Unmanned aerial vehicle countering system and method

Abstract

The invention discloses an unmanned aerial vehicle countering system and method, and relates to the field of unmanned aerial vehicle countering. The method comprises the following steps: acquiring initial unmanned aerial vehicle information, and generating initial coordinates of an unmanned aerial vehicle based on the initial unmanned aerial vehicle information; presetting a flight range of the unmanned aerial vehicle based on the initial coordinates, and randomly generating a plurality of prediction coordinates in the flight range of the unmanned aerial vehicle; at a second time point, unmanned aerial vehicle information of the multiple prediction coordinates is obtained, the corresponding prediction coordinates are evaluated based on the unmanned aerial vehicle information of the multiple prediction coordinates, multiple precise coordinates of the unmanned aerial vehicle are obtained, and the second time point is later than the first time point; making an attack strategy according to the plurality of precise coordinates of the unmanned aerial vehicle; based on the attack strategy, control signals are sent to the first transmission system, the second transmission system, the third transmission system and the high-pressure water pump, so that the remote control water cannon launches a water bomb to shoot down the unmanned aerial vehicle. According to the scheme, the anti-interference performance of unmanned aerial vehicle positioning is improved, so that the striking precision of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of drone countermeasures, and in particular to a drone countermeasure system and method. Background Art

[0002] With the development of science and technology, more and more reconnaissance methods are emerging, especially the current drone reconnaissance technology, which has the characteristics of small size, high flexibility and large range of activities, making it the preferred method in many scenarios.

[0003] In some confidential territorial areas, there are often some intentional or unintentional drones that intrude. At present, the countermeasures against such drones are mainly to shoot them down by patrol soldiers using bullets to hit the drones, but bullets can only attack one point, and even continuous shooting cannot form an effective attack surface, resulting in a low probability of hitting.

[0004] Therefore, there is an urgent need for a drone countermeasure system and method. Summary of the invention

[0005] In order to solve the problem of low hit rate of drone countermeasures, the present application provides a drone countermeasure system and method.

[0006] In a first aspect, the present application provides a drone countermeasure system, comprising: a patrol vehicle body, wherein the patrol vehicle body is provided with a high-pressure water pump, a water tank, and a remote-controlled water cannon; A drone information detection device is installed on the patrol vehicle body, and is used to detect drone information and send it to the central control module. The drone information includes image information, communication information and sound wave information; The central control module is used to locate the coordinates of the drone according to the drone information and formulate an attack strategy for the remote-controlled water cannon to shoot down the drone, wherein the attack strategy includes an attack direction and an attack mode, and the attack mode is any one of a cluster attack and a distributed attack; A first transmission system is installed on the patrol vehicle body, the first transmission system is electrically connected to the central control module, and is used to control the lateral striking direction of the remote-controlled water cannon according to the striking direction; A second transmission system is installed on the patrol vehicle body, the second transmission system is electrically connected to the central control module, and is used to control the longitudinal striking direction of the remote-controlled water cannon according to the striking direction; The third transmission system is installed on the muzzle end of the remote-controlled water cannon. The third transmission system is electrically connected to the central control module and is used to switch the attack mode.

[0007] Optionally, the first transmission system includes a rotating disc and a first motor, a transmission shaft of the first motor is installed with a first gear, one end surface of the rotating disc is installed with a second gear, the first gear is meshed with the second gear, the other end surface of the rotating disc is provided with a supporting mechanism for supporting the remote-controlled water cannon, a through hole is opened at the center of the rotating disc, the through hole is used to install a water pipe, so that the water in the water tank enters the remote-controlled water cannon; The second rotating system comprises a second motor, a transmission shaft of the second motor is rotatably connected to the supporting mechanism, and a transmission shaft of the second motor is fixedly connected to the tail end of the remote-controlled water cannon; The third transmission system includes a third motor, a telescopic net and a sliding guide rail. The telescopic shaft of the third motor is fixedly connected to the side wall of the telescopic net. The telescopic net is slidably connected in the sliding guide rail. The telescopic net is arranged on the muzzle surface of the remote-controlled water cannon to switch the attack strategy.

[0008] In a second aspect, the present application provides a method for countering a drone, the method being applied to the central control module in the first aspect, the method comprising: When the drone enters the strike range, initial drone information is obtained, and based on the initial drone information, initial coordinates of the drone are generated, wherein the initial coordinates store image information, communication information, sound wave information, speed, and acceleration of the drone at the first time point; Based on the initial coordinates, a flight range of the drone is preset, and a plurality of predicted coordinates are generated within the flight range of the drone; At a second time point, obtaining drone information of the plurality of predicted coordinates, and based on the drone information at the plurality of predicted coordinates, performing accuracy evaluation on the plurality of predicted coordinates to obtain a plurality of accurate coordinates of the drone, wherein the second time point is later than the first time point; Formulate an attack strategy based on the multiple precise coordinates of the drone; Based on the attack strategy, control signals are sent to the first transmission system, the second transmission system, the third transmission system and the high-pressure water pump so that the remote-controlled water cannon fires water bombs to shoot down the drone.

