High-speed self-stabilization bidirectional energy replenishment platform, helicopter performance enhancement system, and collaboration method

Abstract

A high-speed self-stabilization bidirectional energy replenishment platform (2), a helicopter performance enhancement system, and a collaboration method. The helicopter performance enhancement system comprises: a helicopter (1), a high-speed self-stabilization bidirectional energy replenishment platform (2), one or more high-speed vertical take-off and landing unmanned wingmen (3), and a fixed-wing tanker aircraft (4), wherein the high-speed self-stabilization bidirectional energy replenishment platform (2) can fly autonomously and is connected to the helicopter (1) by means of an energy replenishment docking port (22) of the energy replenishment platform; the high-speed self-stabilization bidirectional energy replenishment platform (2) replenishes energy from the helicopter (1) by means of a main aircraft tethered energy-replenishment cable (13) and performs information collaboration, and provides tethering and energy replenishment for the unmanned wingmen (3) by means of an energy replenishment tethering interface (25) of the energy replenishment platform; situation awareness and information sharing are implemented between the helicopter (1) and a fleet of unmanned wingmen (3) by means of the high-speed self-stabilization bidirectional energy replenishment platform (2), and task allocation and special condition handling are performed by means of intelligent coordination of the fleet of unmanned wingmen (3); moreover, the high-speed self-stabilization bidirectional energy replenishment platform (2) can dock with a tanker aircraft tethered energy-replenishment interface (45) of the tanker aircraft (4) to replenish energy for the helicopter (1).

Description

High-speed self-stabilizing two-way energy replenishment platform, helicopter efficiency enhancement system and coordination method Technical Field

[0001] The present invention belongs to the technical field of aircraft systems, and in particular relates to a high-speed self-stabilizing two-way energy replenishment platform, a helicopter efficiency enhancement system and a coordination method. Background Art

[0002] Helicopters can take off and land vertically without relying on a runway, and can perform low-altitude, low-speed, sideways, and backward maneuvers. These characteristics give them broad uses and development prospects: they have been widely used in logistics support, command and control, communications, short-distance transportation, medical rescue, disaster relief, emergency rescue, lifting equipment, geological exploration, forest protection and fire fighting, aerial photography, etc.

[0003] In areas such as fire prevention monitoring and line inspections, helicopters offer the advantages of high maneuverability, wide inspection ranges, and a wide field of view. Using helicopters for aerial patrols allows for all-around, three-dimensional scanning, easily achieving full coverage of forest fire inspections. This is particularly true for quickly and accurately identifying hotspots and fire points in sparsely populated forest areas with high mountains, long roads, and low populations. Upon discovering a forest fire, crews can use helicopters for close-up observation, conducting scientific analysis of the fire scene, forest vegetation types, and firefighting routes. They can also transport firefighters through vertical landings for rapid extinguishing.

[0004] In the police sector, police helicopters can reach their destinations within half an hour in larger cities, including provincial capitals, and can perform tasks such as urban patrol, situational monitoring, and emergency management. According to estimates, the effective observation range of a city patrol car is 2,230 square meters. A police helicopter, at an altitude of 150 meters, can monitor the same area up to 46,000 square meters, 20 times that of a police car, equivalent to the patrol of more than 200 patrol officers. A police car can cover 6.5 kilometers of streets, which takes 5 to 12 minutes depending on street conditions, while a helicopter can do so in just 2.5 minutes. Police helicopters, with their wide mission radius, extensive monitoring area, and rapid arrival times, play a significant role in urban security.

[0005] Because helicopters are highly effective at low-altitude operations, the current approach to expanding their capabilities is to use drones and helicopters in collaborative operations. By seamlessly transmitting sensor and target data between manned and unmanned aircraft, comprehensive situational awareness and operational networks can be established. For example, drones can be used in search and rescue (SAR) missions, where drones can be controlled by manned aircraft and used to drop supplies (e.g., food and medicine) for rescue missions.

[0006] In the future, the number of different types of unmanned systems used in various fields will increase significantly. For example, in the civilian sector, the global market for unmanned aerial vehicles is estimated to reach approximately US$14 billion by 2026, a 300% increase compared to 2017.

[0007] However, the current level of low-altitude wingman aircraft that can be adapted to manned helicopters still needs to be improved. For example, in October 2020, the U.S. Army used an RQ-7B and an MQ-C1 drone to coordinate with the AH-64E Apache attack helicopter. The MQ-1C drone is a fixed-wing unmanned attack aircraft improved from the Predator (MQ-1). It is 8 meters long and has a wingspan of 17 meters. It is a medium-altitude, long-endurance drone with no vertical take-off and landing capability. It cannot perform similar tasks as helicopters at low altitudes and cannot achieve the effect of multiplying the effectiveness of helicopters at low altitudes. The RQ-7 drone that can perform low-altitude flight missions is a lightweight fixed-wing drone. It is 3.7 meters long, has a wingspan of 4.2 meters, a range of approximately 110 kilometers, and a cruising speed of 130 kilometers per hour. Neither its range nor its speed have the ability to adapt to the same level as manned helicopters. The RQ-7 drone cannot take off and land vertically, relying solely on a catapult takeoff and arrested landing method. It requires a ground control station, a catapult, and a runway to land, as well as a vehicle to maneuver and operate these devices. Therefore, the ability of low-altitude drones to collaborate with helicopters on similar missions still requires further improvement.

[0008] Drone inspections, as a new technology in the civilian market, have seen widespread adoption and development in recent years. However, practical applications still face several technical bottlenecks. For example, the battery life of common small drones remains limited, typically no more than 30 minutes, and their maximum speed is typically below 70 km / h, limiting both inspection scope and duration. Industrial-grade unmanned helicopters, weighing hundreds of kilograms, also have a cruising speed of less than 150 km / h, falling short of helicopter cruising speeds and making it difficult to achieve a coordinated system with helicopters. With the development of electric vertical take-off and landing (eVTOL) aircraft, electrification in aviation offers the potential for high safety, low cost, and low noise. Tilt-rotor electric aircraft, such as the US JOBY and Germany's lilium, have demonstrated flight speeds of up to 300 km / h in a 2-ton configuration. As lightweight, low-cost drones increase in speed, reaching cruising speeds of 200 km / h, they can serve as low-cost wingman alternatives to helicopters, significantly improving the cost-effectiveness of low-altitude operations.

[0009] Lightweight, low-cost, high-speed vertical take-off and landing drones can effectively reduce costs and maintenance expenses compared to the current 2-ton eVTOL, and can achieve adaptation to the speed of collaborative operations with manned helicopters, which can effectively expand the operating range of manned helicopters. However, lightweight, high-speed drones have the problem of small fuel carrying capacity, and there is still a gap in range and flight time compared with manned helicopters.

[0010] Similarly, manned helicopters require significant fuel when performing long-range rescue missions, often with insufficient fuel tanks. Helicopter aerial refueling technology enables helicopters to perform missions at greater distances, for longer periods, and in more complex environments. For example, in maritime long-range early warning and rescue missions, extending loiter time and operating radius using aerial refueling could effectively expand mission scope and response speed.

[0011] Currently, the world's primary method for aerial refueling helicopters is soft refueling, which uses a flexible hose to connect the refueling aircraft to the receiving helicopter, transferring fuel through a pressure differential within the hose. This method is highly adaptable, but it also has certain limitations. Due to factors such as slow helicopter flight speeds, significant rotor interference, and unstable airflow, and the need to consider the influence of the rotor on the length, diameter, and strength of the refueling hose, the aerial refueling process is prone to problems such as position deviation, speed mismatch, and hose swing, which imposes significant operational pressure and risks on pilots.

[0012] For example, in prior art CN202210919295.7, a low-altitude airship refueling tanker and refueling method based on a multi-rotor drone, the rotorcraft is directly connected to the tanker via a refueling pipe for refueling. However, during refueling, the refueling pipe must be longer than the rotor radius to ensure it does not affect the aircraft structure and flight performance. To minimize the impact on the helicopter's load, the refueling equipment is generally installed externally on the helicopter, and preferably uses a telescopic design that can be shortened when not in use, reducing the impact of the refueling device on the helicopter's flight performance.

[0013] Generally speaking, the aerial refueling hose is one meter outside the rotor blade. According to relevant information, the entire helicopter refueling system should weigh between 200 kg and 300 kg. The helicopter refueling boom itself is heavy and remains very long even after retraction. An excessively long refueling boom can affect daily flight stability and easily damage during takeoff and landing. Summary of the Invention

[0014] The technical solution of the present invention addresses the problems existing in the background technology of lightweight, low-cost, high-speed vertical take-off and landing UAVs with speeds matching those of manned helicopters, such as small fuel carrying capacity, poor stability of helicopters when refueling, and excessively long refueling booms. The invention provides a high-speed self-stabilizing two-way energy replenishment platform, a helicopter efficiency enhancement system, and a coordination method.

