbrella; When the time-delay cutter reaches the cutting condition, the closing rope on the time-delay cutter is cut, and the main umbrella is opened.

[0015] Furthermore, to achieve the above objectives, the present invention also provides an aircraft, wherein the aircraft includes: a memory, a processor, a pin-based unmanned aerial vehicle (UAV) recovery program and a pin-based UAV recovery system stored in the memory and executable on the processor, wherein when the pin-based UAV recovery program is executed by the processor, it implements the steps of a pin-based UAV recovery method, and the pin-based UAV recovery method is implemented based on the pin-based UAV recovery system.

[0016] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a pin-based unmanned aerial vehicle (UAV) recovery program, which, when executed by a processor, implements the steps of the pin-based UAV recovery method described above.

[0017] In this invention, the unmanned aerial vehicle (UAV) recovery system based on a fixed pin includes an ejection parachute compartment, a parachute compartment, a main parachute pack, a main parachute, a deceleration parachute, a fixed pin, and a separation connector. The parachute compartment is used to house the ejection parachute compartment, the parachute compartment, the main parachute pack, the main parachute, the deceleration parachute, the fixed pin, and the separation connector. The deceleration parachute is connected to the main parachute pack via a deceleration parachute connecting rope, the main parachute pack is connected to the main parachute via a main parachute connecting rope, and the main parachute is connected to the separation connector via a sling. The separation connector is connected to the UAV. The ejection parachute compartment is used to recover the UAV upon receiving the recovered UAV. Upon receiving a signal, the deceleration chute is deployed. The deceleration chute is mounted on the canopy of the ejection canopy and is deployed via the ejection canopy when the UAV malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the UAV after being pulled out by the deceleration chute. The fixing pin secures the main parachute pack; when the UAV reaches the first release condition, the cotter pin on the fixing pin pops out, releasing the main parachute pack. The separation joint connects the UAV recovery system and the UAV and uses a ball bearing structure to achieve anti-spinning. This invention, through the deceleration chute, main parachute, and main parachute retraction rope, constitutes a three-stage deployment process, effectively distributing a single instantaneous overload peak into three relatively smaller overload peaks, reducing the material requirements of the main parachute during UAV recovery. Simultaneously, the ball bearing design on the separation joint ensures that the separation joint can achieve anti-spinning when the main parachute rotates, preventing the corresponding lower strap connected to the UAV from rotating, thus avoiding the problem of parachute rope entanglement and ensuring a stable recovery process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a preferred embodiment of the unmanned aerial vehicle recovery system based on fixed pins of the present invention; Figure 2 This is a schematic diagram of the connection between the deceleration parachute and the unmanned aerial vehicle in the unmanned aerial vehicle recovery system based on the fixed pin of the present invention; Figure 3 This is a schematic diagram of the main parachute design in the unmanned aerial vehicle recovery system based on a fixed pin according to the present invention; Figure 4 This is a schematic diagram of the fixed pin structure in the unmanned aerial vehicle recovery system based on fixed pins according to the present invention; Figure 5 This is a flowchart of a preferred embodiment of the unmanned aerial vehicle recovery method based on fixed pins of the present invention; Figure 6 This is a structural diagram of a preferred embodiment of the aircraft of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0020] Unmanned aerial vehicles (UAVs) are characterized by their small size, light weight, low cost, flexible operation, and high safety, making them widely applicable in fields such as aerial photography and search and rescue. However, as reusable devices, UAVs require recovery after each use. Currently, when a UAV is functioning without faults, it is typically recovered by controlling its landing in a fixed attitude using a corresponding control system. When a UAV malfunctions and cannot achieve a stable descent and recovery using battery power, landing gear is usually used to cushion the impact, but this method does not account for the impact of the high-speed descent and cannot guarantee the UAV's integrity. To address this, parachutes are currently used to reduce the UAV's descent speed and ensure safety. However, using a main parachute to directly decelerate the UAV places extremely high demands on the parachute material and results in extremely high instantaneous overload during parachute opening, making it difficult to apply to UAVs. Furthermore, during parachute opening, the UAV may rotate around the parachute's central axis, causing the parachute lines to become entangled, thus preventing stable recovery.

