Hydrological unmanned aerial vehicle split type hoisting support system

Abstract

The application discloses a hydrological unmanned aerial vehicle split type hoisting support system, and belongs to the technical field of hydrological testing. The system comprises an unmanned aerial vehicle electric control clamping mechanism and an unmanned ship hoisting mechanism. The unmanned aerial vehicle electric control clamping mechanism comprises a fixing component, a driving component and a clamping component. The fixing component is used for being installed at the bottom of the unmanned aerial vehicle. The clamping component is arranged below the fixing component. The driving component is used for controlling the motion state of the clamping component. The unmanned ship hoisting mechanism comprises an adjustable mounting component and a hoisting component. The adjustable mounting component is used for being installed on the unmanned ship. The hoisting component is arranged above the adjustable mounting component. The hoisting component is used for being clamped and matched by the clamping component. The application can realize remote control, launching and recovery of the unmanned ship, thereby reducing the safety hidden trouble of wading operation in flood season, remote river channels and shoals, and being suitable for unmanned ships of different specifications.

Description

Technical Field

[0001] This application belongs to the field of hydrological survey technology and relates to a split-type hoisting support system for hydrological unmanned aerial vehicles. Background Technology

[0002] Currently, small and medium-sized unmanned hydrological survey vessels have become core equipment for river flow monitoring, water quality sampling, reservoir inspection, and emergency testing during the flood season. For monitoring sections inaccessible by vehicles and ships, such as mountainous canyon rivers, shallow waters during the flood season, remote reservoir areas, and tidal flats, the industry generally uses industrial hydrological drones with a payload of 15-25kg to complete the aerial transport, deployment, and retrieval operations of unmanned vessels.

[0003] Traditional hoisting methods often use fixed hoisting ropes and manual hooks. After the drone arrives at the water area, personnel still need to wade into the water to board the boat to untie it and manually hook it back on during retrieval. In situations such as during the flood season when the water flow is rapid, there is a lot of silt in the shallows, or there are no passage conditions in remote waterways, manual operation in the water is very likely to cause accidents such as falling into the water or slipping. Summary of the Invention

[0004] To address the inconvenience of existing hoisting methods, a split-type hoisting support system for hydrological drones is provided.

[0005] This application provides a split-type hoisting support system for hydrological unmanned aerial vehicles (UAVs), which is implemented using the following technical solution: A split-type hoisting support system for hydrological unmanned aerial vehicles (UAVs) includes an electronically controlled clamping mechanism for the UAV and a hoisting mechanism for an unmanned vessel. The electronically controlled clamping mechanism for the UAV includes a fixing component, a driving component, and a clamping component. The fixing component is installed on the bottom of the UAV, the clamping component is located below the fixing component, and the driving component controls the movement of the clamping component. The hoisting mechanism for the unmanned vessel includes an adjustable mounting component and a hoisting component. The adjustable mounting component is installed on the unmanned vessel, and the hoisting component is located above the adjustable mounting component and is used for clamping and engaging with the clamping component.

[0006] Optionally, the adjustable installation component includes two sets of parallel telescopic tube beams, and the hoisting component includes at least two truss rods. The truss rods are perpendicular to the telescopic tube beams. The telescopic tube beams are slidably fitted with sliding sleeves. The sliding sleeves are provided with first adjusting bolts for pressing against the telescopic tube beams. The sliding sleeves are fixed with sliding hoops. The truss rods pass through the sliding hoops. The sliding hoops are provided with second adjusting bolts for pressing against the truss rods. Both ends of the telescopic tube beams have vertically sliding claws, and the telescopic tube beams are provided with third adjusting bolts for adjusting the lifting position of the claws.

[0007] Optionally, the driving component includes two first motors and two parallel rotating shafts, which are horizontally arranged. The two rotating shafts are rotatably connected to the bottom sides of the fixing component, and the first motors are used to control the rotation angle of the rotating shafts. The clamping component includes two hooks fixed to both ends of the rotating shafts. The openings of the hooks on the two rotating shafts are arranged opposite to each other, and the hooks are used to hook the truss rods.

[0008] Optionally, the fixing component includes a fixing frame made of multiple hollow tubes, the fixing frame is provided with connecting screw holes, and sleeves are fixed on both sides of the bottom of the fixing frame, with the rotating shaft passing horizontally through the sleeves.

[0009] Optionally, the claw is provided with a first anti-slip rubber sheet, and the hook is provided with a second anti-slip rubber sheet.

