WO2020156587A1 - 一种无人机回收装置 - Google Patents

一种无人机回收装置 Download PDF

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Publication number
WO2020156587A1
WO2020156587A1 PCT/CN2020/076613 CN2020076613W WO2020156587A1 WO 2020156587 A1 WO2020156587 A1 WO 2020156587A1 CN 2020076613 W CN2020076613 W CN 2020076613W WO 2020156587 A1 WO2020156587 A1 WO 2020156587A1
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WIPO (PCT)
Prior art keywords
recovery
uav
cable
hook
arresting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2020/076613
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English (en)
French (fr)
Inventor
毕和军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qihang Launching Tech Co Ltd
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Qihang Launching Tech Co Ltd
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Publication date
Application filed by Qihang Launching Tech Co Ltd filed Critical Qihang Launching Tech Co Ltd
Priority to JP2021538204A priority Critical patent/JP2022520924A/ja
Priority to EP20748770.3A priority patent/EP3889052A4/en
Priority to US17/423,200 priority patent/US20220089294A1/en
Publication of WO2020156587A1 publication Critical patent/WO2020156587A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/68—Arrester hooks
    • 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
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/027—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using net or mesh
    • 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
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/025—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using decelerating or arresting beds
    • 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
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/029—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using a cable or tether
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/30—Launching, take-off or landing arrangements for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle recovery device.
  • the current UAV recovery technology includes conventional taxi landing recovery, aerial parent aircraft recovery, parachute recovery, aerial lanyard recovery, collision net recovery, etc., but they all have certain limitations: taxi landing is a kind of The conventional recovery method requires a runway with a certain length and width and cannot land at any time and anywhere; the recovery of the mother aircraft requires a special recovery aircraft, which is low in efficiency, high in cost, high in risk, complicated in operation, and lack of practicability; comparison of the adaptability of parachute recovery Good, but there is no accuracy guarantee for the landing point, the aircraft is vulnerable to damage, and there are certain risks in wartime and sea recovery; the aerial lanyard recovery method is relatively flexible, easy to operate, and can be used on land and ships.
  • CN202642096U discloses a small UAV and its on-board arresting device, ground arresting device and arresting system.
  • the upper arresting device includes: an arresting hook and a release device; one end of the arresting hook is used to rotatably connect to the main body of the small drone, and the other end is used for It is connected with the release device; the release device is fixed on the fuselage of the small unmanned aerial vehicle for fixing or releasing the arresting hook according to the received external control signal, and can realize the landing recovery under the condition of landing without a taxiing runway.
  • wingtip lanyards there are restrictions on the weight and structural strength of the aircraft. At present, the aerial lanyard is limited to the recovery of light and small aircraft with a total weight of not more than 50 kg.
  • Crash net recovery is generally used to recover drones from ships.
  • CN106394922A discloses a safe landing method and landing device for aircraft.
  • the landing vehicle is used to reduce the speed and kinetic energy of the aircraft to zero in a short time, and solve the problem of aircraft landing gear failures.
  • the landing vehicle includes a frame, multiple sets of wheels, a blocking plate A, a cushion A, a platform, a multi-row blocking device, and a control room; multiple cushions A stacked and connected together are installed in the blocking On board A;
  • the airport control center controls the landing speed, angle and azimuth of the landing vehicle and the aircraft forced to land due to failure, and gradually reduces the speed of the landing vehicle, and at the same time the ejector rod rises, the platform rotates around the axis, and the angle ⁇ of the platform gradually changes from zero At a certain angle, the aircraft will slow down at the same time, and the nose or fuselage or other parts and the cushion A will be deformed.
  • the cushion A covers the surface of the aircraft.
  • the present invention provides a new type of drone recovery device.
  • An unmanned aerial vehicle recovery device which is characterized by comprising a recovery pulley, a pulley track, and a damper.
  • the recovery pulley is used to dock and recover the unmanned aerial vehicle, and includes a frame, a roller, a cable support frame, a net bed, an arresting cable, and Arresting rope rocker arm;
  • the pulley track is used to carry the recovery pulley, and the recovery pulley is connected to the pulley track through rollers;
  • the damper is connected with the recovery pulley and is used to generate damping force on the linear operation of the recovery pulley.
  • the net bed is arranged at the front of the frame of the recycling trolley.
  • the net bed includes side cables arranged along both sides of the frame, longitudinal cables distributed in the forward direction, and transverse cables distributed in a rib-like shape, forming a vertical and horizontal cross cable. Net form; the net bed is connected with the cable support frame on the frame through the front and rear ends of the side cables on both sides, and the net bed is isolated from the frame by the cable support frame.
  • the mesh bed is made of materials that are soft, wear-resistant, impact-resistant and have certain toughness, preferably high-strength fiber ropes.
  • the arresting cable rocker arm is composed of symmetrical left and right rocker arms, and the lower parts of the left and right rocker arms are coaxially hinged and are respectively installed on the left and right sides of the rear part of the frame.
  • the two ends of the arresting cable are respectively connected to the left and right arresting cable rocker arms or the frame through the upper part of the left and right arresting cable rocker arms, and both ends of the arresting cable have elastic damping and expansion functions.
  • the damper has a damping force that is adapted to the weight, speed and length of the pulley track
  • the recovery pulley is connected to the damper through a traction cable and a reverse pulley
  • the end of the pulley track is provided with a reverse pulley , Used to carry traction cable.
  • a self-locking hook is provided at the lower part of the drone fuselage, and a tail hook is provided at the rear of the drone fuselage.
  • the tail hook is used to hang up the arresting cable, and the self-locking hook is used to hang after the fuselage descends from the contact net. And lock the net bed.
  • a lanyard is set at the tail of the drone, a blocking rocker is set on the net bed, a hook is set on the blocking rocker, and the hook on the upper part of the blocking rocker is hung by the hanging rope of the aircraft.
