Unmanned helicopter carrier landing electromagnet system

Abstract

The utility model is suitable for the technical field of ship-borne unmanned helicopters, and provides an unmanned helicopter carrier landing electromagnet system, which comprises a ground station, a flight control system, an airborne direct current power supply, a circuit integrated control box, a bistable electromagnet and four fixing mechanisms, the flight control system and the circuit integrated control box are placed in a cabin of the unmanned helicopter, and the bistable electromagnet is fixedly connected to an undercarriage of the unmanned helicopter through the fixing mechanism. According to the unmanned helicopter carrier landing electromagnet system, the landing position is not limited, magnetism can be permanently generated or eliminated only through instantaneous charging, continuous charging of external power supply equipment is not needed, power loss is reduced, regular replacement of a power supply is not needed, the use mode is simpler, meanwhile, the dead weight of an unmanned helicopter is reduced, and the unmanned helicopter carrier landing electromagnet system is convenient to use. And the fixing mechanism has a certain displacement margin, so that the requirement of the device for the flatness of the deck is reduced, the adsorption success rate is increased, and the damage probability of the electromagnet is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of shipborne unmanned helicopters, and in particular relates to an unmanned helicopter landing electromagnet system. Background Art

[0002] Shipborne unmanned helicopters offer advantages unmatched by other unmanned aerial vehicles (UAVs), such as convenient configuration, flexible operation, and exceptional suitability for shipboard takeoff and landing. Equipped with small radars, electro-optical pods, target designators, relay guidance, and electronic warfare equipment, they can significantly enhance a ship's ability to penetrate and reconnaissance high-risk targets, provide communications and navigation relay capabilities, conduct electronic warfare countermeasures, and conduct joint operations in naval battles. The development of shipborne unmanned helicopters has become a crucial component in the formation, improvement, and development of future comprehensive maritime combat capabilities.

[0003] In order to prevent relative movement between the ship-borne unmanned helicopter and the hull deck due to the shaking of the ship, which may cause the unmanned helicopter to slip or overturn, it needs to be fixed and locked. This requires the installation of a hook and lock device on the deck. This not only places higher requirements on the landing accuracy of the unmanned helicopter, but also it is not easy to design a harpoon that can hook and lock a drone weighing hundreds of kilograms. Corresponding mechanical structures or devices must be designed on the ship deck and the fuselage landing gear. In addition, the use of a harpoon device will increase the extra weight of the fuselage and reduce the carrying capacity of the unmanned helicopter.

[0004] Chinese patent CN116788545A discloses a detachable multi-directional unmanned helicopter landing and take-off platform. The separate arrangement of the central landing and take-off tethering platform and the auxiliary platform can make the purchase, processing, transportation and installation of the materials of the unmanned helicopter landing and take-off platform more convenient, and reduce the cost and difficulty of subsequent equipment maintenance and repair; however, it has high requirements for the landing accuracy of the unmanned helicopter, and the volume is still large, which is inconvenient to process and transport. In addition, a device for fixing the landing and take-off platform needs to be installed on the deck, which is a relatively complicated method.

[0005] Chinese patent CN107323678A discloses a landing assist device for an unmanned helicopter. This technical solution uses electromagnets to assist the take-off and landing of the unmanned helicopter, replacing fixed devices such as ground take-off and landing platforms or harpoons. It has a simple structure and is easy to process and transport. However, its electromagnets are directly fixed to the landing gear of the unmanned helicopter, which requires high flatness of the landing surface. In addition, the electromagnets need to be continuously powered during the adsorption process, requiring an additional onboard power supply, which increases functional loss and reduces carrying capacity. The power supply time of a single power supply is limited and needs to be replaced regularly, making the disassembly and installation process complicated. Summary of the Invention

[0006] The present invention provides an unmanned helicopter landing electromagnet system, aiming to solve the problems in the above-mentioned background technology.

