技术领域Technical field
本发明属于飞行器体系技术领域，尤其涉及高速自稳双向补能平台、直升机增效体系及协同方法。The invention belongs to the technical field of aircraft systems, and in particular relates to a high-speed self-stabilizing two-way energy supplement platform, a helicopter efficiency enhancement system and a collaborative method.
背景技术Background technique
直升机可以不依赖跑道垂直起降，作低空、低速以及侧飞、后飞等机动飞行，这些特点使其具有广阔的用途及发展前景：已被广泛应用于后勤支援、指挥控制、通信联络、短途运输、医疗救护、救灾救生、紧急营救、吊装设备、地质勘探、护林灭火、空中摄影等。Helicopters can take off and land vertically without relying on runways, and can perform low-altitude, low-speed, side-flying, backward-flying and other maneuvering flights. These characteristics make it have broad uses and development prospects: it has been widely used in logistics support, command and control, communications, short-distance Transportation, medical rescue, disaster relief and lifesaving, emergency rescue, hoisting equipment, geological exploration, forest protection and fire extinguishing, aerial photography, etc.
在防火监控和巡线巡检等领域，直升机具有机动性强、巡查范围广、观察视野宽的优势，利用直升机开展空中巡逻，可以全方位、立体式扫描，轻松实现森林防火巡查全覆盖，特别是对山高路远、人烟稀少的林区中的热点、火点，可以快速、准确甄别。发现森林火灾后，机组人员可以乘坐直升机实现空中抵近观察，对火场情况、森林植被类型及扑救路线等进行科学研判，并能运送灭火队员通过垂直机降实现快捷灭火。In fields such as fire monitoring and line inspections, helicopters have the advantages of strong maneuverability, wide inspection range, and wide observation field of view. Using helicopters to carry out aerial patrols can provide all-round and three-dimensional scanning, easily achieving full coverage of forest fire prevention inspections, especially It can quickly and accurately identify hot spots and fire spots in forest areas with high mountains and far distances and sparsely populated areas. After discovering a forest fire, the crew can take a helicopter to achieve close-up observation from the air, conduct scientific research and judgment on the fire situation, forest vegetation types, and firefighting routes, and transport fire-fighting team members to quickly extinguish the fire through vertical landing.
在警用领域，警用直升机在省会级别的较大城市可以保证在半小时内到达目的地，可完成城市执勤、态势监控和应急管理等任务。据评估，城市巡逻警车的有效观察范围是2230平方米，而一架警用直升机在同一区域150米高度时，监视范围可达4.6万平方米，是警车的20倍，相当于200多名巡警巡视。一辆警车通过6.5公里街道，按不同街道状况需5到12分钟，直升机仅需2.5分钟。警用直升机因其任务半径广、监控范围大、抵达速度快的特点，在城市安保工作中起了很大作用。In the police field, police helicopters can ensure that they arrive at their destination within half an hour in larger cities at the provincial capital level, and can complete tasks such as urban duty, situation monitoring, and emergency management. It is estimated that the effective observation range of a city patrol car is 2,230 square meters, while a police helicopter has a surveillance range of up to 46,000 square meters in the same area at a height of 150 meters, which is 20 times that of a police car and equivalent to more than 200 patrol officers. Patrol. It takes a police car 5 to 12 minutes to pass through 6.5 kilometers of streets, depending on the street conditions, and a helicopter only takes 2.5 minutes. Police helicopters play a large role in urban security work due to their wide mission radius, large monitoring range, and fast arrival speed.
由于直升机的低空作业效果好，当前在拓展直升机功能效用上采用了无人机与直升机协同作业的形式来扩大直升机的低空效用。通过在有人机和无人机之间无缝传输传感器和目标数据，建立全面的态势感知和作业网络，例如在搜索和救援(SAR)任务中可以采用无人机协同，无人机可以由有人驾驶的飞机操控，并用于为救援任务投下补给品(例如食物，药品)。Since helicopters are effective in low-altitude operations, the collaborative operation of drones and helicopters is currently being used to expand helicopters' low-altitude effectiveness. By seamlessly transmitting sensor and target data between manned aircraft and drones, a comprehensive situational awareness and operation network can be established. For example, drone collaboration can be used in search and rescue (SAR) missions, and drones can be operated by manned aircraft. The pilot's aircraft is controlled and used to drop supplies (e.g. food, medicine) for rescue missions.
将来，在不同领域中使用的不同类型的无人系统的数量将大大增加。例如，在民用领域，估计到2026年与无人驾驶飞机有关的全球市场将达到约140亿美元，与2017年相比增长300％。In the future, the number of different types of unmanned systems used in different fields will increase significantly. For example, in the civilian sector, the global market related to drones is estimated to reach approximately $14 billion by 2026, a 300% increase compared to 2017.
然而，目前与有人直升机适配的低空僚机水平还有待提高，如2020年10月，美国陆军用来与AH-64E“阿帕奇”武装直升机协同的低空无人机是一架RQ-7B无人机和一架MQ-C1无人机，其中MQ-1C无人机是由“捕食者(MQ-1)”改进而来的固定翼无人攻击机，身长8米，翼展17米，属于中空长航时无人机，没有垂直起降能力，无法在低空执行直升机的类似任务，不能在低空实现直升机的效能倍增作用。而能执行低空飞行任务的RQ-7无人机是一种轻量级固定翼无人机，其长3.7米，翼展4.2米，航程约110千米，巡航速度为130千米/小时，航程和速度均不具备与载人直升机形成同级别适配的能力。同时RQ-7无人机无法垂直起降，只能采用弹射起飞-拦阻降落的起降方式，必须有地面控制站、弹射器以及跑道才能让它降落，还必须有车辆来移动这些设备或进行操作。故，目前与直升机进行同级别任务作业协同的低空无人机还需要进一步提高。However, the current level of low-altitude wingmen adapted to manned helicopters needs to be improved. For example, in October 2020, the low-altitude UAV used by the U.S. Army to cooperate with the AH-64E "Apache" armed helicopter was an RQ-7B unmanned aerial vehicle. A man-machine and an MQ-C1 drone. The MQ-1C drone is a fixed-wing unmanned attack aircraft improved from the "Predator (MQ-1)". It is 8 meters long and has a wingspan of 17 meters. It is a medium-altitude long-endurance UAV with no vertical take-off and landing capabilities. It cannot perform similar tasks to helicopters at low altitudes and cannot double the effectiveness of helicopters at low altitudes. The RQ-7 UAV, which can perform low-altitude flight missions, is a lightweight fixed-wing UAV with a length of 3.7 meters, a wingspan of 4.2 meters, a range of about 110 kilometers, and a cruising speed of 130 kilometers per hour. Neither the range nor the speed has the ability to adapt to the same level as manned helicopters. At the same time, the RQ-7 UAV cannot take off and land vertically. It can only take off and land by catapult takeoff and arrested landing. It must have a ground control station, a catapult and a runway to allow it to land. There must also be vehicles to move these equipment or carry out operations. operate. Therefore, the current low-altitude UAVs that cooperate with helicopters in the same level of mission operations need to be further improved.
在民用市场上无人机巡检作为一种新的技术手段，在近年来得到了广泛的应用和发展，但在实际应用中仍然存在一些技术瓶颈。例如，常见的小型无人机的电池续航时间仍然有限，一般不超过30分钟，最大速度一般低于70千米/小时，限制了巡检范围和时间；数百公斤起飞重量的工业级无人直升机巡航速度水平也低于150千米/小时，未达到直升机巡航速度水平，难以与直升机形成同速协同体系。随着电动垂直起降飞行器(ElectricVertical Take-off and Landing，eVTOL)的发展，航空电动化可以带来高安全性、低成本和低噪音等三大优势，并且在2吨重量级别的构型上验证了飞行速度可达300千米/小时的倾转旋翼类电动飞行器如美国的JOBY和德国的lilium，随着轻量化低成本无人机速度的提升，巡航速度达到200千米/小时可作为低成本僚机替代直升机作业进而大幅提高低空作业效费比。In the civilian market, drone inspections, as a new technical means, have been widely used and developed in recent years, but there are still some technical bottlenecks in practical applications. For example, the battery life of common small UAVs is still limited, generally no more than 30 minutes, and the maximum speed is generally less than 70 kilometers/hour, which limits the scope and time of inspections; industrial-grade UAVs with a take-off weight of hundreds of kilograms The cruising speed of the helicopter is also lower than 150 kilometers/hour, which does not reach the cruising speed of the helicopter, and it is difficult to form a synchronized system with the helicopter. With the development of electric vertical take-off and landing (eVTOL), aviation electrification can bring three major advantages: high safety, low cost and low noise, and in the 2-ton weight class configuration It has been verified that tilt-rotor electric aircraft with a flight speed of up to 300 kilometers/hour, such as the American JOBY and the German lilium, can be used as lightweight and low-cost drones with a cruising speed of 200 kilometers/hour. Low-cost wingmen replace helicopter operations and greatly improve the cost-effectiveness of low-altitude operations.
轻量化低成本高速垂直起降无人机相对目前的2吨级eVTOL可有效降低成本和维护费用，并能实现与有人直升机协同作业速度的适配，可有效拓展有人直升机的作业范围，但是轻量化高速无人机会存在燃油携带量少的问题，在航程航时上与有人直升机仍有差距。Compared with the current 2-ton eVTOL, lightweight, low-cost, high-speed vertical take-off and landing UAVs can effectively reduce costs and maintenance expenses, and can adapt to the speed of cooperative operation with manned helicopters, which can effectively expand the operating range of manned helicopters, but are lightweight Quantitative high-speed UAVs will have the problem of small fuel carrying capacity, and there is still a gap between them and manned helicopters in terms of range and flight time.
类似的，有人直升机在执行远程救援等任务时，燃油需求很大，往往附加油箱也难以满足需要。直升机空中加油技术可以使直升机执行更远程、更长时间、更复杂环境的任务。比如，在海上执行远程预警、救援等任务中，如果能够利用空中加油技术延长滞空时间和作业半径，就可以有效扩大我们的任务范围和反应速度。Similarly, when manned helicopters perform remote rescue and other missions, they have a large fuel demand, and additional fuel tanks often cannot meet the needs. Helicopter aerial refueling technology can enable helicopters to perform longer-distance, longer-lasting, and more complex missions. For example, when performing remote early warning and rescue missions at sea, if aerial refueling technology can be used to extend the stay in the air and the operating radius, we can effectively expand our mission scope and response speed.
目前，世界上对直升机进行空中加油主要采用软式加油方式，即利用一根柔软的软管将加油机和受油直升机连接起来，通过软管内的压力差实现燃料输送。这种方式适应性强，但是也有一定的局限性，由于直升机飞行速度慢、旋翼干扰大、气流不稳等因素，并且加油软管的长度、直径、强度等都要考虑到旋翼的影响，空中加油过程中容易出现位置偏差、速度不匹配、软管摆动等问题，给飞行员带来了很大的操作压力和风险。At present, the soft refueling method is mainly used for aerial refueling of helicopters in the world, that is, a flexible hose is used to connect the tanker and the helicopter receiving oil, and fuel is delivered through the pressure difference in the hose. This method is highly adaptable, but it also has certain limitations. Due to factors such as the slow flight speed of the helicopter, large rotor interference, unstable airflow, etc., and the length, diameter, strength, etc. of the refueling hose must take into account the influence of the rotor, in the air Problems such as position deviation, speed mismatch, and hose swinging are prone to occur during the refueling process, which brings great operating pressure and risks to pilots.
