A control device and control method for an angle-adjustable net gun

Abstract

The application discloses a control device and a control method of an angle-adjustable net gun, and relates to the technical field of net guns. The control device comprises a measuring module and a main control module. The measuring module comprises a binocular camera and a wind direction and speed meter. The binocular camera is used for acquiring the image of a target object and performing target distance measurement and target size measurement. The wind direction and speed meter is used for measuring the current wind direction and speed data. The main control module comprises a calculation unit and a control unit. The calculation unit calculates the distance data, the target size data and the current direction and speed data of the target object measured by the measuring module to obtain calculation result data. The control unit controls the opening angle of the net gun according to the calculation result data of the calculation unit.

Description

Technical Field

[0001] This invention belongs to the field of drone countermeasure technology, and mainly relates to a control device and control method for an adjustable angle net gun. The net gun is installed on a drone platform and can deploy a capture net for aerial capture of target drones. Background Technology

[0002] In recent years, with the gradual opening of low-altitude airspace control and the rapid development of "low, small, and slow" aircraft technology, powered hang gliders, light helicopters, and drones have been widely used in consumer entertainment, public security, and aerial surveying, with the number of individuals and organizations owning them constantly increasing. At the same time, due to the low cost, ease of operation, and accessibility of these aircraft, "unauthorized flights" are easily perpetuated. The use of drones for ground surveying by unqualified individuals and organizations has also caused considerable impact and losses to military and civil aviation order and national security.

[0003] Based on the current state of research on anti-drone equipment and methods both domestically and internationally, existing anti-drone equipment is primarily developed for combat missions. These systems are highly functional, integrating multiple detection and destruction methods such as radar detection, laser strikes, and electromagnetic interference, enabling them to counter large-scale drone attacks. However, the complexity and power of these systems inevitably lead to a surge in development and operational costs. If used against low-altitude, small, and slow-moving targets, the cost would be prohibitively high, and the laser-induced burning of drones could easily cause secondary damage.

[0004] Current counter-drone technologies mainly fall into two categories: detection and tracking systems, and interception systems. Detection and tracking systems use radar, optical or infrared cameras, and radio reconnaissance to detect target drones. Interception methods include radio signal jamming, laser strikes, netting to entangle targets, electromagnetic pulses, and combinations of these methods. Because single detection and tracking systems are increasingly ineffective at detecting drones in complex environments, sensor fusion has become a key trend in the development of this technology.

[0005] In response to the complexity and high procurement and usage costs of existing anti-drone systems, this paper proposes using drones for aerial capture to fill the gap in flexible capture and recovery technology for "low, small, and slow" targets, achieving the effect of low-cost and rapid detection and capture of such targets.

[0006] The drone aerial capture system first detects the target drone using detection equipment. Upon receiving target indication information, the anti-drone system guides the net-capturing drone to approach the target. The drone first takes off vertically and flies rapidly towards the target location. During flight, the drone receives target indication information and adjusts its course to approach the target. Simultaneously, its onboard electro-optical system actively searches for the target using the indication information. Once the electro-optical system locates and locks onto the target, the flexible capture drone quickly approaches above the target and decelerates to the target's flight speed. At the appropriate moment, it fires its net gun to capture the target drone and tows it to a safe landing location.

[0007] Typically, net guns utilize the thrust generated by the impact of blank cartridges to create an instantaneous airflow that propels four, six, or eight traction heads to rapidly open the capture net as it moves forward at a certain angle. When an object is encountered in front, the traction heads at each corner of the capture net will automatically coil due to inertia, achieving the effect of capturing the target.

[0008] Existing net gun products all use fixed-angle tow heads. Because the launch angle of a net gun is fixed, the net can only be launched at the same angle under any circumstances, and its open state during flight remains unchanged. Therefore, the net's open state cannot be adjusted for different target sizes and distances, resulting in a lower success rate for capturing targets of varying sizes and distances. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a control device and control method for an adjustable angle net gun, so as to realize the adjustable angle of the net gun on the UAV platform.