[0021] To address one or more of the above-mentioned problems, the present invention provides an unmanned aerial vehicle (UAV) recovery system based on a fixed pin, comprising an ejection parachute compartment, a parachute compartment, a main parachute pack, a main parachute, a drag chute, a fixed pin, and a separation connector. The parachute compartment is used to house the ejection parachute compartment, the parachute compartment, the main parachute pack, the main parachute, the drag chute, the fixed pin, and the separation connector. The drag chute is connected to the main parachute pack via a drag chute connecting rope, the main parachute pack is connected to the main parachute via a main parachute connecting rope, and the main parachute is connected to the separation connector via a sling. The separation connector is connected to the UAV. The ejection parachute compartment is used for... Upon receiving a recovery signal, the deceleration parachute is deployed. The deceleration parachute is mounted on the canopy of the ejection canopy and is deployed via the ejection canopy when the UAV malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the UAV after being pulled out by the deceleration parachute. The fixing pin is used to secure the main parachute pack. When the UAV reaches the first release condition, the cotter pin on the fixing pin is deployed to release the main parachute pack. The separation joint is used to connect the UAV recovery system and the UAV and uses a ball bearing structure to achieve despinning.

[0022] The preferred embodiment of the unmanned aerial vehicle recovery system based on fixed pins of the present invention, such as... Figure 1 As shown, the unmanned aerial vehicle recovery system based on a fixed pin includes an ejection parachute compartment, a parachute compartment, a main parachute pack, a main parachute, a drag chute, a fixed pin, and a separation joint. The parachute compartment is used to load the ejection parachute compartment, the parachute compartment, the main parachute pack, the main parachute, the drag chute, the fixed pin, and the separation joint. The drag chute is connected to the main parachute pack via a drag chute connecting rope. The main parachute pack is connected to the main parachute via a main parachute connecting rope. The main parachute is connected to the separation joint via a sling. The separation joint is connected to the unmanned aerial vehicle. The ejection parachute compartment is used to deploy the deceleration parachute upon receiving a recovery signal; The deceleration parachute is mounted on the canopy of the ejection parachute compartment and is used to deploy the deceleration parachute through the ejection parachute compartment when the unmanned aerial vehicle malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the unmanned aerial vehicle after being pulled out by the deceleration chute. The fixing pin is used to fix the main parachute pack. When the unmanned aerial vehicle reaches the first release condition, the cotter pin on the fixing pin pops out to release the main parachute pack. The separation connector is used to connect the unmanned aerial vehicle recovery system and the unmanned aerial vehicle, and adopts a ball bearing structure to achieve despinning.

[0023] Specifically, such as Figure 1As shown, in this invention, when the unmanned aerial vehicle recovery system based on the fixed pin is running, the deceleration parachute is connected to the main parachute pack, the main parachute pack is connected to the main parachute via the main parachute connecting rope, and the main parachute is connected to the separation joint via a sling and connected to the unmanned aerial vehicle or target projectile. Specifically, during operation, the deceleration parachute is first ejected from the ejection canopy. Under the action of aerodynamic drag, the deceleration parachute connecting rope is straightened and generates traction force on the main parachute pack. After the deceleration parachute connecting rope is straightened, the corresponding electrical control device is triggered by the firing ring. After determining the first release condition, the electrical control device energizes the corresponding fixed pin pyrotechnic device on the fixed pin, i.e., sends an electrical signal to the corresponding electric detonator, thereby generating sufficient energy to push the locking opening and closing component upward, cutting off the limiting pin. The corresponding ball is squeezed into the lower slot of the locking opening and closing component. Under the traction of the deceleration parachute and the push of the storage spring, the upper joint is pulled out, and the main parachute pack is pulled out of the canopy under the action of the deceleration parachute's traction force. Then, the main parachute initially expands under the action of aerodynamic drag. The system opens, generating traction that pulls out the separation joint and harness, and straightens the main parachute lines. The straightened lines trigger a delayed cutter at the bottom edge of the main parachute canopy. After a delay, the delayed cutter cuts the drawstring at the bottom edge of the main parachute canopy, allowing the main parachute to open further and inflate. Subsequently, under the traction of the main parachute and the deceleration chute, the descent speed of the UAV is continuously reduced until it lands on the ground. Upon landing, the sensors on the UAV send landing information to the electrical control device, which then releases an electrical signal to the separation joint, causing the upper and lower connector components of the separation joint to separate, thereby separating the UAV recovery system based on the fixed pin from the UAV.

