A UAV anti-jamming landing system based on individual soldier mobility

Abstract

This invention provides an anti-jamming landing system for unmanned aerial vehicles (UAVs) based on individual soldier movement. Compared with existing technologies, the anti-jamming landing system of this invention includes a control base station for monitoring the UAV's status parameters and controlling and adjusting the UAV's flight; a receiving module disposed on top of the UAV nest to receive the UAV; a fixing module disposed on the receiving module to electromagnetically attract and fix the UAV; an environmental monitoring module for monitoring the environment near the UAV nest; and an adjustment module for controlling the intensity of the electromagnetic attraction of the fixing module based on the environment near the UAV nest and the UAV's status parameters. This invention can provide effective buffering during UAV landing, protecting the safety of the UAV and its equipment.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an anti-jamming landing system for UAVs based on individual soldier movement. Background Technology

[0002] Anti-jamming landing for drones refers to the ability of a drone to accurately land at a designated location in a highly jammed environment without being affected by interference signals. This technology can improve the accuracy and reliability of drones in situations with poor electromagnetic environments or strong interference. Achieving anti-jamming landing for drones requires consideration of several factors. First, communication and navigation equipment with high anti-jamming performance needs to be selected to reduce the impact of interference signals. Second, the drone's control system needs to be optimized to enable it to quickly and accurately identify and respond to interference signals. Furthermore, corresponding software algorithms need to be developed to achieve autonomous interference detection and countermeasures.

[0003] Our research team has long been reviewing and studying a large amount of relevant data on UAV landing technologies. Utilizing relevant resources and conducting numerous experiments, we discovered existing technologies such as those disclosed in CN106502257A, CN108873943B, KR101788140B1, and KR101527210B1. One such technology discloses a UAV take-off and landing platform, comprising a base, an upper platform, and a support mechanism that periodically supports the upper platform above the base. This support mechanism is height-extendable, allowing the upper platform to have two working positions: a first working position where the support mechanism is extended upwards, and a second working position where the support mechanism is retracted downwards. After the UAV lands on the take-off and landing platform, it can be locked onto the upper platform. Because the upper platform has two working positions, its height can be adjusted, allowing the UAV landing gear to be positioned within the take-off and landing platform.

[0004] This invention was made to address common problems in the field, such as unstable landing reception of drones. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings existing in the field by proposing an anti-jamming landing system for unmanned aerial vehicles (UAVs) based on individual soldier movement.

[0006] In order to overcome the deficiencies of the prior art, the present invention adopts the following technical solutions:

[0007] An anti-jamming landing system for unmanned aerial vehicles (UAVs) based on individual soldier mobility is disclosed. The system includes a UAV nest, a control base station for monitoring the UAV's status parameters and controlling its flight, a receiving module mounted on top of the nest to receive signals from the UAV, a fixing module mounted on the receiving module for electromagnetically attracting and securing the UAV, an environmental monitoring module for monitoring the environment near the nest, and an adjustment module for controlling the intensity of the electromagnetic attraction of the fixing module based on the environment near the nest and the UAV's status parameters.

[0008] The control base station, receiving module, fixing module, environmental monitoring module, and UAV establish a wireless connection to achieve mutual information transmission. The status parameters include the UAV's body weight, battery level, flight altitude, attitude, speed, and position information. The control base station sends the UAV's status parameters to the fixing module, enabling the fixing module to adjust and generate corresponding electromagnetic attraction based on the UAV's status parameters.

[0009] The adjustment module includes a receiving unit for receiving and storing wind speed sensor readings, a warning judgment unit for preprocessing the wind speed readings to generate a warning difference related to the change difference in the wind speed readings, a strength calculation unit for calculating the electromagnetic attraction force of the fixed module based on the wind speed near the nest and the warning judgment unit, and a command driving unit for generating operation commands based on the electromagnetic attraction force calculated by the strength calculation unit and sending the operation commands to the fixed module so that the fixed module performs corresponding electromagnetic attraction operations.

