Anti-unmanned aerial vehicle water rocket and guidance method

Abstract

The invention discloses an anti-unmanned aerial vehicle water rocket and a guidance method, and relates to the technical field of guidance, and the anti-unmanned aerial vehicle water rocket is characterized by comprising an unmanned aerial vehicle defense station and an anti-unmanned aerial vehicle water rocket; the unmanned aerial vehicle defense station comprises a base, the base is fixedly connected with a dry ice pill storage tank, the dry ice pill storage tank is fixedly connected with a group of dry ice conveying channels, each dry ice conveying channel is fixedly communicated with a water rocket launching cylinder, and an anti-unmanned aerial vehicle water rocket is matched with the water rocket launching cylinder; the dry ice pill storage tank is fixedly connected with the laser designator, and the laser designator is fixedly connected with the multispectral comprehensive photoelectric unmanned aerial vehicle detection system; the anti-unmanned aerial vehicle water rocket comprises a water rocket cavity, the water rocket cavity is fixedly connected with an LED beacon and a net gun device, a dry ice chamber is fixedly connected into the water rocket cavity, a fragile film is arranged on the lower side of the dry ice chamber, and saturated salt water is contained in the water rocket cavity. The technical problem to be solved by the invention is to provide the anti-unmanned-aerial-vehicle water rocket and the guidance method, so that anti-unmanned-aerial-vehicle water rocket guidance is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of guidance technology, in particular to an anti-UAV water rocket and a guidance method. BACKGROUND

[0002] The anti-UAV system is a technical system for detecting, identifying, interfering, intercepting or capturing illegal invading UAVs, aiming to protect key areas and facilities from UAV threats. The anti-UAV system has become an important part of modern airspace safety, and its technical development and policy improvement will directly affect the future airspace safety pattern.

[0003] The existing anti-UAV system mainly has three schemes: One is to capture the UAV by a close-range net gun, which has the advantages of quick response and difficulty for the UAV to escape by its own maneuverability, and the disadvantage of too close capture distance.

[0004] The second is to use high-power laser or microwave to interfere or destroy the UAV, which has the disadvantages of huge energy consumption, unsuitability for remote areas, and questionable safety and reliability.

[0005] The third is to use a simplified military air defense missile scheme, which has the disadvantages of high cost and huge destructive power, which may cause secondary disasters such as fires, and is not suitable for use in forest areas and other places.

[0006] The medium-distance anti-UAV system in forest areas and other places with strict requirements on fire use cannot use rockets and high-power electrical equipment that may cause fire risks due to fire requirements.

[0007] At present, there is still a lack of a specially designed "water rocket" combined with an optical-electric comprehensive guidance system to solve the problem of too close launch distance and inability to quickly maneuver to capture the target of the net gun and catapult anti-UAV system. SUMMARY

[0008] The technical problem to be solved by the present application is to provide an anti-UAV water rocket and a guidance method, which facilitates the guidance of the anti-UAV water rocket.

[0009] The present application achieves the purpose of the invention by adopting the following technical scheme: An anti-UAV water rocket and a guidance method, characterized in that it comprises: An anti-UAV water rocket and a guidance method, characterized in that it comprises: The UAV defense station comprises a base, the base is fixedly connected with a dry ice pellet storage tank, the dry ice pellet storage tank is fixedly connected with a group of dry ice conveying channels, each dry ice conveying channel is fixedly connected with a water rocket launcher, and the anti-UAV water rocket is matched with the water rocket launcher. The dry ice pellet storage tank is fixedly connected with a laser indicator, and the laser indicator is fixedly connected with a multi-spectrum comprehensive optical-electric UAV detection system. The anti-UAV water rocket comprises a water rocket cavity, the water rocket cavity is fixedly connected with an LED beacon and a net gun device, a dry ice chamber is fixedly connected in the water rocket cavity, the lower side of the dry ice chamber is a breakable film, saturated brine is contained in the water rocket cavity, a nozzle is fixedly connected to the water rocket cavity, and a wax plug is installed at the end of the nozzle; A tail wing is installed at the lower part of the water rocket cavity, the tail wing is provided with a mounting notch, a photoelectric receiver seat is arranged in the mounting notch, the photoelectric receiver seat is fixedly connected to the tail wing, a film-coated photoelectric cell element is fixedly connected to the photoelectric receiver seat, a set of light-absorbing baffles are fixedly connected to the photoelectric receiver seat, and a set of air rudders are fixedly connected to the tail wing.

