Unmanned aerial vehicle capturing device

Abstract

The invention belongs to the technical field of unmanned aerial vehicle catching, and particularly relates to an unmanned aerial vehicle catching device which comprises a catching net mechanism and a catching unmanned aerial vehicle, the catching net mechanism comprises a mounting frame, a rotating rod, a winch assembly, a pull rope and a catching net, the mounting frame is provided with a mounting box and an assembly table, and the winch assembly comprises a motor and a transmission part. The pull rope is fixedly connected with the rotating rod, and the catching net rotating rod is fixedly arranged; after the black flight unmanned aerial vehicle is caught by the catching net, the black flight unmanned aerial vehicle is changed into a horizontal state from a vertical hanging state by controlling winding of the pull rope and the catching net, the falling risk does not exist, meanwhile, the black flight unmanned aerial vehicle is also located under the unmanned aerial vehicle body, a large amount of center-of-gravity shift cannot be caused, flight control is facilitated, and the safety of the unmanned aerial vehicle is improved. And finally, the black flight unmanned aerial vehicle ascends and is stored under the unmanned aerial vehicle body, the black flight unmanned aerial vehicle does not need to be taken down firstly when the capturing unmanned aerial vehicle returns to the ground, and long-time hovering of the capturing unmanned aerial vehicle is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle capture, and in particular relates to a unmanned aerial vehicle capture device. Background Art

[0002] With the rise of drone technology, more and more individuals or organizations are using drones to perform image acquisition and shooting tasks. However, the proliferation of drone flights has followed, and there are many illegal personnel who use drones to secretly shoot in some no-fly zones or confidential areas. Therefore, in order to avoid this phenomenon, it is necessary to capture illegal drones. The existing methods of capturing illegal drones are generally two types: net capture and net capture. Net capture generally uses a ground launch device to throw a capture net to the illegal drone to capture the illegal drone. This method tests the accuracy of the delivery equipment, while net capture is more accurate. Figure 1 As shown, by hanging a capture net on the bottom of the capture drone, the capture drone drives the capture net to fly, and after the illegal drone touches the capture net, the flying wings of the drone will be caught by the capture net, thereby interrupting the flight and hanging on the capture net.

[0003] However, in actual capture tasks, the current method of setting up a net for capture still has the following shortcomings:

[0004] ① When the capture net captures the illegal drone and then lands it, it needs to capture the drone and let it hover for a long time. It can only land after it is removed from the capture net, which is a certain inconvenience;

[0005] ② The illegal drone caught by the capture net will cause the captured drone's center of gravity to shift to a certain extent, making it inconvenient to fly;

[0006] ③ There is a risk of falling when the illegal drone is hung vertically on the capture net.

[0007] To this end, we propose a drone capture device that uses net capture as a capture method. Summary of the invention

[0008] The purpose of the present invention is to provide a drone capture device to solve the problems existing in the background technology.

[0009] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0010] A drone capturing device includes a capture net mechanism and a capture drone for carrying the capture net mechanism, wherein the capture drone includes a drone body and two brackets installed in parallel at the bottom of the drone body;

[0011] The net-catching mechanism comprises four mounting frames, two rotating rods, two hoisting assemblies, two pull ropes and a catching net. The four mounting frames are detachably mounted between the two ends of the two brackets, respectively. The two mounting frames corresponding to one of the brackets are both provided with a mounting box, and the two mounting frames corresponding to the other bracket are both provided with an assembly table.

[0012] The two hoisting assemblies each include a motor and a transmission member, the two motors are respectively mounted and fixed on the top of the two installation boxes, the installation boxes on the same side and the assembly platform are rotatably connected to the rotating rod, the transmission member is arranged inside the installation box, and the motor and the rotating rod are connected through the transmission member;

[0013] The two pull ropes are fixedly connected to one of the rotating rods, the two ends of the capture net are fixedly arranged with the other rotating rod, the lower ends of the two pull ropes are fixed with the lower end of the capture net, and the mounting frame corresponding to the mounting box is also provided with a battery, and the battery is electrically connected to the motor;

[0014] A camera is also arranged just below the bottom of the drone body.

