阅读说明：本技术 箭载旋翼无人机控制系统 (Rocket-borne rotor unmanned aerial vehicle control system ) 是由 王亚东 王江 徐伟雄 蒋军 仇梓屹 崔凌 王昊 于 2018-08-27 设计创作，主要内容包括：本发明公开了一种箭载旋翼无人机控制系统,该系统包括卫星信号接收模块和无人机弹射控制模块；所述卫星信号接收模块用于获知无人机/运载系统的状态信息,所述无人机弹射控制模块用于在无人机/运载系统的状态信息达到预设值时控制旋翼无人机从运载系统中弹出,其中,所述无人机/运载系统的状态信息包括经纬度坐标值、高度值、竖直方向的速度分量和水平方向上的速度分量。该系统还包括输入模块,通过所述输入模块设定所述预设值,以便于适应不同的使用状况,选择对应的旋翼无人机弹出时机,以便于最大程度地使用运载系统,大大提高了旋翼无人机的作业效率,拓展了作业能力,使得旋翼无人机具备执行更多任务的能力。(The invention discloses a control system of an rocket-borne rotor unmanned aerial vehicle, which comprises a satellite signal receiving module and an unmanned aerial vehicle ejection control module; the satellite signal receiving module is used for obtaining state information of the unmanned aerial vehicle/carrying system, the unmanned aerial vehicle ejection control module is used for controlling the rotor unmanned aerial vehicle to eject from the carrying system when the state information of the unmanned aerial vehicle/carrying system reaches a preset value, wherein the state information of the unmanned aerial vehicle/carrying system comprises longitude and latitude coordinate values, a height value, a speed component in the vertical direction and a speed component in the horizontal direction. The system further comprises an input module, the preset value is set through the input module, so that the system can adapt to different use conditions, corresponding rotor unmanned aerial vehicles are selected to pop up opportunities, a carrying system is used to the maximum extent, the operation efficiency of the rotor unmanned aerial vehicles is greatly improved, the operation capacity is expanded, and the rotor unmanned aerial vehicles can execute more tasks.)

1. A control system of an rocket-borne rotor unmanned aerial vehicle is characterized in that,

the control system comprises a satellite signal receiving module (1) and an unmanned aerial vehicle ejection control module (2).

2. The system of claim 1,

the satellite signal receiving module (1) and the unmanned aerial vehicle ejection control module (2) are both arranged in the rotor unmanned aerial vehicle and/or the carrying system;

preferably, the satellite signal receiving module (1) is used for obtaining state information of the unmanned aerial vehicle/carrying system, and the unmanned aerial vehicle ejection control module (2) is used for controlling the rotor unmanned aerial vehicle to eject from the carrying system when the state information of the unmanned aerial vehicle/carrying system reaches a preset value.

3. The system of claim 2,

the state information of the unmanned aerial vehicle/carrying system comprises position information and/or speed information of the unmanned aerial vehicle/carrying system;

preferably, the first and second electrodes are formed of a metal,

the location information includes longitude and latitude coordinate values and a height value,

the velocity information includes a velocity component in a vertical direction and a velocity component in a horizontal direction.

4. The system of claim 1,

the rotary-wing unmanned aerial vehicle comprises a frame (41) and a rotary arm (42);

the rotary arm (42) can be bent downwards relative to the frame (41) and can be fixed in the carrying system,

preferably, when the carrying system releases the fastening of the unmanned aerial vehicle, the swing arm (42) can automatically rebound to the horizontal position.

5. The system of claim 4,

the rotor unmanned aerial vehicle also comprises a connecting disc (43) arranged right below the frame (41),

the swing arm (42) is controlled to bend downwards or rebound to a horizontal position through the reciprocating movement of the connecting disc (43) in the vertical direction;

preferably, the first and second electrodes are formed of a metal,

a connecting rod (44) is arranged on the connecting disc (43),

one end of the connecting rod (44) is hinged with the connecting disc (43),

the other end of the connecting rod (44) is hinged with the radial arm (42).