[0010] As a further limitation of the technical solution, the dry ice pill storage tank is provided with a plurality of dry ice storage chambers, each of which is respectively connected to a corresponding dry ice conveying channel, the dry ice pill storage tank is respectively fixedly connected to a dry ice lifting device corresponding to each dry ice storage chamber, the push rod of each dry ice lifting device is respectively fixedly connected to a dry ice seat, the dry ice pill storage tank is respectively provided with a horizontal cavity corresponding to each dry ice conveying channel, the dry ice pill storage tank is respectively fixedly connected to a horizontal electric push rod corresponding to each horizontal cavity, the push rod of each horizontal electric push rod is respectively fixedly connected to a push plate, the dry ice pill storage tank is respectively provided with a vertical cavity corresponding to each dry ice conveying channel, the dry ice pill storage tank is respectively fixedly connected to a vertical electric push rod corresponding to each vertical cavity, and the push rod of each vertical electric push rod is respectively fixedly connected to a heat insulation door.

[0011] As a further limitation of the technical solution, the water rocket cavity is provided with a first dry ice filling port, the dry ice chamber is provided with a second dry ice filling port, and the dry ice chamber is rotatably connected to a sealing plate corresponding to the second dry ice filling port.

[0012] As a further limitation of the technical solution, a defoaming device is fixedly connected in the water rocket cavity.

[0013] A guidance method of an anti-UAV water rocket, comprising the following steps: S1: Establishing a UAV defense station network in a forest area, at least including A, B and C three UAV defense stations, each of which is equipped with 1-4 anti-UAV water rockets; S2: After a UAV invades the defense area, enters the shooting range of the anti-UAV water rocket, and the UAV defense station fills a prepared dry ice pill for one anti-UAV water rocket, the UAV defense station launches one anti-UAV water rocket; S3: The other two UAV defense stations are responsible for the guidance of the anti-UAV water rocket; S4: The anti-drone water rocket needs to measure the horizontal angle of the anti-drone water rocket to the drone, calculate the deviation between the flight direction and the target according to the flight attitude of the anti-drone water rocket, and issue corresponding coded laser instructions; S5: After the drone enters the range of the net gun device, the net gun device works to capture the drone.

[0014] As a further limitation of the technical solution, the principle of the anti-drone water rocket is as follows: The water rocket cavity is filled with near-saturated salt water, and the bottom of the nozzle is sealed with wax. When the water rocket is launched, the cylindrical preformed dry ice pellets are pushed into the dry ice chamber through the first and second dry ice filling ports. After 1-2 seconds, the preformed dry ice pellets generate enough pressure to push the fragile membrane down to compress the salt water, the salt water compresses the wax plug, the wax plug is ejected, and the salt water moves further downward, so that the gas pressure generated by the preformed dry ice pellets blows the fragile membrane, the dry ice falls into the salt water, quickly absorbs heat and evaporates, generates a large amount of carbon dioxide gas, further increases the pressure in the anti-drone water rocket, promotes the ejection of the salt water, and the high-speed ejected salt water generates a recoil thrust to push the anti-drone water rocket into the sky.

[0015] As a further limitation of the technical solution, the guidance principle of the anti-drone water rocket is as follows: A station is only responsible for launching the anti-drone water rocket and does not undertake the guidance of the anti-drone water rocket; B station and C station are responsible for the guidance of the anti-drone water rocket, measure the included angle of the anti-drone water rocket to the target from two angles, calculate the guidance instruction, and unify to B station, and the laser pointer of B station aims at the anti-drone water rocket to launch the coded laser beam, after the photoelectric receiver at the tail of the anti-drone water rocket receives the coded laser, the relative position of B station relative to the anti-drone water rocket is calculated according to the voltage intensity received by the coated photocell element; The laser beam emitted by B station is directed at the anti-drone water rocket, and due to the long distance, the laser beam will diverge into a cylindrical beam. B station and C station can only have one station issuing guidance instructions, i.e. only one laser beam can irradiate the anti-drone water rocket. The photoelectric receiver of the anti-drone water rocket calculates the irradiation direction of the laser beam by measuring the voltage value generated by the laser on the coated photocell element.