[0010] Optionally, the hoisting component includes a positioning ring, which is horizontally positioned and located on the upper part of the adjustable mounting component. The positioning ring has an inner conical surface with an inner diameter that gradually increases from top to bottom. The upper opening of the positioning ring extends radially outward to form an annular planar ring. The bottom of the fixing component has an abutment plane, and the clamping component applies a radially outward force to the inner conical surface of the positioning ring, forcing the planar ring to conform upward to the abutment plane.

[0011] Optionally, the driving component includes a second motor, which is vertically arranged. A first bevel gear is fixed to the output end of the second motor. The clamping component includes at least three internally threaded tubes and a screw. Each internally threaded tube is evenly arranged around the output shaft of the second motor. The internally threaded tubes are perpendicular to the output shaft of the second motor. The internally threaded tubes are rotatably connected to the bottom of the fixing component. A second bevel gear that mates with the first bevel gear is fixed to one end of the internally threaded tube. The screw is threadedly engaged with the internally threaded tube. The bottom of the fixing component is provided with an anti-rotation element to prevent the screw from rotating. The end of the screw is provided with an abutment ball head, which is used to abut against the inner conical surface of the positioning ring.

[0012] Optionally, an elastic bellows is coaxially fixed to the upper surface of the planar ring, and a planar bearing is coaxially fixed to the top surface of the elastic bellows. The upper surface of the planar bearing is used to fit against the abutment plane. A tail fin is provided on one side of the adjustable component. The inner conical surface of the positioning ring is provided with a sliding surface and a damping surface from top to bottom.

[0013] Optionally, the damping coefficient of the damping surface gradually increases from top to bottom.

[0014] Optionally, it also includes a retraction component for deploying and folding the tail fin. The positioning ring is vertically slidably connected to the adjustable mounting component. The retraction component includes a worm, a worm wheel, a first connecting rod, a second connecting rod, and a lever. The worm is coaxially arranged with the positioning ring. The upper end of the worm has a meshing groove. The lower end of the output shaft of the second motor has a meshing head for downward insertion into the meshing groove. The worm wheel cooperates with the worm. The upper end of the first connecting rod is fixed coaxially with the worm wheel. The upper end of the second connecting rod is hinged to the lower end of the first connecting rod. The lower end of the second connecting rod is hinged to one end of the lever. The other end of the lever is fixed to the tail fin. The part of the lever near the second connecting rod is hinged to the adjustable mounting component.

[0015] The beneficial effects of this application are: 1. By setting up drive components, clamping components, adjustable installation components and hoisting components, and by remotely controlling the drive components to control the clamping components, the deployment and retrieval of unmanned vessels can be remotely controlled, thereby reducing safety hazards in flood season, remote rivers and shallow water operations. In addition, the adjustable installation components can adjust their own installation size to universally adapt to unmanned vessels of different specifications. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of Example 1.

[0017] Figure 2 This is a schematic diagram of the unmanned vessel hoisting mechanism in Example 1.

[0018] Figure 3 This is a schematic diagram of the overall structure of Example 1 in a hoisting state.

[0019] Figure 4 This is a cross-sectional view of the hoisting component in Embodiment 2.

[0020] Figure 5 This is a schematic diagram of the hoisting components in Embodiment 2.

[0021] Figure 6 yes Figure 4 A magnified view of a portion of point A in the middle.

[0022] Figure 7 This is a cross-sectional view of the hoisting component in Embodiment 3.

[0023] Figure 8 yes Figure 7 A magnified view of a section at point B.

[0024] Figure 9 This is a cross-sectional view of the hoisting component in Embodiment 4 with the tail fin deployed.

[0025] Figure 10 yes Figure 9 A magnified view of a section at point C.

[0026] Figure 11 This is a cross-sectional view of the hoisting component in Embodiment 4 with the tail fin folded down.

[0027] Explanation of reference numerals in the attached drawings: 3. Positioning ring; 5. Tail wing; 11. Fixing frame; 111. Connecting screw hole; 12. First motor; 13. Sleeve; 14. Rotating shaft; 15. Hook; 151. Second anti-slip rubber sheet; 16. Fixing plate; 161. Abutting surface; 17. Second motor; 171. First bevel gear; 172. Support plate; 173. Connecting rod; 174. Slider; 21. Telescopic tube crossbeam; 211. First square tube; 212. Second square tube; 213. Fourth adjusting bolt; 22. Claw; 221. First anti-slip rubber sheet; 222. Third adjusting bolt; 23. Truss Frame rod; 231, sliding sleeve; 232, first adjusting bolt; 233, sliding hoop; 234, second adjusting bolt; 235, support rod; 236, flat plate; 237, guide rod; 238, hinge seat; 31, flat ring; 32, elastic bellows; 33, flat bearing; 34, sliding surface; 35, damping surface; 36, lifting plate; 51, internally threaded pipe; 52, screw; 521, sliding groove; 53, abutting ball head; 54, second bevel gear; 55, worm gear; 551, meshing groove; 552, meshing head; 56, worm wheel; 57, first connecting rod; 58, second connecting rod; 59, lever. Detailed Implementation

[0028] The embodiments of this application are described in detail below, and examples of the embodiments are provided in the appendix. Figures 1-11 As shown in the image.

