CN111137467A - Ball-mounted hanging launching system based on combined unmanned aerial vehicle - Google Patents
Ball-mounted hanging launching system based on combined unmanned aerial vehicle Download PDFInfo
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- CN111137467A CN111137467A CN202010073207.7A CN202010073207A CN111137467A CN 111137467 A CN111137467 A CN 111137467A CN 202010073207 A CN202010073207 A CN 202010073207A CN 111137467 A CN111137467 A CN 111137467A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000000926 separation method Methods 0.000 claims description 20
- 239000000725 suspension Substances 0.000 claims description 8
- 239000003999 initiator Substances 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 5
- 230000000977 initiatory effect Effects 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005283 ground state Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003721 gunpowder Substances 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
- B64B1/46—Balloons associated with apparatus to cause bursting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a combined unmanned aerial vehicle-based ball-mounted hanging launching system, which comprises: the combined unmanned aerial vehicle is provided with a flight control system; the high-altitude balloon is connected with the combined unmanned aerial vehicle through a rope; the rope cutter is fixed on the back of the combined unmanned aerial vehicle, and the rope is connected to the rope cutter; wherein, this combination formula unmanned aerial vehicle gets into cruise condition after rising to predetermined height through high altitude balloon's buoyancy. According to the combined unmanned aerial vehicle-based ball-mounted hanging launching system, when the balloon and the combined unmanned aerial vehicle are lifted to the preset height, the rope is cut off by the remote control rope cutter to separate the balloon from the unmanned aerial vehicle, so that the combined unmanned aerial vehicle is launched, and the energy consumed by the common combined unmanned aerial vehicle during ground running or catapult takeoff is saved.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to a combined unmanned aircraft-based ball-mounted hanging launching system.
Background
The combined flexible unmanned aerial vehicle is an unmanned aerial vehicle with an innovative structure, and can take into account the advantages of high aspect ratio, high lift-drag ratio, long endurance of the unmanned aerial vehicle during high-altitude long voyage and the advantages of low cost, high maneuverability, flexible structure and distributed deployment of small-sized cluster unmanned aerial vehicles through switching flight states of combination and separation. In addition, hopefully solve high altitude long voyage big aspect ratio unmanned aerial vehicle flexibility big, easily produce the problem of tremble, pneumatic inefficacy to and solve the shortcoming that the cluster unmanned aerial vehicle rises to limit to a low, the journey is short. In terms of aerodynamic design, the unmanned aerial vehicle with the structure can greatly improve the aspect ratio of the aircraft, greatly reduce the induced resistance caused by single-wing tip vortexes, and obviously improve the lift-drag ratio, so that the lift limit of the aircraft is expanded; structurally, the local flexible structure is combined with the active control of multiple control surfaces, so that the slow-down effect on gusts can be obviously achieved, and the stability of the aircraft is improved; the flexible load distribution can be realized on a plurality of single machines, the same or different devices are carried on different single machines according to diversified task requirements, and the space large-range distributed specific task capability or the three-dimensional comprehensive formation task capability is formed.
For the combined unmanned aerial vehicle, the cruising height is higher, the airplane can fly for a longer time under the low-altitude non-rated working condition by running or catapult takeoff from the ground, more energy needs to be consumed for takeoff and climbing, so the cruising ability of the airplane is obviously reduced, the airplane is directly lifted to the working height by using a ball-borne mode and is released to be a more appropriate takeoff mode, but a special ball-borne hanging launching technology needs to be developed aiming at the characteristics of the combined unmanned aerial vehicle.
Disclosure of Invention
The present invention aims to provide a combined unmanned aerial vehicle-based ball-mounted towing launching system to at least partially solve the above-mentioned technical problems.
In view of the above, the present invention provides a combined unmanned aerial vehicle-based ball-mounted hanging launching system, which includes:
a high-altitude balloon;
the combined unmanned aerial vehicle is provided with a flight control system; and
the rope is used for connecting the high-altitude balloon with the combined unmanned aerial vehicle;
the combined unmanned aerial vehicle is lifted to a preset height through the buoyancy of the high-altitude balloon and then is separated from the control of the high-altitude balloon to enter a cruising state;
and/or the transmitting base station transmits signals to the flight control system.
Further, wherein:
in some embodiments, the transmitting base station further comprises: a support, the top of this support is equipped with the stopper, and this stopper hangs this combination formula unmanned aerial vehicle from the rope middle section.
In some embodiments, the rope has a suspension point where a plurality of sub-ropes are connected, each sub-rope being connected to a respective single unit of the modular drone.
In some embodiments, the suspension point is a metal frame.
In some embodiments, the method further comprises:
the sub-ropes are connected with the single machine through a rope cutter.