  • the lanyard is set on the root, rear or tail brace of the wing, connected laterally and left and right, or connected by extension rods, and suspended by left and right extension rods, or hanging ropes by double tail hooks, that is, the left and right sides Two tail hooks are set, the ends of the left and right tail hooks are tied, and the lanyard is put down through the tail hooks.
  • a hook is provided at the end of the rocker arm of the arresting cable, and the hook is used for hanging the vertical rope.
  • the arresting rope rocker arm can be simplified to a single arm and set in the middle.
  • the hook is connected with the rocker arm of the arresting cable through an elastic damping device.
  • the height of the heightening side cable is adapted to the height difference of the aircraft wing and the lower part of the fuselage.
  • the net bed is provided with reserved space.
  • An unmanned aerial vehicle recovery device characterized by comprising a recovery pulley, a pulley track, and a damper, wherein the recovery pulley is used for docking the recovery drone, and includes a frame, a roller, a cable support frame, a net bed, and a vertical net;
  • the trolley track is used to carry the recovery trolley, and the recovery trolley is connected to the trolley track by rollers;
  • the damper is connected to the recovery trolley and is used to generate damping force on the linear operation of the recovery trolley;
  • the vertical net is arranged in front of the recovery trolley At the same time, the vertical net is formed by the side cables supported by the cable support frame.
  • the vertical net is isolated from the frame by the cable support frame and is overhead.
  • the connection structure of the side cables, horizontal cables and longitudinal cables is suitable for the aircraft fuselage to be recovered.
  • An unmanned aerial vehicle recovery method of an unmanned aerial vehicle recovery device includes the following steps:
  • UAV touch-net locking stage UAV pulls the arresting cable (8) and then pulls the recovery tackle (1) to move forward. Under the action of system inertia and damper (3), the UAV decelerates and descends , The lower part of the fuselage is in contact with the net bed (7), and the fuselage and the net bed (7) are hooked and locked by the transverse cable through the self-locking hook, and the net bed (7), tail hook and arresting cable ( 8) Or the self-locking hooks are connected to the net bed (7) and the hook of the arresting cable rocker arm.
  • the UAV on the net bed (7) and the recovery pulley (1) start to move synchronously and pass through the damper (3) Under the action of the traction cable, the recovery pulley (1) continues to decelerate;
  • UAV trolley stop stage the recovery trolley (1) decelerates for a certain distance on the trolley track (2), and finally the inertia disappears and the forward movement is stopped, and the UAV recovery operation ends.
  • the drone's flight path is too high or the left and right deviations occur too much, which causes the tail hook to fail to catch the arresting rope (8) or the lanyard to fail to hang on the hook on the upper part of the arresting rocker arm.
  • the plane turned to a go-around, and then proceeded to the next round of blocking and recovery.
  • the unmanned aerial vehicle recovery device of the present invention can adapt to the recovery of almost all models, has a simple structure, is convenient to manufacture, and has low cost. It can be used for the recovery of various heavyweight drones.
  • the recovery device can be highly maneuverable and has a wide range of applications. It can be applied to ships, vehicles, air, All-round recovery operations on islands, reefs, woodlands, and buildings.
  • Fig. 1 is a schematic diagram of the structure of the recovery pulley of the present invention.
  • Figure 2 is a schematic diagram of the net bed of the recovery device for the lower-wing aircraft type of the present invention
  • FIG. 3 is a schematic diagram of the mesh bed of the upper single-wing type recovery device of the present invention
  • FIG. 4 is a schematic diagram of the airborne equipment-type recovery device net bed of the present invention
  • Fig. 5 is a schematic diagram of the vertical net type recovery pulley of the net bed of the present invention
  • FIG. 6 is a schematic diagram of the front of the UAV hanging cable of the present invention.
  • FIG. 7 is a schematic diagram of the UAV of the present invention behind the hanging cable
  • Figure 8 is a schematic diagram of the aircraft contact net locking of the present invention
  • Figure 9 is a schematic diagram of the stopping of the aircraft tackle of the present invention.
  • FIG. 10 is a schematic diagram of the damper of the present invention
  • Figure 11 is a schematic diagram of the pulley track of the present invention
  • Figure 12 is a schematic diagram of the self-locking hook of the present invention
  • Figure 13 is a schematic diagram of the tail hook of the present invention
  • Figure 14 is a schematic diagram of the tail hook frame of the present invention
  • the UAV recovery device of the present invention consists of a recovery trolley 1, a trolley rail 2 and a damper 3.
  • the recovery trolley is used to dock the recovery UAV, including a frame 4, a roller 5, and a cable Support frame 6, net bed 7, arrest cable 8, arrest cable rocker 9.
  • the pulley track 2 is used to carry the recovery pulley 1. It is a linear track with a certain length and rigidity.
  • the recovery pulley is connected to the pulley track 2 through rollers 5, and under the constraint of the pulley track, it moves linearly along the long axis of the track.
  • the end of the track is provided with a reverse pulley 10 for carrying the traction cable 11, as shown in Figure 11; the damper 3 is connected to the recovery pulley and is used to generate a damping force on the linear operation of the recovery pulley, so that the recovery pulley is in the damping force Under the action of the deceleration and finally stop.
  • a net bed is arranged at the front of the frame of the recycling trolley, and the net bed includes side cables arranged along both sides of the frame, longitudinal cables distributed in the forward direction, and transverse cables distributed in a rib-like shape, forming a vertical and horizontal cross net shape.
  • the net bed is connected with the cable support frame on the frame through the front and rear ends of the side cables on both sides, and the net bed is isolated from the frame by the cable support frame and is overhead.
  • the mesh bed is made of soft, wear-resistant, impact-resistant and tough materials, preferably high-strength fiber ropes.