[0010] According to one aspect of the present invention, a control device for an adjustable angle net gun is provided, comprising: a measuring module and a main control module;

[0011] The measurement module includes a binocular camera and a wind vane and an anemometer. The binocular camera is used to acquire images of the target and to measure the target distance and size. The wind vane and anemometer is used to measure the current wind direction and wind speed data.

[0012] The main control module includes a computing unit and a control unit;

[0013] The calculation unit calculates the distance data, size data, current direction and wind speed data of the target object measured by the measurement module to obtain the calculation result data;

[0014] The control unit controls the angle of the net gun based on the calculation results from the calculation unit.

[0015] The net gun includes:

[0016] Multiple gun barrels, the rear ends of which are pivotally fixed to a rear plate;

[0017] The front plate includes a central through hole and multiple limiting grooves corresponding to multiple gun barrels; the multiple limiting grooves are distributed at equal intervals along the circumference of the front plate and are oriented radially.

[0018] A circular rudder disc includes a central axis, and multiple connecting rods are equally spaced along the circumference of the circular rudder disc. One end of each connecting rod is pivotally connected to the circular rudder disc, and the other end of each connecting rod is fixedly connected to multiple collars. The inner diameter of the multiple collars of the circular rudder disc is larger than the outer diameter of multiple gun barrels. The front ends of the multiple gun barrels pass through the multiple collars along the central axis and respectively pass through multiple limiting grooves of the front plate.

[0019] A servo motor, including a pivot shaft, is fixedly connected to the circular servo disk at the central pivot point of the circular servo disk through a central through hole in the front plate;

[0020] The servo motor's shaft is driven to rotate, causing the circular servo disk to rotate. This, in turn, drives the multiple collars to move via the multiple connecting rods, allowing the multiple gun barrels to slide radially within the limiting grooves. As a result, the angle between the axes of the multiple gun barrels and the central axis of the circular servo disk, i.e., the angle of expansion, can change.

[0021] Optionally, the control unit controls the rotation of the servo motor's shaft to adjust the angle of the plurality of gun barrels.

[0022] Optionally, the net gun further includes a first side drive assembly. The first side drive assembly is disposed on the first side of the net gun and includes a first stepper motor, a first stepper motor mounting plate, and a first coupling.

[0023] Optionally, the control unit controls the rotation of the first stepper motor of the first side drive assembly to adjust the pitch angle of the plurality of gun barrels.

[0024] Optionally, the mesh gun further includes a second side drive assembly, which is disposed on the second side of the mesh gun and includes a second stepper motor, a second stepper motor mounting plate, and a second coupling.

[0025] Optionally, the control unit controls the rotation of the second stepper motor of the second side drive assembly to adjust the pitch angle of the plurality of gun barrels.

[0026] Optionally, the net gun further includes a third horizontal drive assembly, which is disposed in the vertical direction of the net gun and includes a third stepper motor, a third stepper motor mounting plate, and a third coupling. The third horizontal drive assembly also includes a main gear, a secondary gear, a fourth coupling, and a potentiometer. The third stepper motor drives the main gear to rotate, thereby causing the net gun as a whole to move in the horizontal direction. The main gear engages with the secondary gear and drives the potentiometer to rotate through the fourth coupling.

[0027] Optionally, the control unit controls the rotation of the third stepper motor to adjust the horizontal position of the net gun; the potentiometer can transmit a horizontal position signal to the control unit in real time.

[0028] Optionally, the main control module further includes a communication unit, which enables communication between the control unit and the ground remote control device to achieve real-time remote control of the net gun.

[0029] According to another aspect of the present invention, a method for controlling an adjustable-angle net gun is provided, comprising the following steps:

[0030] A binocular camera is used to acquire images of the target object and to perform target ranging and target size measurement;

[0031] An anemometer is used to measure the current wind direction and speed data;

[0032] The measured data of the target object, current direction and wind speed are calculated to obtain the calculation result data;

[0033] The angle of the net gun is adjusted based on the calculated data.

[0034] Optionally, it also includes adjusting the pitch angle of the net gun.

[0035] Optionally, it also includes adjusting the horizontal azimuth angle of the net gun.