[0009] Optionally, the evaluating each corresponding predicted coordinate based on the drone information of the plurality of predicted coordinates to obtain a plurality of precise coordinates of the drone specifically includes: Divide the drone information of the predicted coordinates to be evaluated into multiple sub-information, wherein the multiple sub-information includes image information, communication information, sound wave information, speed and acceleration, and the predicted coordinates to be evaluated are any one of the multiple predicted coordinates; Obtaining a preset weight value of the predicted coordinate to be evaluated; Comparing the information quality of the plurality of sub-information with the initial drone information to obtain the difference between the plurality of sub-information; Based on the differences of the plurality of sub-information, the preset weight value is modified to obtain a true weight value of the predicted coordinate to be evaluated; If the true weight value of the predicted coordinate to be evaluated is greater than the threshold, the predicted coordinate to be evaluated is determined to be an accurate coordinate.

[0010] Optionally, before obtaining the preset weight value of the predicted coordinate to be evaluated, the method further includes: Determining the identity information of the drone based on the initial drone information or the drone information of the predicted coordinates to be evaluated; If there is a judgment result, based on the identity information of the drone, the preset weight value of the predicted coordinate to be evaluated is matched from the preset drone countermeasure weight library.

[0011] Optionally, based on the difference between the plurality of sub-information, the preset weight value is corrected to obtain the real weight value of the predicted coordinate to be evaluated, and the method is specifically as follows: Among them, w is the real weight value, is the preset weight value, is the difference of the i-th sub-information, is the weight adjustment factor of the i-th sub-information, is the nonlinear adjustment coefficient of the i-th sub-information.

[0012] Optionally, determining the strike distance of the drone according to the multiple precise coordinates; Determining whether the strike distance of the drone is less than or equal to a preset distance; If it is less than or equal to the preset distance, the striking range and striking angle of the distributed strike are determined according to the multiple precise coordinates.

[0013] Optionally, the determining whether the strike distance of the drone is less than or equal to a preset distance further includes: If it is greater than the preset distance, determining the spherical area where the drone is active based on the multiple precise coordinates; Calculating relative distances between the plurality of precise coordinates and the center coordinate of the spherical area; According to the relative distances corresponding to the multiple precise coordinates, the multiple precise coordinates are sorted by strike priority; Based on the strike priorities of the multiple precise coordinates, the order and strike angle of the cluster strike are determined.

[0014] In a third aspect, the present application further provides a drone countermeasure device, the device being a central control module, the central control module comprising a receiving module, a processing module and an output module, wherein: The receiving module is used to obtain initial drone information when the drone enters the strike range, and generate initial coordinates of the drone based on the initial drone information, wherein the initial coordinates store image information, communication information, sound wave information, speed and acceleration of the drone at a first time point; The processing module is used to preset the flight range of the drone based on the initial coordinates, and generate a plurality of predicted coordinates within the flight range of the drone; obtain drone information of the plurality of predicted coordinates at a second time point, and perform accuracy evaluation on the plurality of predicted coordinates based on the drone information at the plurality of predicted coordinates to obtain a plurality of precise coordinates of the drone, the second time point being later than the first time point; and formulate an attack strategy according to the plurality of precise coordinates of the drone; The output module is used to send control signals to the first transmission system, the second transmission system, the third transmission system and the high-pressure water pump based on the attack strategy, so that the remote-controlled water cannon launches water bombs to shoot down the drone.

[0015] In a fourth aspect, the present application provides an electronic device, comprising a processor, a memory, a user interface and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a method as described in any one of the second aspects.

[0016] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, the method described in any one of the second aspects is executed.

[0017] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. When the drone enters the strike range, the drone information detection device detects various types of drone information for positioning and verification to improve the positioning accuracy of the drone; then the central control module formulates a strike strategy based on the coordinates of the drone. At this time, the strike strategy is executed by the remote-controlled water cannon. The strike strategy includes the strike direction and attack mode. The attack mode is divided into cluster strike and distributed strike. The strike direction is controlled by the first transmission system and the second transmission system, and the switch of the attack mode is controlled by the third transmission system. Among them, cluster strike is suitable for long-range precision strike, and distributed strike is suitable for close-range strike, thus forming an effective strike surface and improving the success rate of drone strike.

[0018] 2. Due to the complex and changeable actual environment, the drone information detection device is easily interfered by various external environments when detecting drone information, resulting in inaccurate drone information acquisition. Based on this, when the drone enters the strike range, the initial drone information is obtained, and the initial coordinates of the drone are generated based on the initial drone information. The initial coordinates are inaccurate at this time, so multiple predicted coordinates within a certain range are generated based on the initial coordinates of the drone, and then the drone information at multiple predicted coordinates is obtained. Finally, the precise coordinates of the drone are determined based on the signal quality of the drone information at multiple predicted coordinates. This process can realize the positioning of the drone without precise measurement of the drone information, has high adaptability in complex environments, and has low computing resource requirements and can quickly respond to various changing environments, thereby improving the accuracy and timeliness of subsequent drone strikes.

[0019] 3. The movement of UAVs is irregular and they may also be equipped with countermeasures. Therefore, when determining the precise coordinates of a UAV, it is necessary to introduce nonlinear adjustment factors and weight adjustment factors. When the movement of a UAV changes, the nonlinear adjustment factor changes accordingly to adjust the precise coordinates. When the weight adjustment factor is used to load a countermeasure on a UAV, the weight adjustment factor changes accordingly to adjust the precise coordinates. Through the adaptive changes of the nonlinear adjustment factor and the weight adjustment factor, the positioning accuracy of UAVs equipped with countermeasures can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a drone countermeasure system provided in an embodiment of the present application.