[0010] Furthermore, the receiving module includes a receiving port disposed on the top wall of the nest, a horizontal plate movably disposed horizontally within the nest, a mating port disposed in the middle of the horizontal plate, a disc coaxially sleeved within the mating port, and a cover that is fitted to the top wall of the nest and can automatically cover the receiving port.

[0011] Furthermore, the fixing module includes a channel cavity vertically penetrating the middle of the disk, a through-hole block movably fitted within the channel cavity and capable of extending through the top of the channel cavity, an electromagnetic adsorption device embedded in the top wall of the through-hole block, several buffer connectors each fixed at one end to the outer wall of the disk and at the other end to the inner wall of the mating opening, a lifting platform for driving the horizontal plate to move up and down inside the nest, a miniature telescopic drive component whose bottom is mounted on the bottom wall of the channel cavity via a fixed base and whose top is fixedly connected to the bottom wall of the through-hole block, and a buffer contact component disposed on the top wall of the through-hole block to buffer the force of the UAV against the top wall of the block. The upper end of the channel cavity is an open structure and the lower end is a closed structure. The channel cavity is disposed inside the disk, and the top of the channel cavity is disposed through the upper wall of the disk. The bottom of the lifting platform is fixed inside the nest, and the top of the lifting platform supports the disk to drive the disk to move up and down relative to the nest.

[0012] Furthermore, the buffer connector includes a flexible rod with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port, and a spring with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port. Each buffer connector includes at least one flexible rod and one spring. The flexible rod in each buffer connector is coaxially sleeved inside the spring. Each spring has a flexible rod sleeved inside. The flexible rod is an elastic rod made of rubber material. Thus, the disc can be resettable relative to the receiving port under the action of the buffer connector.

[0013] Furthermore, the buffer contact includes several airbag components, a fixing plate fixed to the bottom of the airbag components by centrifugal welding technology, a connecting rod that fixes the bottom wall of the fixing plate to the top wall of the through block, several air outlets distributed on the fixing plate, a connecting pipe that connects the air outlets to the airbag components in sequence, an air inlet pipe embedded in the fixing plate with one end connected to the side end of the airbag component, an inflation pump for supplying gas to the air inlet pipe, an electric valve for controlling the connection between the air inlet pipe and the airbag components, and a control valve that is sequentially embedded in the air outlets to control the closure of the air outlet openings.

[0014] The beneficial effects achieved by the present invention are:

[0015] 1. The adjustment module, through an early warning judgment unit and an intensity calculation unit, can calculate the appropriate electromagnetic attraction strength based on wind force detection values ​​and UAV status parameters. This allows the adjustment module to flexibly adjust the electromagnetic attraction strength, preventing external interference from affecting the fixation of the UAV by the fixing module under different wind speeds, UAV models, or flight conditions, thus improving the safety of UAV landing. Simultaneously, the adjustment module establishes a wireless communication connection with the control base station and other modules, enabling real-time information transmission and command control. This allows the adjustment module to respond promptly to commands sent by the control base station and adjust the electromagnetic attraction strength as needed, ensuring the real-time performance and stability of the UAV anti-interference landing system.

[0016] 2. The receiving module of the present invention, through the disc, buffer connector and mating port, can protect the UAV landing gear and its accessories from external environmental interference, impact or damage. The receiving module provides reliable support and protection for the UAV landing process, thereby effectively maintaining the integrity and stability of the system.

[0017] 3. The buffer contact of the present invention adopts a gas inflation and deflation method, which can reduce energy consumption and material wear compared with traditional mechanical buffer devices, has higher energy conversion efficiency, and reduces environmental pollution. At the same time, the buffer contact can provide a stable and soft buffer effect when the UAV lands, reduce the collision force between the UAV body and the nest, and improve the safety and stability of UAV landing. Attached Figure Description

[0018] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0019] Figure 1 This is a modular schematic diagram of the anti-jamming landing system for unmanned aerial vehicles based on individual soldier movement according to the present invention.

[0020] Figure 2 This is a schematic diagram of a portion of the receiving module of the present invention.