[0015] Each of the mounting frames is provided with a detachable connecting member, which includes a mounting sleeve and a fixing bolt. The end of the bracket is sleeved inside the mounting sleeve. The mounting sleeve is provided with a mounting platform in a vertical direction along the axis. The fixing bolt is threadedly connected to the mounting platform. The fixing bolt extends into the interior of the mounting sleeve and is tightly pressed against the end of the bracket.

[0016] The transmission member includes two helical teeth, one of which is fixedly mounted on the rotating rod, the output end of the motor rotates and penetrates into the installation box, and the other helical tooth is fixedly mounted on the output end of the motor, and the two helical teeth are meshed.

[0017] A support column is installed at the bottom of each installation box and each assembly platform.

[0018] The two assembly platforms are both equipped with counterweight blocks for counterweighting.

[0019] The rotating rod body is a square rod with round shafts at both ends, wherein the round shaft at one end is rotatably connected to the assembly table, and the round shaft at the other end is fixed to the bevel gear and rotatably connected to the installation box, and buffers are also provided on both sides of the rotating rod.

[0020] The buffer component includes a buffer sleeve, a square slide, a sliding plate and a buffer spring. The buffer sleeve is fixedly connected to the round shaft, the inner side of the square slide is slidably sleeved with the square rod and the outer side of the square slide is slidably sleeved with the buffer sleeve, the square slide extends to the inside of the buffer sleeve, the sliding plate is fixedly connected to one end of the square slide located inside the buffer sleeve, the buffer spring is embedded in the buffer sleeve, the sliding plate is elastically connected to the inner wall of the buffer sleeve through the buffer spring, and a one-way intake valve and a one-way throttle valve are also installed on the end of the buffer sleeve away from the square rod.

[0021] The two pull ropes are fixedly connected to the ends of the two square slide cylinders corresponding to one of the rotating rods, and the two ends of the capture net are fixedly connected to the ends of the two square slide cylinders corresponding to the other rotating rod.

[0022] After the illegal flying UAV is captured by the capturing net, the present invention controls the pulling rope and the winding of the capturing net so that the illegal flying UAV is changed from being hung vertically to being in a horizontal state, and there is no risk of falling. Meanwhile, the illegal flying UAV will be located directly below the UAV body, and a large amount of center of gravity shift will not be caused, which is convenient for flight control. Finally, the illegal flying UAV will rise and be stored directly below the UAV body. When the captured UAV is returned to the ground, there is no need to remove the illegal flying UAV first, and the captured UAV can be prevented from hovering for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further illustrated by means of the non-limiting examples given in the accompanying drawings.

[0024] Figure 1 Illustration captured for the existing drone grid;

[0025] Figure 2 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0026] Figure 3 for Figure 2 A schematic diagram of the structure at A;

[0027] Figure 4 This is a diagram of recovering a drone in accordance with the first embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0029] Figure 6 for Figure 5 A schematic diagram of the structure at B;

[0030] The main component symbols are described as follows:

[0031] Capture drone 100, drone body 101, bracket 102, camera 103, mounting frame 110, rotating rod 111, pull rope 112, capture net 113, mounting box 114, assembly table 115, motor 116, battery 117, mounting sleeve 120, fixing bolt 121, mounting table 122, bevel gear 130, support column 140, counterweight 141;

[0032] Square rod 200 , round shaft 201 , buffer sleeve 210 , square slide cylinder 211 , slide plate 212 , buffer spring 213 , one-way air intake valve 214 , one-way throttle valve 215 . DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0034] Embodiment 1, as Figures 2 to 4 A drone capturing device shown includes a capturing net mechanism and a capturing drone 100 for carrying the capturing net mechanism, wherein the capturing drone 100 includes a drone body 101 and two brackets 102 installed in parallel at the bottom of the drone body 101;

[0035] The net-catching mechanism includes four mounting frames 110, two rotating rods 111, two hoisting assemblies, two pull ropes 112 and a catching net 113. The four mounting frames 110 are detachably mounted between the two ends of the two brackets 102. The two mounting frames 110 corresponding to one bracket 102 are both provided with a mounting box 114, and the two mounting frames 110 corresponding to the other bracket 102 are both provided with an assembly table 115.