[0024] In addition, such as Figure 2 As shown, in this invention, when the unmanned aerial vehicle (UAV) recovery system based on the fixed pin is not in operation, all components are placed in their respective parachute compartments. The deceleration parachute is placed on the ejection cover of the ejection compartment and is connected to the main parachute via a deceleration parachute connecting rope. Simultaneously, the main parachute pack is secured inside the compartment by the fixed pin. When the UAV malfunctions and cannot land safely, the ejection compartment ejects the deceleration parachute through the ejection cover. The ejected deceleration parachute, under the action of aerodynamic drag, exerts a traction force on the deceleration parachute connecting rope, thus decelerating the UAV. However, since the main parachute pack is secured by the fixed pin at this time, the main parachute will not open. After the safety pin on the fixed pin is cut, the main parachute pack is pulled out and unfolded under the traction force of the deceleration parachute, further producing a deceleration effect.

[0025] Furthermore, the main umbrella includes a drawstring and a time-delay cutter; The closing cord is used to close the main umbrella, and the closing cord is cut based on the time-delay cutter to open the main umbrella; The time-delay cutter is installed on the closing cord. When the main umbrella is pulled out and the main umbrella cord is straightened, the time-delay cutter is triggered and the closing cord is cut when the first cutting time is reached.

[0026] Specifically, such as Figure 3 As shown, the main umbrella includes a closure cord, a canopy, and paracords. A delayed cutter is installed on the closure cord. The closure cord is located at the bottom edge of the canopy, passes through a row of loops on the canopy, and is connected to both ends of the closure cord by a knot, thus forming a closed loop. The delayed cutter is located at the edge of the canopy and connected to the closure cord. The external structure of the delayed cutter includes a housing, a firing ring, and a connecting cord. The firing ring is connected to the paracords via the connecting cord, and the housing protects the internal structure of the delayed cutter. When the paracords are taut, the connecting cord of the delayed cutter is pulled, thereby triggering the internal structure of the delayed cutter and causing it to cut the closure cord. Specifically, the delayed-action cutter has a pre-drilled hole at its tail for the closure rope to pass through. A firing ring connects to the power unit inside the cutter's housing. Following this are the cutting blade and a safety wire. Pulling the firing ring compresses the internal spring, releasing the firing pin. The firing pin strikes the flash cap, igniting the propellant within. This ignites the subsequent delay propellant (a low-burning-rate propellant) for a delay. When the delay propellant's burning rate ends, it ignites the subsequent gas-generating propellant, producing a large amount of gas. This creates high pressure in a confined space, propelling the cutting blade to strike the top surface of the housing. The impact cuts the closure rope placed between the cutting blade and the top surface, thus severing the rope and allowing the main umbrella to open further. The first cutting time is set by controlling the delay propellant.

[0027] In this invention, by setting a retraction cord and a delayed cutter at the main parachute opening, the main parachute deceleration process is divided into two stages. The main parachute is in a retracted state for the first period after opening, at which point it resembles a "light bulb." At this time, it has a relatively low drag coefficient and opening area (i.e., a relatively low drag characteristic area), allowing for further deceleration. The deceleration effect is lower than with a fully deployed main parachute, but it significantly reduces the impact of opening, ensuring the safety of the unmanned aerial vehicle while allowing for the use of more types of materials in the system. Then, a pre-set first cutting time is set, starting when the main parachute cord is taut. After the pre-set retraction time ends, i.e., after the first cutting time, the delayed cutter cuts the retraction cord. The main parachute then fully deploys under relatively low airspeed conditions after two stages of deceleration, slowing the aircraft to an acceptable landing descent rate.

[0028] Furthermore, the ejection parachute compartment includes a gas generator, an ejection airbag, an ejection chamber, and an ejection canopy; The ejection parachute compartment is used to load the gas generator and the ejection airbag; The gas generator is used to inflate the ejection airbag; The ejection airbag, after being inflated, ejects the ejection cover, causing the ejection cover to exert a pulling force on the deceleration parachute, thereby pulling the deceleration parachute out.

