A UAV recovery system and recovery control method based on magnetorheological damping

Abstract

This invention discloses a drone recovery system and recovery control method based on magnetorheological damping. The system includes a base plate, a base, a magnetorheological damper, an actuator, and a control module. The base is movably connected to the base plate and can move relative to the base plate in a preset direction. The magnetorheological damper is disposed between the base plate and the base, with its two ends connected to the base plate and the base respectively, to provide damping when the base moves in the preset direction. The actuator is disposed on the base and is used to receive or capture the drone. The control module is electrically connected to the magnetorheological damper and is used to adjust the damping characteristics of the magnetorheological damper, aiming to achieve effective dissipation of impact energy during the drone recovery process and reduce the impact load on the mechanical structure.

Description

Technical Field

[0001] This invention relates to the field of drone recovery technology, specifically to a drone recovery system and recovery control method based on magnetorheological damping. Background Technology

[0002] With the widespread application of drones in logistics, inspection and monitoring, and shipborne take-off and landing, how to safely recover drones under confined space or dynamic platform conditions has become an important issue of concern in related technical fields. During the drone recovery process, due to the influence of factors such as flight attitude, speed, and external environmental disturbances, the drone usually generates a large impact load at the moment of contact with the recovery device, which places high demands on the structural stability and reliability of the recovery system.

[0003] In existing technologies, drone recovery systems mostly employ rigid fixed structures or incorporate elastic buffers (such as springs, rubber components, or ordinary dampers) to reduce the impact. However, these structures typically bear the impact load directly through a rigid mechanical path or rely on passive damping elements for energy absorption. Their buffering capacity is limited, and their adjustment methods are singular, making it difficult to effectively dissipate the impact energy generated during recovery. Consequently, the impact energy often propagates along the structure and is borne by critical components such as mechanical joints and drive parts, easily leading to localized overload and fatigue accumulation, thus affecting the system's service life and operational reliability.

[0004] Therefore, how to effectively dissipate impact energy during drone recovery, so as to reduce the impact load on the mechanical structure and improve the reliability of the system, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a drone recovery system and recovery control method based on magnetorheological damping, which solves the technical problem of how to effectively dissipate impact energy and reduce the impact load on mechanical structure during drone recovery in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: On one hand, the present invention provides a drone recovery system based on magnetorheological damping, comprising: a base plate; a base movably connected to the base plate and capable of moving relative to the base plate in a preset direction; a magnetorheological damper disposed between the base plate and the base, with its two ends connected to the base plate and the base respectively, to provide damping effect when the base moves in the preset direction; an actuator disposed on the base for receiving or capturing the drone; and a control module electrically connected to the magnetorheological damper for adjusting the damping characteristics of the magnetorheological damper.

[0007] In some embodiments, the drone recovery system further includes a guide mechanism, through which the base is connected to the base plate. The guide mechanism is used to constrain the base to move back and forth only in a preset direction.

[0008] In some embodiments, the guiding mechanism includes a guide rail disposed on a substrate and a slider slidably connected to the guide rail, the slider being fixedly connected to the base.

[0009] In some embodiments, a fixing seat is provided on the side of the substrate near the base, and the two ends of the magnetorheological damper are respectively connected to the base and the fixing seat through a hinge structure.

[0010] In some embodiments, at least two magnetorheological dampers are arranged side by side between the base and the fixed base to jointly provide damping for the movement of the base.

[0011] In some embodiments, the magnetorheological damper is disposed on one side of the base or symmetrically disposed on both sides of the base.

[0012] In some embodiments, the actuator includes a robotic arm and a recovery cylinder, the robotic arm being mounted on a base and the recovery cylinder being located at the end of the robotic arm for receiving or capturing the drone.

[0013] In some embodiments, the control module is connected to a damping force sensor and a motion sensor. The damping force sensor is used to detect the damping force of the magnetorheological damper, and the motion sensor is used to detect the displacement, velocity, or acceleration of the base.

[0014] On the other hand, this application also provides a recovery control method for the above-mentioned UAV recovery system, comprising the following steps: acquiring detection signals from a damping force sensor and a motion sensor; judging the characteristic state of the base during the impact process; and adjusting the damping force of the magnetorheological damper according to the judgment result.

[0015] In some embodiments, after acquiring the detection signal, the impact characteristic parameters of the base are acquired based on the detection signal, and the impact characteristic parameters are compared with the set value to classify the characteristic state, and the damping force of the magnetorheological damper is adjusted according to the different levels.

