Intelligent unmanned aerial vehicle bomb throwing system and throwing method

Abstract

The invention provides an intelligent unmanned aerial vehicle bomb throwing system and throwing method, a control part receives image information and position information fed back by a carrying part and a bomb throwing part, and provides manual control information to control the flight path and the latent place of the carrying part and control the flight opportunity and the bomb throwing opportunity of the bomb throwing part; the carrying part carries the bomb dropping part, controls the flight state according to self control information or manual control information, autonomously plans an air route, carries the bomb dropping part to reach a designated place, feeds back image information and position information in real time, and supplies power to the carrying part and the bomb dropping part at the same time; the bomb dropping part executes a cruise attack task according to a set track according to self control information or manual control information, and feeds back image information and position information in real time; when target searching fails, the carrying part is returned to be charged according to the control information, and the next cruise attack task is waited. According to the invention, the long-time long-distance combat capability of the unmanned aerial vehicle bomb launching system is improved, and the target striking level is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coordinated control and precision guidance of unmanned aerial vehicles, and in particular to an intelligent unmanned aerial vehicle bomb delivery system and delivery method which can be used for long-term long-distance combat, can be controlled, and can automatically identify targets. Background Art

[0002] With the continuous development of drone technology, drone bomb delivery has been widely used in the military field. Compared with traditional bomb delivery systems, drone bomb delivery systems have the advantages of accurate strikes and high flexibility. However, drones need to carry bombs to fly, and with the current battery level, considering the cost, its endurance is difficult to guarantee its completion of long-term or long-distance combat missions.

[0003] After searching, we found:

[0004] The Chinese utility model patent with publication number CN206351780U, "A UAV carrier based on a ground station and a helium balloon", uses a helium balloon as a carrier, connects the UAV to the helium balloon, and supplies power to the UAV through a generator or a power grid, which improves the endurance of the UAV and enables the UAV to fly at low altitude with long endurance. However, if the UAV carrier is used in a bomb delivery system, it will face the following technical problems:

[0005] First, the helium balloon and the ground station are connected together. The balloon is bound by the ground station and cannot fly far away. The ground station is mounted on a vehicle and it is difficult to adapt to the complex geographical environment. It is difficult to carry the helium balloon and the drone it carries to the enemy and cruise.

[0006] Second, the drones on the drone carrier are connected to helium balloons and cannot leave the balloons very far, making it impossible to cruise over long distances and launch precise attacks against designated targets.

[0007] Third, the drone carrier does not have remote control capabilities, and cannot be remotely controlled or respond to real-time changing battlefield conditions in a timely manner. Summary of the invention

[0008] In view of the above-mentioned deficiencies in the prior art, the present invention provides an intelligent drone bomb delivery system and delivery method. The system uses a flying balloon as a carrier to carry drones for combat, achieves long-term lurking and long-distance control, can accurately strike targets, and better complete combat missions.

[0009] According to one aspect of the present invention, there is provided an intelligent drone bomb delivery system, comprising: a control part, a carrying part and a bomb delivery part; wherein:

[0010] The control part is used to receive the image information and position information fed back by the carrier part and the bomb-dropping part, and provide manual control information for controlling the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part according to the image information and position information;

[0011] The carrier part is used to carry the bomb-dropping part, control its own flight state according to its own control information or received manual control information, and autonomously plan the route to carry the bomb-dropping part to the designated location, and provide real-time feedback of image information and location information; meanwhile, it supplies power to itself and the bomb-dropping part;

[0012] The bomb-dropping part reaches the target location according to its own control information or the received manual control information and follows the autonomously planned driving trajectory to perform the cruise attack mission, and feeds back image information and position information in real time; when the target search fails, it returns to the carrying part according to its own control information to charge and wait for the next cruise attack mission.

[0013] Preferably, the control part is arranged at a ground station and includes a control console; the control console receives image information and position information transmitted by the carrying part and the bomb-dropping part in real time through wireless communication, and generates manual control information according to the image information and position information and transmits it to the carrying part and the bomb-dropping part through the control console.