[0016] Compared with the prior art, the advantages and positive effects of the present application are: 1. The present application adopts photoelectric guidance technology, and the anti-drone water rocket has low cost and can be recycled and reused.

[0017] 2, The application adopts "water rocket" technology, uses dry ice as power, and cannot cause fire or environmental pollution. The pre-prepared dry ice pellet volatilizes to generate enough pressure, pushes the fragile film downward to compress the brine, the brine compresses the wax plug, the wax plug is sprayed out, the brine moves downward further, the gas pressure generated by the volatilization of the pre-prepared dry ice pellet blows the fragile film, the dry ice falls into the brine, volatilizes rapidly by absorbing heat, generates a large amount of carbon dioxide gas, further increases the pressure in the anti-drone water rocket, and promotes the spraying of the brine.

[0018] 3, Compared with the net gun, the application can fly autonomously for 200 to 500 meters, and the capture radius is enlarged.

[0019] 4, The application adopts photoelectric detection and optical guidance, does not cause radio pollution, and is not easy to be discovered by anti-radiation systems. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a three-dimensional structure schematic diagram of the unmanned aerial vehicle defense station of the application.

[0021] Figure 2 It is a three-dimensional structure schematic diagram of the unmanned aerial vehicle defense station of the application.

[0022] Figure 3 It is a three-dimensional structure schematic diagram of the anti-drone water rocket of the application.

[0023] Figure 4 It is a three-dimensional structure schematic diagram of the anti-drone water rocket of the application.

[0024] Figure 5 It is a three-dimensional structure schematic diagram of the dry ice chamber of the application.

[0025] Figure 6 It is a three-dimensional structure schematic diagram of the anti-drone water rocket of the application.

[0026] Figure 7 It is a three-dimensional structure schematic diagram of the photoelectric receiver of the application.

[0027] Figure 8 It is a schematic diagram of the guidance principle of the application.

[0028] Figure 9 It is a schematic diagram of the photoelectric receiver principle of the application.

[0029] Figure 10 It is a schematic diagram of the rudder control of the application.

[0030] Figure 11 It is a schematic diagram of the correction instruction calculation of the application.

[0031] Figure 12 It is a schematic diagram of the laser instruction control of the airship movement of the application.

[0032] In the figure: 1, multi-spectrum comprehensive photoelectric unmanned aerial vehicle detection system, 2, laser pointer, 3, dry ice pellet storage tank, 4, dry ice conveying channel, 5, water arrow launching tube, 6, base, 7, dry ice storage room, 8, prefabricated dry ice pellet, 9, horizontal cavity, 10, horizontal electric push rod, 11, dry ice seat, 13, vertical cavity, 15, vertical electric push rod, 16, heat insulation door, 17, net gun device, 18, LED beacon, 19, water arrow cavity, 20, first dry ice filling port, 21, sealing plate, 22, dry ice chamber, 23, defoamer, 24, spray pipe, 25, second dry ice filling port, 26, tail wing, 27, mounting slot, 28, photoelectric receiver seat, 29, light absorption baffle, 30, coated photovoltaic cell element, 31, air rudder. DETAILED DESCRIPTION

[0033] One specific embodiment of the present application will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of protection of the present application is not limited by the specific embodiment.

[0034] The present application comprises: Unmanned aerial vehicle defense station and anti-unmanned aerial vehicle water arrow The unmanned aerial vehicle defense station comprises a base 6, the base 6 is fixedly connected with a dry ice pellet storage tank 3, the dry ice pellet storage tank 3 is fixedly connected with a group of dry ice conveying channels 4, each dry ice conveying channel 4 is fixedly connected with a water arrow launching tube 5, and the anti-unmanned aerial vehicle water arrow matches the water arrow launching tube 5. The dry ice pellet storage tank 3 is fixedly connected with a laser pointer 2, the laser pointer 2 can rotate by 360 degrees, and the laser pointer 2 is fixedly connected with a multi-spectrum comprehensive photoelectric unmanned aerial vehicle detection system 1. The anti-unmanned aerial vehicle water arrow comprises a water arrow cavity 19, the water arrow cavity 19 is fixedly connected with an LED beacon 18 and a net gun device 17, a dry ice chamber 22 is fixedly connected in the water arrow cavity 19, the lower side of the dry ice chamber 22 is a breakable film, saturated brine is contained in the water arrow cavity 19, the water arrow cavity 19 is fixedly connected with a spray pipe 24, and a wax plug is mounted at the end of the spray pipe 24. A tail wing 26 is mounted at the lower part of the water arrow cavity 19, the tail wing 26 is provided with a mounting slot 27, a photoelectric receiver seat 28 is arranged in the mounting slot 27, the photoelectric receiver seat 28 is fixedly connected with the tail wing 26, the photoelectric receiver seat 28 is fixedly connected with a coated photovoltaic cell element 30, the photoelectric receiver seat 28 is fixedly connected with a group of light absorption baffles 29, and the tail wing 26 is fixedly connected with a group of air rudders 31.