[0016] Compared with existing technologies, the UAV recovery system and recovery control method provided by this invention transform the instantaneous impact of UAV recovery into a controlled displacement process by setting a relatively movable base and introducing a magnetorheological damper between the base and the substrate. Adjustable damping is used to dynamically dissipate the impact energy, optimizing the impact load transmission path and reconstructing the energy release method. Simultaneously, by adjusting the damping characteristics through the control module, the system can match appropriate buffering capacity to different impact conditions. This enhances energy absorption under large impacts and maintains good response performance under smaller impacts, thereby reducing the structural stress level while improving the stability and adaptability of the buffering process. This effectively reduces fatigue damage to key components and significantly improves the overall reliability and service life of the UAV recovery system. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a drone recovery system based on magnetorheological damping provided in an embodiment of the present invention; Figure 2 This is a top view of a drone recovery system with the actuator removed, provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the adjustment process of a recycling control method provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 10. Base plate; 11. Fixing seat; 20. Base; 30. Magnetorheological damper; 40. Actuator; 41. Robotic arm; 42. Recycling cylinder; 50. Guiding mechanism; 51. Guide rail; 52. Slider; 61. Damping force sensor; 62. Motion sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, 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 and not intended to limit the invention.

[0020] To address the technical challenge of effectively dissipating impact energy and reducing the impact load on mechanical structures during drone recovery, this invention provides a drone recovery system based on magnetorheological damping. This system enables controllable dissipation of impact energy and reduces the impact load on mechanical structures, thereby improving the reliability and service life of the recovery system.

[0021] It should be noted that the drone recovery system and recovery control method described in this invention are used for, but not limited to, drone recovery. For ease of explanation, this invention only uses the application of the drone recovery system and recovery control method to drone recovery as an example. The principle of the drone recovery system and recovery control method applied to other types of equipment is essentially the same as that applied to drone recovery, and will not be elaborated here.

[0022] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a drone recovery system based on magnetorheological damping according to one embodiment of the present invention. Figure 2 This is a top view of a drone recovery system provided in an embodiment of the present invention, excluding the actuator 40. The system includes a base plate 10, a base 20, a magnetorheological damper 30, an actuator 40, and a control module. The various parts are coordinated to guide and dissipate the impact energy during the drone recovery process.

[0023] The base plate 10 serves as the system's mounting foundation, fixed to a platform or ground support structure to support the entire recovery system and provide stable support. The base 20 is mounted on the base plate 10 and is capable of displacement relative to it. The base 20 mounts the actuator 40 and also acts as an intermediate link for transmitting impact loads. After the UAV contacts the actuator 40, the impact load is transmitted to the base 20 via the actuator 40, causing displacement of the base 20 and thus converting the instantaneous impact into a motion process with a certain duration. The direction of movement of the base 20 can be set according to the actual application; for example, it can be consistent with the main direction of movement of the UAV when entering the recovery area to more effectively guide the release of impact energy.

[0024] A magnetorheological damper 30 is disposed between the base plate 10 and the base 20 to dampen and control the movement of the base 20. When the base 20 is displaced, the magnetorheological damper 30 applies a damping force to it, thereby suppressing the movement and absorbing energy. The magnetorheological damper 30 is filled with a magnetorheological fluid, and its damping characteristics change with the applied magnetic field, thus achieving adjustable damping force. For example, when the applied magnetic field is enhanced, the damping force increases, which can be used to absorb larger impact energy; when the magnetic field weakens, the damping force decreases, which is beneficial to the smooth recovery of the base 20's movement.

[0025] An actuator 40 is mounted on the base 20 and is used to directly contact the UAV and perform a receiving or capture action. The actuator 40 can take various forms, such as a mechanical structure for positioning and a receiving / accommodating structure. A control module, electrically connected to the magnetorheological damper 30, is used to adjust the operating state of the damper. The control module can receive signals from sensing devices, such as signals reflecting the movement or force conditions of the base 20, and adjust the damping characteristics of the magnetorheological damper 30 based on these signals.

[0026] During operation, the UAV enters the recovery area and comes into contact with the actuator 40, generating an impact load. This impact load is transmitted to the base 20 via the actuator 40, causing displacement of the base 20. During the movement of the base 20, the magnetorheological damper 30 provides damping, gradually converting the impact energy into heat and other forms of dissipation. The control module adjusts the damper according to changes during operation, ensuring a relatively stable buffering effect under different impact conditions.

