Method and system for countering unmanned aerial vehicle through collision

Abstract

The invention discloses an unmanned aerial vehicle collision countering method and system, and relates to the technical field of unmanned aerial vehicles, and the method comprises the following steps: obtaining the position coordinates of a target vehicle, controlling a collision unmanned aerial vehicle to fly to the region of the target according to the position coordinates of the target vehicle, and searching the target vehicle after reaching the region of the target, after the target machine is found, the position information of the target machine is locked; the unmanned aerial vehicle locks and tracks a target and then calculates an optimal attack path, and the unmanned aerial vehicle starts to execute an attack strategy according to the optimal attack path; after the task is executed, whether task execution succeeds is judged, if yes, self-inspection is conducted on the self state, whether the next task can continue to be completed or not is confirmed, if yes, the task continues to be executed, and if not, automatic homeward voyage is conducted; if the task fails, repeating the previous step until the task is completed; according to the invention, the interception system gives consideration to automatic search, automatic identification, automatic locking, automatic attack, self-adaptive attack strategy and long endurance.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and system for preventing a unmanned aerial vehicle from colliding. Background Art

[0002] With the development of drone control technology, drones are being used more and more widely in various fields. However, with the surge in the number and popularity of drones, their disorderly use and frequent appearance in unauthorized airspace have become a social problem that cannot be ignored. These unauthorized flight activities not only infringe on personal privacy, but also seriously threaten public safety. Therefore, the method of colliding and shooting down unidentified aircraft by colliding drones has emerged.

[0003] In order to meet the high demand, the UAV collision equipment generally uses a small multi-rotor as an airborne platform, carrying a target identification device to identify and lock the intruding UAV or other equipment. It is through its high-strength body and high-speed impact capability that the locked target is physically collided to achieve the purpose of shooting down. Once the target is identified and locked, the collision UAV will quickly approach the target in a straight line according to the preset flight path. In the process of approaching the target, the system will perform fine flight control and attitude adjustment to ensure that the target can be accurately hit and shot down in the final sprint stage. However, although the collision UAV has efficient countermeasure capabilities in theory, it still faces many challenges in practical applications. When the ground environment is complex and changeable, such as the presence of dense buildings, tall trees or other obstacles, the collision UAV will shoot down the target, resulting in a reduction in the safety and versatility of the collision UAV. In addition, some advanced unidentified UAVs may be equipped with electronic jamming equipment or have autonomous escape mechanisms, which can interfere or suddenly change the flight trajectory during the collision, causing the collision UAV to lose control or even be shot down. How to make the drone collision device keep locking the target, mobilize instructions to attack again after the mission fails, and conduct autonomous inspection after the mission is completed is a technical problem to be solved by technical personnel in this field. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for collision countermeasure against drones, which can automatically identify, automatically lock, automatically attack, adapt attack strategies and self-check, and can attack again after mission failure to overcome the shortcomings of some advanced unidentified drones in the prior art that may be equipped with electronic jamming equipment or have autonomous escape mechanisms, which can implement interference or suddenly change the flight trajectory during the collision process, causing the colliding drone to lose control or even be shot down.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A method for collision countermeasure of a drone, comprising the following steps:

[0007] S1, scan the surrounding airspace, and after finding the target, transmit the target coordinate information to the drone after analysis;

[0008] S2, the UAV calculates the received resolved target coordinate information, generates a mission path based on the resolved target coordinate information and its own coordinate information, and flies to the target area;

[0009] S3, the UAV arrives at the target area and searches for the target. After finding the target, the UAV identifies, locks and tracks the target.

[0010] S4, the drone locks and tracks the target and calculates the optimal attack path, and then starts to execute the attack strategy according to the optimal attack path;

[0011] S5, after completing the task, determine whether the task is successful. If successful, self-check its own status and confirm whether it can continue to complete the next task. If it can, it will continue to execute the task; if not, it will automatically return. If it fails, execute S4 again until the task is completed.

[0012] Furthermore, S1 specifically includes:

[0013] By guiding the radar to scan the surrounding airspace, the target is found and the target coordinate information is transmitted to the ground control station;

[0014] The ground control station parses the target coordinate information and sends the parsed target coordinate information to the UAV.

[0015] Furthermore, the automatic driving unit of the UAV calculates the received target coordinate information, and controls the UAV to fly to the target area according to the calculated target coordinate information and its own coordinate information; when the UAV flies to the target area, the optoelectronic pod begins to adjust the direction of the optoelectronic pod to keep it consistent with the UAV and target heading according to the current heading of the UAV and the target position.