More preferably, the radial arm (42) comprises a polished rod segment (421),

an annular sleeve (422) is sleeved on the light rod section (421),

the connecting rod (44) is hinged with the annular sleeve (422), namely the connecting rod (44) is hinged with the radial arm (42) through the annular sleeve (422).

6. The system of claim 4,

a stretching mechanism is arranged between the connecting disc (43) and the frame (41),

the stretching mechanism is used for pulling the connecting disc (43) to be close to the rack (41) upwards so as to drive the swing arm (42) to rebound to a horizontal position;

preferably, a driving motor (45) and a propeller (46) are provided at an end of the radial arm (42), and more preferably, a predetermined gap is left between the radial arm (42) and the propeller (46).

7. The system of claim 1,

the system also comprises an input module (3), and the preset value is set through the input module (3);

preferably, the carrying system is used for transporting the rotor unmanned aerial vehicle to a preset airspace and releasing the confinement of the rotor unmanned aerial vehicle under the action of the unmanned aerial vehicle ejection control module (2), so that the rotor unmanned aerial vehicle is ejected from the carrying system.

8. The system of claim 7,

the carrying system comprises a fairing (5) covering the exterior of the rotor unmanned aerial vehicle and a bearing seat (6) positioned below the interior of the fairing (5);

preferably, the first and second electrodes are formed of a metal,

the fairing (5) is used for protecting the rotor unmanned aerial vehicle in the fairing and can be unfolded outwards so as to expose the rotor unmanned aerial vehicle in the fairing;

the bearing seat (6) is used for confining the rotor unmanned aerial vehicle and can pop up the rotor unmanned aerial vehicle from the bearing seat (6).

9. The system of claim 8,

the bearing seat (6) comprises a limiting cylinder (61) and a bearing plate (62) positioned on the inner side of the limiting cylinder (61);

the limiting cylinder (61) is used for confining the rotor wing unmanned aerial vehicle;

the supporting plate (62) is used for ejecting the unmanned aerial vehicle from the limiting cylinder (61);

preferably, the supporting plate (62) can move upwards along the axial direction of the limiting cylinder (61) inside the limiting cylinder (61), so that the unmanned rotorcraft above the inside of the limiting cylinder (61) is ejected.

10. The system according to one of claims 1 to 9,

the unmanned aerial vehicle ejection control module (2) is electrically connected with the fairing (5) and the bearing plate (62);

the unmanned aerial vehicle ejection control module (2) can control the fairing (5) to be unfolded outwards,

preferably, the unmanned aerial vehicle ejection control module (2) is also capable of controlling the support plate (62) to move upwards.

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to an rocket-borne rotor unmanned aerial vehicle control system.

Background

With the increasing improvement of unmanned aerial vehicle technology, unmanned aerial vehicles are introduced into more and more fields, and people can conveniently and quickly complete tasks which are seemingly difficult to complete by using the unmanned aerial vehicles; wherein, rotor unmanned aerial vehicle is a comparatively important branch in the unmanned aerial vehicle, rotor unmanned aerial vehicle can hover, the volume is less, can carry out special operation such as fixed point shooting, but receive the structural characteristic influence of its self, current rotor unmanned aerial vehicle also has its distinctive defect, for example because adopt screw power, its flying speed is slower than wing type unmanned aerial vehicle, its flying height also can receive very big restriction, can not climb to higher height fast, be difficult to satisfy special task requirement, in addition, because the problem of volume and power, energy such as battery that rotor unmanned aerial vehicle can carry is more limited, its working radius is less, be difficult to compete remote reconnaissance, observe the task.

The inventor of the invention has made intensive research on the existing rotor unmanned aerial vehicle, designs a carrying system, and rapidly transports the rotor unmanned aerial vehicle to a preset airspace to realize rapid and energy-consumption-free deployment of the rotor unmanned aerial vehicle, but also needs to pertinently select the corresponding time of the rotor unmanned aerial vehicle leaving the cabin aiming at different throwing tasks, so that the carrying system is utilized to the maximum extent, and the utilization rate of the carrying system is improved.