[0036] The beneficial technical effects of this invention are that the opening angle of the net gun barrel can be adjusted according to environmental factors such as the distance and size of the target object, as well as wind direction and speed. When multiple tow heads are fired, the opening angle of the barrel adjusts the flight angle of the tow heads, thereby adjusting the time and distance at which the capture net fully unfolds in the air. As the firing angle of the tow head increases, the unfolding speed of the folding flexible capture net increases, and the time to full unfolding decreases. Based on the size and distance of the target object, the position and speed at which the capture net fully unfolds in the air can be set by adjusting the angle of the net gun, thereby improving the capture rate of the target. Furthermore, by adjusting the pitch angle and horizontal direction of the net gun, it is possible to aim at the target object more quickly and accurately, providing accuracy and efficiency in capturing the target object.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0038] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a three-dimensional view of the overall structure of the adjustable-angle net gun of the present invention.

[0040] Figure 2 This is an exploded view of the adjustable-angle net gun of the present invention.

[0041] Figure 3 This is an overall structural diagram of the barrel of the adjustable-angle net gun of the present invention.

[0042] Figure 4 This is an exploded view of the barrel component of the adjustable-angle net gun of the present invention.

[0043] Figure 5A This is a state diagram of the angle change of the adjustable angle net gun of the present invention (the rotating shaft is not rotating, and the rotation angle is 0 degrees).

[0044] Figure 5B This is a state diagram showing the change in the opening angle of the adjustable angle net gun of the present invention (the rotation angle of the rotating shaft is 45 degrees).

[0045] Figure 5C This is a state diagram showing the change in the opening angle of the adjustable angle net gun of the present invention (the rotation angle of the rotating shaft is 90 degrees).

[0046] Figure 5D A perspective view of the circular rudder 44, connecting rod 45, and collar 46 is shown.

[0047] Figure 6 This is another overall structural perspective view of the adjustable-angle net gun of the present invention, showing the side drive assembly and the horizontal drive assembly.

[0048] Figure 7 This is an exploded view of the side drive assembly of the adjustable angle net gun of the present invention.

[0049] Figure 8 This is an exploded view of the horizontal drive assembly of the adjustable angle net gun of the present invention.

[0050] Figure 9 This is a schematic diagram of the control device for the adjustable angle net gun of the present invention;

[0051] Figure 10 This is a flowchart of the control method for the adjustable angle net gun of the present invention.

[0052] List of reference numerals: Net gun 40; Barrel 41; Tube body 410; First universal joint head 411; Second universal joint head 412; Universal joint center 413; Rear plate 42; Front plate 43; Central through hole 430; Limiting groove 431; Circular rudder disc 44; Central axis 440; Connecting rod 45; Collar 46; Servo 47; Rotating shaft 470; First side drive assembly 51; First stepper motor 511; First stepper motor rotating shaft 519; First stepper motor mounting plate 512; First coupling 513; First Side plate 514; Second side drive assembly 52; Second stepper motor 521; Second stepper motor shaft 529; Second stepper motor mounting plate 522; Second coupling 523; Second side plate 524; Third horizontal drive assembly 53; Third stepper motor 531, Third stepper motor shaft 539; Third stepper motor mounting plate 532, Third coupling 533 and Third side plate 534; Main gear 535, Secondary gear 536, Fourth coupling 537 and potentiometer 538; Fourth side plate 544 Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems consistent with some aspects of the invention as detailed in the appended claims.

[0054] The description of illustrative embodiments of the invention, taken in conjunction with the accompanying drawings, is considered an integral part of the entire written description. Any references to directions or orientations in the description of the embodiments of the invention disclosed herein are merely for ease of description and are not intended to limit the scope of the invention in any way. Relative terms such as “downward,” “upward,” “horizontal,” “vertical,” “above,” “below,” “up,” “lower,” “top,” “bottom,” and their derivatives (e.g., “horizontally,” “downward,” “upward,” etc.) should be interpreted as referring to the orientation as described or shown in the drawings discussed. These relative terms are for ease of description only and do not require the device to be constructed or operated in a particular orientation unless explicitly stated otherwise.