[0016] Furthermore, S3 specifically includes:

[0017] After the drone arrives at the target area, it uses the motion sensing camera in the optoelectronic pod to scan the surrounding environment and capture images; the motion sensing camera has high sensitivity and fast response capabilities, and can capture dynamic changes in the surrounding environment in real time, especially the capture of moving targets;

[0018] The image processing unit performs denoising, contrast enhancement and target recognition algorithm processing on the images captured by the motion sensing camera to obtain specific information about the target in the image, identify and lock the target, and adjust the direction of the optoelectronic pod through the servo mechanism so that the motion sensing camera is aimed at the target and continuously tracks the target.

[0019] Furthermore, the attack strategy includes:

[0020] Co-directional movement: The drone chooses to attack in the same direction as the target aircraft’s flight path; the advantage of this strategy is that it can reduce the relative speed between the drone and the target aircraft, thereby reducing the difficulty of attack and energy consumption;

[0021] Opposite movement: The drone chooses to attack in the opposite direction of the target aircraft's flight path; this strategy is usually used in situations where it is necessary to quickly approach the target and cause a direct hit;

[0022] Normal movement: When the target aircraft is moving laterally, the drone can choose to attack vertically, i.e., normal movement. This strategy allows the drone to attack from the side or rear of the target aircraft, increasing the suddenness and concealment of the attack.

[0023] Normal to same-direction pursuit: The UAV may initially approach the target aircraft by normal motion, but during the attack, the target aircraft suddenly changes its flight path, and the UAV quickly adjusts its attitude, changing from normal motion to same-direction pursuit. This strategy requires the UAV to have extremely high reaction speed and maneuverability, and to be able to complete the flight attitude conversion in a short time and continue to effectively track and attack the target aircraft.

[0024] Furthermore, autonomous execution of tasks and self-checking include the following steps:

[0025] The drone uses the image processing unit to determine whether the mission is successfully executed and completes self-inspection of its own status through the automatic control unit.

[0026] In another aspect, the present invention further provides a collision prevention drone system, comprising:

[0027] Detection module: obtains target coordinate information, accurately locates and continuously tracks the target, and sends the target coordinate information to the drone;

[0028] Attack strategy generation module: analyzes and plans the optimal attack path in real time according to the target flight path, and selects different attack modes;

[0029] Autonomous mission execution and self-inspection module: The drone autonomously executes attack missions and performs self-inspection after the mission is completed;

[0030] Mission failure response module: When a mission fails, the UAV recalls the target coordinate information to continue tracking the target and generates new attack instructions to achieve continuous execution of the mission.

[0031] Furthermore, the detection module includes:

[0032] Guidance radar: scans the surrounding airspace and obtains target coordinate information. It can quickly scan and identify potential target objects and provide the initial coordinate information of the target;

[0033] Photoelectric pod: The photoelectric pod uses a motion sensing camera and a servo mechanism to detect and track the target, adjusts the direction according to the current heading of the UAV and the target position, realizes the search, identification and locking of the target, and is provided with a photoelectric pod telescopic mechanism, and the photoelectric pod outer cover has a transparent protective cover; the photoelectric pod outer cover of the UAV has a transparent protective cover, which is used to cover and protect the photoelectric pod on the UAV to prevent external physical damage and environmental factors from invading the photoelectric pod; the photoelectric pod is provided with a photoelectric pod telescopic mechanism, which has an impact buffering function, and when the UAV encounters a collision, it can automatically adjust the position of the photoelectric pod to reduce the damage to the UAV caused by the impact, and improve the collision resistance and survivability of the system;

[0034] Image processing unit: responsible for receiving and processing a large amount of target coordinate information from the motion sensing camera, performing data processing and target locking, and providing tracking instructions for the servo mechanism.

[0035] Furthermore, the autonomous execution of tasks and self-checking modules include:

[0036] Automatic control unit: Generates and executes control logic based on real-time data and preset algorithms to fully control the flight status of the drone, including path planning, speed regulation and attitude control;

[0037] Positioning system: Provides real-time drone information and location, and provides precise positioning support for autonomous driving and navigation.