[0014] Preferably, in the control part, generating the artificial control information according to the image information and the position information includes:

[0015] Processing the image information and the position information; wherein the processing of the image information includes: image denoising, enhancement and feature extraction; processing of the position information includes: coordinate conversion and coordinate system matching;

[0016] Fusing the processed image information with the position information, and associating the position of the target object in the image with the position in the real world;

[0017] Analyze the fused information, including target recognition, target classification, trajectory prediction and environment perception, and obtain analysis results;

[0018] Based on the analysis results, corresponding manual control information is generated, including path planning, flight attitude adjustment and target tracking instructions, which are used to guide the behavior of the carrying part and the bombing part.

[0019] Preferably, the carrying part includes: a flight unit, a navigation unit, a communication unit, a computing unit, a power supply unit and a docking unit; wherein:

[0020] The flight unit includes a flight balloon and a propulsion device; wherein the flight balloon is used to provide the buoyancy required for flight; and the propulsion device is used to provide the power required for traveling along the trajectory;

[0021] The navigation unit includes a GPS, an inertial navigation device and a camera; wherein the GPS is used for real-time positioning; the inertial navigation device is used to control the stability and accuracy of the flight of the flight unit; and the camera is used to obtain real-time image information;

[0022] The communication part includes a wireless communication module; wherein the wireless communication module is used to transmit information with the control part in real time;

[0023] The computing unit includes a small computing unit; wherein the small computing unit is used to control the flight state of the flight unit through its own control information or the manual control information transmitted by the control part, and automatically plan the route according to the target information and the built-in atmospheric circulation data;

[0024] The power supply unit includes a solar panel and a storage battery, which is used to supply power to the carrying part and the bomb-dropping part;

[0025] The docking unit includes a drone nest for storing and releasing the drone; a charging interface connected to the power supply unit and used for charging the drone is arranged inside the drone nest.

[0026] Preferably, in the calculation unit, generating the self-control information and the target information according to the acquired real-time image information and the position information includes:

[0027] Preprocessing the acquired real-time image information and location information;

[0028] The preprocessed image information and position information are fused to associate the position of the target object in the image with the position in the real world;

[0029] Analyze the fused information, including target recognition, target classification, trajectory prediction and environment perception, and obtain analysis results;

[0030] Based on the analysis results, generate corresponding self-control information and target information;

[0031] Automatically plan routes based on target information and built-in atmospheric circulation data, including:

[0032] The best route is determined based on built-in atmospheric circulation data and target information; at the same time, the route is updated in real time according to weather changes using optimization algorithms.

[0033] Preferably, the bombing part includes: a drone and a bomb launcher unit; wherein:

[0034] The drone includes a GPS, a camera and a wireless communication module; wherein the GPS is used for real-time positioning; the camera is used for obtaining real-time image information; and the wireless communication module is used for real-time information transmission with the control part;

[0035] The bomb launcher unit is used to install bombs and execute attack tasks according to its own control information or manual control information transmitted by the control part according to target information.

[0036] Preferably, the bomb launcher unit generates its own control information and target information according to the acquired real-time image information and position information, including: starting AI vision guidance to find the target according to the acquired real-time image information and position information, obtaining the target information, and generating the first self-control information to control the bomb launching part to perform the attack mission based on the found target information; when the AI ​​vision guidance fails to find the target, generating the second self-control information to control the bomb launching part to return to the carrying part for charging and wait for the next cruise attack mission.

[0037] Preferably, the step of starting AI vision-guided target search based on the acquired real-time image information and location information includes:

[0038] Preprocess the acquired real-time image information, including: resizing, denoising and contrast enhancement;

[0039] The YOLOv8 model is used to identify the target object in the preprocessed image information and classify it to obtain the target information;

[0040] The target tracking algorithm is used to track the movement trajectory of the target information, and the path planning is performed based on the acquired real-time position information, the detected target information and the target position;

[0041] Based on the path planning result, a corresponding first self-control instruction is generated to guide and track the target.

[0042] Preferably, it also includes:

[0043] The generated first self-control instruction is fed back to the carrier part as a reference for the carrier part to readjust the heading, speed or attitude.

