CN107914871B - Anti-unmanned aerial vehicle's trapping apparatus with retrieve function - Google Patents

Abstract

The invention provides an anti-UAV capture device with a retrieval function, comprising a head, a tail, a winglet and a propeller structure; a capture device control system is arranged in the head, and the capture device control system includes an information acquisition module, a control system, and a control system. unit and propeller motor; the information acquisition module includes an image acquisition module, a lidar scanning module, and a short-range electromagnetic wave detection module, and the image acquisition module, the lidar scanning module, and the short-range electromagnetic wave detection module are respectively connected to the control unit; the propeller motor is connected to the propeller Structural connection; the tail is arranged behind the head, and there is a capturing net inside; the winglet is arranged at the head and is connected with the control unit; the capturing device also includes smoke bombs/signal bombs. Lag triggers. The invention provides a capture device with high capture rate and can be recycled, so that the escape possibility of the target drone is low, and the utilization rate of the capture device is improved.

Description

An anti-drone capture device with retrieval function

technical field

The invention relates to the field of aircraft, in particular to an anti-UAV capture device.

Background technique

As more and more drones appear in people's lives, some drones that do not follow the rules often cause trouble to others and even affect public safety. In order to prevent the illegal misuse of drones, a new thing was born: anti-drone systems.

The existing anti-UAV methods mainly include interference blocking, direct destruction and monitoring and control. The interference blocking type is to interfere with all the signals of the target drone by transmitting specific electromagnetic wave signals, so that the signal of the drone is cut off and the drone is triggered to return. This kind of method has poor countermeasures; the direct destruction type is to use The laser cannon directly shoots down the drone. This method has strong countermeasures, but the downed drone is easy to cause damage to the ground personnel; the monitoring and control category mainly uses hacking technology to invade the operating system of the drone, hijack the radio control, and UAV seizure, the technical content and technical cost of such methods are high, and it is difficult to popularize. Nowadays, a capture device for intercepting drones has gradually emerged. The capture device captures the target drone by launching net bombs or using the drone to carry the interception frame. After the net bomb is launched, it can only rely on inertial flight and cannot be adjusted. At the flight angle, the target drone is easy to escape, the capture rate is low, and there will be problems of falling injury and non-recycling, and the target drone is intercepted by the drone carrying the interception frame. frame, its speed is difficult to surpass the target UAV, and the movement flexibility is poor, the capture rate is low, and the practicability is poor.

Therefore, the existing technology still needs to be improved and developed.

SUMMARY OF THE INVENTION

The embodiment of the present invention provides a capture device with high capture rate and recyclability.

The technical scheme of the present invention is as follows:

An anti-UAV capture device with retrieval function, which includes a head, a tail, a winglet and a propeller structure;

The head is provided with a capture device control system, and the capture device control system includes an information acquisition module, a control unit and a propeller motor; the information acquisition module includes an image acquisition module, a laser radar scanning module, and a short-range electromagnetic wave detection module, The image acquisition module, the lidar scanning module, and the short-range electromagnetic wave detection module are respectively connected with the control unit; the propeller motor is connected with the propeller structure; the image acquisition module collects images of objects in front of the capture device, and the lidar The scanning module scans the object in front of the capture device, and the short-range electromagnetic wave detection module receives electromagnetic waves around the capture device;

The tail is arranged at the rear of the head, with a catch net inside, the catch net is connected with the head, and a tail release structure for opening the tail to release the catch net is also provided in the tail, and the tail release structure is connected with the control unit ;

The winglets are arranged on the head and are connected with the control unit;

The control unit identifies the information collected by the information collection module, and controls the propeller motor, the tail release structure, the winglet and the information collection module;

The capturing device further includes smoke bombs/signal bombs, and the smoke bombs/signal bombs are triggered when or after the capturing device falls.

The anti-drone capture device with a retrieval function, wherein the capture device further includes a middle part, the middle part is arranged between the head and the tail, and a parachute is arranged in the middle part, and the parachute is connected to the head. The middle part is also provided with a middle release structure for opening the middle release parachute. The middle release structure is connected with the control unit. When the capture device starts to fall, the control unit controls the middle release structure to open and release the parachute.