[0035] The dry ice pellet storage tank 3 is a thick-walled foam bucket, and dry ice can be effectively stored for about one week.

[0036] The concentration of the saturated brine is about 25%.

[0037] From the perspective of the use of opportunities, it is not necessary to cover the forest area completely, which is too high a cost for defense. Only need to set up defense stations in the area where the UAV often passes through. Defense stations should be set in the mountains, passageways and other places with open views. Because of the limited storage period of dry ice, defense stations should be deployed in locations with convenient transportation to facilitate regular dry ice updates.

[0038] The photoelectric receiver seat 28, the coated photocell element 30 and a set of the light absorption baffle 29 constitute a photoelectric receiver.

[0039] When approaching the UAV, the coded laser instructions of the UAV defense station are started. The LED beacon 18 is used to indicate the position of the UAV defense station to itself. The photoelectric receiver located at the tail can receive the laser instructions of the UAV defense station and determine the direction of the UAV defense station relative to itself.

[0040] The aerodynamic design of the anti-UAV water rocket: the center of the whole rocket is controlled at the head 2 / 5 position, which is the center position of most feathered arrows and javelins. With the injection of salt water, the center of gravity will move to the tail, but will not cross the 1 / 2 position, so a long tail wing 26 is needed to ensure sufficient tail balance moment. Since it is a subsonic aircraft, the front end does not need a fairing. The photoelectric receiver at the tail is ring-shaped, which will generate a larger resistance to keep the rocket body stable in the direction. In addition, the photoelectric receiver is in the shape of a converging duct, which can compress and accelerate the airflow and enhance the effectiveness of the air rudder 31.

[0041] The LED beacon 18 emits a specific color of light wave (such as blue-violet), so that the multi-spectral integrated photoelectric UAV detection system 1 on the UAV defense station can discover and detect the anti-UAV water rocket. If a UAV defense station is located in the tail direction of the anti-UAV water rocket (A station in Figure 8 In the A station, it is not conducive to the guidance operation of the anti-UAV water rocket, and the light emitted by the LED beacon 18 cannot be observed.

[0042] The water rocket cavity 19 is made of light and tough materials such as carbon fiber. The water rocket cavity 19 can be recycled.

[0043] The anti-UAV water rocket electrical system needs to consume a certain amount of electricity (such as the LED beacon 18 and the air rudder 31 consume a large amount of electricity), so it needs to be built-in battery to meet the needs of the flight process (less than 1 minute).

[0044] The dry ice pill storage tank 3 is provided with a group of dry ice storage rooms 7, each of which is respectively communicated with a corresponding dry ice conveying channel 4. The dry ice pill storage tank 3 is respectively fixedly connected with a dry ice lifting device 13 corresponding to each dry ice storage room 7. The push rod of each dry ice lifting device 13 is respectively fixedly connected with a dry ice seat 12. The dry ice pill storage tank 3 is respectively provided with a horizontal cavity 9 corresponding to each dry ice conveying channel 4. The dry ice pill storage tank 3 is respectively fixedly connected with a horizontal electric push rod 11 corresponding to each horizontal cavity 9. The push rod of each horizontal electric push rod 11 is respectively fixedly connected with a push plate 10. The dry ice pill storage tank 3 is respectively provided with a vertical cavity 14 corresponding to each dry ice conveying channel 4. The dry ice pill storage tank 3 is respectively fixedly connected with a vertical electric push rod 15 corresponding to each vertical cavity 14. The push rod of each vertical electric push rod 15 is respectively fixedly connected with a heat insulation door 16.

