CN-122009579-A - Unmanned aerial vehicle capturing module, unmanned aerial vehicle capturing system, unmanned aerial vehicle and unmanned aerial vehicle capturing method

CN122009579ACN 122009579 ACN122009579 ACN 122009579ACN-122009579-A

Abstract

The invention belongs to the technical field of unmanned aerial vehicle capturing, and particularly relates to an unmanned aerial vehicle capturing module, an unmanned aerial vehicle capturing system, an unmanned aerial vehicle and an unmanned aerial vehicle capturing method. In order to finish the capture of the unmanned aerial vehicle when the unmanned aerial vehicle does not need to be precisely aligned with a specific position on an air park, the invention provides an unmanned aerial vehicle capture module, wherein n avoidance seams are arranged on the air park, m lock hooks are arranged at each avoidance seam, and all the lock hooks are distributed in an m multiplied by n matrix; each lock hook is configured with a driving mechanism for driving the lock hook to rotate under the command of the control system, the driving mechanism comprises a torque limiter for preventing the lock hook from damaging the unmanned aerial vehicle, the lock hook is provided with a capturing station, and at least one lock hook positioned at the capturing station hooks a recovery matching piece positioned on the unmanned aerial vehicle. The invention further provides a corresponding unmanned aerial vehicle capturing system, an unmanned aerial vehicle and an unmanned aerial vehicle capturing method. The unmanned aerial vehicle is captured in a 'saturated' manner, so that the unmanned aerial vehicle does not need to be aligned with a specific position on the tarmac.

Inventors

ZHU XIAO
HU GUANGHUI
ZHANG QIANG
Tan Miaolong

Assignees

中国船舶集团有限公司第七一三研究所
中船海为高科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260319

Claims (14)

1. The unmanned aerial vehicle capturing module comprises a recycling platform with an apron, and is characterized in that n avoidance seams are arranged on the apron, m lock hooks are arranged at each avoidance seam, all the lock hooks are arranged in a matrix of m rows and n columns, m is more than or equal to 2, and n is more than or equal to 2; each lock hook is provided with a driving mechanism which is positioned in the recovery platform and used for driving the lock hook to rotate under the command of the control system, and the driving mechanism comprises a torque limiter for preventing the lock hook from damaging the unmanned aerial vehicle; In the rotating stroke of the lock hook, the lock hook is provided with a hiding station hidden in the recovery platform and a capturing station which is rotated out of the recovery platform through the avoidance slot; at least one latch hook at the capturing station is used for hooking a recovery fitting piece between two skid plates of the unmanned aerial vehicle.
2. The unmanned aerial vehicle capture module of claim 1, wherein n is greater than or equal to 3 and the distance between adjacent rows of shackle is less than half the distance between two skid plates of the unmanned aerial vehicle.
3. The unmanned aerial vehicle capturing module according to claim 1 or 2, wherein m is greater than or equal to 3, and the distance between two adjacent rows of locking hooks is such that when at least 3 recovery fittings are arranged between two skid boards at intervals along the length direction of the skid boards, among the at least two rows of locking hooks at the capturing station, the locking hooks in different rows are used for hooking different recovery fittings.
4. A drone catch module according to claim 3, wherein the shackle comprises a "crescent" shaped hook head and a connection portion connecting the hook head with the drive mechanism.
5. The unmanned aerial vehicle capture module of claim 3, wherein the tarmac is provided with proximity switches protruding from the surface of the tarmac and arranged in an array, and the proximity switches are configured to send signals to the control system after contact with the unmanned aerial vehicle, so that the control system controls the driving mechanism to drive the latch hook to switch to the capture station.
6. The unmanned aerial vehicle capture module of claim 1 or 2, wherein the drive mechanism further comprises a drive motor, m shafts, and a drive assembly drivingly connecting the drive motor to all shafts, each shackle and corresponding torque limiter being mounted on a corresponding shaft for simultaneously rotating all shackle with the drive motor.
7. The unmanned aerial vehicle capture module of claim 1 or 2, wherein the two ends of the avoidance slot extend to the two ends of the recovery platform, and the recovery platform is provided with avoidance holes corresponding to the two ends of the avoidance slot.
8. An unmanned aerial vehicle capturing system comprising a pose adjustment module and a capturing module mounted at the output end of the pose adjustment module, wherein the capturing module comprises the unmanned aerial vehicle capturing module according to any one of claims 1 to 7.
9. The unmanned aerial vehicle capturing system of claim 8, wherein the capturing module further comprises a mounting frame, the unmanned aerial vehicle capturing module is mounted on the mounting frame, the unmanned aerial vehicle capturing modules are arranged in an array mode, the tarmac on each unmanned aerial vehicle capturing module is spliced together to form a total tarmac, and the latch hook in the capturing station in at least one unmanned aerial vehicle capturing module is used for hooking the recovery matching piece.
10. The drone capture system of claim 9, wherein a distance between adjacent two rows of shackle in adjacent two drone capture modules is used to be less than half a distance between two skid plates of the drone.
11. The drone capture system of claim 9, wherein a distance between adjacent rows of shackle in adjacent drone capture modules is equal to a distance between adjacent rows of shackle locks in a single drone capture module.
12. The utility model provides an unmanned aerial vehicle, includes two parallel arrangement's skid board, its characterized in that is connected with two or at least three spaced arrangement's recovery cooperation piece between two skid boards in the length direction of skid board, retrieves the cooperation piece and connects on the skid board, and all retrieve cooperation piece and be parallel to each other.
13. The unmanned aerial vehicle of claim 12, wherein the recovery fitting is a cable having two ends respectively connected to the two skid plates.
14. An unmanned aerial vehicle capturing method, characterized in that the unmanned aerial vehicle capturing system according to any one of claims 8-11 is utilized to capture the unmanned aerial vehicle according to claim 12 or 13, when the unmanned aerial vehicle falls on an apron, at least the latch hook near the skid board of the unmanned aerial vehicle is controlled to rotate, the latch hook which does not collide with the unmanned aerial vehicle is switched to a capturing station, and at least one latch hook at the capturing station hooks a recovery matching piece, so that the capturing of the unmanned aerial vehicle is completed.