[0055] Terms such as “attachment,” “addition,” “connection,” “coupling,” and “interconnection” refer to relationships in which structures are directly or indirectly fixed or attached to each other through an intermediate structure, and where both are movable or rigidly attached or related unless otherwise expressly stated. Furthermore, the features and benefits of the invention are illustrated with reference to exemplary embodiments. Therefore, the invention is not expressly limited to such exemplary embodiments, which illustrate some possible non-limiting combinations of features that may exist alone or in combination with other features; the scope of the invention is defined by the appended claims.

[0056] See Figure 1 and Figure 2According to one aspect of the present invention, an adjustable-angle net gun is provided. The net gun 40 includes a plurality of gun barrels 41, the rear ends of which are pivotally fixed to a rear plate 42. The front plate 43 includes a central through hole 430 and a plurality of limiting grooves 431 corresponding to the plurality of gun barrels 41. The plurality of limiting grooves 431 pass through the front plate 43, and are distributed at equal intervals along the circumference of the front plate 43 with the center point of the front plate 43 as a reference and the direction perpendicular to the center point of the front plate 43 as the axial direction, and are oriented radially. It is conceivable that the front plate 43 can be square, rectangular, polygonal or circular. The circular rudder disc 44 includes a central axis 440, and a plurality of connecting rods 45 are equally spaced along the circumference of the circular rudder disc 44. One end of each connecting rod 45 is pivotally connected to the surface of the circular rudder disc 44, and the other end of each connecting rod 45 is fixedly connected to a plurality of collars 46. The inner diameter of the collars 46 is larger than the outer diameter of the barrels 41. The front ends of the plurality of barrels 41 pass through the plurality of collars 46 along the central axis 440 and respectively pass through a plurality of limiting grooves 431 of the front plate 43. The servo motor 4... 7 includes a rotating shaft 470, the rotating shaft 470 of the servo motor 47 passes through the central through hole 430 of the front plate 43 and is fixedly connected to the central axis of the circular servo disk 44; the rotating shaft 470 of the servo motor 47 can be driven to rotate, causing the circular servo disk 44 to rotate, and through the multiple connecting rods 45, the multiple collars 46 are driven to move, so that the multiple gun barrels slide in the limiting groove 431 in the radial direction, thereby changing the angle between the axis of the multiple gun barrels and the central axis 440.

[0057] According to one embodiment of the present invention, the servo motor 47's shaft 470 is driven, with a rotation angle ranging from 0 to 90 degrees. When the rotation angle of the shaft 470 is 0 degrees, the circular rudder disk 44 does not rotate, and the barrel 41 is in its initial position. Due to the constraint of the collar 46, the initial angle of the barrel 41 is 10 degrees. The angle of the barrel is defined as the angle between the central axis of the barrel 41 and the central axis 440 of the circular rudder disk 44. When the servo motor 47 is driven to rotate the shaft 470, the circular rudder disk 44 also begins to rotate, causing the connecting rod 45, which is pivotally connected to the circular rudder disk 44, to also drive the collar 46 to rotate. Since the barrel 41 and the rear plate 42 are pivotally connected by a universal joint (its structure will be described in detail later), the barrel 41, which was originally constrained by the collar 46, can move. However, because the barrel 41 is also restricted by the limiting groove 431, it can only slide radially along the orientation of the limiting groove 431. As the barrel 41 slides radially outward along the limiting groove 431, the angle of the barrel 41 gradually increases. Calculations show that when the rotating shaft 470 rotates to 45 degrees, the angle of the barrel 41 reaches 20 degrees; when the rotating shaft 470 rotates to 90 degrees, the angle of the barrel 41 reaches its maximum value of 30 degrees. Therefore, it can be understood that when the rotation angle of the rotating shaft 470 is between 0 and 90 degrees, the angle of the barrel 41 varies from 10 to 30 degrees. Similarly, it can be understood that when the rotation angle of the rotating shaft 470 returns from 90 degrees to 0 degrees, the angle of the barrel 41 varies from 30 to 10 degrees.