[0038] Compared with the prior art, the present invention has the following beneficial technical effects:

[0039] The present invention provides a method for countering a collision with a UAV, which can realize automatic target search, automatic identification, and automatic locking, and automatically calculate an attack path and generate an optimal attack strategy and execution according to actual conditions, can analyze and plan the optimal attack path in real time according to the target flight path, and supports multiple attack modes to adapt to different battlefield environments and combat requirements. When a mission fails, the UAV can quickly call the target coordinate information to re-track the target and generate a new attack instruction, and attack again until the mission is completed, thereby realizing the continuity and high efficiency of mission execution, improving combat efficiency and combat completion rate, and after the mission is completed, it can perform self-inspection to ensure the normal operation of various components of the system, and this autonomy and self-inspection capability reduce manual intervention and improve the continuity and reliability of combat; the present invention has high attack accuracy and high automation, and an uncompleted task can be executed again until it is completed, so the mission success rate is high and the counter-attack effect is excellent.

[0040] The present invention also provides a collision countermeasure UAV system that integrates multiple components such as a guidance radar, an optoelectronic pod, a flight controller, and an image processing unit, realizing full-process intelligent operations from target search, identification, locking to attack strategy generation and execution, significantly improving combat efficiency and accuracy. The guidance radar is used to obtain the target's latitude, longitude, and height (XYZ) coordinate information, combined with the servo control of the optoelectronic pod, to achieve precise positioning and continuous tracking of the target, ensuring that the target is always within the field of view; the automatic control unit can analyze and plan the optimal attack path in real time according to the target flight path, and support multiple attack modes at the same time to adapt to different battlefield environments and combat needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The present invention is a schematic diagram of the overall process of a method for countering a collision with a drone in an embodiment of the present invention.

[0042] Figure 2 1 is a schematic diagram of a specific flow chart of a method S1 for countering a collision with a drone in an embodiment of the present invention.

[0043] Figure 3 1 is a schematic diagram of a specific flow chart of a method S3 for countering a collision with a drone in an embodiment of the present invention.

[0044] Figure 4 Schematic diagram of S4 attack mode of a method for collision countermeasure against a drone in an embodiment of the present invention.

[0045] Figure 5 1 is a schematic diagram of a specific flow chart of a method S5 for countering a collision with a drone in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] The present invention provides a method for countering a UAV by collision, which realizes the intelligent operation of the whole process from target search, identification, locking to attack strategy generation and execution, and significantly improves the combat efficiency and accuracy;

[0049] See also Figures 1 to 4 , a method for collision countermeasure against a UAV, specifically comprising the following steps:

[0050] S1, use the guidance radar to scan the surrounding airspace, and after finding the target, transmit the target coordinate information to the ground control station, which then analyzes and transmits the received target coordinate information to the UAV;

[0051] S2, the automatic driving unit of the UAV calculates the received target coordinate information, and controls the UAV to fly to the target area according to the calculated target coordinate information and its own coordinate information; when the UAV flies to the target area, the optoelectronic pod starts to adjust the direction of the optoelectronic pod to keep consistent with the UAV and the target heading according to the current heading of the UAV and the target position;

[0052] S3, after the UAV arrives at the target area, it uses the motion sensing camera in the optoelectronic pod to scan the surrounding environment, and captures the target image after searching for the target. The motion sensing camera has high sensitivity and rapid response capabilities, and can capture dynamic changes in the surrounding environment in real time, especially the capture of moving targets; after the image processing unit receives the target image captured by the camera, it first performs denoising processing to eliminate noise interference in the image and improve the image quality, and then performs contrast enhancement processing to make the target features in the image more prominent, which is convenient for subsequent target recognition algorithm to process. The target recognition algorithm extracts, analyzes and compares the features in the target image to identify the target object in the image and obtain its specific location, size, shape and other specific information;

[0053] After the target is identified and specific information is obtained, the drone adjusts the direction of the optoelectronic pod through the servo mechanism so that the motion sensing camera is aimed at the target and continuously tracks the target;

[0054] S4, after the drone locks and tracks the target, the autopilot unit receives data from the motion sensing camera in real time to continuously evaluate the target's current position, speed, and direction, while taking into account the complexity of the target's surrounding environment, such as obstacles, terrain undulations, or other potential threats;

[0055] Based on the result of the target state evaluation, the autopilot unit calculates the optimal attack path. Once the optimal attack path is calculated, the drone will start to execute the attack strategy according to the path; the attack strategy includes:

[0056] Co-directional movement: The drone chooses to attack in the same direction as the target aircraft's flight path. The advantage of this strategy is that it can reduce the relative speed between the drone and the target aircraft, thereby reducing the difficulty and energy consumption of the attack. Co-directional movement may also make the drone easier to be discovered or intercepted by the target aircraft, because the two are moving in the same direction, and the drone needs to be more concealed or fast to ensure the success of the attack.