Disclosure of Invention

In order to overcome the problems, the inventor of the invention carries out intensive research and designs an rocket-borne rotor unmanned aerial vehicle control system, which comprises a satellite signal receiving module and an unmanned aerial vehicle ejection control module; the satellite signal receiving module is used for obtaining state information of the unmanned aerial vehicle/carrying system, the unmanned aerial vehicle ejection control module is used for controlling the rotor unmanned aerial vehicle to eject from the carrying system when the state information of the unmanned aerial vehicle/carrying system reaches a preset value, wherein the state information of the unmanned aerial vehicle/carrying system comprises longitude and latitude coordinate values, a height value, a speed component in the vertical direction and a speed component in the horizontal direction. The system also comprises an input module, the preset value is set through the input module so as to be suitable for different use conditions, and the corresponding pop-up time of the rotor unmanned aerial vehicle is selected so as to be convenient for using the carrying system to the maximum extent, so that the operation efficiency of the rotor unmanned aerial vehicle is greatly improved, the operation capability is expanded, and the rotor unmanned aerial vehicle has the capability of executing more tasks, thereby completing the invention.

In particular, it is an object of the present invention to provide a control system for an rocket-borne rotor-wing drone,

the system comprises a satellite signal receiving module 1 and an unmanned aerial vehicle ejection control module 2;

the satellite signal receiving module 1 and the unmanned aerial vehicle ejection control module 2 are both arranged in a rotor unmanned aerial vehicle and/or a carrying system;

the satellite signal receiving module 1 is used to obtain the state information of the unmanned aerial vehicle/carrying system,

the unmanned aerial vehicle ejection control module 2 is used for controlling the rotor unmanned aerial vehicle to eject from the carrying system when the state information of the unmanned aerial vehicle/carrying system reaches a preset value.

The state information of the unmanned aerial vehicle/carrying system comprises position information of the unmanned aerial vehicle/carrying system and speed information of the unmanned aerial vehicle/carrying system;

preferably, the location information includes longitude and latitude coordinate values and a height value,

the velocity information includes a velocity component in a vertical direction and a velocity component in a horizontal direction.

Wherein the system further comprises an input module 3,

the preset value is set by the input module 3.

Wherein the rotary-wing drone comprises a frame 41 and a radial arm 42;

the rotary arm 42 can be bent downwards relative to the frame 41, and can be fixed in the carrying system,

when the carrying system releases the fastening of the unmanned aerial vehicle, the swing arm 42 can automatically rebound to the horizontal position.

Wherein, the rotor unmanned aerial vehicle also comprises a connecting disc 43 arranged right below the stander 41,

the connecting disc 43 reciprocates in the vertical direction to control the radial arm 42 to bend downwards or rebound to the horizontal position;

preferably, a connecting rod 44 is provided on the connecting disc 43,

one end of the connecting rod 44 is hinged with the connecting disc 43,

the other end of the link 44 is hinged to the radial arm 42.

More preferably, the radial arm 42 includes a polished rod segment 421,

an annular sleeve 422 is sleeved on the light rod section 421,

the connecting rod 44 is hinged with the annular sleeve 422, that is, the connecting rod 44 is hinged with the radial arm 42 through the annular sleeve 422.

Wherein a stretching mechanism is arranged between the connecting disc 43 and the frame 41,

the stretching mechanism is used for pulling the connecting disc 43 to be close to the rack 41 upwards so as to drive the radial arm 42 to rebound to a horizontal position;

preferably, a driving motor 45 and a propeller 46 are provided at an end of the radial arm 42, and more preferably, a predetermined gap is left between the radial arm 42 and the propeller 46.

Wherein, the carrying system is used for transporting rotor unmanned aerial vehicle to predetermined airspace to it is right to release under unmanned aerial vehicle launches control module 2's effect rotor unmanned aerial vehicle's confinement for rotor unmanned aerial vehicle pops out from the carrying system.