[0058] In embodiments of the present invention, there are four gun barrels 41, which are symmetrically arranged, each with the same opening angle and capable of synchronously changing with equal amplitude. It is conceivable that, depending on actual needs, the number of gun barrels 41 can be set to six or eight, or even more. Considering the balanced firing force required for the net gun to capture the net, the number of gun barrels is an even number.

[0059] See Figure 3 and Figure 4 The barrel 41 includes a barrel body 410, a first universal joint head 411, a universal joint center 413, and a second universal joint head 412. The universal joint center 413 includes mutually perpendicular X-axis and Y-axis, with the barrel's axial direction being the Z-axis. The rear end of the first universal joint head 411 is fixedly connected to the rear plate 42, and the front end of the first universal joint head 411 is pivotally connected to the X-axis of the universal joint center 413. The front end of the second universal joint head 412 is fixedly connected to the barrel body 410, and the rear end of the second universal joint head 412 is pivotally connected to the Y-axis of the universal joint center 413. Therefore, the barrel 41 can move at any angle from 0 to 180 degrees in the X-axis and Y-axis directions without other constraints.

[0060] In actual use, the four towing heads are placed in the four gun barrels respectively. Since the rear ends of the four second universal joint heads 412 are hollow, an electric detonating tube can be inserted into the rear end of each second universal joint head. A small amount of gunpowder is sealed in the front end of the electric detonating tube, and four wires are led out and connected to the control unit respectively. When firing is required, the control unit energizes the electric detonating tube, and the instantaneous current detonates the electric detonating tube. The electric detonating tube detonates the small amount of gunpowder, and the high-pressure gas flow generated by the explosion propels the four towing heads to launch, and the four towing heads will drive the capture net to fly.

[0061] See Figure 5A When the shaft 470 has not started to rotate (rotation angle is 0 degrees), the connecting rod 45 is in the state closest to the circular rudder disk 44, and the collar 46 is also in the state closest to the circular rudder disk 44. At this time, the angle of the four gun barrels 41 is the smallest, which is the initial angle of 10 degrees.

[0062] See Figure 5B When the shaft 470 rotates at an angle of 45 degrees, the connecting rod 45 leaves the circular rudder 44, and the collar 46 also leaves the circular rudder 44. At this time, the angle of the four gun barrels 41 is in the middle state, with an angle of 20 degrees.

[0063] See Figure 5C When the rotation angle of the shaft 470 is at its maximum value of 90 degrees, the connecting rod 45 is at its farthest distance from the circular rudder 44, and the collar 46 also reaches its farthest distance from the circular rudder 44. At this time, the angle of the four gun barrels 41 is at its maximum, at 30 degrees.

[0064] See Figure 5D The figure shows a perspective view of the circular rudder 44, connecting rod 45, and collar 46.

[0065] In addition to adjusting the barrel angle, the technical solution of this invention is also designed to adjust the overall pitch and horizontal angles of the net gun. For its specific structure, please refer to [link / reference needed]. Figures 6 to 8 .

[0066] See Figure 6-7According to one embodiment of the present invention, a first side drive assembly 51 is further included. The first side drive assembly 51 is disposed on the right side of the net gun 40 and includes a first stepper motor 511, a first stepper motor fixing plate 512, and a first coupling 513. A first side plate 514 is fixed to the right side of the net gun 40. The first stepper motor 511 is fixed on the first motor fixing plate 512 and fixed on the first side plate 514 through the first coupling 513. When the first stepper motor 511 rotates forward, the first stepper motor shaft 519 passes through the first motor fixing plate 512 and the first coupling 513, and can drive the first side plate 514 to move upward, so that the net gun 40 moves upward as a whole, thereby adjusting the upward tilt of the net gun 40. It can be understood that when the first stepper motor 511 rotates forward, the first stepper motor shaft 519 can drive the first side plate 514 to move downward, so that the net gun 40 moves downward as a whole, thereby adjusting the downward movement of the net gun 40 and realizing the tilt angle adjustment of the net gun 40.