Description

Unmanned aerial vehicle capturing module, unmanned aerial vehicle capturing system, unmanned aerial vehicle and unmanned aerial vehicle capturing method Technical Field The invention belongs to the technical field of unmanned aerial vehicle capturing, and particularly relates to an unmanned aerial vehicle capturing module, an unmanned aerial vehicle capturing system, an unmanned aerial vehicle and an unmanned aerial vehicle capturing method. Background When unmanned aerial vehicle is recovered on carriers such as offshore platforms and ships, if sea conditions are complex and severe, the carriers such as offshore platforms and ships can roll, pitch, lift, subside, shake horizontally and the like, and the efficient and safe recovery of unmanned aerial vehicle is seriously restricted by the phenomena. In order to solve the problems, the Chinese patent invention with the authority bulletin number of CN110525675B and the authority bulletin day of 2024.07.26 discloses a storage, transportation and release recovery platform for a carrier-based unmanned aerial vehicle, wherein two unmanned aerial vehicle capturing systems are specifically disclosed. The unmanned aerial vehicle capturing system comprises a capturing module and a gesture adjusting module, wherein the gesture adjusting module comprises a lifting compensation platform and a swing compensation mechanism arranged at the output end of the lifting compensation platform, the capturing module comprises a recovery platform arranged at the output end of the swing compensation mechanism, a supporting plate is arranged on the recovery platform, an electromagnetic coil used for capturing the unmanned aerial vehicle is arranged in the supporting plate, and the position, corresponding to the electromagnetic coil, of the supporting plate used for being in contact with the unmanned aerial vehicle forms an apron. The second unmanned aerial vehicle capturing system can be understood by referring to China patent with the authorized bulletin number of CN210681184U and the authorized bulletin day of 2020.06.05. This unmanned aerial vehicle capturing system is including catching module and gesture adjustment module two parts, gesture adjustment module includes lift compensation platform and installs the compensation mechanism that sways at lift compensation platform output, catch the module including installing the recovery platform at the compensation mechanism output that sways, be equipped with the multiunit on the recovery platform and catch the subassembly, catch the subassembly including the claw, along the radial guide rail of catching of arranging of unmanned aerial vehicle undercarriage and be used for driving the claw and follow the driving motor who catches the guide rail and remove, each claw all disposes force sensor to avoid the claw to exert too big power to unmanned aerial vehicle, avoid unmanned aerial vehicle to be beaten bad by the claw. Wherein, the position on the recovery platform that is used for contacting with unmanned aerial vehicle constitutes the apron. In the two unmanned aerial vehicle capturing systems, the relative positions of the unmanned aerial vehicle and the capturing module are collected by the vision positioning system or the laser positioning system before capturing, so that the landing gear of the unmanned aerial vehicle is accurately aligned to the electromagnetic coil or the centers of circumferences surrounded by a plurality of groups of hooks, and the control system drives the electromagnetic coil or the driving motor to execute capturing operation of the unmanned aerial vehicle after receiving information collected by the vision positioning system or the laser positioning system and judging that the unmanned aerial vehicle is aligned to a specific position. However, the following problems exist when the two unmanned aerial vehicle capturing systems are used: the problem is that when the sea condition is severe, the visibility is low, and the visual positioning system or the laser positioning system is inaccurate in positioning, so that the unmanned aerial vehicle cannot be continuously recycled. The second problem is that the relative positions of the recovery platform and the unmanned aerial vehicle are continuously changed under the influence of sea wind, so that the landing gear of the unmanned aerial vehicle is extremely difficult to align with the center of the circumference surrounded by the electromagnetic coil or the plurality of groups of hook claws, and the unmanned aerial vehicle and the recovery platform are easy to collide accidentally in the long-time alignment process due to the phenomena of rolling, pitching, floating, sedimentation, horizontal shaking and the like of carriers such as offshore platforms and ships and the influence of the shaking and the like of the unmanned aerial vehicle. When adopting solenoid to catch unmanned aerial vehicle, once landing gear misalignment solenoid, will have too big air gap