[0021] Figure 3 This is a partial structural diagram of the nest of the present invention.

[0022] Figure 4 This is a partial structural diagram of the fixing module of the present invention.

[0023] Figure 5 This is a partial structural schematic diagram of the buffer contact element of the present invention.

[0024] Explanation of reference numerals: 1-Nest; 2-Horizontal plate; 3-Lifting platform; 4-Nest top wall; 5-Receiver port; 6-Matching port; 7-Buffer connector; 8-Disc; 9-Channel cavity; 10-Connecting rod; 11-Air outlet; 12-Airbag component; 13-Air inlet pipe; 14-Fixing plate; 15-Penetrating block; 16-Miniature telescopic drive component. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to its embodiments. It should be noted that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this invention. Other systems, methods, and / or features of this embodiment will become apparent to those skilled in the art after reviewing the following detailed description. Furthermore, the terminology used to describe positional relationships in the accompanying drawings is for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0026] Example 1: Combined with Appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 5 This embodiment constructs an anti-jamming landing system for unmanned aerial vehicles (UAVs) based on individual soldier movement. The anti-jamming landing system includes a UAV nest, a control base station for monitoring the UAV's status parameters and controlling and adjusting the UAV's flight, a receiving module disposed on the top of the UAV nest to receive the UAV, a fixing module disposed on the receiving module to fix the UAV by electromagnetic adsorption, an environmental monitoring module for monitoring the environment near the UAV nest, and an adjustment module for controlling the intensity of the electromagnetic attraction of the fixing module based on the environment near the UAV nest and the UAV's status parameters.

[0027] The control base station, receiving module, fixing module, environmental monitoring module, and UAV establish a connection through wireless communication to achieve mutual information transmission. The status parameters include the UAV's body weight, battery level, flight altitude, attitude, speed, and position information. The control base station sends the UAV's status parameters to the fixing module so that the fixing module can adjust and generate corresponding electromagnetic attraction based on the UAV's status parameters.

[0028] The environmental monitoring module includes several wind speed sensors fixed on the nest to monitor the wind speed near the nest. The wind speed sensors perform wind speed monitoring at preset time intervals, and the current wind force detection value of the wind speed sensor is represented as rn.

[0029] The adjustment module includes a receiving unit for receiving and storing wind force detection values ​​from a wind speed sensor, a warning judgment unit for preprocessing the wind force detection values ​​to generate a warning difference related to the change difference in the wind speed detection values, a strength calculation unit for calculating the electromagnetic attraction force of the fixed module based on the wind speed near the nest and the warning judgment unit, and a command driving unit for generating operation instructions based on the electromagnetic attraction force of the strength calculation unit and sending the operation instructions to the fixed module so that the fixed module performs corresponding electromagnetic attraction operations.

[0030] The operating steps of the early warning judgment unit are as follows:

[0031] S101: Select n points from the current wind speed data and denote them as the X-sequence set, where rn is within the range of the X-sequence set.

[0032] S102: Arrange the wind force measurement values ​​in the X series set in ascending order, determine the median MN of the wind force measurement values ​​in the X series set, and divide the entire data into two parts based on MN: a group below the median and a group above the median. The median of the group below the median is determined as M1, and the median of the group above the median is denoted as M2.

[0033] S103: Calculate the interquartile range (FRP) of the X sequence set:

[0034] FRP = M2 - M1,

[0035] S104: Determine the upper edge A and lower edge B of the set of sequences X:

[0036] A = M² + 1.5FRP

[0037] B = M1 - 1.5FRP

[0038] S105: Sequentially evaluate the wind force detection values ​​within the X-series set. Values ​​less than B are designated as outliers (UN), and values ​​greater than A are designated as warning values ​​(WA). Both outliers and warning values ​​are removed from the X-series set to obtain the filtered data sequence Y1. The mean of the detection parameter values ​​in data sequence Y1 is then calculated as the reference mean (VER1).