[0044] According to another aspect of the present invention, a method for dropping bombs using an intelligent drone is provided, comprising:

[0045] The control part of the intelligent drone bomb delivery system obtains the image information and position information fed back by the carrying part and the bomb delivery part of the intelligent drone bomb delivery system, and provides manual control information;

[0046] The control part sends the manual control information to the carrier part and the bomb-dropping part, and controls the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part;

[0047] The carrier part controls its own flight status according to its own control information or the received manual control information, and plans the route autonomously, carrying the bomb-dropping part to the designated location, and provides real-time feedback of image information and location information, while supplying power to itself and the bomb-dropping part;

[0048] The bomb-dropping part performs cruise attack missions according to its own control information or the received manual control information according to the autonomously planned driving trajectory, and provides real-time feedback on image information and location information. When the target search fails, it returns to the carrying part to recharge according to its own control information and waits for the next cruise attack mission.

[0049] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0050] The intelligent unmanned aerial vehicle bomb delivery system and delivery method provided by the present invention adopt a flying balloon as a carrier device, and can realize a long-distance attack of the bomb delivery system.

[0051] The intelligent UAV bomb delivery system and delivery method provided by the present invention adopts solar energy to power the carrier part and has the function of charging the UAV, which solves the problem of short flight time of the UAV of the bomb delivery system and can realize long-term cruise strike.

[0052] The intelligent unmanned aerial vehicle bomb delivery system and delivery method provided by the present invention has a carrying part that is powered by solar energy and also has the functions of target detection and communication with a ground station, so as to realize long-term reconnaissance and lurking in the enemy.

[0053] The intelligent drone bomb delivery system and delivery method provided by the present invention has a carrying part with built-in atmospheric circulation data, and can autonomously plan a flight path according to given GPS coordinates to accurately reach the target point.

[0054] The intelligent unmanned aerial vehicle bomb delivery system and delivery method provided by the present invention can add a manual control function to the control part on the basis of autonomous control of the carrying part and the bomb delivery part, thereby enhancing the maneuverability of the bomb delivery system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0056] Figure 1 This is a composition architecture diagram of an intelligent drone bomb delivery system in a preferred embodiment of the present invention.

[0057] Figure 2 This is a working schematic diagram of an intelligent drone bomb delivery system in a preferred embodiment of the present invention.

[0058] Figure 3 This is a flowchart of the intelligent drone bomb delivery method in a preferred embodiment of the present invention.

[0059] Figure 4 This is a schematic diagram of a preferred embodiment of the present invention in which a carrier discovers a target and launches a drone to perform an attack mission.

[0060] Figure 5 This is a schematic diagram of a carrier part launching a UAV to perform a cruise attack mission in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0062] With the existing battery technology and drone technology, the drone-based bomb delivery system generally has poor endurance when considering the cost, making it difficult to achieve long-distance combat, and unable to lurk near enemy areas to find a suitable attack opportunity. In response to this problem, an embodiment of the present invention provides an intelligent drone bomb delivery system, which uses a flying balloon as a drone carrier, and the drone carries missiles to attack targets. The drone is transported over long distances by the flying balloon, and the flight route is autonomously planned according to the given GPS signal and the built-in atmospheric circulation data, and the drone can accurately reach the designated target location. It can lurk near the enemy area for a long time to find an opportunity, and the ground station controls the drone to launch an attack, which greatly improves the long-term long-distance combat capability of the drone bomb delivery system and improves the target strike level.

[0063] Specifically, Figure 1 As shown, the intelligent drone bomb delivery system provided in this embodiment may include: a control part, a carrying part and a bomb delivery part; wherein:

[0064] The control part is used to receive the image information and position information fed back by the carrier part and the bomb-dropping part. The staff can provide manual control information (which may include manual control instructions and / or manual target information) for controlling the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part based on the image information and position information.

[0065] The carrier part is used to carry the bomb-dropping part. It controls its own flight status according to its own control information or the received manual control information, and autonomously plans the route to carry the bomb-dropping part to the designated location, and provides real-time feedback of image information and location information. It also provides power for itself and the bomb-dropping part.