如现有技术CN202210919295.7基于多旋翼无人机的低空飞艇空中加油机及加油方法，旋翼机直接通过受油管与加油机连接进行加油。然而加油时，受油管的长度要在旋翼半径范围之外，保证其不影响机体结构和飞行性能，要尽可能减小对直升机载荷的影响，受油设备基本都安装在直升机外部，并且最好采用伸缩设计，不用的时候能够缩短长度，减少受油装置对直升机飞行性能的影响。For example, in the existing technology CN202210919295.7 low-altitude airship aerial tanker and refueling method based on multi-rotor drones, the rotorcraft is directly connected to the tanker through a fuel receiving pipe for refueling. However, when refueling, the length of the oil receiving pipe must be outside the rotor radius to ensure that it does not affect the body structure and flight performance, and to minimize the impact on the helicopter load. The oil receiving equipment is basically installed outside the helicopter, and preferably The telescopic design allows the length to be shortened when not in use, reducing the impact of the oil receiving device on the helicopter's flight performance.
一般来说，空中受油管的长度在旋翼外1米。根据相关资料，整套直升机受油设备重量应在200千克～300千克，直升机受油杆自身重量较大并且伸缩之后长度仍然很长，太长的受油杆会影响日常飞行稳定，起降时也很容易损坏。Generally speaking, the length of the air receiving pipe is 1 meter outside the rotor. According to relevant information, the weight of the entire helicopter oil-receiving equipment should be between 200 kg and 300 kg. The helicopter oil-receiving rod itself is heavy and remains very long after expansion and contraction. An oil-receiving rod that is too long will affect the stability of daily flight, and may also cause problems during takeoff and landing. Very easy to damage.
发明内容Contents of the invention
本发明技术方案针对背景技术中存在的速度与有人直升机相匹配的轻量化低成本高速垂直起降无人机燃油携带量小、直升机在受油时稳定性差以及受油杆过长等问题，提供高速自稳双向补能平台、直升机增效体系及协同方法。The technical solution of the present invention is aimed at the problems existing in the background technology of lightweight, low-cost, high-speed vertical takeoff and landing UAVs with speeds that match manned helicopters, such as small fuel carrying capacity, poor stability of helicopters when receiving oil, and excessively long oil receiving rods. High-speed self-stabilizing two-way energy replenishment platform, helicopter efficiency enhancement system and collaborative method.
为达到上述目的，本发明采用如下技术方案予以实现。In order to achieve the above object, the present invention adopts the following technical solutions to achieve it.
第一方面，本发明提供一种高速自稳双向补能平台，包括：内含有储油机构的补能平台机体21，所述补能平台机体21对称设置有若干用于提供飞行动力及方位控制的补能平台旋翼24以及用于控制补能平台旋翼24的控制通讯模块，所述补能平台机体21设置有连通内部储油机构的至少一个补能平台补能对接口22及一个补能平台补能系留接口25，其中，所述高速自稳双向补能平台通过补能平台补能对接口22可分别与加油机及直升机对接进行受油和补油，通过补能平台补能系留接口25可与无人僚机3对接，实现系留及补充能量。In a first aspect, the present invention provides a high-speed self-stabilizing two-way energy supplement platform, which includes: an energy supplement platform body 21 containing an oil storage mechanism. The energy supplement platform body 21 is symmetrically provided with a number of auxiliary structures for providing flight power and azimuth control. The energy supplement platform rotor 24 and the control communication module for controlling the energy supplement platform rotor 24. The energy supplement platform body 21 is provided with at least one energy supplement platform energy supplement interface 22 and an energy supplement platform connected to the internal oil storage mechanism. Energy replenishment tethering interface 25, wherein the high-speed self-stabilizing two-way energy replenishment platform can be docked with tankers and helicopters respectively to receive and replenish oil through the energy replenishment platform energy replenishment docking interface 22, and the energy replenishment platform can be replenished and tethered through the energy replenishment platform. The interface 25 can be connected with the unmanned wingman 3 to achieve tethering and energy replenishment.
进一步的，所述补能平台机体21机身设置有协同整流设备29，所述协同整流设备29包含前协同整流设备291和后协同整流设备292，在无人僚机3对接准确并系留之后，前协同整流设备291和后协同整流设备292充气并弹出变为前整流包293和后整流包294，包裹所述高速自稳双向补能平台2和无人僚机3形成整体翼型段。Further, the energy supplement platform body 21 is provided with a collaborative rectification device 29. The collaborative rectification device 29 includes a front collaborative rectification device 291 and a rear collaborative rectification device 292. After the unmanned wingman 3 is accurately docked and tethered, The front collaborative rectification device 291 and the rear collaborative rectification device 292 are inflated and ejected to become the front rectification package 293 and the rear rectification package 294, which wrap the high-speed self-stabilizing two-way energy supplement platform 2 and the unmanned wingman 3 to form an integral airfoil section.
进一步的，所述补能平台补能系留接口25周围设置有若干补能平台辅助定位接口26，所述补能平台辅助定位接口26环绕补能平台补能系留接口25对称设置，为磁吸或自洽卡合连接结构。Furthermore, a number of energy supplement platform auxiliary positioning interfaces 26 are provided around the energy supplement platform energy supplement tethering interface 25. The energy supplement platform auxiliary positioning interfaces 26 are symmetrically arranged around the energy supplement platform energy supplement tethering interface 25 and are magnetic. Suction or self-consistent snap connection structure.
进一步的，所述补能平台旋翼24通过对称设置在补能平台机体21前后的补能平台旋翼支臂23与补能平台机体21连接。Further, the energy supplement platform rotor 24 is connected to the energy supplement platform body 21 through the energy supplement platform rotor arms 23 symmetrically arranged at the front and rear of the energy supplement platform body 21 .
进一步的，所述补能平台机体21上设置有维护机械臂27。Furthermore, a maintenance robot arm 27 is provided on the energy replenishment platform body 21 .
进一步的，所述补能平台机体21上设置有备件舱28。Further, a spare parts cabin 28 is provided on the body 21 of the energy supplement platform.
第二方面，本发明还提供一种直升机增效体系，包括第一方面所述的高速自稳双向补能平台2，以及直升机1、无人僚机3和加油机4；In a second aspect, the present invention also provides a helicopter efficiency enhancement system, including the high-speed self-stabilizing two-way energy replenishment platform 2 described in the first aspect, as well as a helicopter 1, an unmanned wingman 3 and a tanker 4;
其中，所述高速自稳双向补能平台2通过内置控制通讯模块可自主飞行，并能主动调整位置以提高直升机1受油时受油接口的稳定性；Among them, the high-speed self-stabilizing two-way energy supplement platform 2 can fly autonomously through a built-in control communication module, and can actively adjust its position to improve the stability of the oil receiving interface when the helicopter 1 receives oil;
且所述高速自稳双向补能平台2通过内置控制通讯模块分别与直升机1和/或无人僚机3通讯，直升机2和无人僚机3机群之间通过高速自稳双向补能平台2形成态势感知和信息共享，构成直升机增效体系。And the high-speed self-stabilizing two-way energy replenishment platform 2 communicates with the helicopter 1 and/or the unmanned wingman 3 respectively through the built-in control communication module. The helicopter 2 and the unmanned wingman 3 fleet form a situation through the high-speed self-stabilizing two-way energy replenishment platform 2. Perception and information sharing constitute a helicopter efficiency enhancement system.
进一步的，所述直升机1包含：直升机机体11，主机补能系留缆绳13，以及设置在直升机机体11下方的主机补能系留接口12，主机补能系留缆绳13的一端连接在主机补能系留接口12上。Further, the helicopter 1 includes: a helicopter body 11, a main engine energy replenishment mooring cable 13, and a main engine energy replenishment mooring interface 12 provided below the helicopter body 11. One end of the main engine energy replenishment mooring cable 13 is connected to the main engine replenishment mooring cable 13. Can be tethered to interface 12.
进一步的，所述无人僚机3包含：无人机机体31，以及设置在无人机机体31上方的无人机补能系留接口35和无人机辅助定位接口36。Further, the unmanned wingman 3 includes: a UAV body 31, and a UAV energy replenishment tethering interface 35 and a UAV auxiliary positioning interface 36 provided above the UAV body 31.
进一步的，所述主机补能系留缆绳13连接在直升机1的主机补能系留接口12和高速自稳双向补能平台2的补能平台补能对接口22之间。Further, the main engine energy replenishment tethering cable 13 is connected between the main engine energy replenishment tethering interface 12 of the helicopter 1 and the energy replenishment platform energy replenishment docking interface 22 of the high-speed self-stabilizing bidirectional energy replenishment platform 2 .
所述高速自稳双向补能平台2的补能平台补能系留接口25与无人僚机3的无人机补能系留接口35对接，所述高速自稳双向补能平台2的协同平台辅助定位接口26与无人僚机3的无人机辅助定位接口36对接。The energy replenishment platform energy replenishment tethering interface 25 of the high-speed self-stabilizing two-way energy replenishment platform 2 is docked with the UAV energy replenishment tethering interface 35 of the unmanned wingman 3. The collaborative platform of the high-speed self-stabilizing two-way energy replenishment platform 2 The auxiliary positioning interface 26 is connected to the UAV auxiliary positioning interface 36 of the unmanned wingman 3 .
进一步的，所述高速自稳双向补能平台2通过主机补能系留缆绳13从直升机1上补充能量并进行信息协同，同时也通过所述高速自稳双向补能平台2上面的补能平台补能系留接口25为无人僚机3提供系留和补充能量。Furthermore, the high-speed self-stable two-way energy replenishment platform 2 replenishes energy from the helicopter 1 through the host energy replenishment tethering cable 13 and performs information coordination, and also through the energy replenishment platform on the high-speed self-stable two-way energy replenishment platform 2 The energy supplement tethering interface 25 provides tethering and supplementary energy for the unmanned wingman 3 .
进一步的，所述高速自稳双向补能平台2通过进行飞行姿态调整使补能平台补能对接口22的方向调为水平，与加油机4的补能系留接口45进行对接时能主动调整位置以提高直升机受油时受油接口的稳定性并提高对接效率，通过补能平台辅助定位接口26和加油机辅助定位接口46进行快速定位对接辅助；Furthermore, the high-speed self-stabilizing two-way energy replenishment platform 2 adjusts its flight attitude so that the direction of the energy replenishment docking interface 22 of the energy replenishment platform is horizontal, and can be actively adjusted when docking with the energy replenishment tethering interface 45 of the tanker 4 The position is to improve the stability of the refueling interface when the helicopter receives refueling and improve the docking efficiency. Rapid positioning and docking assistance is provided through the energy supplement platform auxiliary positioning interface 26 and the tanker auxiliary positioning interface 46;
同时，补能平台旋翼支臂23和补能平台旋翼24倾转旋翼升力方向使补能平台机体21可以保持姿态。At the same time, the energy supplement platform rotor arm 23 and the energy supplement platform rotor 24 tilt the rotor lift direction so that the energy supplement platform body 21 can maintain its attitude.