[0027] In this embodiment, impact energy is no longer primarily transmitted directly through a rigid structure. Instead, the impact load generated during the UAV recovery process is transformed from being directly borne by the mechanical structure to being gradually released during controlled motion. Adjustable damping is used to actively regulate the impact process, ensuring that energy under different impact conditions is dissipated in a matched manner. This avoids the problem of localized overload caused by concentrated impact energy transmission within the structure. Simultaneously, by controlling the impact response process, the system possesses stronger energy absorption capacity under larger impacts while maintaining good response performance under smaller impacts, balancing buffering effect and system efficiency.

[0028] Furthermore, in some embodiments of this application, the drone recovery system also includes a guide mechanism 50. The base 20 is connected to the base plate 10 through the guide mechanism 50 to constrain and guide the movement of the base 20. The guide mechanism 50 is used to limit the degree of freedom of movement of the base 20, so that it can only reciprocate along a preset direction, thereby preventing the base 20 from undergoing undesirable movements such as offset, swinging, or rotation during impact. The preset direction can be set according to the main movement direction of the drone when it enters the recovery area. For example, when the drone enters the recovery device in a horizontal direction, the guide mechanism 50 can guide the base 20 to move in the corresponding direction so that the impact load is effectively released along that direction.

[0029] In specific implementations, the guiding mechanism 50 can adopt a linear guiding structure, such as the cooperation between the guide rail 51 and the slider 52. The guide rail 51 is fixedly mounted on the base plate 10, and the slider 52 is connected to the base 20 and slides along the guide rail 51, thereby achieving linear movement of the base 20. Alternatively, it can adopt a cooperation structure between a guide groove and a guide member. This involves providing a guide groove with a clearly defined extension direction on the base plate 10, and providing a guide protrusion or roller structure on the base 20 that cooperates with the guide groove, thus restricting the movement of the base 20 within the guide groove. Furthermore, a similar constraint effect can be achieved by providing parallel-arranged guide rods and their cooperating sliding sleeves.

[0030] In this embodiment, by setting the guide mechanism 50, on the one hand, the impact load generated during the drone recovery process can be guided to a specific direction, so as to convert it into a controllable displacement of the base 20 along a preset direction, thereby improving the controllability of energy release; on the other hand, it can improve the stability of the base 20's movement, reduce the structural instability caused by multi-degree-of-freedom movement, and help the magnetorheological damper 30 to work under a more ideal stress state, thereby further improving the buffering effect and system reliability.

[0031] In one embodiment, the guiding mechanism 50 includes a guide rail 51 disposed on the base plate 10 and a slider 52 slidably connected to the guide rail 51. The slider 52 is fixedly connected to the base 20. The guide rail 51 can extend along a preset direction, and its length direction is consistent with the movement direction of the base 20, thereby limiting the movement trajectory of the base 20. The guide rail 51 is fixedly mounted on the base plate 10 and can be connected to the base plate 10 by bolts or welding to ensure its positional stability and installation strength. The slider 52 is sleeved or locked on the guide rail 51 and can slide smoothly along the extension direction of the guide rail 51, thereby driving the base 20 fixedly connected to it to perform linear movement.

[0032] In practical implementation, the guide rail 51 can be a single rail or two or more rails arranged in parallel to improve guiding stability and resistance to eccentric loads. The slider 52 can be one or more, arranged according to the size of the base 20 and the stress conditions. For example, when the base 20 is large or bears a high impact load, multiple sliders 52 can be distributed on the guide rail 51 to disperse the force and improve the overall smoothness of movement. Furthermore, rolling elements or low-friction materials can be provided between the guide rail 51 and the slider 52 to reduce sliding resistance and improve the response sensitivity of the base 20 under impact.

[0033] In this embodiment, the cooperation between the guide rail 51 and the slider 52 ensures that the base 20 only reciprocates in a preset direction, avoiding lateral offset or rotation. On the other hand, it provides a stable and repeatable motion path for the base 20, so that the impact load is converted into displacement in the controlled direction, which is beneficial for the subsequent effective dissipation of impact energy by the magnetorheological damper 30.