In some embodiments, the rope cutter comprises:
a bolt provided with a thread;
the separation section is provided with internal threads, and the internal threads are meshed with the threads of the bolt;
the separating ring is sleeved outside the separating section and used for restraining the separating section;
a piston disposed between the separating ring and the separating section;
the detonator pushes the piston when detonated, removes the restraint on the separation section and enables the bolt to be separated from the separation section; and
and the bolt penetrates through the base and is connected with the separation section.
In some embodiments, the rope is secured in the rope cutter by a bolt and a breakaway.
In some embodiments, a flight control system controls the initiation of the initiator.
In some embodiments, the initial relative angle between each two of the single machines of the modular drone is set to [0 °, 45 °, and the hanging points of the ropes on the single machines of the modular drone are staggered one behind the other.
The combined unmanned aerial vehicle-based ball-mounted hanging launching system provided by the invention has the following beneficial effects:
(1) the combined unmanned aerial vehicle is lifted to the high altitude by using the high-altitude balloon and then enters the cruising state, so that the energy consumed in the process of sliding away from the ground or catapult takeoff of the traditional unmanned aerial vehicle is saved, meanwhile, the part of energy can be more used in the air cruising process of the unmanned aerial vehicle, the cruising energy of the unmanned aerial vehicle is further obviously increased, and the cruising efficiency of the unmanned aerial vehicle is improved;
(2) wing tips of adjacent single-machine wings in the combined unmanned aerial vehicle are designed into concave/convex isosceles triangle symmetrical wing shapes, and meanwhile, rope hanging points on each single machine are arranged in a front-back staggered mode, so that the stability of the whole machine and the stability of the attitude of an integral aerial aircraft during hanging can be further improved, and the overturning danger is reduced;
(3) the rope cutter is arranged in the system, so that the disconnection and connection of the rope in the whole system under the control of the high-altitude balloon are easy to realize;
(4) the combined unmanned aerial vehicle is not limited to a specific number of single machines, and any multi-frame combined unmanned aerial vehicle can be hung and launched by the technology;
(5) the combined type unmanned aerial vehicle-based ball-mounted hanging launching system is simple in structure, easy to launch and low in cost.
Drawings
FIG. 1 is a schematic ground state diagram of a combined type unmanned aerial vehicle ball-mounted suspension system according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a rope cutter for mounting a combined unmanned aerial vehicle body according to an embodiment of the invention;
FIG. 3 is a schematic view of an airborne state of a combined type unmanned aerial vehicle ball-mounted suspension system according to an embodiment of the invention;
FIG. 4 is a block diagram of the launch process of the combined type unmanned aerial vehicle ball-mounted suspension system according to the embodiment of the invention;
FIG. 5 is a schematic diagram of the distribution of the relative positions of individual units in the modular unmanned aerial vehicle according to an embodiment of the present invention.
In the figure:
high-altitude balloon 1 rope 2
Modular 3 launching vehicles 4 of unmanned aerial vehicle
Limiting lock 5 lifting point 6
Bolt 71 base 72
Breakaway ring 73 initiator 75
Separator stage 76 piston 77
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description of the embodiments of the present invention with reference to the accompanying drawings is provided.
The invention provides a combined unmanned aerial vehicle-based ball-mounted hanging launching system, which specifically comprises:
a high-altitude balloon;
the combined unmanned aerial vehicle is provided with a flight control system; and
the rope is used for connecting the high-altitude balloon with the combined unmanned aerial vehicle;
the combined unmanned aerial vehicle is lifted to a preset height through the buoyancy of the high-altitude balloon and then is separated from the high-altitude balloon to be controlled to enter a cruising state.
In some embodiments, the airborne launch system further comprises a launch base station for launching signals to the flight control system;
in some embodiments, the transmitting base station further comprises: a support, the top of this support is equipped with the stopper, and this stopper hangs this combination formula unmanned aerial vehicle from the rope middle section.
In this embodiment, the combined type unmanned aerial vehicle ball-mounted hanging launching system mainly comprises a launching base station part (launching vehicle 4), an airplane part (combined type unmanned aerial vehicle 3) and an air balloon part (high-altitude balloon 1). The overall ground state of the system is shown in figure 1, a limiter is arranged at the top end of a support of the launch vehicle 4 and used for fixing the position of a rope and an airplane, and the limiter is opened in the process of inflating and lifting the high-altitude balloon. Specifically, the combined unmanned aerial vehicle 3 is lifted from the middle section of the rope 2 by the launching vehicle 4 on the ground, the uninflated high-altitude balloon 1 at the other end can be placed on the ground, the connected aircraft and balloon are launched and lifted off by the launching base station under the ground state, the combined unmanned aerial vehicle is lifted to a preset height by utilizing the buoyancy of the high-altitude balloon and then disconnected, the combined unmanned aerial vehicle is pulled up, rotated and horizontally flown in the falling process, and then enters a normal cruising state. And finishing the ball-carried hanging and throwing process.