[0036] The two hoisting assemblies each include a motor 116 and a transmission member. The two motors 116 are respectively mounted and fixed on the top of the two installation boxes 114. The installation boxes 114 and the assembly platform 115 on the same side are rotatably connected to the rotating rod 111. The transmission member is arranged inside the installation box 114. The motor 116 and the rotating rod 111 are connected to each other through the transmission member.

[0037] Two pull ropes 112 are fixedly connected to one of the rotating rods 111, two ends of the capture net 113 are fixedly arranged with the other rotating rod 111, the lower ends of the two pull ropes 112 are fixed with the lower end of the capture net 113, and the mounting frame 110 corresponding to the mounting box 114 is also provided with a battery 117, and the battery 117 is electrically connected with the motor 116;

[0038] A camera 103 is also provided just below the bottom of the drone body 101 .

[0039] In the initial state of the device, the two pull ropes 112 and the capture net 113 are respectively rolled up on the rotating rods 111 on both sides, so that the pull ropes 112 and the capture net 113 are between the two rotating rods 111. At the same time, before the device is used, by fixing each mounting frame 110 to each end of the bracket 102, the drone capture task can be started;

[0040] When performing a drone capture mission, the following steps are included:

[0041] Step ①: Control the capture drone 100 to rise upwards through the ground remote control system until the capture drone 100 rises to a height that does not affect the lowering of the capture net 113;

[0042] Step ②: The battery 117 provides power to the motor 116, and the two motors 116 are started by the ground remote control system. Under the transmission of the transmission member inside the installation box 114, the two rotating rods 111 are respectively rotated, thereby respectively unwinding the two pull ropes 112 and the capture net 113 downwards, until the capture net 113 is completely lowered. Figure 2 As shown, the motor 116 stops working;

[0043] Step 3: Control the capture drone 100 to fly to the location of the illegal drone through the ground remote control system, and use the capture net 113 to capture the illegal drone. The illegal drone will stop flying and hang on the capture net 113 under the restriction of the capture net 113;

[0044] Step ④: The camera 103 at the bottom of the drone body 101 obtains the position of the illegal drone in the capture net 113 and transmits it to the ground remote control system for display. People control the illegal drone through the image obtained, as shown in the following example. Figure 4 As shown, firstly, one of the motors 116 is controlled separately to reel in the two pull ropes 112, so that the black-flying drone slowly moves from the capture net 113 to the direction of the pull rope 112, and the position of the black-flying drone in the capture net 113 is observed through the camera 103 until the black-flying drone is directly below the drone body 101, at which time the black-flying drone will be in a horizontal state, and then people will start the two motors 116 synchronously, and at this time, the capture net 113 and the pull rope 112 will be reeled in simultaneously, until the pull rope 112 and the capture net 113 are between the two rotating rods 111, and the black-flying drone will finally rise and be stored directly below the drone body 101, and be supported by the tightened pull rope 112 and the capture net 113;

[0045] Step 5: Control the captured drone 100 to return to the ground through the ground remote control system, and remove the illegal drone from the capture net 113 to complete the capture task.

[0046] In this embodiment, after the illegal drone is captured by the capture net 113, the pull rope 112 and the capture net 113 are controlled to be reeled in so that the illegal drone is changed from being hung vertically to being horizontal, and there is no risk of falling. At the same time, the illegal drone will be directly below the drone body 101, which will not cause a large amount of center of gravity shift, and is convenient for flight control. Finally, the illegal drone will rise and be stored directly below the drone body 101. When the captured drone 100 returns to the ground, there is no need to remove the illegal drone first, so as to avoid the captured drone 100 from hovering for a long time.

[0047] As an illustration of the mounting structure of the mounting frame 110 and the bracket 102 in this embodiment, Figure 3 As shown, each mounting frame 110 is provided with a detachable connecting member, and the detachable connecting member includes a mounting sleeve 120 and a fixing bolt 121. The end of the bracket 102 is sleeved inside the mounting sleeve 120. The mounting sleeve 120 is provided with a mounting platform 122 along the vertical direction of the axis. The fixing bolt 121 is threadedly connected to the mounting platform 122. The fixing bolt 121 extends into the interior of the mounting sleeve 120 and is tightly pressed against the end of the bracket 102.