The described anti-drone capture device with a retrieval function, wherein the capture device control system further includes a speed measurement module, the speed measurement module is connected with the control unit, when the speed measurement module detects that the upward speed of the capture device is zero. , the control unit controls the middle release structure to open and release the parachute.

The said anti-UAV capture device with retrieval function, wherein the tail release structure includes a tail explosive chamber and an explosive trigger; the tail explosive chamber is a tubular structure with an inner diameter larger than the outer diameter of the tail, or an outer diameter The tubular structure is smaller than the inner diameter of the tail, and the upper part and the lower part of the tubular structure are respectively sealed with the tail, and an explosive chamber for containing explosives is formed between the explosive chamber and the tail; one end of the explosive trigger is connected with the interior of the explosive chamber, and the other end is connected with the control chamber. unit connection.

Said anti-drone capture device with retrieval function, wherein the tail release structure includes a tail explosive pack and an explosive trigger; the tail explosive pack is arranged between the capture net and the inner wall of the tail, and the explosive One end of the trigger is connected to the tail explosive pack, and the other end is connected to the control unit.

The said anti-drone capture device with retrieval function, wherein the middle release structure includes a middle explosive chamber and an explosive trigger; the middle explosive chamber is a tubular structure with an inner diameter larger than the middle outer diameter, or an outer diameter The tubular structure is smaller than the inner diameter of the middle part, the upper part and the lower part of the tubular structure are respectively connected with the middle part in a sealed manner, and an explosive charge chamber for accommodating explosives is formed between the middle part and the middle part; unit connection.

The said anti-drone capture device with a retrieval function, wherein the middle release structure includes a middle explosive pack and an explosive trigger; the middle explosive pack is arranged between the capture net and the middle inner wall, and the explosive One end of the trigger is connected with the middle explosive pack, and the other end is connected with the control unit.

In the described anti-drone capture device with retrieval function, small pieces larger than the quality of the capture net are arranged at multiple corners of the capture net.

In the anti-drone capture device with a retrieval function, the propeller structure is a foldable coaxial reverse propeller, and the winglets are foldable winglets.

In the anti-drone capture device with retrieval function, the control unit is a self-destructing chip.

Beneficial effects of the present invention: The present invention provides a capture device with high capture rate and can be recycled. The image acquisition module, the laser radar scanning module and the short-range electromagnetic wave detection module are used to cooperate with each other, so that the target UAV can escape. The possibility is low. In addition, smoke bombs/signal bombs are used to send out smoke to orientate the capture device after landing, so as to improve the utilization rate of the capture device.

Description of drawings

FIG. 1 is a schematic structural diagram of an anti-UAV capture system in an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a capture device with a retrieval function in an embodiment of the present invention.

FIG. 3 is a schematic diagram of another implementation of the middle release structure and the tail release structure in the embodiment of the present invention.

FIG. 4 is a schematic diagram of a capture device control system with a retrieval function in an embodiment of the present invention.

FIG. 5 is a schematic diagram of the capture net of the capture device with a retrieval function in an embodiment of the present invention when the capture net is opened.

6 is a schematic diagram of the parachute of the capturing device with a retrieval function in an embodiment of the present invention when the parachute is opened.

Description of reference numerals: 100, capture device; 200, launch device; 400, target drone; 110, head; 111, control unit; 112, image acquisition module; 113, short-range electromagnetic wave detection module; 114, lidar Scanning module; 115, speed measurement module; 120, middle; 121, parachute; 122, middle explosive chamber; 123, explosive trigger; 124, middle explosive pack; 130, tail; 131, capture net; 132, tail explosive chamber; 133 , Explosive trigger; 134, Tail explosive pack; 140, Propeller structure; 150, Winglet; 210, Launch tube; 211, Aiming mechanism; 212, Base.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that the terms "length", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", The orientation or positional relationship indicated by "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have The particular orientation, construction and operation in the particular orientation are therefore not to be construed as limitations of the invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the invention. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity and not in itself indicative of a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of an anti-UAV capturing system according to an embodiment of the present invention. The anti-UAV capturing system includes a launching device 200 and a capturing device 100 .

The launch device 200 provides a driving force for the launch of the capture device 100 , including a power mechanism and a guide mechanism. When the anti-UAV capture system is used for vehicle, ship or ground launch, the launch device 200 further includes a base 212 . The power source of the power mechanism can be compressed gas, compressed liquid, thermal power, elastic force and the like.

