Automatic recovery device and method for marine unmanned aerial vehicle under complex sea condition

Abstract

The invention relates to an aircraft recovery device and method, in particular to an automatic recovery device and method for a marine unmanned aerial vehicle under complex sea conditions, and aims to solve the problems that an existing unmanned aerial vehicle recovery device is poor in adaptability, prone to damage an unmanned aerial vehicle body, insufficient in precision and low in automation degree when facing the complex sea conditions. The device comprises two capturing and correcting mounting seats, two transverse correcting parts, two longitudinal correcting parts, two capturing steel wire rope parts and two folding wing parts, wherein the two transverse restoration components are used for restoring the angle and the transverse position of the unmanned aerial vehicle through a skid, the two longitudinal restoration components are used for restoring the longitudinal position of the unmanned aerial vehicle through the skid, the two capturing steel wire rope components are used for capturing the unmanned aerial vehicle through the skid, and the two wing folding components are used for folding wings of the unmanned aerial vehicle. Safe, rapid and flexible capturing of the composite wing unmanned aerial vehicle can be achieved, and the impact force and structural damage of the unmanned aerial vehicle in the recovery process can be remarkably reduced.

Description

Technical Field

[0001] This invention relates to an aircraft recovery device and method, specifically to an automatic recovery device and method for shipborne unmanned aerial vehicles (UAVs) under complex sea conditions. Background Technology

[0002] Unmanned Aerial Vehicles (UAVs), as a type of unmanned aerial vehicle, have become indispensable technical equipment in various fields such as maritime monitoring, terrain surveying, and emergency communications due to their advantages of flexible deployment, low operational risk, and adaptability to complex environments. To meet the demands of long-endurance and long-range operations, compound-wing UAVs with both vertical takeoff and landing (VTOL) and high-speed level flight capabilities have become the preferred type for maritime operation platforms. These UAVs typically employ a configuration combining fixed wings and multi-rotors, with their wings deployed during takeoff and landing to provide lift.

[0003] To adapt to narrow, hard, and potentially uneven landing surfaces such as ship decks, and to reduce structural weight, a common landing gear design is the skid-type landing gear. Skid-type landing gear (referred to as "skid") consists of two or more curved or straight rod-shaped rails with specific angles of attack and stiffness. It is simple in structure, lightweight, and more adaptable to rough landing surfaces than wheeled landing gear. However, skid-type landing gear lacks an active cushioning mechanism; it relies primarily on the elastic deformation of its structure to absorb impact energy during landing and capture. This characteristic makes the connection between the skid and the fuselage highly susceptible to structural damage from unexpected lateral friction, concentrated impact loads, or continuous scraping when facing traditional rigid arresting or forced return recovery methods. This becomes one of the key bottlenecks restricting the safe, non-destructive, and automated recovery of UAVs equipped with skid-type landing gear in complex sea conditions.

[0004] Currently, methods for capturing and recovering UAVs in marine environments and / or complex sea conditions mainly include the hook recovery method, the net recovery method, and the parachute recovery method. Although these recovery methods use simple devices, they have the following drawbacks: 1) Poor adaptability in complex sea conditions: The retrieval of the net is affected by the swaying of the ship, which easily leads to the risk of the drone colliding with the ship. The rigid arresting rope of the hook retrieval method will exacerbate the uneven force on the drone during turbulence. 2) The recovery process is prone to equipment damage: The arresting rope used in the hook recovery method is prone to exerting a "pulling" force on the drone, which will seriously damage the drone's fuselage in the long term. The net recovery method has the risk of the drone getting entangled with the net, and the impact force of the drone entering the net at the moment of entry can easily damage its onboard electronic equipment and wings. 3) It is difficult to balance recovery accuracy and efficiency: Small boats have limited deck space and short recovery braking distance. Traditional devices are unable to decelerate and locate the UAV within a short distance, and the reset of the recovered device is slow. 4) Low level of automation: Especially for the folding of the fixed wing during the recovery of compound wing UAVs, human intervention is required, making it difficult to achieve automated recovery.

[0005] In summary, these traditional methods all have obvious limitations when dealing with complex sea conditions. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of poor adaptability, easy damage to the drone body, insufficient accuracy and low degree of automation of existing drone recovery devices when facing complex sea conditions, and to provide an automatic recovery device and method for shipborne drones in complex sea conditions.