[0021] Figure 2 It is a cross-sectional view of the overall structure of a drone anti-aircraft system provided in an embodiment of the present application.

[0022] Figure 3 yes Figure 2 A magnified schematic diagram of center A.

[0023] Figure 4 yes Figure 1 A magnified schematic diagram of point B in the middle.

[0024] Figure 5 It is a flow chart of a drone countermeasure method provided in an embodiment of the present application.

[0025] Figure 6 It is a structural schematic diagram of a drone countermeasure device provided in an embodiment of the present application.

[0026] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0027] Explanation of the accompanying drawings: 1. patrol vehicle body; 2. high-pressure water pump; 3. remote-controlled water cannon; 4. water tank; 5. central control module; 6. drone information detection device; 7. first transmission system; 71. first motor; 72. first gear; 73. second gear; 74. rotating disk; 8. second motor; 9. third transmission system; 91. third motor; 92. telescopic net; 93. sliding guide rail; 10. supporting mechanism; 11. water pipe; 601. receiving module; 602. processing module; 603. output module; 700. electronic device; 701. processor; 702. communication bus; 703. user interface; 704. network interface; 705. memory. DETAILED DESCRIPTION

[0028] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0029] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0030] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0031] With the development of science and technology, most of the investigative methods currently used tend to be unmanned and intelligent.

[0032] Among them, the countermeasures against drone reconnaissance are mainly soldiers using bullets to shoot down the drone or using electromagnetic interference to affect the movement trajectory of the drone, but bullets can only attack one point, and even continuous shooting cannot form an effective attack surface, resulting in a low probability of hitting; and although electromagnetic interference can form a larger attack surface, most drones are currently equipped with anti-electromagnetic devices, which results in poor interference effect of electromagnetic interference, and thus cannot effectively strike drones.

[0033] In order to solve the above problems, the present application provides a drone countermeasure system, such as Figure 1 As shown, the countermeasure system includes a patrol vehicle 1, on which a high-pressure water pump 2, a water tank 4 and a remote-controlled water cannon 3 are arranged. Among them, the high-pressure water pump 2 is used to extract water from the water tank 4 as a shooting bullet for the remote-controlled water cannon 3, and multiple remote-controlled water cannons 3 can be set to attack multiple drone targets. Before attacking the drone, the drone needs to be positioned. Therefore, the patrol vehicle 1 is also equipped with a drone information detection device 6 and a central control module 5. The drone information detection device 6 includes multiple types of detection sensors, including but not limited to optical sensors, electromagnetic sensors, and acoustic wave sensors; the drone information detection device 6 is used to detect the drone information of the drone, and the drone information includes image information, communication information and acoustic wave information; then the drone information is sent to the central control module 5, so that the central control module 5 processes the drone information to obtain the positioning coordinates of the drone and the attack strategy of the remote-controlled water cannon 3. Among them, the attack strategy includes the attack direction and the attack mode, and the attack mode includes two modes: cluster attack and distributed attack. Cluster attack is suitable for long-range attack, and distributed attack is suitable for close-range attack. Since the water column spray is uninterrupted, the drone can switch between two attack methods, which can form a continuous and effective attack surface in the flight direction of the drone and achieve precise strikes, thereby greatly improving the success rate of attacks on drones.

[0034] In order to avoid the blind spot of the remote control water cannon 3, refer to Figure 1 , Figure 2 Combination Figure 3, the control of the striking direction adopts the first transmission system 7 and the second transmission system, and the first transmission system 7 and the second transmission system are both installed on the patrol vehicle body 1. The first transmission system 7 and the second transmission system are both electrically connected to the central control module 5. After the central control module 5 determines the striking direction, it sends control instructions to the first transmission system 7 and the second transmission system. Among them, the first transmission system 7 controls the lateral striking direction of the remote-controlled water cannon 3, and the second transmission system controls the longitudinal striking direction of the remote-controlled water cannon 3. The first transmission system 7 includes a rotating disk 74 and a first motor 71. The transmission shaft of the first motor 71 is installed with a first gear 72, and one end surface of the rotating disk 74 is installed with a second gear 73, and the first gear 72 is meshed with the second gear 73. When the first motor 71 is started, the first gear 72 drives the second gear 73 to rotate, and then drives the rotating disc 74 to rotate; and the other end surface of the disc is provided with a support mechanism 10, which is used to support the remote-controlled water cannon 3. When the disc rotates, the remote-controlled water cannon 3 rotates accordingly, thereby realizing the lateral attack of the remote-controlled water cannon 3; in addition, a through hole is opened at the center of the rotating disc 74 for installing a water pipe 11, so that the water in the water tank 4 enters the remote-controlled water cannon 3 as a shooting bullet. The second transmission system includes a second motor 8, the transmission shaft of the second motor 8 is rotatably connected to the support mechanism 10, and the transmission shaft of the second motor 8 is also fixedly connected to the tail end of the remote-controlled water cannon 3. When the second motor 8 is started, the transmission shaft of the second motor 8 drives the remote-controlled water cannon 3 to rotate, thereby realizing the longitudinal attack of the remote-controlled water cannon 3.