One embodiment of the launching device 200 may be a high-pressure gas launching device 200 , the power mechanism of which includes a high-pressure gas storage tank and a high-pressure exhaust valve, and the guiding mechanism is a launching cylinder 210 .

The high-pressure gas storage tank is internally connected to the launch cylinder 210 through a high-pressure exhaust valve. The high-pressure gas storage tank stores high-pressure gas, which is an inert gas. When the high-pressure exhaust valve is opened, the high-pressure gas is discharged from the high-pressure gas storage tank through the high-pressure exhaust gas. The air valve enters the launch tube 210 . The base 212 is arranged on the installation plane (such as on a vehicle, on a boat, on the ground), and the base 212 is movably connected with the launch tube 210. The maximum horizontal rotation angle of the launch tube 210 can reach 360°, and the maximum vertical rotation angle can reach 90° °. The launching device 200 is provided with an aiming mechanism 211, and the aiming mechanism 211 is an optical sight.

The launching device 200 provides the initial driving force for the capturing device 100, so that the capturing device 100 can obtain a larger initial speed, and then obtains a secondary driving force through the propeller motor and the propeller structure 140 of the capturing device 100 itself. The advantage of this setting is that it can reduce the The capacity of the battery in the capture device 100, and the capacity of the battery only needs to maintain the flight of the capture device 100 during the capture process, without the need for the target drone 400 to return, which can further reduce the battery capacity and the overall weight of the capture device 100. , which is more conducive to the high-speed pursuit of the capture device 100 .

As shown in FIGS. 2 to 6 , the capture device 100 with retrieval function of the present invention is a three-section structure with a missile shape, including a head 110 located in the front section, a middle section 120 located in the middle section, and a tail section 130 located in the terminal section. , a first partition is provided between the head 110 and the middle 120 , and a second partition is arranged between the middle 120 and the tail 130 .

The head 110 is in the shape of a bullet head with a hollow interior, and is provided with a capture device control system. The capture device control system includes an information acquisition module, a control unit 111, a battery and a propeller motor. The information collection module is arranged at the front end of the head 110, and collects the information of the target UAV 400. The information collection module and the propeller motor are respectively connected with the control unit 111; The detection data is analyzed and processed to identify whether the detection data matches the pre-stored data; the control unit 111 can also control the information acquisition module and the propeller motor, the control unit 111 is a single-chip microcomputer, and the battery supplies power to the control unit 111 and the propeller motor. The head 110 also includes a propeller structure 140 connected with the propeller motor. The propeller structure 140 is a foldable propeller. When the propeller structure 140 is in a ready-to-launch state, the blades of the propeller structure 140 are close to the outer wall of the capturing device 100 and are folded and retracted along the length direction of the capturing device 100 . From then on, when the capture device 100 leaves the launch device 200, the folded blades open radially. The propeller structure 140 is preferably a collapsible coaxial counter-propeller. In order to reduce the interference of the propeller motor to the information acquisition module, electromagnetic shielding is performed on the propeller motor.

The middle part 120 is a hollow tubular structure with a parachute 121 inside. The hollow tubular structure of the middle part 120 and the first partition part and the second partition part form a storage space for the parachute 121; the parachute 121 is connected with the head 110, The parachute 121 is folded and placed in the hollow tubular structure of the middle part 120 , and the folding method of the parachute 121 is the same as or similar to the folding method of the existing parachute 121 . The middle part 120 is also provided with a middle release structure for opening the middle part 120 to release the parachute 121. As one of the embodiments of the middle release structure, the middle release structure includes a middle explosive chamber 122 and an explosive trigger 123. The middle explosive chamber 122 can It is a tubular structure with an inner diameter greater than the outer diameter of the middle part 120, the upper part and the lower part of the tubular structure are respectively sealed and connected with the outer surface of the middle part 120, and the inner wall of the middle part explosive storehouse 122 and the outer wall of the middle part 120 are formed between the inner wall of the middle part 120 and the outer wall of the middle part 120. It can also be arranged on the inner wall of the middle part 120. The middle explosive chamber 122 is a tubular structure with an outer diameter smaller than the inner diameter of the middle part 120. An explosive chamber for accommodating explosives is formed between the outer wall of the middle explosive chamber 122 and the inner wall of the middle part 120; one end of the explosive trigger 123 is connected to the explosive charge. The chamber is internally connected, and the other end is connected to the control unit 111. The control unit 111 can send a trigger signal to the explosive trigger 123 to detonate the central explosive chamber 122. The explosive trigger 123 can be an electric spark generator. Another embodiment of the middle release structure can also use high pressure gas and a release valve, send a release signal to the release valve through the control unit 111, trigger the release valve to blow high pressure gas into the middle part 120, the high pressure gas breaks through the middle part 120, and releases the parachute 121, This method requires a high-pressure gas storage chamber to be provided in the capture device 100 , which increases the weight and volume of the capture device 100 . The method of opening the middle part 120 to release the parachute 121 is not limited to the above two methods, and the middle explosive charge 124 and the explosive trigger 123 can also be used. , one end of the explosive trigger 123 is connected with the middle explosive pack 124 , and the other end is connected with the control unit 111 .

