CN116176899A - Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device - Google Patents
Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device Download PDFInfo
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Abstract
The utility model provides a carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device, which belongs to the technical field of unmanned aerial vehicles and comprises a plurality of execution units, a control unit, a power supply unit and a supporting structure; before recycling, the control module adjusts the heights of all the substrates by taking the substrate at the center of the recycling device as a reference according to the inclination angle of the recycling device relative to the horizontal plane and the height and lifting speed data of the substrate, so as to form a horizontal bearing platform, compensate the shaking error of a deck and avoid collision caused by unmanned aerial vehicle landing; in the recovery process, under the control of the control unit, the base plate which is firstly touched by the belly of the unmanned aerial vehicle descends, the base plate which is not touched ascends until the base plate is contacted with the belly, and then the base plate descends, so that the contact area is increased, the pressure born by the belly is uniform, and the kinetic energy of the unmanned aerial vehicle is absorbed; after recovery is completed, the lifting mechanism, the motor and the motor driver push the unmanned aerial vehicle to recover the horizontal waiting state, so that labor and time cost are saved.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device.
Background
The vertical take-off and landing fixed-wing unmanned aerial vehicle is a high-performance unmanned aerial vehicle integrating functions of vertical take-off and landing, fixed-point hovering, remote cruising and the like. The device is suitable for vertical take-off and landing in a limited field and fixed-point hovering operation above a target, and has the characteristics of remote cruising and long-time idle stagnation. In the offshore operation, the carrier-based vertical take-off and landing fixed wing unmanned aerial vehicle has wide application prospect, and can execute various tasks such as enemy reconnaissance, battlefield defense, firepower support, sea attack, damage evaluation, material supply, wounded rescue, communication relay and the like.
Along with the continuous increase of unmanned aerial vehicle tactical tasks and continuous improvement of the requirements of people on the recycling rate of unmanned aerial vehicles, the recycling capability of the unmanned aerial vehicles becomes an important index for evaluating the performance of the unmanned aerial vehicles. The vertical take-off and landing fixed wing unmanned aerial vehicle is recovered by vertically landing on the deck. Due to adverse factors such as marine storms, deck movement, flight attitude adjustment and the like, the vertical take-off and landing fixed wing unmanned aerial vehicle is easy to collide with the deck during the recovery process. Compared with a helicopter capable of taking off and landing vertically, the vertical take-off and landing fixed wing unmanned aerial vehicle has the advantages of low wing height, long wing span, high recovery difficulty, high collision risk and the like. Serious collision can damage organism structure, reduces unmanned aerial vehicle's recovery value, appears unmanned aerial vehicle completely condemned condition even.
At present, the damage caused by collision can be reduced by optimizing the landing gear design of the unmanned aerial vehicle, and the recyclable performance of the unmanned aerial vehicle is improved. The optimal design of the landing gear typically requires an increase in weight of the landing gear. The weight increase can reduce the payload capacity of the unmanned aerial vehicle and reduce the dead time of the unmanned aerial vehicle. In addition, through the recovery unit who designs to be used for carrier-based vertical take-off and land fixed wing unmanned aerial vehicle can improve unmanned aerial vehicle recovery's security under the circumstances that does not change unmanned aerial vehicle structure, does not increase unmanned aerial vehicle weight. The existing recovery device has the technologies of a damping platform, a parallel movable platform, a mechanical arm and the like. The recovery surfaces of the shock absorption platform and the parallel movable platform are planes, the contact area of the bottom of the unmanned aerial vehicle is limited, and the performance of reducing collision harm is limited. The mechanical arm recovery technology needs higher docking precision, and is generally only applied to recovery of a miniature unmanned aerial vehicle in a static wind environment, and the recovery surface cannot be guaranteed to be a plane due to shaking of a deck in a ship-borne environment, so that the unmanned aerial vehicle collides with the recovery surface, and the unmanned aerial vehicle is damaged.