[0067] See Figure 6-7 According to one embodiment of the present invention, a second side drive assembly 52 is further included. The second side drive assembly 52 is disposed on the left side of the mesh gun 40 and includes a second stepper motor 521, a second stepper motor fixing plate 522, and a second coupling 523. A second side plate 524 is fixed to the left side of the mesh gun 40. The second stepper motor 521 is fixed on the second motor fixing plate 522 and fixed on the second side plate 524 via the second coupling 523. When the second stepper motor 521 rotates in the forward direction, the second stepper motor shaft 529 passes through the second motor fixing plate 5122 and the second coupling 523, which can drive the second side plate 524 to move upward, causing the net gun 40 to move upward as a whole, thereby adjusting the upward tilt of the net gun 40. It can be understood that when the second stepper motor 521 rotates in the forward direction, the second stepper motor shaft 529 can drive the second side plate 524 to move downward, causing the net gun 40 to move downward as a whole, thereby adjusting the downward movement of the net gun 40 and realizing the adjustment of the pitch angle of the net gun 40.

[0068] See Figure 6 and Figure 8According to one embodiment of the present invention, a third horizontal drive assembly 53 is further included, which is disposed above the mesh gun 40 and includes a third stepper motor 531, a third stepper motor mounting plate 532, and a third coupling 533. A third side plate 534 is fixed above the mesh gun 40. The third stepper motor 531 is fixed on the third motor mounting plate 532 and fixed on the third side plate 534 via the third coupling 533. The third horizontal drive assembly 53 further includes a main gear 535, a secondary gear 536, a fourth coupling 537, and a potentiometer 538. When the third stepper motor 531 rotates, the third stepper motor shaft 539 passes through the third stepper motor mounting plate 532 and, via the third coupling 533, drives the net gun 40 to swing horizontally. Simultaneously, the third stepper motor shaft 539 drives the main gear 535 to rotate. The main gear 535 engages with the secondary gear 536, driving the secondary gear 536 to rotate, which in turn drives the potentiometer 538 to rotate via the fourth coupling 537. The potentiometer 538 converts the horizontal direction information of the net gun 40 into an electrical signal and sends it to the control unit.

[0069] The third side plate 534 is located above the mesh gun 40 and is used to mount and fix the third horizontal drive assembly 53. The rear end of the third side plate 534 is fixed to the upper end of the rear plate 42, and the front end of the third side plate 534 is fixed to the upper end of the front plate 43. Furthermore, a fourth side plate 544 may be included opposite the third side plate 534, located below the mesh gun 40. The rear end of the fourth side plate 544 is fixed to the lower end of the rear plate 42, and the front end of the fourth side plate 534 is fixed to the lower end of the front plate 43. It is conceivable that the third horizontal drive assembly 53 can also be fixedly mounted on the fourth side plate 544.

[0070] The control device and control method of the adjustable angle net gun will be further described below with reference to the accompanying drawings.

[0071] According to a second aspect of the invention, a control device for an adjustable-angle net gun is provided. See also... Figure 9 This is a schematic diagram of the control device for the adjustable-angle net gun of the present invention. The control device for the adjustable-angle net gun includes: a measurement module 20 and a main control module 10; the measurement module 20 includes a binocular camera 201 and a wind vane and anemometer 202, the binocular camera 201 is used to acquire images of the target object and to measure the target distance and size; the wind vane and anemometer 202 is used to measure the current wind direction and wind speed data.

[0072] The main control module 10 includes a calculation unit 102 and a control unit 103; the calculation unit calculates the distance data, current direction and wind speed data of the target object measured by the measurement module to obtain the calculation result data.

[0073] According to one embodiment of the present invention, the binocular camera 201 of the measurement module is coaxially mounted with the net gun 40 to acquire images of the target object in real time and transmit the images to the computing unit 102. The anemometer 202 is connected to the computing unit 102 via a data cable to transmit real-time direction and wind speed information to the computing unit 102 of the main control board.