[0045] The dry ice conveying channel 4 is provided with a corresponding perforation corresponding to the heat insulation door 16.

[0046] The water arrow cavity 19 is provided with a first dry ice filling port 20. The dry ice chamber 22 is provided with a second dry ice filling port 25. The dry ice chamber 22 is rotationally connected with a sealing plate 21 corresponding to the second dry ice filling port 25.

[0047] The water arrow cavity 19 is fixedly connected with a defoaming device 23.

[0048] A guidance method of a counter-drone water arrow, comprising the following steps: S1: Establishing a network of unmanned aerial vehicle defense stations in a forest area, at least including A, B and C three unmanned aerial vehicle defense stations, each unmanned aerial vehicle defense station as shown in Figure 1 The diameter is about 3 meters, and the height is about 3.5 meters. Each of the unmanned aerial vehicle defense stations is equipped with 1-4 counter-drone water arrows; considering the cost, since a large number of unmanned aerial vehicles will not fly over the forest area, it is not necessary to equip too many counter-drone water arrows. According to the flight height of 1000 meters of the water arrow, each unmanned aerial vehicle defense station can cover a low-altitude area with a radius of 500 meters and a height of 1000 meters.

[0049] S2: After the unmanned aerial vehicle invades the defense area, enters the shooting range of the counter-drone water arrow, the unmanned aerial vehicle defense station fills a prefabricated dry ice pill 8, and launches one of the counter-drone water arrows; S3: The other two unmanned aerial vehicle defense stations are responsible for the guidance of the counter-drone water arrow; S4: The UAV defense station needs to measure the horizontal angle of the anti-UAV water rocket to the UAV, calculate the deviation between the flight direction and the target according to the flight attitude of the anti-UAV water rocket, and issue corresponding coded laser instructions; Because the angle between the UAV defense station launching the anti-UAV water rocket and the anti-UAV water rocket body axis is too small, the reaction time of accurate ranging is not enough, so it must rely on observation from a distance near the UAV defense station, and two UAV defense stations need to measure from different angles, as shown in Figure 11 S5: When the UAV enters the range of the net gun device 17, the net gun device 17 works to capture the UAV.

[0050] The principle of the anti-UAV water rocket is as follows: The water rocket cavity 19 is filled with nearly saturated salt water. The purpose of using salt water is to lower the freezing point. When dry ice evaporates, it will absorb heat and freeze fresh water. The bottom of the nozzle 24 is sealed with wax. When the water rocket is launched, the cylindrical pre-made dry ice pellets 8 are pushed into the dry ice chamber 22 through the first dry ice filling port 20 and the second dry ice filling port 25. The dry ice chamber 22 uses foam plastic for heat insulation, and the pre-made dry ice pellets 8 do not evaporate quickly, which gives the loader enough time to withdraw. After about 1-2 seconds, the pre-made dry ice pellets 8 evaporate to generate enough pressure, pushing the fragile membrane down to compress the salt water, which pushes the wax plug out, and the salt water moves further down, causing the pre-made dry ice pellets 8 to evaporate and blow the fragile membrane, dry ice falls into the salt water, quickly absorbs heat and evaporates, generating a large amount of carbon dioxide gas, further increasing the pressure inside the anti-UAV water rocket, promoting the ejection of salt water, and the defoamer 23 avoids gas from the tail of the nozzle 24 being directly ejected, and also blocks dry ice fragments from being directly washed away by salt water. The high-speed ejected salt water generates a recoil thrust to push the anti-UAV water rocket into the sky. This device can generally fly to a height of 200-500 meters. If the size of the anti-UAV water rocket is further increased, it can theoretically fly higher, but it will require higher material strength, and the practical significance is not great.