The tail portion 130 is a hollow tubular structure with a closed bottom, and is provided with a capturing net 131. A storage space for the capturing net 131 is formed between the hollow tubular structure of the tail portion 130 and the second partition and the bottom; the capturing net 131 and the head portion 110 is connected, and the capture net 131 is folded and placed in the tail 130. The tail part 130 is also provided with a tail release structure for opening the tail part 130 to release the capture net 131. As one of the embodiments of the tail release structure, the tail release structure includes a tail explosive chamber 132 and an explosive trigger 133123, a tail explosive chamber 132 and an explosive The setting method of the trigger 133123 is the same as the setting method of the middle explosive chamber 122 and the explosive trigger 133123, and will not be repeated here. In addition, the tail release structure can also use high pressure gas and a release valve, or a tail explosive pack 134 and an explosive trigger 133123, the tail explosive pack 134 being disposed between the capture net 131 and the inner wall of the tail 130. In order to make the catching net 131 open more quickly and fully, several corners of the catching net 131 are connected with small pieces of larger mass than the catching net 131. When the catching net 131 is folded, the small pieces are gathered together and close to the tail On the inner wall of 130, when the tail release structure is the tail explosive pack 134 and the explosive trigger 133123, the tail explosive pack 134 is placed in the middle of the small block, one end of the explosive trigger 133123 is connected with the tail explosive pack 134, and the other end is connected with the control unit 111 connected, when the explosive charge pack 134 at the tail is blasted, because the mass of the small pieces is larger than that of the capturing net 131, the small pieces are quickly blasted around, and the capturing net 131 is rapidly opened; when the release structure at the tail is high-pressure air, the high-pressure air rushes Entering the tail part 130 and breaking through the outer wall of the tail part 130 , because the mass of the small piece is larger than that of the capturing net 131 , the small piece is quickly rushed to the surroundings, and the capturing net 131 is rapidly opened.

The capture device 100 adopts a three-stage structure, and the capture net 131 that needs to be released first is set at the tail 130, so that the capture net 131 is opened to the rear of the capture device 100 at the moment of release, which has less impact on the flight of the capture device 100, and also allows the capture device 100 to fly. The catch net 131 is easier to open. In addition, the central part 120 is provided with a parachute 121. After the target drone 400 is captured, the parachute 121 of the capture device 100 is opened to provide a buffer for the falling of the capture device 100 and the target drone 400, which will not crash and hurt people, and is also easy to capture. Recycling of the device 100. A first partition is arranged between the head 110 and the middle 120, and a second partition is arranged between the middle 120 and the tail 130 to reduce the mutual influence between each part. The outer walls of the middle 120 and the tail 130 can be easily blasted. Material.

The capturing device 100 further includes a winglet 150, which is arranged behind the head 110 and the propeller structure 140. The winglet 150 is a foldable winglet 150. The winglet 150 can be folded toward the inside of the head 110, or can be Fold along the outer wall of the head 110 . When the capture device 100 is in the ready-to-launch state, the winglets 150 are folded and folded. When the capture device 100 leaves the launch device 200, the winglets 150 are opened or ejected; In the middle, the control unit 111 can adjust the angle of the winglet 150 so as to adjust the flying direction of the capturing device 100 .