  • the invention adopts soft high-strength fiber ropes to form an isolated overhead net bed and a vertical net through a cable support structure, which can effectively support and lock the aircraft, and can ensure that the aircraft is protected from rigid impacts during deceleration and contacting the net.
  • the arresting cable rocker arm is composed of symmetrical left and right rocker arms, the lower part of the left and right rocker arms are coaxially hinged, and the left and right rocker arms are connected and installed on the left and right sides of the rear part of the frame.
  • the action modes of the left and right rocker arms are falling forward and upright.
  • the left and right rocker arms are forced to do the falling motion forward. After the force disappears, they will automatically rise up and reset. After the left and right rocker arms are upright reset, the upper part of the rocker arm is higher than the net. bed.
  • the two ends of the arresting cable are respectively connected to the left and right arresting cable rocker arms or the frame through the upper part of the left and right arresting cable rocker arms.
  • Both ends of the arresting cable have elastic damping and expansion functions. When no external force is applied, the arresting cable is stretched and straight. Both ends can be stretched out. After the tension disappears, the arresting cable is retracted to both ends under the action of elasticity, and the stretched state is restored.
  • the invention can ensure that the tail hook of the aircraft will not directly overlap with the net bed if the arresting recovery operation fails through the elevated arresting cable.
  • the arresting cable rocker arm can effectively avoid the interference between the arresting cable and the arresting cable rocker arm and the rear propeller of the aircraft tail, flat tail, waist thrust and tail thrust.
  • a tail hook can be provided at the tail of the aircraft, and the net bed can be equipped with an arresting rope rocker arm and an arresting rope, or a lanyard can be provided at the tail of the aircraft, with an arresting rocker arm on the net bed, and a hook on the arresting rocker arm to hang down through the aircraft.
  • the lanyard hangs on the hook on the upper part of the blocking rocker.
  • the lanyard can be set on the root, rear or tail brace of the wing, connected horizontally and left and right, or connected left and right through extension rods, hanging down through the left and right extension rods; it can also be suspended by double tail hooks, with two sets on the left and right sides.
  • a hook is provided at the end of the rocker arm of the arresting cable, and the hook is used for hanging the vertical rope.
  • the hook can be connected to the rocker arm of the arresting cable through an elastic damping device. After the aircraft lanyard is hung, the damping effect of the hook pulling out can reduce the axial direction. Overload serves as a buffer.
  • the rocker arm of the arresting cable can be simplified to a single arm and set in the center
  • the recovery pulley is connected to the pulley track through rollers arranged on the frame, and the pulley track restricts the pulley to only run in a straight line along the track axis.
  • the damper has a damping force adapted to the aircraft weight, speed and the length of the trolley track. It is used to block the linear movement of the recovery trolley along the trolley track, so that the recovery trolley will continue to decelerate and stop moving within the effective length of the track.
  • the damper Various types such as hydraulic pressure, pneumatic pressure, water turbine and electromagnetic damping can be used.
  • the recovery pulley is connected to the damping.
  • the recovery pulley is connected to the damper through a traction cable and a reverse pulley.
  • the dampers are dragged by the traction cable to decelerate and stop the recovery pulley, and the traction cable is also used to reset the recovery pulley.
  • the invention can carry out the UAV recovery operation with low overload: taking the ten-meter effective deceleration length of the trolley track and the adapted damper as an example, it can ensure that the relative distance is 140 kilometers per hour. Airplanes that land at a speed are recovered with an overload of less than 10g.
  • the single-layer side cable net bed can effectively limit the rolling or rolling back and forth that may occur after the aircraft touches the net through the constraints of the horizontal cable, the longitudinal cable and the arresting cable, as shown in Figure 2. .
  • heightening side cables 16 can be added to match the height of the aircraft wing and the lower part of the fuselage.
  • the additional heightening side cables are used to support two The side wing, through the locking of the lateral cable to the self-locking hook and the joint restraint of the heightened side cable and the arresting cable on both sides, can avoid the possible rolling and rolling back and forth after the aircraft touches the net, as shown in Figure 3.
  • the arresting cable and the arresting cable rocker arm can be eliminated, and a vertical net 15 can be installed in the front of the recovery tackle to control and guide the aircraft to align with the vertical net along the axis of the tackle track from the rear.
  • the front of the fuselage of the aircraft directly hits the net, and the self-locking hook set on the fuselage is locked with the vertical net.
  • the vertical net is also formed by the side cables supported by the cable support frame.
  • the vertical net is isolated from the frame by the cable support frame and is overhead.
  • the connection structure of the side cables, horizontal cables and longitudinal cables is compatible with the aircraft fuselage to be recycled, such as Shown in Figure 5.
  • the implementation method of UAV recovery using the recovery device of the present invention is as follows:
  • the unmanned aerial vehicle that is recycled in the present invention is not equipped with a landing gear. It is necessary to provide a self-locking hook 12 at the lower part of the fuselage, and a tail hook rack 16 and a tail hook 13 at the rear of the fuselage, as shown in Figures 12-14, where the tail hook Used to hang up the arresting cable, the tail hook frame is used to install and prop up the tail hook to avoid interference with the rear propeller when the tail hook moves, and the self-locking hook 12 is used to hang and lock the net bed after the fuselage descends to the net ;
  • the recovery pulley supports the side cables on both sides through the cable support frame on the frame, and the horizontal cables are connected, fixed and tightened with the side cables.
  • the two ends of the longitudinal cables between the side cables are connected with the horizontal cables, and the horizontal cables and the longitudinal cables are formed Net-like form, the horizontal cable is used to dock the self-locking hook on the lower part of the drone's fuselage, and the longitudinal cable is used to restrict the drone from moving to both sides after touching the net.