[0039] S106: Further obtain the current warning difference (RE):

[0040] RE= ;

[0041] The workflow of the strength calculation unit is as follows:

[0042] S201: Receive the weight G of the UAV and the flight speed V of the UAV during its descent, sent by the control base station.

[0043] S202: Calculate and obtain the electromagnetic attraction force F of the electromagnetic adsorption device:

[0044] ,

[0045] The electromagnetic adsorption coefficient related to the weight of the drone, where K is in Newtons per kilogram. The conversion factor for the adsorption force correction value related to the drone's flight speed, and The unit is c1 is a priority level parameter of the velocity correction coefficient. K, t, and c1 are obtained by those skilled in the art based on the historical experience of UAV landing and repeated experimental training on UAV landing, and will not be elaborated here.

[0046] The adjustment module, through an early warning judgment unit and an intensity calculation unit, can calculate the appropriate electromagnetic attraction strength based on wind force detection values ​​and UAV status parameters. This allows the module to flexibly adjust the electromagnetic attraction strength, preventing external interference from affecting the fixation of the UAV by the fixing module under different wind speeds, UAV models, or flight conditions, thus improving the safety of UAV landing. Simultaneously, the adjustment module establishes a wireless communication connection with the control base station and other modules, enabling real-time information transmission and command control. This allows the adjustment module to respond promptly to commands sent by the control base station and adjust the electromagnetic attraction strength as needed, ensuring the real-time performance and stability of the UAV anti-interference landing system.

[0047] Example 2: Combined with Appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 5 In addition to the contents of the above embodiments, the receiving module includes a receiving port disposed on the top wall of the nest, a horizontal plate movably disposed horizontally within the nest, a mating port disposed in the middle of the horizontal plate, a disc coaxially sleeved within the mating port, and a cover that is fitted to the top wall of the nest and can automatically cover the receiving port. The cover is an existing automatic closing cover mechanism and is not limited here. The mating port is connected to the inside of the nest, and the horizontal plate cannot extend from the receiving port to the outside of the nest.

[0048] The fixing module includes a channel cavity that vertically penetrates the middle of the disk, a through-hole block that is movably fitted inside the channel cavity and can extend out from the top of the channel cavity, an electromagnetic adsorption device embedded in the top wall of the through-hole block, several buffer connectors that are respectively fixed at one end to the outer wall of the disk and at the other end to the inner wall of the fitting port, a lifting platform for driving the horizontal plate to move up and down inside the nest, a miniature telescopic drive component whose bottom is mounted on the bottom wall of the channel cavity via a fixed seat and whose top is fixedly connected to the bottom wall of the through-hole block, and a buffer contact component set on the top wall of the through-hole block to buffer the force of the UAV against the top wall of the block. The upper end of the channel cavity is an open structure and the lower end is a closed structure. The channel cavity is set inside the disk, and the top of the channel cavity is set through the upper wall of the disk. The bottom of the lifting platform is fixed inside the nest, and the top of the lifting platform supports the disk to drive the disk to move up and down relative to the nest.

[0049] The buffer connector includes a flexible rod with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port, and a spring with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port. Each buffer connector includes at least one flexible rod and one spring. The flexible rod in each buffer connector is coaxially sleeved inside the spring. Each spring has a flexible rod sleeved inside. The flexible rod is an elastic rod made of rubber material. Thus, the disc can be resettable relative to the receiving port under the action of the buffer connector.

[0050] When the drone lands, its landing gear is supported on the disc, and under the force of the drone, the disc moves relative to the receiving port, thereby effectively buffering the impact force of the landing gear on the disc and improving the safety of the landing gear.

[0051] The receiving module of this invention, through a disc, a buffer connector, and a mating port, can protect the UAV landing gear and its accessories from external environmental interference, impact, or damage. The receiving module provides reliable support and protection for the UAV landing process, thereby effectively maintaining the integrity and stability of the system.