进一步的，所述的主机补能系留接口12、补能平台补能对接口22、补能平台补能系留接口25、无人机补能系留接口35、加油机补能系留接口4 5带有可弯折90度的关节因为什么具有缆绳方向调节功能，具有缆绳方向调节功能，能将竖直连接的缆绳方向旋转90度调节为水平，以减少缆绳阻力。Further, the host energy replenishment tethering interface 12, the energy replenishment platform energy replenishment docking interface 22, the energy replenishment platform energy replenishment tethering interface 25, the UAV energy replenishment tethering interface 35, and the tanker energy replenishment tethering interface 4 5 has a 90-degree bendable joint because it has a cable direction adjustment function. It has a cable direction adjustment function that can rotate the vertically connected cable direction 90 degrees and adjust it to horizontal to reduce cable resistance.
进一步的，所述高速自稳双向补能平台2可安装在直升机上1使用，整合或贴靠于直升机1的腹部或者尾部位置；Further, the high-speed self-stabilizing two-way energy replenishment platform 2 can be installed on a helicopter 1 for use, integrated or attached to the abdomen or tail position of the helicopter 1;
其与主机补能系留接口12脱离时，远飞离开直升机1，成为独立飞行器。When it is separated from the host energy replenishment tethering interface 12, Yuanfei leaves the helicopter 1 and becomes an independent aircraft.
进一步的，所述高速自稳双向补能平台2采用翼型截面的升力体构型，所述高速自稳双向补能平台2背部装备有至少两个补能平台旋翼24作为升力装置，实现自主飞行；Furthermore, the high-speed self-stable two-way energy supplement platform 2 adopts a lift body configuration with an airfoil section. The back of the high-speed self-stabilizing two-way energy supplement platform 2 is equipped with at least two energy supplement platform rotors 24 as lift devices to achieve autonomy. flight;
所述补能平台旋翼24通过补能平台旋翼支臂23安装在所述高速自稳双向补能平台2的补能平台机体21上，补能平台旋翼支臂23具有折叠和倾转功能，所述补能平台旋翼24通过整流罩折叠包裹在所述补能平台机体21内。The energy supplement platform rotor 24 is installed on the energy supplement platform body 21 of the high-speed self-stabilizing bidirectional energy supplement platform 2 through the energy supplement platform rotor arm 23. The energy supplement platform rotor arm 23 has folding and tilting functions, so The energy supplement platform rotor 24 is folded and wrapped in the energy supplement platform body 21 through a fairing.
进一步的，所述无人僚机3具有健康监测功能，可通过预测自身受损情况与高速自稳双向补能平台2进行协同，与高速自稳双向补能平台2进行对接系留，进行备件更换和废件回收的维护服务。Furthermore, the unmanned wingman 3 has a health monitoring function and can cooperate with the high-speed self-stabilizing two-way energy replenishment platform 2 by predicting its own damage, docking and tethering the high-speed self-stabilizing two-way energy replenishment platform 2, and replacing spare parts. and scrap recycling maintenance services.
第三方面，本发明还提供一种直升机增效体系的协同方法，所述方法应用于所述的一种直升机增效体系，所述方法通过高速自稳双向补能平台发挥协同枢纽作用，多架无人僚机的信号通过高速自稳双向补能平台进行分析并对直升机进行推送，直升机保留对无人僚机的直接通讯和操纵。In a third aspect, the present invention also provides a collaborative method for a helicopter efficiency enhancement system. The method is applied to the helicopter efficiency enhancement system. The method plays a collaborative hub role through a high-speed self-stabilizing two-way energy supplement platform. The signal of the unmanned wingman is analyzed through the high-speed self-stabilizing two-way energy replenishment platform and pushed to the helicopter. The helicopter retains direct communication and control of the unmanned wingman.
进一步的，所述方法包括：Further, the method includes:
S1，无人僚机通过高速自稳双向补能平台进行编组协同以及任务调配，无人僚机的巡检信息实时报送给高速自稳双向补能平台，用于高速自稳双向补能平台分析整体机群的搜寻或巡检；高速自稳双向补能平台根据无人僚机的巡检信息进行态势分析；S1, the unmanned wingman performs group coordination and task deployment through the high-speed self-stabilizing two-way energy replenishment platform. The unmanned wingman's inspection information is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time, which is used for the overall analysis of the high-speed self-stabilizing two-way energy replenishment platform. Search or inspection of the fleet; the high-speed self-stabilizing two-way energy replenishment platform conducts situation analysis based on the inspection information of the unmanned wingman;
S2，无人僚机的能量消耗情况实时上报到高速自稳双向补能平台，由高速自稳双向补能平台规划补能轮换计划，轮流返回高速自稳双向补能平台进行补能。In S2, the energy consumption of the unmanned wingman is reported to the high-speed self-stabilizing two-way energy replenishment platform in real time. The high-speed self-stabilizing two-way energy replenishment platform plans an energy replenishment rotation plan and returns to the high-speed self-stable two-way energy replenishment platform in turn for energy replenishment.
S3，无人僚机根据与高速自稳双向补能平台进行对接系留，进行能量补充、数据交换或者备件更换；高速自稳双向补能平台更新无人僚机机群巡检态势图，协调无人僚机进行编队位置调整，以填补僚机接受补给维护时形成的巡检空白区。In S3, the unmanned wingman is docked and tethered to the high-speed self-stabilizing two-way energy replenishment platform for energy replenishment, data exchange or spare parts replacement; the high-speed self-stabilizing two-way energy replenishment platform updates the unmanned wingman fleet inspection situation map and coordinates the unmanned wingman The formation position is adjusted to fill the inspection blank area formed when the wingmen receive supply and maintenance.
进一步的，S1具体为：Further, S1 is specifically:
所述高速自稳双向补能平台辅助直升机进行协同信息处理和分发通讯，并指挥协调无人僚机进行任务协同，对于较低精度的实时高速率巡检信息，根据直升机的需求进行筛选，并推送直升机关注的有价值巡检信号给直升机；The high-speed self-stabilizing two-way energy replenishment platform assists helicopters in collaborative information processing and distribution communications, and commands and coordinates unmanned wingmen for task coordination. For lower-precision real-time high-speed inspection information, it is screened according to the needs of helicopters and pushed Valuable inspection signals that the helicopter is concerned about are given to the helicopter;
当搜寻到有价值信号时，通过调高对应无人僚机的带宽进行中精度的巡检信息并进行重点分析。When a valuable signal is found, the bandwidth of the corresponding unmanned wingman is increased to conduct medium-precision inspection information and focus analysis.
在搜寻到高相似度信号时，通过无人僚机群的目标值相互定位进行高精度定位。When high-similarity signals are searched for, high-precision positioning is achieved through mutual positioning of the target values of the unmanned wingman group.
在确定高相似度目标时，通过直升机和对应无人僚机的飞行位置互换，通过直升机进行高精度抵近巡检，进行目标确认。When determining a high-similarity target, the helicopter and the corresponding unmanned wingman exchange flight positions, and the helicopter conducts high-precision approach inspection to confirm the target.
在高相似度目标的中精度数据清晰度不足时，通过无人僚机的多机协同，集中抵近巡检。When the clarity of medium-precision data for high-similarity targets is insufficient, multi-aircraft collaboration with unmanned wingmen can be used to conduct centralized inspections.
进一步的，S1还包括：Furthermore, S1 also includes:
遭遇云层或地形遮蔽影响通讯时，通过高速自稳双向补能平台的放飞拉开与直升机的距离以避开通讯障碍，保持整体机群的通讯；When encountering clouds or terrain obstruction that affects communication, the high-speed self-stabilizing two-way energy replenishment platform is released to increase the distance from the helicopter to avoid communication obstacles and maintain the communication of the entire fleet;
遭遇威胁时，放飞高速自稳双向补能平台，高速自稳双向补能平台释放诱饵制造假目标以保护直升机的安全性。When encountering a threat, the high-speed self-stabilizing two-way energy replenishment platform is released, and the high-speed self-stabilizing two-way energy replenishment platform releases decoys to create false targets to protect the safety of the helicopter.
第四方面，本发明还提供一种直升机增效体系的协同方法，所述方法应用于所述的一种直升机增效体系，所述方法通过高速自稳双向补能平台发挥双向补能作用，直升机通过高速自稳双向补能平台与加油机进行对接并补能。In a fourth aspect, the present invention also provides a collaborative method for a helicopter efficiency enhancement system. The method is applied to the helicopter efficiency enhancement system. The method exerts a two-way energy replenishment effect through a high-speed self-stabilizing two-way energy replenishment platform. The helicopter docks with the tanker and replenishes energy through a high-speed self-stabilizing two-way energy replenishment platform.
进一步的，与加油机协同时，直升机与加油机保持相同航速和航向，并向加油机发出加油需求，在确认加油需求后，两机进行飞行状态协同，同时高速自稳双向补能平台前飞并接近加油机补能系留缆绳和加油机补能系留接口，当位置达到加油对接范围后，高速自稳双向补能平台通过机动方法向上爬升进行飞行姿态调整使补能平台补能对接口的方向调为水平，同时，补能平台旋翼支臂和补能平台旋翼倾转旋翼升力方向使补能平台机体保持加油对接姿态，并能通过补能平台辅助定位接口和加油机辅助定位接口进行快速定位对接，通过辅助磁吸方式引导加油口的快速对接，通过主加油接口和辅助定位接口的配合可快速调整位置以提高直升机受油时受油接口的对接效率，为直升机提供能量补给。Furthermore, when cooperating with the tanker, the helicopter and the tanker maintain the same speed and heading, and send a refueling request to the tanker. After confirming the refueling request, the two aircraft coordinate their flight status while simultaneously flying forward on the high-speed self-stabilizing two-way energy replenishment platform. And it is close to the tanker energy replenishment tethering cable and the tanker energy replenishment tethering interface. When the position reaches the refueling docking range, the high-speed self-stabilizing two-way energy replenishment platform climbs upward through maneuvering methods to adjust the flight attitude so that the energy replenishment platform can replenish the docking interface. The direction of the energy supplement platform is adjusted to horizontal. At the same time, the energy supplement platform rotor arm and the energy supplement platform rotor tilt the rotor lift direction so that the energy supplement platform body maintains the refueling docking attitude, and can be carried out through the energy supplement platform auxiliary positioning interface and the tanker auxiliary positioning interface. Quick positioning and docking, the auxiliary magnetic suction method guides the rapid docking of the refueling port. Through the cooperation of the main refueling interface and the auxiliary positioning interface, the position can be quickly adjusted to improve the docking efficiency of the oil receiving interface when the helicopter receives oil, and provide energy supply for the helicopter.