  • the recovery block is at the starting position of the block track, and the arresting cable rocker arm is erected to ensure that the arresting cable is stretched straight and in the highest position;
  • the UAV When carrying out arrest and recovery operations, the UAV approaches from the back of the trolley track along the axis of the track. Through manipulation and guidance, the UAV flies at the middle position of the arresting cable, and the height of the flight line is controlled at the tail hook and the arresting cable. The range is shown in Figure 6.
  • the UAV enters the blocking position, the tail hook hangs on the blocking cable, the blocking cable starts to be pulled out, the blocking cable rocker tilts forward, through the elastic damping at both ends, the blocking cable pulls the UAV into the initial deceleration, and pulls the recovery tackle to start Moving forward along the track, the damper produces resistance to the movement of the recovery trolley, as shown in Figure 7.
  • the UAV pulls the arresting cable through the tail hook and then pulls the recovery trolley to continue moving forward.
  • the UAV decelerates and descends, the lower part of the fuselage contacts the net bed, and the self-locking hook moves the aircraft.
  • the body and the net bed are horizontally hooked and locked.
  • the recovery trolley decelerates for a certain distance on the trolley track, and finally the inertia disappears and the forward movement is stopped.
  • the UAV recovery operation ends, as shown in Figure 9.
  • the man-machine tail hook is designed with a certain drooping length, and the net bed is lower than the arresting rope, and there is a certain height difference between the net bed and the arresting rope. Therefore, in addition to the flight path being too low due to the out-of-control of the aircraft and too late to correct, there is no one If the tail hook misses the arresting rope, it only needs to be recovered through a go-around, and it will not cause any damage to the UAV or the arrest and recovery system.
  • the net bed + vertical net type recovery block is also suitable for air-based recovery, that is, the UAV is recovered by the parent aircraft in the air.
  • the block track is arranged at the tail of the parent aircraft along the axis of the aircraft and passes through the parent aircraft.
  • the bottom or top plate in the engine room is installed and fixed.