[0029] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0030] Example 1 Example 1 discloses a split-type hoisting support system for hydrological unmanned aerial vehicles (UAVs), such as... Figure 1 As shown, the hydrological UAV split-type hoisting support system includes a UAV electronic control clamping mechanism and an UAV hoisting mechanism, wherein the UAV electronic control clamping mechanism is located at the bottom of the UAV and the UAV hoisting mechanism is located at the top of the UAV.

[0031] like Figure 1As shown, the UAV electronic control clamping mechanism includes a fixing component, a driving component, and a clamping component. The fixing component is used to install on the bottom of the UAV. In this embodiment, the fixing component includes a fixing frame 11 made of multiple hollow tubes, which is more lightweight. The fixing frame 11 is a three-dimensional square shape, and the top of the fixing frame 11 is provided with a connecting screw hole 111. It is fixed to the bottom of the UAV by connecting screw holes 111 and bolts.

[0032] The drive component includes two first motors 12 and two parallel rotating shafts 14. The rotating shafts 14 are horizontally arranged. Parallel sleeves 13 are fixed on both sides of the bottom of the fixed frame 11. The rotating shafts 14 pass horizontally through the sleeves 13, so that the two rotating shafts 14 are rotatably connected to the bottom of the fixed frame 11 respectively. The first motors 12 control the rotation angle of the rotating shafts 14 through gear transmission.

[0033] The clamping component includes two hooks 15 fixed to both ends of the rotating shaft 14 respectively. The openings of the hooks 15 on the two rotating shafts 14 are arranged opposite to each other. The hooks 15 are used to hook the unmanned vessel lifting mechanism. In order to improve the lifting stability, a second anti-slip rubber sheet 151 can also be set inside the hooks 15.

[0034] like Figure 1 , Figure 2 As shown, the unmanned vessel hoisting mechanism includes an adjustable mounting component and a hoisting component. The adjustable mounting component is used to install on the unmanned vessel and is applicable to unmanned vessels of different sizes. The hoisting component is located above the adjustable mounting component and is used for clamping and engaging with the hook 15 of the clamping component.

[0035] Specifically, the adjustable installation component includes two sets of parallel telescopic tube beams 21. The telescopic tube beams 21 include a first square tube 211 and a second square tube 212. The second square tube 212 slides into the first square tube 211. The sliding cooperation between the two can be damped, that is, the length of the telescopic tube beams 21 can be adjusted by using damping. In this embodiment, the first square tube 211 is provided with a fourth adjusting bolt 213. After the length of the telescopic tube beams 21 is adjusted, the fourth adjusting bolt 213 is tightened. The end of the fourth adjusting bolt 213 presses against the second square tube 212 and is limited by friction.

[0036] Both ends of the telescopic tube beam 21 have vertically sliding claws 22. Each claw 22 has a first anti-slip rubber sheet 221. The telescopic tube beam 21 has a third adjusting bolt 222, which is threaded to the top of the claw 22. Therefore, by rotating the third adjusting bolt 222, the lifting position of the claw 22 can be controlled. Furthermore, by adjusting the telescopic length of the telescopic tube beam 21, the distance between the two claws 22 in the first horizontal direction can be adjusted.

[0037] The hoisting component includes two truss rods 23, which are perpendicular to the telescopic tube beam 21. A first square tube 211 and a second square tube 212 are each fitted with a sliding sleeve 231 along their length. The sliding sleeve 231 has a first adjusting bolt 232 for pressing against the telescopic tube beam 21. After adjusting the position of the sliding sleeve 231, the first adjusting bolt 232 is tightened, and its end presses against the telescopic tube beam 21, using friction for limiting its position. A sliding hoop 233 is fixed to the sliding sleeve 231, and the truss rod 23 passes through the sliding hoop 233. This allows the telescopic tube beams 21 on both sides to slide relative to the truss rod 23, adjusting the distance between the two telescopic tube beams 21, thereby adjusting the distance between the two claws 22 in the second horizontal direction.

[0038] Furthermore, the sliding hoop 233 is provided with a second adjusting bolt 234 for pressing against the truss rod 23, that is, using friction to limit the movement and prevent the truss rod 23 from sliding out of position.