The carrying system comprises a fairing 5 covering the exterior of the rotor unmanned aerial vehicle and a bearing seat 6 positioned below the interior of the fairing 5;

preferably, the cowling 5 is used to protect the rotorcraft inside it and can be deployed outwards so as to expose the rotorcraft inside it;

bearing seat 6 is used for tying up rotor unmanned aerial vehicle to can pop out rotor unmanned aerial vehicle from bearing seat 6.

Wherein, the bearing seat 6 comprises a limiting cylinder 61 and a bearing plate 62 positioned at the inner side of the limiting cylinder 61;

the limiting cylinder 61 is used for confining the rotor wing unmanned aerial vehicle;

the supporting plate 62 is used for ejecting the unmanned aerial vehicle from the limiting cylinder 61;

preferably, the support plate 62 can move upward inside the limiting cylinder 61 along the axial direction of the limiting cylinder 61, so as to eject the unmanned rotorcraft above the inside of the limiting cylinder 61.

The unmanned aerial vehicle ejection control module 2 is electrically connected with the fairing 5 and the bearing plate 62;

the unmanned aerial vehicle ejection control module 2 can control the cowling 5 to be unfolded outwards,

the drone ejection control module 2 is also able to control the upward movement of the support plate 62.

The invention has the advantages that:

(1) the rocket-borne rotor unmanned aerial vehicle control system provided by the invention can pointedly select the ejection time of the rotor unmanned aerial vehicle according to different operation tasks/purposes, so that the high maneuvering performance of the carrying system is utilized to the maximum extent;

(2) according to the rocket-borne rotor wing unmanned aerial vehicle control system provided by the invention, the unmanned aerial vehicle can be conveyed to a designated area through the carrying system, the unmanned aerial vehicle control system has the capability of quickly reaching a remote operation site, has high working efficiency, and can execute tasks with special requirements on reaction speed and starting time, such as fire reconnaissance, target positioning and the like;

(3) according to the rocket-borne rotor unmanned aerial vehicle control system provided by the invention, the unmanned aerial vehicle can be quickly transported to a specific height which is difficult for a conventional rotor unmanned aerial vehicle to reach through a carrying system, and the rocket-borne rotor unmanned aerial vehicle control system has the capability of executing special tasks;

(4) according to the rocket-borne rotor unmanned system provided by the invention, the energy carried by the unmanned aerial vehicle is not consumed before the rocket-borne rotor unmanned system arrives at a working place, so that the working duration of the unmanned aerial vehicle is longer, and a long-distance working task can be executed.

Drawings

FIG. 1 is a schematic diagram showing the overall configuration of an rocket-borne rotor unmanned aerial vehicle control system according to a preferred embodiment of the invention;

FIG. 2 is a schematic structural view of a carrier system and a rotorcraft in which an rocket-borne unmanned aerial vehicle control system according to a preferred embodiment of the present invention is located;

FIG. 3 is a schematic view showing the configuration of a cowling in an rocket-borne rotor unmanned aerial vehicle control system according to a preferred embodiment of the present invention when the cowling is deployed

FIG. 4 is a schematic structural view of a rotary-wing drone in an rocket-borne rotary-wing drone control system according to a preferred embodiment of the present invention;

figure 5 shows a cross-sectional view of a bolster anchor in an rocket-loaded rotor unmanned aerial vehicle control system according to a preferred embodiment of the present invention.

The reference numbers illustrate:

1-satellite signal receiving module

2-unmanned aerial vehicle ejection control module

3-input module

41-frame

42-radial arm

421-polished rod section

422-annular sleeve

43-connecting disc

44-connecting rod

45-driving motor

46-Propeller

5-fairing

51-arc cover sheet

52-support rod

6-bearing seat

61-limiting cylinder

62-bearing plate

Detailed Description

The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The carrying system comprises a rocket or a rocket projectile, wherein the rocket is an aircraft propelled forwards by the counterforce generated by working medium sprayed by a rocket engine, the rocket projectile is an ammunition launched by a rocket barrel or a rocket gun, and the fighting part of the ammunition is replaced by the rotor unmanned aerial vehicle.