[0007] The present invention is implemented as follows: an unmanned helicopter landing electromagnet system includes a ground station, a flight control system, an onboard DC power supply, a circuit integrated control box, a bistable electromagnet, and four fixing mechanisms. The flight control system and the circuit integrated control box are placed in the cabin of the unmanned helicopter. The bistable electromagnet is fixedly connected to the landing gear of the unmanned helicopter via the fixing mechanisms. The circuit integrated control box forms a closed loop with the onboard DC power supply and the bistable electromagnet, and is electrically connected to the flight control system.

[0008] The ground station sends a command signal, and after the flight control system receives and identifies the signal, it controls the relay to charge the bistable electromagnet on the landing gear, thereby creating or eliminating the magnetic attraction effect with the contacting metal surface.

[0009] Preferably, the circuit integrated control box consists of a boost module, an intelligent module button, a first relay switch, a second relay switch and a storage capacitor, the bistable electromagnet charging control closed loop, and is electrically connected to the flight control system, the boost module, the intelligent module button, the first relay switch, the second relay switch, the storage capacitor, the bistable electromagnet and the onboard DC power supply form an electrical circuit through wires.

[0010] Preferably, the four fixing mechanisms are respectively located at the front and rear ends of the two landing gears of the unmanned helicopter and are symmetrically arranged. There are twelve bistable electromagnets, and the twelve bistable electromagnets are grouped into three corresponding to each fixing mechanism.

[0011] Preferably, the fixing mechanism includes a first connecting member, a second connecting member, a spring hinge, and three elastic shock absorbers. The first connecting member is detachably connected to the landing gear of the unmanned helicopter via a plurality of bolts. The bistable electromagnet is fixedly connected to the second connecting member via the elastic shock absorber. The first connecting member and the second connecting member are connected via a spring hinge.

[0012] Preferably, by pressing the button of the intelligent module once, the first relay switch is changed to connect the circuit between the bistable electromagnet and the storage capacitor, and the storage capacitor is discharged to charge the bistable electromagnet, and the duration is 1 second.

[0013] Preferably, after 1 second, the button of the intelligent module automatically controls the first relay switch to return to the state where the onboard DC power supply and the storage capacitor are connected, the storage capacitor is charged, and the bistable electromagnet generates an adsorption force.

[0014] Preferably, the second relay switch is controlled so that after the circuit is connected, the current of the bistable electromagnet is reversed, and the button of the intelligent module is pressed once again to reversely charge the bistable electromagnet for 1 second to eliminate the adsorption force of the bistable electromagnet.

[0015] Preferably, the onboard DC power supply is 28V, and the boost module can convert the onboard DC power supply into 250V.

[0016] Preferably, the plurality of bistable electromagnets have the same structure and are fixed to the landing gear of the unmanned helicopter via four fixing mechanisms, and a single bistable electromagnet generates an adsorption force of 30 kg.

[0017] Beneficial effects

[0018] Compared with the prior art, the beneficial effects of the present invention are: an unmanned helicopter landing electromagnet system of the present invention has a simple structure and is easy to install. It only needs to install a fixing mechanism at four positions of the unmanned helicopter landing gear. Each fixing mechanism is equipped with 3 bistable electromagnets, which can generate a total adsorption force of 360kg. It only needs to be installed on the unmanned helicopter landing gear without modifying the deck. As long as the deck is an iron plane, the landing position is not restricted. It only needs instantaneous charging to permanently generate or eliminate magnetism. It does not require external power supply equipment to continuously charge, reduces power loss, does not require regular replacement of power supply, and is simpler to use. At the same time, it also reduces the weight of the unmanned helicopter, and the fixing mechanism has a certain displacement margin, which reduces the device's requirements for the flatness of the deck, increases the adsorption success rate, reduces the probability of damage to the electromagnet, and extends the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of the unmanned helicopter landing electromagnet system of the present invention;

[0020] Figure 2 Schematic diagram of the structure of the unmanned helicopter and the bistable electromagnet in the present invention;

[0021] Figure 3 Schematic diagram of a closed circuit for charging control of a bistable electromagnet in the present invention;

[0022] Figure 4 It is a structural schematic diagram of the fixing mechanism in the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the unmanned helicopter on the deck.