[0035] Reference Figure 1 , Figure 4 The third transmission system 9 includes a third motor 91, a telescopic net 92 and a sliding guide rail 93. The third transmission system 9 is arranged at the muzzle. The telescopic rod of the third motor 91 is fixedly connected to the side wall of the telescopic net 92. The telescopic net 92 is slidably connected to the sliding guide rail 93 installed on the end surface of the muzzle. When the third motor 91 is started, the telescopic rod drives the telescopic net 92 to block the muzzle to achieve distributed strikes, and the telescopic net 92 does not block the muzzle to achieve cluster strikes, thereby facilitating the switching of attack modes. In addition, the range of distributed strikes and the attack distance of cluster strikes can be achieved by controlling the power of the high-pressure water pump 2.

[0036] The above-mentioned patrol car drone countermeasure system utilizes the adjustability of the shape of the water column sprayed by the remote-controlled water cannon 3 and the continuity of the water column, which can achieve both long-range precision strikes and close-range distributed strikes, thereby improving the success rate of drone strikes.

[0037] When patrol cars attack drones, accurate positioning of drones is crucial. However, the actual environment is complex and changeable, and interferences coexist. It is difficult for the drone information detection device 6 to accurately measure when detecting drone information, which greatly reduces the success rate of drone attacks.

[0038] In order to solve the above problems, this application provides a method for countering drones, such as Figure 4 As shown, the method is applied to the above-mentioned patrol car drone countermeasure system control module 5, including steps S101 to S105, and the above steps are as follows: S101. When the UAV enters the strike range, initial UAV information is obtained, and based on the initial UAV information, initial coordinates of the UAV are generated. The initial coordinates store image information, communication information, sound wave information, speed, and acceleration of the UAV at the first time point.

[0039] In the above steps, the strike range refers to the detection range of the UAV information detection device 6. When the patrol car is traveling in the confidential area, the UAV information detection device 6 is always in the on state, so that the UAV can be discovered at the first time; when the UAV enters the strike range, the initial UAV information is obtained, and the initial UAV information includes but is not limited to image information, communication information, sound wave information, speed and acceleration; it should be further explained that when the UAV just flies into the strike range, if the UAV information is detected immediately at this time, it is easy to cause misjudgment. For example, the electromagnetic signal sent by the UAV may have a certain similarity with the electromagnetic pulse in the environment, but the electromagnetic pulse fed back by the environment will not always be in a stable state, and the electromagnetic pulse fed back by the UAV The magnetic signal is always in a stable state. Based on this feature, the first time point is set as the time point after a preset time period after the UAV enters the strike range. If the UAV information can be detected within the preset time period, the UAV information will be obtained for subsequent processing. It can be understood that the UAV information obtained for the first time is inaccurate due to environmental interference, but the approximate coordinates of the UAV can be locked. Therefore, the initial coordinates of the UAV can be generated based on the initial UAV information. Specifically, different information coordinates are generated according to different information types. For example, image information can obtain image coordinates, communication information can obtain communication coordinates, and sound wave information can obtain sound coordinates. Then, multiple different information coordinates are averaged to obtain an initial coordinate.

[0040] S102: Based on the initial coordinates, a flight range of the UAV is preset, and a plurality of predicted coordinates are generated within the flight range of the UAV.

[0041] In the above steps, the flight range of the drone is determined by the speed and acceleration in the initial drone information, specifically: taking the initial coordinates of the drone as the starting point, predicting multiple possible endpoints of the drone after a preset time period, and then generating the flight range of the drone based on the limit relative distance between the multiple possible endpoints and the initial coordinates. The predicted coordinates can be understood as multiple coordinate points generated in the flight area that the drone will most likely pass through during the process of attacking the patrol car, for example, the straight line area between the drone and the patrol car. The predicted coordinate point now stores multiple different initial information coordinates in the initial coordinate point.

[0042] S103. At a second time point, obtain drone information of multiple predicted coordinates, and based on the drone information at the multiple predicted coordinates, perform accuracy evaluation on the multiple predicted coordinates to obtain multiple precise coordinates of the drone, where the second time point is later than the first time point.

[0043] In the above steps, the second time point is the time point after the first time point passes through a preset time period. At the second time point, the drone information at multiple predicted coordinates is obtained again. The drone information contains multiple different types of information, but the drone information obtained at this time may be inaccurate due to the influence of the actual environment, and the drone coordinates generated according to the drone information will also be inaccurate, resulting in the inability to directly determine the exact position of the drone through the coordinates generated by the drone information, and it cannot be used to verify the predicted coordinates indirectly obtained from the initial information coordinates. Based on this, the present application adopts a method of correcting the coordinate weight value at the predicted coordinates to locate the exact position of the drone. The coordinate weight value can be understood as the accuracy of the drone at the predicted coordinates. In the correction process, the difference between the signal quality of the drone information at the predicted coordinates and the signal quality of the drone information at the initial coordinates is used to determine the specific position of the drone. If the difference is small, the weight value of the predicted coordinates increases, and if the difference is large, the weight value of the predicted coordinates decreases. When the weight value is high enough, the precise coordinates of the drone can be determined. This solution can achieve accurate positioning of the drone without detecting accurate drone information. In addition, it also reduces the difficulty of data processing and does not require complex post-processing steps, thereby having a faster response speed. The method is specifically as follows: After obtaining the drone information of the predicted coordinates to be evaluated, the drone information of the predicted coordinates to be evaluated is divided into a plurality of sub-information, and the predicted coordinates to be evaluated is a predicted coordinate arbitrarily selected from the plurality of predicted coordinates for convenience of explanation. It is understandable that the same operation is performed on the other predicted coordinates. The plurality of sub-information includes image information, communication information, sound wave information, speed, and acceleration at the predicted coordinates to be evaluated at the second time point.