[0034] In one embodiment, a mounting base 11 is provided on the side of the substrate 10 near the base 20, serving as a mounting and load-bearing support component for the magnetorheological damper 30. The mounting base 11 is fixedly mounted on the substrate 10, for example, by bolting, welding, or integral molding, to ensure sufficient strength and stability under impact loads. The position of the mounting base 11 can be arranged according to the range of motion of the base 20, ensuring that the magnetorheological damper 30 remains within its effective operating range throughout the movement of the base 20.

[0035] The magnetorheological damper 30 is connected to the base 20 and the fixed base 11 at both ends via hinged structures. Specifically, one end of the magnetorheological damper 30 is connected to the base 20 via a first hinged structure, and the other end is connected to the fixed base 11 via a second hinged structure. The hinged structure can be a pin connection, a ball joint connection, or a universal joint, allowing the magnetorheological damper 30 to rotate within a certain angle range during the application of force, thereby accommodating minor angular changes or installation errors in the base 20 during its movement.

[0036] In this embodiment, by adopting a hinged connection, on the one hand, the magnetorheological damper 30 can mainly bear the tensile and compressive loads along its axial direction during operation, reducing the influence of bending moment and lateral force on the internal structure of the damper, thereby improving the stability of its damping performance; on the other hand, it can avoid the additional constraints caused by rigid connection, so that the base 20 can move more smoothly along the preset direction after being impacted, which is conducive to the effective release of impact energy.

[0037] In addition, the relative position between the fixed base 11 and the base 20 can be adjusted according to actual needs. For example, by changing the installation height or front and rear position of the fixed base 11, the initial attitude or working stroke of the magnetorheological damper 30 can be adjusted to adapt to the recovery needs of drones of different sizes or under different impact conditions.

[0038] In some embodiments of this application, at least two magnetorheological dampers 30 are included. Multiple magnetorheological dampers 30 are arranged along the direction of movement of the base 20, with their axial directions substantially aligned with the direction of movement of the base 20, and are spaced apart from each other. This allows them to participate in the load-bearing process and dampen the movement when the base 20 undergoes displacement. Through the combined action of multiple dampers, the impact load can be distributed, reducing the load borne by a single damper and thus improving the overall load-bearing capacity and service life of the structure.

[0039] Each magnetorheological damper 30 is uniformly adjusted by the control module, or it can be adjusted differently according to the force conditions at different locations. For example, when the impact load distribution is uneven, different control currents can be applied to different dampers to provide different magnitudes of damping force, thereby achieving further optimized control of the motion state of the base 20. By arranging multiple dampers, the impact energy dissipation efficiency can be improved while ensuring the structural stability of the system, enabling the system to maintain good buffering performance under different impact conditions.

[0040] Furthermore, in one embodiment, the magnetorheological damper 30 can be disposed on one side of the base 20 or symmetrically disposed on both sides of the base 20 to adapt to different structural layout requirements and stress conditions. When the magnetorheological damper 30 is disposed on one side of the base 20, a relatively compact arrangement can be formed, which is suitable for scenarios where installation space is limited or where functional components need to be concentrated on one side. In this case, by reasonably selecting the installation position and number of dampers, they can cover the main stress area of ​​the base 20, thereby providing effective damping for the movement of the base 20.

[0041] When the magnetorheological dampers 30 are symmetrically arranged on both sides of the base 20, a relatively balanced force state can be formed on both sides of the base 20. During the impact and displacement of the base 20, the magnetorheological dampers 30 on both sides work simultaneously, which helps to counteract the deflection tendency caused by uneven force, thereby improving the stability of the base 20's movement and reducing lateral swaying or tilting. This symmetrical arrangement is particularly suitable for applications where the impact direction may have a certain deviation or the base 20 is large, and it is beneficial to improve the overall anti-eccentric load capacity of the system.

[0042] Furthermore, depending on the actual application requirements, multiple dampers can be arranged on one or both sides of the multiple sets of magnetorheological dampers 30 to further optimize the damping distribution. For example, by arranging multiple sets of dampers on both sides of the base 20 and implementing zoned control, more precise damping adjustment can be achieved under different impact conditions, thereby improving the system's adaptability to complex operating conditions.

[0043] In one embodiment, the actuator 40 includes a robotic arm 41 and a recovery cylinder 42. The robotic arm 41 is mounted on the base 20 and is a multi-degree-of-freedom structure, such as including multiple joints and drive units, so as to realize position adjustment and attitude adjustment in space, thereby improving the adaptability to drones from different directions.