The utility model discloses an unmanned aerial vehicle carrier-borne auxiliary recovery device in China patent CN217100507U, and the unmanned aerial vehicle carrier-borne auxiliary recovery device comprises: the lifting assembly comprises a lifting winch mechanism, a lifting rope and a first lifting hook, wherein the lifting winch mechanism is arranged on the unmanned aerial vehicle, one end of the lifting rope is wound on the lifting winch mechanism, and the other end of the lifting rope is connected with the first lifting hook; retrieve winch subassembly including retrieving winch mechanism, retrieving haulage rope, rope guiding mechanism and second hoist and mount hook, retrieve the one end winding of haulage rope on retrieving winch mechanism, retrieve the other end and the second hoist and mount hook connection of haulage rope, when unmanned aerial vehicle uses retrieving winch subassembly to carry out unmanned aerial vehicle recovery operation, the second hoist and mount hook passes rope guiding mechanism and is connected with first hoist and mount hook. The unmanned aerial vehicle can be prevented from bouncing, dumping and other conditions caused by landing collision by the unmanned aerial vehicle, and the landing recovery safety of the unmanned aerial vehicle under the sea condition is effectively improved. However, the device needs the assistance of staff to operate, thereby increasing the workload; moreover, the unmanned aerial vehicle recovered by the device needs manual carrying to recover the state to be flown, and the labor and time cost are increased.
Disclosure of Invention
Aiming at the problems in the prior art, the utility model provides a ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device, and the technical problems to be solved by the utility model are how to avoid damage during unmanned aerial vehicle recovery and how to save labor cost required by recovering the unmanned aerial vehicle to a waiting state.
In order to solve the technical problems, the utility model provides a ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device which comprises a plurality of execution units, a control unit, a power supply unit and a supporting structure;
the lower part of the execution unit is connected with the supporting structure, the lower part of the supporting structure is connected with the deck, the control unit and the power supply unit are arranged in the supporting structure, and the execution unit, the control unit and the power supply unit are electrically connected with each other;
each execution unit comprises a substrate, a lifting mechanism, a motor and a motor driver, the lower part of the substrate is connected with the lifting mechanism, the lifting mechanism is connected with an output shaft of the motor, the motor is electrically connected with the motor driver, and a plurality of substrates form a bearing platform for the unmanned aerial vehicle to land; the control unit comprises an attitude sensor and a control module which are electrically connected with each other;
before recycling, the control module adjusts the height of each substrate through data information acquired by the attitude sensor and the motor driver to form a horizontal bearing platform;
in the recovery process, under the control of a control unit, the substrate firstly touched by the belly of the unmanned aerial vehicle descends; the substrate which is not touched rises and then falls;
after recovery is completed, the control unit adjusts the heights of all the substrates through the motor driver and the motor, and pushes the unmanned aerial vehicle to recover the horizontal waiting flying state.
Further, before recycling, the attitude sensor acquires the inclination angle of the recycling device relative to the horizontal plane in real time and transmits the inclination angle to the control module; the motor driver collects the height and lifting speed data of the substrate and transmits the height and lifting speed data to the control module; the control module controls the motor driver to adjust the height of each substrate according to the inclination angle of the recovery device relative to the horizontal plane and the height and lifting speed data of the substrates, and the substrate at the center of the recovery device is taken as a reference, so that a horizontal bearing platform is formed, and the shaking of a deck is compensated;
further, in the recovery process, under the control of the control unit, the substrate firstly touched by the belly of the unmanned aerial vehicle descends under the drive of the corresponding motor and the lifting mechanism; the substrate which is not touched is driven by the corresponding motor and the lifting mechanism to rise until the substrate is contacted with the belly, and then the substrate descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure on the belly is uniformly distributed, the risk of damage of the belly of the unmanned aerial vehicle is reduced, the kinetic energy of the unmanned aerial vehicle is absorbed, and the structural safety of the unmanned aerial vehicle is protected; the unmanned aerial vehicle is actively lifted, has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, and improves the adaptability of the recovery process of the carrier-based unmanned aerial vehicle to the severe offshore environment.
Further, the base plate includes blotter and backup pad, and the blotter sets up in the top of backup pad, and the below of backup pad is connected with elevating system.
Further, the cushion pad is made of an elastic energy absorbing material.
Further, elevating system includes push rod, rack and gear, and the below at the backup pad is connected to the push rod, and the rack is connected with the side of push rod, and the gear setting is in one side of rack and with rack meshing contact, the output shaft of gear and motor.