[0007] To achieve the above objectives, the technical solution provided by this invention is: An automatic recovery device for shipborne unmanned aerial vehicles (UAVs) operating in complex sea conditions is characterized by the following features: It includes two capture and correction mounting bases installed on the take-off and landing platform on the deck and arranged in parallel, two lateral correction components arranged between the two capture and correction mounting bases and both arranged perpendicular to the capture and correction mounting bases, and a longitudinal correction component, a capture wire rope component and a folding wing component arranged on each lateral correction component; Each of the aforementioned capture and correction mounts includes two parallel transverse correction rails fixedly connected to the take-off and landing platform of the deck; Each of the lateral correction components includes a first drive mechanism electrically connected to the control system, and a lateral correction contour block connected to the output end of the first drive mechanism; the inner side of the lateral correction contour block is provided with a C-shaped groove that mates with the cylindrical surface of the slide rail at the bottom of the UAV skid, and the inner wall of the lower side of the C-shaped groove is provided with an inclined surface that is higher on the inside and lower on the outside; the first drive mechanisms of the two lateral correction components are respectively used to drive the two lateral correction contour blocks to move relative to each other along the lateral correction slide rail, and after capturing the UAV, scoop up its skid and lift it off the take-off and landing platform, and limit and correct the lateral position of the UAV; Each of the longitudinal alignment components includes a second drive mechanism electrically connected to the control system, and two longitudinal alignment levers connected to the output end of the second drive mechanism; the second drive mechanisms of the two longitudinal alignment components are respectively used to drive the two corresponding longitudinal alignment levers to move relative to each other, and to correct the longitudinal position of the UAV by moving the UAV skid. Each of the folding wing components includes a third drive mechanism electrically connected to the control system, and a contour flip fork connected to the output end of the third drive mechanism; the contour flip fork is used to clamp the wing of the wingless UAV and fold the wing of the UAV. Each of the aforementioned capture wire rope components includes a wire rope fixing device disposed on a corresponding lateral alignment component, and a wire rope and a laser displacement sensor disposed on the wire rope fixing device; the wire rope is used to capture the UAV by contacting the skid; the laser displacement sensor is electrically connected to the control system and is used to monitor whether the bottom of the UAV skid leaves the surface of the take-off and landing platform.

[0008] Furthermore, each lateral alignment slide rail is fixed to the take-off and landing platform of the deck via multiple mounting bases; each of the capture alignment mounting bases also includes a lateral alignment rack disposed on the inner side of one of the lateral alignment slide rails.

[0009] Furthermore, the first drive mechanism of each of the lateral alignment components includes two lateral alignment slides that respectively cooperate with the lateral alignment slide rails of the two capture alignment mounting seats, and a lateral alignment beam fixedly connected to the two lateral alignment slides. The lateral alignment beam includes two parallel support rods and multiple connecting rods disposed between the two support rods; it also includes support casters disposed in the middle of the outer support rods of the lateral alignment beam, gears disposed on each lateral alignment slide and meshing with a lateral alignment rack, and a lateral alignment motor and a reducer module disposed on each lateral alignment slide; the lateral alignment contour block is disposed on the inner support rod of the lateral alignment beam; the two lateral alignment components move along the lateral alignment slide rails under the drive of the corresponding lateral alignment motors and reducer modules, thereby driving the two lateral alignment contour blocks to move relative to each other; The lateral alignment motor and reducer module includes a first motor and a first reducer connected to the output shaft of the first motor. The first motor is used for electrical connection with an external control system, and the output shaft of the first reducer is connected to a gear. The first reducer of the two lateral alignment components drives two gears to mesh with the lateral alignment racks of the two capture alignment mounting seats respectively, so as to realize the linear motion of the lateral alignment components on the capture alignment mounting seats.

[0010] Furthermore, the second drive mechanism of each longitudinal alignment component includes a fixed plate disposed on the transverse alignment beam, a longitudinal alignment motor and reducer module disposed on the fixed plate, two bearing seats disposed near the two transverse alignment slides in the same transverse alignment component and disposed on the inner support rod of the transverse alignment beam, a longitudinal alignment guide rail disposed on the inner support rod of the transverse alignment beam, a longitudinal alignment left-hand lead screw, a longitudinal alignment right-hand lead screw, and two longitudinal alignment sliders cooperating with the longitudinal alignment guide rail; the two longitudinal alignment levers are respectively disposed on the two longitudinal alignment sliders; The longitudinal alignment motor and reducer module includes a second motor and a second reducer connected to the output shaft of the second motor. The second motor is used for electrical connection with the control system. The output shaft of the second reducer is rigidly connected to one end of the longitudinal alignment left-hand lead screw and the longitudinal alignment right-hand lead screw respectively through a coupling. The other ends of the longitudinal alignment left-hand lead screw and the longitudinal alignment right-hand lead screw are connected to the bearing seats at corresponding positions through bearings. The two longitudinal alignment sliders are respectively threaded to the longitudinal alignment left-hand screw and the longitudinal alignment right-hand screw via nuts; the two longitudinal alignment dials move relative to each other along the longitudinal alignment guide rail under the drive of the longitudinal alignment motor and the reducer module, and are used to correct the longitudinal position of the UAV's skid.

[0011] Furthermore, each of the wire rope fixing devices includes two wire rope mounting seats that are respectively connected to two lateral alignment slide plates of the same lateral alignment component, a spring guide rod that passes through one wire rope mounting seat, and a wire rope adjusting screw that passes through the other wire rope mounting seat; The laser displacement sensor is connected to one of the wire rope mounting bases, and the wire rope is connected to the inner end of the spring guide rod and the wire rope adjusting screw respectively; An adjusting nut is fitted on each side of the wire rope mounting base on the wire rope adjusting screw, and the wire rope adjusting screw is connected to the wire rope mounting base by a thread. The two adjusting nuts and the wire rope adjusting screw are used together to adjust the preload of the wire rope.