[0015] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions to achieve it.

[0016] In a first aspect, the present invention provides a high-speed self-stabilizing bidirectional energy charging platform, comprising: an energy charging platform body 21 containing an oil storage mechanism, the energy charging platform body 21 being symmetrically provided with a plurality of energy charging platform rotors 24 for providing flight power and azimuth control, and a control and communication module for controlling the energy charging platform rotors 24, the energy charging platform body 21 being provided with at least one energy charging platform energy charging docking interface 22 and an energy charging platform energy charging tethering interface 25 connected to the internal oil storage mechanism, wherein the high-speed self-stabilizing bidirectional energy charging platform can be docked with a tanker and a helicopter respectively for receiving and refueling through the energy charging platform energy charging docking interface 22, and can be docked with an unmanned wingman 3 through the energy charging platform energy charging tethering interface 25 to achieve tethering and energy replenishment.

[0017] Furthermore, the fuselage of the energy replenishment platform 21 is provided with a collaborative rectifier device 29, which includes a front collaborative rectifier device 291 and a rear collaborative rectifier device 292. After the unmanned wingman 3 is accurately docked and moored, the front collaborative rectifier device 291 and the rear collaborative rectifier device 292 are inflated and popped out to become a front rectifier package 293 and a rear rectifier package 294, which wrap the high-speed self-stabilizing bidirectional energy replenishment platform 2 and the unmanned wingman 3 to form an integral wing section.

[0018] Furthermore, a plurality of charging platform auxiliary positioning interfaces 26 are provided around the charging platform charging tethering interface 25 . The charging platform auxiliary positioning interfaces 26 are symmetrically arranged around the charging platform charging tethering interface 25 and are magnetic or self-consistent snap-fit ​​connection structures.

[0019] Furthermore, the energy charging platform rotor 24 is connected to the energy charging platform body 21 through the energy charging platform rotor support arms 23 symmetrically arranged in front and behind the energy charging platform body 21.

[0020] Furthermore, a maintenance robot arm 27 is provided on the energy charging platform body 21 .

[0021] Furthermore, a spare parts compartment 28 is provided on the energy replenishment platform body 21 .

[0022] In a second aspect, the present invention further provides a helicopter efficiency enhancement system, comprising the high-speed self-stabilizing bidirectional energy replenishment platform 2 described in the first aspect, as well as a helicopter 1, an unmanned wingman 3, and a tanker 4;

[0023] The high-speed self-stabilizing bidirectional energy replenishment platform 2 can fly autonomously through a built-in control and communication module, and can actively adjust its position to improve the stability of the refueling interface of the helicopter 1 when refueling;

[0024] In addition, the high-speed self-stabilizing bidirectional energy replenishment platform 2 communicates with the helicopter 1 and / or the unmanned wingman 3 respectively through the built-in control communication module. The helicopter 2 and the unmanned wingman 3 group form situation awareness and information sharing through the high-speed self-stabilizing bidirectional energy replenishment platform 2, forming a helicopter efficiency enhancement system.

[0025] Furthermore, the helicopter 1 includes: a helicopter body 11, a main engine energy replenishment mooring cable 13, and a main engine energy replenishment mooring interface 12 arranged below the helicopter body 11, and one end of the main engine energy replenishment mooring cable 13 is connected to the main engine energy replenishment mooring interface 12.

[0026] Furthermore, the unmanned wingman 3 includes: a drone body 31 , and a drone energy replenishment and tethering interface 35 and a drone auxiliary positioning interface 36 arranged above the drone body 31 .

[0027] Furthermore, the main engine energy charging mooring cable 13 is connected between the main engine energy charging mooring interface 12 of the helicopter 1 and the energy charging platform energy charging docking interface 22 of the high-speed self-stabilizing bidirectional energy charging platform 2.

[0028] The energy charging platform energy charging tethering interface 25 of the high-speed self-stabilizing bidirectional energy charging platform 2 is docked with the UAV energy charging tethering interface 35 of the unmanned wingman 3, and the collaborative platform auxiliary positioning interface 26 of the high-speed self-stabilizing bidirectional energy charging platform 2 is docked with the UAV auxiliary positioning interface 36 of the unmanned wingman 3.

[0029] Furthermore, the high-speed self-stabilizing bidirectional energy recharging platform 2 recharges energy from the helicopter 1 and performs information coordination through the host energy recharging tethering cable 13 , and also provides tethering and energy recharging for the unmanned wingman 3 through the energy recharging platform energy recharging tethering interface 25 on the high-speed self-stabilizing bidirectional energy recharging platform 2 .

[0030] Furthermore, the high-speed self-stabilizing bidirectional refueling platform 2 adjusts its refueling docking interface 22 to a horizontal position by adjusting its flight attitude. When docking with the refueling tethering interface 45 of the refueling machine 4, the platform can actively adjust its position to improve the stability of the refueling interface when the helicopter is refueling and improve the docking efficiency. Rapid positioning and docking assistance is provided through the refueling platform auxiliary positioning interface 26 and the refueling machine auxiliary positioning interface 46.

[0031] At the same time, the energy boosting platform rotor arm 23 and the energy boosting platform rotor 24 tilt the rotor lift direction so that the energy boosting platform body 21 can maintain its posture.

[0032] Furthermore, the host energy charging tethering interface 12, the energy charging platform energy charging docking interface 22, the energy charging platform energy charging tethering interface 25, the UAV energy charging tethering interface 35, and the tanker energy charging tethering interface 4 5 are equipped with joints that can be bent 90 degrees because they have a cable direction adjustment function. They have a cable direction adjustment function and can rotate the direction of the vertically connected cable 90 degrees to adjust it to the horizontal direction to reduce cable resistance.

[0033] Furthermore, the high-speed self-stabilizing bidirectional energy replenishment platform 2 can be installed on the helicopter 1 for use, integrated or attached to the belly or tail of the helicopter 1;

[0034] When it is disconnected from the host energy replenishment tethering interface 12, it flies away from the helicopter 1 and becomes an independent aircraft.

[0035] Furthermore, the high-speed self-stabilizing bidirectional energy charging platform 2 adopts a lifting body configuration with an airfoil cross-section. The back of the high-speed self-stabilizing bidirectional energy charging platform 2 is equipped with at least two energy charging platform rotors 24 as lifting devices to achieve autonomous flight.

[0036] The charging platform rotor 24 is installed on the charging platform body 21 of the high-speed self-stabilizing bidirectional charging platform 2 through the charging platform rotor arm 23. The charging platform rotor arm 23 has folding and tilting functions. The charging platform rotor 24 is folded and wrapped in the charging platform body 21 through the fairing.

[0037] Furthermore, the unmanned wingman 3 has a health monitoring function, and can coordinate with the high-speed self-stabilizing two-way energy replenishment platform 2 by predicting its own damage, docking and mooring with the high-speed self-stabilizing two-way energy replenishment platform 2, and performing maintenance services such as spare parts replacement and waste parts recycling.

[0038] In a third aspect, the present invention also provides a coordination method for a helicopter efficiency enhancement system, which is applied to the aforementioned helicopter efficiency enhancement system. The method plays a coordination hub role through a high-speed self-stabilizing two-way energy replenishment platform. The signals of multiple unmanned wingman aircraft are analyzed and pushed to the helicopter through the high-speed self-stabilizing two-way energy replenishment platform, and the helicopter retains direct communication and control over the unmanned wingman aircraft.

[0039] Furthermore, the method includes:

[0040] S1: The unmanned wingman performs group coordination and task allocation through the high-speed self-stabilizing two-way energy replenishment platform. The unmanned wingman's inspection information is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time for the platform to analyze the search or inspection of the entire fleet. The high-speed self-stabilizing two-way energy replenishment platform also performs situation analysis based on the unmanned wingman's inspection information.

[0041] In S2, the energy consumption of the unmanned wingman is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time. The high-speed self-stabilizing two-way energy replenishment platform plans the energy replenishment rotation plan and takes turns returning to the high-speed self-stabilizing two-way energy replenishment platform for energy replenishment.