[0066] The bomb-dropping part, based on its own control information or the received manual control information, reaches the target location according to the autonomously planned driving trajectory to perform the cruise attack mission, and provides real-time feedback on image information and location information; when the target search fails, it returns to the carrying part according to its own control information to recharge and wait for the next cruise attack mission.

[0067] In some preferred embodiments, the above-mentioned control part is arranged at a ground station, and includes a control console; the control console receives image information and position information transmitted by the carrying part and the bomb-dropping part in real time through wireless communication, and the staff can generate manual control information based on the image information and position information and transmit it to the carrying part and the bomb-dropping part through the control console.

[0068] In some preferred embodiments, the control console may further include:

[0069] Analyze the image information and location information, including: process the acquired image information, including image denoising, enhancement, feature extraction and other operations, and process the acquired location information, including coordinate conversion, coordinate system matching and other operations;

[0070] Fusing the processed image information with the position information, and associating the position of the target object in the image with the position in the real world;

[0071] Use the fused information for further analysis, including operations such as target recognition, target classification, trajectory prediction, and environmental perception, to obtain deeper information and obtain analysis results;

[0072] Finally, based on the analysis results of the image information and position information, the corresponding manual control information is generated. The control information includes manual control instructions, such as path planning, flight attitude adjustment, target tracking instructions, etc. and / or artificial target information, which are used to guide the behavior of the carrying part and the bombing part.

[0073] In some preferred embodiments, the above-mentioned carrier part includes: a flight unit, a navigation unit, a communication unit, a computing unit, a power supply unit and a docking unit; wherein:

[0074] The flight unit includes a flight balloon and a propulsion device; wherein the flight balloon is used to provide the buoyancy required for flight; the propulsion device is used to provide the power required for traveling along the trajectory;

[0075] The navigation unit includes GPS, inertial navigation device and camera; GPS is used for real-time positioning; inertial navigation device is used to control the stability and accuracy of the flight unit; camera is used to obtain real-time video information (and then obtain real-time image information) to help the ground station make decisions;

[0076] The communication part includes a wireless communication module; wherein the wireless communication module is used to transmit information with the control part in real time, thereby better controlling the activities of the carrying part;

[0077] The computing unit includes a small computing unit; wherein the small computing unit is used to control the flight state of the flight unit through its own control information or the manual control information transmitted by the control part, and automatically plan the route according to the target information and the built-in atmospheric circulation data;

[0078] The power supply unit includes solar panels and batteries, which are used to supply power to the carrying part and the bomb-dropping part;

[0079] The docking unit includes a drone nest for storing and releasing the drone, and a built-in charging interface, which is connected to the power supply unit to charge the drone.

[0080] In some preferred embodiments, the above-mentioned calculation unit generates its own control information and target information according to the acquired real-time image information and position information, and may further include:

[0081] Preprocessing the acquired real-time image information and position information; wherein the acquired image information is preprocessed, including image denoising, enhancement, feature extraction and other operations, and the acquired position information is preprocessed, including coordinate conversion, coordinate system matching and other operations;

[0082] The preprocessed image information and position information are fused to associate the position of the target object in the image with the position in the real world;

[0083] Analyze the fused information, including target recognition, target classification, trajectory prediction and environment perception, and obtain analysis results;

[0084] Based on the analysis results, the corresponding self-control information and target information are generated, including self-control information such as path planning, flight attitude adjustment, target tracking instructions, etc.

[0085] In some preferred embodiments, the above-mentioned calculation unit automatically plans the route according to the target information and the built-in atmospheric circulation data, and may further include:

[0086] Automatic route planning determines the best route based on atmospheric circulation data and target information. At the same time, it uses optimization algorithms to update the route path in real time according to weather changes.

[0087] Furthermore, the automatic route planning determines the best route based on the atmospheric circulation data and target information, and can further include the steps of obtaining meteorological information, setting targets, preprocessing data, selecting planning algorithms, generating routes, evaluating and adjusting, and outputting results; at the same time, the route path can be updated in real time according to meteorological changes by using optimization algorithms; among which:

[0088] Obtain weather information: Use data from the built-in atmospheric circulation model (global weather model or local weather station) to obtain weather variables in real time, including wind speed, wind direction, temperature, humidity, air pressure, etc. This step provides environmental background data for the entire system, and subsequent goal setting and data processing rely on this information. Meteorological data can be used as an important reference when planning routes, affecting the setting of goals and determining the selection criteria for routes.