Further, the execution unit further comprises a shell, the motor is connected with the inner wall of the shell, the motor driver is arranged in the shell, and the lower surface of the shell is connected with the supporting structure.
Further, the axis of the push rod is perpendicular to the bottom of the shell.
Further, a chute is arranged in the shell.
Further, the support structure is fixed on the deck by a buckle.
Further, the control module is a raspberry group calculation module CM4.
Further, the power supply unit comprises a power management unit, a lithium battery and a super capacitor, and the power management unit, the lithium battery and the super capacitor are electrically connected with each other.
The power supply unit supplies power to the recovery device. The power consumption of the unmanned aerial vehicle recovery device in the standby state and the recovery state is obviously different. The unmanned aerial vehicle recovery process duration is short, and the consumption is high. In order to meet the normal work of the unmanned aerial vehicle recovery device, the power supply unit adopts a power supply mode of combining lithium battery power supply and super capacitor power supply. In the standby state, the lithium battery charges the super capacitor. In the recovery process, the super capacitor discharges to meet the power consumption requirement of the recovery device for high instantaneous power consumption, and the power supply gap of the lithium battery caused by the limitation of the discharge power of the lithium battery is compensated.
According to the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device, the gesture data of the recovery device are acquired in real time through the gesture sensor, the motor driver acquires the motion information of the base plate, the control module adjusts the heights of the base plates at the center of the recovery device by taking the base plate at the center of the recovery device as a reference through the motor driver and the motor, and a horizontal bearing platform is formed, so that shaking errors of a deck are compensated, and collision and damage caused when the unmanned aerial vehicle falls are avoided; in the recovery process, under the control of the control unit, the substrate firstly touched by the belly of the unmanned aerial vehicle descends, and the substrate which is not touched ascends until the substrate is contacted with the belly and descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure born by the belly of the unmanned aerial vehicle is uniform, the risk of damage of the belly of the unmanned aerial vehicle is reduced, and the kinetic energy of the unmanned aerial vehicle is absorbed; the unmanned aerial vehicle is actively lifted, so that the unmanned aerial vehicle has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, and the adaptability of the recovery process of the unmanned aerial vehicle on the severe sea environment is improved; after recovery is completed, the lifting mechanism, the motor and the motor driver push the unmanned aerial vehicle to recover the horizontal waiting state, so that the time for manually carrying the unmanned aerial vehicle to recover the waiting state is saved.
According to the utility model, the plurality of execution units can be combined in a modularized manner according to the sizes of the unmanned aerial vehicles, the recovery requirements of unmanned aerial vehicles with different sizes are met, the execution units realize closed-loop control of the motion state of the base plate, and the supporting force of the supporting plate is controlled in real time by adjusting the lifting speed of the lifting mechanism, so that the pressure on the contact surface of the unmanned aerial vehicle and the recovery device is uniformly distributed, and the risk of damage of the unmanned aerial vehicle is reduced.
Drawings
Fig. 1 is a schematic structural view of a ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device.
Fig. 2 is a schematic diagram of an execution unit of the recovery device of the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle.
Wherein, 1-an execution unit; 2-a control unit; 3-a power supply unit; 4-a support structure; 5-cushion pad; 6-supporting plates; 7-pushing rod; 8-racks; 9-gear; 10-an electric motor; 11-a motor driver; 12-a shell.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In order to better understand the purpose, structure and function of the utility model, the utility model relates to a recovery device of a ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle, which is further described in detail below with reference to the accompanying drawings.