[0042] In S3, the unmanned wingman docks and tethers with the high-speed self-stabilizing two-way energy replenishment platform to replenish energy, exchange data or replace spare parts; the high-speed self-stabilizing two-way energy replenishment platform updates the inspection situation map of the unmanned wingman group and coordinates the unmanned wingman to adjust the formation position to fill the inspection blank area formed when the wingman receives supplies and maintenance.

[0043] Furthermore, S1 is specifically:

[0044] The high-speed self-stabilizing two-way energy replenishment platform assists the helicopter in collaborative information processing and communication distribution, and commands and coordinates the unmanned wingman to carry out task collaboration. For low-precision real-time high-speed inspection information, it is screened according to the needs of the helicopter and valuable inspection signals of interest to the helicopter are pushed to the helicopter.

[0045] When a valuable signal is found, the bandwidth of the corresponding unmanned wingman is increased to obtain medium-precision inspection information and conduct focused analysis.

[0046] When a high-similarity signal is found, high-precision positioning is achieved by mutual positioning of the target values ​​of the unmanned wingman group.

[0047] When identifying a target with high similarity, the flight positions of the helicopter and the corresponding unmanned wingman are exchanged, and the helicopter conducts high-precision close-in inspections to confirm the target.

[0048] When the clarity of medium-precision data of high-similarity targets is insufficient, multiple unmanned wingman aircraft can collaborate to conduct concentrated close-range inspections.

[0049] Furthermore, S1 also includes:

[0050] When encountering cloud cover or terrain obstructing communications, the high-speed self-stabilizing two-way energy replenishment platform is deployed to increase the distance from the helicopter to avoid communication obstacles and maintain communication for the entire fleet;

[0051] When encountering a threat, the high-speed self-stabilizing two-way energy replenishment platform is launched, and the high-speed self-stabilizing two-way energy replenishment platform releases bait to create a false target to protect the safety of the helicopter.

[0052] In a fourth aspect, the present invention also provides a coordination method for a helicopter efficiency enhancement system, which is applied to the aforementioned helicopter efficiency enhancement system. The method plays a two-way energy replenishment role through a high-speed self-stabilizing two-way energy replenishment platform, and the helicopter docks and replenishes energy with a tanker through the high-speed self-stabilizing two-way energy replenishment platform.

[0053] Furthermore, when coordinating with the tanker, the helicopter maintains the same speed and heading as the tanker, and sends a refueling request to the tanker. After confirming the refueling request, the two aircraft coordinate their flight status, and at the same time, the high-speed self-stabilizing two-way energy replenishing platform flies forward and approaches the tanker's energy replenishing tether cable and the tanker's energy replenishing tether interface. When the position reaches the refueling docking range, the high-speed self-stabilizing two-way energy replenishing platform climbs upward through a maneuvering method to adjust the flight attitude so that the direction of the energy replenishing platform's energy replenishing docking interface is adjusted to horizontal. At the same time, the energy replenishing platform's rotor arm and the energy replenishing platform's rotor tilt-rotor lift direction keep the energy replenishing platform body in the refueling docking attitude, and can be quickly positioned and docked through the energy replenishing platform's auxiliary positioning interface and the tanker's auxiliary positioning interface, and the rapid docking of the refueling port is guided by auxiliary magnetic suction. The position can be quickly adjusted through the cooperation of the main refueling interface and the auxiliary positioning interface to improve the docking efficiency of the refueling interface when the helicopter is refueling, providing energy replenishment for the helicopter.

[0054] Furthermore, when coordinating with an unmanned wingman, when the unmanned wingman returns to the vicinity of the helicopter, the unmanned wingman maintains the same speed and heading as the helicopter, and sends a refueling request to the helicopter. After confirming the refueling request, the two aircraft coordinate their flight status, and at the same time, the high-speed self-stabilizing two-way energy replenishment platform flies downward and approaches the unmanned wingman. When the position reaches the refueling docking range, the collaborative platform auxiliary positioning interface of the high-speed self-stabilizing two-way energy replenishment platform docks with the drone auxiliary positioning interface of the unmanned wingman to carry out rapid auxiliary positioning, and the energy replenishment platform energy replenishment tethering interface of the high-speed self-stabilizing two-way energy replenishment platform docks with the drone of the unmanned wingman. The energy replenishment tethering interface is docked, and the lift direction of the energy replenishment platform rotor arm and the energy replenishment platform rotor tilt rotor enables the energy replenishment platform body to maintain the refueling docking posture, providing energy replenishment for the unmanned wingman. This method is suitable for hovering and low-speed states; in high-speed flight state, after the unmanned wingman is accurately docked and tethered, the front and rear fairing devices at the bottom of the high-speed self-stabilizing two-way energy replenishment platform are inflated and popped out to become front and rear fairing bags, which wrap the energy replenishment platform and the unmanned wingman to form an integral wing section, which can reduce resistance and airflow interference, reduce energy consumption, improve flight stability and safety, and increase the tethering stability of the unmanned wingman.

[0055] Beneficial effects of the technical solution of the present invention:

[0056] By selecting lightweight, low-cost, high-speed vertical take-off and landing drones (UAVs) with a speed matching that of manned helicopters, i.e., high-speed UAVs with a cruising speed greater than 200 km / h, as low-altitude wingman, UAVs and helicopters can be deployed together and fly in formation, forming a helicopter efficiency enhancement system. This can form a synergistic effect with helicopters at the same level of wingman, achieving the effect of one-belt, multiple-synchronous operations, effectively expanding the operation area for inspections, security, and other operations, and doubling the helicopter's low-altitude operation efficiency.

[0057] The high-speed, self-stabilizing, two-way energy-replenishing platform is used for information communication and signal analysis, effectively reducing the operational load on helicopter crew members in operating unmanned wingmen and analyzing their inspection information. Furthermore, the high-speed, self-stabilizing, two-way energy-replenishing platform enables efficient collaboration with multiple unmanned wingmen, improving the collaborative efficiency of the entire fleet.

[0058] By coordinating with manned helicopters, the unmanned wingman can effectively accelerate the unmanned wingman's data analysis and decision-making efficiency, and can improve survivability by leveraging the manned helicopter's decision-making and spare parts maintenance capabilities when navigation signals are blocked or components are damaged;

[0059] Lightweight, low-cost, high-speed vertical take-off and landing drones carry little fuel and can be refueled in the air via a refueling platform to double their range, greatly expanding their operational capabilities.

[0060] After the unmanned wingman is accurately docked and tethered, the front and rear fairing devices are inflated and ejected to form front and rear fairing packs, which wrap the energy charging platform and the unmanned wingman to form an integrated wing section. This can reduce drag and airflow interference, lower energy consumption, and improve flight stability and safety. In addition, the coordinated fairing devices can also increase the tethered stability of the unmanned wingman when they are opened.

[0061] The high-speed, self-stabilizing, two-way energy replenishment platform docks with an unmanned wingman through a single interface. Compared with tethering methods with two or four interfaces, it is easier to locate and dock. It does not cause problems such as only partially docking, resulting in incomplete docking, incorrect docking posture of the wingman, and reduced tethering strength.

[0062] Adding an auxiliary positioning interface to attract the unmanned wingman in advance through principles such as magnetic attraction for docking and guidance at the correct position is beneficial to improving the accuracy and guidance efficiency of collaborative tethering. At the same time, it can provide partial tethering force and increase tethering stability.

[0063] When encountering obstructions such as clouds or terrain that affect communication, the high-speed self-stabilizing two-way energy replenishment platform can be launched to increase the distance from the helicopter to avoid communication obstacles, maintain smooth communication of the entire fleet, and improve the communication smoothness of the manned and unmanned systems;

[0064] When encountering a threat, the energy replenishment platform can be released to release decoys to create false targets to protect the safety of the helicopter. The interface between the collaborative maintenance platform and the helicopter can be disconnected, and the remaining energy of the collaborative maintenance platform can be used for long-distance flight guidance to further protect the safety of the helicopter.

[0065] The refueling / refueling docking is achieved through the active flight and attitude adjustment of the high-speed self-stabilizing two-way refueling platform. Firstly, it realizes the automation of refueling docking and improves docking efficiency. Secondly, it avoids the problem of poor docking caused by the poor stability of the helicopter during refueling.