[0039] During installation, the distance between the two claws 22 in the first horizontal direction can be adjusted by adjusting the telescopic length of the telescopic tube beam 21. Then, the distance between the two telescopic tube beams 21 in the second horizontal direction can be adjusted by sliding the telescopic tube beams 21 on both sides relative to the truss rod 23, thereby adjusting the distance between the two claws 22 in the second horizontal direction to adapt to unmanned boats of different sizes. Then, by rotating the third adjusting bolt 222, the claws 22 rise and clamp the side of the unmanned boat.

[0040] Finally, the distance between the two truss rods 23 is adjusted by sliding the sleeve 231. This distance can be a fixed distance to fix the clamping of the adapter clamping component.

[0041] When recovering the unmanned vessel, the drone first flies directly above the vessel, then descends to the lowest point of hook 15 below the truss pole 23. The first motor 12 then controls the hooks 15 on both sides to rotate towards the center, hooking the truss pole 23 (see...). Figure 3 Because it is a hook-and-loop connection, the fault tolerance of the docking is extremely high. When one hook 15 is hooked, the hooking force will also correct the position of the unmanned boat, so that the truss rod 23 on the other side will be corrected and moved to the hook 15 on the other side to achieve hooking on both sides, which makes the stability stronger.

[0042] When deploying the unmanned vessel, the drone lifts the unmanned vessel into the water, and then the first motor 12 controls the hooks 15 on both sides to separate and flip, so that the hooks 15 are disengaged from the truss rod 23 and the lifting state is released.

[0043] In this way, small and medium-sized hydrological drones can remotely and contactlessly deploy, transport, and recover unmanned test vessels from the air, effectively solving the problem of personnel being unable to reach and transport unmanned test vessels in mountainous rivers, flood season shallows, and remote lakes and reservoirs, thereby reducing safety hazards in flood season, remote rivers, and shallows.

[0044] Furthermore, the adjustable mounting components with highly free-range claws 22 position adjustment can be applied to unmanned vessels of different sizes, achieving rigid fixation without modifying the hull, and eliminating the need for customized lifting equipment for different models, thus reducing equipment procurement and storage costs; Secondly, the adjustable mounting components are all assembled and disassembled with pipe bolts, making them lighter and easier to carry, suitable for disassembly, storage and transportation in the field.

[0045] Example 2 The difference between Example 2 and Example 1 is that, as Figure 4 , Figure 5 As shown, the hoisting component includes a positioning ring 3, which is horizontally positioned. In this embodiment, the axis of the positioning ring 3 is located directly above the center of gravity of the unmanned vessel.

[0046] The positioning ring 3 is located on the upper part of the adjustable mounting component. Specifically, the positioning ring 3 is fixed to the truss rod 23 by multiple support rods 235. The positioning ring 3 has an inner conical surface, the inner diameter of which gradually increases from top to bottom, that is, the upper opening of the inner conical surface is small and the lower opening is large. The upper opening of the positioning ring 3 extends outward radially into a circular planar ring 31.

[0047] A fixing plate 16 is fixed to the bottom of the fixing frame 11. In this embodiment, the axis of the fixing plate 16 is located directly below the center of gravity of the UAV, and the bottom surface of the fixing plate 16 is set as an abutment plane 161.

[0048] like Figure 5 , Figure 6 As shown, the driving component includes a second motor 17, which is vertically arranged and mounted at the center of the upper surface of the fixed disk 16. A first bevel gear 171 is fixed to the output end of the second motor 17, and the first bevel gear 171 is located below the fixed disk 16.

[0049] like Figure 5 , Figure 6As shown, the clamping component includes three internally threaded tubes 51 and a screw 52. Each internally threaded tube 51 is evenly arranged around the output shaft of the second motor 17. The internally threaded tubes 51 are perpendicular to the output shaft of the second motor 17, which can be understood as the internally threaded tubes 51 being parallel to the radial direction of the fixed disk 16. A support plate 172 is fixed on the bottom surface of the fixed disk 16. The internally threaded tubes 51 pass through the support plate 172 and are rotatably connected to the support plate 172. A second bevel gear 54 is fixed to one end of the internally threaded tube 51, and the second bevel gear 54 meshes with the first bevel gear 171.

[0050] The screw 52 passes through the internally threaded tube 51 and is threadedly engaged with the internally threaded tube 51. The end of the screw 52 is fixed with an abutment ball head 53, which is used to abut against the inner conical surface of the positioning ring 3.