[0044] Then, a preset weight value of the predicted coordinate to be evaluated is obtained. The preset weight value can be understood as the weight value of the initial coordinate. The weight value of the initial coordinate is determined by the information quality of the multiple information types obtained at the first time point. It should be noted that the weight value of the initial coordinate is initially a default value, and then the initial default value is corrected one by one according to the information quality corresponding to each of the multiple information types. When the information quality of one information type is high, the initial default value is increased, and when the information quality of one information type is low, the initial default value is reduced; In one possible implementation, different types of drones differ in their modes of action and countermeasures. Therefore, if the drone's identity information can be known in advance, there will be a more accurate basis for predicting the drone's flight pattern, thereby making the prediction results of the drone's coordinates more accurate. Based on this, before obtaining the preset weights of the predicted coordinates to be evaluated, first try to determine whether the drone's identity information can be identified based on the initial drone information or the drone information of the predicted coordinates to be evaluated. If the drone's identity information cannot be identified, then the first default weight value of the predicted coordinates to be evaluated is corrected based on the initial drone information to obtain the preset weight value of the predicted coordinates to be evaluated. The first default weight value is the initial default value of the weight value of the initial coordinates. If the drone's identity information can be identified, then the second default weight value of the predicted coordinates to be evaluated can be matched from the preset drone countermeasure weight library based on the drone information. The second default weight value reflects the inaccuracy caused by the drone's countermeasures. Difficulty in obtaining human-machine information. For example, if the identity information of the drone is known, it can be learned from the identity information that the drone has countermeasures against electromagnetic signals. Therefore, even if the communication information has high information quality in the acquired drone information, it will be judged as interference information, thereby reducing the default weight value of the predicted coordinates to be evaluated, that is, the second default weight value is less than the first default weight value. It should be explained that the purpose of setting a preset drone countermeasure weight library is because the drone's countermeasures have strengths and weaknesses, and the influence of such strengths and weaknesses on the default weight value needs to be obtained through a large number of experiments. Therefore, the preset drone countermeasure weight library stores the relationship between the drone model that has been verified by the experiment and the second default weight value. Finally, the second default weight value of the predicted coordinates to be evaluated is corrected according to the initial drone information to obtain the preset weight value of the predicted coordinates to be evaluated, so as to make the prediction of the drone coordinates more accurate.

[0045] After obtaining the preset weight value of the predicted coordinates to be evaluated, the information quality of the multiple sub-information at the second time point is compared with the information quality of the multiple drone information at the first time point to obtain the difference between the multiple sub-information, and then the preset weight value is corrected according to the difference between the multiple sub-information to obtain the true weight value of the predicted coordinates to be evaluated. The correction method can be adopted as follows: Among them, w is the real weight value, is the preset weight value, is the difference of the i-th sub-information, is the weight adjustment factor of the i-th sub-information, is the nonlinear adjustment coefficient of the i-th sub-information.

[0046] In the above formula, It indicates the influence of the difference of sub-information on the preset weight value. This influence is not constant. It is affected by the actual environment, the countermeasures of the drone and the detection equipment itself. It is necessary to introduce nonlinear adjustment coefficients and weight adjustment factors to amplify or reduce this influence, so that the final real weight value is more accurate. Further explanation is as follows: For weight adjustment factor , we can know that the environment has a great impact on the accuracy and reliability of the detection equipment. For example, for optical sensors, they can provide very accurate image information in a good environment, but their reliability may drop rapidly in a bad environment; therefore, the weight adjustment factor needs to be based on this difference to highlight or weaken the impact of the drone information obtained by a certain detection device. If a certain detection device is more accurate in the current environment, a smaller weight adjustment factor can be set to increase the actual weight value; if a certain detection device has poor performance in the current environment, a larger weight adjustment factor can be set to reduce the actual weight value.

[0047] For nonlinear adjustment coefficient In actual environments, the impact of various factors on the drone information obtained by the detection equipment is usually nonlinear. For example, the impact of meteorological conditions on optical sensors may have little impact on image information when the fog concentration is small, but when the fog concentration reaches a certain threshold, the image information quality will drop sharply. Based on this, the nonlinear adjustment coefficient can well characterize this nonlinear relationship. By setting the nonlinear adjustment coefficient, the degree of influence of the environment on the difference of sub-information can be adjusted according to the degree of environmental change. For example, when environmental factors cause the difference of sub-information to increase, by increasing the nonlinear adjustment coefficient, the true weight value can be reduced, thereby weakening this influence and making the true weight value more focused on the precise sub-information.

[0048] In summary, through the nonlinear adjustment coefficient and the weight adjustment factor, the weights corresponding to each sub-information can be adjusted and allocated more accurately, and accurate weight allocation is more reliable for determining the exact position of the UAV, thereby improving the success rate of UAV counterattack.

[0049] After obtaining the true weight value of the drone's predicted coordinates, it is determined whether the true weight value of the predicted coordinates is greater than the threshold. If it is greater than the threshold, the predicted coordinates can be determined to be accurate coordinates. It should be noted that there may be more than one predicted coordinate with a true weight value greater than the threshold, that is, there are multiple accurate coordinates, but these accurate coordinates are relatively concentrated, and the water cannon has a certain coverage during the attack, which can cover multiple accurate coordinates, so that it can still be effectively attacked.