[0012] Furthermore, the third drive mechanism of each folding wing component includes a support seat and a push rod mounting seat mounted on the outer support rod of the lateral alignment beam of the same lateral alignment component, a push rod motor hinged to the push rod mounting seat, an electric push rod connected to the output end of the push rod motor, a push rod mounting platform hinged to the output end of the electric push rod, a flipping component connecting seat mounted on the push rod mounting platform, two rotating shaft connecting plates opposite each other mounted on the lower surface of the push rod mounting platform, a flipping shaft fixedly connected to the support seat, a folding wing motor support seat mounted on the upper end of the flipping component connecting seat, and a folding wing rotary motor module mounted on the folding wing motor support seat; the two rotating shaft connecting plates are sleeved on the flipping shaft, and the electric push rod is used to convert the rotational motion of the output end of the push rod motor into linear reciprocating motion, thereby driving the push rod mounting platform to rotate around the flipping shaft; the contour flipping fork is rotatably connected to the output end of the folding wing rotary motor module, and is used to clamp the wing of the wingless UAV and fold it under the drive of the folding wing rotary motor module; both the push rod motor and the folding wing rotary motor module are electrically connected to the control system.

[0013] Furthermore, each mounting base is connected to the lifting platform, the lateral alignment slide plate to the lateral alignment beam, the bearing housing to the lateral alignment beam, the support base to the outer support rod of the lateral alignment beam, and the push rod mounting base to the outer support rod of the lateral alignment beam by bolts.

[0014] Furthermore, each of the lateral alignment motor and reducer module and the longitudinal alignment motor and reducer module is provided with a dust cover.

[0015] Meanwhile, the present invention also provides an automatic recovery method for shipborne unmanned aerial vehicles (UAVs) under complex sea conditions, which employs the aforementioned automatic recovery device for shipborne UAVs under complex sea conditions. Its unique feature lies in the inclusion of the following steps: Step 1: The drone to be landed sends a landing command to the control system. The control system guides the drone to a preset position above the drone automatic recovery device through the guidance command. At the same time, the control system sends a command to the first drive mechanism to make the two lateral alignment components move relative to each other on the lateral alignment slide rail and move together to follow the movement trajectory of the drone. Step 2: The drone begins to land. When the drone lands on the surface of the take-off and landing platform, the two relatively moving lateral correction components drive the steel wire ropes in the capture steel wire rope components set on them to quickly capture the drone. Under the real-time monitoring of the laser displacement sensor, the two lateral correction contour blocks scoop up the drone's skid and lift it off the surface of the take-off and landing platform, while correcting the angle of the drone. Step 3: The two lateral alignment components continue to move to the center position of the drone's automatic recovery device to correct the drone's lateral position; Step 4: The control system sends a command to the second drive mechanism of the two longitudinal alignment components, causing the two corresponding longitudinal alignment levers to move relative to each other, thereby pushing the skid longitudinally to the center position of the UAV automatic recovery device and correcting the longitudinal position of the UAV. Step 5: The folding wing component unfolds from the standby state to the working state. The control system sends a command to the third drive mechanism of the wing-folding component, causing the contour block of the contour flipping fork to clamp the wing. Step 6: The control system sends a command to the third drive mechanism to drive the contour flipping fork to rotate clockwise, thereby causing the wing to fold. Step 7: The folding wing component returns from the working state to the standby state. The control system sends a command to the third drive mechanism to return the folding wing component to its initial state; Step 8: The control system sends instructions to the first drive mechanism and the second drive mechanism to return each lateral and longitudinal alignment component to its initial state, thus completing the automatic recovery of a shipborne UAV in complex sea conditions.

[0016] Furthermore, in step 1, the control system sending instructions to the first drive mechanism specifically means: the control system sending instructions to the lateral alignment motor and the reducer module; Step 4 is as follows: The control system sends commands to the longitudinal alignment motors and reducer modules of the two longitudinal alignment components, causing the longitudinal alignment left-hand screw and the longitudinal alignment right-hand screw to rotate and drive the longitudinal alignment sliders set on them to move relative to each other, which in turn drives the two corresponding longitudinal alignment plates to move relative to each other, thereby pushing the skid longitudinally to the center position of the UAV automatic recovery device and correcting the longitudinal position of the UAV. Step 5 specifically involves: The control system sends a command to the push rod motor to drive the electric push rod to extend, so that the flipping component connecting seat changes from a horizontal state to a vertical state, and the contour block of the contour flipping fork clamps the wing. In step 6, the control system sends instructions to the third drive mechanism specifically by sending instructions to the folding wing rotary motor module. Step 7 specifically includes: The control system sends a command to the push rod motor to drive the electric push rod to retract, so that the flipping component connecting seat changes from a vertical state to a horizontal state; then the control system sends a command to the folding wing rotary motor module to drive the contour flipping fork to rotate counterclockwise to the initial state. In step 8, the control system sends instructions to the first drive mechanism and the second drive mechanism specifically by sending instructions to the transverse alignment motor and reducer module and the longitudinal alignment motor and reducer module.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The automatic recovery device for marine unmanned aerial vehicles (UAVs) under complex sea conditions provided by the present invention combines the gears in the lateral alignment component, the rack in the capture alignment mounting seat, the steel wire rope in the capture steel wire rope component, and the laser displacement sensor to achieve rapid, flexible, and safe capture of UAVs under sea state 4.

[0018] 2. The automatic recovery device for marine unmanned aerial vehicles (UAVs) under complex sea conditions provided by the present invention, during the recovery process, the contoured surface of the lateral correction block in the lateral correction component contacts the bottom of the UAV skid, lifting the two skids, suspending them in the air, and preventing them from contacting the take-off and landing platform, thereby avoiding damage caused by friction between the UAV skid-type landing gear and the surface of the take-off and landing platform during the correction process.