[0066] By placing the energy replenishment platform close to the helicopter fuselage, the problem of the refueling rod extending too long and weighing too much from the fuselage, which affects flight stability and center of gravity control, can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] FIG1 is a schematic structural diagram of a helicopter-carried high-speed self-stabilizing bidirectional energy replenishment platform provided by an embodiment of the present invention;

[0068] FIG2 is a top view of the high-speed self-stabilizing bidirectional energy replenishment platform in a folded rotor state according to an embodiment of the present invention;

[0069] FIG3 is a side view of a high-speed self-stabilizing bidirectional energy replenishment platform in a folded rotor state according to an embodiment of the present invention;

[0070] FIG4 is a bottom view of the high-speed self-stabilizing bidirectional energy replenishment platform in a folded rotor state according to an embodiment of the present invention;

[0071] FIG5 is a top view of a high-speed self-stabilizing bidirectional energy replenishment platform with its rotors opened, provided by an embodiment of the present invention;

[0072] FIG6 is a side view of a high-speed self-stabilizing bidirectional energy replenishment platform with its rotors opened, provided by an embodiment of the present invention;

[0073] FIG7 is a side view of a high-speed self-stabilizing bidirectional energy replenishment platform provided by an embodiment of the present invention with its rotors opened and an unmanned wingman tethered while simultaneously deploying a coordinated rectifier device;

[0074] FIG8 is a schematic diagram of an embodiment of the present invention providing a coordinated refueling and maintenance service for an unmanned wingman by deploying a high-speed self-stabilizing bidirectional energy-replenishing platform when a helicopter is hovering or flying at low speed;

[0075] FIG9 is a schematic diagram of an embodiment of the present invention providing a high-speed self-stabilizing bidirectional energy replenishment platform for providing a refueling and maintenance collaborative service to an unmanned wingman during high-speed flight of a helicopter;

[0076] FIG10 is a schematic diagram of the flight attitude adjustment of the high-speed self-stabilizing bidirectional energy replenishment platform provided in an embodiment of the present invention when preparing to receive refueling;

[0077] FIG11 is a diagram illustrating the oil receiving state of a high-speed self-stabilizing bidirectional energy replenishment platform provided by an embodiment of the present invention;

[0078] FIG12 is a schematic diagram of a high-speed self-stabilizing bidirectional energy replenishment platform provided by an embodiment of the present invention receiving fuel from a helicopter in forward flight;

[0079] FIG13 is a diagram illustrating the collaborative inspection interaction between a helicopter and an unmanned wingman according to an embodiment of the present invention;

[0080] FIG14 is an interaction diagram of the optimization of the collaborative inspection strategy between a helicopter and an unmanned wingman according to an embodiment of the present invention;

[0081] FIG15 is a diagram of a helicopter and an unmanned wingman providing energy supplementation and collaborative interaction according to an embodiment of the present invention;

[0082] FIG16 is a diagram illustrating a collaborative interaction between a helicopter and an unmanned wingman for replacing spare parts according to an embodiment of the present invention;

[0083] FIG17 is an interactive diagram of a helicopter and a tanker coordinating refueling according to an embodiment of the present invention;

[0084] Among them, 1-helicopter, 2-high-speed self-stabilizing two-way energy replenishment platform, 3-unmanned wingman, 4-tanker, 11-helicopter body, 12-host energy replenishment tethering interface, 13-host energy replenishment tethering cable, 21-high-speed self-stabilizing two-way energy replenishment platform body, 22-energy replenishment platform energy replenishment docking interface, 23-energy replenishment platform rotor support arm, 24-energy replenishment platform rotor, 25-energy replenishment platform energy replenishment tethering interface, 26-energy replenishment platform auxiliary positioning interface, 27-maintenance machine Mechanical arm, 28-spare parts compartment, 29-coordinated rectifier equipment, 291-front coordinated rectifier equipment, 292-rear coordinated rectifier equipment, 293-front rectifier package, 294-rear rectifier package, 31-UAV body, 35-UAV energy replenishment tethering interface, 36-UAV auxiliary positioning interface, 41-tanker body, 42-tanking device, 43-tanker energy replenishment tethering cable, 45-tanker energy replenishment tethering interface, 46-tanker auxiliary positioning interface. DETAILED DESCRIPTION

[0085] 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.

[0086] Under the current application trend of helicopters coordinating with drones in a "manned / unmanned collaboration" manner to improve mission efficiency, facing the current situation where the speed level of low-altitude wingman with vertical take-off and landing cannot reach the cruising speed level of more than 200 kilometers per hour of helicopters, in order to better play the low-altitude application effect of helicopters, by selecting high-speed drones with a cruising speed greater than 200 kilometers per hour as low-altitude wingman, drones and helicopters can be deployed and flown in formation together, and a helicopter efficiency enhancement system can be established. The effect of coordinating with helicopters at the same level of wingman can be achieved, and the effect of one-belt multi-synchronous operation can be achieved. It can effectively expand the operation area of ​​inspection, security, etc., and double the low-altitude operation efficiency of helicopters.

[0087] Example 1

[0088] An embodiment of the present invention provides a high-speed self-stabilizing bidirectional energy replenishment platform, as shown in Figure 1-12, including: an energy replenishment platform body 21 containing an oil storage mechanism, the energy replenishment platform body 21 is symmetrically provided with a plurality of energy replenishment platform rotors 24 for providing flight power and azimuth control, and a control and communication module for controlling the energy replenishment platform rotors 24, the energy replenishment platform body 21 is provided with at least one energy replenishment platform energy replenishment docking interface 22 connected to the internal oil storage mechanism and an energy replenishment platform energy replenishment tethering interface 25, wherein the high-speed self-stabilizing bidirectional energy replenishment platform can be docked with a tanker and a helicopter respectively for receiving and replenishing oil through the energy replenishment platform energy replenishment docking interface 22, and can be docked with an unmanned wingman 3 through the energy replenishment platform energy replenishment tethering interface 25 to achieve tethering and energy replenishment.

[0089] The fuselage of the energy replenishment platform 21 is provided with a cooperative rectification device 29, which includes a front cooperative rectification device 291 and a rear cooperative rectification device 292. After the unmanned wingman 3 is accurately docked and moored, the front cooperative rectification device 291 and the rear cooperative rectification device 292 are inflated and popped out to become a front rectification package 293 and a rear rectification package 294, which wrap the high-speed self-stabilizing bidirectional energy replenishment platform 2 and the unmanned wingman 3 to form an integral wing section.

[0090] A plurality of charging platform auxiliary positioning interfaces 26 are arranged around the charging platform charging tethering interface 25 . The charging platform auxiliary positioning interfaces 26 are symmetrically arranged around the charging platform charging tethering interface 25 and are magnetic or self-consistent snap-fit ​​connection structures.

[0091] The energy boosting platform rotor 24 is connected to the energy boosting platform body 21 through the energy boosting platform rotor support arms 23 symmetrically arranged at the front and rear of the energy boosting platform body 21 .

[0092] A maintenance robot arm 27 is provided on the energy charging platform body 21 .

[0093] The energy replenishment platform body 21 is provided with a spare parts compartment 28 .

[0094] Example 2

[0095] The present invention proposes a helicopter efficiency enhancement system based on a high-speed self-stabilizing bidirectional energy replenishment platform. Referring to Figures 1 to 12, the system comprises a helicopter 1, a high-speed self-stabilizing bidirectional energy replenishment platform 2, a high-speed vertical take-off and landing unmanned wingman 3, a tanker 4, a helicopter body 11, a main engine energy replenishment mooring interface 12, a main engine energy replenishment mooring cable 13, a high-speed self-stabilizing bidirectional energy replenishment platform body 21 (energy replenishment platform body), an energy replenishment platform energy replenishment docking interface 22, an energy replenishment platform rotor support arm 23, an energy replenishment platform rotor 24, an energy replenishment platform energy replenishment mooring interface 25, The energy charging platform auxiliary positioning interface 26, the maintenance robot arm 27, the spare parts compartment 28, the collaborative rectification device 29, the front collaborative rectification device 291, the rear collaborative rectification device 292, the front rectification package 293, the rear rectification package 294, the UAV body 31, the UAV energy charging tethering interface 35, the UAV auxiliary positioning interface 36, the tanker body 41, the refueling device 42, the tanker energy charging tethering cable 43, the tanker energy charging tethering interface 45, the tanker auxiliary positioning interface 46, and the corresponding system architecture and coordination method.