The information collection module includes a speed measurement module 115, an image collection module 112, a laser radar scanning module 114, a short-range electromagnetic wave detection module 113, a speed measurement module 115, an image collection module 112, a laser radar scanning module 114, and a short-range electromagnetic wave detection module 113 respectively. Connected to the control unit 111 . The capture device 100 can use the image acquisition module 112 or the laser radar scanning module 114, or a combination of the two to collect information on the target UAV 400. In this embodiment, the image acquisition module 112 and the laser radar scanning module 114 are combined to perform the information collection. Information collection of target UAV 400.

The speed measurement module 115 detects the speed of the capture device 100 and transmits data to the control unit 111; when the capture device 100 leaves the launch device 200, the speed measurement module 115 detects that the forward speed of the capture device 100 is zero, and the control unit 111 controls the propeller The motor starts, and the propeller motor drives the propeller structure 140 to rotate at a high speed, providing flying power for the capture device 100; when the capture device 100 releases the capture net 131 to capture the target drone 400, the capture device 100 carries the target drone 400 to fly, and the speed is measured. When the module 115 detects that the upward speed of the capture device 100 is zero, the control unit 111 controls the middle part 120 to release the parachute 121 , and the parachute 121 is opened to provide a buffer for the capture device 100 and the target UAV 400 to land. The tachometer module 115 may be a pitot tube.

The image acquisition module 112 includes a camera, and the camera is arranged at the front end of the capture device 100 and extends out of the outer wall of the capture device 100. The camera is preferably a high-definition camera; in order to enhance the image recognition capability when the visibility is poor or the light condition is poor, an infrared camera can be selected, The image acquisition module 112 has a wider application range and is less restricted by environmental conditions; in this embodiment, in order to enable the camera to acquire long-distance images, a telephoto camera is selected for target image acquisition.

During the flight of the capture device 100, the image acquisition module 112 acquires the scene entering the field of view through the telephoto camera, and transmits the acquired image to the control unit 111 to match with the pre-stored target features. Before, the telephoto camera will continuously acquire the scene features in the field of view; if the object recognized by the image is a drone, the target feature can be set as the propeller of the drone, and the characteristic data of the propeller of the drone can be stored. In the control unit 111, when the drone enters the field of view of the telephoto camera, the camera acquires the image of the drone's propeller and transmits it to the control unit 111 to match with the pre-stored target features. After the matching is successful, control the The unit 111 locks the drone as the tracking target, and adjusts the flight direction of the capture device 100 by adjusting the angle of the winglet 150 so that the target drone 400 is always in the center of the camera's field of view.

The lidar scanning module 114 includes a laser transmitter, and the laser transmitter emits a laser beam to the front area of the capture device 100 , scans the object within the scanning range, and transmits the laser signal reflected by the object to the control unit 111 . If the tracking and capturing object of the capturing device 100 is a drone, the propeller of the drone is set as the recognition object, and the propeller of the drone is characterized by high-speed rotation. When the laser irradiates the blade of the propeller, the laser is reflected , when the laser irradiates the gap between the propeller blades, the laser passes through the gap between the blades, and the high-speed rotating propeller is irradiated by the laser beam, the reflection of the laser changes dynamically, and the control unit 111 determines the scanning object according to this reflection feature For the drone, and lock the drone as the tracking target, adjust the flying direction of the capture device 100 by adjusting the angle of the winglet 150, so that the target drone 400 is always within the scanning range of the capture device 100. The lidar scanning module 114 can use the existing 3irobotics lidar ranging sensor, or the 128-line lidar VLS-128, and the maximum scanning range can reach 180°.

When the capture device 100 is relatively close to the target drone 400, the laser radar scanning module 114 receives the laser signal reflected by the target drone 400, indicating that the target drone 400 is very close. At this time, because the capture device 100 is flying at a high speed state, the distance between the capture device 100 and the target drone 400 also decreases rapidly, so when the control unit 111 receives and calculates the distance information between the capture target drone 400 and the lidar scanning module 114, the two actually The distance is less than the received distance. At this time, the capture device 100 can easily miss the opportunity to open the capture net, and the short-range electromagnetic wave detection module 113 is to solve the above problem. The control unit 111 roughly judges the distance between the target drone 400 and the capture device 100 through the laser emission information received by the lidar scanning module 114. When the distance between the target drone 400 and the capture device 100 is less than the preset distance (the preset distance can be 30m, 20m, 10m, etc.), the control unit 111 activates the short-range electromagnetic wave detection module 113 to prevent the target UAV 400 from escaping to the blind spot where the information collected by the capture device 100 or emit smoke and other blind methods to escape, so that the capture device 100 can be opened in time Catch net 131.