[0019] 3. The automatic recovery device for shipborne UAVs under complex sea conditions provided by the present invention combines the electric push rod, rotary motor module and contour flipping fork in the folding wing component to achieve rapid, fully automatic and flexible folding of the UAV wing.

[0020] 4. The automatic recovery device for marine drones under complex sea conditions provided by the present invention has an adjustable preload force in the wire rope component, thereby adapting to the rapid recovery of drones of different weights.

[0021] 5. The automatic recovery method for shipborne UAVs under complex sea conditions provided by this invention can realize a fully automatic, safe and continuous process of UAV capture → correction → wing folding → recovery through the cooperation of various components, and has a wide range of applications. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to the present invention; Figure 2 This is a schematic diagram of the lateral alignment base in an embodiment of the automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to the present invention; Figure 3 This is a schematic diagram of the lateral alignment component in an embodiment of the automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to the present invention; Figure 4 This is a schematic diagram of the longitudinal alignment component in an embodiment of the automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to the present invention; Figure 5 This is a schematic diagram of the structure of the wire rope capture component in an embodiment of the automatic recovery device for marine drones under complex sea conditions of the present invention; Figure 6 This is a schematic diagram of the folding wing component in an embodiment of the automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to the present invention; The attached figures are labeled as follows: 1-Capture and alignment mounting base, 2-Lateral alignment component, 3-Longitudinal alignment component, 4-Capture wire rope component, 5-Folding wing component; 6-Mounting base; 7-Transverse alignment slide rail; 10-Transverse alignment rack; 12- Lateral alignment slide plate, 13- Lateral alignment motor and reducer module, 14- Gear, 15- Lateral alignment crossbeam, 16- Support casters, 17- Lateral alignment contour block; 18-Longitudinal aligning left-hand lead screw, 19-Longitudinal aligning lever, 201-Longitudinal aligning guide rail, 202-Longitudinal aligning slider, 21-Longitudinal aligning motor and reducer module, 22-Coupling, 23-Bearing housing, 24-Longitudinal aligning right-hand lead screw; 27-Spring guide rod, 28-Laser displacement sensor, 29-Wire rope adjusting screw, 30-Wire rope mounting base, 31-Wire rope; 32-Following flip fork, 33-Flip component connecting seat, 34-Support seat, 35-Flip shaft, 36-Rotating shaft connecting plate, 37-Push rod mounting seat, 38-Push rod motor, 39-Electric push rod, 40-Push rod mounting platform, 41-Folding wing motor support seat, 42-Folding wing rotary motor module. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. This embodiment can efficiently and accurately capture and recover a drone without damage or loss to the drone's fuselage, onboard electronic equipment, wings, and other structures.

[0024] An automatic recovery device for shipborne unmanned aerial vehicles (UAVs) in complex sea conditions, see [link / reference]. Figure 1 It includes two capture and correction mounting bases 1 installed on the take-off and landing platform on the deck and arranged in parallel, two lateral correction components 2 arranged between the two capture and correction mounting bases 1 and arranged perpendicular to the capture and correction mounting bases 1, a longitudinal correction component 3 arranged on each lateral correction component 2, a capture wire rope component 4 arranged on each lateral correction component 2, and a folding wing component 5 arranged on each lateral correction component 2; wherein the two lateral correction components 2 are used to correct the angle and lateral position of the UAV by means of a skid, the two longitudinal correction components 3 are used to correct the longitudinal position of the UAV by means of a skid, the two capture wire rope components 4 are used to capture the UAV by means of a skid, and the two folding wing components 5 are used to fold the wings of the UAV.

[0025] See Figure 2 Each capture and correction mounting base 1 includes two parallel transverse correction slide rails 7 fixed to the take-off and landing platform of the deck via thirty-two mounting bases 6, and a transverse correction rack 10 disposed on the inner side of one of the transverse correction slide rails 7.

[0026] See Figure 3 Each lateral alignment component 2 includes two lateral alignment slide plates 12 that respectively cooperate with two lateral alignment slide rails 7 and a lateral alignment beam 15 fixedly connected to the two lateral alignment slide plates 12. The lateral alignment beam 15 includes two parallel support rods and multiple support rods disposed between the two support rods; it also includes a lateral alignment contour block 17 disposed on the inner support rod of the lateral alignment beam 15, a support caster 16 disposed in the middle of the outer support rod of the lateral alignment beam 15, a gear 14 disposed on the lower surface of each lateral alignment slide plate 12 and meshing with the lateral alignment rack 10, and a lateral alignment motor and reducer module 13 disposed on each lateral alignment slide plate 12. The lateral alignment motor and reducer module 13 includes a first motor and a first reducer connected to the output shaft of the first motor. The first motor is used for electrical connection with an external control system, and the output shaft of the first reducer is connected to a gear 14. The first reducer of the two lateral alignment components 2 drives the two gears 14 to cooperate with the lateral alignment racks 10 of the two capture alignment mounting seats 1, respectively, to realize the linear movement of the lateral alignment components 2 on the capture alignment mounting seats 1. The lateral alignment contour block 17 has a C-shaped groove on the side facing the UAV that cooperates with the cylindrical surface of the bottom slide rail of the skid. The inner wall of the lower side of the C-shaped groove has an inclined surface that is higher on the inside and lower on the outside. The two lateral alignment contour blocks 17 of the two lateral alignment components 2 cooperate to lift the skid of the UAV and lift it off the surface of the take-off and landing platform after the two capture wire rope components 4 capture the UAV, and limit and correct the lateral position of the UAV, so as to avoid friction damage to the skid-type landing gear of the UAV.