In some embodiments, the rope has a hanging point 6, a plurality of sub-ropes are led out from the hanging point 6, each sub-rope is respectively connected to each single machine of the combined unmanned aerial vehicle,
further, in some embodiments:
the sub-ropes are connected with the single machine through a rope cutter.
In this embodiment, draw forth rope 2 back from high altitude balloon 1 afterbody and connect many strand ropes, every unit of combination formula unmanned aerial vehicle all is provided with a rope cutter, and each strand rope realizes being connected through this rope cutter and each unit.
In some embodiments, the rope cutter comprises:
a bolt provided with a thread;
the separation section is provided with internal threads, and the internal threads are meshed with the threads of the bolt;
the separating ring is sleeved outside the separating section and used for restraining the separating section;
a piston disposed between the separating ring and the separating section;
the detonator pushes the piston when detonated, removes the constraint on the separation section and enables the bolt to be separated from the separation section; and
and the bolt penetrates through the base to be connected with the separation section.
In this embodiment, as shown in fig. 2, which is a schematic view of a rope cutter mounted on a fuselage, a rope 2 is fixedly connected with a bolt 71, the bolt 71 is used for fastening the rope 2 to a base, the base 72 is fixed to the fuselage of an unmanned aerial vehicle, a thread of the connecting bolt 71 is engaged with an internal thread of a separation section 76, a separation ring 73 externally restrains the separation section 76, so that the separation section 76 and the thread of the bolt 71 do not move radially, and gunpowder is filled in the base for detonation separation. During separation, the initiator 75 is detonated and is driven by gunpowder gas to push the piston 77 to enable the separating ring 73 to move axially to remove restraint, so that the separating section 76 moves outwards along the radial direction to be separated from the threads of the bolt 71, the bolt 71 is released, and the rope 2 is separated from the combined unmanned aerial vehicle 3. It should be noted that, in the implementation process, the initiation of the initiator is not limited to the gas-powered ignition as mentioned herein, but may also be powered by gas pressure or other action, and is not limited herein.
In some embodiments, the rope is secured in the rope cutter by a bolt and a breakaway.
Based on the above-mentioned combined type unmanned vehicles's ball carries the launcher, as shown in fig. 3 for this ball carries the state when the launcher balloon part and the aircraft part are risen to the air, draw forth rope 2 by high altitude balloon 1 afterbody, rope 2 is divided into the stranded at hoisting point 6 punishment, and after linking firmly bolt 71 on rope cutter with rope cutter one by one, pass through threaded connection with the rope cutter of each unit fuselage department of combined type unmanned vehicles 3.
In this embodiment, the hoisting point 6 of the rope 2 may be changed into a metal frame, the balloon hoists the metal frame through the rope, and the rope is led out from a plurality of point positions of the metal frame in parallel to be connected with the parallel unmanned aerial vehicle.
In some embodiments, the initiation of the initiator in the rope cutter is controlled by the flight control system.
In this embodiment, as shown in fig. 4, a flow chart of combined type unmanned aerial vehicle ball-mounted suspension launching is provided, a launch vehicle is arranged on the ground to support a non-launch ball-mounted system, launching can be started after all parts of the system are checked to be correct in this state, the balloon starts to ascend after being inflated into the high-altitude balloon 1, the limit lock 5 at the support of the launch vehicle 4 is opened when the high-altitude balloon 1 enters the ascending stage, the support is withdrawn, the load is borne by the high-altitude balloon 1, the launch vehicle 4 sends a signal when the balloon suspension system ascends to a preset height, and a trigger initiator of a rope cutter is triggered after a flight control system receives the signal, so that a bolt is separated from the rope cutter, the high-altitude ball part is separated from the aircraft part, and the aircraft adjusts the posture after separation, realizes pulling, turning and flying to.
In some embodiments, the initial relative angle between each two of the single machines of the modular drone is set to [0 °, 45 °, and the hanging points of the ropes on the single machines of the modular drone are staggered one behind the other.
In this embodiment, as shown in fig. 5, the relative position distribution of each single unmanned aerial vehicle in the combined unmanned aerial vehicle is schematically illustrated, wing tips of adjacent unmanned aerial vehicles are designed to be concave/convex isosceles triangle symmetric wing shapes, two or more unmanned aerial vehicles are connected together by adopting a flexible mechanical structure, and the combined unmanned aerial vehicle is in an O shapeyzIn-plane motion in a mode with limited freedom degree, and adjacent unmanned aerial vehicles move in an O-shaped modexzThe plane can have limited torsion, and the initial relative angle α between single units is set to a specific value in the range of 0 deg. and 45 deg. in non-emitting state]Meanwhile, the rope hanging points on the single machines are arranged in a staggered mode from front to back, so that the attitude stability of the airplane during hanging can be further improved, and the overturning danger can be reduced.