[0029] Specifically, in this invention, the ejection parachute compartment includes a gas generator, an ejection airbag, an ejection compartment, and an ejection cover. The ejection cover is installed on top of the ejection compartment by plastic rivets. The ejection airbag is loaded inside the ejection compartment. The gas generator is loaded inside the ejection compartment and located below the ejection airbag for inflating the ejection airbag. The gas generator is installed inside the ejection compartment by a mounting bracket. The ejection parachute compartment is fixed to the unmanned aerial vehicle by screws.

[0030] In application, the ejection parachute compartment is fixed to the unmanned aerial vehicle (UAV). When the UAV malfunctions, the corresponding flight control system activates the corresponding recovery system and sends an electrical signal to the gas generator in the ejection parachute compartment. This detonates the electric detonator, activates the gas generator, and instantly inflates the ejection airbag, opening the ejection cover and deploying the drag chute. In this invention, the use of an ejection parachute compartment allows the drag chute to be ejected a greater distance, avoiding interference between the drag chute canopy and lines and the UAV's vertical tail fin before the lines straighten (which could cause the lines to become tangled in the tail fin, leading to deployment failure). This ensures safe deployment of the drag chute.

[0031] Furthermore, an electric detonation tube is installed below the gas generator; When the fixed-pin-based unmanned aerial vehicle recovery system receives a recovery signal, it sends an electrical signal to the electric detonator and detonates the electric detonator, activating the gas generator.

[0032] Specifically, in this invention, an electric detonator is installed below the gas generator in the ejection parachute compartment. When the unmanned aerial vehicle (UAV) goes out of control, the corresponding flight control system activates the corresponding recovery system, that is, it sends a recovery signal to the UAV recovery system based on a fixed pin. The UAV recovery system based on the fixed pin then sends an electrical signal to the electric detonator through an electrical control device to detonate the electric detonator, thereby activating the gas generator to inflate it and ejecting the deceleration parachute out of the ejection parachute compartment.

[0033] Furthermore, the fixing pin is disposed in the canopy compartment and is fixed to the canopy compartment by the fixing pin before the main canopy pack is pulled out; When the unmanned aerial vehicle (UAV) reaches the first release condition, the UAV energizes the fixing pin pyrotechnic device of the fixing pin, cuts off the safety pin of the fixing pin, and releases the main parachute pack.

[0034] Specifically, such as Figure 4As shown, in this invention, the fixing pin includes a bushing, a pin, an upper connector, a storage spring, a locking opening and closing component, a main support, a fixing pin or fairing, a cotter pin, a nut, and a bolt. The fixing pin is fixed in the parachute compartment by the nut and bolt. The main parachute can be connected to the fixing pin as a whole, consisting of the pin and bushing, thereby fixing the main parachute. A safety pin is located below the upper connector to prevent the fixing pin from detaching. A corresponding fixing pin pyrotechnic device is located below the safety pin. When the unmanned aerial vehicle reaches the first release condition, an electrical control device energizes the fixing pin pyrotechnic device, causing the electric detonator on the pyrotechnic device to detonate, cutting off the safety pin of the fixing pin. Then, under the traction force of the deceleration parachute, the main parachute pack is pulled out accordingly. Furthermore, the first release condition in this invention is set by the user according to actual conditions. In a preferred embodiment of this invention, the first release condition is the elapsed time (implemented by a timer) or the fulfillment of a certain parachute opening requirement, such as speed or altitude, implemented by a system of corresponding sensors and actuators.

[0035] In this invention, the main parachute pack is fixed by a fixing pin, so that the main parachute will not open after the deceleration parachute is deployed, thus realizing the process of staged parachute opening and effectively distributing a single instantaneous overload peak into multiple relatively small overload peaks.

[0036] Furthermore, the separation connector includes an upper connector assembly, a lower connector assembly, a locking and opening / closing component, and a separation pyrotechnic device; The upper connector assembly is connected to the main parachute via an upper sling, and the lower connector assembly is connected to the unmanned aerial vehicle via a lower sling. The upper connector assembly and the lower connector assembly are connected to each other via a ball bearing structure and a locking opening and closing component. The separation pyrotechnic device is disposed on the lower connector assembly and located below the locking opening and closing component, and is used to automatically separate the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle after the unmanned aerial vehicle lands.