[0052] Example 3: Combined with Appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 5In addition to the contents of the above embodiments, the buffer contact includes a plurality of airbag components, a fixing plate fixed to the bottom of the airbag components by centrifugal welding technology, a connecting rod that fixes the bottom wall of the fixing plate to the top wall of the through block, a plurality of air outlets distributed on the fixing plate, a connecting pipe that connects the air outlets to the airbag components in sequence, an air inlet pipe embedded in the fixing plate and one end of which is connected to the side end of the airbag component, an inflation pump for supplying gas to the air inlet pipe, an electric valve for controlling the connection between the air inlet pipe and the airbag components, and a control valve that is sequentially embedded in the air outlets to control the closure of the air outlet openings.

[0053] The operating procedure of the buffer contact is as follows:

[0054] S301: When the anti-jamming landing system of the UAV does not receive signals from the UAV, the airbag is in an inflated state.

[0055] S302: When the UAV anti-jamming landing system is preparing to receive the UAV, the miniature telescopic drive extends to a preset length. At the same time, the through-block is driven to the outside of the channel cavity by the miniature telescopic drive, the electric valve opens, and the control valve closes. The air pump inflates the airbag with a preset volume of gas, and the airbag is inflated.

[0056] S302: When the electric valve is closed and the control valve is opened, during the process of the drone's landing gear landing on the disc, the airbag component abuts against at least part of the bottom wall of the drone's shell, and the gas inside the airbag component is released from the air outlet to buffer the drone's landing operation until the gas inside the airbag component is completely released. The drone then adheres to the fixing plate under the adsorption of the electromagnetic adsorption device, and the airbag contact component completes the buffering operation.

[0057] The buffer contact of this invention uses gas inflation and deflation, which reduces energy consumption and material wear compared to traditional mechanical buffer devices, has higher energy conversion efficiency, and reduces environmental pollution. At the same time, the buffer contact can provide a stable and soft cushioning effect when the drone lands, reducing the collision force between the drone body and the nest, and improving the safety and stability of the drone landing.

[0058] While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations can be appropriately omitted, substituted, or added to various processes or components. For example, in alternative configurations, methods can be performed in a different order than described, and / or various components can be added, omitted, and / or combined. Moreover, features described with respect to certain configurations can be combined in various other configurations, such as different aspects and elements of the configuration can be combined in a similar manner. Furthermore, the elements therein can be updated as the technology develops; many elements are examples and do not limit the scope of this disclosure or the claims. It should also be understood that after reading the description of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent changes and modifications also fall within the scope defined by the claims of this invention.