[0051] The bottom of the fixed plate 16 is also provided with an anti-rotation component to prevent the screw 52 from rotating. Specifically, a connecting rod 173 is fixed to the support plate 172, and a slider 174 is fixed to the end of the connecting rod 173. The connecting rod 173 and the slider 174 constitute the anti-rotation component. The slider 174 is located near the opening of the internally threaded tube 51. A groove 521 extending along its own length direction is opened on the outer surface of the screw 52. The groove 521 can be a T-shaped groove. The slider 174 slides and engages with the groove 521, so that the screw 52 can only slide in a straight line and cannot rotate.

[0052] When recovering the unmanned surface vessel (USV), the screws 52 are pre-retracted into the internal threaded tube 51, meaning the diameter of the virtual circle formed by the abutting ball heads 53 of each screw 52 is minimized. The USV flies above the USV and then descends until the abutting ball heads 53 are located in the hollow part of the positioning ring 3. At this point, it is not necessary for the virtual circle formed by the abutting ball heads 53 of each screw 52 to be coaxial with the positioning ring 3; a large deviation between them is permissible. It is sufficient to ensure that each abutting ball head 54 is located in the hollow part of the positioning ring 3, which greatly improves the docking fault tolerance. Furthermore, because the diameter of the virtual circle formed by the abutting ball heads 53 of each screw 52 is minimized, each abutting ball head 53 can more easily enter the hollow part of the positioning ring 3.

[0053] Then, the second motor 17 starts to control the rotation of each internally threaded tube 51. Through threaded engagement and anti-rotation engagement, the screw 52 is controlled to move linearly and extend out of the internally threaded tube 51. The abutting ball head 53 of the screw 52 abuts against the inner conical surface of the positioning ring 3 to apply a normal force to the inner conical surface of the positioning ring 3. This normal force is divided into an axial upward component and a radial outward component. The radial outward components work together to make the virtual circle formed by the abutting ball heads 53 of each screw 52 coaxial with the positioning ring 3, that is, to achieve high-precision self-centering positioning and radial limiting. The axial upward component forces the surface ring of the positioning ring 3 to abut against the plane 161, that is, to achieve axial clamping limiting. The comprehensive limiting in two dimensions greatly improves the clamping stability and the lifting stability.

[0054] Secondly, even if there is a large deviation between the virtual circular axis formed by the abutting ball heads 53 of each screw 52 and the axis of the positioning ring 3, there will be a situation where one abutting ball head 53 abuts the inner conical surface of the positioning ring 3 first, while the other abutting ball heads 53 do not abut. In this case, the abutting ball head 53 that abuts first will correct the position of the positioning ring 3 by applying a radial outward component force, so that all abutting ball heads 53 can abut in the end. This makes the virtual circular axis formed by the abutting ball heads 53 of each screw 52 coaxial with the axis of the positioning ring 3, which greatly improves the docking fault tolerance, positioning correction effect and positioning limit accuracy.

[0055] It should also be noted that since the fixed surface is the inner conical surface of the positioning ring 3, that is, any point of the ring is fixed, the shape of the positioning ring 3 remains unchanged during the docking and recovery process, no matter what position the unmanned vessel turns to. The contact ball head 53 only needs to enter the positioning ring 3 from above. That is, the UAV does not need to adjust its own orientation to match the direction of the unmanned vessel, making docking more convenient and simple.

[0056] Furthermore, due to the threaded engagement, even if the second motor 17 is de-energized, the screw 52 will not retract but will continue to maintain the clamping state, thus achieving self-locking upon power failure.

[0057] Example 3 The difference between Example 3 and Example 2 is that, as Figure 7 , Figure 8 As shown, an elastic bellows 32 is coaxially fixed to the upper surface of the planar ring 31. The elastic bellows 32 has elastic expansion and contraction characteristics, and a planar bearing 33 is coaxially fixed to the top surface of the elastic bellows 32.

[0058] The inner conical surface of the positioning ring 3 is provided with a sliding surface 34 and a damping surface 35 from top to bottom. The sliding surface 34 is a smooth surface, which allows the abutting ball 53 to slide circumferentially on the sliding surface 34. The damping surface 35 can be a surface with a rubber coating to increase the resistance of the abutting ball 53 sliding circumferentially on the inner conical surface, or the damping surface 35 can be a rough surface with particle protrusions.

[0059] In this embodiment, the damping coefficient of the damping surface 35 gradually increases from top to bottom, so that when the contact ball head 53 moves axially on the inner conical surface, the sliding surface 34 can enter the damping surface 35 more naturally, reducing the sudden impact at the junction of the two areas.

[0060] One of the truss rods 23 is fixed with a tail fin 5, which is located away from the adjustable mounting components and is positioned behind the stern of the unmanned vessel.