[0037] Specifically, in this invention, the separation connector includes an upper connector assembly, a lower connector assembly, a locking and opening element, and a separation pyrotechnic device. The upper connector assembly includes an upper shaft pin, a bushing, a cotter pin, a storage spring, and a steel ball. The lower connector assembly includes a lower connector, a lower shaft pin, a corresponding cotter pin, and a bushing. A safety pin is positioned between the upper and lower connector assemblies to prevent them from disengaging. The locking and opening element is located below the safety pin, and the separation pyrotechnic device is located below the locking and opening element.

[0038] In application, when the current UAV lands and the second release condition is met, the electrical control device powers the separation pyrotechnic, causing the electric detonator in the separation pyrotechnic to detonate. The energy generated pushes the locking opening and closing parts upward to cut off the safety pin. Under the traction force of the main parachute and the action of the storage spring, the upper connector is pulled out, realizing the separation of the main parachute from the UAV.

[0039] Meanwhile, in this invention, the separation joint adopts a ball bearing structure, which can realize the anti-spin function and prevent the unmanned aerial vehicle from interfering with the function of the recovery system when it rotates around the axis of the recovery parachute due to disturbance.

[0040] This invention relates to a fixed-pin-based unmanned aerial vehicle (UAV) recovery system, comprising an ejection parachute compartment, a parachute compartment, a main parachute pack, a main parachute, a drag chute, a fixed pin, and a separation connector. The parachute compartment houses the ejection parachute compartment, the main parachute pack, the main parachute, the drag chute, the fixed pin, and the separation connector. The drag chute is connected to the main parachute pack via a drag chute connecting rope, and the main parachute pack is connected to the main parachute via a main parachute connecting rope. The main parachute is connected to the separation connector via a sling, and the separation connector is connected to the UAV. The ejection parachute compartment is used to recover the UAV upon receipt. When a signal is received, the deceleration chute is deployed. The deceleration chute is mounted on the canopy of the ejection canopy and is deployed via the ejection canopy when the UAV malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the UAV after being pulled out by the deceleration chute. The fixing pin secures the main parachute pack; when the UAV reaches the first release condition, the cotter pin on the fixing pin pops out, releasing the main parachute pack. The separation joint connects the UAV recovery system and the UAV and uses a ball bearing structure to achieve anti-spinning. This invention, through the deceleration chute, main parachute, and main parachute retraction rope, constitutes a three-stage deployment process, effectively distributing a single instantaneous overload peak into three relatively smaller overload peaks, reducing the material requirements of the main parachute during UAV recovery. Simultaneously, the ball bearing design on the separation joint ensures that the separation joint can achieve anti-spinning when the main parachute rotates, preventing the corresponding lower strap connected to the UAV from rotating, thus avoiding the problem of parachute rope entanglement and ensuring a stable recovery process.

[0041] Furthermore, such as Figure 5 As shown, based on the above-described unmanned aerial vehicle (UAV) recovery system based on fixed pins, the present invention also provides a corresponding unmanned aerial vehicle (UAV) recovery method based on fixed pins, wherein the unmanned aerial vehicle (UAV) recovery method based on fixed pins includes: Step S100: Obtain the recovery signal, and based on the electrical control device, eject the deceleration parachute from the ejection parachute compartment; Step S200: When the unmanned aerial vehicle reaches the first release condition, based on the electrical control device, the fixing pin is controlled to separate and the main parachute pack is released; Step S300: After the main umbrella bag is pulled out, the closing rope is cut based on the time-delay cutter to open the main umbrella; Step S400: When the unmanned aerial vehicle lands and the second release condition is met, the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle are separated by the separation joint based on the electrical control device.

[0042] Furthermore, when the unmanned aerial vehicle reaches the first release condition, based on the electrical control device, controlling the fixing pin to separate and release the main parachute pack specifically includes: After the deceleration parachute is deployed, when the unmanned aerial vehicle reaches the first release condition, the electrical control device releases an electrical signal to the fixing pin, detonates the fixing pin pyrotechnic device, and pushes the locking and opening component of the fixing pin to cut off the safety pin. The main parachute pack is pulled out based on the traction force generated by the deceleration parachute.