[0024] In the figure: 1. Flight control system; 2. Airborne DC power supply; 3. Circuit integrated control box; 4. Fixing mechanism; 5. First connecting member; 6. Second connecting member; 7. Spring hinge; 8. Elastic shock absorber; 9. Unmanned helicopter; 10. Ground station; 11. Intelligent module button; 12. First relay switch; 13. Second relay switch; 14. Bistable electromagnet; 15. Storage capacitor; 16. Boost module. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present 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 only used to explain the present invention and are not intended to limit the present invention.

[0026] See also Figure 1-4 The present invention provides a technical solution: an unmanned helicopter landing electromagnet system, comprising a ground station 10, a flight control system 1, an onboard DC power supply 2, a circuit integrated control box 3, a bistable electromagnet 14, and four fixing mechanisms 4. The flight control system 1 and the circuit integrated control box 3 are placed in the cabin of the unmanned helicopter 9. The bistable electromagnet 14 is fixedly connected to the landing gear of the unmanned helicopter 9 through the fixing mechanisms 4. The circuit integrated control box 3 forms a closed loop with the onboard DC power supply 2 and the bistable electromagnet 14, and is electrically connected to the flight control system 1.

[0027] The ground station 10 sends a command signal, and after the flight control system 1 receives and identifies the signal, it controls the relay to charge the bistable electromagnet 14 on the landing gear, thereby generating or eliminating the magnetic attraction effect with the contacting metal surface.

[0028] Furthermore, the circuit integrated control box 3 is composed of a boost module 16, an intelligent module button 11, a first relay switch 12, a second relay switch 13, a storage capacitor 15, and a bistable electromagnet 14 charging control closed loop, and is electrically connected to the flight control system 1. The boost module 16, the intelligent module button 11, the first relay switch 12, the second relay switch 13, the storage capacitor 15, the bistable electromagnet 14 and the onboard DC power supply 2 form an electrical circuit through wires.

[0029] Furthermore, the four fixing mechanisms 4 are respectively located at the front and rear ends of the two landing gears of the unmanned helicopter 9 and are symmetrically arranged. There are twelve bistable electromagnets 14 , and the twelve bistable electromagnets 14 form a group of three corresponding to each fixing mechanism 4 .

[0030] Furthermore, the fixing mechanism includes a first connecting member 5, a second connecting member 6, a spring hinge 7, and three elastic shock absorbers 8. The first connecting member 5 is disassembled and connected to the landing gear of the unmanned helicopter 9 by several bolts. The bistable electromagnet 14 is fixedly connected to the second connecting member 6 through the elastic shock absorber 8. The first connecting member 5 and the second connecting member 6 are connected by a spring hinge 7.

[0031] Furthermore, by pressing the smart module button 11 once, the first relay switch 12 switches to connect the circuit between the bistable electromagnet 14 and the storage capacitor 15 , and the storage capacitor 15 discharges to charge the bistable electromagnet 14 , and the duration is 1 second.

[0032] Furthermore, after 1 second, the smart module button 11 automatically controls the first relay switch 12 to return to the state where the onboard DC power supply 2 is connected to the storage capacitor 15 , the storage capacitor 15 is charged, and the bistable electromagnet 14 generates an adsorption force.

[0033] Furthermore, the second relay switch 13 is controlled so that after the circuit is connected, the current of the bistable electromagnet 14 is reversed, and the smart module button 11 is pressed again to reversely charge the bistable electromagnet 14 for 1 second, thereby eliminating the adsorption force of the bistable electromagnet 14.