[0089] Setting goals: Based on the mission requirements, clearly define the destination to be reached and specific requirements (flight altitude, time limit, energy consumption, etc.). Setting clear goals can help with subsequent data preprocessing and planning steps to ensure that the route design meets the mission requirements. Setting goals will affect subsequent route selection and planning plans. For example, the urgency of the mission may require that faster routes be prioritized.

[0090] Preprocess data: Clean, standardize and filter the acquired meteorological data and target information. Eliminate noise and irrelevant data for better application in subsequent analysis. Optimize data quality and improve the effectiveness of data analysis and model application in subsequent steps. Preprocessed data directly affects the decision quality of route generation, and bad data will lead to inaccurate planning.

[0091] Select a planning scheme: According to the meteorological conditions and mission requirements, select an appropriate route planning model or algorithm (such as the shortest path solution, genetic algorithm, particle swarm optimization, etc.). The selected algorithm will affect the efficiency and effect of route generation. It is closely related to meteorological data and target information to ensure that the selected method can reflect the impact of meteorological changes on the route in real time.

[0092] Generate route: Using the selected planning algorithm, the pre-processed meteorological data and the set target information are input into the model to generate the optimal route. The output route of this stage is directly dependent on all the previous data and planning steps. The generated route should meet the set goals and meteorological conditions. The generated route should have a certain degree of flexibility so that it can be improved in subsequent evaluation and adjustment.

[0093] Evaluation and Adjustment: Evaluate the generated routes, taking into account multiple factors such as weather conditions, flight safety, energy consumption, and mission completion, and make adjustments or re-planning when necessary. The evaluation results may lead to optimization of the route, and the feedback information will be used to improve the accuracy of the algorithm model, thereby improving future planning efficiency. Adjusting the route based on the evaluation results can be fed back to the data source to provide reference for future weather analysis and goal setting.

[0094] Execution results: The carrier executes the route according to the final route and related information. The output route results provide the carrier with a clear flight path to guide it to complete the mission. The output route can also be stored as data for subsequent analysis and model improvement.

[0095] Real-time update: Combined with weather changes, real-time data stream monitoring is adopted, and optimization algorithms (such as dynamic programming, reinforcement learning, etc.) are used to update the route path. Real-time update enables the system to respond quickly to environmental changes, ensure flight safety and mission efficiency, and timely adjustment of routes will affect the execution of subsequent flight missions. The update results can be compared with historical data to analyze the impact of weather changes on route selection and further optimize the planning model.

[0096] In some preferred embodiments, the above-mentioned bombing part includes: a drone and a bomb launcher unit; wherein:

[0097] The drone includes GPS, camera and wireless communication module; GPS is used for real-time positioning; camera is used to obtain real-time video information (and then obtain real-time image information); wireless communication module is used to transmit information with the control part in real time;

[0098] The bomb launcher unit is used to install the bomb, and execute the attack mission according to the target information based on its own control information or the manual control information transmitted by the control part.

[0099] In some preferred embodiments, the above-mentioned bomb launcher unit generates its own control information and target information according to the acquired real-time image information and position information, including:

[0100] According to the real-time video (image) information fed back by the camera of the bomb-delivering part and the real-time location information fed back by the GPS, AI vision guidance is started to find the target, obtain the target information, and generate the first self-control information to control the bomb-delivering part to carry out the attack mission based on the target information found; when the AI ​​vision guidance fails to find the target, the second self-control information is generated to control the bomb-delivering part to return to the carrying part for charging and wait for the next cruise attack mission.