[0043] Furthermore, the step of cutting the closing cord using a delayed cutter after the main umbrella pack is pulled out, thereby opening the main umbrella, specifically includes: Once the main parachute pack is pulled out, the main parachute is straightened by the traction force generated by the deceleration parachute. After the main umbrella is straightened, pull out the firing ring on the main umbrella and trigger the time-delay cutter on the main umbrella; When the time-delay cutter reaches the cutting condition, the closing rope on the time-delay cutter is cut, and the main umbrella is opened.

[0044] Furthermore, such as Figure 6 As shown, based on the above-described fixed-pin-based unmanned aerial vehicle (UAV) recovery system and method, the present invention also provides an aircraft, which includes a processor 10, a memory 20, and a fixed-pin-based UAV recovery system 30. Figure 6 Only some of the components of the aircraft are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0045] In some embodiments, the memory 20 may be an internal storage unit of the aircraft, such as the aircraft's hard drive or memory. In other embodiments, the memory 20 may be an external storage device of the aircraft, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. Further, the memory 20 may include both internal and external storage units of the aircraft. The memory 20 is used to store application software and various types of data installed on the aircraft, such as the program code installed on the aircraft. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores a pin-based unmanned aerial vehicle (UAV) recovery program 40, which can be executed by the processor 10 to implement the pin-based UAV recovery method of the present invention.

[0046] In some embodiments, the processor 10 may be a central processing unit (CPU), microprocessor, timing processor, electrical control device, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the fixed pin-based unmanned aerial vehicle recovery method.

[0047] The unmanned aerial vehicle recovery system 30 based on fixed pins is installed on the flight communication unit.

[0048] In one embodiment, when the processor 10 executes the pin-based unmanned aerial vehicle (UAV) recovery program 40 in the memory 20, it implements the steps in the pin-based UAV recovery method described above, wherein the pin-based UAV recovery method is implemented by a pin-based UAV recovery system.

[0049] The present invention also provides a computer-readable storage medium storing a pin-based unmanned aerial vehicle (UAV) recovery program, which, when executed by a processor, implements the steps of the pin-based UAV recovery method described above.

[0050] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or aircraft that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or aircraft. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or aircraft that includes that element.

[0051] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0052] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A recovery system for unmanned aerial vehicles based on fixed pins, characterized in that, The fixed-pin-based unmanned aerial vehicle recovery system includes an ejection parachute compartment, a parachute compartment, a main parachute pack, a main parachute, a drag chute, a fixed pin, and a separation joint. The parachute compartment is used to load the ejection parachute compartment, the parachute compartment, the main parachute pack, the main parachute, the drag chute, the fixed pin, and the separation joint. The drag chute is connected to the main parachute pack via a drag chute connecting rope, the main parachute pack is connected to the main parachute via a main parachute connecting rope, the main parachute is connected to the separation joint via a sling, and the separation joint is connected to the unmanned aerial vehicle. The ejection parachute compartment is used to deploy the deceleration parachute upon receiving a recovery signal; The deceleration parachute is mounted on the canopy of the ejection parachute compartment and is used to deploy the deceleration parachute through the ejection parachute compartment when the unmanned aerial vehicle malfunctions. The main parachute is loaded in the main parachute pack and is used to decelerate the unmanned aerial vehicle after being pulled out by the deceleration chute. The fixing pin is used to fix the main parachute pack. When the unmanned aerial vehicle reaches the first release condition, the cotter pin on the fixing pin pops out to release the main parachute pack. The separation connector is used to connect the unmanned aerial vehicle recovery system and the unmanned aerial vehicle, and adopts a ball bearing structure to achieve despinning.

2. The unmanned aerial vehicle recovery system based on a fixed pin according to claim 1, characterized in that, The main umbrella includes a drawstring and a time-delay cutter; The closing cord is used to close the main umbrella, and the closing cord is cut based on the time-delay cutter to open the main umbrella; The time-delay cutter is installed on the closing cord. When the main umbrella is pulled out and the main umbrella cord is straightened, the time-delay cutter is triggered and the closing cord is cut when the first cutting time is reached.