[0034] Furthermore, the onboard DC power supply 2 is 28V, and the boost module 16 can convert the onboard DC power supply 2 into 250V.

[0035] Furthermore, the multiple bistable electromagnets 14 have the same structure and are fixed to the landing gear of the unmanned helicopter 9 through four fixing mechanisms 4. A single bistable electromagnet 14 generates an adsorption force of 30 kg.

[0036] The structure is simple and easy to install. It only needs to install a fixing mechanism 4 at four positions of the unmanned helicopter 9 landing gear. Each fixing mechanism 4 is equipped with three bistable electromagnets, which can generate a total adsorption force of 360kg. It only needs to be installed on the unmanned helicopter landing gear. There is no need to modify the deck. As long as the deck is an iron plane, it will be fine.

[0037] The landing position is not restricted, and only instant charging is required to permanently generate or eliminate magnetism. No external power supply equipment is required for continuous charging, which reduces power loss and does not require regular replacement of power supply. The use is simpler and the weight of the unmanned helicopter is also reduced.

[0038] The fixing mechanism 4 has a certain displacement margin, which reduces the flatness requirement of the deck, increases the adsorption success rate, reduces the damage probability of the electromagnet, and extends the service life.

[0039] See also Figure 5In the figure, G is the weight of the unmanned helicopter, N1 is the combined force of the deck's support force on the unmanned helicopter and the magnetic attraction force, and F is the friction force. Assuming that the friction coefficient between the deck, the unmanned helicopter's landing gear, and the electromagnet is μ, the calculation formulas for N1 and F are:

[0040] N1=G×cosθ+30×12

[0041] F max =N1×μ

[0042] It can be seen that when the deck tilt angle is θ, in order to maintain the unmanned helicopter in a stationary state on the deck, the following conditions must be met:

[0043] F max =(G×cosθ+30×12)×μ≥G×sinθ

[0044] According to the above formula, the maximum weight that the device of the present invention can maintain at rest under different friction coefficients and different tilt angles can be calculated, as shown in the following table. The friction coefficient is 0.2-0.3, and the tilt angle is 5°-30°.

[0045]

[0046] The ∞ symbol in the table indicates that any weight can remain stationary. The unmanned helicopter equipped with the landing electromagnet system in this paper weighs 190 kg. As can be seen from the table above, the landing electromagnet system designed in this invention can keep it stationary even when the deck is tilted at a 30° angle.

[0047] The working principle and use process of the present invention are as follows: After the present invention is installed and the power is turned on, the 28V airborne DC power supply 2 is converted into a 250V DC power supply through the boost module 16, and the first relay switch 12 is normalized to connect the circuit between the airborne DC power supply 2 and the storage capacitor 15, and the storage capacitor 15 is charged; press the intelligent module button 11 once, the first relay switch 12 is changed to connect the circuit between the bistable electromagnet 14 and the storage capacitor 15, and the storage capacitor 15 is discharged to charge the bistable electromagnet 14, and the duration is 1 second. After 1 second, the intelligent module button 11 automatically controls the first relay switch 12 to change back to the state of connecting the airborne DC power supply 2 and the storage capacitor 15, the storage capacitor 15 is charged, and the bistable electromagnet 14 generates adsorption force, and then, The second relay switch 13 is controlled so that after the circuit is connected, the current of the bistable electromagnet 14 is reversed. The intelligent module button 11 is pressed again to reversely charge the bistable electromagnet 14 for 1 second, thereby eliminating the adsorption force of the bistable electromagnet 14. The landing position is not restricted. Only instantaneous charging is required to permanently generate or eliminate magnetism. No external power supply equipment is required for continuous charging, which reduces power loss and does not require regular replacement of the power supply. The method of use is simpler and the weight of the unmanned helicopter is also reduced. The fixing mechanism 4 has a certain displacement margin, which reduces the flatness requirements of the deck of the device, increases the adsorption success rate, reduces the probability of damage to the electromagnet, extends the service life, facilitates landing work, and improves landing stability.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An unmanned helicopter landing electromagnet system, comprising a ground station (10), a flight control system (1), an onboard DC power supply (2), a circuit integrated control box (3), a bistable electromagnet (14) and four fixing mechanisms (4), characterized in that: The flight control system (1) and the circuit integrated control box (3) are placed in the cabin of the unmanned helicopter (9); the bistable electromagnet (14) is fixedly connected to the landing gear of the unmanned helicopter (9) through the fixing mechanism (4); the circuit integrated control box (3) forms a closed loop with the onboard DC power supply (2) and the bistable electromagnet (14), and is electrically connected to the flight control system (1); The ground station (10) sends a command signal, and after the flight control system (1) receives and identifies the signal, it controls the relay to charge the bistable electromagnet (14) on the landing gear, thereby generating or eliminating the magnetic attraction effect with the metal plane in contact.