[0050] S104. Formulate an attack strategy based on the multiple precise coordinates of the drone.

[0051] In the above steps, the attack strategy includes the attack direction and the attack mode, and the attack mode includes distributed attack and cluster attack. Distributed attack can be understood as the water bullets fired by the remote-controlled water cannon 3 forming a water net, which has a larger attack surface, but the attack force at a long distance is smaller, which is suitable for close-range attack; and cluster attack can be understood as the water bullets fired by the remote-controlled water cannon 3 are fired in the form of a water column, so that they have a stronger attack force, but the attack surface at a long distance is smaller, which is suitable for long-range attack. Based on this, after determining multiple precise coordinates of the drone, the attack distance and attack angle between the patrol car and the drone are calculated, and then it is determined whether the attack distance is less than or equal to the preset distance. If it is less than the preset distance, it means that the drone is close to the patrol car. At this time, a distributed attack with a large attack range can be used to ensure the success rate of the attack.

[0052] If the strike distance is greater than the preset distance, it is suitable for long-distance cluster strikes. However, since the strike surface of the cluster strike is small and there are multiple precise coordinates, if the strike is random, the most likely location of the drone may be missed, resulting in multiple strikes to hit the target or even completely failing to hit the target. In order to solve this problem, first, the spherical area of ​​the drone activity is determined according to multiple precise coordinates. It can be understood that the spherical area contains multiple precise coordinates. Then the relative distances between the multiple precise coordinates and the center coordinates of the spherical area are calculated, and finally, according to the relative distances corresponding to the multiple precise coordinates, the multiple precise coordinates are sorted according to the strike priority, so that the remote control water cannon 3 performs cluster strikes based on the strike priority of the multiple precise coordinates and from high to low strike priority. This scheme uses the probability distribution map in the spherical area to predict that the probability of the drone appearing at the center of the ball is the highest, and the closer to the center of the ball, the higher the probability of the drone appearing. Based on this feature, the strike priority of multiple precise coordinates is sorted, so that each strike can cover the area where the drone is most likely to appear as much as possible; in addition, since the cluster strike of the remote control water cannon 3 is a continuous strike method, a larger strike surface can be formed when adjusting the strike angle, thereby improving the strike success rate.

[0053] S105. Based on the attack strategy, a control signal is sent to the first transmission system 7, the second transmission system, the third transmission system 9 and the high-pressure water pump 2, so that the remote-controlled water cannon 3 fires water bombs to shoot down the drone.

[0054] In the above steps, based on the attack angle and attack method included in the attack strategy, the first transmission system 7 is controlled to adjust the lateral attack angle, the second transmission system is controlled to adjust the longitudinal attack angle, the third transmission system 9 is controlled to switch the attack mode, and the water supply pressure of the high-pressure water pump 2 is controlled to adapt to the requirements of different attack modes for the strike force. Finally, the remote-controlled water cannon 3 is used to shoot down the drone according to the attack strategy. Compared with using bullets to attack drones, this solution can form an effective strike surface, thereby improving the success rate of attacking drones.

[0055] Reference Figure 6 The present application also provides a drone countermeasure device, which is a central control module 5 in a patrol vehicle drone countermeasure system. The central control module 5 includes a receiving module 601, a processing module 602, and an output module 603503, wherein: The receiving module 601 is used to obtain initial drone information when the drone enters the strike range, and generate initial coordinates of the drone based on the initial drone information, where the initial coordinates store image information, communication information, sound wave information, speed and acceleration of the drone at the first time point; The processing module 602 is used to preset the flight range of the drone based on the initial coordinates, and generate multiple predicted coordinates within the flight range of the drone; at a second time point, obtain drone information of the multiple predicted coordinates, and based on the drone information at the multiple predicted coordinates, perform accuracy evaluation on the multiple predicted coordinates to obtain multiple precise coordinates of the drone, wherein the second time point is later than the first time point; formulate an attack strategy according to the multiple precise coordinates of the drone; The output module 603 is used to send control signals to the first transmission system 7, the second transmission system, the third transmission system 9 and the high-pressure water pump 2 based on the attack strategy, so that the remote-controlled water cannon 3 fires water bombs to shoot down the drone. In a possible implementation, each corresponding predicted coordinate is evaluated based on the drone information of multiple predicted coordinates to obtain multiple precise coordinates of the drone, specifically including: dividing the drone information of the predicted coordinate to be evaluated into multiple sub-information, the multiple sub-information including image information, communication information, sound wave information, speed and acceleration, and the predicted coordinate to be evaluated is any one of the multiple predicted coordinates; obtaining a preset weight value of the predicted coordinate to be evaluated; comparing the information quality of the multiple sub-information with the initial drone information to obtain the difference between the multiple sub-information; based on the difference between the multiple sub-information, correcting the preset weight value to obtain the true weight value of the predicted coordinate to be evaluated; if the true weight value of the predicted coordinate to be evaluated is greater than a threshold value, determining that the predicted coordinate to be evaluated is a precise coordinate.

[0056] In a possible implementation, before obtaining the preset weight value of the predicted coordinates to be evaluated, it also includes: judging the identity information of the drone based on the initial drone information or the drone information of the predicted coordinates to be evaluated; if there is a judgment result, based on the identity information of the drone, matching the preset weight value of the predicted coordinates to be evaluated from a preset drone countermeasure weight library.