[0048] During installation, the sleeve 120 is plugged into the bracket 102, and then the fixing bolt 121 is screwed down to make the fixing bolt 121 abut against the bracket 102, so that the bracket 102 and the sleeve 120 are fixed together through the friction force generated by the abutment. During disassembly, the sleeve 120 can be removed from the bracket 102 by loosening the fixing bolt 121 to release the abutment between the fixing bolt 121 and the bracket 102. This arrangement is simple to operate.

[0049] As an explanation of the structure of the transmission member in this embodiment, Figure 3 As shown, the transmission member includes two bevel teeth 130, one of which is fixedly mounted on the rotating rod 111, the output end of the motor 116 rotates and passes through the inside of the installation box 114, and the other bevel tooth 130 is fixedly mounted on the output end of the motor 116, and the two bevel teeth 130 are meshed.

[0050] When the motor 116 is started, one of the helical teeth 130 is driven to rotate through the output end of the motor 116 , and then the engagement of the two helical teeth 130 can drive the rotating rod 111 to rotate, and the structure is simple.

[0051] As a further optimization description of this embodiment, Figure 2 As shown, a support column 140 is installed at the bottom of each installation box 114 and each assembly platform 115, and a counterweight block 141 for counterweight is installed on both assembly platforms 115.

[0052] The support column 140 can further increase the height of the capture drone 100 relative to the ground, and can provide support when the capture drone 100 lands. The counterweight block 141 set on the assembly platform 115 can balance the weight of the objects carried by the two side brackets 102 to avoid a large deviation of the center of gravity of the capture drone 100.

[0053] Embodiment 2 is based on Embodiment 1, and further improvements are made to buffer the process of capturing illegal drones. Figure 5 to Figure 6 As shown, the main body of the rotating rod 111 is a square rod 200 and the two ends are round shafts 201, wherein the round shaft 201 at one end is rotatably connected to the assembly table 115, and the round shaft 201 at the other end is fixed to the bevel gear 130 and rotatably connected to the installation box 114, and buffers are also provided on both sides of the rotating rod 111;

[0054] The buffer member includes a buffer sleeve 210, a square slide 211, a sliding plate 212 and a buffer spring 213. The buffer sleeve 210 is fixedly connected to the round shaft 201. The inner side of the square slide 211 is slidably sleeved with the square rod 200 and the outer side of the square slide 211 is slidably sleeved with the buffer sleeve 210. The square slide 211 extends into the buffer sleeve 210. The sliding plate 212 is fixedly connected to one end of the square slide 211 located inside the buffer sleeve 210. The buffer spring 213 is embedded in the buffer sleeve 210. The sliding plate 212 is elastically connected to the inner wall of the buffer sleeve 210 through the buffer spring 213. A one-way air intake valve 214 and a one-way throttle valve 215 are also installed at one end of the buffer sleeve 210 away from the square rod 200.

[0055] The two pull ropes 112 are fixedly connected to the facing ends of the two square slide cylinders 211 corresponding to one of the rotating rods 111 , and the two ends of the capture net 113 are fixedly connected to the facing ends of the two square slide cylinders 211 corresponding to the other rotating rod 111 .

[0056] When the unmanned aerial vehicle hits the capture net 113, the kinetic energy of the unmanned aerial vehicle will push the capture net 113 to deform. At this time, the two ends of the capture net 113 pull the two connected square slide cylinders 211 to move relatively close, stretching the buffer spring 213 to absorb the kinetic energy of the unmanned aerial vehicle. At the same time, the slide plate 212 moves in the buffer sleeve 210 to form a negative pressure, and the outside air enters the buffer sleeve 210 through the one-way air intake valve 214, and the one-way throttle valve 215 does not take in air. Similarly, the capture net 1 The deformation of 13 will also cause the two pull ropes 112 to shift. Similar to the above, the square slides 211 corresponding to the two pull ropes 112 move relatively close to each other, stretching the buffer spring 213 to absorb the kinetic energy of the black-flying drone. At the same time, the slide plate 212 moves in the buffer sleeve 210 to form a negative pressure, and the outside air enters the buffer sleeve 210 through the one-way air intake valve 214, and the one-way throttle valve 215 does not take in air, so that the kinetic energy of the black-flying drone hitting the capture net 113 can be buffered.