[0096] The high-speed self-stabilizing bidirectional charging platform 2 is integrated or attached to the body 11 of the helicopter 1, and the common integration location is the abdomen or tail. The charging platform 2 adopts a lifting body configuration with an airfoil cross-section. The back of the charging platform 2 is equipped with two or more charging platform rotors 24 as a lifting device, which can achieve autonomous flight. The charging platform rotors 24 are mounted on the charging platform body 21 through the charging platform rotor arms 23. The installation is based on the lift layout of the rotors. This embodiment shows a four-rotor layout. The platform can adopt a dual-rotor, six-rotor or other layout forms as needed. The charging platform rotor arms 23 have folding and tilting functions. The charging platform 2 has the characteristics of a tilt-rotor aircraft. The flight state of the charging platform 2 can be adjusted by tilting the rotors. At the same time, the lifting body of the charging platform 2 is kept in horizontal flight to reduce flight resistance and airflow disturbances. It can maintain a good attitude and position to improve the docking accuracy and success rate of the unmanned wingman 3. The energy boosting platform rotor 24 can be folded and wrapped in the energy boosting platform body 21 through the fairing to improve the integration and transportation integrity of the energy boosting platform 2.

[0097] The high-speed self-stabilizing two-way energy charging platform 2 is docked with the host energy charging tether cable 13 through the energy charging platform energy charging docking interface 22 on the back and then connected to the host energy charging tether interface 12 on the helicopter body 11. The high-speed self-stabilizing two-way energy charging platform 2 can be installed on the helicopter 1 for use, and can also be released into the air for use as needed. The energy charging platform 2 replenishes energy from the helicopter 1 through the host energy charging tether cable 13 and can carry out information coordination. At the same time, it also provides tethering and energy replenishment for the unmanned wingman 3 through the energy charging platform energy charging tether interface 25 on the energy charging platform 2.

[0098] The charging platform charging mooring interface 25 of the high-speed self-stabilizing bidirectional charging platform 2 is located in the middle of the bottom of the platform, and is surrounded by charging platform auxiliary positioning interfaces 26 for assisting the wingman in rapid positioning and docking, and ensuring the accuracy of the docking position.

[0099] A maintenance robotic arm 27 and a spare parts compartment 28 are installed inside the high-speed self-stabilizing bidirectional energy replenishment platform 2 to provide the unmanned wingman 3 with maintenance capabilities such as spare parts replacement and recycling of discarded parts, thereby improving the flight safety of the unmanned wingman 3.

[0100] As shown in Figure 7, the front and rear sections of the bottom of the high-speed self-stabilizing bidirectional energy replenishment platform 2 are respectively installed with a front coordinated rectifier device 291 and a rear coordinated rectifier device 292. After the unmanned wingman 3 is accurately docked and tethered, the front and rear rectifier devices are inflated and popped out to become front and rear rectifier bags 293 and 294, which wrap the energy replenishment platform 2 and the unmanned wingman 3 to form an integral wing section, which can reduce resistance and airflow interference, reduce energy consumption, and improve flight stability and safety. In addition, when the coordinated rectifier device 29 is opened, it can also increase the tethering stability of the unmanned wingman 3.

[0101] The high-speed, self-stabilizing, two-way energy recharge platform 2 is capable of sharing information with the helicopter 1 and the unmanned wingman 3. It communicates with the helicopter 1 via high-speed wired communication and with the unmanned wingman 3 wirelessly. This allows for situational awareness and information sharing between the helicopter 1 and the wingman 3 fleet. The energy recharge platform 2 also has a decoy function and can be detached from the host power supply tethering interface 12, allowing it to fly far away from the helicopter 1 to create a decoy and protect the helicopter 1.

[0102] A UAV energy replenishment tethering interface 35 is arranged in the middle of the back of the UAV wingman 3. It can be docked and tethered with the high-speed self-stabilizing two-way energy replenishment platform 2 to realize functions such as energy replenishment, rapid information communication, flight docking, and maintenance; the UAV auxiliary positioning interface 36 is arranged around the UAV energy replenishment tethering interface 35 to assist the wingman in rapid positioning and docking, and to ensure the accuracy of the docking position.

[0103] Example 3

[0104] An embodiment of the present invention provides a helicopter efficiency enhancement system based on a high-speed self-stabilizing two-way energy replenishment platform. The system is based on the cooperation of a helicopter with one or more UAV wingmen to carry out group collaborative operations. By selecting a medium-weight vertical take-off and landing high-speed UAV between a small industrial UAV and a ton-class manned helicopter, the cost-effectiveness is improved during low-altitude operations compared with a wingman of the same size as a manned helicopter. In addition, the medium-weight UAV carries a large weight for carrying mission equipment, and its speed and range can expand the mission scope and operation time compared with a helicopter carrying a small UAV or even a cruise missile, and the mission scope can be further expanded by replenishing energy at the energy replenishment platform.

[0105] The communication equipment of the helicopter 1 and the high-speed self-stabilizing two-way energy replenishment platform 2 is interconnected with the high-speed vertical take-off and landing unmanned wingman 3. The high-speed self-stabilizing two-way energy replenishment platform 2 mainly assists the system in collaborative information processing and distribution communication, and can command and coordinate the unmanned wingman 3 to carry out task collaboration, while communicating low-precision real-time high-speed inspection information and screening and analyzing it according to the needs of the helicopter 1, and pushing valuable inspection signals that the helicopter 1 is concerned about; when valuable signals are found, the bandwidth of the wingman can be increased to carry out medium-precision inspection information and conduct key analysis; when high-similarity signals are found, high-precision positioning is performed by mutual positioning through the target value of the wingman group, which is especially suitable for search and positioning when navigation signals are missing in harsh outdoor environments; when high-similarity targets are determined, the helicopter 1 and the unmanned The flying positions of the human wingman 3 are interchanged, and the helicopter 1 is used to conduct high-precision close-in inspections, confirm targets, and provide rescue and other services. In case the clarity of medium-precision data of highly similar targets is insufficient, multiple aircraft can collaborate to conduct centralized close-in inspections, and high-frequency and high-speed communication methods such as 5G / 6G can be used to exchange high-volume and high-precision information. Data analysis is performed on the high-speed self-stabilizing two-way energy replenishment platform 2 to provide high-precision three-dimensional analysis and positioning data. Compared with the entire UAV fleet, the processing accuracy and efficiency can be improved, which facilitates rapid decision-making, gains precious rescue time, and effectively improves the real-time efficiency of search / inspection. In addition, the high-speed self-stabilizing two-way energy replenishment platform 2 can provide docking maintenance for the unmanned wingman 3 that is predicted to have a fault, ensure the flight safety of the unmanned wingman 3, and improve the overall safety margin of the fleet.

[0106] Example 4

[0107] A helicopter efficiency enhancement system provided by an embodiment of the present invention mainly includes a helicopter 1, a high-speed self-stabilizing two-way energy replenishing platform 2 and a high-speed vertical take-off and landing unmanned wingman 3. The information is interconnected with the high-speed vertical take-off and landing unmanned wingman 3 through the communication equipment of the helicopter 1 and the high-speed self-stabilizing two-way energy replenishing platform 2. Information communication and signal analysis are mainly performed through the high-speed self-stabilizing two-way energy replenishing platform 2 to reduce the operating load of the helicopter 1 crew members in operating each unmanned wingman 3 and analyzing its inspection information, while improving the usability and intelligence of the unmanned wingman 3; at the same time, the high-speed self-stabilizing two-way energy replenishing platform 2 can be used to efficiently coordinate with multiple unmanned wingman 3, thereby improving the coordination efficiency of the entire fleet; further, with the control of the helicopter 1, the entire fleet can effectively improve the speed of information sharing and the timeliness of decision-making, improve the decision-making efficiency and task efficiency of the fleet, and improve the safety and decision-making efficiency of the fleet when the communication signal with the rear is weak or interfered with.

[0108] Among them, the high-speed self-stabilizing two-way energy replenishment platform 2 is integrated or attached to the body 11 of the helicopter 1, and the common integration position is the abdomen or tail, etc.; the high-speed self-stabilizing two-way energy replenishment platform 2 serves as a comprehensive platform for communication, maintenance and wingman energy replenishment, including maintenance equipment, spare parts, energy replenishment interfaces, collaborative rectifier equipment, etc.; the high-speed self-stabilizing two-way energy replenishment platform 2 is the collaborative hub of this system, which not only provides the helicopter 1 with high-efficiency wingman 3 collaborative control, but also provides the helicopter 1 with wingman information analysis, wingman collaborative deployment and other operations, thereby improving the overall operation efficiency of the system, and because there is a helicopter 1 in the system, the overall operation and decision-making efficiency of the group can be improved through on-site analysis and decision-making of the crew members, which can improve the decision-making efficiency compared to the traditional pure UAV group, especially improve the communication signal with the traditional rear control center. The decision-making efficiency and special situation handling ability when the communication is weak or cannot be achieved improve the efficiency while improving the safety and special situation handling ability of the fleet; further, the high-speed self-stabilizing two-way energy replenishing platform 2 has a replenishing function, which can improve the endurance of the unmanned wingman by replenishing energy (fuel, hydrogen or electricity, etc.), and better expand the mission time and operation range of the fleet; at the same time, the high-speed self-stabilizing two-way energy replenishing platform 2 has a maintenance capability, which can predict the degree of damage to the body after detecting the damage signal of the body through the health monitoring of the unmanned wingman 3 itself, coordinate with the helicopter 1 in advance, and dock with the high-speed self-stabilizing two-way energy replenishing platform 2. The maintenance mechanical arm 27 of the high-speed self-stabilizing two-way energy replenishing platform 2 is used to use the spare parts in the spare parts library 28 for replacement and maintenance, thereby improving the safety margin of the unmanned wingman 3 and improving the overall safety of the fleet.