3. The unmanned aerial vehicle recovery system based on a fixed pin according to claim 1, characterized in that, The ejection parachute compartment includes a gas generator, an ejection airbag, an ejection compartment, and an ejection canopy; The ejection parachute compartment is used to load the gas generator and the ejection airbag; The gas generator is used to inflate the ejection airbag; The ejection airbag, after being inflated, ejects the ejection cover, causing the ejection cover to exert a pulling force on the deceleration parachute, thereby pulling the deceleration parachute out.

4. The unmanned aerial vehicle recovery system based on a fixed pin according to claim 3, characterized in that, An electric detonation tube is installed below the gas generator; When the fixed-pin-based unmanned aerial vehicle recovery system receives a recovery signal, it sends an electrical signal to the electric detonator and detonates the electric detonator, activating the gas generator.

5. The unmanned aerial vehicle recovery system based on a fixed pin according to claim 1, characterized in that, The fixing pin is located in the canopy compartment and is fixed to the canopy compartment by the fixing pin before the main canopy pack is pulled out. When the unmanned aerial vehicle (UAV) reaches the first release condition, the UAV energizes the fixing pin pyrotechnic device of the fixing pin, cuts off the safety pin of the fixing pin, and releases the main parachute pack.

6. The unmanned aerial vehicle recovery system based on a fixed pin according to claim 1, characterized in that, The separation connector includes an upper connector assembly, a lower connector assembly, a locking and opening / closing component, and a separation pyrotechnic component. The upper connector assembly is connected to the main parachute via an upper sling, and the lower connector assembly is connected to the unmanned aerial vehicle via a lower sling. The upper connector assembly and the lower connector assembly are connected to each other via a ball bearing structure and a locking opening and closing component. The separation pyrotechnic device is disposed on the lower connector assembly and located below the locking opening and closing component, and is used to automatically separate the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle after the unmanned aerial vehicle lands.

7. A method for recovering an unmanned aerial vehicle based on a fixed pin as described in any one of claims 1-6, characterized in that, The method for recovering unmanned aerial vehicles based on fixed pins specifically includes: Upon receiving the recovery signal, the deceleration parachute is ejected from the ejection canopy based on the electrical control device. When the unmanned aerial vehicle reaches the first release condition, the electrical control device controls the fixing pin to separate and release the main parachute pack. Once the main umbrella pack is pulled out, the closing cord is cut using a time-delay cutter, and the main umbrella opens. When the unmanned aerial vehicle lands and meets the second release condition, the unmanned aerial vehicle recovery system based on the fixed pin and the unmanned aerial vehicle are separated by the separation joint based on the electrical control device.

8. The unmanned aerial vehicle recovery method based on a fixed pin according to claim 7, characterized in that, When the unmanned aerial vehicle reaches the first release condition, based on the electrical control device, the fixing pin is controlled to separate, releasing the main parachute pack, specifically including: After the deceleration parachute is deployed, when the unmanned aerial vehicle reaches the first release condition, the electrical control device releases an electrical signal to the fixing pin, detonates the fixing pin pyrotechnic device, and pushes the locking and opening component of the fixing pin to cut off the safety pin. The main parachute pack is pulled out based on the traction force generated by the deceleration parachute.

9. The unmanned aerial vehicle recovery method based on a fixed pin according to claim 7, characterized in that, The step of cutting the closing cord using a time-delay cutter after the main umbrella pack is pulled out, and opening the main umbrella, specifically includes: Once the main parachute pack is pulled out, the main parachute is straightened by the traction force generated by the deceleration parachute. After the main umbrella is straightened, pull out the firing ring on the main umbrella and trigger the time-delay cutter on the main umbrella; When the time-delay cutter reaches the cutting condition, the closing rope on the time-delay cutter is cut, and the main umbrella is opened.

10. An aircraft, characterized in that, The aircraft includes: a memory, a processor, a pin-based unmanned aerial vehicle (UAV) recovery program stored in the memory and executable on the processor, and a pin-based UAV recovery system. When the pin-based UAV recovery program is executed by the processor, it implements the steps of the pin-based UAV recovery method as described in any one of claims 7-9. The pin-based UAV recovery method is implemented based on the pin-based UAV recovery system.

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