[0074] The control unit 103 controls the opening angle of the net gun 40 based on the calculation results from the calculation unit 102. According to the above embodiments of the present invention, for the case of four gun barrels, the control unit 103 controls the opening angle of the net gun 40 by controlling the rotation angle of the shaft 470 of the servo motor 47 between 0 and 90 degrees, thereby achieving an opening angle between 10 and 30 degrees; for the case of six gun barrels, the opening angle is achieved by controlling the rotation angle of the shaft 470 of the servo motor 47 between 0 and 60 degrees; and for the case of eight gun barrels, the opening angle is achieved by controlling the rotation angle of the shaft 470 of the servo motor 47 between 0 and 45 degrees.

[0075] According to an embodiment of the present invention, the control unit 103 can adjust the pitch angle of the net gun 40 by controlling the rotation of the first stepper motor 511 of the first side drive assembly 51; it can also adjust the pitch angle of the net gun 40 by controlling the rotation of the first stepper motor 521 of the second side drive assembly 52.

[0076] According to an embodiment of the present invention, the control unit 103 can adjust the horizontal direction of the net gun 40 by controlling the rotation of the third stepper motor 531 of the third horizontal drive assembly 51.

[0077] According to one embodiment of the present invention, the main control module 10 further includes a communication unit 101, which realizes communication between the control unit 102 and the ground remote control device 300, and is used to realize real-time remote control of the net gun.

[0078] According to a third aspect of the present invention, a method for controlling an adjustable-angle net gun is provided. See also... Figure 10 The control method for an adjustable-angle net gun includes the following steps: S1: Using a binocular camera to acquire images of the target object and to measure the target distance and size; S2: Using an anemometer to measure the current wind direction and wind speed data; S3: Calculating the measured data of the target object, the current direction, and the wind speed data to obtain the calculation result data; S4: Controlling the opening angle of the net gun according to the calculation result data.

[0079] A control method for an adjustable-angle net gun according to an embodiment of the present invention further includes controlling the pitch angle of the net gun. A control method for an adjustable-angle net gun according to an embodiment of the present invention further includes controlling the horizontal direction of the net gun.

[0080] According to one embodiment of the present invention, when preparing to launch, the control unit 103 sends a command to power on the electric detonator control circuit, and the electric detonator detonates instantly. The encapsulated explosive explodes in the explosion chambers at the rear of the four gun barrels, and the resulting high-pressure gas flow simultaneously pushes the seekers placed in the four gun barrels to launch them out of the gun barrels.

[0081] The flexible capture net is initially in a folded and relaxed state. As the seeker launches and flies, it drags the net, generating traction. Under the action of the traction force and the elastic internal force between the net rope, the folded net gradually stretches and unfolds until it is fully unfolded into a parabolic shape. Then it collides with the target. After the net reaches its maximum stretch, due to the elasticity of the net rope itself, the traction body begins to gradually rebound, causing the flexible net to contract. As the traction body swings, it wraps around and completely envelops the target drone, ultimately completing the capture of the target.

[0082] The technical solution of this invention allows for adjustment of the opening angle of the net gun barrel based on environmental factors such as the distance and size of the target object, as well as wind direction and speed. Multiple towing heads, when fired, utilize the barrel opening angle to adjust their flight angle, thereby adjusting the time and distance at which the capture net fully unfolds in the air. As the towing head's firing angle increases, the unfolding speed of the folded flexible capture net accelerates, and the full unfolding time shortens. By adjusting the net gun angle according to the size and distance of the target object, the position and speed at which the capture net fully unfolds in the air can be set, thereby improving the target capture rate. Furthermore, adjusting the net gun's pitch and horizontal angle allows for faster and more accurate aiming at the target, improving the accuracy and efficiency of target capture.

[0083] The features and benefits of the present invention are illustrated by reference to embodiments. Accordingly, the present invention is expressly not limited to these exemplary embodiments that illustrate combinations of some possible non-limiting features, which may exist alone or in other combinations of features.