  • the unmanned aerial vehicle recovery device of the present invention can adapt to the recovery of almost all models, has simple structure, is convenient to manufacture, and has low cost. It can be used for the recovery of various heavyweight unmanned aerial vehicles through the matching of the pulley track, the recovery pulley and the damper. , Through the use of foldable and retractable pulley tracks, the recovery device can be highly maneuverable and has a wide range of applications. It can be used in all-round recovery operations such as ships, vehicles, air, islands, reefs, woodlands, and buildings. The technical solution of this device overcomes the defects of the existing similar technologies, and at the same time promotes the industry to a new technological stage. It is a technological innovation in the field of UAV recycling and is of great significance.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Ropes Or Cables (AREA)
  • Vibration Dampers (AREA)

Abstract

一种无人机回收装置，包括回收滑车（1）、滑车轨道（2）和阻尼器（3），其中回收滑车（1）用于对接回收无人机，滑车轨道（2）用于承载回收滑车（1），回收滑车（1）通过滚轮（5）与滑车轨道（2）连接，阻尼器（3）与回收滑车（1）连接，用于对回收滑车（1）的直线运行产生阻尼作用力，无人机回收装置能够适应几乎所有机型的回收，结构简单，方便制造，成本低，通过滑车轨道、回收滑车、阻尼器的匹配，能够用于各种重量级的无人机回收，通过使用可折叠收放的滑车轨道，可以使回收装置具备极高的机动性，应用范围广，能够应用于舰船、车载、空中、岛礁、林地、建筑群等全方位回收作业。

Description

一种无人机回收装置 技术领域
本发明涉及无人机领域，尤其涉及一种无人机回收装置。
背景技术
针对中小型固定翼无人机的实战应用，回收系统是无人机能够再次、连续、高效投入使用的重要保障。现行的无人机回收技术有常规的滑跑降落回收、空中母机回收、伞降回收、空中挂绳回收、撞网回收等多种方式，但都具有一定的局限性：滑跑降落是一种常规回收方式，要求具备一定长度、宽度的跑道，不能随时随地降落；母机回收要求配备专门的回收飞机，效率低，成本高，风险高，操作复杂，缺乏实用性；伞降回收的适应性比较好，但落点没有精度保证，飞行器易受损坏，战时、海上回收存在一定风险；空中挂绳回收方式相对比较灵活，易于操作，陆地、舰船均可使用，例如CN202642096U公开了一种小型无人机及其机上拦阻装置、地面拦阻装置和拦阻系统，上拦阻装置包括：拦阻钩和释放装置；拦阻钩的一端用于可旋转地连接至小型无人机机身主体，另一端用于与所述释放装置连接；释放装置固定在小型无人机机身上，用于根据接收到的外部控制信号固定或释放拦阻钩，可以在不具备滑行跑道的着陆的条件下实现着陆回收。但由于采用翼尖挂绳，因此对飞机的机体重量、结构强度有限制，目前，空中挂绳仅限于回收总重不超过50千克的轻小型飞机。
撞网回收一般用于舰船回收无人机，例如CN106394922A公开了一种飞机安全降落方法及降落装置，采用降落车使飞机的速度、动能短时间内降低为零，解决飞机因起落架故障等的安全降落问题；所述降落车包括车架、多组轮子、阻挡板A、缓冲垫A、平台、多排阻拦装置、控制室；多个依次叠放连接在一起的缓冲垫A安装在阻挡板A上；机场控制中心控制降落车和因故障迫降的飞机的降落速度、角度和方位，渐降低降落车的速度，同时顶杆升起，平台绕转轴旋转，平台的角度α从零度逐渐变换到一定角度，使飞机同时降速，机头或机身或其他部位和缓冲垫A变形，缓冲垫A包覆在飞机的表面，阻力进步加大，飞机速度 降低为零，安全降落，消除或减小了对飞机和机上人员的伤害。但由于由于舰船甲板的空间所限，用于拦阻的网绳吸能缓冲距离短，缺乏辅助措施，控制能力差，飞机撞网时要承受大过载，并且往往因为发生不可控的翻滚而使机体和舰船受损，甚至酿成事故，存在较高的风险。
随着无人机实战应用的快速发展，固定翼无人机应用领域迫切需要一种能够普遍适应于各种机型、各种场地、环境、条件，并且便于机动的回收系统。
发明内容
为克服现有技术中的上述缺陷，本发明提供了一种新型的无人机回收装置。
本新型的技术方案如下：
一种无人机回收装置，其特征在于包括回收滑车、滑车轨道和阻尼器，其中所述回收滑车用于对接回收无人机，包括车架、滚轮、缆索支撑架、网床、拦阻索和拦阻索摇臂；所述滑车轨道用于承载所述回收滑车，回收滑车通过滚轮与滑车轨道连接；所述阻尼器与回收滑车连接，用于对回收滑车的直线运行产生阻尼作用力。
其中，所述网床设置在所述回收滑车车架前部所述网床包括沿车架两侧设置的边索、顺向分布的纵向索以及呈肋状分布的横向索，构成纵横交叉的网状形态；所述网床通过两侧边索的前后端与所述车架上的缆索支撑架连接，网床通过缆索支撑架与车架隔离。
其中，所述网床采用软质、耐磨、耐冲击并具有一定韧性的材料，优选高强度纤维绳。