[0109] At the same time, the high-speed self-stabilizing two-way energy replenishment platform 2 has a foldable tilting rotor, which can realize autonomous flight. It can detach from the helicopter and perform tethered flight through the host energy replenishment tethering cable 13. The high-speed self-stabilizing two-way energy replenishment platform 2 avoids communication obstacles and maintains normal communication with the unmanned wingman 3 through autonomous flight, and can provide a backup communication function when the helicopter is interfered with by clouds or terrain. Furthermore, in a threatening environment, the safety of the helicopter 1 can be protected by the independent release of the high-speed self-stabilizing two-way energy replenishment platform 2 and the use of false targets as bait.

[0110] The high-speed self-stabilizing two-way energy replenishing platform 2 has a main energy replenishing platform energy replenishing tethering interface 25. Tethering through one interface is easier to locate and dock than tethering with two or four interfaces, and will not cause problems such as only docking part of the interface, resulting in the interface not being able to dock completely, thus causing the wingman to have an incorrect docking posture and reduced tethering strength. At the same time, an energy replenishing platform auxiliary positioning interface 26 is designed, which uses principles such as magnetic attraction to attract the unmanned wingman 3 in advance to dock and guide it to the correct position, which is conducive to improving the accuracy and guidance efficiency of collaborative tethering. The high-speed self-stabilizing two-way energy replenishing platform 2 and the unmanned The human wingman 3 only needs to synchronize speed and approach position, and can be quickly docked to the tethered interface through auxiliary positioning, which reduces the difficulty of docking and improves the success rate and docking safety and stability; the high-speed self-stabilizing two-way energy replenishment platform 2 has a coordinated rectifier device 29. When the wingman 3 is tethered to the high-speed self-stabilizing two-way energy replenishment platform 2, it is inflated and popped out to form an integral wing shape of the high-speed self-stabilizing two-way energy replenishment platform 2 and the wingman 3 to reduce resistance and airflow interference, reduce energy consumption while improving flight stability and safety, and when the coordinated rectifier device 29 is opened, it can also increase the tethered stability of the wingman 3.

[0111] Example 5

[0112] A method for coordinating a helicopter efficiency enhancement system provided by an embodiment of the present invention is shown in Figures 13-17. The high-speed self-stabilizing two-way energy replenishment platform 2 plays a role as a collaborative hub. The flight performance of the unmanned wingman 3 is similar to that of the helicopter 1. It can perform a cruising flight of more than 200 kilometers per hour, which is equivalent to multiple helicopters performing synchronous inspections or searches. It can effectively improve the mission efficiency of the helicopter and reduce the overall cost of the fleet. The signals of one or more unmanned wingman 3 are analyzed and pushed to the helicopter 1 through the high-speed self-stabilizing two-way energy replenishment platform 2. The helicopter 1 retains direct communication and control of the unmanned wingman 3 as a backup. The unmanned wingman 3 is carried out through the platform 2. Team coordination and task allocation, the inspection information of the unmanned wingman 3 is quickly analyzed on the wingman 3 and the analysis situation is reported to the high-speed self-stabilizing two-way energy replenishment platform 2 in real time, and the high-speed self-stabilizing two-way energy replenishment platform 2 analyzes the search or inspection situation of the entire fleet; the high-speed self-stabilizing two-way energy replenishment platform 2 performs situation analysis based on the inspection information of the wingman 3 fleet, and conducts coordinated deployment of the fleet to optimize task efficiency; the unmanned wingman 3 has health monitoring capabilities, and can analyze its own damage situation and coordinate with the high-speed self-stabilizing two-way energy replenishment platform 2, and dock and tether with the high-speed self-stabilizing two-way energy replenishment platform 2 as needed to carry out maintenance services for spare parts replacement. When the high-speed self-stabilizing two-way energy replenishment platform 2 updates the fleet inspection situation map, coordinates other unmanned wingmen to adjust the formation position, so as to fill the inspection blank area formed when the damaged wingman is maintained, and ensures that the overall inspection of the fleet is not missed; the energy consumption of the unmanned wingman 3 is reported to the high-speed self-stabilizing two-way energy replenishment platform 2 in real time, and the high-speed self-stabilizing two-way energy replenishment platform 2 plans the energy replenishment rotation plan, and returns to the high-speed self-stabilizing two-way energy replenishment platform 2 for energy replenishment in turn, thereby improving the cruising capability of the entire fleet and realizing further mission energy expansion; when encountering special circumstances, the unmanned wingman 3 reports the situation to the high-speed self-stabilizing two-way energy replenishment platform 2 and the helicopter 1, and improves the decision-making through manual decision-making. policy efficiency and analysis accuracy; when encountering clouds or terrain that affect the communication effect, the high-speed self-stabilizing two-way energy replenishment platform 2 can be launched to increase the distance from the helicopter 1 to avoid communication obstacles and maintain smooth communication of the entire fleet; when encountering threats, the high-speed self-stabilizing two-way energy replenishment platform 2 can be launched to release bait to create a false target to protect the safety of the helicopter 1, and the interface between the high-speed self-stabilizing two-way energy replenishment platform 2 and the helicopter 1 can be disconnected, and the remaining energy of the high-speed self-stabilizing two-way energy replenishment platform 2 can be used for long-distance flight guidance to protect the safety of the helicopter 1. In special environments, a backup platform 2 can be carried to ensure the completion of the mission.

[0113] Example 6

[0114] An embodiment of the present invention provides a method for coordinating a helicopter efficiency enhancement system, as shown in Figures 13-17. A high-speed self-stabilizing two-way energy recharging platform 2 can recharge energy for a helicopter 1 from a tanker 4 via a tanker energy recharging mooring cable 43. When the helicopter 1 needs to perform long-distance, long-duration missions, the tanker 4 can recharge the helicopter 1 with energy to increase the range and flight time of the helicopter 1. When coordinating with the tanker 4, the helicopter 1 maintains the same speed and heading as the tanker 4 and sends a refueling request to the tanker 4. After confirming the refueling request, the two aircraft coordinate their flight status. At the same time, the high-speed self-stabilizing two-way energy recharging platform 2 flies forward and approaches the tanker energy recharging mooring cable 43 and the tanker energy recharging mooring interface 45. When the position reaches the refueling docking range, the high-speed self-stabilizing two-way energy recharging platform 2 climbs upward by performing maneuvers such as somersaults to adjust the flight attitude so that the direction of the energy recharging platform energy recharging docking interface 22 is adjusted to the horizontal. At the same time, the energy recharging platform rotor arm 23 and the energy recharging platform rotor 24 tilt the rotor lift direction so that the energy recharging platform The platform body 21 maintains a refueling docking posture. When docking with the refueling tethering interface 45 of the refueling machine 4, the refueling platform 2 can align with the refueling tethering interface 45 of the refueling machine 4 by actively tilting and adjusting its posture. Rapid positioning and docking can be achieved through the refueling platform auxiliary positioning interface 26 and the refueling machine auxiliary positioning interface 46. Auxiliary magnetic attraction and other methods guide the rapid docking of the refueling port. The main refueling interface and the auxiliary positioning interface cooperate to quickly adjust the position, thereby improving the docking efficiency of the refueling interface during refueling of the helicopter and providing energy replenishment for the helicopter 1. Furthermore, when subjected to airflow disturbances, the refueling docking stability can be maintained by adjusting the lift direction, speed, and lift magnitude of the refueling platform rotor arm 23 and the refueling platform rotor 24 by tilting the rotor.

[0115] The technical solution of the present invention selects lightweight, low-cost, high-speed vertical take-off and landing UAVs (UAVs) with a speed matching that of manned helicopters, i.e., high-speed UAVs with a cruising speed greater than 200 kilometers per hour, as low-altitude wingmen. This enables the co-deployment and formation flight of UAVs and helicopters, establishes a helicopter efficiency enhancement system, and forms a synergistic effect with helicopters of the same level, achieving the effect of one-to-many simultaneous operations. This can effectively expand the operating areas of inspection, security, and other operations, and double the helicopter's low-altitude operational efficiency.