[0084] The above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and are not intended to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control device for an adjustable-angle net gun, comprising: Measurement module and main control module; The measurement module includes a binocular camera and a wind vane and an anemometer. The binocular camera is used to acquire images of the target and to measure the target distance and size. The wind vane and anemometer is used to measure the current wind direction and wind speed data. The main control module includes a computing unit and a control unit; The calculation unit calculates the distance data, size data, current direction and wind speed data of the target object measured by the measurement module to obtain the calculation result data; The control unit controls the opening angle of the net gun based on the calculation results data from the calculation unit; The net gun includes: Multiple gun barrels, the rear ends of which are pivotally fixed to a rear plate; The front plate includes a central through hole and multiple limiting grooves corresponding to multiple gun barrels; the multiple limiting grooves are distributed at equal intervals along the circumference of the front plate and are oriented radially. A circular rudder disc includes a central axis, and multiple connecting rods are equally spaced along the circumference of the circular rudder disc. One end of each connecting rod is pivotally connected to the circular rudder disc, and the other end of each connecting rod is fixedly connected to multiple collars. The inner diameter of the multiple collars of the circular rudder disc is larger than the outer diameter of multiple gun barrels. The front ends of the multiple gun barrels pass through the multiple collars along the central axis and respectively pass through multiple limiting grooves of the front plate. A servo motor, including a pivot shaft, is fixedly connected to the circular servo disk at the central pivot point of the circular servo disk through a central through hole in the front plate; The servo motor's shaft is driven to rotate, causing the circular servo disk to rotate. This, in turn, drives the multiple collars to move via the multiple connecting rods, allowing the multiple gun barrels to slide radially within the limiting grooves. As a result, the angle between the axes of the multiple gun barrels and the central axis of the circular servo disk, i.e., the angle of expansion, can change.

2. The control device for the adjustable angle net gun according to claim 1, characterized in that: The control unit controls the rotation of the servo motor's shaft to adjust the firing angle of the multiple gun barrels.

3. The control device for the adjustable angle net gun according to claim 1, characterized in that: The net gun also includes a first side drive assembly, which is disposed on the first side of the net gun and includes a first stepper motor, a first stepper motor mounting plate, and a first coupling.

4. The control device for the adjustable angle net gun according to claim 3, characterized in that: The control unit controls the rotation of the first stepper motor of the first side drive assembly to adjust the pitch angle of the plurality of gun barrels.

5. The control device for the adjustable angle net gun according to claim 1, characterized in that: The mesh gun also includes a second side drive assembly, which is disposed on the second side of the mesh gun and includes a second stepper motor, a second stepper motor mounting plate, and a second coupling.

6. The control device for the adjustable angle net gun according to claim 5, characterized in that: The control unit controls the rotation of the second stepper motor of the second side drive assembly to adjust the pitch angle of the plurality of gun barrels.

7. The control device for the adjustable angle net gun according to claim 1, characterized in that: The net gun also includes a third horizontal drive assembly, which is disposed in the vertical direction of the net gun. This third horizontal drive assembly includes a third stepper motor, a third stepper motor mounting plate, and a third coupling. The third horizontal drive assembly also includes a main gear, a secondary gear, a fourth coupling, and a potentiometer. The third stepper motor drives the main gear to rotate, thereby moving the entire net gun horizontally and adjusting its horizontal azimuth angle. The main gear engages with the secondary gear and drives the potentiometer to rotate via the fourth coupling.

8. The control device for the adjustable angle net gun according to claim 7, characterized in that: The control unit controls the rotation of the third stepper motor to adjust the horizontal position of the net gun; the potentiometer can transmit a horizontal position signal to the control unit in real time.

9. The control device for the adjustable angle net gun according to claim 1, characterized in that: The main control module also includes a communication unit, which enables communication between the control unit and the ground remote control device to achieve real-time remote control of the net gun.

10. A method for controlling an adjustable-angle net gun using a control device for an adjustable-angle net gun according to any one of claims 1-9, comprising the following steps: A binocular camera is used to acquire images of the target object and to perform target ranging and target size measurement; An anemometer is used to measure the current wind direction and speed data; The measured data of the target object, current direction and wind speed are calculated to obtain the calculation result data; The angle of the net gun is controlled based on the calculated data.

11. The method for controlling an adjustable angle net gun according to claim 10 further includes adjusting the pitch angle of the net gun.

12. The method for controlling an adjustable angle net gun according to claim 10 or 11 further includes adjusting the horizontal azimuth angle of the net gun.

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