The short-range electromagnetic wave detection module 113 can receive the weak electromagnetic wave emitted by the motor of the target drone 400, and transmit the electromagnetic wave signal to the control unit 111. The control unit 111 determines whether the frequency band of the electromagnetic wave is in the preset electromagnetic wave frequency band (the preset electromagnetic wave frequency band). is the electromagnetic wave frequency band of the existing drone motor), when the received electromagnetic wave falls into the preset electromagnetic wave frequency band, the control unit 111 controls the tail to release the capture net 131, and the capture net 131 opens from the rear and bottom of the target drone 400 Netting the target drone 400; or when the control unit 111 receives the electromagnetic wave signal, it directly controls the tail to release the capture net 131. Since the electromagnetic wave signal emitted by the motor of the target drone 400 is weak, it can only be received when it is close to the target drone 400 (about 5m), and this distance is also the best time to open the capture net 131. Therefore, use Whether the short-range electromagnetic wave detection module 113 receives the motor electromagnetic wave signal of the target UAV 400 to control the opening of the capture net 131, so that the control unit 111 can more accurately and reliably determine the timing of opening the capture net 131. The short-range electromagnetic wave detection module 113 can be an electric field induction circuit. When a changing electromagnetic field occurs near the electric field induction circuit, the electric field induction circuit outputs an electrical signal to the control unit 111. When the control unit 111 receives the electric signal, it immediately sends out a signal to the tail release structure. When the signal is released, the tail release structure releases the capture net 131 .

Because the short-range electromagnetic wave detection module 113 and the control unit 111 identify the electromagnetic waves emitted by the propeller motor of the drone, and the capture device 100 itself also has a propeller motor, which also emits electromagnetic waves, and the frequency bands of the electromagnetic waves are all within the identification frequency range. The identification of the control unit 111 will be greatly disturbed, so the propeller motor of the capture device 100 needs to be electromagnetically shielded, but the weight of the capture device 100 will be increased by using the existing electromagnetic shielding material. One of the embodiments of the electromagnetic shielding of the present invention is to control the propeller motor and the short-range electromagnetic wave detection module 113 to operate alternately through the control unit 111. When the short-range electromagnetic wave detection module 113 collects the electromagnetic wave signal, the propeller motor stops working, and when the propeller motor operates , the short-range electromagnetic wave detection module 113 does not perform detection, so as to avoid interference to electromagnetic wave identification. Another embodiment of the electromagnetic shielding of the present invention is to set a compensation circuit inside the head 110 that can cancel the electromagnetic wave emitted by the propeller motor of the capturing device 100 in reverse phase, and the electromagnetic wave generated in the compensation circuit is exactly the same as that of the short-range electromagnetic wave detection module 113 The detected electromagnetic waves of the propeller motor are in opposite phases and have the same amplitude, which means that the electromagnetic waves emitted by the propeller motor of the capture device 100 are cancelled out, so it will not interfere with the electromagnetic wave identification of the target UAV 400, so that the electromagnetic waves of the short-range electromagnetic waves will not be disturbed. Detection and identification are more accurate.

In order to reduce the cost of the capture device 100 and improve the utilization rate of the capture device 100, the capture device 100 further includes smoke bombs/signal bombs, and the smoke bombs/signal bombs can be arranged in the head 110; when the capture device 100 starts to fall, or the control unit 111 At the same time when the triggering middle release structure is opened, or after the capture device 100 touches the ground, the smoke bomb/signal bomb is triggered, which can be triggered by ignition or by sending a signal through the control unit 111; the ground personnel retrieve the capture device 100 according to the direction of the source of the smoke in the air, and The capture device 100 is recycled. In addition, a flashing device or a sounding device can be used for auxiliary retrieval.