[0057] Opposite movement: The UAV chooses to attack in the direction opposite to the target aircraft's flight path. This strategy is usually used in situations where it is necessary to quickly approach the target and cause a direct attack. The advantage of opposite movement is that it can quickly shorten the distance between the UAV and the target aircraft, but the risk is also relatively high because the two will face each other directly, increasing the possibility of collision or mutual interception.

[0058] Normal movement: When the target aircraft moves laterally, the drone can choose to attack vertically, i.e., normal movement. This strategy allows the drone to attack from the side or rear of the target aircraft, increasing the suddenness and concealment of the attack. The advantage of normal movement is that it can use the lateral movement of the target aircraft to create attack opportunities while reducing the risk of being directly discovered by the target aircraft.

[0059] Normal-to-co-directional pursuit: The UAV may initially approach the target aircraft by normal motion. However, during the attack, if the target aircraft suddenly changes its flight path, the UAV will quickly adjust its attitude and change from normal motion to co-directional pursuit. This strategy requires the UAV to have extremely high reaction speed and maneuverability, and to be able to complete the flight attitude conversion in a short time and continue to effectively track and attack the target aircraft. The advantage of normal-to-co-directional pursuit is that it can cope with the sudden maneuvers of the target aircraft and maintain continuous tracking and attack pressure on the target.

[0060] S5, after completing the mission, the UAV obtains images or data of the mission execution area through the image processing unit, and the image processing unit analyzes these images or data to determine whether the mission is completed as expected; if the mission is completed, the UAV performs self-inspection on its own key components and systems through the automatic control unit. According to the self-inspection results, if the UAV is in good condition and can continue to execute the next mission, it will continue to execute according to the task queue or new instructions; if the condition is not good (such as low battery, system failure, etc.), it will execute automatic return. If the mission fails, the UAV will return to step S4, re-call the target coordinate information, lock and track the target again, and calculate the optimal attack path to execute the attack strategy until the mission is completed.

[0061] On the other hand, the present invention also provides a UAV anti-collision interceptor system, which specifically includes:

[0062] The detection module includes: a guidance radar that detects targets in the surrounding airspace by emitting electromagnetic waves and receiving their echoes; it can quickly scan and identify potential target objects and provide the initial coordinate information of the target;

[0063] The optoelectronic pod uses a motion sensing camera to capture target images and adjusts the direction and angle of the pod through a servo mechanism to ensure that the camera is always aimed at the target; the motion sensing camera has high definition, high frame rate and powerful image processing capabilities, and can capture dynamic changes of the target in real time; the servo mechanism can accurately control the rotation and pitch of the optoelectronic pod to achieve rapid search, identification and stable tracking of the target; the optoelectronic pod of the drone has a transparent protective cover to cover and protect the optoelectronic pod on the drone to prevent external physical damage and environmental factors from invading the optoelectronic pod; the optoelectronic pod is provided with an optoelectronic pod telescopic mechanism with an impact buffering function. When the drone encounters a collision, it can automatically adjust the position of the optoelectronic pod to reduce the damage to the drone caused by the impact and improve the system's crash resistance and survivability;

[0064] Image processing unit: It is responsible for receiving and processing a large amount of target image data from the motion sensing camera; through steps such as image preprocessing, feature extraction, target recognition and data fusion, the image processing unit can accurately lock the target and provide accurate tracking instructions for the servo mechanism.

[0065] The autonomous mission execution and self-inspection module uses the automatic driving unit as the control center of the system. Based on real-time data and preset algorithms, it generates and executes control logic to comprehensively control the flight status of the UAV, including path planning, speed regulation and attitude control. The positioning system is used to provide the UAV's location information in real time. It is integrated into the UAV to provide the UAV's latitude, longitude, altitude and other location information in real time, providing precise positioning support for automatic driving and navigation.

[0066] The system has a high degree of automation. It obtains the position coordinates of the target aircraft, controls the collision drone to fly to the target area according to the position coordinates of the target aircraft, searches for the target aircraft after arriving at the target area, and locks the position information of the target aircraft after finding it; after locking the target aircraft, it identifies and tracks the target aircraft, and measures the relative distance, speed and angle between the target aircraft and the collision drone in real time, controls the collision drone to approach the target aircraft, and when the relative distance between the target aircraft and the collision drone is shortened to a certain distance range, it rushes to the target and shoots down the target; and it can autonomously execute tasks and determine whether the task is completed after completing the task. If not, it continues to attack until it is completed, and the task completion rate is high.