[0061] By setting up a planar bearing 33, an elastic bellows 32, and a damping surface 35, when the abutting ball 53 abuts against the sliding surface 34, the upper surface of the planar bearing 33 is in contact with the abutting plane 161, and the elastic bellows 32 is in an uncompressed or slightly compressed state. At this time, while completing the docking and hoisting, the abutting ball 53 can slide circumferentially relative to the sliding surface 34, and the planar bearing 33 can rotate, that is, the unmanned vessel can rotate freely relative to the unmanned aerial vehicle. This is the state of free rotation.

[0062] As the screw 52 extends further, the abutting ball 53 of the screw 52 can move downward along the inner conical surface, that is, the positioning ring 3 rises, and the abutting ball 53 enters the damping surface 35. The upward movement of the positioning ring 3 compresses the elastic bellows 32, resulting in stronger clamping stability and a stronger damping effect. The damping surface 35 increases the resistance of the abutting ball 53 sliding circumferentially on the inner conical surface, that is, the unmanned ship rotates relative to the drone with damping. This is the state of damping rotation.

[0063] In this way, in the free rotation state, the unmanned ship can rotate freely around the axis of the positioning ring 3. When the drone is carrying the unmanned ship in flight, the unmanned ship is automatically aligned with the wind direction by the aerodynamic force of the airflow, which greatly reduces the lateral drag of the flight.

[0064] Secondly, in the absence of wind or with low wind speed, the drone carries the unmanned boat and moves it in a straight line at high speed. The unmanned boat has a relatively high relative airflow speed. This relative airflow will also pass through the streamlined hull of the unmanned boat and cooperate with the tail fin 5 at the rear to guide the long axis of the unmanned boat to align with the relative wind direction. That is, wherever the drone flies, the unmanned boat will face that direction, which greatly reduces the lateral drag of the flight.

[0065] Furthermore, when the unmanned vessel is deployed into the water, due to its free rotation, the direction of the river flow will be guided by the streamlined hull and tail fin 5 of the unmanned vessel to align the long axis of the hull with the direction of the water flow. The unmanned vessel will be aligned with the water entry attitude as soon as it enters the water, and the drone will not need to adjust its own attitude and orientation to complete the deployment of the unmanned vessel, which is more convenient and faster.

[0066] Furthermore, when preparing to lift and recover the unmanned boat, the unmanned boat is in a free-rotating state, and the drone only needs to hold the positioning ring 3. The rotational torque of the unmanned boat caused by the water flow will not be transmitted to the drone through damping, so as to ensure the stability of the drone's attitude during the holding process.

[0067] When hoisting unmanned vessels, in the event of extreme gusts of wind, the system can switch to damped rotation mode, allowing the drone to control and stabilize the rotation amplitude of the unmanned vessel. This means using the drone's attitude stabilization control to cope with extreme gusts and reduce attitude disturbances caused by the high-speed rotation of the unmanned vessel.

[0068] It should be noted that since the damping surface 35 is a transitional change and the compressive force of the elastic bellows 32 is also positively correlated with it, the damping force can be controlled according to the extension amount of the screw 52 to suit different working conditions.

[0069] Example 4 The difference between Example 4 and Example 3 is that, as Figure 9 , Figure 10 As shown, the positioning ring 3 is vertically slidably connected to the adjustable mounting component. Specifically, a flat plate 236 is fixed to the top of the support rod 235, and a vertical guide rod 237 is fixed to the flat plate 236. A lifting plate 36 is fixed to the lower end of the positioning ring 3, and the guide rod 237 passes through the lifting plate 36, so that the positioning ring 3 can move vertically relative to the support rod 235.

[0070] like Figure 10 As shown, the unmanned surface vessel hoisting mechanism also includes a retraction and deployment component for deploying and folding the tail fin 5. The retraction and deployment component includes a worm 55, a worm wheel 56, a first connecting rod 57, a second connecting rod 58, and a lever 59. The worm 55 is coaxially arranged with the positioning ring 3 and is located directly below the axis of the positioning ring 3. The worm 55 is rotatably arranged relative to the truss rod 23. The worm wheel 56 is located on one side of the worm 55 and is rotatably arranged relative to the truss rod 23. The worm wheel 56 meshes with the worm 55.

[0071] The upper end of the worm 55 is provided with a meshing groove 551. The longitudinal section of the meshing groove 551 is V-shaped. The groove surface of the meshing groove 551 is composed of multiple planes. The lower end of the output shaft of the second motor 17 is provided with a meshing head 552 for downward insertion into the meshing groove 551. The surface of the meshing head 552 is composed of multiple planes. The meshing head 552 can be understood as a pyramid.