Claims

1. A UAV anti-jamming landing system based on individual soldier movement, characterized in that, The anti-interference landing system for unmanned aerial vehicles (UAVs) includes a nest, a control base station for monitoring the UAV's status parameters and controlling and adjusting the UAV's flight, a receiving module disposed on the top of the nest to receive the UAV, a fixing module disposed on the receiving module to electromagnetically attract and fix the UAV, an environmental monitoring module for monitoring the environment near the nest, and an adjustment module for controlling the intensity of the electromagnetic attraction of the fixing module based on the environment near the nest and the UAV's status parameters. The control base station, receiving module, fixing module, environmental monitoring module, and UAV establish a wireless connection to achieve mutual information transmission. The status parameters include the UAV's body weight, battery level, flight altitude, attitude, speed, and position information. The control base station sends the UAV's status parameters to the fixing module so that the fixing module can adjust and generate corresponding electromagnetic attraction based on the UAV's status parameters. The environmental monitoring module monitors the wind speed near the UAV's nest. The adjustment module includes a receiving unit for receiving and storing wind speed sensor readings, a warning judgment unit for preprocessing the wind speed readings to generate a warning difference related to the change difference in the wind speed readings, a wind speed near the housing and a warning judgment unit for calculating the intensity of the electromagnetic attraction force of the fixed module, and an instruction driving unit for generating an operation instruction based on the electromagnetic attraction force of the intensity calculation unit and sending the operation instruction to the fixed module so that the fixed module performs the corresponding electromagnetic attraction operation. The receiving module includes a receiving port disposed on the top wall of the nest, a horizontal plate that is movably disposed horizontally within the nest, a mating port disposed in the middle of the horizontal plate, a disc coaxially sleeved within the mating port, and a cover that is mated to the top wall of the nest and can automatically cover the receiving port. The fixed module includes a channel cavity that vertically penetrates the middle of the disk, a through-hole block that is movably fitted inside the channel cavity and can extend out from the top of the channel cavity, an electromagnetic adsorption device embedded in the top wall of the through-hole block, several buffer connectors that are respectively fixed at one end to the outer wall of the disk and at the other end to the inner wall of the mating port, a lifting platform for driving the horizontal plate to move up and down inside the nest, a miniature telescopic drive component whose bottom is mounted on the bottom wall of the channel cavity via a fixed seat and whose top is fixedly connected to the bottom wall of the through-hole block, and a buffer contact component set on the top wall of the through-hole block to buffer the force of the UAV against the top wall of the block. The upper end of the channel cavity is an open structure and the lower end is a closed structure. The channel cavity is set inside the disk, and the top of the channel cavity is set through the upper wall of the disk. The bottom of the lifting platform is fixed inside the nest, and the top of the lifting platform supports the disk to drive the disk to move up and down relative to the nest. The buffer contact includes several airbag components, a fixing plate fixed to the bottom of the airbag components by centrifugal welding technology, a connecting rod that fixes the bottom wall of the fixing plate to the top wall of the through block, several air outlets distributed on the fixing plate, a connecting pipe that connects the air outlets to the airbag components in sequence, an air inlet pipe embedded in the fixing plate with one end connected to the side end of the airbag component, an inflation pump that delivers gas to the air inlet pipe, an electric valve that controls the connection between the air inlet pipe and the airbag components, and a control valve that is sequentially embedded in the air outlets to control the closure of the air outlet openings. The operation steps of the early warning judgment unit are as follows: S101: Select n points forward from the current wind speed data and denote the data as the X-sequence set, where rn is within the range of the X-sequence set. S102: Arrange the wind force measurement values ​​in the X series set in ascending order, determine the median MN of the wind force measurement values ​​in the X series set, and divide the entire data into two parts based on MN: a group below the median and a group above the median. The median of the group below the median is determined as M1, and the median of the group above the median is denoted as M2. S103: Calculate the interquartile range (FRP) of the X sequence set: FRP = M2 - M1, S104: Determine the upper edge A and lower edge B of the set of sequences X: A = M² + 1.5FRP B = M1 - 1.5FRP S105: Sequentially evaluate the wind force detection values ​​within the X-series set. Values ​​less than B are designated as outliers (UN), and values ​​greater than A are designated as warning values ​​(WA). Both outliers and warning values ​​are removed from the X-series set to obtain the filtered data sequence Y1. The mean of the detection parameter values ​​in data sequence Y1 is then calculated as the reference mean (VER1). S106: Further obtain the current warning difference (RE): RE= ; The workflow of the strength calculation unit is as follows: S201: Receive the weight G of the UAV and the flight speed V of the UAV during its descent, sent by the control base station. S202: Calculate and obtain the electromagnetic attraction force F of the electromagnetic adsorption device: ， The electromagnetic adsorption coefficient related to the weight of the drone, where K is in Newtons per kilogram. The conversion factor for the adsorption force correction value related to the drone's flight speed, and The unit is c1 is a priority level parameter of the velocity correction coefficient, where K, t, and c1 are obtained by those skilled in the art based on the historical experience of UAV landing and repeated experimental training on UAV landing.

2. The anti-jamming landing system for unmanned aerial vehicles as described in claim 1, characterized in that, The buffer connector includes a flexible rod with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port, and a spring with one end fixed to the outer wall of the disc and the other end fixed to the inner wall of the mating port. Each buffer connector includes at least one flexible rod and one spring. The flexible rod in each buffer connector is coaxially sleeved inside the spring. Each spring has a flexible rod inside it. The flexible rod is an elastic rod made of rubber material. Thus, the disc can be resettable relative to the receiving port under the action of the buffer connector.

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