2. The unmanned helicopter landing electromagnet system according to claim 1, characterized in that: The circuit integrated control box (3) is composed of a boost module (16), an intelligent module button (11), a first relay switch (12), a second relay switch (13) and a storage capacitor (15), and the bistable electromagnet (14) is charged to control a closed loop and is electrically connected to the flight control system (1). The boost module (16), the intelligent module button (11), the first relay switch (12), the second relay switch (13), the storage capacitor (15), the bistable electromagnet (14) and the onboard DC power supply (2) form an electrical loop through wires.

3. The unmanned helicopter landing electromagnet system according to claim 1, characterized in that: The four fixing mechanisms (4) are respectively located at the front end and the rear end of the two landing gears of the unmanned helicopter (9) and are symmetrically arranged. There are twelve bistable electromagnets (14), and the twelve bistable electromagnets (14) are grouped into three and correspond to each fixing mechanism (4).

4. The unmanned helicopter landing electromagnet system according to claim 1, characterized in that: The fixing mechanism comprises a first connecting member (5), a second connecting member (6), a spring hinge (7), and three elastic shock absorbers (8); the first connecting member (5) is detachably connected to the landing gear of the unmanned helicopter (9) via a plurality of bolts; the bistable electromagnet (14) is fixedly connected to the second connecting member (6) via the elastic shock absorber (8); and the first connecting member (5) and the second connecting member (6) are connected via the spring hinge (7).

5. The unmanned helicopter landing electromagnet system according to claim 2, characterized in that: When the intelligent module button (11) is pressed once, the first relay switch (12) is switched to connect the circuit between the bistable electromagnet (14) and the storage capacitor (15), and the storage capacitor (15) is discharged to charge the bistable electromagnet (14), and the duration is 1 second.

6. The unmanned helicopter landing electromagnet system according to claim 5, characterized in that: After 1 second, the intelligent module button (11) automatically controls the first relay switch (12) to return to the state where the onboard DC power supply (2) and the storage capacitor (15) are connected, the storage capacitor (15) is charged, and the bistable electromagnet (14) generates an adsorption force.

7. The unmanned helicopter landing electromagnet system according to claim 6, characterized in that: The second relay switch (13) is controlled so that after the circuit is connected, the current of the bistable electromagnet (14) is reversed, and the intelligent module button (11) is pressed once again to reversely charge the bistable electromagnet (14) for a duration of 1 second, thereby eliminating the adsorption force of the bistable electromagnet (14).

8. The unmanned helicopter landing electromagnet system according to claim 2, characterized in that: The onboard DC power supply (2) is 28V, and the boost module (16) can convert the onboard DC power supply (2) into 250V.

9. The unmanned helicopter landing electromagnet system according to claim 1, characterized in that: The plurality of bistable electromagnets (14) have the same structure and are fixed to the landing gear of the unmanned helicopter (9) through four fixing mechanisms (4). A single bistable electromagnet (14) generates an adsorption force of 30 kg.

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