The rotor unmanned aerial vehicle is a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle or an eight-rotor unmanned aerial vehicle;

the hinge joint of the invention is a connection relationship which has enough strength and is not easy to break, and the connection allows the relative rotation between the two connected with each other; the articulation is generally achieved in the present invention by a rotating shaft or hinge.

According to the rocket-borne rotor unmanned aerial vehicle control system provided by the invention, as shown in fig. 1, the system comprises a satellite signal receiving module 1 and an unmanned aerial vehicle ejection control module 2;

the satellite signal receiving module 1 and the unmanned aerial vehicle ejection control module 2 are both arranged in a rotor unmanned aerial vehicle and/or a carrying system;

satellite signal receiving module 1 is used for acquainting unmanned aerial vehicle/carrying system's state information, satellite signal receiving module 1 receives the satellite signal, learns its self state information in view of the above, just has acquainted unmanned aerial vehicle or carrying system's state information naturally, satellite signal receiving module 1 can install in unmanned aerial vehicle, also installs in carrying system, can also all set up in unmanned aerial vehicle and carrying system satellite signal receiving module 1.

The unmanned aerial vehicle ejection control module 2 is used for controlling the rotor unmanned aerial vehicle to eject from the carrying system when the state information of the unmanned aerial vehicle/carrying system reaches a preset value.

The state information of the unmanned aerial vehicle/carrying system comprises position information of the unmanned aerial vehicle/carrying system and speed information of the unmanned aerial vehicle/carrying system;

preferably, the location information includes longitude and latitude coordinate values and a height value,

the velocity information includes a velocity component in a vertical direction and a velocity component in a horizontal direction.

Because before rotor unmanned aerial vehicle bounced out from the delivery system, carried rotor unmanned aerial vehicle by the delivery system and moved, delivery system and rotor unmanned aerial vehicle's state information was identical this moment.

Preferably, the system further comprises an input module 3, and the preset value is set through the input module 3. The input module can be connected with the unmanned aerial vehicle ejection control module 2 in a wireless mode such as Bluetooth and can also be connected with the unmanned aerial vehicle ejection control module 2 in a physical wire connection mode such as a USB interface and the like so as to transmit an input instruction to the unmanned aerial vehicle ejection control module 2; the input module 3 may include a display screen, a mouse, a keyboard or a mobile phone APP, and performs information interaction and instruction input through display and input functions in the mobile phone.

Preferably, the corresponding preset value can be selected according to different launching purposes, so as to adjust the time of taking out of the cabin of the unmanned gyroplane, and in particular, when the unmanned gyroplane needs to be sent to a specific height position, the carrying system launches upwards, and the preset value can be a height value and/or a velocity component in the vertical direction; when the unmanned gyroplane needs to be sent to a specific coordinate position, the carrying system is launched towards the oblique upper direction, and the preset value can be longitude and latitude coordinate values and/or a velocity component in the horizontal direction.

In a preferred embodiment, the drone comprises a frame 41 and a radial arm 42;

the swing arm 42 of the unmanned aerial vehicle can be bent downwards relative to the frame 41 and can be locked in the carrying system, preferably, the unmanned aerial vehicle can be locked in the carrying system only when the swing arm 42 of the unmanned aerial vehicle is bent downwards relative to the frame 41 by an angle of about 90 degrees; the most preferred bend angle in the present invention is 95 degrees.

When the carrying system releases the confinement of the unmanned aerial vehicle, the swing arm 42 of the unmanned aerial vehicle automatically rebounds to the horizontal position and starts working; specifically, when the spiral arm 42 rebounds to horizontal position automatically under the effect of elasticity, the motor on the spiral arm starts to work at the moment, and drives the propeller to rotate, so that the unmanned aerial vehicle hovers in the airspace as soon as possible, meanwhile, other related equipment on the unmanned aerial vehicle also starts to work, and predetermined operation tasks are started to be executed, such as target reconnaissance, laser positioning, fire monitoring and the like.