[0057] In a possible implementation, based on the differences of the multiple sub-information, the preset weight value is modified to obtain the real weight value of the predicted coordinate to be evaluated, and the specific method is as follows: Among them, w is the real weight value, is the preset weight value, is the difference of the i-th sub-information, is the weight adjustment factor of the i-th sub-information, is the nonlinear adjustment coefficient of the i-th sub-information.

[0058] In one possible implementation, the strike distance of the drone is determined based on multiple precise coordinates; it is determined whether the strike distance of the drone is less than or equal to a preset distance; if it is less than or equal to the preset distance, the strike range and strike angle of the distributed strike are determined based on the multiple precise coordinates.

[0059] In one possible implementation, determining whether the strike distance of the drone is less than or equal to a preset distance also includes: if it is greater than the preset distance, determining the spherical area of ​​the drone activity based on multiple precise coordinates; calculating the relative distances between the multiple precise coordinates and the center coordinates of the spherical area; sorting the multiple precise coordinates according to the strike priorities corresponding to each of the multiple precise coordinates; and determining the order and strike angle of the cluster strike based on the strike priorities of the multiple precise coordinates.

[0060] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0061] The present application also discloses an electronic device 700. Figure 7 , Figure 7 1 is a schematic diagram of the structure of an electronic device 700 disclosed in an embodiment of the present application. The electronic device 700 may include: at least one processor 701 , at least one network interface 704 , a user interface 703 , a memory 705 , and at least one communication bus 702 .

[0062] The communication bus 702 is used to realize the connection and communication between these components.

[0063] The user interface 703 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 703 may also include a standard wired interface and a wireless interface.

[0064] The network interface 704 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0065] Among them, the processor 701 may include one or more processing cores. The processor 701 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 705, and calling data stored in the memory 705. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 701 can integrate one or a combination of a central processing unit 701 (Central Processing Unit, CPU), an image processor 701 (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 701, and it can be implemented separately through a chip.

[0066] Among them, the memory 705 may include a random access memory 705 (Random Access Memory, RAM), and may also include a read-only memory 705 (Read-Only Memory). Optionally, the memory 705 includes a non-transitory computer-readable storage medium. The memory 705 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 705 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 705 may also be optionally at least one storage device located away from the aforementioned processor 701. Refer to Figure 7 , the memory 705 as a computer storage medium may include an operating system, a network communication module, a user interface 703 module, and an application program for a drone countermeasure method.

[0067] exist Figure 7In the electronic device 700 shown, the user interface 703 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 701 can be used to call the application program storing a drone countermeasure method in the memory 705, and when executed by one or more processors 701, the electronic device 700 executes one or more of the methods described in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0068] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0070] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0072] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory 705. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory 705 and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory 705 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0073] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0074] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not described in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A drone countermeasure system, characterized in that: include: A patrol vehicle body (1), wherein the patrol vehicle body (1) is provided with a high-pressure water pump (2), a water tank (4) and a remote-controlled water cannon (3); A drone information detection device (6) is installed on the patrol vehicle (1), the drone information detection device (6) is used to detect drone information and send it to the central control module (5), the drone information includes image information, communication information and sound wave information; The central control module (5) is used to locate the coordinates of the drone according to the drone information and formulate an attack strategy for the remote-controlled water cannon (3) to shoot down the drone, wherein the attack strategy includes an attack direction and an attack mode, and the attack mode is any one of a cluster attack and a distributed attack; A first transmission system (7) is installed on the patrol vehicle body (1), the first transmission system (7) is electrically connected to the central control module (5), and is used to control the lateral striking direction of the remote-controlled water cannon (3) according to the striking direction; a second transmission system, mounted on the patrol vehicle body (1), the second transmission system being electrically connected to the central control module (5) and used for controlling the longitudinal striking direction of the remote-controlled water cannon (3) according to the striking direction; A third transmission system (9) is installed on the muzzle end of the remote-controlled water cannon (3); the third transmission system (9) is electrically connected to the central control module (5) and is used to switch the attack mode.

2. The countermeasure system according to claim 1, characterized in that: The first transmission system (7) comprises a rotating disk (74) and a first motor (71); a transmission shaft of the first motor (71) is mounted with a first gear (72); a second gear (73) is mounted on one end surface of the rotating disk (74); the first gear (72) meshes with the second gear (73); a support mechanism (10) is disposed on the other end surface of the rotating disk (74) for supporting the remote-controlled water cannon (3); a through hole is provided at the center of the rotating disk (74); the through hole is used for mounting a water pipe (11) so that water in the water tank (4) enters the remote-controlled water cannon (3); The second rotating system comprises a second motor (8), a transmission shaft of the second motor (8) being rotationally connected to the support mechanism (10), and a transmission shaft of the second motor (8) being fixedly connected to the tail end of the remote-controlled water cannon (3); The third transmission system (9) comprises a third motor (91), a telescopic net (92) and a sliding guide rail (93); the telescopic shaft of the third motor (91) is fixedly connected to the side wall of the telescopic net (92); the telescopic net (92) is slidably connected in the sliding guide rail (93); the telescopic net (92) is arranged on the muzzle surface of the remote-controlled water cannon (3) and is used to switch the attack strategy.