Specifically, the control unit 111 is a single-chip microcomputer, and the smoke bomb is arranged at the position of the head 110 close to the first partition, and is triggered by a smoke bomb trigger. One end of the smoke bomb trigger is connected to the smoke bomb, and the other end is electrically connected to the single-chip microcomputer. Under the control of the single-chip microcomputer, the head 110 is also provided with a sounding device, which is connected to the single-chip microcomputer and is controlled by the single-chip microcomputer; when the pitot tube detects that the speed of the capture device 100 continues to be zero, it sends a landing signal to the single-chip microcomputer, and the single-chip microcomputer responds according to the reception. When the landing signal arrives, a start command is sent to the smoke bomb trigger and the sounding device, the smoke bomb is triggered to emit red smoke, and the sounding device emits a prompt sound; the ground personnel search according to the direction of the red smoke, and pay attention to whether there is a capture device 100 If the prompt sound is sent, if the prompt sound is heard, the surrounding environment is immediately searched, and the capture device 100 is finally found.

In order to prevent others from illegally using the capture device 100 after being picked up, the control unit 111 is a self-destructing chip. When the retrieval structure is opened, the control unit 111 will self-destruct, so that others cannot use it even if it is picked up.

The start-up process of the capture device 100 of the present invention is as follows: first, the launch device 200 of the capture device 100 is in a standby state, the capture device 100 is installed in the launch device 200, and the ground personnel discover the drone in the air through the radio monitoring device on the ground; After the drone, the ground personnel adjust the launch direction and angle of the launch device 200 according to the position information of the drone detected by the radio monitoring device, and aim at the target drone 400. At the same time, the image acquisition module 112 is activated to collect the Object image, the control unit 111 performs target recognition on the collected image. When the control unit 111 recognizes the target UAV 400, the control unit 111 can send out a prompt sound, and the ground personnel immediately launch the capture device 100; The launching device 200 is accelerated to fly out, the propeller and the winglet 150 are turned on, and the speed measuring module 115 detects the speed of the capturing device 100; when the speed measuring module 115 detects that the forward speed of the capturing device 100 after the launch is zero, the control unit 111 controls The propeller motor is activated, and the propeller structure 140 rotates at a high speed to provide power for the capturing device 100 .

The target identification and tracking process of the capture device 100 is as follows: after the capture device 100 is separated from the launch device 200, the control unit 111 controls the capture device 100 to track the target drone 400 according to the target position in the telephoto camera; If the drone 400 escapes from the acquisition range of the image acquisition module 112 (the field of view of the telephoto camera is narrow, the target drone 400 is easier to escape), or the target drone 400 has exceeded the field of view of the telephoto camera, control the The unit 111 loses the tracking target, and triggers the lidar scanning module 114 to start and perform a wide range of scanning. Due to the limited escape speed of the target UAV 400, the lidar scanning is started immediately when the tracking target disappears, and the target UAV 400 has almost no If it is possible to escape, the control unit 111 performs a second identification and tracking; when the distance between the target drone 400 and the capture device 100 obtained by the lidar scanning module 114 is less than the preset distance, the control unit 111 triggers the short-range electromagnetic wave The detection module 113 is activated; when the short-range electromagnetic wave detection module 113 collects electromagnetic waves around the capture device 100 , the control unit 111 triggers the tail release structure.

The capture and landing process of the capture device 100 is as follows: when the tail release structure is triggered, the capture net 131 of the tail 130 is released, and the capture net 131 captures the target drone 400 and the propeller of the target drone 400 from the rear and bottom of the capture device 100 flying. The target drone 400 flies with the capture device 100, when the battery power is released, the capture device 100 loses power and falls together with the target drone 400; the speed measurement module 115 detects When the upward speed of the capture device 100 is zero, the control unit 111 triggers the middle release structure to release the parachute 121 ; the parachute 121 opens, and the capture device 100 and the target UAV 400 fall slowly.

The retrieval process of the capture device 100 is as follows: when the capture device 100 begins to fall, or the control unit 111 triggers the opening of the middle release structure, or after the capture device 100 touches the ground, the smoke bomb/signal bomb is triggered, and the ground personnel respond to the smoke in the air. The capture device 100 is retrieved from the source direction, and the capture device 100 is recycled.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc. A particular feature, structure, material, or characteristic described in this embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In summary, although the present invention has been disclosed above with preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those of ordinary skill in the art can make various Therefore, the protection scope of the present invention is subject to the scope defined by the claims.