[0101] In some preferred embodiments, the above-mentioned starting AI visual guidance to search for a target based on the acquired real-time image information and position information may further include:

[0102] Preprocess the acquired real-time image information, including resizing, denoising, contrast enhancement, etc., to ensure that the image quality is good enough for subsequent processing;

[0103] Use the YOLOv8 algorithm model to identify the target objects in the image, classify them, and obtain target information;

[0104] Using target tracking algorithms to track the movement trajectory of target information, and making decisions based on the acquired real-time location information, detected target information, and target location, including path planning, such as determining the next action or path planning to guide the device or robot toward the target;

[0105] Based on the decision result, the corresponding first self-control instructions are generated, including steering angle, speed control, obstacle avoidance strategy, etc., to achieve guidance and tracking of the target.

[0106] In the above preferred implementation, it may further include:

[0107] The generated first self-control instruction is transmitted to the bomb-dropping part to perform corresponding actions, such as adjusting the heading, speed or attitude to achieve guidance and tracking of the target; or, the generated first self-control instruction is transmitted to the carrying part as a reference for the carrying part to readjust the heading, speed or attitude.

[0108] In the above preferred embodiment, the transport part carries the bomb-dropping part and can reach a designated location to release the bomb-dropping part to launch an attack mission, or it can fly a long distance to the vicinity of the target area to carry out lurking or cruising missions, and then survey the enemy's situation and wait for an opportunity to launch an attack.

[0109] In this preferred embodiment, the UAV is able to receive control information and target information from the control part, conduct flight patrol and survey according to the set trajectory, and carry out attack missions on the targets found according to the AI ​​vision guidance; when the AI ​​vision guidance fails to find the target, it returns to the carrying part for charging according to the control information, and waits for the next cruise attack mission.

[0110] like Figure 2As shown, the intelligent drone bomb delivery system provided by the above embodiment of the present invention has a control part, i.e., a ground station, which stays with us, a carrier part flies to the target area or near the target area, and a bomb delivery part performs a cruise attack mission in the target area. Under the control of the ground station or its own program, combined with atmospheric circulation data, the flying balloon of the carrier part can autonomously plan the route, carry the bomb delivery drone to the target area and directly release the drone to perform the attack mission, or cruise near the target area, release the drone to the target point for reconnaissance, use the camera to detect the target, find the target or launch a precise and rapid attack under the control of the ground station; if the drone does not find the target, it can return to the flying balloon to charge, and the flying balloon can carry the drone to patrol and lurk in other target areas under the control of the ground station, and release the drone to launch the next round of attack.

[0111] Based on the same inventive concept, an embodiment of the present invention also provides a method for dropping bombs using an intelligent drone.

[0112] Specifically, Figure 3 As shown, the intelligent drone bomb delivery method provided in this embodiment may include the following operations:

[0113] S1, the carrier part controls its own flight status according to its own control instructions or the received manual control information, and autonomously plans the route to carry the bomb-dropping part to the designated location, and provides real-time feedback of image information and location information, while providing power for itself and the bomb-dropping part;

[0114] S2, the bombing part performs the cruise attack mission according to its own control information or the received manual control information, and feeds back the image information and position information in real time; if it fails to find the target, it returns to the carrier part to charge according to its own control information and waits for the next cruise attack mission;

[0115] S3, the control part obtains the image information and position information fed back by the carrying part and the bombing part, and provides manual control information;

[0116] S4, the control part sends manual control information to the carrier part and the bomb-dropping part, and manually intervenes and controls the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part.

[0117] It should be noted that the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the system to implement the step flow of the method, that is, the embodiments in the system can be understood as preferred examples of implementing the method, which will not be elaborated here.

[0118] The technical solution provided by the above embodiment of the present invention is further described in detail below in conjunction with a specific application example.

[0119] Specific application example 1

[0120] like Figure 4 As shown, after the carrier part reaches the target point according to the built-in atmospheric circulation data, when the camera of the carrier part detects the target, the corresponding drone is dispatched to carry bombs to launch a precise and rapid attack mission on the target. The drone is equipped with a camera that can detect and follow the approaching target, and the ground station can also issue instructions to control the drone to attack the target.

[0121] Specific application example 2:

[0122] like Figure 5 As shown, the carrier part lurks near the enemy, and the UAV cruises along a certain trajectory according to the instructions of the ground station. If a target is found, it tracks and approaches the target to launch a suicide attack; if no target is found, it returns to the carrier part to charge and wait for the next cruise attack opportunity.