[0057] After the illegal drone stops flying, the buffer spring 213 will elastically return to its original position, so that the sliding plate 212 of the square sleeve 211 will squeeze the air in the buffer sleeve 210, and exhaust the air through the one-way throttle valve 215, while the one-way air inlet valve 214 will not exhaust the air. The setting of the one-way throttle valve 215 can make the air be discharged slowly, thereby slowing down the rebound of the buffer spring 213, instead of directly rebounding completely. The energy absorbed by the buffer spring 213 is slowly unloaded by air throttling discharge, thereby maintaining the stability of the capture mechanism.

[0058] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A drone capture device, comprising a capture net mechanism and a capture drone for carrying the capture net mechanism, characterized in that: The capture drone includes a drone body and two brackets installed in parallel at the bottom of the drone body; The net-catching mechanism comprises four mounting frames, two rotating rods, two hoisting assemblies, two pull ropes and a catching net. The four mounting frames are detachably mounted between the two ends of the two brackets, respectively. The two mounting frames corresponding to one of the brackets are both provided with a mounting box, and the two mounting frames corresponding to the other bracket are both provided with an assembly table. The two hoisting assemblies each include a motor and a transmission member, the two motors are respectively mounted and fixed on the top of the two installation boxes, the installation boxes on the same side and the assembly platform are rotatably connected to the rotating rod, the transmission member is arranged inside the installation box, and the motor and the rotating rod are connected through the transmission member; The two pull ropes are fixedly connected to one of the rotating rods, the two ends of the capture net are fixedly arranged with the other rotating rod, the lower ends of the two pull ropes are fixed with the lower end of the capture net, and the mounting frame corresponding to the mounting box is also provided with a battery, and the battery is electrically connected to the motor; A camera is also arranged just below the bottom of the drone body.

2. The drone capture device according to claim 1, characterized in that: Each of the mounting frames is provided with a detachable connecting member, which includes a mounting sleeve and a fixing bolt. The end of the bracket is sleeved inside the mounting sleeve. The mounting sleeve is provided with a mounting platform in a vertical direction along the axis. The fixing bolt is threadedly connected to the mounting platform. The fixing bolt extends into the interior of the mounting sleeve and is tightly pressed against the end of the bracket.

3. The drone capture device according to claim 2, characterized in that: The transmission member includes two helical teeth, one of which is fixedly mounted on the rotating rod, the output end of the motor rotates and penetrates into the installation box, and the other helical tooth is fixedly mounted on the output end of the motor, and the two helical teeth are meshed.

4. The drone capture device according to claim 3, characterized in that: A support column is installed at the bottom of each installation box and each assembly platform.

5. The drone capturing device according to claim 4, characterized in that: The two assembly platforms are both equipped with counterweight blocks for counterweighting.

6. The drone capturing device according to claim 5, characterized in that: The rotating rod body is a square rod with round shafts at both ends, wherein the round shaft at one end is rotatably connected to the assembly table, and the round shaft at the other end is fixed to the bevel gear and rotatably connected to the installation box, and buffers are also provided on both sides of the rotating rod.

7. The drone capturing device according to claim 6, characterized in that: The buffer component includes a buffer sleeve, a square slide, a sliding plate and a buffer spring. The buffer sleeve is fixedly connected to the round shaft, the inner side of the square slide is slidably sleeved with the square rod and the outer side of the square slide is slidably sleeved with the buffer sleeve, the square slide extends to the inside of the buffer sleeve, the sliding plate is fixedly connected to one end of the square slide located inside the buffer sleeve, the buffer spring is embedded in the buffer sleeve, the sliding plate is elastically connected to the inner wall of the buffer sleeve through the buffer spring, and a one-way intake valve and a one-way throttle valve are also installed on the end of the buffer sleeve away from the square rod.

8. The drone capturing device according to claim 7, characterized in that: The two pull ropes are fixedly connected to the ends of the two square slide cylinders corresponding to one of the rotating rods, and the two ends of the capture net are fixedly connected to the ends of the two square slide cylinders corresponding to the other rotating rod.

Images