Claims (10)

1. a catch device with the anti-drone function of retrieving, is characterized in that, comprises head, tail, winglet and propeller structure; The head is provided with a capture device control system, and the capture device control system includes an information acquisition module, a control unit and a propeller motor; the information acquisition module includes an image acquisition module, a laser radar scanning module, and a short-range electromagnetic wave detection module, The image acquisition module, the lidar scanning module, and the short-range electromagnetic wave detection module are respectively connected with the control unit; the propeller motor is connected with the propeller structure; the image acquisition module collects images of objects in front of the capture device, and the lidar The scanning module scans the object in front of the capture device, and the short-range electromagnetic wave detection module receives electromagnetic waves around the capture device; The tail is arranged at the rear of the head, with a catch net inside, the catch net is connected with the head, and a tail release structure for opening the tail to release the catch net is also provided in the tail, and the tail release structure is connected with the control unit ; The winglets are arranged on the head and are connected with the control unit; The control unit identifies the information collected by the information collection module, and controls the propeller motor, the tail release structure, the winglet and the information collection module; The capturing device further includes a smoke bomb/signal bomb, and the smoke bomb/signal bomb is triggered when or after the capturing device falls. 2 . The anti-drone capture device with a retrieval function according to claim 1 , wherein the capture device further comprises a middle portion, the middle portion is arranged between the head and the tail, and the middle portion is provided with 2 . 2 . Parachute, the parachute is connected with the head, and the middle part is also provided with a middle release structure for opening the middle release parachute, the middle release structure is connected with the control unit, when the capture device starts to fall, the control unit controls the middle release structure to open, Release the parachute. 3. the catching device of the anti-UAV with retrieval function according to claim 2, is characterized in that, described catching device control system also comprises speed measuring module, described speed measuring module is connected with control unit, when speed measuring module detects When the upward speed of the capture device is zero, the control unit controls the middle release structure to open and release the parachute. 4. The anti-drone capture device with a retrieval function according to claim 1, wherein the tail release structure comprises a tail explosive chamber and an explosive trigger; the tail explosive chamber has an inner diameter larger than that of the tail outer chamber. A tubular structure with a diameter, or a tubular structure with an outer diameter smaller than the inner diameter of the tail, the upper part and the lower part of the tubular structure are respectively sealed with the tail, and an explosive chamber for accommodating the explosive is formed between the explosive chamber and the tail; one end of the explosive trigger is connected to the explosive The inside of the bin is connected, and the other end is connected with the control unit. 5. The anti-drone capture device with a retrieval function according to claim 1, wherein the tail release structure comprises a tail explosive pack and an explosive trigger; the tail explosive pack is arranged on the catch net and the Between the inner walls of the tail, one end of the explosive trigger is connected with the tail explosive pack, and the other end is connected with the control unit. 6 . The anti-drone capture device with a retrieval function according to claim 2 , wherein the middle release structure comprises a middle explosive chamber and an explosive trigger; the middle explosive chamber has an inner diameter larger than that of the middle outer chamber. 7 . A tubular structure with a diameter, or a tubular structure with an outer diameter smaller than the inner diameter of the middle part, the upper part and the lower part of the tubular structure are respectively sealed with the middle part, and an explosive charge chamber for containing the explosive is formed between the middle part and the middle part; one end of the explosive trigger is connected to the explosive charge. The inside of the bin is connected, and the other end is connected with the control unit. 7. The anti-drone capture device with retrieval function according to claim 2, wherein the middle release structure comprises a middle explosive charge and an explosive trigger; the middle explosive charge is arranged on the catch net and the Between the inner walls of the middle part, one end of the explosive trigger is connected with the middle explosive pack, and the other end is connected with the control unit. 8. The capture device of the anti-UAV with retrieval function according to any one of claims 1 to 7, wherein a plurality of corners of the capture net are provided with small pieces larger than the capture net quality . 9. The capture device of the anti-UAV with retrieval function according to any one of claims 1 to 7, wherein the propeller structure is a foldable coaxial reverse propeller, and the winglet is Folding winglets. 10 . The anti-drone capture device with a retrieval function according to claim 1 , wherein the control unit is a self-destructing chip. 11 .

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