[0027] See Figure 4 Each longitudinal alignment component 3 includes a fixed plate mounted on the transverse alignment beam 15, a longitudinal alignment motor and reducer module 21 mounted on the fixed plate, two bearing seats 23 mounted on the inner support rods of the transverse alignment beam 15 and located near the two transverse alignment slides 12 in the same transverse alignment component 2, a longitudinal alignment guide rail 201 mounted on the inner support rods of the transverse alignment beam 15, a longitudinal alignment left-hand screw 18, a longitudinal alignment right-hand screw 24, two longitudinal alignment sliders 202 that cooperate with the longitudinal alignment guide rails 201, and a longitudinal alignment lever 19 mounted on each longitudinal alignment slider 202. The longitudinal alignment motor and reducer module 21 includes a second motor and a second reducer connected to the output shaft of the second motor. The second motor is used for electrical connection with the control system. The output shaft of the second reducer is rigidly connected to one end of the longitudinal alignment left-hand lead screw 18 and the longitudinal alignment right-hand lead screw 24 respectively through a coupling 22. The other ends of the longitudinal alignment left-hand lead screw 18 and the longitudinal alignment right-hand lead screw 24 are connected to the bearing seats at the corresponding positions through bearings. Two longitudinal alignment sliders 202 are threadedly connected to longitudinal alignment left-hand screw 18 and longitudinal alignment right-hand screw 24 respectively via nuts; two longitudinal alignment dials 19 move relative to each other along the longitudinal alignment guide rail 201 under the drive of the longitudinal alignment motor and reducer module 21, and are used to correct the longitudinal position of the UAV skid.

[0028] See Figure 5Each capture wire rope component 4 includes two wire rope mounting seats 30 connected to two lateral alignment slide plates 12 of the same lateral alignment component 2, a spring guide rod 27 passing through one wire rope mounting seat 30, a wire rope adjusting screw 29 passing through the other wire rope mounting seat 30, a laser displacement sensor 28 connected to one of the wire rope mounting seats 30, and a wire rope 31 connected to the inner ends of the spring guide rod 27 and the wire rope adjusting screw 29. The wire rope 31 is used to capture the UAV by contacting the skid, and the laser displacement sensor 28 is used to monitor whether the bottom of the UAV's skid has left the surface of the take-off and landing platform. The laser displacement sensor 28 is electrically connected to the control system. An adjusting nut is fitted on each side of the wire rope mounting seat 30 on the wire rope adjusting screw 29, and the wire rope adjusting screw 29 is threadedly connected to the wire rope mounting seat 30. In practical applications, the two adjusting nuts and the wire rope adjusting screw 29 are used together to adjust the preload of the wire rope 31.

[0029] See Figure 6 Each folding wing component 5 includes a support base 34 and a push rod mounting base 37 mounted on the outer support rod of the transverse straightening beam 15 of the same transverse straightening component 2, a push rod motor 38 hinged to the push rod mounting base 37, an electric push rod 39 connected to the output end of the push rod motor 38, a push rod mounting platform 40 hinged to the output end of the electric push rod 39, a flipping component connecting seat 33 mounted on the push rod mounting platform 40, two rotating shaft connecting plates 36 mounted on the lower surface of the push rod mounting platform 40, a flipping shaft 35 fixedly connected to the support base 34, and a rotating component connecting seat 33 mounted on the flipping component connecting seat 33. The system includes a folding wing motor support 41, a folding wing rotary motor module 42 mounted on the folding wing motor support 41, and a rotatable contour-following flip fork 32 connected to the output end of the folding wing rotary motor module 42; two rotating shaft connecting plates 36 are sleeved on the flip shaft 35; an electric push rod 39 is used to convert the rotational motion of the output end of the push rod motor 38 into linear reciprocating motion, thereby pushing the push rod mounting platform 40 to rotate around the flip shaft 35; the contour-following flip fork 32 is used to fold the wings of the UAV; both the push rod motor 38 and the folding wing rotary motor module 42 are electrically connected to the control system.

[0030] To facilitate disassembly and assembly, each mounting base 6 is connected to the lifting platform, the transverse alignment slide plate 12 to the transverse alignment beam 15, the bearing seat 23 to the transverse alignment beam 15, the support seat 34 to the outer support rod of the transverse alignment beam 15, and the push rod mounting seat 37 to the outer support rod of the transverse alignment beam 15 by bolts.

[0031] To protect the motors, each lateral alignment motor and reducer module 13 and each longitudinal alignment motor and reducer module 21 is equipped with a dust cover.