其中，所述拦阻索摇臂由对称的左右摇臂构成，所述左右摇臂下部同轴铰接，分别安装于所述车架的后部的左右两侧。
其中，所述拦阻索两端分别通过左右拦阻索摇臂上部与左右拦阻索摇臂或车架连接，拦阻索两端都具有弹性阻尼伸缩功能。
其中，所述阻尼器具有与飞机重量、速度和滑车轨道长度相适配的阻尼力，所述回收滑车通过牵引缆、反向滑轮与阻尼器连接，所述滑车轨道端部设置有反向滑轮，用于承载牵引缆。
其中，所述无人机机身下部设置自锁钩，并在无人机机身后部设置尾钩，尾钩 用于搭挂拦阻索，自锁钩用于机身下降触网后挂住并锁定网床。
其中，无人机尾部设置挂绳，网床设置拦阻摇臂，在拦阻摇臂上设置挂钩，通过飞机垂下的挂绳挂住拦阻摇臂上部的挂钩。
其中，所述挂绳设置在机翼的根部、后部或尾撑杆上，横向左右连接或者通过加长杆左右连接，并通过左右加长杆下垂，或者通过双尾钩方式垂绳，即左右两边设置两个尾钩，左右尾钩端部系绳，通过尾钩放下挂绳。
其中，所述拦阻索摇臂端部设置挂钩，挂钩用于搭挂垂绳。挂绳回收情况下，拦阻索摇臂可以简化为单臂，居中设置。
其中，所述挂钩通过弹性阻尼装置与拦阻索摇臂连接。
其中，还包括加高边索，所述加高边索的高度与飞机机翼、机身下部的高差相适配。
其中，所述网床设置有预留空间。
一种无人机回收装置，其特征在于包括回收滑车、滑车轨道和阻尼器，其中所述回收滑车用于对接回收无人机，包括车架、滚轮、缆索支撑架、网床、竖网；所述滑车轨道用于承载所述回收滑车，回收滑车通过滚轮与滑车轨道连接；所述阻尼器与回收滑车连接，用于对回收滑车的直线运行产生阻尼作用力；竖网设置在回收滑车前部，竖网由缆索支撑架撑起边索构成，竖网通过缆索支撑架与车架隔离、架空，边索、横向索及纵向索的连接构成与拟回收的飞机机身相适配。
一种无人机回收装置的无人机回收方法，其包括以下步骤：
S1：无人机挂索前：在进行拦阻回收作业时，无人机从滑车轨道(2)后部沿轨道轴向进近，通过操控、引导，无人机对准拦阻索(8)中间位置飞行，飞行线路高度控制在尾钩与拦阻索(8)适配或者飞机垂下的挂绳与拦阻摇臂上部的挂钩适配的范围；
S2：无人机挂索后：无人机进入拦阻位置，尾钩挂住拦阻索(8)，或者飞机垂下的挂绳挂住拦阻摇臂上部的挂钩；拦阻索(8)开始拉出，拦阻索摇臂(9)前倾，通过两端弹性阻尼的作用，拦阻索(8)拉动无人机进入初始减速，并拉动回收滑车(1)开始沿轨道向前移动，阻尼器(3)对回收滑车(1)移动产 生阻力；
S3：无人机触网锁定阶段：无人机拉动拦阻索(8)继而拉动回收滑车(1)继续向前移动，在系统惯性和阻尼器(3)的作用下，无人机减速、下降，机身下部与网床(7)接触，并通过自锁钩将机身与网床(7)横向索挂接、锁定，通过自锁钩与网床(7)、尾钩与拦阻索(8)或自锁钩与网床(7)、拦阻索摇臂挂钩的连接固定，网床(7)上的无人机与回收滑车(1)开始进行同步移动，在阻尼器(3)通过牵引缆的作用下，回收滑车(1)持续减速；
S4：无人机滑车停止阶段：回收滑车(1)在滑车轨道(2)上经过一段距离的减速，最终惯性消失并停止前冲运动，无人机回收作业结束。
其中拦阻回收作业过程中，无人机航线过高或发生左、右偏离过量，致使尾钩未能搭上拦阻索(8)或者挂绳未能与拦阻摇臂上部的挂钩挂上，无人机转为复飞，继而进行下一轮拦阻回收动作。
其中如果遇到无人机尾钩错过拦阻索(8)或者挂绳错过拦阻摇臂上部的挂钩的情况，仅需要通过复飞重新进行回收。
与现有技术相比，本发明的有益效果是：本发明的无人机回收装置能够适应几乎所有机型的回收，结构简单，方便制造，成本低，通过滑车轨道、回收滑车、阻尼器的匹配，能够用于各种重量级的无人机回收，通过使用可折叠收放的滑车轨道，可以使回收装置具备极高的机动性，应用范围广，能够应用于舰船、车载、空中、岛礁、林地、建筑群等全方位回收作业。
附图说明
图1是本发明的回收滑车结构示意图。
图2为本发明的机翼偏下机型回收装置网床示意图
图3为本发明的上单翼机型回收装置网床网床示意图
图4为本发明的机载设备型回收装置网床示意图
图5为本发明的网床竖网型回收滑车示意图
图6为本发明的无人机挂索前示意图
图7为本发明的无人机挂索后示意图
图8为本发明的飞机触网锁定示意图
图9为本发明的飞机滑车停止示意图
图10为本发明的阻尼器示意图
图11为本发明的滑车轨道示意图
图12为本发明的自锁钩示意图
图13为本发明的尾钩示意图
图14为本发明的尾钩架示意图
具体实施方式
以下结合附图和实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
如图1和7所示，本发明的无人机回收装置由回收滑车1、滑车轨道2和阻尼器3组成，其中回收滑车用于对接回收无人机，包括车架4、滚轮5、缆索支撑架6、网床7、拦阻索8、拦阻索摇臂9。滑车轨道2用于承载回收滑车1，其是具有一定长度和刚度的直线轨道，回收滑车通过滚轮5与滑车轨道2连接，并在滑车轨道的约束下，沿轨道长轴方向做直线运动，滑车轨道端部设置有反向滑轮10，用于承载牵引缆11，如图11所示；阻尼器3与回收滑车连接，用于对回收滑车的直线运行产生阻尼作用力，使回收滑车在阻尼力的作用下减速并最终停止。
回收滑车车架前部设置有网床，网床包括沿车架两侧设置的边索、顺向分布的纵向索以及呈肋状分布的横向索，构成纵横交叉的网状形态。网床通过两侧边索的前后端与车架上的缆索支撑架连接，网床通过缆索支撑架与车架隔离、架空。网床采用软质、耐磨、耐冲击并具有一定韧性的材料，优选高强度纤维绳。本发明采用软质高强度纤维绳通过缆索支撑架构成隔离架空的网床和竖网，既可以有效承托、锁定飞机，又可以确保飞机在减速、触网过程中免受刚性冲击。
拦阻索摇臂由对称的左右两摇臂构成，左右摇臂下部同轴铰接，左右摇臂连接安装于车架的后部左右两侧。左右摇臂的动作方式为向前倒伏和向上起竖，左右摇臂受力向前做倒伏动作，受力消失后向上自动起竖复位，左右摇臂起竖复位后，摇臂上部高于网床。拦阻索两端分别通过左右拦阻索摇臂上部与左右拦阻索摇臂或车架连接，拦阻索两端都具有弹性阻尼伸缩功能，未受外力时，拦 阻索为绷直状态，受到拉力时，两端均可拉出伸长，拉力消失后，拦阻索在弹性作用下向两端退回，恢复绷直状态。