[0051] ​The dry ice lifting device 13 rises, causing the dry ice seat 12 to move the pre-made dry ice pellets 8 upwards. The vertical electric push rod 15 first retracts downwards, causing the door insulation 16 to move downwards and out of the dry ice conveyor channel 4 area. The horizontal electric push rod 11 extends, causing the push plate 10 to contact the uppermost pre-made dry ice pellet 8, driving it to move along the dry ice conveyor channel 4, passing sequentially through the first dry ice filling port 20 and the second dry ice filling port 25, causing the sealing plate 21 to swing, allowing the pre-made dry ice pellet 8 to enter the dry ice chamber 22. The horizontal electric push rod 11 is controlled to retract, and the vertical electric push rod 15 is controlled to extend, causing the door insulation 16 to close the dry ice conveyor channel 4. The sealing plate 21 has a sealing ring at the contact position with the first dry ice filling port 20, which self-seals under gas pressure. Alternatively, a torsion spring structure is used at the rotatable connection between the sealing plate 21 and the dry ice seat 12, so that the sealing plate 21 seals the dry ice seat 12. At the same time, the pre-made dry ice pellet 8 returns to its original position, so that the sealing plate 21 is subjected to gas pressure and maintains a seal with the dry ice seat 12.

[0052] The guidance principle of the anti-drone water rocket is as follows: like Figure 8 As shown. After a drone intrudes into the defense area and enters the range of the anti-drone water rocket, the drone defense station launches one of the anti-drone water rockets. Because the anti-drone water rocket sprays a large amount of salt water upon takeoff, it may create a water mist that obscures the angle of the multispectral integrated optoelectronic drone detection system 1 and the laser designator 2. The drone defense station responsible for launching the water rocket is not responsible for the angle of the anti-drone water rocket. Figure 8 Station A is closest to the drone. After detecting that the drone has entered the counterattack range, Station A is only responsible for launching the anti-drone water rocket and does not undertake the guidance of the anti-drone water rocket.

[0053] Two defensive stations are located near each other at a certain angle (greater than 45 degrees). Figure 8 Stations B and C are responsible for guiding the anti-drone water rocket. Stations B and C are approximately 2 kilometers from station A. They measure the angle between the anti-drone water rocket and the target from two different angles, calculate guidance commands (explained at the end of this document), and summarize them at station B. Station B's laser designator 2 then aims at the anti-drone water rocket and emits a coded laser beam. There are ten types of coded commands, as shown in Table 1. After receiving the coded laser beam, the photoelectric receiver at the tail of the anti-drone water rocket first calculates the relative position of station B to the anti-drone water rocket based on the voltage intensity received by the coated photovoltaic cell element 30. To avoid the influence of sunlight on the coated photovoltaic cell element 30, a filter film of a specific thickness is coated on the element, limiting the passage of infrared light in the 8-12 micrometer band (this band is mostly absorbed by the atmosphere in sunlight and cannot reach the ground). The laser designator 2 emits a laser signal in this band to illuminate the anti-drone water rocket.

[0054] Table 1 Encoding Instructions

[0055] Instruction description: the concept of beat, 0.001 seconds for a beat. According to the actual situation, other time can also be selected as the beat unit (depending on the time resolution of the photocell and the circuit). Each binary bit is divided into three beats: "-" click, 3 beats in a row, "." drop, 1 beat off, 1 beat on, and 1 beat off again, the total length is also 3 beats. The total length of an instruction is 21 beats. The gap between instructions cannot be less than 5 beats. The 7-bit of each instruction is a center-symmetric structure, 1-7, 2-6, 3-5 are mutually checked. Regarding the turning instructions, half rudder and full rudder only differ by 1-2 bits, if there is an error, it is only a rudder error, and there will be no serious reverse direction error. When the defense station finds that the anti- unmanned aerial vehicle water rocket is in an abnormal state, it can issue new instructions to correct it.

[0056] Instructions can be stacked, as shown in Figure 10 , instructions that operate the rudder in opposite directions cannot be stacked (for example, do not turn left and right). If the instructions that operate adjacent rudder positions are both full rudder, the execution rudder position after stacking is on the full rudder ring; if they are both half rudder instructions, the execution rudder position after stacking is on the half rudder ring; if a full rudder instruction and a half rudder instruction are stacked, the stacking method is to project from the half rudder point to the full rudder direction, and the position projected on the full rudder ring. The reason for this design is that the rudder effect of any combined rudder position cannot exceed the diameter of the full rudder ring. Excessive rudder position not only cannot play a role in rapid turning, but also can cause the anti- unmanned aerial vehicle water rocket to lose stability, or generate excessive resistance to affect the flight speed of the anti- unmanned aerial vehicle water rocket.