[0116] The high-speed, self-stabilizing, two-way energy-replenishing platform is used for information communication and signal analysis, effectively reducing the operational load on helicopter crew members in operating unmanned wingmen and analyzing their inspection information. Furthermore, the high-speed, self-stabilizing, two-way energy-replenishing platform enables efficient collaboration with multiple unmanned wingmen, improving the collaborative efficiency of the entire fleet.

[0117] By coordinating with manned helicopters, the unmanned wingman can effectively accelerate the unmanned wingman's data analysis and decision-making efficiency, and can improve survivability by leveraging the manned helicopter's decision-making and spare parts maintenance capabilities when navigation signals are blocked or components are damaged;

[0118] Lightweight, low-cost, high-speed vertical take-off and landing drones carry little fuel and can be refueled in the air via a refueling platform to double their range, greatly expanding their operational capabilities.

[0119] After the unmanned wingman is accurately docked and tethered, the front and rear fairing devices are inflated and ejected to form front and rear fairing packs, which wrap the energy charging platform and the unmanned wingman to form an integrated wing section. This can reduce drag and airflow interference, lower energy consumption, and improve flight stability and safety. In addition, the coordinated fairing devices can also increase the tethered stability of the unmanned wingman when they are opened.

[0120] The high-speed, self-stabilizing, two-way energy replenishment platform docks with an unmanned wingman through a single interface. Compared with tethering methods with two or four interfaces, it is easier to locate and dock. It does not cause problems such as only partially docking, resulting in incomplete docking, incorrect docking posture of the wingman, and reduced tethering strength.

[0121] Adding an auxiliary positioning interface to attract the unmanned wingman in advance through principles such as magnetic attraction for docking and guidance at the correct position is beneficial to improving the accuracy and guidance efficiency of collaborative tethering. At the same time, it can provide partial tethering force and increase tethering stability.

[0122] When encountering obstructions such as clouds or terrain that affect communication, the high-speed self-stabilizing two-way energy replenishment platform can be launched to increase the distance from the helicopter to avoid communication obstacles, maintain smooth communication of the entire fleet, and improve the communication smoothness of the manned and unmanned systems;

[0123] When encountering a threat, the energy replenishment platform can be released to release decoys to create false targets to protect the safety of the helicopter. The interface between the collaborative maintenance platform and the helicopter can be disconnected, and the remaining energy of the collaborative maintenance platform can be used for long-distance flight guidance to further protect the safety of the helicopter.

[0124] The refueling / refueling docking is achieved through the active flight and attitude adjustment of the high-speed self-stabilizing two-way refueling platform. Firstly, it realizes the automation of refueling docking and improves docking efficiency. Secondly, it avoids the problem of poor docking caused by the poor stability of the helicopter during refueling.

[0125] By placing the energy replenishment platform close to the helicopter fuselage, the problem of the refueling rod extending too long and weighing too much from the fuselage, which affects flight stability and center of gravity control, can be solved.

[0126] The preferred implementation scheme of the technical solution of the present invention is described in detail above, but the present invention is not limited to the above implementation scheme. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of this patent.

Claims

1. A high-speed self-stabilizing two-way energy replenishment platform, characterized in that, Comprising: A refueling platform body (21) containing an oil storage mechanism, the refueling platform body (21) is symmetrically provided with a number of refueling platform rotors (24) for providing flight power and azimuth control and a control communication module for controlling the refueling platform rotors (24), the refueling platform body (21) is provided with at least one refueling platform refueling docking interface (22) and a refueling platform refueling tethering interface (25) communicating with the internal oil storage mechanism, wherein, the high-speed self-stabilizing two-way refueling platform can be respectively docked with a fuel tanker and a helicopter through the refueling platform refueling docking interface (22) for refueling and receiving fuel, and can be docked with the unmanned wingman (3) through the refueling platform refueling tethering interface (25) to achieve tethering and energy replenishment.

2. The high-speed self-stabilizing two-way energy replenishment platform according to claim 1, wherein The refueling platform body (21) is provided with a cooperative fairing device (29) on the fuselage, the cooperative fairing device (29) includes a front cooperative fairing device (291) and a rear cooperative fairing device (292), after the unmanned wingman (3) is accurately docked and tethered, the front cooperative fairing device (291) and the rear cooperative fairing device (292) are inflated and ejected to become a front fairing package (293) and a rear fairing package (294), wrapping the high-speed self-stabilizing two-way refueling platform (2) and the unmanned wingman (3) to form an integral airfoil section.

3. The high-speed self-stabilizing two-way energy replenishment platform according to claim 1, characterized in that, A number of refueling platform auxiliary positioning interfaces (26) are arranged around the refueling platform refueling tethering interface (25), the refueling platform auxiliary positioning interfaces (26) are symmetrically arranged around the refueling platform refueling tethering interface (25), and are magnetic attraction or self-consistent clamping connection structures.

4. The high-speed self-stabilizing two-way energy replenishment platform according to claim 1, wherein The refueling platform rotors (24) are connected to the refueling platform body (21) through refueling platform rotor arms (23) symmetrically arranged at the front and rear of the refueling platform body (21).

5. The high-speed self-stabilizing two-way energy replenishment platform according to claim 1, wherein, A maintenance robotic arm (27) is arranged on the refueling platform body (21).

6. The high-speed self-stabilizing two-way energy replenishment platform according to claim 1, wherein, A spare parts compartment (28) is arranged on the refueling platform body (21).

7. A helicopter efficiency enhancement system, characterized in that, Comprising the high-speed self-stabilizing two-way refueling platform (2) according to any one of claims 1 to 6, as well as a helicopter (1), an unmanned wingman (3) and a fuel tanker (4); Wherein, the high-speed self-stabilizing two-way refueling platform (2) can fly autonomously through the built-in control communication module, and can actively adjust its position to improve the stability of the refueling interface when the helicopter (1) is refueling. And the high-speed self-stabilizing two-way refueling platform (2) communicates with the helicopter (1) and / or the unmanned wingman (3) respectively through the built-in control communication module, and the helicopter (2) and the unmanned wingman (3) form situation awareness and information sharing through the high-speed self-stabilizing two-way refueling platform (2), constituting a helicopter efficiency enhancement system.

8. A helicopter efficiency enhancement system according to claim 7, characterized in that The helicopter (1) comprises: a helicopter body (11), a main engine refueling tethering cable (13), and a main engine refueling tethering interface (12) arranged below the helicopter body (11), one end of the main engine refueling tethering cable (13) is connected to the main engine refueling tethering interface (12).

9. A helicopter efficiency enhancement system according to claim 8, characterized in that The unmanned wingman (3) comprises: an unmanned aircraft body (31), and an unmanned aircraft energy replenishment tethering interface (35) and an unmanned aircraft auxiliary positioning interface (36) arranged above the unmanned aircraft body (31).

10. A helicopter enhancement system according to claim 9, characterized in that: The main engine energy replenishment mooring cable (13) is connected between the main engine energy replenishment mooring interface (12) of the helicopter (1) and the energy replenishment platform energy replenishment docking interface (22) of the high-speed self-stabilizing bidirectional energy replenishment platform (2); The energy charging platform energy charging tethering interface (25) of the high-speed self-stabilizing bidirectional energy charging platform (2) is connected to the unmanned aerial vehicle energy charging tethering interface (35) of the unmanned aerial vehicle (3), and the collaborative platform auxiliary positioning interface (26) of the high-speed self-stabilizing bidirectional energy charging platform (2) is connected to the unmanned aerial vehicle auxiliary positioning interface (36) of the unmanned aerial vehicle (3).

11. A helicopter efficiency enhancement system according to claim 10, characterized in that, The high-speed self-stabilizing bidirectional energy replenishment platform (2) replenishes energy from the helicopter (1) and performs information coordination via the host energy replenishment mooring cable (13), and also provides mooring and energy replenishment for the unmanned wingman (3) via the energy replenishment platform energy replenishment mooring interface (25) on the high-speed self-stabilizing bidirectional energy replenishment platform (2).