[0072] The upper end of the first link 57 is fixed coaxially with the worm gear 56. The upper end of the second link 58 is hinged to the lower end of the first link 57. The lower end of the second link 58 is hinged to one end of the lever 59. The other end of the lever 59 is fixed to the tail fin 5. The part of the lever 59 near the second link 58 is hinged to the hinge seat 238 of the truss rod 23.

[0073] When the unmanned vessel is hoisted in the air, tail fin 5 is in the deployed state (lever 59 is horizontal, and tail fin 5 is located directly behind the unmanned vessel to serve as a guide). When the drone is deployed into the water, the second motor 17 rotates forward, and the screw 52 extends further, abutting the ball head 53 and moving to the damping surface 35 to achieve a high damping state. This can be understood as the fixed plate 16 being fixed to the positioning ring 3, facilitating the torque transmission of the subsequent engagement head 552. Then, the drone descends a certain distance, and under the support of buoyancy, the unmanned surface vessel does not continue to descend. That is, the drone drives the positioning ring 3 to move downward, causing the engagement head 552 of the second motor 17 to move downward into the engagement groove 551 of the worm gear 55, achieving engagement. Then, the second motor 17 continues to rotate forward, and as the screw 52 extends (abutting the ball head 53 and continuing to move along the damping surface 35), the worm gear 55 rotates forward, causing the worm wheel 56 to rotate forward at a small angle, swinging the first connecting rod 57, amplifying the stroke, and lifting the lever 59 and the tail fin 5 to achieve the folding of the tail fin 5 (see...). Figure 11 Then the drone moves upward, causing the positioning ring 3 to move upward. The unmanned boat does not move upward under the action of gravity, and the meshing head 552 disengages from the meshing groove 551. Due to the self-locking characteristics of the worm gear 56 and worm 55, the tail fin 5 remains in a folded state. Finally, the second motor 17 rotates in the opposite direction, and the screw 52 retracts into the internal thread tube 51 to release the clamping of the positioning ring 3.

[0074] In this way, the retractable tail fin 5 can reduce the likelihood of it becoming entangled in weeds or being damaged by collisions while the unmanned vessel is moving in the river. Furthermore, the use of a single power source, coupled with a clutchable mechanical linkage for retraction and deployment, effectively reduces the load during lifting.

[0075] When recovering the unmanned surface vessel (USV), preparations need to be made for the deployment of the tail fin 5. Specifically, the second motor 17 rotates forward, the screw 52 extends, and the abutting ball 53 abuts against the inner conical surface of the positioning ring 3 to achieve clamping. Then, the second motor 17 continues to rotate forward until the abutting ball 53 abuts against the lower part of the damping surface 35. At this point, the clamping force is at its maximum. This can be understood as the fixed plate 16 being fixed to the positioning ring 3, facilitating the torque transmission of the subsequent meshing head 552. Then, the USV descends a certain distance, and under the support of buoyancy, the USV does not continue to descend. That is, the drone drives the positioning ring 3 to move downward, causing the meshing head 552 of the second motor 17 to move downward into the meshing groove 551 of the worm 55, achieving meshing. Then, the second motor 17 rotates in the opposite direction, and the screw 52 retracts (although it moves upward along the damping surface 35 against the ball head 53, the movement distance is small, and it still maintains a high damping state). The worm 55 rotates in the opposite direction, causing the worm wheel 56 to rotate in the opposite direction at a small angle, so as to swing the first connecting rod 57, increase the stroke, and lower the lever 59 and the tail fin 5, thereby realizing the deployment of the tail fin 5 (see...). Figure 9Then the drone moves upward, causing the positioning ring 3 to move upward. The unmanned boat does not move upward under the action of gravity. The meshing head 552 disengages from the meshing groove 551. Due to the self-locking characteristics of the worm gear 56 and worm 55, the tail fin 5 remains in the deployed state. And because the abutting ball head 53 still holds the positioning ring 3, the drone can lift the unmanned boat for flight.

[0076] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A split-type hoisting support system for hydrological unmanned aerial vehicles (UAVs), characterized in that, The system includes an electronically controlled clamping mechanism for unmanned aerial vehicles (UAVs) and an unmanned surface vessel (USV) hoisting mechanism. The UAV electronically controlled clamping mechanism includes a fixing component, a driving component, and a clamping component. The fixing component is installed on the bottom of the UAV, the clamping component is located below the fixing component, and the driving component controls the movement of the clamping component. The USV hoisting mechanism includes an adjustable mounting component and a hoisting component. The adjustable mounting component is installed on the USV, and the hoisting component is located above the adjustable mounting component. The hoisting component is used for clamping and engaging with the clamping component.

2. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 1, characterized in that, The adjustable installation component includes two sets of parallel telescopic tube beams (21), and the hoisting component includes at least two truss rods (23). The truss rods (23) are perpendicular to the telescopic tube beams (21). The telescopic tube beams (21) are slidably fitted with sliding sleeves (231). The sliding sleeves (231) are provided with a first adjusting bolt (232) for pressing against the telescopic tube beams (21). The sliding sleeves (231) are fixed with sliding hoops (233). The truss rods (23) pass through the sliding hoops (233). The sliding hoops (233) are provided with a second adjusting bolt (234) for pressing against the truss rods (23). Both ends of the telescopic tube beams (21) are vertically slidable with claws (22). The telescopic tube beams (21) are provided with a third adjusting bolt (222) for adjusting the lifting position of the claws (22).

3. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 2, characterized in that, The driving component includes two first motors (12) and two parallel rotating shafts (14). The rotating shafts (14) are horizontally arranged and the two rotating shafts (14) are rotatably connected to the bottom sides of the fixing component. The first motors (12) are used to control the rotation angle of the rotating shafts (14). The clamping component includes two hooks (15) fixed to both ends of the rotating shafts (14). The openings of the hooks (15) of the two rotating shafts (14) are arranged opposite to each other. The hooks (15) are used to hook the truss rod (23).

4. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 3, characterized in that, The fixing component includes a fixing frame (11) made of multiple hollow tubes. The fixing frame (11) is provided with connecting screw holes (111). Sleeves (13) are fixed on both sides of the bottom of the fixing frame (11). The rotating shaft (14) passes horizontally through the sleeves (13).

5. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 3, characterized in that, The claw (22) is provided with a first anti-slip rubber sheet (221), and the hook (15) is provided with a second anti-slip rubber sheet (151).

6. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 1, characterized in that, The hoisting component includes a positioning ring (3), which is horizontally positioned and located on the upper part of the adjustable mounting component. The positioning ring (3) has an inner conical surface, and the inner diameter of the inner conical surface gradually increases from top to bottom. The upper opening of the positioning ring (3) extends outward radially to form a circular planar ring (31). The bottom of the fixing component is provided with an abutment plane (161). The clamping component is used to apply a radially outward force to the inner conical surface of the positioning ring (3) and force the planar ring (31) to adhere upward to the abutment plane (161).

7. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 6, characterized in that, The driving component includes a second motor (17), which is vertically arranged. The output end of the second motor (17) is fixed with a first bevel gear (171). The clamping component includes at least three internally threaded tubes (51) and a screw (52). Each internally threaded tube (51) is evenly arranged around the output shaft of the second motor (17). The internally threaded tubes (51) are perpendicular to the output shaft of the second motor (17). The internally threaded tubes (51) are rotatably connected to the bottom of the fixing component. One end of the internally threaded tube (51) is fixed with a second bevel gear (54) that cooperates with the first bevel gear (171). The screw (52) is threadedly engaged with the internally threaded tubes (51). The bottom of the fixing component is provided with an anti-rotation member to prevent the screw (52) from rotating. The end of the screw (52) is provided with an abutment ball head (53), which is used to abut against the inner conical surface of the positioning ring (3).

8. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 7, characterized in that, The upper surface of the planar ring (31) is coaxially fixed with an elastic bellows (32), and the top surface of the elastic bellows (32) is coaxially fixed with a planar bearing (33). The upper surface of the planar bearing (33) is used to fit the abutment plane (161). A tail fin (5) is provided on one side of the adjustable component. The inner conical surface of the positioning ring (3) is provided with a sliding surface (34) and a damping surface (35) from top to bottom.

9. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 8, characterized in that, The damping coefficient of the damping surface (35) gradually increases from top to bottom.

10. The hydrological unmanned aerial vehicle (UAV) split-type hoisting support system according to claim 8, characterized in that, It also includes a retractable component for deploying and folding the tail fin (5). The positioning ring (3) is vertically slidably connected to the adjustable mounting component. The retractable component includes a worm (55), a worm wheel (56), a first connecting rod (57), a second connecting rod (58), and a lever (59). The worm (55) is coaxially arranged with the positioning ring (3). The upper end of the worm (55) is provided with a meshing groove (551). The lower end of the output shaft of the second motor (17) is provided with a groove for downward insertion into the meshing groove. The meshing head (552) inside 551) is connected to the worm gear (56) and the worm (55). The upper end of the first connecting rod (57) is fixed coaxially with the worm gear (56). The upper end of the second connecting rod (58) is hinged to the lower end of the first connecting rod (57). The lower end of the second connecting rod (58) is hinged to one end of the lever (59). The other end of the lever (59) is fixed to the tail fin (5). The part of the lever (59) near the second connecting rod (58) is hinged to the adjustable mounting component.

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