[0123] The intelligent drone bomb delivery system and delivery method provided in the above-mentioned embodiments of the present invention equips the drone-based bomb delivery part with a carrier, which can bring the drone to the vicinity of the target area at a relatively low cost and realize long-distance strike missions.

[0124] The intelligent drone bomb delivery system and delivery method provided by the above-mentioned embodiments of the present invention, the carrier equipment is powered by solar energy and has the function of charging the drone, which is similar to a flying drone nest, supporting the drone to cruise and fight in the target area for a long time. If the target is not found, it can return to the carrier equipment for charging and then carry out the next cruise attack mission.

[0125] In the intelligent drone bomb delivery system and delivery method provided by the above embodiments of the present invention, the carrier device has the functions of powering the drone and detecting targets and communicating with the ground station. It is a cruise device that can operate continuously, which is not possible with other cruise drones. If the carrier device finds a target, it can dispatch the drone to launch a precise and rapid attack mission.

[0126] The intelligent drone bomb delivery system and delivery method provided by the above-mentioned embodiments of the present invention can enable the carrier to automatically plan a flight path to the target point based on a given GPS signal position in combination with built-in atmospheric circulation data, release the drone to search for the target, and execute the attack mission.

[0127] The intelligent drone bomb delivery system and delivery method provided by the above-mentioned embodiments of the present invention, the control part can provide a manual remote control function to improve the maneuverability of the bomb delivery system.

[0128] In summary, the intelligent drone bomb delivery system and delivery method provided by the above embodiments of the present invention can realize functions such as long-range attack, long-term patrol or lurking, background control, and automatic target recognition, overcoming the problems of existing drone bomb delivery systems such as short attack distance, short flight time, and inability to conduct long-term surveys.

[0129] All matters not covered in the above embodiments of the present invention are well known in the art.

[0130] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An intelligent drone bomb delivery system, characterized in that: include: Control section, transport section and bomb delivery section; among which: The control part is used to receive the image information and position information fed back by the carrier part and the bomb-dropping part, and provide manual control information for controlling the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part according to the image information and position information; The carrier part is used to carry the bomb-dropping part, control its own flight state according to its own control information or received manual control information, and autonomously plan the route to carry the bomb-dropping part to the designated location, and provide real-time feedback of image information and location information; meanwhile, it supplies power to itself and the bomb-dropping part; The bomb-dropping part reaches the target location according to its own control information or the received manual control information and follows the autonomously planned driving trajectory to perform the cruise attack mission, and feeds back image information and position information in real time; when the target search fails, it returns to the carrying part according to its own control information to charge and wait for the next cruise attack mission.

2. The intelligent drone bomb delivery system according to claim 1, characterized in that: The control part is arranged at the ground station and includes a control console; the control console receives image information and position information transmitted by the carrying part and the bomb-dropping part in real time through wireless communication, and generates manual control information according to the image information and position information and transmits it to the carrying part and the bomb-dropping part through the control console.

3. The intelligent drone bomb delivery system according to claim 1, characterized in that: In the control part, generating artificial control information according to the image information and the position information includes: Processing the image information and the position information; wherein the processing of the image information includes: image denoising, enhancement and feature extraction; processing of the position information includes: coordinate conversion and coordinate system matching; Fusing the processed image information with the position information, and associating the position of the target object in the image with the position in the real world; Analyze the fused information, including target recognition, target classification, trajectory prediction and environment perception, and obtain analysis results; Based on the analysis results, corresponding manual control information is generated, including path planning, flight attitude adjustment and target tracking instructions, which are used to guide the behavior of the carrying part and the bombing part.