[0044] The recovery cylinder 42 is located at the end of the robotic arm 41, and its opening is used to receive drones entering the recovery area. Structurally, the recovery cylinder 42 can be designed with a large inlet guide structure, such as a flared shape, so that the drone can still smoothly enter the recovery cylinder 42 even with a certain positional deviation, thereby improving the capture success rate. The internal space of the recovery cylinder 42 can be adapted to the size of the drone to provide a certain degree of restraint and prevent it from swinging excessively after entering.

[0045] Furthermore, the recovery cylinder 42 and the robotic arm 41 can be connected in a fixed or adjustable manner. For example, they can be fixed by a flange connection or mounting bracket, or the angle or position of the recovery cylinder 42 can be finely adjusted by an adjustable mechanism to adapt to the recovery needs of different drone models. Through the cooperation of the robotic arm 41 and the recovery cylinder 42, the system's adaptability to complex working conditions can be improved while ensuring recovery accuracy, thereby achieving a stable and reliable drone capture process.

[0046] In one embodiment, the control module is connected to a damping force sensor 61 and a motion sensor 62 to acquire information about the system during the impact process. The damping force sensor 61 is used to detect the force on the magnetorheological damper 30 during operation, thereby reflecting the magnitude of the current damping effect; the motion sensor 62 is used to detect the motion state of the base 20 under impact, such as parameters like displacement, velocity, or acceleration, to characterize the dynamic response characteristics of the base 20.

[0047] In a specific implementation, the damping force sensor 61 can be installed at the connection point of the magnetorheological damper 30, such as at the connection between the damper and the base 20 or the fixed base 11, to directly measure the force transmitted through the damper; alternatively, it can be used for indirect measurement, such as obtaining force changes through a strain sensing element. The motion sensor 62 can be selected from different types according to actual needs. For example, a displacement sensor can be used to detect the movement distance of the base 20, a velocity sensor can be used to reflect the speed of movement, or an acceleration sensor can be used to obtain dynamic changes during the impact process. In some implementations, velocity or displacement information can also be obtained by processing the acceleration signal.

[0048] On the other hand, this application embodiment also provides a recycling control method. Specifically, the method includes the following steps: the control module receives force information from the damping force sensor 61 and displacement, velocity or acceleration information from the motion sensor 62, and can comprehensively analyze the response of the base 20 during the impact process, thereby characterizing the intensity and trend of the current impact.

[0049] Based on the analysis and judgment results, the control module adjusts the operating state of the magnetorheological damper 30. For example, when a large impact is detected, the excitation intensity of the magnetorheological damper 30 can be increased, thereby increasing the damping force and enhancing the absorption capacity of impact energy; when the impact is small, the damping force can be appropriately reduced, allowing the base 20 to move and recover more smoothly, thus avoiding system response lag. In addition, at different stages of the impact process, such as the initial contact stage and the subsequent buffering stage, the damping force can also be dynamically adjusted according to the state changes, making the entire buffering process smoother.

[0050] Please see Figure 3 , Figure 3 This is a schematic diagram of the adjustment process of a recycling control method provided in an embodiment of the present invention. In one embodiment, the control module obtains the impact characteristic parameters of the base 20 during the impact process based on the detection signals of the damping force sensor 61 and the motion sensor 62, compares the impact characteristic parameters with the set values ​​to classify the current characteristic state, and adjusts the damping force of the magnetorheological damper 30 according to different levels.

[0051] In this embodiment, the impact characteristic parameters may include parameters such as impact kinetic energy, peak damping force, and energy dissipation. The peak damping force can be obtained by sampling the output signal of the damping force sensor 61 during the buffering process and extracting its maximum value. The impact kinetic energy can be calculated based on the velocity information of the base 20 in the initial stage of the impact, combined with the equivalent mass of the system; for example, the corresponding kinetic energy parameter can be obtained through the relationship between the peak velocity and the equivalent mass. The energy dissipation can be obtained by processing the relationship between the damping force and the displacement of the base 20; for example, by integrating the damping force along the displacement direction, thus characterizing the energy consumed during the buffering process.

[0052] After obtaining the aforementioned impact characteristic parameters, the control module compares them with preset judgment values ​​and classifies the current impact state according to the comparison results. In one example, the impact state can be divided into multiple levels, such as normal state, enhanced buffer state, and over-limit state.