The carrying system is used for conveying the unmanned aerial vehicle to a preset airspace, and releasing the confinement of the unmanned aerial vehicle under the action of the unmanned aerial vehicle ejection control module 2, so that the unmanned aerial vehicle is ejected from the carrying system; at the moment, the distance from the unmanned aerial vehicle to a preset working area is smaller, so that the unmanned aerial vehicle can arrive quickly; therefore, the preparation and navigation time from the moment when the unmanned aerial vehicle is in place and starts to work after receiving the task instruction and the related target information is greatly shortened, the fast response and the fast maneuver of the rotor unmanned aerial vehicle are realized, and the unmanned aerial vehicle can be used for handling emergent emergency tasks.

The step of releasing the unmanned aerial vehicle to be locked comprises two steps, wherein one step is to unfold the fairing, the other step is to pop the rotor unmanned aerial vehicle out of the carrying system/bearing seat 6 through the bearing plate 62, and the other step is to pop the rotor unmanned aerial vehicle out of the carrying system and is controlled by the unmanned aerial vehicle ejection control module 2.

In a preferred embodiment, as shown in fig. 2 and 4, the drone further comprises a connection disc 43 arranged directly below the frame 41,

the reciprocating movement of the connecting plate 43 in the vertical direction controls the radial arm 42 to bend downwards or rebound to the horizontal position. When the connecting disc 43 moves downwards, the spiral arm 42 is driven to bend downwards, and when the connecting disc 43 moves upwards, the spiral arm 42 is driven to rebound to a horizontal position; similarly, when the radial arm 42 bends downward, the connecting plate 43 can be driven to move downward, and when the radial arm 42 rebounds to the horizontal position, the connecting plate 43 can be driven to move upward.

In particular, preferably, a connecting rod 44 is provided on said connecting disc 43,

one end of the connecting rod 44 is hinged with the connecting disc 43,

the other end of the link 44 is connected to the radial arm 42. The number of links 44 corresponds to the number of radial arms 42, one for each other.

Further preferably, the radial arm 42 comprises a polished rod segment 421,

an annular sleeve 422 is sleeved on the light rod section 421, and the annular sleeve 422 can slide back and forth along the light rod section 421, or the annular sleeve 422 is fixed on the light rod section 421.

The connecting rod 44 is hinged with the annular sleeve 422, that is, the connecting rod 44 is hinged with the radial arm 42 through the annular sleeve 422.

Preferably, a limiting mechanism is arranged on the connecting disc 43 and the rack 41, so that the radial arm can only swing back and forth between the horizontal direction and the downward bending of 95 degrees.

Preferably, a stretching mechanism is provided between the connecting disc 43 and the frame 41,

the stretching mechanism is used for pulling the connecting disc 43 to be close to the rack 41 upwards, and then the rotating arm 42 is driven to rebound to the horizontal position. The stretching mechanism comprises a vertically arranged spring which is always in a stretching state; when the swing arm 42 is bent downwards, a large elastic potential energy is stored in the stretching mechanism, so that the swing arm 42 has a tendency of returning to a horizontal position, and when an external force for limiting and closing the swing arm 42 disappears, the swing arm 42 can accelerate and rotate from a stationary state at a large acceleration under the action of the stretching mechanism, and rebounds to the horizontal position from a downward bending state.

Further preferably, a torsion spring is arranged at two hinged positions of one end of the connecting rod 44 hinged with the connecting disc 43 and the connecting rod 44 hinged with the annular sleeve 422, the torsion spring is also a part of the stretching mechanism, and the torsion spring is used for increasing the elastic force which needs to be overcome by the radial arm 42 from the horizontal position to the bending state, so as to increase the elastic potential energy stored in the stretching mechanism when the radial arm 422 is bent downwards; this torsion spring can also make connecting rod 44 and the last effort that receives a plurality of directions of spiral arm 42, ensures that connecting rod 44 and spiral arm 42 move according to setting for the orbit, and then strengthens this system's reliability, in predetermined airspace, when releasing the confinement to unmanned aerial vehicle, unmanned aerial vehicle's spiral arm can kick-back to horizontal position certainly.