[0057] The laser beam emitted by the B station is directed at the anti- unmanned aerial vehicle water rocket. Due to the long distance, the laser beam will diverge into a cylindrical beam, for example, at a distance of 5 kilometers, the laser beam will form a light spot with a diameter of about 2 meters. If the laser beam is too focused or diverged too much, a variable focus lens can be considered to adjust the size of the light spot. It is appropriate that the light spot can basically cover the arrow body. B station and C station summarize data through radio, among which only one station can issue guidance instructions, that is, only one laser beam can irradiate the anti- unmanned aerial vehicle water rocket. As shown in Figure 9 , the photoelectric receiver on the anti- unmanned aerial vehicle water rocket is distributed along the circumference and divided into 16 blocks. By measuring the voltage value (i.e. irradiation intensity) generated by the laser on the coated photocell element 30, the irradiation direction of the laser beam can be calculated; Since the anti- unmanned aerial vehicle water rocket may rotate axially during flight, this direction is not fixed, and the circuit (which can be a single-chip microcomputer) on the anti- unmanned aerial vehicle water rocket must control the air rudder 31 according to the direction of the laser beam to make the anti- unmanned aerial vehicle water rocket produce deflection according to the intention of the instruction. The control method of the anti- unmanned aerial vehicle water rocket system for rudder position is referred to in Figure 10The direction of laser irradiation is called the instruction coordinate system (for example, the human body faces away from the laser beam, the head points to the arrowhead, and the foot points to the arrowtail), and the coordinate system formed by the four air rudders 31 is called the rudder position coordinate system. The deflection direction and deflection amplitude of the four rudder surfaces are calculated by using the projection method. In actual hardware implementation, the corresponding relationship between the instruction and the rudder position is determined by using the look-up table method. The instruction coordinate system can be divided into 32 grids (2 times the number of light-absorbing baffles), and since the four rudders are symmetric in pairs, only the projection of the quarter-circle region needs to be calculated, that is, 8 groups of full-rudder and half-rudder rudder position angles, so the data table is not large, and an 8-bit single-chip microcomputer can store it.

[0058] The laser guidance method can also be used for other flying objects, for example, for guiding a floating airship. Considering that the airship has a slow speed and poor rudder effect, the rudder can be changed into a ducted fan, and the principle is the same, as shown in Figure 12 If the lifting of the floating airship is considered, two more coded instructions need to be added.

[0059] The above disclosure is only a specific embodiment of the present application, but the present application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the present application.

Claims

1. An anti-drone water rocket, characterized in that, include: Unmanned aerial vehicle (UAV) defense stations and anti-UAV water rockets; The drone defense station includes a base (6), the base (6) is fixedly connected to a dry ice pellet tank (3), the dry ice pellet tank (3) is fixedly connected to a set of dry ice conveyor channels (4), each of the dry ice conveyor channels (4) is fixedly connected to a water rocket launcher (5), and the anti-drone water rocket is matched with the water rocket launcher (5). The dry ice pellet storage tank (3) is fixedly connected to a laser pointer (2), and the laser pointer (2) is fixedly connected to a multispectral integrated optoelectronic UAV detection system (1). The anti-drone water rocket includes a water rocket cavity (19), which is fixedly connected to an LED beacon (18) and a net gun device (17). A dry ice chamber (22) is fixedly connected inside the water rocket cavity (19). The lower side of the dry ice chamber (22) is a fragile film. The water rocket cavity (19) is filled with saturated brine. The water rocket cavity (19) is fixedly connected to a nozzle (24). A wax plug is installed at the end of the nozzle (24). The lower part of the water rocket cavity (19) is equipped with a tail fin (26), the tail fin (26) is provided with a mounting slot (27), a photoelectric receiver base (28) is provided in the mounting slot (27), the photoelectric receiver base (28) is fixedly connected to the tail fin (26), the photoelectric receiver base (28) is fixedly connected to a coated photovoltaic cell element (30), the photoelectric receiver base (28) is fixedly connected to a set of light-absorbing baffles (29), and the tail fin (26) is fixedly connected to a set of air rudders (31).