进一步的，与无人僚机协同时，在无人僚机返回直升机附近时，无人僚机与直升机保持相同航速和航向，并向直升机发出加油需求，在确认加油需求后，两机进行飞行状态协同，同时高速自稳双向补能平台向下放飞并接近无人僚机，当位置达到加油对接范围后，高速自稳双向补能平台的协同平台辅助定位接口与无人僚机的无人机辅助定位接口对接，开展快速辅助定位，高速自稳双向补能平台的补能平台补能系留接口与无人僚机的无人机补能系留接口对接，补能平台旋翼支臂和补能平台旋翼倾转旋翼升力方向使补能平台机体保持加油对接姿态，为无人僚机提供能量补给，此方法适用于悬停和低速状态；在高速飞行状态下，无人僚机对接准确并系留之后，高速自稳双向补能平台底部的前后整流设备充气并弹出变为前后整流包，包裹补能平台和无人僚机形成整体翼型段，可降低阻力和气流干扰，降低能耗的同时提高飞行稳定性和安全性，并且增加无人僚机的系留稳定性。Furthermore, when cooperating with the unmanned wingman, when the unmanned wingman returns to the vicinity of the helicopter, the unmanned wingman and the helicopter maintain the same speed and heading, and send a refueling request to the helicopter. After confirming the refueling request, the two aircraft perform flight status coordination. At the same time, the high-speed self-stabilizing two-way energy replenishment platform is released downward and approaches the unmanned wingman. When the position reaches the refueling and docking range, the cooperative platform auxiliary positioning interface of the high-speed self-stabilizing two-way energy replenishment platform is docked with the UAV auxiliary positioning interface of the unmanned wingman. , carry out rapid auxiliary positioning, the energy supplement platform energy supplement tethering interface of the high-speed self-stabilizing two-way energy supplement platform is docked with the UAV energy supplement tethering interface of the unmanned wingman, the energy supplement platform rotor arm and the energy supplement platform rotor tilt The direction of the rotor lift keeps the energy-supply platform body in a refueling and docking attitude, providing energy supply for the unmanned wingman. This method is suitable for hovering and low-speed states; in high-speed flight conditions, after the unmanned wingman is accurately docked and tethered, the high-speed self-stabilization The front and rear rectification equipment at the bottom of the two-way energy replenishment platform is inflated and pops up to become a front and rear rectification package, which wraps the energy replenishment platform and the unmanned wingman to form an integral airfoil section, which can reduce resistance and airflow interference, reduce energy consumption, and improve flight stability and safety. performance, and increase the tethering stability of the unmanned wingman.
本发明技术方案的有益效果：The beneficial effects of the technical solution of the present invention:
通过选取速度与有人直升机相匹配的轻量化低成本高速垂直起降无人机即巡航速度大于200千米/小时的高速无人机作为低空僚机，实现无人机与直升机同部署、编队飞行，组建直升机增效体系，与直升机形成同级别僚机协同的效果，实现一带多同步作业的效果，可有效拓展巡检、安防等作业面积，实现直升机的低空作业效能倍增作用；By selecting lightweight, low-cost, high-speed vertical takeoff and landing UAVs that match the speed of manned helicopters, that is, high-speed UAVs with a cruising speed greater than 200 kilometers per hour, as low-altitude wingmen, UAVs and helicopters can be deployed together and fly in formation. Establish a helicopter efficiency enhancement system to form a synergy effect with helicopters of the same level as wingmen, to achieve the effect of multi-synchronous operations in one area, which can effectively expand the inspection, security and other operation areas, and achieve the multiplication effect of helicopters' low-altitude operation efficiency;
通过高速自稳双向补能平台进行信息沟通和信号分析，可有效降低直升机机组成员操纵无人僚机并分析其巡检信息的操纵负荷，同时通过高速自稳双向补能平台与多台无人僚机进行高效率协同，提高了整个机群的协同效率；Information communication and signal analysis are carried out through the high-speed self-stabilizing two-way energy replenishment platform, which can effectively reduce the control load of helicopter crew members to operate unmanned wingmen and analyze their inspection information. At the same time, the high-speed self-stabilizing two-way energy replenishment platform communicates with multiple unmanned wingmen. Carry out high-efficiency collaboration and improve the collaboration efficiency of the entire fleet;
无人僚机通过与有人直升机协同，可有效加快无人僚机的数据分析和决策效率，并可在导航信号被遮蔽时或部件受损时通过有人直升机决策和备件维护能力提高生存力；By cooperating with manned helicopters, unmanned wingmen can effectively speed up the data analysis and decision-making efficiency of unmanned wingmen, and can improve survivability through manned helicopter decision-making and spare parts maintenance capabilities when navigation signals are blocked or components are damaged;
轻量化低成本高速垂直起降无人机燃油携带量小，可通过补能平台实现空中加油实现航程倍增，极大拓展其作业能力；Lightweight, low-cost, high-speed vertical take-off and landing UAVs carry a small amount of fuel and can be refueled in the air through a refueling platform to double their range, greatly expanding their operational capabilities;
在无人僚机对接准确并系留之后，前后整流设备充气并弹出变为前后整流包，包裹补能平台和无人僚机形成整体翼型段，可降低阻力和气流干扰，降低能耗的同时提高飞行稳定性和安全性，并且协调整流设备打开时还可以增加无人僚机的系留稳定性；After the unmanned wingman is accurately docked and tethered, the front and rear rectification equipment is inflated and ejected into the front and rear rectification packages, which wrap the energy replenishment platform and the unmanned wingman to form an integral airfoil section, which can reduce resistance and airflow interference, reduce energy consumption and improve efficiency at the same time. Flight stability and safety, and when the coordination rectification device is turned on, it can also increase the tethering stability of the unmanned wingman;
高速自稳双向补能平台通过一个接口对接无人僚机，相对两个或者四个接口的系留方式，更易于定位和对接，不会产生仅对接了部分接口，导致接口无法完全对接从而导致僚机停靠姿态不正确系留强度降低等问题；The high-speed self-stabilizing two-way energy replenishment platform connects to the unmanned wingman through one interface. Compared with the tethering method of two or four interfaces, it is easier to position and dock. It will not cause only part of the interface to be docked, resulting in the interface not being fully docked and causing the wingman to be docked. Problems such as incorrect docking attitude and reduced mooring strength;
增加辅助定位接口通过磁吸等原理先期吸引无人僚机进行正确位置对接引导，有利于提高协同系留准确性和引导效率，同时可以提供部分系留力，增加系留的稳定性；Adding an auxiliary positioning interface uses principles such as magnetic attraction to attract the unmanned wingman in advance for correct position docking guidance, which is beneficial to improving the accuracy and guidance efficiency of collaborative tethering. It can also provide part of the tethering force and increase the stability of the tethering;
在遭遇云层或地形等遮蔽影响通讯效果时，可通过高速自稳双向补能平台的放飞拉开与直升机的距离以避开通讯障碍，保持机群整体的通讯顺畅，提高有无人体系的通讯顺畅度；When clouds or terrain obscure the communication effect, the high-speed self-stabilizing two-way energy replenishment platform can be released to increase the distance from the helicopter to avoid communication obstacles, maintain smooth communication for the entire fleet, and improve smooth communication between manned and unmanned systems. Spend;
遭遇威胁时，通过补能平台的放飞，释放诱饵制造假目标以保护直升机的安全性，并且协同维护保养平台与直升机的接口可断开，通过协同维护保养平台的剩余能量进行远飞诱导，进一步保护直升机的安全；When encountering a threat, the energy replenishment platform is released to release decoys to create false targets to protect the safety of the helicopter. The interface between the collaborative maintenance platform and the helicopter can be disconnected, and the remaining energy of the collaborative maintenance platform is used to induce long-distance flights. Protect helicopter safety;
通过高速自稳双向补能平台的主动飞行和姿态调整来实现加油/受油对接，一是实现加油对接的自动化，提供对接效率，二是避免直升机在受油时稳定性差导致的难以对接的问题；The refueling/refueling docking is realized through the active flight and attitude adjustment of the high-speed self-stabilizing two-way refueling platform. First, it realizes the automation of refueling and docking and improves docking efficiency. Second, it avoids the problem of difficulty in docking caused by poor stability of the helicopter when receiving fuel. ;
通过补能平台贴靠直升机机身布置，可解决受油杆伸出机体过长重量过中等影响飞行稳定性和重心控制的问题。By arranging the energy supplement platform close to the helicopter fuselage, it can solve the problem of the oil rod extending out of the body to be too long and too heavy, which affects flight stability and center of gravity control.
附图说明Description of drawings
图1为本发明实施例提供的直升机携带高速自稳双向补能平台结构示意图；Figure 1 is a schematic structural diagram of a helicopter carrying high-speed self-stabilizing two-way energy supplement platform provided by an embodiment of the present invention;
图2为本发明实施例提供的高速自稳双向补能平台旋翼折叠状态俯视图；Figure 2 is a top view of the folded rotor of the high-speed self-stabilizing two-way energy supplement platform provided by the embodiment of the present invention;
图3为本发明实施例提供的高速自稳双向补能平台旋翼折叠状态侧视图；Figure 3 is a side view of the folded rotor of the high-speed self-stabilizing two-way energy supplement platform provided by the embodiment of the present invention;
图4为本发明实施例提供的高速自稳双向补能平台旋翼折叠状态仰视图；Figure 4 is a bottom view of the folded rotor of the high-speed self-stabilizing two-way energy supplement platform provided by the embodiment of the present invention;
图5为本发明实施例提供的高速自稳双向补能平台旋翼打开状态俯视图；Figure 5 is a top view of the high-speed self-stabilizing two-way energy supplement platform provided by the embodiment of the present invention with its rotors open;
图6为本发明实施例提供的高速自稳双向补能平台旋翼打开状态侧视图；Figure 6 is a side view of the high-speed self-stabilizing two-way energy supplement platform with its rotors open according to the embodiment of the present invention;
图7为本发明实施例提供的高速自稳双向补能平台旋翼打开状态系留无人僚机同时展开协调整流设备时的侧视图；Figure 7 is a side view of the high-speed self-stabilizing bidirectional energy supplement platform provided by the embodiment of the present invention when the rotor is opened and the tethered unmanned wingman is simultaneously deployed with the coordinated rectification equipment;
图8为本发明实施例提供的在直升机悬停或低速飞行时放飞高速自稳双向补能平台为无人僚机提供加油维护协同服务的示意图；Figure 8 is a schematic diagram of a high-speed self-stabilizing two-way energy replenishment platform provided by an embodiment of the present invention when a helicopter is hovering or flying at low speed to provide refueling and maintenance collaborative services for unmanned wingmen;
图9为本发明实施例提供的在直升机高速飞行时放飞高速自稳双向补能平台为无人僚机提供加油维护协同服务的示意图；Figure 9 is a schematic diagram of a high-speed self-stabilizing two-way energy replenishment platform provided by an embodiment of the present invention when a helicopter is flying at high speed to provide refueling and maintenance collaborative services for unmanned wingmen;
图10为本发明实施例提供的高速自稳双向补能平台在准备受油时的飞行姿态调整示意图；Figure 10 is a schematic diagram of the flight attitude adjustment of the high-speed self-stabilizing two-way refueling platform provided by the embodiment of the present invention when preparing to receive fuel;
图11为本发明实施例提供的高速自稳双向补能平台的对接受油状态图；Figure 11 is a diagram of the docking and receiving oil state of the high-speed self-stabilizing bidirectional energy replenishment platform provided by the embodiment of the present invention;
图12为本发明实施例提供的高速自稳双向补能平台在前飞状态为直升机受油的示意图；Figure 12 is a schematic diagram of the high-speed self-stabilizing two-way energy replenishment platform provided by the embodiment of the present invention receiving fuel for a helicopter in the forward flight state;
图13为本发明实施例提供的直升机与无人僚机协同巡检交互图；Figure 13 is an interactive diagram of collaborative inspection between a helicopter and an unmanned wingman provided by an embodiment of the present invention;
图14为本发明实施例提供的直升机与无人僚机协同巡检策略优化交互图；Figure 14 is an interaction diagram optimizing the collaborative inspection strategy between a helicopter and an unmanned wingman provided by an embodiment of the present invention;
图15为本发明实施例提供的直升机为无人僚机补能协同交互图；Figure 15 is a cooperative interaction diagram of a helicopter replenishing energy for an unmanned wingman according to an embodiment of the present invention;
图16为本发明实施例提供的直升机为无人僚机更换备件协同交互图；Figure 16 is a collaborative interaction diagram of a helicopter replacing spare parts for an unmanned wingman according to an embodiment of the present invention;
图17为本发明实施例提供的直升机与加油机协同进行受油的交互图；Figure 17 is an interactive diagram of a helicopter and a tanker cooperating to receive oil according to an embodiment of the present invention;
其中，1-直升机、2-高速自稳双向补能平台、3-无人僚机、4-加油机、11-直升机机体、12-主机补能系留接口、13-主机补能系留缆绳、21-高速自稳双向补能平台机体、22-补能平台补能对接口、23-补能平台旋翼支臂、24-补能平台旋翼、25-补能平台补能系留接口、26-补能平台辅助定位接口、27-维护机械臂、28-备件舱、29-协同整流设备、291-前协同整流设备、292-后协同整流设备、293-前整流包、294-后整流包、31-无人机机体、35-无人机补能系留接口、36-无人机辅助定位接口、41-加油机机体、42-加油装置、43-加油机补能系留缆绳、45-加油机补能系留接口、46-加油机辅助定位接口。Among them, 1-helicopter, 2-high-speed self-stabilizing two-way energy replenishment platform, 3-unmanned wingman, 4-tanker, 11-helicopter body, 12-main engine energy replenishment tethering interface, 13-main engine energy replenishment tethering cable, 21-High-speed self-stabilizing two-way energy supplement platform body, 22-Energy supplement platform energy supplement interface, 23-Energy supplement platform rotor arm, 24-Energy supplement platform rotor, 25-Energy supplement platform energy supplement tethered interface, 26- Energy supplement platform auxiliary positioning interface, 27-maintenance robotic arm, 28-spare parts cabin, 29-collaborative rectification equipment, 291-front collaborative rectification equipment, 292-rear collaborative rectification equipment, 293-front rectification package, 294-rear rectification package, 31-UAV body, 35-UAV energy replenishment tethering interface, 36-UAV auxiliary positioning interface, 41-tanker body, 42-refueling device, 43-tanker energy replenishment tethering cable, 45- Tanker energy replenishment tethering interface, 46-tanker auxiliary positioning interface.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，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。In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.