3. A method for countering a drone, characterized in that: Applied to the central control module (5) in claim 1, the method comprising: When the drone enters the strike range, initial drone information is obtained, and based on the initial drone information, initial coordinates of the drone are generated, wherein the initial coordinates store image information, communication information, sound wave information, speed, and acceleration of the drone at the first time point; Based on the initial coordinates, a flight range of the drone is preset, and a plurality of predicted coordinates are generated within the flight range of the drone; At a second time point, obtaining information of the drone at the plurality of predicted coordinates, and based on the information of the drone at the plurality of predicted coordinates, performing accuracy evaluation on the plurality of predicted coordinates to obtain a plurality of precise coordinates of the drone, wherein the second time point is later than the first time point; Formulate an attack strategy based on the multiple precise coordinates of the drone; Based on the attack strategy, control signals are sent to the first transmission system (7), the second transmission system, the third transmission system (9) and the high-pressure water pump (2) so that the remote-controlled water cannon (3) fires water bombs to shoot down the drone.

4. The method according to claim 3, characterized in that: The step of evaluating the accuracy of the plurality of predicted coordinates based on the drone information at the plurality of predicted coordinates to obtain the plurality of accurate coordinates of the drone specifically includes: Divide the drone information of the predicted coordinates to be evaluated into multiple sub-information, wherein the multiple sub-information includes image information, communication information, sound wave information, speed and acceleration, and the predicted coordinates to be evaluated are any one of the multiple predicted coordinates; Obtaining a preset weight value of the predicted coordinate to be evaluated; Comparing the information quality of the plurality of sub-information with the initial drone information to obtain the difference between the plurality of sub-information; Based on the differences of the plurality of sub-information, the preset weight value is modified to obtain a true weight value of the predicted coordinate to be evaluated; If the true weight value of the predicted coordinate to be evaluated is greater than the threshold, the predicted coordinate to be evaluated is determined to be an accurate coordinate.

5. The method according to claim 4, characterized in that Before obtaining the preset weight value of the predicted coordinate to be evaluated, the method further includes: Determining the identity information of the drone based on the initial drone information or the drone information of the predicted coordinates to be evaluated; If there is no judgment result, the first default weight value of the predicted coordinates to be evaluated is modified according to the initial drone information to obtain a preset weight value of the predicted coordinates to be evaluated; If there is a judgment result, then based on the identity information of the drone, a second default weight value of the predicted coordinate to be evaluated is obtained by matching from a preset drone countermeasure weight library; The second default weight value of the predicted coordinates to be evaluated is modified according to the initial UAV information to obtain a preset weight value of the predicted coordinates to be evaluated.

6. The method according to claim 4, characterized in that The method of modifying the preset weight value based on the difference between the plurality of sub-information to obtain the true weight value of the predicted coordinate to be evaluated is specifically as follows: ， Among them, w is the real weight value, is the preset weight value, is the difference of the i-th sub-information, is the weight adjustment factor of the i-th sub-information, and is the nonlinear adjustment coefficient of the i-th sub-information.

7. The method according to claim 3, characterized in that The attack strategy is formulated according to the multiple precise coordinates of the drone, specifically including: Determining the strike distance of the drone according to the multiple precise coordinates; Determining whether the strike distance of the drone is less than or equal to a preset distance; If it is less than or equal to the preset distance, the striking range and striking angle of the distributed strike are determined according to the multiple precise coordinates.

8. The method according to claim 7, characterized in that The determining whether the strike distance of the UAV is less than or equal to a preset distance further includes: If it is greater than the preset distance, determining the spherical area where the drone is active based on the multiple precise coordinates; Calculating relative distances between the plurality of precise coordinates and the center coordinate of the spherical area; According to the relative distances corresponding to the multiple precise coordinates, the multiple precise coordinates are sorted by strike priority; Based on the strike priorities of the multiple precise coordinates, the order and strike angle of the cluster strike are determined.

9. A drone countermeasure device, characterized in that: The device is a central control module (5), which comprises a receiving module (601), a processing module (602) and an output module (603), wherein: The receiving module (601) is used to obtain initial drone information when the drone enters the strike range, and generate initial coordinates of the drone based on the initial drone information, wherein the initial coordinates store image information, communication information, sound wave information, speed and acceleration of the drone at a first time point; The processing module (602) is used to preset the flight range of the drone based on the initial coordinates, and generate a plurality of predicted coordinates within the flight range of the drone; at a second time point, obtain drone information of the plurality of predicted coordinates, and based on the drone information at the plurality of predicted coordinates, perform accuracy evaluation on the plurality of predicted coordinates to obtain a plurality of precise coordinates of the drone, the second time point being later than the first time point; and formulate an attack strategy according to the plurality of precise coordinates of the drone; The output module (603) is used to send a control signal to the first transmission system (7), the second transmission system, the third transmission system (9) and the high-pressure water pump (2) based on the attack strategy, so that the remote-controlled water cannon (3) launches water bombs to shoot down the drone.

10. An electronic device (700), characterized in that: The electronic device (700) comprises a processor (701), a memory (705), a user interface (703) and a network interface (704), wherein the memory (705) is used to store instructions, the user interface (703) and the network interface (704) are used to communicate with other devices, and the processor (701) is used to execute the instructions stored in the memory (705) so that the electronic device (700) executes the method according to any one of claims 3 to 8.

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