[0067] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for countering a UAV by collision, characterized in that: The following steps are involved: S1, scan the surrounding airspace, and after finding the target, transmit the target coordinate information to the drone after analysis; S2, the UAV calculates the received resolved target coordinate information, generates a mission path based on the resolved target coordinate information and its own coordinate information, and flies to the target area; S3, the UAV arrives at the target area and searches for the target. After finding the target, the UAV identifies, locks and tracks the target. S4, the drone locks and tracks the target and calculates the optimal attack path, and then starts to execute the attack strategy according to the optimal attack path; S5, after completing the task, determine whether the task is successful. If successful, self-check its own status and confirm whether it can continue to complete the next task. If it can, it will continue to execute the task, otherwise it will automatically return. If it fails, execute S4 again until the task is completed.

2. A method for preventing a drone from being hit by a collision according to claim 1, characterized in that: S1 specifically includes: By guiding the radar to scan the surrounding airspace, the target is found and the target coordinate information is transmitted to the ground control station; The ground control station parses the target coordinate information and sends the parsed target coordinate information to the UAV.

3. A method for preventing a drone from being hit by a collision according to claim 2, characterized in that: In S2, the automatic driving unit is used to calculate the received target coordinate information, and the automatic driving unit controls the drone to fly to the target area according to the analyzed and calculated target coordinate information and its own coordinate information.

4. The method for preventing a drone from being hit by a collision according to claim 3, characterized in that: S3 specifically includes: After the drone reaches the target area, it uses the motion sensing camera in the optoelectronic pod to scan the surrounding environment and capture the target image; The image processing unit performs denoising, contrast enhancement and target recognition algorithm processing on the images captured by the motion sensing camera to obtain specific information about the target in the image, identify and lock the target, and adjust the direction of the optoelectronic pod through the servo mechanism so that the motion sensing camera is aimed at the target and continuously tracks the target.

5. The method for preventing a drone from being hit by a collision according to claim 4, characterized in that: In S4, the autonomous driving unit is used to calculate the optimal attack path and select the attack strategy.

6. A method for preventing a drone from being hit by a collision according to claim 5, characterized in that: The attack strategies include: Co-directional movement: The attack direction of the drone is the same as the flight path of the target aircraft; Opposite movement: The attack direction of the drone is opposite to the flight path of the target aircraft; Normal motion: the target aircraft moves laterally, while the drone attacks longitudinally; Normal direction to same direction pursuit: When the drone attacks, the target aircraft changes its flight path and the drone chases it.

7. A method for preventing a UAV from collision according to claim 6, characterized in that: The drone uses the image processing unit to determine whether the mission is successfully executed and completes self-inspection of its own status through the automatic control unit.

8. A collision prevention drone system as claimed in claim 7, characterized in that: include: Detection module: obtains target coordinate information, accurately locates and continuously tracks the target, and sends the target coordinate information to the drone; Attack strategy generation module: analyzes and plans the optimal attack path in real time according to the target flight path, and selects different attack modes; Autonomous mission execution and self-inspection module: The drone autonomously executes attack missions and performs self-inspection after the mission is completed; Mission failure response module: When a mission fails, the UAV recalls the target coordinate information to continue tracking the target and generates new attack instructions to achieve continuous execution of the mission.

9. A collision prevention drone system according to claim 8, characterized in that: The detection module includes: Guidance radar: scans the surrounding airspace and obtains target coordinate information; Photoelectric pod: The photoelectric pod uses a motion sensing camera and a servo mechanism to detect and track the target. It adjusts its direction according to the current heading of the UAV and the target position to search, identify and lock the target. The photoelectric pod is equipped with a telescopic mechanism and has a transparent protective cover. Image processing unit: responsible for receiving and processing a large amount of target coordinate information from the motion sensing camera, performing data processing and target locking, and providing tracking instructions for the servo mechanism.

10. The anti-collision UAV system according to claim 8, characterized in that: The autonomous execution and self-checking modules include: Automatic control unit: Generates and executes control logic based on real-time data and preset algorithms to fully control the flight status of the drone, including path planning, speed regulation and attitude control; Positioning system: Provides real-time drone information and location, and provides precise positioning support for autonomous driving and navigation.

Images