在目前直升机通过“有人/无人协同”方式协同无人机实现任务效能提升的应用趋势下，面对垂直起降的低空僚机速度水平无法达到直升机的200千米/小时以上的巡航速度水平的现状，为更好的发挥直升机的低空应用效果，通过选取巡航速度大于200千米/小时的高速无人机作为低空僚机，实现无人机与直升机同部署、编队飞行，组建直升机增效体系，与直升机形成同级别僚机协同的效果，实现一带多同步作业的效果，可有效拓展巡检、安防等作业面积，实现直升机的低空作业效能倍增作用。Under the current application trend of helicopters cooperating with UAVs to improve mission efficiency through "manned/unmanned collaboration", the speed level of low-altitude wingmen facing vertical takeoff and landing cannot reach the cruising speed level of helicopters of more than 200 kilometers per hour. Current situation, in order to better utilize the low-altitude application effect of helicopters, by selecting high-speed UAVs with a cruising speed greater than 200 kilometers/hour as low-altitude wingmen, UAVs and helicopters can be deployed together and fly in formation, and a helicopter efficiency enhancement system can be established. It can form a synergy effect with helicopters of the same level as wingmen, achieve the effect of multi-synchronous operations in one area, effectively expand the inspection, security and other operation areas, and double the efficiency of helicopters' low-altitude operations.
实施例1Example 1
本发明实施例提供一种高速自稳双向补能平台，如图1-12，包括：内含有储油机构的补能平台机体21，所述补能平台机体21对称设置有若干用于提供飞行动力及方位控制的补能平台旋翼24以及用于控制补能平台旋翼24的控制通讯模块，所述补能平台机体21设置有连通内部储油机构的至少一个补能平台补能对接口22及一个补能平台补能系留接口25，其中，所述高速自稳双向补能平台通过补能平台补能对接口22可分别与加油机及直升机对接进行受油和补油，通过补能平台补能系留接口25可与无人僚机3对接，实现系留及补充能量。Embodiments of the present invention provide a high-speed self-stabilizing two-way energy replenishment platform, as shown in Figure 1-12, including: an energy replenishment platform body 21 containing an oil storage mechanism. The energy replenishment platform body 21 is symmetrically provided with a number of The power and orientation controlled energy supplement platform rotor 24 and the control communication module used to control the energy supplement platform rotor 24. The energy supplement platform body 21 is provided with at least one energy supplement platform energy supplement interface 22 connected to the internal oil storage mechanism. An energy replenishment platform energy replenishment tethered interface 25, wherein the high-speed self-stabilizing two-way energy replenishment platform can be docked with tankers and helicopters respectively to receive and replenish oil through the energy replenishment platform energy replenishment docking interface 22. The energy replenishment tethering interface 25 can be connected with the unmanned wingman 3 to realize tethering and energy replenishment.
所述补能平台机体21机身设置有协同整流设备29，所述协同整流设备29包含前协同整流设备291和后协同整流设备292，在无人僚机3对接准确并系留之后，前协同整流设备291和后协同整流设备292充气并弹出变为前整流包293和后整流包294，包裹所述高速自稳双向补能平台2和无人僚机3形成整体翼型段。The energy supplement platform body 21 is provided with a collaborative rectification device 29. The collaborative rectification device 29 includes a front collaborative rectification device 291 and a rear collaborative rectification device 292. After the unmanned wingman 3 is accurately docked and tethered, the front collaborative rectification device 29 The device 291 and the rear cooperative rectification device 292 are inflated and ejected to become the front rectification package 293 and the rear rectification package 294, which wrap the high-speed self-stabilizing two-way energy supplement platform 2 and the unmanned wingman 3 to form an integral airfoil section.
所述补能平台补能系留接口25周围设置有若干补能平台辅助定位接口26，所述补能平台辅助定位接口26环绕补能平台补能系留接口25对称设置，为磁吸或自洽卡合连接结构。A number of energy supplement platform auxiliary positioning interfaces 26 are arranged around the energy supplement platform energy supplement tethering interface 25. The energy supplement platform auxiliary positioning interfaces 26 are symmetrically arranged around the energy supplement platform energy supplement tethering interface 25, and are magnetic or self-propelled. Consistent snap-in connection structure.
所述补能平台旋翼24通过对称设置在补能平台机体21前后的补能平台旋翼支臂23与补能平台机体21连接。The energy supplement platform rotor 24 is connected to the energy supplement platform body 21 through the energy supplement platform rotor arms 23 symmetrically arranged at the front and rear of the energy supplement platform body 21 .
所述补能平台机体21上设置有维护机械臂27。The energy supplement platform body 21 is provided with a maintenance robot arm 27 .
所述补能平台机体21上设置有备件舱28。The energy supplement platform body 21 is provided with a spare parts compartment 28 .
实施例2Example 2
本发明提出一种基于高速自稳双向补能平台的直升机增效体系，参考图1-图12，包括直升机1、高速自稳双向补能平台2、高速垂直起降无人僚机3、加油机4、-直升机机体11、主机补能系留接口12、主机补能系留缆绳13、高速自稳双向补能平台机体21(补能平台机体)、补能平台补能对接口22、补能平台旋翼支臂23、补能平台旋翼24、补能平台补能系留接口25、补能平台辅助定位接口26、维护机械臂27、备件舱28、协同整流设备29、前协同整流设备291、后协同整流设备292、前整流包293、后整流包294、无人机机体31、无人机补能系留接口35、无人机辅助定位接口36、加油机机体41、加油装置42、加油机补能系留缆绳43、加油机补能系留接口45、加油机辅助定位接口46，以及相应的体系架构和协同方法。The present invention proposes a helicopter efficiency enhancement system based on a high-speed self-stabilizing two-way energy replenishment platform. Referring to Figures 1-12, it includes a helicopter 1, a high-speed self-stabilizing two-way energy replenishment platform 2, a high-speed vertical take-off and landing unmanned wingman 3, and a tanker. 4. -Helicopter body 11, main engine energy replenishment tethering interface 12, main engine energy replenishment tethering cable 13, high-speed self-stabilizing two-way energy replenishment platform body 21 (energy replenishment platform body), energy replenishment platform energy replenishment docking interface 22, energy replenishment Platform rotor arm 23, energy supplement platform rotor 24, energy supplement platform energy supplement tethering interface 25, energy supplement platform auxiliary positioning interface 26, maintenance mechanical arm 27, spare parts compartment 28, collaborative rectification equipment 29, front collaborative rectification equipment 291, Rear cooperative rectification equipment 292, front rectification package 293, rear rectification package 294, UAV body 31, UAV energy supplement tethering interface 35, UAV auxiliary positioning interface 36, tanker body 41, refueling device 42, refueling Machine replenishment tethering cable 43, tanker energy replenishment tethering interface 45, tanker auxiliary positioning interface 46, as well as corresponding system architecture and collaboration methods.
其中，高速自稳双向补能平台2整合或贴靠于直升机1的机体11上，常见的整合位置为腹部或者尾部等；补能平台2采用翼型截面的升力体构型，补能平台2背部装备有2个或更多补能平台旋翼24作为升力装置，可实现自主飞行，补能平台旋翼24通过补能平台旋翼支臂23安装在补能平台机体21上，根据旋翼的升力布局安装，本实施例展示的为四旋翼布局，平台可根据需要采用双旋翼、六旋翼等布局形式，补能平台旋翼支臂23具有折叠功能和倾转功能，补能平台2具有倾转旋翼机的特征，可通过倾转旋翼调节补能平台2的飞行状态，同时保持补能平台2的升力体水平飞行以降低飞行阻力和气流扰动，可保持良好的姿态和位置，以提高无人僚机3的对接系留准确性和成功率。补能平台旋翼24可通过整流罩折叠包裹在补能平台机体21内以提高补能平台2的整合度和运输整体性。Among them, the high-speed self-stabilizing two-way energy supplement platform 2 is integrated or attached to the body 11 of the helicopter 1, and the common integration position is the abdomen or tail; the energy supplement platform 2 adopts a lifting body configuration with an airfoil section, and the energy supplement platform 2 The back is equipped with 2 or more energy supplement platform rotors 24 as lift devices, which can realize autonomous flight. The energy supplement platform rotors 24 are installed on the energy supplement platform body 21 through the energy supplement platform rotor arms 23, and are installed according to the lift layout of the rotors. , this embodiment shows a four-rotor layout. The platform can adopt a double-rotor, six-rotor and other layout forms as needed. The rotor arm 23 of the energy supplement platform has a folding function and a tilting function. The energy supplement platform 2 has a tilting rotor. Features: The flight status of the energy supplement platform 2 can be adjusted by tilting the rotor, while keeping the lift body of the energy supplement platform 2 flying horizontally to reduce flight resistance and airflow disturbance, and maintaining a good attitude and position to improve the performance of the unmanned wingman 3 Docking tethering accuracy and success rate. The energy supplement platform rotor 24 can be folded and wrapped in the energy supplement platform body 21 through the fairing to improve the integration and transportation integrity of the energy supplement platform 2 .