In a preferred embodiment, as shown in fig. 2 and 4, a driving motor 45 and a propeller 46 are provided at the end of the swing arm 42, the driving motor 45 is used for controlling the propeller 46 to rotate, and when the drone is locked in the carrying system, the control circuit of the motor 5 is in a standby state; an induction switch is arranged at the joint of the swing arm and the rack, the induction switch is triggered when the swing arm returns to the horizontal position, and after the induction switch is triggered, a control circuit of the motor 5 is switched on, and the motor 5 starts to work. The inductive switch can be an electromagnetic inductive switch, also can be a mechanical contact switch, can be arranged at will, and can realize the functions.

Wherein, a predetermined gap is left between the radial arm 42 and the propeller 46, one part of the motor 5 is embedded in the radial arm 42, the other part is exposed, and the end of the exposed outer part is provided with the propeller 46.

Preferably, the radial arm 42 is provided with a plurality, preferably 4-8,

when the unmanned aerial vehicle is confined in the carrying system, a plurality of the predetermined gaps corresponding to the swing arm 42 are circularly arranged; the carrying system is locked in the unmanned aerial vehicle through the gap, namely a baffle which prevents the swing arm 42 from rebounding to the horizontal position is embedded in the gap, and under the action of the elastic force on the swing arm, the whole unmanned aerial vehicle is fixed and locked in the carrying system. The baffle is the limiting cylinder in the invention.

In a preferred embodiment, as shown in figures 2, 3 and 5, the carrying system comprises a fairing 5 that is external to the drone and a support socket 6 that is internal and underneath the fairing 5.

Preferably, the fairing 5 is used for protecting the unmanned aerial vehicle inside and is unfolded when reaching a predetermined airspace so as to expose the unmanned aerial vehicle inside;

the bearing seat 6 is used for fixing the unmanned aerial vehicle through matching with the preset gap and ejecting the unmanned aerial vehicle out of the bearing seat 6 when reaching the preset airspace.

Specifically, as shown in fig. 4, the bearing block 6 includes a limiting cylinder 61 and a bearing plate 62 located inside the limiting cylinder 61,

the size of the limiting cylinder 61 is basically consistent with the size of a circle surrounded by the preset gap, so that the limiting cylinder 61 can be just embedded into the circular space surrounded by the gap, the end part of the rotary arm 42 abuts against the wall surface of the inner ring of the limiting cylinder 61, the limiting cylinder 61 can block the rotary arm 42 from rotating, the rotary arm 42 is further blocked from rebounding to the horizontal position, and the unmanned aerial vehicle is restrained; the height of the limiting cylinder 61 is 30-50mm, i.e. the distance between the highest position of the limiting cylinder and the supporting plate 62 is 30-50mm, and since the supporting plate 62 can move in the vertical direction, the supporting plate 62 is at the lowest possible position when calculating the height/distance.

When the carrying system occludes the unmanned aerial vehicle, the bearing plate 62 is located the below of spiral arm 42, and the distance between bearing plate 62 and the spiral arm is less, is generally less than 10mm, just bearing plate 62 can move in vertical direction, and its moving stroke is 30-50mm at least, along with the removal of bearing plate 62, bearing plate 62 can be released unmanned aerial vehicle's spiral arm from bearing seat 6 promptly, because bearing plate 62's moving speed is higher, when unmanned aerial vehicle breaks away from with bearing seat 6, unmanned aerial vehicle has certain initial speed, can continue to move certain distance along this direction.

The repulsion that bearing plate 62 can produce through the electro-magnet is as power, also can be as power through compression spring, can select by oneself according to actual conditions, can realize above-mentioned reciprocating motion and promote unmanned aerial vehicle's function can.