Example 1
Fig. 1 shows a first embodiment of a carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device according to the utility model, comprising a plurality of execution units 1, a control unit 2, a power supply unit 3 and a support structure 4;
the lower part of the execution unit 1 is connected with the supporting structure 4, the lower part of the supporting structure 4 is connected with the deck, the control unit 2 and the power supply unit 3 are arranged inside the supporting structure 4, and the execution unit 1, the control unit 2 and the power supply unit 3 are mutually and electrically connected;
each execution unit 1 comprises a substrate, a lifting mechanism, a motor 10 and a motor driver 11, wherein the lower part of the substrate is connected with the lifting mechanism, the lifting mechanism is connected with an output shaft of the motor 10, the motor 10 is electrically connected with the motor driver 11, and a plurality of substrates form a bearing platform for the unmanned aerial vehicle to land;
the control unit 2 comprises an attitude sensor and a control module which are electrically connected with each other;
before recycling, the control module adjusts the height of each substrate through data information collected by the attitude sensor and the motor driver 11 to form a horizontal bearing platform;
in the recovery process, under the control of a control unit, the substrate firstly touched by the belly of the unmanned aerial vehicle descends; the substrate which is not touched rises and then falls;
after recovery is completed, the control unit adjusts the heights of all the substrates through the motor driver 11 and the motor 10, and pushes the unmanned aerial vehicle to recover the horizontal waiting state.
Example 2
Fig. 1 shows a first embodiment of a carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device according to the utility model, comprising a plurality of execution units 1, a control unit 2, a power supply unit 3 and a support structure 4;
the lower part of the execution unit 1 is connected with the supporting structure 4, the lower part of the supporting structure 4 is connected with the deck, the control unit 2 and the power supply unit 3 are arranged inside the supporting structure 4, and the execution unit 1, the control unit 2 and the power supply unit 3 are mutually and electrically connected;
each execution unit 1 comprises a substrate, a lifting mechanism, a motor 10 and a motor driver 11, wherein the lower part of the substrate is connected with the lifting mechanism, the lower part of the lifting mechanism is connected with the motor 10, the motor 10 is electrically connected with the motor driver 11, and a plurality of substrates form a bearing platform for the unmanned aerial vehicle to land;
the control unit 2 comprises an attitude sensor and a control module;
before the unmanned aerial vehicle is recovered, the attitude sensor acquires the inclination angle of the recovery device relative to the horizontal plane in real time and transmits the inclination angle to the control module; the motor driver 11 collects the height and lifting speed data of the substrate and transmits the data to the control module; the control module controls the motor driver 11 to adjust the height of each substrate according to the inclination angle of the recovery device relative to the horizontal plane and the height and lifting speed data of the substrates, and the substrate at the center of the recovery device is taken as a reference, so that a horizontal bearing platform is formed, and the shaking of a deck is compensated;
in the recovery process, under the control of the control unit 2, the substrate firstly touched by the belly of the unmanned aerial vehicle descends under the drive of the corresponding motor and lifting mechanism; the substrate which is not touched is driven by the corresponding motor and the lifting mechanism to rise until the substrate is contacted with the belly, and then the substrate descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure on the belly is uniformly distributed, the risk of damage of the belly of the unmanned aerial vehicle is reduced, the kinetic energy of the unmanned aerial vehicle is absorbed, and the structural safety of the unmanned aerial vehicle is protected; the unmanned aerial vehicle is actively lifted, has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, and improves the adaptability of the recovery process of the carrier-based unmanned aerial vehicle to the severe offshore environment.
After recycling, the control unit 2 adjusts the heights of the substrates through the motor driver 11 and the motor 10, so that the unmanned aerial vehicle is pushed to recover the horizontal state to be flown, and the time for recovering the state to be flown by manually carrying the unmanned aerial vehicle is saved.
As shown in fig. 2, the substrate comprises a cushion pad 5 and a supporting plate 6, the cushion pad 5 is arranged above the supporting plate 6, the cushion pad 5 is made of an elastic energy absorbing material, and friction force generated after the cushion pad 5 contacts with the bottom surface of the unmanned aerial vehicle can reduce the movement amount of the unmanned aerial vehicle in the horizontal direction;
the lifting mechanism comprises a push rod 7, a rack 8 and a gear 9, wherein the push rod 7 is connected to the lower end of the supporting plate 6, the rack 8 is connected with the side face of the push rod 7, the gear 9 is arranged on one side of the rack 8 and is in meshed contact with the rack 8, the gear 9 is connected with an output shaft of a motor 10, the motor 10 rotates to drive the gear 9 to rotate, and the push rod 7 starts to lift;
each execution unit 1 further comprises a shell 12, a sliding groove is formed in the shell 12, the push rod 7 can slide along the sliding groove, the motor 10 is connected with the inner wall of the shell 12, the motor driver 11 is arranged in the shell 12, and the lower surface of the shell 12 is connected with the supporting structure 4; the shell 12 adopts a modularized design, so that a plurality of execution units 1 can be arranged and installed together and fixed on the supporting structure 4 of the recovery device, and the axis of the push rod 7 is vertical to the bottom of the shell 12;
the supporting structure 4 is fixed on the deck by a buckle, and the fixing is reliable and the movement is convenient; the supporting structure adopts 4 the modular design that can splice, and a plurality of supporting structure units can splice together, the demand of self-defined recovery unit holding surface size.