高速自稳双向补能平台2通过背部的补能平台补能对接口22与主机补能系留缆绳13对接进而连接到直升机机体11上的主机补能系留接口12，高速自稳双向补能平台2可安装在直升机1上使用，也可根据需要放飞出去到空中使用，补能平台2通过主机补能系留缆绳13从直升机1上补充能量并可进行信息协同，同时也通过补能平台2上面的补能平台补能系留接口25为无人僚机3提供系留和补充能量。The high-speed self-stabilizing two-way energy replenishment platform 2 is connected to the main engine energy replenishment tethering cable 13 through the energy replenishment platform energy replenishment docking interface 22 on the back and then connected to the main engine energy replenishment tethering interface 12 on the helicopter body 11. The high-speed self-stabilizing two-way energy replenishment The platform 2 can be installed on the helicopter 1 for use, or can be flown out into the air for use as needed. The energy replenishment platform 2 replenishes energy from the helicopter 1 through the host energy replenishment tethering cable 13 and can perform information collaboration. At the same time, it can also use the energy replenishment platform The energy replenishment tethering interface 25 on the energy replenishment platform 2 provides tethering and energy replenishment for the unmanned wingman 3 .
高速自稳双向补能平台2的补能平台补能系留接口25位于平台底部的中间位置，其四周布置有补能平台辅助定位接口26，用于辅助僚机快速定位和对接，并保证对接位置的准确性。The energy supplement platform energy supplement tethering interface 25 of the high-speed self-stabilizing two-way energy supplement platform 2 is located in the middle of the bottom of the platform. There are energy supplement platform auxiliary positioning interfaces 26 arranged around it to assist the wingman in rapid positioning and docking, and to ensure the docking position. accuracy.
高速自稳双向补能平台2内部安装有维护机械臂27、备件舱28，用于为无人僚机3提供备件更换和回收废弃部件等维护能力，提高无人僚机3的飞行安全性。The high-speed self-stabilizing two-way energy replenishment platform 2 is equipped with a maintenance robot arm 27 and a spare parts cabin 28, which are used to provide the unmanned wingman 3 with maintenance capabilities such as spare parts replacement and recycling of discarded parts, and improve the flight safety of the unmanned wingman 3.
如图7所示，高速自稳双向补能平台2底部的前后段分别安装有前协同整流设备291和后协同整流设备292，在无人僚机3对接准确并系留之后，前后整流设备充气并弹出变为前后整流包293和294，包裹补能平台2和无人僚机3形成整体翼型段，可降低阻力和气流干扰，降低能耗的同时提高飞行稳定性和安全性，并且协调整流设备29打开时还可以增加无人僚机3的系留稳定性。As shown in Figure 7, the front and rear collaborative rectification devices 291 and rear collaborative rectification devices 292 are respectively installed on the front and rear sections of the bottom of the high-speed self-stabilizing two-way energy replenishment platform 2. After the unmanned wingman 3 is accurately docked and tethered, the front and rear rectification devices are inflated and The pop-up becomes the front and rear rectification packages 293 and 294, which wrap the energy supplement platform 2 and the unmanned wingman 3 to form an integral airfoil section, which can reduce resistance and airflow interference, reduce energy consumption while improving flight stability and safety, and coordinate the rectification equipment. 29 can also increase the tethering stability of the unmanned wingman 3 when opened.
高速自稳双向补能平台2与直升机1和无人僚机3具有信息共享能力，通过有线高速通讯方式与直升机1通讯，通过无线方式与无人僚机3通讯，直升机1和无人僚机3机群之间通过高速自稳双向补能平台2形成态势感知和信息共享；补能平台2还具有假目标功能，并可与主机供能系留接口12脱离，远飞离开直升机1形成假目标以保护直升机1的安全；The high-speed self-stabilizing two-way energy replenishment platform 2 has information sharing capabilities with the helicopter 1 and the unmanned wingman 3. It communicates with the helicopter 1 through wired high-speed communication and communicates with the unmanned wingman 3 through wireless means. Between the helicopter 1 and the unmanned wingman 3 fleet, Situational awareness and information sharing are formed through the high-speed self-stabilizing two-way energy replenishment platform 2; the energy replenishment platform 2 also has a false target function, and can be separated from the host energy supply tethering interface 12, and fly away from the helicopter 1 to form a false target to protect the helicopter. 1 safety;
无人僚机3的背部中间布置有无人机补能系留接口35，与高速自稳双向补能平台2进行对接系留可实现能量补充、信息快速通讯和飞行停靠以及维护等功能；无人机辅助定位接口36布置于无人机补能系留接口35的四周，用于辅助僚机快速定位和对接，并保证对接位置的准确性。There is a UAV energy replenishment tethering interface 35 arranged in the middle of the back of the unmanned wingman 3, which can be docked and tethered to the high-speed self-stabilizing two-way energy replenishment platform 2 to realize functions such as energy replenishment, rapid information communication, flight docking and maintenance; unmanned wingman 3 The aircraft auxiliary positioning interface 36 is arranged around the UAV power supply tethering interface 35 to assist the wingman in rapid positioning and docking, and to ensure the accuracy of the docking position.
实施例3Example 3
本发明实施例提供的一种基于高速自稳双向补能平台的直升机增效体系，基于直升机协同1架及以上的无人机僚机开展机群协同作业，通过选用介于小型工业无人机和吨级载人直升机之间的中量级垂直起降高速无人机，低空作业时相对与载人直升机等量级的僚机提高效费比；并且中量级无人机携带任务设备重量大，速度和航程相对直升机携带小型无人机甚至巡飞弹均能拓展任务范围和作业时间，并可通过到补能平台补能实现任务范围的进一步拓展。The embodiment of the present invention provides a helicopter efficiency enhancement system based on a high-speed self-stabilizing two-way energy replenishment platform. Based on the helicopter cooperating with one or more UAV wingmen to carry out fleet collaborative operations, by selecting between small industrial UAVs and ton A middle-weight vertical take-off and landing high-speed UAV between manned helicopters, when operating at low altitudes, is more cost-effective than a wingman of the same magnitude as a manned helicopter; and the middle-weight UAV carries mission equipment that is heavy in weight and has a high speed. Compared with the range, helicopters carrying small UAVs and even cruise missiles can expand the mission scope and operation time, and can further expand the mission scope by replenishing energy on the energy replenishment platform.
通过直升机1和高速自稳双向补能平台2的通讯设备与高速垂直起降无人僚机3互联信息，高速自稳双向补能平台2主要辅助体系协同信息处理和分发通讯，并可指挥协调无人僚机3进行任务协同，同时沟通较低精度的实时高速率巡检信息并根据直升机1的需求进行筛选分析同时推送直升机1关注的有价值巡检信号；当搜寻到有价值信号时，可通过调高该僚机的带宽进行中精度的巡检信息并进行重点分析；在搜寻到高相似度信号时，通过僚机群的目标值相互定位进行高精度定位，尤其适合野外恶劣环境导航信号缺失时的搜寻定位；在确定高相似度目标时，可通过直升机1和该无人僚机3的飞行位置互换，通过直升机1进行高精度抵近巡检，进行目标确认，提供救援等服务；遇有高相似度目标的中精度数据清晰度不足的情况，可通过多机协同，集中抵近巡检，通过5G/6G等高频高速通讯方式进行大流量高精度信息互通，在高速自稳双向补能平台2上进行数据分析，提供高精度立体化分析定位数据，相对全无人机机群可提高处理精度和处理效率，便于快速决策，争取宝贵救援时间，有效提高搜寻/巡检的实时效率；并且通过高速自稳双向补能平台2可为预测到故障的无人僚机3提供对接维护，保障无人僚机3的飞行安全，提高了机群整体的安全裕度。Through the communication equipment of the helicopter 1 and the high-speed self-stabilizing two-way energy replenishment platform 2 and the high-speed vertical take-off and landing unmanned wingman 3, the main auxiliary system of the high-speed self-stabilizing two-way energy replenishment platform 2 coordinates information processing and distribution communications, and can command and coordinate drones. Wingman 3 performs task coordination, communicates low-precision real-time high-speed inspection information at the same time, conducts screening and analysis according to the needs of helicopter 1, and pushes valuable inspection signals that helicopter 1 is concerned about; when valuable signals are found, they can Increase the bandwidth of the wingman to carry out medium-precision inspection information and conduct key analysis; when high-similarity signals are searched for, high-precision positioning is performed through the mutual positioning of the wingman group's target values, which is especially suitable for navigation signals in harsh outdoor environments when the signal is missing. Search and locate; when determining a high-similarity target, the flight positions of the helicopter 1 and the unmanned wingman 3 can be exchanged, and the helicopter 1 can conduct high-precision approach inspection, confirm the target, and provide rescue and other services; If the clarity of the medium-precision data of the similarity target is insufficient, multi-machine collaboration can be used to conduct centralized inspections. High-frequency and high-speed communication methods such as 5G/6G can be used to exchange large-traffic and high-precision information, and can replenish energy in high-speed and self-stabilizing two-way directions. Data analysis is performed on Platform 2, which provides high-precision three-dimensional analysis and positioning data. Compared with the entire UAV fleet, it can improve processing accuracy and efficiency, facilitate quick decision-making, gain valuable rescue time, and effectively improve the real-time efficiency of search/inspection; and The high-speed self-stabilizing two-way energy replenishment platform 2 can provide docking maintenance for the unmanned wingman 3 that predicts a failure, ensuring the flight safety of the unmanned wingman 3 and improving the overall safety margin of the fleet.
实施例4Example 4
本发明实施例提供的一种直升机增效体系主要包括直升机1、高速自稳双向补能平台2和高速垂直起降无人僚机3，通过直升机1和高速自稳双向补能平台2的通讯设备与高速垂直起降无人僚机3互联信息，主要通过高速自稳双向补能平台2进行信息沟通和信号分析，以降低直升机1机组成员操纵每一台无人僚机3并分析其巡检信息的操纵负荷，同时提高无人僚机3的易用性和智能程度；同时，通过高速自稳双向补能平台2可与多台无人僚机3进行高效率协同，提高了整个机群的协同效率；进一步的，整个机群有了直升机1的操控，可有效提高信息共享的快捷程度和决策的时效性，提高机群决策效率和任务效率，并且提高了在与后方通讯信号弱或者被干扰情况下的机群安全和决策效率。A helicopter efficiency enhancement system provided by the embodiment of the present invention mainly includes a helicopter 1, a high-speed self-stabilizing two-way energy replenishment platform 2 and a high-speed vertical takeoff and landing unmanned wingman 3. Through the communication equipment of the helicopter 1 and the high-speed self-stabilizing two-way energy replenishment platform 2 The information is interconnected with the high-speed vertical take-off and landing unmanned wingman 3, mainly through the high-speed self-stabilizing two-way energy replenishment platform 2 for information communication and signal analysis, so as to reduce the time required for the crew members of the helicopter 1 to operate each unmanned wingman 3 and analyze its inspection information. control load, while improving the ease of use and intelligence of the unmanned wingman 3; at the same time, the high-speed self-stabilizing two-way energy replenishment platform 2 can perform high-efficiency collaboration with multiple unmanned wingmen 3, improving the collaborative efficiency of the entire fleet; further Yes, the entire fleet is controlled by helicopter 1, which can effectively improve the speed of information sharing and the timeliness of decision-making, improve the decision-making efficiency and mission efficiency of the fleet, and improve the safety of the fleet when the communication signal with the rear is weak or interfered. and decision-making efficiency.