2. The anti-drone water rocket according to claim 1, characterized in that, The dry ice pellet storage tank (3) is provided with a set of dry ice storage chambers (7), each of the dry ice storage chambers (7) is connected to the corresponding dry ice conveying channel (4), the dry ice pellet storage tank (3) is fixedly connected to a dry ice lifting device (13) for each of the dry ice storage chambers (7), the push rod of each of the dry ice lifting devices (13) is fixedly connected to a dry ice seat (12), the dry ice pellet storage tank (3) is provided with a transverse cavity (9) for each of the dry ice conveying channels (4), the dry ice The pellet storage tank (3) is fixedly connected to a horizontal electric push rod (11) for each of the horizontal cavities (9), and the push rod of each of the horizontal electric push rods (11) is fixedly connected to a push plate (10). The dry ice pellet storage tank (3) is provided with a vertical cavity (14) for each of the dry ice conveying channels (4). The dry ice pellet storage tank (3) is fixedly connected to a vertical electric push rod (15) for each of the vertical cavities (14), and the push rod of each of the vertical electric push rods (15) is fixedly connected to an insulated door (16).

3. The anti-drone water rocket according to claim 2, characterized in that, The water rocket cavity (19) is provided with a first dry ice filling port (20), and the dry ice chamber (22) is provided with a second dry ice filling port (25). The dry ice chamber (22) is rotatably connected to the sealing plate (21) corresponding to the second dry ice filling port (25).

4. The anti-drone water rocket according to claim 3, characterized in that, The defoamer (23) is fixedly connected inside the water rocket cavity (19).

5. A guidance method for an anti-drone water rocket as described in claim 4, characterized in that, Includes the following steps: S1: Establish a network of drone defense stations in the forest area, including at least three drone defense stations A, B and C, and each drone defense station is equipped with 1 to 4 anti-drone water rockets; S2: After the drone invades the defense area, it enters the range of the anti-drone water rocket. The drone defense station provides one of the anti-drone water rockets with pre-made dry ice pellets (8), and the drone defense station launches one of the anti-drone water rockets. S3: The other two drone defense stations are responsible for the guidance of the anti-drone water rockets; S4: The drone defense station needs to measure the horizontal deflection angle between the anti-drone water rocket and the drone, calculate the degree of deviation between the flight direction and the target based on the flight attitude of the anti-drone water rocket, and issue the corresponding coded laser command. S5: After the drone enters the range of the net gun device (17), the net gun device (17) works to capture the drone.

6. The guidance method according to claim 5, characterized in that: The principle of the anti-drone water rocket is as follows: The water rocket cavity (19) is filled with nearly saturated brine, and the bottom of the nozzle (24) is sealed with wax. When the water rocket is launched, the cylindrical pre-made dry ice pellet (8) is pushed into the dry ice chamber (22) through the first dry ice loading port (20) and the second dry ice loading port (25). After 1 to 2 seconds, the pre-made dry ice pellet (8) evaporates and generates sufficient pressure to push the fragile film downward to compress the brine. The brine compresses the wax plug downward and ejects the wax plug. The brine moves further downward, causing the gas pressure from the pre-made dry ice pellet (8) to break the fragile film. The dry ice falls into the brine, quickly absorbs heat and evaporates, generating a large amount of carbon dioxide gas, which further increases the pressure inside the anti-drone water rocket and promotes the spraying of brine. The high-speed sprayed brine generates a recoil thrust that pushes the anti-drone water rocket into the sky.

7. The guidance method according to claim 5, characterized in that: The guidance principle of the anti-drone water rocket is as follows: Station A is only responsible for launching the anti-drone water rocket and does not undertake the guidance work for the anti-drone water rocket; Stations B and C are responsible for guiding the anti-drone water rocket. They measure the angle between the anti-drone water rocket and the target from two angles, calculate the guidance command, and summarize it to Station B. The laser designator (2) of Station B aims at the anti-drone water rocket and emits a coded laser beam. After the photoelectric receiver at the tail of the anti-drone water rocket receives the coded laser, it calculates the relative position of Station B to the anti-drone water rocket based on the voltage intensity received by the coated photovoltaic cell element (30). The laser beam emitted by station B is directed at the anti-drone water rocket. Due to the long distance, the laser beam will diverge into a cylindrical beam. Stations B and C exchange data via radio. Only one station can issue guidance commands, meaning only one laser beam can irradiate the anti-drone water rocket. The photoelectric receiver of the anti-drone water rocket calculates the irradiation direction of the laser beam by measuring the voltage value generated by the laser on the coated photovoltaic cell element (30).

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