The motor 10 is a low-rotation-speed large-torque direct current brushless motor, an encoder is mounted on the output shaft of the motor 10, and the encoder collects rotation data of a rotating shaft of the motor 10. The motor driver 11 is connected to the power supply terminal and the encoder terminal of the motor 10, realizing closed-loop control of the motor.
The motor driver 11 is a dc brushless motor driver, and uses a Field Oriented Control (FOC) technique. The motor driver 11 is capable of closed-loop control of the current, rotational speed and rotational angle of the motor 10. The motor driver 11 controls the rotation angle and rotation speed of the motor 10, thereby realizing the control of the height and lifting speed of the support plate 6. The motor driver 11 transmits data, which can reflect the information of the height and speed of the support plate 6, to the control unit 2 through a data bus and implements the control command issued by the receiving control unit.
Example 3
Fig. 1 shows a first embodiment of a carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device according to the utility model, comprising a plurality of execution units 1, a control unit 2, a power supply unit 3 and a support structure 4;
the lower part of the execution unit 1 is connected with the supporting structure 4, the lower part of the supporting structure 4 is connected with the deck, the control unit 2 and the power supply unit 3 are arranged inside the supporting structure 4, and the execution unit 1, the control unit 2 and the power supply unit 3 are mutually and electrically connected;
each execution unit 1 comprises a substrate, a lifting mechanism, a motor 10 and a motor driver 11, wherein the lower part of the substrate is connected with the lifting mechanism, the lifting mechanism is connected with an output shaft of the motor 10, the motor 10 is electrically connected with the motor driver 11, and a plurality of substrates form a bearing platform for the unmanned aerial vehicle to land;
the control unit 2 comprises an attitude sensor and a control module;
before the unmanned aerial vehicle is recovered, the attitude sensor acquires the inclination angle of the recovery device relative to the horizontal plane in real time and transmits the inclination angle to the control module; the motor driver 11 collects the height and lifting speed data of the substrate and transmits the data to the control module; the control module controls the motor driver 11 to adjust the height of each substrate according to the inclination angle of the recovery device relative to the horizontal plane and the height and lifting speed data of the substrates, and the substrate at the center of the recovery device is taken as a reference, so that a horizontal bearing platform is formed, and the shaking of a deck is compensated;
in the recovery process, under the control of the control unit 2, the substrate firstly touched by the belly of the unmanned aerial vehicle descends under the drive of the corresponding motor and lifting mechanism; the substrate which is not touched is driven by the corresponding motor and the lifting mechanism to rise until the substrate is contacted with the belly, and then the substrate descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure on the belly is uniformly distributed, the risk of damage of the belly of the unmanned aerial vehicle is reduced, the kinetic energy of the unmanned aerial vehicle is absorbed, and the structural safety of the unmanned aerial vehicle is protected; the unmanned aerial vehicle is actively lifted, has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, and improves the adaptability of the recovery process of the carrier-based unmanned aerial vehicle to the severe offshore environment.
After recycling, the control unit 2 adjusts the heights of the substrates through the motor driver 11 and the motor 10, so that the unmanned aerial vehicle is pushed to recover the horizontal state to be flown, and the time for recovering the state to be flown by manually carrying the unmanned aerial vehicle is saved.
The control unit 2 further comprises a wireless transmission module, the wireless transmission module transmits the gesture data acquired by the gesture sensor to the upper computer, and a worker detects the data through the upper computer; the communication center frequency of the wireless transmission module is 433MHz, and the communication interface is 232 serial ports.