其中，高速自稳双向补能平台2整合或贴靠于直升机1的机体11上，常见的整合位置为腹部或者尾部等；高速自稳双向补能平台2作为通讯、维护以及僚机补能的综合性平台，包括维护设备、备件、补能接口、协同整流设备等；高速自稳双向补能平台2是本体系的协同枢纽，不仅为直升机1提供高效率的僚机3协同操纵，还能为直升机1提供僚机信息分析，僚机协同调配等操纵，整体提高了体系的运转效率，并且由于体系内有直升机1的存在，可通过机组成员的现场分析和决策提高机群的整体运行和决策效率，相对传统的纯无人机机群可提高决策效率，特别是提高了与传统的后方操纵中心通讯信号较弱或者无法联系时的决策效率和特殊情况处理能力，在提高效率的同时提高了机群的安全性和特殊情况处理能力；进一步的，高速自稳双向补能平台2具有补能功能，可通过补能(燃油、氢能或者电能等)提高无人僚机的续航能力，更好的扩大机群任务时间和作业范围；同时高速自稳双向补能平台2具有维护能力，可通过无人僚机3自身的健康监测发现机体损伤信号后预判机体损伤程度，提前与直升机1协同，通过与高速自稳双向补能平台2对接系留，采用高速自稳双向补能平台2的维护机械臂27，使用备件库28中的备件进行更换维护，提高了无人僚机3的安全裕度，提高了机群整体的安全性。Among them, the high-speed self-stabilizing two-way energy replenishment platform 2 is integrated or attached to the body 11 of the helicopter 1, and the common integration position is the abdomen or tail; the high-speed self-stabilizing two-way energy replenishment platform 2 serves as a comprehensive platform for communication, maintenance and wingman energy replenishment. comprehensive platform, including maintenance equipment, spare parts, energy replenishment interfaces, collaborative rectification equipment, etc.; the high-speed self-stabilizing two-way energy replenishment platform 2 is the collaborative hub of this system, which not only provides efficient wingman 3 collaborative control for the helicopter 1, but also 1 provides wingman information analysis, wingman collaborative deployment and other operations, which improves the overall operating efficiency of the system. And because there is a helicopter 1 in the system, the overall operation and decision-making efficiency of the fleet can be improved through on-site analysis and decision-making by crew members. Compared with traditional The pure UAV fleet can improve decision-making efficiency, especially when the communication signal with the traditional rear control center is weak or cannot be contacted, and the ability to handle special situations is improved. While improving efficiency, it also improves the safety and security of the fleet. Special situation handling capabilities; further, the high-speed self-stabilizing two-way energy replenishment platform 2 has an energy replenishment function, which can improve the endurance of the unmanned wingman through energy replenishment (fuel, hydrogen energy or electrical energy, etc.), and better expand the fleet mission time and Scope of operation; At the same time, the high-speed self-stabilizing two-way energy replenishment platform 2 has maintenance capabilities. It can detect the body damage signal through the health monitoring of the unmanned wingman 3 and predict the degree of body damage. It can cooperate with the helicopter 1 in advance and use the high-speed self-stabilizing two-way replenishment platform 2. The energy platform 2 is docked and tethered, and the maintenance robot arm 27 of the high-speed self-stabilizing bidirectional energy replenishment platform 2 is used. Spare parts in the spare parts library 28 are used for replacement and maintenance, which improves the safety margin of the unmanned wingman 3 and improves the overall safety of the fleet. sex.
同时，高速自稳双向补能平台2具有折叠的可倾转旋翼，可实现自主飞行，能与直升机脱离通过主机补能系留缆绳13进行系留飞行，通过高速自稳双向补能平台2的自主飞行避开通讯障碍物保持与无人僚机3的正常通讯，可提供直升机被云层或地形等干扰信号的情况下备份通讯的功能；进一步的，可在遭受威胁的环境中，通过高速自稳双向补能平台2的单独放飞和假目标诱饵作用，保护直升机1的安全性。At the same time, the high-speed self-stabilizing two-way energy supplement platform 2 has a foldable tilting rotor, which can realize autonomous flight. It can be separated from the helicopter and fly tethered through the main engine energy supplement tethering cable 13. Through the high-speed self-stabilizing two-way energy supplement platform 2 It can fly autonomously to avoid communication obstacles and maintain normal communication with the unmanned wingman 3, which can provide the function of backup communication when the helicopter is interfered by clouds or terrain. Furthermore, it can use high-speed self-stabilization in a threatening environment. The two-way energy replenishment platform 2's independent flight and false target decoy functions protect the safety of the helicopter 1.
高速自稳双向补能平台2具有一个主要的补能平台补能系留接口25，通过一个接口系留，相对两个或者四个接口的系留方式，更易于定位和对接，不会产生仅对接了部分接口，导致接口无法完全对接从而导致僚机停靠姿态不正确系留强度降低等问题；同时设计了补能平台辅助定位接口26，通过磁吸等原理先期吸引无人僚机3进行正确位置对接引导，有利于提高协同系留准确性和引导效率；高速自稳双向补能平台2和无人僚机3仅需要进行速度同步和位置靠近，通过辅助定位可以很快对接到系留接口上，降低了对接难度提高了成功率和对接安全性稳定性；高速自稳双向补能平台2具有协同整流设备29，在僚机3系留到高速自稳双向补能平台2时，充气弹出，把高速自稳双向补能平台2和僚机3形成整体翼型以降低阻力和气流干扰，降低能耗的同时提高飞行稳定性和安全性，并且协调整流设备29打开时还可以增加僚机3的系留稳定性。The high-speed self-stabilizing two-way energy replenishment platform 2 has a main replenishment platform energy replenishment tethering interface 25. It is tethered through one interface. Compared with the tethering method of two or four interfaces, it is easier to position and dock, and will not cause only Some interfaces were docked, resulting in the interface not being fully docked, resulting in incorrect docking posture of the wingman and reduced tethering strength. At the same time, an auxiliary positioning interface 26 of the energy supplement platform was designed to attract the unmanned wingman 3 in advance for docking at the correct position through principles such as magnetic attraction. Guidance is conducive to improving the accuracy and guidance efficiency of collaborative tethering; the high-speed self-stabilizing two-way energy replenishment platform 2 and the unmanned wingman 3 only need to synchronize their speed and get close to each other, and can quickly connect to the tethering interface through auxiliary positioning, reducing It reduces the difficulty of docking and improves the success rate and docking safety and stability; the high-speed self-stabilizing two-way energy replenishment platform 2 has a cooperative rectification device 29. When the wingman 3 is tethered to the high-speed self-stabilizing two-way energy replenishment platform 2, the inflatable material pops up and the high-speed self-stabilizing two-way energy replenishment platform 2 is The stable bidirectional energy replenishment platform 2 and the wingman 3 form an integral airfoil to reduce resistance and airflow interference, reduce energy consumption while improving flight stability and safety, and when the coordination rectification device 29 is turned on, it can also increase the tethering stability of the wingman 3 .
实施例5Example 5
本发明实施例提供的一种直升机增效体系的协同方法，如图13-17所示，通过高速自稳双向补能平台2发挥协同枢纽作用，无人僚机3飞行性能与直升机1类似，可进行200千米/小时以上的巡航飞行，相当于多架直升机进行同步巡检或搜寻，可有效提高直升机的任务效率并降低机群的整体费用；一台或多台无人僚机3的信号通过高速自稳双向补能平台2进行分析和对直升机1进行推送，直升机1保留对无人僚机3的直接通讯和操纵作为备份；无人僚机3通过平台2进行编组协同以及任务调配，无人僚机3的巡检信息在僚机3上面进行快速分析并实时报送分析情况给高速自稳双向补能平台2，由高速自稳双向补能平台2分析整体机群的搜寻或巡检等态势；高速自稳双向补能平台2根据僚机3机群的巡检信息进行态势分析，进行机群的协同调配以优化任务效率；无人僚机3具有健康监测能力，可根据自身受损情况进行分析并于高速自稳双向补能平台2进行协同，根据需要与高速自稳双向补能平台2进行对接系留，开展备件更换的维护服务，与此同时，高速自稳双向补能平台2更新机群巡检态势图，协调其他无人僚机进行编队位置调整，以填补受损僚机维护时形成的巡检空白区，保证机群整体巡检无缺失；无人僚机3的能量消耗情况实时上报到高速自稳双向补能平台2，由高速自稳双向补能平台2规划补能轮换计划，通过轮流的返回高速自稳双向补能平台2进行补能，提高整个机群的巡航能力，实现进一步的任务能量拓展；遭遇特殊情况时，无人僚机3上报情况至高速自稳双向补能平台2和直升机1，通过人工决策提高决策效率和分析准确性；遭遇云层或地形等遮蔽影响通讯效果时，可通过高速自稳双向补能平台2的放飞拉开与直升机1的距离以避开通讯障碍，保持机群整体的通讯顺畅；遭遇威胁时，通过高速自稳双向补能平台2的放飞，高速自稳双向补能平台2释放诱饵制造假目标以保护直升机1的安全性，并且高速自稳双向补能平台2与直升机1的接口可断开，通过高速自稳双向补能平台2剩余能量进行远飞诱导，保护直升机1的安全性，特殊环境下可携带备份的平台2以保证任务的完成。The embodiment of the present invention provides a collaborative method for a helicopter efficiency enhancement system, as shown in Figures 13-17. The high-speed self-stabilizing two-way energy replenishment platform 2 plays a collaborative hub role. The flight performance of the unmanned wingman 3 is similar to that of the helicopter 1. It can Carrying out cruising flights of more than 200 kilometers/hour is equivalent to multiple helicopters conducting simultaneous inspections or searches, which can effectively improve the mission efficiency of helicopters and reduce the overall cost of the fleet; the signals of one or more unmanned wingmen 3 pass through high-speed The self-stabilizing two-way energy replenishment platform 2 analyzes and pushes the information to the helicopter 1. The helicopter 1 retains direct communication and control of the unmanned wingman 3 as a backup; the unmanned wingman 3 conducts group coordination and task deployment through the platform 2, and the unmanned wingman 3 The inspection information is quickly analyzed on the wingman 3 and the analysis is reported in real time to the high-speed self-stabilizing two-way energy replenishment platform 2. The high-speed self-stabilizing two-way energy replenishment platform 2 analyzes the search or inspection situation of the entire fleet; the high-speed self-stabilization The two-way energy replenishment platform 2 conducts situation analysis based on the inspection information of the wingman 3 fleet, and performs coordinated deployment of the fleet to optimize mission efficiency; the unmanned wingman 3 has health monitoring capabilities and can analyze its own damage and perform self-stabilizing bidirectional operations at high speeds The energy replenishment platform 2 coordinates, docks and tethers with the high-speed self-stabilizing two-way energy replenishment platform 2 as needed, and provides maintenance services for spare parts replacement. At the same time, the high-speed self-stabilizing two-way energy replenishment platform 2 updates the fleet inspection situation map and coordinates Other unmanned wingmen adjust their formation positions to fill the inspection gaps created during the maintenance of damaged wingmen to ensure that there are no deficiencies in the overall inspection of the fleet; the energy consumption of unmanned wingmen 3 is reported to the high-speed self-stabilizing two-way energy replenishment platform 2 in real time , the high-speed self-stabilizing two-way energy replenishment platform 2 plans the energy replenishment rotation plan, and returns to the high-speed self-stabilizing two-way energy replenishment platform 2 for energy replenishment in turns to improve the cruise capability of the entire fleet and achieve further mission energy expansion; when encountering special circumstances , the unmanned wingman 3 reports the situation to the high-speed self-stabilizing two-way energy replenishment platform 2 and the helicopter 1, and improves decision-making efficiency and analysis accuracy through manual decision-making; when encountering clouds or terrain and other obstructions that affect the communication effect, the high-speed self-stabilizing two-way energy replenishment can be used The release of platform 2 increases the distance from helicopter 1 to avoid communication obstacles and maintain smooth communication of the entire fleet; when encountering a threat, through the release of high-speed self-stabilizing two-way energy replenishment platform 2, high-speed self-stabilizing two-way energy replenishment platform 2 releases the bait A false target is created to protect the safety of helicopter 1, and the interface between high-speed self-stabilizing two-way energy replenishment platform 2 and helicopter 1 can be disconnected. The remaining energy of high-speed self-stabilizing two-way energy replenishment platform 2 is used to induce long-distance flight to protect the safety of helicopter 1. It is a platform that can carry backup under special circumstances to ensure the completion of tasks.
