The invention discloses an air rope collision recovery system and method for a swarm unmanned aerial vehicle. The recovery system is composed of a recovery mother machine, a winch mechanism, a recovery rope, an air rudder and a recovery lock ring. The winch mechanism is installed on a mother machine floor, and a winch shaft is perpendicular to a machine body longitudinal shaft. When the unmanned aerial vehicle is recycled, the mother aircraft spirally waits nearby the recycling airspace after arriving nearby the designated recycling airspace, and meanwhile the recycling rope is released. The bee colony unmanned aerial vehicle gets close to the mother vehicle from the side rear part by adjusting the speed and posture, and the wing on one side impacts the recovery rope, so that the unmanned aerial vehicle rotates forwards around an impact point, the recovery rope slides to the wing tip along the front edge of the wing, and slides into the lock ring after impacting a spring bolt of the recovery lock ring located at the wing tip, and then the spring bolt is reset under the action of the torsion of a spring; and the unmanned aerial vehicle lock sleeves the recovery rope, so that recovery of one unmanned aerial vehicle is completed. After recovery of the specified number of unmanned aerial vehicles is completed in sequence through the same method, the winch mechanism can be started, and the unmanned aerial vehicles hung on the recovery rope are hoisted into the mother machine.
本发明公布了一种蜂群无人机空中撞绳回收系统及回收方法,该回收系统由回收母机、绞盘机构、回收绳、空气舵、回收锁环组成。绞盘机构安装在母机地板上,绞盘轴与机身纵轴垂直。当回收无人机时,母机到达指定回收空域附近后,在回收空域附近盘旋等待,同时放出回收绳。蜂群无人机则通过调整速度和姿态从侧后方接近母机,并用一侧机翼撞击回收绳,导致无人机绕撞击点向前旋转,从而使回收绳沿机翼前缘滑向翼稍,并撞开位于翼稍的回收锁环的锁舌后,滑入锁环内,随后锁舌在弹簧扭力作用下复位,将无人机锁套在回收绳上,从而完成一架无人机的回收。同样的方法依次完成规定架数的无人机的回收后,即可启动绞盘机构,将挂在回收绳上的无人机吊入母机。
Aerial rope collision recovery system for swarm unmanned aerial vehicle
一种蜂群无人机空中撞绳回收系统
2022-06-17
Patent
Elektronische Ressource
Chinesisch
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