The attitude sensor comprises an MPU6050 triaxial gyroscope and an accelerometer, and the communication interface is an I2C interface; the control module is a raspberry group calculation module CM4, the attitude sensor can detect the inclination angle of the whole recovery device, and the control module levels the bearing platform according to the inclination angle information;
the power supply unit 3 supplies power to the recovery device. The power consumption of the unmanned aerial vehicle recovery device in the standby state and the recovery state is obviously different. The unmanned aerial vehicle recovery process duration is short, and the consumption is high. In order to meet the normal work of the unmanned aerial vehicle recovery device, the power supply unit adopts a power supply mode of combining lithium battery power supply and super capacitor power supply. In the standby state, the lithium battery charges the super capacitor. In the recovery process, the super capacitor discharges to meet the power consumption requirement of the recovery device for high instantaneous power consumption, and the power supply gap of the lithium battery caused by the limitation of the discharge power of the lithium battery is compensated. The power supply unit comprises a power supply management unit, and realizes the management of charging and discharging of the lithium battery and the super capacitor. The power management unit, the lithium battery and the super capacitor are electrically connected with each other.
The working process of the carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device is as follows:
before recycling the unmanned aerial vehicle, acquiring the inclination angle of the recycling device relative to the horizontal plane in real time by an attitude sensor before recycling, and transmitting the inclination angle to a control module; the motor driver 11 collects the height and lifting speed data of the substrate and transmits the data to the control module; the control module controls the motor driver 11 to adjust the height of each substrate according to the inclination angle of the recovery device relative to the horizontal plane and the height and lifting speed data of the substrates, and the substrate at the center of the recovery device is taken as a reference, so that a horizontal bearing platform is formed, and the shaking of a deck is compensated; at the moment, the lithium battery charges the super capacitor, and the lithium battery supplies power to the execution unit 1;
in the recovery process, under the control of the control unit 2, the substrate firstly touched by the belly of the unmanned aerial vehicle descends under the drive of the corresponding motor 10 and lifting mechanism; the substrate which is not touched is driven by the corresponding motor and the lifting mechanism to rise until the substrate is contacted with the belly, and then the substrate descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure on the belly is uniformly distributed, the risk of damage of the belly of the unmanned aerial vehicle is reduced, and the kinetic energy of the unmanned aerial vehicle is absorbed; the unmanned aerial vehicle is actively lifted, so that the unmanned aerial vehicle has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, the adaptability of the unmanned aerial vehicle on the severe offshore environment in the recovery process is improved, and at the moment, the super capacitor and the lithium battery supply power to the execution unit 1 together;
after recovery is completed, the control unit 2 drives the gear 9 and the rack 8 to drive through the motor driver 11 and the motor 10, and the push rod 7 slides up and down, so that the height of each substrate is adjusted to form a horizontal bearing platform, the unmanned aerial vehicle is pushed to recover the horizontal state to be flown, the time for recovering the state to be flown by the manual carrying unmanned aerial vehicle is saved, and the lithium battery supplies power to the execution unit 1.
According to the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device, gesture data of the recovery device are acquired in real time through the gesture sensor, the motor driver 11 acquires motion information of a substrate, the control module takes the substrate at the center of the recovery device as a reference through the acquired gesture data and the motion information, and then the heights of the substrates are adjusted through the motor driver 11 and the motor 10 to form a horizontal bearing platform, so that shaking errors of a deck are compensated; in the recovery process, under the control of the control unit 2, the substrate firstly touched by the belly of the unmanned aerial vehicle descends, and the substrate which is not touched ascends until the substrate is contacted with the belly and descends, so that the contact area is increased, the pressure born by the belly of the unmanned aerial vehicle is reduced, the pressure on the belly of the unmanned aerial vehicle is uniformly distributed, the risk of damage of the belly of the unmanned aerial vehicle is reduced, and the kinetic energy of the unmanned aerial vehicle is absorbed; the unmanned aerial vehicle is actively lifted, so that the unmanned aerial vehicle has an auxiliary effect on the position and the posture of the unmanned aerial vehicle in the recovery process, and the adaptability of the recovery process of the unmanned aerial vehicle on the severe sea environment is improved; after recovery is completed, the lifting mechanism, the motor 10 and the motor driver 11 push the unmanned aerial vehicle to recover the horizontal state to be flown, so that the time for manually carrying the unmanned aerial vehicle to recover the state to be flown is saved.