The invention is not limited to the five airplanes connected for launching as shown in the above embodiments and schematic diagrams, and the method provided by the invention can realize the hanging launching of a plurality of airplanes.
The above description is only for the preferred embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any modification, improvement and equivalent replacement made within the spirit and principle of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A launch system is hung on ball based on combination formula unmanned vehicles, its characterized in that includes:
a high-altitude balloon;
the combined unmanned aerial vehicle is provided with a flight control system; and
the rope is used for realizing the connection between the high-altitude balloon and the combined unmanned aerial vehicle;
and the combined unmanned aerial vehicle is separated from the control of the high-altitude balloon to enter a cruising state after being lifted to a preset height through the buoyancy of the high-altitude balloon.
2. The combination unmanned aerial vehicle-based ball-mounted airborne launching system of claim 1, further comprising:
and the transmitting base station transmits a signal to the flight control system.
3. The combination unmanned aerial vehicle-based airborne pick-up launch system of claim 2, wherein said launch base station further comprises:
the combined unmanned aerial vehicle comprises a support, wherein a limiter is arranged at the top end of the support, and the limiter lifts the combined unmanned aerial vehicle from the middle section of a rope.
4. The launch system of claim 3 wherein said rope has a hanging point, said hanging point having a plurality of sub-ropes attached thereto, each sub-rope being attached to a respective individual unit of said modular unmanned aerial vehicle.
5. The unmanned aerial vehicle-based ball-mounted airborne launcher system according to claim 4, wherein said suspension point is a metal frame.
6. The combination unmanned aerial vehicle-based ball-mounted towing launcher system according to claim 4 or 5, further comprising:
the sub-ropes are connected with the single machine through a rope cutting device.
7. The combination UAV-based ball-mounted hanging launching system of claim 6, wherein the rope cutter comprises:
a bolt provided with a thread;
the separation section is provided with internal threads, and the internal threads are meshed with the threads of the bolt;
the separating ring is sleeved outside the separating section and used for restraining the separating section;
a piston disposed between the separating ring and the separating section;
the detonator pushes the piston when detonated, removes the restraint on the separation section and enables the bolt to be separated from the separation section; and
the bolt penetrates through the base and is connected with the separation section.
8. The combination unmanned aerial vehicle-based ball-mounted hitch launching system of claim 7, wherein the rope is secured in the rope cutter by the bolt and breakaway section.
9. The combination unmanned aerial vehicle-based ball mounted tow launch system of claim 8, wherein the flight control system controls initiation of the initiator.
10. The launch system is hung on a ball based on combination unmanned aerial vehicle of claim 9, wherein the initial relative angle between each two single machines of the combination unmanned aerial vehicle is set to [0 °, 45 ° ], and the hanging points of the rope on the single machines of the combination unmanned aerial vehicle are staggered back and forth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073207.7A CN111137467A (en) | 2020-01-21 | 2020-01-21 | Ball-mounted hanging launching system based on combined unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073207.7A CN111137467A (en) | 2020-01-21 | 2020-01-21 | Ball-mounted hanging launching system based on combined unmanned aerial vehicle |
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| CN111137467A true CN111137467A (en) | 2020-05-12 |
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| CN202010073207.7A Pending CN111137467A (en) | 2020-01-21 | 2020-01-21 | Ball-mounted hanging launching system based on combined unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112918656A (en) * | 2021-02-26 | 2021-06-08 | 中国航天空气动力技术研究院 | High-altitude spherical solar unmanned aerial vehicle system |
| CN114802794A (en) * | 2022-05-24 | 2022-07-29 | 西北工业大学 | Diamond-shaped layout flexible unmanned aerial vehicle hanging tilting system and control method |
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| TWM470067U (en) * | 2013-04-08 | 2014-01-11 | ming-xi Cai | Assembling type convertible flying machine capable of being loaded with different gases and wings |
| CN104960657A (en) * | 2015-07-23 | 2015-10-07 | 北京天航华创科技股份有限公司 | Combined-separate stratospheric aircraft system scheme |
| CN108146634A (en) * | 2016-12-02 | 2018-06-12 | 北京化工大学 | A kind of unmanned plane aircraft carrier based on earth station and helium balloon |
| CN211731850U (en) * | 2020-01-21 | 2020-10-23 | 中国科学院工程热物理研究所 | Ball-mounted hanging launching system based on combined unmanned aerial vehicle |
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2020
- 2020-01-21 CN CN202010073207.7A patent/CN111137467A/en active Pending
Patent Citations (6)
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| TWM470067U (en) * | 2013-04-08 | 2014-01-11 | ming-xi Cai | Assembling type convertible flying machine capable of being loaded with different gases and wings |
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Cited By (2)
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