4. The intelligent drone bomb delivery system according to claim 1, characterized in that: The carrying part includes: a flight unit, a navigation unit, a communication unit, a computing unit, a power supply unit and a docking unit; wherein: The flight unit includes a flight balloon and a propulsion device; wherein the flight balloon is used to provide the buoyancy required for flight; and the propulsion device is used to provide the power required for traveling along the trajectory; The navigation unit includes a GPS, an inertial navigation device and a camera; wherein the GPS is used for real-time positioning; the inertial navigation device is used to control the stability and accuracy of the flight of the flight unit; and the camera is used to obtain real-time image information; The communication part includes a wireless communication module; wherein the wireless communication module is used to transmit information with the control part in real time; The computing unit includes a small computing unit; wherein the small computing unit is used to control the flight state of the flight unit through its own control information or the manual control information transmitted by the control part, and automatically plan the route according to the target information and the built-in atmospheric circulation data; The power supply unit includes a solar panel and a storage battery, which is used to supply power to the carrying part and the bomb-dropping part; The docking unit includes a drone nest for storing and releasing the drone; a charging interface connected to the power supply unit and used for charging the drone is arranged inside the drone nest.

5. The intelligent drone bomb delivery system according to claim 4 is characterized in that: In the calculation unit, the self-control information and target information are generated according to the acquired real-time image information and position information, including: Preprocessing the acquired real-time image information and location information; The preprocessed image information and position information are fused to associate the position of the target object in the image with the position in the real world; Analyze the fused information, including target recognition, target classification, trajectory prediction and environment perception, and obtain analysis results; Based on the analysis results, generate corresponding self-control information and target information; Automatically plan routes based on target information and built-in atmospheric circulation data, including: The best route is determined based on built-in atmospheric circulation data and target information; at the same time, the route is updated in real time according to weather changes using optimization algorithms.

6. The intelligent drone bomb delivery system according to claim 1, characterized in that: The bombing part includes: a drone and a bomb launcher unit; wherein: The drone includes a GPS, a camera and a wireless communication module; wherein the GPS is used for real-time positioning; the camera is used for obtaining real-time image information; and the wireless communication module is used for real-time information transmission with the control part; The bomb launcher unit is used to install bombs and execute attack tasks according to its own control information or manual control information transmitted by the control part according to target information.

7. The intelligent drone bomb delivery system according to claim 1, characterized in that: In the bomb launcher unit, self-control information and target information are generated according to the acquired real-time image information and position information, including: according to the acquired real-time image information and position information, AI vision guidance is started to find the target, target information is obtained, and first self-control information for controlling the bomb launching part to perform the attack mission is generated based on the found target information; when the AI ​​vision guidance fails to find the target, second self-control information is generated to control the bomb launching part to return to the carrying part for charging and wait for the next cruise attack mission.

8. The intelligent drone bomb delivery system according to claim 7, characterized in that: The method of starting AI vision-guided target search based on the acquired real-time image information and location information includes: Preprocess the acquired real-time image information, including: resizing, denoising and contrast enhancement; The YOLOv8 algorithm is used to identify the target object in the preprocessed image information and classify it to obtain the target information; The target tracking algorithm is used to track the movement trajectory of the target information, and the path planning is performed based on the acquired real-time position information, the detected target information and the target position; Based on the path planning result, a corresponding first self-control instruction is generated to guide and track the target.

9. The intelligent drone bomb delivery system according to claim 8, characterized in that: Also includes: The generated first self-control instruction is fed back to the carrier part as a reference for the carrier part to readjust the heading, speed or attitude.

10. A method for dropping bombs using an intelligent drone, characterized in that: include: The control part of the intelligent drone bomb delivery system obtains the image information and position information fed back by the carrying part and the bomb delivery part of the intelligent drone bomb delivery system, and provides manual control information; The control part sends the manual control information to the carrier part and the bomb-dropping part, and manually intervenes and controls the flight trajectory and lurking location of the carrier part and the flight timing and bomb-dropping timing of the bomb-dropping part; The carrier part controls its own flight status according to its own control information or the received manual control information, and plans the route autonomously, carrying the bomb-dropping part to the designated location, and provides real-time feedback of image information and location information, while supplying power to itself and the bomb-dropping part; The bomb-dropping part performs cruise attack missions according to its own control information or the received manual control information according to the autonomously planned driving trajectory, and provides real-time feedback on image information and location information. When the target search fails, it returns to the carrying part to recharge according to its own control information and waits for the next cruise attack mission.

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