本发明通过架高的拦阻索可以确保拦阻回收作业失效情况下，飞机尾钩不会越过拦阻索直接与网床搭接。拦阻索摇臂受到拉力向前倾倒可以有效避免拦阻索及拦阻索摇臂与飞机尾翼、平尾以及腰推、尾推等机型的后部螺旋桨发生干涉。
可选的，可以在飞机尾部设置尾钩，网床设置拦阻索摇臂和拦阻索，也可以在飞机尾部设置挂绳，网床设置拦阻摇臂，在拦阻摇臂上设置挂钩，通过飞机垂下的挂绳挂住拦阻摇臂上部的挂钩。挂绳的设置可以设置在机翼的根部、后部或尾撑杆上，横向左右连接或者通过加长杆左右连接，通过左右加长杆下垂；也可以通过双尾钩方式垂绳，左右两边设置两个尾钩，左右尾钩端部系绳，通过尾钩放下挂绳。拦阻索摇臂端部设置挂钩，挂钩用于搭挂垂绳，优选的，挂钩可以通过弹性阻尼装置与拦阻索摇臂连接，飞机挂绳挂住后，挂钩拉出的阻尼作用可以降低轴向过载，起到缓冲作用。挂绳回收情况下，拦阻索摇臂可以简化为单臂，居中设置
回收滑车通过车架上设置的滚轮与滑车轨道连接，滑车轨道限定滑车只能沿轨道轴向做直线运行。阻尼器具有与飞机重量、速度和滑车轨道长度相适配的阻尼力，用于阻滞回收滑车沿滑车轨道的直线运动，使回收滑车发生持续减速，并在轨道有效长度内停止运动，阻尼器可采用液压、气压、水涡轮、电磁阻尼等多种类型。回收滑车与阻尼的连接，优选的，回收滑车通过牵引缆、反向滑轮与阻尼器连接，阻尼器通过牵引缆拖拽回收滑车减速、停止，牵引缆还用于回收滑车复位。本发明通过轨道与阻尼器的适配，能够以低过载进行无人机回收作业：以十米有效减速长度的滑车轨道以及与之适配的阻尼器为例，能够确保以每小时140公里相对速度降落的飞机，以低于10g过载进行回收。
针对不同机型，本发明的实施例如下略有不同：
对于机翼偏下机型，通过横向索、纵向索以及拦阻索的约束，单层边索的网床即可有效限制飞机触网后可能发生的横滚或和前后翻滚，如图2所示。
对于机翼偏上机型，可通过增设加高边索16，使加高边索的高度与飞机机翼、 机身下部的高差相适配，增设的加高边索用于承托两侧的机翼，通过横向索对自锁钩的锁定以及两侧加高边索、拦阻索的联合约束，可有避免飞机触网后可能发生的横滚和前后翻滚，如图3所示。
对于下部附带机载设备机型，由于机身下部带有光电荷载、副油箱、战斗部等机身外部荷载或凸起，为防止机身触网时影响自锁钩挂网或因刮碰引起设备、机身损坏，可在网床对应部位预留空间14，如图4所示。
针对无法设置尾钩或其他特种类型的无人机，可以取消拦阻索及拦阻索摇臂，在回收滑车前部设置竖网15，操控、引导飞机从后部沿滑车轨道轴向对准竖网，以飞机机身前部直接撞网，并以机身设置的自锁钩与竖网锁定，通过回收滑车在滑车轨道的阻尼减速驻停以及网床对飞机的托载，实现对无人机的安全稳定回收。竖网同样是由缆索支撑架撑起边索构成，竖网通过缆索支撑架与车架隔离、架空，边索、横向索及纵向索的连接构成与拟回收的飞机机身相适配，如图5所示。
利用本发明的回收装置进行无人机回收的其中实施方法如下：
本发明实施回收的无人机不配起落架，需要在机身下部设置自锁钩12，并在机身后部设置尾钩架16和尾钩13，如图12-14所示，其中尾钩用于搭挂拦阻索，尾钩架用于安装并撑起尾钩，避免尾钩动作时与后部的螺旋桨发生干涉，自锁钩12用于机身下降触网后挂住并锁定网床；回收滑车通过车架上的缆索支撑架撑起两侧边索，横向索与边索连接、固定、绷紧，边索之间的纵向索两端与横向索连接，横向索与纵向索构成网状形态，横向索用于对接无人机机身下部的自锁钩，纵向索用于限制无人机触网后向两侧移动。实施拦阻回收作业之前，回收滑车处于滑车轨道起始位置，拦阻索摇臂竖起，确保拦阻索绷直并处于最高位置；
在进行拦阻回收作业时，无人机从滑车轨道后部沿轨道轴向进近，通过操控、引导，无人机对准拦阻索中间位置飞行，飞行线路高度控制在尾钩与拦阻索适配的范围，如图6所示。
无人机进入拦阻位置，尾钩挂住拦阻索，拦阻索开始拉出，拦阻索摇臂前倾，通过两端弹性阻尼的作用，拦阻索拉动无人机进入初始减速，并拉动回收滑车 开始沿轨道向前移动，阻尼器对回收滑车移动产生阻力，如图7所示。
无人机通过尾钩拉动拦阻索继而拉动回收滑车继续向前移动，在系统惯性和阻尼器的作用下，无人机减速、下降，机身下部与网床接触，并通过自锁钩将机身与网床横向索挂接、锁定。通过自锁钩与网床、尾钩与拦阻索或自锁钩与网床(7)、拦阻索摇臂挂钩的连接固定，网床上的无人机与回收滑车开始进行同步移动，在阻尼器通过牵引缆的作用下，回收滑车持续减速，如图8所示。
回收滑车在滑车轨道上经过一段距离的减速，最终惯性消失并停止前冲运动，无人机回收作业结束，如图9所示。
如果在拦阻回收作业过程中，无人机航线过高或发生左、右偏离过量，致使尾钩未能搭上拦阻索，无人机转为复飞，继而进行下一轮拦阻回收动作；无人机尾钩设计具有一定的下垂长度，并且网床低于拦阻索，网床与拦阻索存在一定的高度差，因此，除因飞机失控导致航线过低并且来不及纠正之外，遇到无人机尾钩错过拦阻索的情况，仅需要通过复飞重新进行回收即可，不会对无人机或拦阻回收系统产生任何损害。
特别的，网床+竖网型回收滑车还适应于空基回收，即在空中通过母机对无人机进行回收，在这种实施方式中，滑车轨道沿飞机轴向设置在母机尾部，通过母机舱内底板或顶板安装固定。回收作业过程中，开启母机机舱尾门，控制无人机向母机尾部进近，操控、引导无人机对准回收滑车竖网直接撞网，触网锁定后的无人机连同回收滑车沿滑车轨道由机尾进入母机机舱，经过持续减速，最终在滑车轨道上停止，卸掉无人机后，将回收滑车进行复位，进行下一轮回收。
本发明的无人机回收装置能够适应几乎所有机型的回收，结构简单，方便制造，成本低，通过滑车轨道、回收滑车、阻尼器的匹配，能够用于各种重量级的无人机回收，通过使用可折叠收放的滑车轨道，可以使回收装置具备极高的机动性，应用范围广，能够应用于舰船、车载、空中、岛礁、林地、建筑群等全方位回收作业。本装置的技术方案克服了现有同类技术的缺陷，同时推动行业领域提高到一个新的技术阶段，是无人机回收领域的技术创新，具有重要意义。