[0032] Meanwhile, this embodiment also provides an automatic recovery method for shipborne unmanned aerial vehicles (UAVs) under complex sea conditions, which uses the above-mentioned automatic recovery device for shipborne UAVs under complex sea conditions and includes the following steps: Step 1: The drone to be landed sends a landing command to the control system. The control system guides the drone to a preset position above the shipborne drone automatic recovery device under complex sea conditions through the guidance command. At the same time, the control system sends commands to the lateral alignment motor and reducer module 13 to make the gear 14 in the lateral alignment component 2 move on the lateral alignment rack 10, so that the two lateral alignment components 2 move together to follow the movement trajectory of the drone. Step 2: The drone begins to land. When the drone lands on the surface of the take-off and landing platform, the two relatively moving lateral correction components 2 drive the steel wire rope 31 in the capture steel wire rope component 4 installed on them to quickly capture the drone. Under the real-time monitoring of the laser displacement sensor 28, the two lateral correction contour blocks 17 scoop up the drone's skid and lift it off the surface of the take-off and landing platform, while correcting the angle of the drone. Step 3: The two lateral alignment components 2 continue to move to the center position of the shipborne UAV automatic recovery device under complex sea conditions, and correct the lateral position of the UAV. Step 4: The control system sends a command to the longitudinal alignment motor and reducer module 21 to rotate the longitudinal alignment left-hand screw 18 and the longitudinal alignment right-hand screw 24 and drive the longitudinal alignment slider 202 set on them to move relative to each other. The two longitudinal alignment levers 19 on each side push a skid to move longitudinally to the center position of the shipborne UAV automatic recovery device under complex sea conditions, and correct the longitudinal position of the UAV. Step 5: The folding wing component 5 unfolds from the standby state to the working state. The control system sends a command to the push rod motor 38 to drive the electric push rod 39 to extend, so that the flip component connecting seat 33 changes from a horizontal state to a vertical state, and the contour block of the contour flip fork 32 just clamps the wing. Step 6: The control system sends a command to the wing-folding rotary motor module 42 to drive the contour-following flip fork 32 to rotate clockwise, thereby causing it to fold the wing. Step 7: The folding wing component 5 returns from the working state to the standby state. The control system sends a command to the push rod motor 38 to drive the electric push rod 39 to retract, so that the flipping component connecting seat 33 changes from a vertical state to a horizontal state; then the control system sends a command to the folding wing rotary motor module 42 to drive the contour flipping fork 32 to rotate counterclockwise to the initial state. Step 8: The control system sends commands to the lateral alignment motor and reducer module 13 and the longitudinal alignment motor and reducer module 21, so that each lateral alignment component 2 and longitudinal alignment component 3 returns to its initial state, completing the automatic recovery of a shipborne UAV in complex sea conditions.

[0033] After step 8 and its subsequent related operations are completed, the recovery of the next drone can proceed, i.e., return to step 1.

[0034] This embodiment employs flexible capture (capture wire rope component 4) and multiple adaptive contouring structures (lateral correction contouring block 17, contouring flipping fork 32), enabling buffering and attitude correction during recovery, significantly reducing impact and structural damage. Simultaneously, the application of the folding wing component 5 allows the recovery device to be folded and stored when not in use, greatly reducing deck space occupation and improving space utilization during UAV landing. The combination of these two technologies not only enhances the safety and reliability of UAV recovery but also meets the requirements for efficient UAV recovery and rapid launch.

[0035] Sea state 4 in this article refers to a typical moderate sea state in a marine environment where wind speeds reach force 5 (approximately 8.0 m / s to 10.7 m / s), wave heights are between 1.25 m and 2.5 m, and the sea surface exhibits complete waves with crests breaking apart, forming significant white spray and white crown waves. Under these conditions, small vessels experience significant rolling and pitching, and the deck working environment becomes slippery, turbulent, and dynamically unstable. For UAV recovery, this means the landing platform is in continuous and irregular three-dimensional motion, making "direct landing" relying solely on the UAV's own navigation highly susceptible to collisions, capsizing, or crashing into the sea due to relative displacement errors. This places clear and stringent technical requirements on the dynamic tracking, buffer capture, and immediate stabilization capabilities of the recovery device.

Claims

1. An automatic recovery device for shipborne unmanned aerial vehicles (UAVs) under complex sea conditions, characterized in that: It includes two capture and correction mounting bases (1) installed on the landing platform on the deck and arranged in parallel, two lateral correction components (2) arranged between the two capture and correction mounting bases (1) and both arranged perpendicular to the capture and correction mounting bases (1), and a longitudinal correction component (3), a capture wire rope component (4) and a wing component (5) arranged on each lateral correction component (2). Each of the aforementioned capture and correction mounting bases (1) includes two parallel transverse correction rails (7) fixed to the take-off and landing platform of the deck. Each of the lateral alignment components (2) includes a first drive mechanism electrically connected to the control system, and a lateral alignment contour block (17) connected to the output end of the first drive mechanism; the inner side of the lateral alignment contour block (17) is provided with a C-shaped groove that matches the cylindrical surface of the slide rail at the bottom of the UAV skid, and the inner wall of the lower side of the C-shaped groove is provided with an inclined surface that is higher inside and lower outside; the first drive mechanisms of the two lateral alignment components (2) are respectively used to drive the two lateral alignment contour blocks (17) to move relative to each other along the lateral alignment slide rail (7), and after capturing the UAV, scoop up its skid and lift it away from the take-off and landing platform, and limit and lateral position of the UAV; Each of the longitudinal alignment components (3) includes a second drive mechanism electrically connected to the control system, and two longitudinal alignment dials (19) connected to the output end of the second drive mechanism; the second drive mechanisms of the two longitudinal alignment components (3) are respectively used to drive the corresponding two longitudinal alignment dials (19) to move relative to each other, and to correct the longitudinal position of the UAV by moving the UAV skid; Each of the folding wing components (5) includes a third drive mechanism electrically connected to the control system, and a contour flip fork (32) connected to the output end of the third drive mechanism; the contour flip fork (32) is used to clamp the wing of the winged UAV and fold the wing of the UAV. Each of the capture wire rope components (4) includes a wire rope fixing device disposed on the corresponding lateral alignment component (2), and a wire rope (31) and a laser displacement sensor (28) disposed on the wire rope fixing device; the wire rope (31) is used to capture the UAV by contacting the skid; the laser displacement sensor (28) is electrically connected to the control system and is used to monitor whether the bottom of the UAV skid leaves the surface of the take-off and landing platform.

2. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 1, characterized in that: Each transverse alignment slide rail (7) is fixed to the take-off and landing platform of the deck via multiple mounting bases (6); each of the capture alignment mounting bases (1) also includes a transverse alignment rack (10) disposed on the inner side of one of the transverse alignment slide rails (7).

3. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 2, characterized in that: Each of the lateral alignment components (2) includes a first drive mechanism comprising two lateral alignment slide plates (12) that respectively cooperate with the lateral alignment slide rails (7) of the two capture alignment mounting seats (1) and a lateral alignment beam (15) fixedly connected to the two lateral alignment slide plates (12). The lateral alignment beam (15) includes two parallel support rods and multiple connecting rods disposed between the two support rods; it also includes a support caster (16) disposed in the middle of the outer support rod of the lateral alignment beam (15), and a... A gear (14) is placed on each transverse alignment slide plate (12) and meshes with the transverse alignment rack (10), and a transverse alignment motor and reducer module (13) is set on each transverse alignment slide plate (12); the transverse alignment contour block (17) is set on the inner support rod of the transverse alignment beam (15); the two transverse alignment components (2) move along the transverse alignment slide rail (7) under the drive of the corresponding transverse alignment motor and reducer module (13), thereby driving the two transverse alignment contour blocks (17) to move relative to each other; The lateral alignment motor and reducer module (13) includes a first motor and a first reducer connected to the output shaft of the first motor. The first motor is used to be electrically connected to an external control system, and the output shaft of the first reducer is connected to a gear (14). The first reducer of the two lateral alignment components (2) drives the two gears (14) to mesh with the lateral alignment racks (10) of the two capture alignment mounting seats (1) respectively, so as to realize the linear motion of the lateral alignment components (2) on the capture alignment mounting seats (1).

4. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 3, characterized in that: Each of the longitudinal alignment components (3) has a second drive mechanism including a fixed plate on the transverse alignment beam (15), a longitudinal alignment motor and reducer module (21) on the fixed plate, two bearing seats (23) on the inner support rod of the transverse alignment beam (15) near the two transverse alignment slides (12) in the same transverse alignment component (2), a longitudinal alignment guide rail (201), a longitudinal alignment left-hand screw (18), a longitudinal alignment right-hand screw (24), and two longitudinal alignment sliders (202) that cooperate with the longitudinal alignment guide rail (201); the two longitudinal alignment levers (19) are respectively set on the two longitudinal alignment sliders (202); The longitudinal alignment motor and reducer module (21) includes a second motor and a second reducer connected to the output shaft of the second motor. The second motor is used for electrical connection with the control system. The output shaft of the second reducer is rigidly connected to one end of the longitudinal alignment left-hand screw (18) and the longitudinal alignment right-hand screw (24) respectively through a coupling (22). The other ends of the longitudinal alignment left-hand screw (18) and the longitudinal alignment right-hand screw (24) are connected to the bearing seats at the corresponding positions through bearings. The two longitudinal alignment sliders (202) are respectively threaded to the longitudinal alignment left-hand screw (18) and the longitudinal alignment right-hand screw (24) via nuts; the two longitudinal alignment dials (19) move relative to each other along the longitudinal alignment guide rail (201) under the drive of the longitudinal alignment motor and the reducer module (21) to perform longitudinal position correction on the skid of the UAV.

5. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 4, characterized in that: Each of the wire rope fixing devices includes two wire rope mounting seats (30) connected to two lateral alignment slide plates (12) of the same lateral alignment component (2), a spring guide rod (27) passing through one wire rope mounting seat (30), and a wire rope adjusting screw (29) passing through the other wire rope mounting seat (30). The laser displacement sensor (28) is connected to one of the wire rope mounting bases (30), and the wire rope (31) is connected to the inner end of the spring guide rod (27) and the wire rope adjusting screw (29), respectively. The wire rope adjusting screw (29) is fitted with an adjusting nut on each side of the wire rope mounting seat (30), and the wire rope adjusting screw (29) and the wire rope mounting seat (30) are connected by threads. The two adjusting nuts and the wire rope adjusting screw (29) are used together to adjust the preload of the wire rope (31).

6. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 5, characterized in that: Each of the three drive mechanisms of the folding wing components (5) includes a support base (34) and a push rod mounting base (37) mounted on the outer support rod of the transverse correction beam (15) of the same transverse correction component (2), a push rod motor (38) hinged to the push rod mounting base (37), an electric push rod (39) connected to the output end of the push rod motor (38), a push rod mounting platform (40) hinged to the output end of the electric push rod (39), a flipping component connecting seat (33) mounted on the push rod mounting platform (40), two rotating shaft connecting plates (36) respectively mounted on the lower surface of the push rod mounting platform (40), a flipping shaft (35) fixedly connected to the support base (34), and a rotating component connecting seat (33) mounted on the upper end of the flipping component connecting seat (33). The folding wing motor support base (41) and the folding wing rotary motor module (42) set on the folding wing motor support base (41); the two rotating shaft connecting plates (36) are sleeved on the flip shaft (35); the electric push rod (39) is used to convert the output rotational motion of the push rod motor (38) into linear reciprocating motion, thereby pushing the push rod mounting platform (40) to rotate around the flip shaft (35); the contour flip fork (32) is rotatably connected to the output end of the folding wing rotary motor module (42) and is used to clamp the wing of the wing UAV and fold it under the drive of the folding wing rotary motor module (42); the push rod motor (38) and the folding wing rotary motor module (42) are both electrically connected to the control system.

7. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 6, characterized in that: Each mounting base (6) is connected to the lifting platform, the transverse alignment slide plate (12) to the transverse alignment beam (15), the bearing seat (23) to the transverse alignment beam (15), the support seat (34) to the outer support rod of the transverse alignment beam (15), and the push rod mounting seat (37) to the outer support rod of the transverse alignment beam (15) by bolts.

8. The automatic recovery device for shipborne unmanned aerial vehicles under complex sea conditions according to claim 7, characterized in that: Each of the said transverse alignment motor and reducer module (13) and longitudinal alignment motor and reducer module (21) is provided with a dust cover.

9. A method for automatically recovering a shipborne unmanned aerial vehicle (UAV) under complex sea conditions, comprising the automatic recovery device for shipborne UAVs under complex sea conditions as described in any one of claims 1 to 8, characterized in that, Includes the following steps: Step 1: The UAV to be landed sends a landing command to the control system. The control system guides the UAV to a preset position above the UAV automatic recovery device through the guidance command. At the same time, the control system sends a command to the first drive mechanism to make the two lateral alignment components (2) move relative to each other on the lateral alignment slide rail (7) and move together to follow the movement trajectory of the UAV. Step 2: The drone begins to land. When the drone lands on the surface of the landing platform, the two relatively moving lateral correction components (2) drive the steel wire rope (31) in the capture steel wire rope component (4) set on them to quickly capture the drone. Under the real-time monitoring of the laser displacement sensor (28), the two lateral correction contour blocks (17) scoop up the skid of the drone and lift it off the surface of the landing platform, while correcting the angle of the drone. Step 3: The two lateral alignment components (2) continue to move to the center position of the UAV automatic recovery device to align the lateral position of the UAV; Step 4: The control system sends a command to the second drive mechanism of the two longitudinal alignment components (3) to make the two corresponding longitudinal alignment levers (19) move relative to each other, thereby pushing the skid to move longitudinally to the center position of the UAV automatic recovery device and correcting the longitudinal position of the UAV. Step 5: The folding wing component (5) unfolds from the standby state to the working state. The control system sends a command to the third drive mechanism of the wing-folding component (5) to cause the contour block of the contour flipping fork (32) to clamp the wing; Step 6: The control system sends a command to the third drive mechanism to drive the contour flip fork (32) to rotate clockwise, thereby causing the wing to fold. Step 7: The folding wing component (5) returns from the working state to the standby state. The control system sends a command to the third drive mechanism to return the folding wing component (5) to its initial state; Step 8: The control system sends instructions to the first drive mechanism and the second drive mechanism to make each lateral alignment component (2) and longitudinal alignment component (3) return to the initial state, thus completing the automatic recovery of a shipborne UAV under complex sea conditions.

10. The automatic recovery method for shipborne unmanned aerial vehicles under complex sea conditions according to claim 9, characterized in that: In step 1, the control system sends instructions to the first drive mechanism specifically by sending instructions to the transverse alignment motor and the reducer module (13). Step 4 is as follows: The control system sends commands to the longitudinal alignment motors and reducer modules (21) of the two longitudinal alignment components (3) to rotate the longitudinal alignment left-hand screw (18) and the longitudinal alignment right-hand screw (24) and drive the longitudinal alignment sliders (202) set on them to move relative to each other, thereby driving the two corresponding longitudinal alignment plates (19) to move relative to each other, thereby pushing the skid to move longitudinally to the center position of the UAV automatic recovery device and correcting the longitudinal position of the UAV. Step 5 specifically involves: The control system sends a command to the push rod motor (38) to drive the electric push rod (39) to extend, so that the flip component connecting seat (33) changes from a horizontal state to a vertical state, and the contour block of the contour flip fork (32) clamps the wing; In step 6, the control system sends instructions to the third drive mechanism specifically by sending instructions to the folding wing rotary motor module (42). Step 7 specifically includes: The control system sends a command to the push rod motor (38) to drive the electric push rod (39) to retract, so that the flipping component connecting seat (33) changes from a vertical state to a horizontal state; then the control system sends a command to the folding wing rotating motor module (42) to drive the contour flipping fork (32) to rotate counterclockwise to the initial state; In step 8, the control system sends instructions to the first drive mechanism and the second drive mechanism specifically by sending instructions to the transverse alignment motor and reducer module (13) and the longitudinal alignment motor and reducer module (21).

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