In a preferred embodiment, as shown in fig. 2 and 3, the fairing 5 comprises at least 3 arc-shaped cover sheets 51 with the same external dimension, and each arc-shaped cover sheet 51 is hinged with a carrying system and can form a closed shell structure after being tightly attached with each other;

the fairing 5 is provided with a locking mechanism, when the arc-shaped cover pieces 51 are tightly attached to each other, the locking mechanism locks the arc-shaped cover pieces 51 to prevent the arc-shaped cover pieces from being separated from each other, the locking mechanism can be automatically released, and when the locking mechanism receives an unfolding instruction, the locking mechanism automatically releases the locking of the arc-shaped cover pieces 51, so that the arc-shaped cover pieces 51 can be separated from each other and rotate, and the unmanned aerial vehicle in the fairing is exposed; the locking mechanism can be an electromagnetic lock or a mechanical lock, can be set to any form, and only needs to meet the requirements.

Preferably, the unmanned aerial vehicle ejection control module 2 is configured to send a deployment instruction to the latch mechanism, and the control module may generate and send the deployment instruction based on a preset value input by the input module 3 and the detected state information; the preset value can be one or more of time information, longitude and latitude coordinate values, a height value, a speed component in the vertical direction and a speed component in the horizontal direction;

the time information refers to that the unmanned aerial vehicle ejection control module 2 generates and sends out a deployment instruction after the carrying system starts the time, and the time information is generally input into the unmanned aerial vehicle ejection control module 2 before the carrying system starts, and generates and sends out the deployment instruction after 40 s;

the detected state information refers to position information and speed information of the satellite signal receiving module 1, and when the detected state information reaches a preset value, a deployment instruction is generated and issued, for example, when the satellite signal receiving module reaches the height of 800m, or when the satellite signal receiving module reaches the height of 116.3 degrees, or when the satellite signal receiving module reaches the position near the east longitude of 116.3 degrees, or when the satellite signal receiving module reaches the position near the north latitude of 39.95 degrees, a deployment instruction is generated and issued, or when the vertical speed value is 0, a deployment instruction is generated and issued, or the like, or when a plurality of conditions are simultaneously met.

In a preferred embodiment, a second type of inductive switch is arranged at the hinged connection of each arc-shaped cover sheet 51 and the carrying system, and the second type of inductive switch is connected with the bearing plate 62 and used for controlling the bearing plate 62 to start;

when the arc-shaped cover piece 51 rotates by a preset angle, the corresponding second-class induction switch can be triggered, and preferably, the preset angle value is more than 90 degrees;

the second type of inductive switch has a plurality ofly, and when all second type of inductive switches all triggered back control bearing board 62 start work, pop out unmanned aerial vehicle from delivery system/bearing seat 6.

In another preferred embodiment, after the unmanned aerial vehicle ejection control module 2 generates and sends out the deployment instruction, the unmanned aerial vehicle ejection control module automatically counts time for 2 to 3 seconds and then sends out a starting instruction to the supporting plate 62, so as to control the supporting plate 62 to start up, and eject the unmanned aerial vehicle from the carrying system/the supporting seat 6.

More preferably, the support plate 62 can not be actually started to work after receiving the start instruction of the second type inductive switch and the start instruction of the unmanned aerial vehicle ejection control module 2.

In a preferred embodiment, as shown in fig. 2, a support rod 52 is further disposed inside the fairing 5, one end of the support rod 52 is fixedly connected to the inner wall of the arc-shaped shroud segment 51, and the other end of the support rod 52 is in contact with the polished rod segment 421 of the unmanned aerial vehicle locked in the carrying system, so as to support/limit the unmanned aerial vehicle and prevent the unmanned aerial vehicle from vibrating or swinging in the carrying system, when the locking mechanism releases the locking of the arc-shaped shroud segment 51, the support rod 52 is disengaged from the polished rod segment 421 along with the rotation of the arc-shaped shroud segment 51.

The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.