According to the utility model, the plurality of execution units 1 can be combined in a modularized manner according to the sizes of the unmanned aerial vehicles, the recovery requirements of unmanned aerial vehicles with different sizes are met, the execution units realize closed-loop control of the motion state of the base plate, and the supporting force of the supporting plate 6 is controlled in real time by adjusting the lifting speed of the lifting mechanism, so that the pressure on the contact surface of the unmanned aerial vehicle and the recovery device is uniformly distributed, and the damage risk of the unmanned aerial vehicle is reduced.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.
Claims (10)
1. The recovery device of the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle is characterized by comprising a plurality of execution units, a control unit, a power supply unit and a supporting structure;
the lower part of the execution unit is connected with the supporting structure, the lower part of the supporting structure is connected with the deck, the control unit and the power supply unit are arranged in the supporting structure, and the execution unit, the control unit and the power supply unit are electrically connected with each other;
each execution unit comprises a substrate, a lifting mechanism, a motor and a motor driver, the lower part of the substrate is connected with the lifting mechanism, the lifting mechanism is connected with an output shaft of the motor, the motor is electrically connected with the motor driver, and a plurality of substrates form a bearing platform for the unmanned aerial vehicle to land; the control unit comprises an attitude sensor and a control module which are electrically connected with each other;
before recycling, the control module adjusts the height of each substrate through data information acquired by the attitude sensor and the motor driver to form a horizontal bearing platform;
in the recovery process, under the control of a control unit, the substrate firstly touched by the belly of the unmanned aerial vehicle descends; the substrate which is not touched rises and then falls;
after recovery is completed, the control unit adjusts the heights of all the substrates through the motor driver and the motor, and pushes the unmanned aerial vehicle to recover the horizontal waiting flying state.
2. The recovery device of the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle according to claim 1, wherein before recovery, an attitude sensor acquires the inclination angle of the recovery device relative to a horizontal plane in real time and transmits the inclination angle to a control module; the motor driver collects the height and lifting speed data of the substrate and transmits the height and lifting speed data to the control module; and the control module controls the motor driver to adjust the heights of the substrates according to the inclination angle of the recovery device relative to the horizontal plane and the height and lifting speed data of the substrates, and takes the substrate at the center of the recovery device as a reference, so that a horizontal bearing platform is formed.
3. The recovery device of the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle according to claim 1, wherein in the recovery process, under the control of a control unit, a base plate touched by an belly of the unmanned aerial vehicle first descends under the drive of a motor and a lifting mechanism of the base plate; the substrate which is not touched is driven by the motor and the lifting mechanism to rise until the substrate contacts with the belly and then descends.
4. The ship-based small-sized vertical lifting fixed wing unmanned aerial vehicle recovery device according to claim 1, wherein the base plate comprises a buffer pad and a supporting plate, the buffer pad is arranged above the supporting plate, and the lower part of the supporting plate is connected with the lifting mechanism.
5. The carrier-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recycling device according to claim 4, wherein the cushion pad is made of an elastic energy absorbing material.
6. The ship-based small-sized vertical lifting fixed wing unmanned aerial vehicle recovery device according to claim 5, wherein the lifting mechanism comprises a push rod, a rack and a gear, the push rod is connected below the supporting plate, the rack is connected with the side face of the push rod, the gear is arranged on one side of the rack and is in meshed contact with the rack, and the gear is connected with an output shaft of the motor.
7. The recovery device for the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle according to claim 6, wherein the execution unit further comprises a housing, the motor is connected with the inner wall of the housing, the motor driver is arranged in the housing, and the lower surface of the housing is connected with the supporting structure.
8. The recovery device for the ship-based small vertical take-off and landing fixed wing unmanned aerial vehicle according to claim 7, wherein the axis of the push rod is vertical to the bottom of the shell.
9. The recovery device for the ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle according to claim 8, wherein a chute is formed in the shell.
10. The ship-based small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recycling device according to any one of claims 1 to 9, wherein the power supply unit comprises a power management unit, a lithium battery and a super capacitor, and the power management unit, the lithium battery and the super capacitor are electrically connected with each other.
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