上述说明示出并描述了本发明的优选实施例，如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。
发明概述
技术问题
问题的解决方案
发明的有益效果

Claims (18)

  1. 一种无人机回收装置，其特征在于包括回收滑车(1)、滑车轨道(2)和阻尼器(3)，其中所述回收滑车(1)用于对接回收无人机，包括车架(4)、滚轮(5)、缆索支撑架(6)、网床(7)、拦阻索(8)和拦阻索摇臂(9)；所述滑车轨道(2)用于承载所述回收滑车(1)，回收滑车(1)通过滚轮(5)与滑车轨道(2)连接；所述阻尼器(3)与回收滑车(1)连接，用于对回收滑车(1)的直线运行产生阻尼作用力。
  2. 根据权利要求1所述的无人机回收装置，其中所述网床(7)设置在所述回收滑车(1)车架(4)前部所述网床(7)包括沿车架(4)两侧设置的边索、顺向分布的纵向索以及呈肋状分布的横向索，构成纵横交叉的网状形态；所述网床(7)通过两侧边索的前后端与所述车架(4)上的缆索支撑架(6)连接，网床(7)通过缆索支撑架(6)与车架(4)隔离。
  3. 根据权利要求1或2所述的无人机回收装置，其中所述网床(7)采用软质、耐磨、耐冲击并具有一定韧性的材料，优选高强度纤维绳。
  4. 根据权利要求1或2所述的无人机回收装置，其中所述拦阻索摇臂(9)由对称的左右摇臂构成，所述左右摇臂下部同轴铰接，分别安装于所述车架(4)的后部的左右两侧。
  5. 根据权利要求5所述的无人机回收装置，所述拦阻索(8)两端分别通过左右拦阻索摇臂(9)上部与左右拦阻索摇臂(9)或车架(4)连接，拦阻索(8)两端都具有弹性阻尼伸缩功能。
  6. 根据权利要求1或2所述的无人机回收装置，所述阻尼器(3)具有与飞机重量、速度和滑车轨道(2)长度相适配的阻尼力，所述回收滑车(1)通过牵引缆、反向滑轮与阻尼器(3)连接，所述滑车轨道(2)端部设置有反向滑轮，用于承载牵引缆。
  7. 根据权利要求1或2所述的无人机回收装置，其中所述无人机机 身下部设置自锁钩，并在无人机机身后部设置尾钩，尾钩用于搭挂拦阻索(8)，自锁钩用于机身下降触网后挂住并锁定网床(7)。
  8. 根据权利要求1或2所述的无人机回收装置，其中所述无人机尾部设置挂绳，网床设置拦阻摇臂，在拦阻摇臂上设置挂钩，通过飞机垂下的挂绳挂住拦阻摇臂上部的挂钩。
  9. 根据权利要求8所述的无人机回收装置，其中所述挂绳设置在机翼的根部、后部或尾撑杆上，横向左右连接或者通过加长杆左右连接，并通过左右加长杆下垂，或者通过双尾钩方式垂绳，即左右两边设置两个尾钩，左右尾钩端部系绳，通过尾钩放下挂绳。
  10. 根据权利要求9所述的无人机回收装置，其中所述拦阻索端部设置挂钩，挂钩用于搭挂垂绳。
  11. 根据权利要求10所述的无人机回收装置，其中所述挂钩通过弹性阻尼装置与拦阻索摇臂连接。
  12. 根据权利要求2所述的无人机回收装置，还包括加高边索，所述加高边索的高度与飞机机翼、机身下部的高差相适配。
  13. 根据权利要求1或2所述的无人机回收装置，所述网床(7)设置有预留空间。
  14. 根据权利要求1或2所述的无人机回收装置，所述阻尼器采用液压、气压、水涡轮或电磁阻尼。
  15. 一种无人机回收装置，其特征在于包括回收滑车(1)、滑车轨道(2)和阻尼器(3)，其中所述回收滑车(1)用于对接回收无人机，包括车架(4)、滚轮(5)、缆索支撑架(6)、网床(7)、竖网；所述滑车轨道(2)用于承载所述回收滑车(1)，回收滑车(1)通过滚轮(5)与滑车轨道(2)连接；所述阻尼器(3)与回收滑车(1)连接，用于对回收滑车(1)的直线运行产生阻尼作用力；竖网设置在回收滑车(1)前部，竖网由缆索支撑架 (6)撑起边索构成，竖网通过缆索支撑架(6)与车架(4)隔离、架空，边索、横向索及纵向索的连接构成与拟回收的飞机机身相适配。
  16. 根据权利要求1-15任一项的无人机回收装置的无人机回收方法，其包括以下步骤：
    S1：无人机挂索前：在进行拦阻回收作业时，无人机从滑车轨道(2)后部沿轨道轴向进近，通过操控、引导，无人机对准拦阻索(8)中间位置飞行，飞行线路高度控制在尾钩与拦阻索(8)适配或者飞机垂下的挂绳与拦阻摇臂上部的挂钩适配的范围；
    S2：无人机挂索后：无人机进入拦阻位置，尾钩挂住拦阻索(8)，或者飞机垂下的挂绳挂住拦阻摇臂上部的挂钩；拦阻索(8)开始拉出，拦阻索摇臂(9)前倾，通过两端弹性阻尼的作用，拦阻索(8)拉动无人机进入初始减速，并拉动回收滑车(1)开始沿轨道向前移动，阻尼器(3)对回收滑车(1)移动产生阻力；
    S3：无人机触网锁定阶段：无人机拉动拦阻索(8)继而拉动回收滑车(1)继续向前移动，在系统惯性和阻尼器(3)的作用下，无人机减速、下降，机身下部与网床(7)接触，并通过自锁钩将机身与网床(7)横向索挂接、锁定，通过自锁钩与网床(7)、尾钩与拦阻索(8)或自锁钩与网床(7)、拦阻索摇臂挂钩的连接固定，网床(7)上的无人机与回收滑车(1)开始进行同步移动，在阻尼器(3)通过牵引缆的作用下，回收滑车(1)持续减速；
    S4：无人机滑车停止阶段：回收滑车(1)在滑车轨道(2)上经过一段距离的减速，最终惯性消失并停止前冲运动，无人机回收作业结束。
  17. 根据权利要求16所述的无人机回收方法，其中拦阻回收作业过程中，无人机航线过高或发生左、右偏离过量，致使尾钩未能搭上拦阻索(8)或者挂绳未能与拦阻摇臂上部的挂钩挂上，无人 机转为复飞，继而进行下一轮拦阻回收动作。
  18. 根据权利要求16或17所述的无人机回收方法，其中如果遇到无人机尾钩错过拦阻索(8)或者挂绳错过拦阻摇臂上部的挂钩的情况，仅需要通过复飞重新进行回收。
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