实施例6Example 6
本发明实施例提供的一种直升机增效体系的协同方法，如图13-17所示，可通过高速自稳双向补能平台2通过加油机补能系留缆绳43从加油机4上为直升机1补充能量。在直升机1需要执行远距离、长航时等任务时，可通过加油机4为直升机1补充能量以提高直升机1的航程和航时。与加油机4协同时，直升机1与加油机4保持相同航速和航向，并向加油机4发出加油需求，在确认加油需求后，两机进行飞行状态协同，同时高速自稳双向补能平台2前飞并接近加油机补能系留缆绳43和加油机补能系留接口45，当位置达到加油对接范围后，高速自稳双向补能平台2通过进行筋斗等机动方法向上爬升进行飞行姿态调整使补能平台补能对接口22的方向调为水平，同时，补能平台旋翼支臂23和补能平台旋翼24倾转旋翼升力方向使补能平台机体21保持加油对接姿态，在与加油机4的补能系留接口45进行对接时，补能平台2可通过补能平台旋翼支臂23和补能平台旋翼24的主动倾转调节姿态来与加油机4的补能系留接口45进行对准，并能通过补能平台辅助定位接口26和加油机辅助定位接口46进行快速定位对接，通过辅助磁吸等方式引导加油口的快速对接，通过主加油接口和辅助定位接口的配合可快速调整位置以提高直升机受油时受油接口的对接效率，为直升机1提供能量补给。并且，在受到气流干扰时，可通过补能平台旋翼支臂23和补能平台旋翼24倾转旋翼升力方向和转速以及升力大小的调节来保持加油对接的稳定性。An embodiment of the present invention provides a collaborative method for a helicopter efficiency enhancement system. As shown in Figures 13-17, the helicopter can be supplied from the tanker 4 through the high-speed self-stabilizing bidirectional energy replenishment platform 2 and the tanker energy replenishment mooring cable 43. 1. Replenish energy. When the helicopter 1 needs to perform long-distance, long-endurance and other tasks, the tanker 4 can be used to replenish energy for the helicopter 1 to increase the range and flight time of the helicopter 1. When cooperating with the tanker 4, the helicopter 1 maintains the same speed and heading as the tanker 4, and sends a refueling request to the tanker 4. After confirming the refueling requirement, the two aircraft perform flight status coordination, and at the same time, the high-speed self-stabilizing two-way energy replenishment platform 2 Fly forward and approach the tanker energy replenishment tethering cable 43 and the tanker energy replenishment tethering interface 45. When the position reaches the refueling docking range, the high-speed self-stabilizing two-way energy replenishment platform 2 climbs upward by performing somersaults and other maneuvers to adjust the flight attitude. Adjust the direction of the energy supplement docking interface 22 of the energy supplement platform to be horizontal. At the same time, the energy supplement platform rotor arm 23 and the energy supplement platform rotor 24 tilt the rotor lift direction so that the energy supplement platform body 21 maintains the refueling docking attitude. When docking with the energy supplement tethered interface 45 of the tanker 4, the energy supplement platform 2 can be connected to the energy supplement tethered interface 45 of the tanker 4 through the active tilting adjustment attitude of the energy supplement platform rotor arm 23 and the energy supplement platform rotor 24. Alignment, and can quickly position and dock through the auxiliary positioning interface 26 of the energy replenishment platform and the auxiliary positioning interface 46 of the refueling machine. The quick docking of the refueling port can be guided by auxiliary magnetic suction and other methods. The cooperation of the main refueling interface and the auxiliary positioning interface can quickly Adjust the position to improve the docking efficiency of the oil receiving interface when the helicopter receives oil, and provide energy supply for helicopter 1. Moreover, when being disturbed by airflow, the stability of the refueling docking can be maintained by adjusting the tilting rotor lift direction and speed as well as the lift magnitude by the energy supplement platform rotor arm 23 and the energy supplement platform rotor 24 .
本发明技术方案通过选取速度与有人直升机相匹配的轻量化低成本高速垂直起降无人机即巡航速度大于200千米/小时的高速无人机作为低空僚机，实现无人机与直升机同部署、编队飞行，组建直升机增效体系，与直升机形成同级别僚机协同的效果，实现一带多同步作业的效果，可有效拓展巡检、安防等作业面积，实现直升机的低空作业效能倍增作用；The technical solution of the present invention realizes the simultaneous deployment of UAVs and helicopters by selecting lightweight, low-cost, high-speed vertical take-off and landing UAVs with speeds matching that of manned helicopters, that is, high-speed UAVs with a cruising speed greater than 200 kilometers per hour, as low-altitude wingmen. , formation flying, establishing a helicopter efficiency enhancement system, forming a synergy effect with helicopters of the same level as wingmen, achieving the effect of multi-synchronous operations in one area, which can effectively expand the inspection, security and other operation areas, and achieve the multiplication effect of helicopters' low-altitude operation efficiency;
通过高速自稳双向补能平台进行信息沟通和信号分析，可有效降低直升机机组成员操纵无人僚机并分析其巡检信息的操纵负荷，同时通过高速自稳双向补能平台与多台无人僚机进行高效率协同，提高了整个机群的协同效率；Information communication and signal analysis are carried out through the high-speed self-stabilizing two-way energy replenishment platform, which can effectively reduce the control load of helicopter crew members to operate unmanned wingmen and analyze their inspection information. At the same time, the high-speed self-stabilizing two-way energy replenishment platform communicates with multiple unmanned wingmen. Carry out high-efficiency collaboration and improve the collaboration efficiency of the entire fleet;
无人僚机通过与有人直升机协同，可有效加快无人僚机的数据分析和决策效率，并可在导航信号被遮蔽时或部件受损时通过有人直升机决策和备件维护能力提高生存力；By cooperating with manned helicopters, unmanned wingmen can effectively speed up the data analysis and decision-making efficiency of unmanned wingmen, and can improve survivability through manned helicopter decision-making and spare parts maintenance capabilities when navigation signals are blocked or components are damaged;
轻量化低成本高速垂直起降无人机燃油携带量小，可通过补能平台实现空中加油实现航程倍增，极大拓展其作业能力；Lightweight, low-cost, high-speed vertical take-off and landing UAVs carry a small amount of fuel and can be refueled in the air through a refueling platform to double their range, greatly expanding their operational capabilities;
在无人僚机对接准确并系留之后，前后整流设备充气并弹出变为前后整流包，包裹补能平台和无人僚机形成整体翼型段，可降低阻力和气流干扰，降低能耗的同时提高飞行稳定性和安全性，并且协调整流设备打开时还可以增加无人僚机的系留稳定性；After the unmanned wingman is accurately docked and tethered, the front and rear rectification equipment is inflated and ejected into the front and rear rectification packages, which wrap the energy replenishment platform and the unmanned wingman to form an integral airfoil section, which can reduce resistance and airflow interference, reduce energy consumption and improve efficiency at the same time. Flight stability and safety, and when the coordination rectification device is turned on, it can also increase the tethering stability of the unmanned wingman;
高速自稳双向补能平台通过一个接口对接无人僚机，相对两个或者四个接口的系留方式，更易于定位和对接，不会产生仅对接了部分接口，导致接口无法完全对接从而导致僚机停靠姿态不正确系留强度降低等问题；The high-speed self-stabilizing two-way energy replenishment platform connects to the unmanned wingman through one interface. Compared with the tethering method of two or four interfaces, it is easier to position and dock. It will not cause only part of the interface to be docked, resulting in the interface not being fully docked and causing the wingman to be docked. Problems such as incorrect docking attitude and reduced mooring strength;
增加辅助定位接口通过磁吸等原理先期吸引无人僚机进行正确位置对接引导，有利于提高协同系留准确性和引导效率，同时可以提供部分系留力，增加系留的稳定性；Adding an auxiliary positioning interface uses principles such as magnetic attraction to attract the unmanned wingman in advance for correct position docking guidance, which is beneficial to improving the accuracy and guidance efficiency of collaborative tethering. It can also provide part of the tethering force and increase the stability of the tethering;
在遭遇云层或地形等遮蔽影响通讯效果时，可通过高速自稳双向补能平台的放飞拉开与直升机的距离以避开通讯障碍，保持机群整体的通讯顺畅，提高有无人体系的通讯顺畅度；When clouds or terrain obscure the communication effect, the high-speed self-stabilizing two-way energy replenishment platform can be released to increase the distance from the helicopter to avoid communication obstacles, maintain smooth communication for the entire fleet, and improve smooth communication between manned and unmanned systems. Spend;
遭遇威胁时，通过补能平台的放飞，释放诱饵制造假目标以保护直升机的安全性，并且协同维护保养平台与直升机的接口可断开，通过协同维护保养平台的剩余能量进行远飞诱导，进一步保护直升机的安全；When encountering a threat, the energy replenishment platform is released to release decoys to create false targets to protect the safety of the helicopter. The interface between the collaborative maintenance platform and the helicopter can be disconnected, and the remaining energy of the collaborative maintenance platform is used to induce long-distance flights. Protect helicopter safety;
通过高速自稳双向补能平台的主动飞行和姿态调整来实现加油/受油对接，一是实现加油对接的自动化，提供对接效率，二是避免直升机在受油时稳定性差导致的难以对接的问题；The refueling/refueling docking is realized through the active flight and attitude adjustment of the high-speed self-stabilizing two-way refueling platform. First, it realizes the automation of refueling and docking and improves docking efficiency. Second, it avoids the problem of difficulty in docking caused by poor stability of the helicopter when receiving fuel. ;
通过补能平台贴靠直升机机身布置，可解决受油杆伸出机体过长重量过中等影响飞行稳定性和重心控制的问题。By arranging the energy supplement platform close to the helicopter fuselage, it can solve the problem of the oil rod extending out of the body to be too long and too heavy, which affects flight stability and center of gravity control.
上面对本发明技术方案的较佳实施方式作了详细说明，但是本发明并不限于上述实施方式，在本领域的普通技术人员所具备的知识范围内，还可以在不脱离本专利宗旨的前提下作出各种变化。The preferred embodiments of the technical solution of the present invention have been described in detail above. However, the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, other modifications can be made without departing from the purpose of this patent. Make various changes.
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| CN202311846902.2ACN117602083A (en) | 2023-12-29 | 2023-12-29 | High-speed self-stabilizing two-way energy supplement platform, helicopter efficiency enhancement system and collaborative method |
| PCT/CN2024/142609WO2025140373A1 (en) | 2023-12-29 | 2024-12-26 | High-speed self-stabilization bidirectional energy replenishment platform, helicopter performance enhancement system, and collaboration method |
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