[0053] For example, in the first-level judgment, when the impact kinetic energy is less than the first set value and the peak damping force is less than the first set value, it can be determined as a normal impact state. In this state, the system is within the normal buffer range, and the magnetorheological damper 30 can operate according to the preset base current to provide basic damping, while recording relevant data for subsequent condition assessment or maintenance analysis.

[0054] In the secondary judgment, when either the impact kinetic energy or the peak damping force exceeds the first set value but does not reach the second set value, it can be determined to be in an enhanced buffer state. In this state, the control module can adjust the input current of the magnetorheological damper 30 to increase the damping force to a higher level, thereby enhancing the absorption capacity of impact energy. At the same time, the impact process can be recorded and marked for subsequent operational status analysis.

[0055] In the three-level judgment, when either the impact kinetic energy or the peak damping force exceeds the second set value, it can be determined as an over-limit impact state. In this state, the control module can adjust the magnetorheological damper 30 to a higher damping level to achieve enhanced suppression of the impact, and at the same time trigger the corresponding alarm or recording mechanism to indicate that the system may have an abnormal impact situation.

[0056] It should be noted that the above selection method of impact characteristic parameters, as well as the number of grades and judgment rules, are only examples. In practical applications, they can be adjusted according to different system structures, UAV types and usage environments. For example, different parameter combinations or different numbers of grades can be selected to achieve more refined control of the impact process.

[0057] In this embodiment, by comparing and classifying the impact characteristic parameters, the control module can dynamically adjust the damping characteristics of the magnetorheological damper 30 according to different impact conditions, so that the system has a stronger energy absorption capacity when the impact is large and maintains a good response performance when the impact is small, thereby further improving the impact energy dissipation efficiency and enhancing the system's adaptability.

[0058] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A unmanned aerial vehicle recovery system based on magneto-rheological damping, characterized in that, include: substrate; A base is movably connected to the substrate, and the base can move relative to the substrate in a predetermined direction; A magnetorheological damper is disposed between the substrate and the base, with its two ends connected to the substrate and the base respectively, to provide damping effect when the base moves along the preset direction; An actuator, mounted on the base, is used to receive or capture the drone; The control module is electrically connected to the magnetorheological damper and is used to adjust the damping characteristics of the magnetorheological damper.

2. The drone recovery system according to claim 1, characterized in that, The drone recovery system also includes a guiding mechanism, through which the base is connected to the base plate. The guiding mechanism is used to constrain the base to move back and forth only in the preset direction.

3. The drone recovery system according to claim 2, characterized in that, The guiding mechanism includes a guide rail disposed on the substrate and a slider slidably connected to the guide rail, the slider being fixedly connected to the base.

4. The drone recovery system according to claim 1, characterized in that, A mounting base is provided on the side of the substrate near the base, and the two ends of the magnetorheological damper are respectively connected to the base and the mounting base through a hinge structure.

5. The drone recovery system according to claim 4, characterized in that, The magnetorheological damper comprises at least two units, which are arranged side by side between the base and the fixed base to jointly provide damping for the movement of the base.

6. The drone recovery system according to claim 5, characterized in that, The magnetorheological damper is disposed on one side of the base or symmetrically disposed on both sides of the base.

7. The drone recovery system according to claim 1, characterized in that, The actuator includes a robotic arm and a recovery cylinder. The robotic arm is mounted on the base, and the recovery cylinder is located at the end of the robotic arm for receiving or capturing the drone.

8. The drone recovery system according to claim 1, characterized in that, The control module is connected to a damping force sensor and a motion sensor. The damping force sensor is used to detect the damping force of the magnetorheological damper, and the motion sensor is used to detect the displacement, velocity, or acceleration of the base.

9. A recovery control method for the UAV recovery system according to claims 1 to 8, characterized in that, Includes the following steps: Acquire the detection signals from the damping force sensor and the motion sensor; Determine the characteristic state of the base during the impact process; Adjust the damping force of the magnetorheological damper based on the judgment result.

10. The recycling control method according to claim 9, characterized in that, After acquiring the detection signal, the impact characteristic parameters of the base are obtained based on the detection signal, and the impact characteristic parameters are compared with the set value to classify the characteristic state, and the damping force of the magnetorheological damper is adjusted according to the different levels.

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