12. A helicopter efficiency enhancement system according to claim 11, characterized in that, The high-speed self-stabilizing bidirectional energy charging platform (2) adjusts the direction of the energy charging docking interface (22) of the energy charging platform to be horizontal by performing flight attitude adjustment, and can actively adjust the position when docking with the energy charging mooring interface (45) of the tanker (4) to improve the stability of the refueling interface when the helicopter is refueled and improve the docking efficiency, and perform rapid positioning and docking assistance through the energy charging platform auxiliary positioning interface (26) and the tanker auxiliary positioning interface (46); At the same time, the energy supplement platform rotor support arm (23) and the energy supplement platform rotor (24) tilt the rotor lift direction so that the energy supplement platform body (21) can maintain its posture.

13. A helicopter efficiency enhancement system according to claim 12, characterized in that, The host energy charging tethering interface (12), the energy charging platform energy charging docking interface (22), the energy charging platform energy charging tethering interface (25), the unmanned aerial vehicle energy charging tethering interface (35), and the tanker energy charging tethering interface (45) are provided with joints that can be bent 90 degrees and have a cable direction adjustment function, and can rotate the direction of the vertically connected cable 90 degrees to adjust it to the horizontal direction, so as to reduce the cable resistance.

14. A helicopter enhancement system according to claim 13, characterized in that: The high-speed self-stabilizing bidirectional energy replenishment platform (2) can be installed on a helicopter (1) for use, and integrated or attached to the belly or tail of the helicopter (1); When it is separated from the host energy replenishment tethering interface (12), it flies away from the helicopter (1) and becomes an independent aircraft.

15. A helicopter enhancement system according to claim 14, characterized in that: The high-speed self-stabilizing bidirectional energy replenishing platform (2) adopts a lifting body configuration with an airfoil cross-section, and the back of the high-speed self-stabilizing bidirectional energy replenishing platform (2) is equipped with at least two energy replenishing platform rotors (24) as lifting devices to achieve autonomous flight; The energy-boosting platform rotor (24) is installed on the energy-boosting platform body (21) of the high-speed self-stabilizing bidirectional energy-boosting platform (2) via an energy-boosting platform rotor support arm (23); the energy-boosting platform rotor support arm (23) has folding and tilting functions; the energy-boosting platform rotor (24) is folded and wrapped in the energy-boosting platform body (21) via a fairing.

16. A helicopter enhancement system according to claim 15, characterized in that: The unmanned wingman (3) has a health monitoring function, and can coordinate with the high-speed self-stabilizing bidirectional energy replenishment platform (2) by predicting its own damage, docking and mooring with the high-speed self-stabilizing bidirectional energy replenishment platform (2), and performing maintenance services such as spare parts replacement and waste parts recycling.

17. A collaborative method for a helicopter efficiency enhancement system, characterized in that, The method is applied to a helicopter efficiency enhancement system as described in any one of claims 7-16. The method plays a collaborative hub role through a high-speed self-stabilizing two-way energy replenishment platform. The signals of multiple unmanned wingman aircraft are analyzed and pushed to the helicopter through the high-speed self-stabilizing two-way energy replenishment platform. The helicopter retains direct communication and control over the unmanned wingman aircraft.

18. The collaborative method of the helicopter efficiency enhancement system according to claim 17, characterized in that, The method comprises: S1, the unmanned wingman conducts group coordination and task allocation through the high-speed self-stabilizing two-way energy replenishment platform. The inspection information of the unmanned wingman is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time, which is used by the high-speed self-stabilizing two-way energy replenishment platform to analyze the search or inspection of the entire fleet; the high-speed self-stabilizing two-way energy replenishment platform conducts situation analysis based on the inspection information of the unmanned wingman; S2: The energy consumption of the unmanned wingman is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time. The high-speed self-stabilizing two-way energy replenishment platform plans the energy replenishment rotation plan and takes turns to return to the high-speed self-stabilizing two-way energy replenishment platform for energy replenishment. S3, the unmanned wingman docks and tethers with the high-speed self-stabilizing two-way energy replenishment platform to replenish energy, exchange data or replace spare parts; the high-speed self-stabilizing two-way energy replenishment platform updates the inspection situation map of the unmanned wingman fleet and coordinates the unmanned wingman to adjust the formation position to fill the inspection blank area formed when the wingman receives supplies and maintenance.

19. A collaborative method for a helicopter efficiency enhancement system according to claim 18, characterized in that, S1 is specifically: The high-speed self-stabilizing two-way energy replenishment platform assists the helicopter in collaborative information processing and distribution communication, and commands and coordinates the unmanned wingman to perform task collaboration. For low-precision real-time high-rate inspection information, it is screened according to the needs of the helicopter, and the valuable inspection signals that the helicopter is concerned about are pushed to the helicopter; When a valuable signal is found, the bandwidth of the corresponding unmanned wingman is increased to obtain medium-precision inspection information and conduct focused analysis; When a high-similarity signal is found, high-precision positioning is performed by mutual positioning of the target values ​​of the unmanned wingman group; When a target with high similarity is identified, the helicopter and the corresponding unmanned wingman exchange their flight positions, and the helicopter conducts a high-precision close inspection to confirm the target; When the clarity of medium-precision data of high-similarity targets is insufficient, multiple unmanned wingman drones can work together to conduct concentrated close-range inspections.

20. The collaborative method of a helicopter efficiency enhancement system according to claim 19, characterized in that, S1 also includes: When cloud or terrain obstructs communications, the high-speed self-stabilizing two-way energy replenishment platform is released to increase the distance from the helicopter to avoid communication obstacles and maintain communication of the entire fleet; When threatened, release the high-speed self-stabilizing two-way energy replenishment platform. The high-speed self-stabilizing two-way energy replenishment platform releases bait to create false targets to protect the safety of the helicopter.

21. A collaborative method for a helicopter efficiency enhancement system, characterized in that, The method is applied to a helicopter efficiency enhancement system as described in any one of claims 7-16. The method exerts the two-way energy replenishment function through the high-speed self-stabilizing two-way energy replenishment platform. The helicopter docks with the fuel tanker through the high-speed self-stabilizing two-way energy replenishment platform and replenishes energy.

22. The collaborative method of a helicopter efficiency enhancement system according to claim 21, wherein When collaborating with the fuel tanker, the helicopter and the fuel tanker maintain the same speed and heading, and the helicopter sends a refueling demand to the fuel tanker. After confirming the refueling demand, the two aircraft conduct flight state coordination. At the same time, the high-speed self-stabilizing two-way energy replenishment platform flies forward and approaches the refueling tether cable and the refueling tether interface of the fuel tanker. When the position reaches the refueling docking range, the high-speed self-stabilizing two-way energy replenishment platform climbs upward through a maneuvering method to adjust the flight attitude so that the direction of the energy replenishment docking interface of the energy replenishment platform is horizontal. At the same time, the rotor arm of the energy replenishment platform and the tilt of the rotor of the energy replenishment platform of the energy replenishment platform change the lift direction so that the body of the energy replenishment platform maintains the refueling docking attitude, and can be quickly positioned and docked through the auxiliary positioning interface of the energy replenishment platform and the auxiliary positioning interface of the fuel tanker. The quick docking of the fueling port is guided through the auxiliary magnetic attraction method. The position can be quickly adjusted through the cooperation of the main fueling interface and the auxiliary positioning interface to improve the docking efficiency of the fueling interface of the helicopter during refueling, and provide energy replenishment for the helicopter.

23. The collaborative method of a helicopter efficiency enhancement system according to claim 21, wherein When collaborating with the unmanned wingman, when the unmanned wingman returns near the helicopter, the unmanned wingman and the helicopter maintain the same speed and heading, and the unmanned wingman sends a refueling demand to the helicopter. After confirming the refueling demand, the two aircraft conduct flight state coordination. At the same time, the high-speed self-stabilizing two-way energy replenishment platform is released downward and approaches the unmanned wingman. When the position reaches the refueling docking range, the collaborative platform auxiliary positioning interface of the high-speed self-stabilizing two-way energy replenishment platform docks with the unmanned aircraft auxiliary positioning interface of the unmanned wingman to carry out quick auxiliary positioning. The energy replenishment platform tether interface of the energy replenishment platform docks with the unmanned aircraft tether interface of the unmanned wingman. The rotor arm of the energy replenishment platform and the tilt of the rotor of the energy replenishment platform of the energy replenishment platform change the lift direction so that the body of the energy replenishment platform maintains the refueling docking attitude, and provides energy replenishment for the unmanned wingman. This process is applicable to hovering and low-speed states; in the high-speed flight state, after the unmanned wingman docks accurately and is tethered, the front and rear fairing devices at the bottom of the high-speed self-stabilizing two-way energy replenishment platform are inflated and ejected to become front and rear fairing packages, wrapping the energy replenishment platform and the unmanned wingman to form an integral airfoil section.

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