A UAV detection method and device based on radio components

Abstract

The present invention discloses a method and device for detecting a UAV based on a radio component. The detection device comprises: a supporting component having a connecting portion and a supporting portion, wherein the connecting portion is used to connect to a fixed object, and the supporting portion is used to support a steel wire rope; a mobile mechanism comprising a housing, a suspension portion and a radio component, wherein the suspension portion comprises a horizontal plate and a vertical plate, wherein the vertical plate connects the horizontal plate to the housing, a driving wheel is provided on the lower surface of the horizontal plate, and a ball bearing is provided on the upper surface of the housing, wherein the driving wheel and the ball bearing are used to clamp the steel wire rope, wherein the driving wheel is connected to a power element to drive the mobile mechanism to move on the steel wire rope, and the radio component is provided in the housing to detect the radio signal of the UAV. The present invention can improve the detection range of the UAV.

Description

Technical Field

[0001] The present invention relates to the technical field related to drone control, and more specifically, to a method and device for detecting drones based on a radio component. Background Art

[0002] Drones are widely used in logistics, aerial photography, reconnaissance and other fields. However, due to the lack of effective control measures, the "illegal flying" of drones has posed a threat to normal production and life, such as affecting flight takeoffs and landings, stealing confidential information, etc. Obviously, it is necessary to conduct drone detection in key areas and interfere with or deceive them when necessary. There are already some drone detection and interference equipment in the existing technology, but most of them are manually operated or difficult to move, and are easily blocked by man-made objects, trees, etc., making it difficult to fully detect. Therefore, it is necessary to design a technical solution that can overcome the above-mentioned defects to a certain extent. Summary of the invention

[0003] An object of the present invention is to provide a UAV detection device and method based on a radio component, which can improve the detection range of UAVs.

[0004] In order to achieve these objects and other advantages of the present invention, according to one aspect of the present invention, the present invention provides a UAV detection device based on a radio component, including: a supporting component, which has a connecting part and a supporting part, the connecting part is used to connect to a fixed object, and the supporting part is used to support a steel wire rope; a moving mechanism, which includes a shell, a suspension part and a radio component, the suspension part includes a horizontal plate and a vertical plate, the vertical plate connects the horizontal plate to the shell, a driving wheel is provided on the lower surface of the horizontal plate, and a ball is provided on the upper surface of the shell, the driving wheel and the ball are used to clamp the steel wire rope, the driving wheel is connected to a power element to drive the moving mechanism to move on the steel wire rope, and the radio component is arranged in the shell to detect the radio signal of the UAV.

[0005] Furthermore, one end of the support portion is connected to the connecting portion, and the other end extends away from the connecting portion. The support portion includes a main body portion and a detachable portion. Arc-shaped grooves are respectively provided on opposite sides of the main body portion and the detachable portion, and when the main body portion and the detachable portion are connected, a channel for accommodating the steel wire rope is formed.

[0006] Furthermore, a plurality of rows of elastic rods are arranged on the upper surface of the shell, the balls are arranged on the upper ends of the elastic rods, and the spacing between the balls on two adjacent rows of the elastic rods is smaller than the size of the steel wire rope, so as to form a U-shaped structure when clamping the steel wire rope.

[0007] Furthermore, it also includes: a positioning module and an air pressure altitude sensor, which are arranged in the shell and are used to obtain position information and altitude information respectively; a host computer, which is used to determine the three-dimensional coordinates of the mobile mechanism according to the position information and the altitude information, and control the moving direction of the mobile mechanism according to the three-dimensional coordinates.

[0008] Furthermore, the radio component is also used to obtain interference signals and obtain the interference signal strengths at multiple three-dimensional coordinates during the movement of the mobile mechanism. The host computer obtains the interference signal strengths at multiple three-dimensional coordinates, estimates the position of the interference source, and records it for controlling the stop position of the mobile mechanism.

[0009] According to another aspect of the present invention, a UAV detection method based on a radio component is also provided, including: S1: a support component and a steel wire rope are set in a predetermined detection area, and a plurality of mobile mechanisms are set on the steel wire rope, wherein the mobile mechanism includes a shell, a suspension part and a radio component, the suspension part includes a horizontal plate and a vertical plate, the vertical plate connects the horizontal plate to the shell, a driving wheel is set on the lower surface of the horizontal plate, and a ball is set on the upper surface of the shell, the driving wheel and the ball are used to clamp the steel wire rope, the driving wheel is connected to a power element to drive the mobile mechanism to move on the steel wire rope, and the radio component is set in the shell; S2: detection positions are assigned to the plurality of mobile mechanisms according to the predetermined detection area, and the plurality of mobile mechanisms are moved to each of the detection positions respectively.

[0010] Furthermore, in S2, the objective function is to maximize the detection range of the multiple mobile mechanisms, and the number of the mobile mechanisms, the position of the predetermined detection area, the detection range of the mobile mechanisms, and the distribution of the wire ropes are used as constraints, and a particle swarm algorithm is used to assign a detection position to each of the mobile mechanisms.

[0011] Furthermore, a positioning module and an air pressure altitude sensor are also provided in the shell, for respectively obtaining position information and altitude information; determining the three-dimensional coordinates of the mobile mechanism according to the position information and the altitude information, and controlling the mobile mechanism according to the three-dimensional coordinates until the mobile mechanism moves to the assigned detection position.

[0012] Furthermore, the radio component is also used to obtain interference signals and obtain the interference signal strength at multiple three-dimensional coordinates during the movement of the mobile mechanism; based on the interference signal strength at multiple three-dimensional coordinates, the position of the interference source is estimated and recorded as the constraint condition.

[0013] The present invention has at least the following beneficial effects:

[0014] The present invention includes a supporting component and a moving mechanism. The supporting component is fixed on a fixed object and is used to support a steel wire rope. The moving mechanism clamps the steel wire rope and can move on the steel wire rope. The radio component for detecting the unmanned aerial vehicle is carried by the moving mechanism. Therefore, the present invention can significantly improve the detection range of the unmanned aerial vehicle and reduce the detection blind area.

[0015] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a moving mechanism according to an embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of the structure of a driving wheel and an elastic rod according to an embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of the structure of a support assembly according to an embodiment of the present application;

[0019] Figure 4 This is a schematic diagram of the structure of a support assembly supporting a steel wire rope according to one embodiment of the present application. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0021] It should be understood that the terms such as "having", "including" and "comprising" used in the embodiments of the present application do not exclude the existence or addition of one or more other elements or their combinations. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. When an element is referred to as "fixed on" or "set on" another element, it can be directly on the other element or there may be a centering element at the same time. When an element is referred to as "connecting" another element, it can be directly connected to another element or it can be indirectly connected to another element through a centering element. The description of "first", "second", etc. in the embodiments of the present application is only for descriptive purposes, and cannot be understood as indicating or implying its relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features.

[0022] It should be noted that the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] like Figure 1-4 As shown, an embodiment of the present application provides a UAV detection device based on a radio component 304, including: a support component 2, which has a connecting portion 201 and a supporting portion 202, the connecting portion 201 is used to connect to a fixed object, and the supporting portion 202 is used to support a steel wire rope 1; a moving mechanism 3, which includes a shell 301, a suspension portion and a radio component 304, the suspension portion includes a transverse plate 302 and a vertical plate 303, the vertical plate 303 connects the transverse plate 302 with the shell 301, a driving wheel 4 is provided on the lower surface of the transverse plate 302, and a ball 601 is provided on the upper surface of the shell 301, the driving wheel 4 and the ball 601 are used to clamp the steel wire rope 1, the driving wheel 4 is connected to a power element 5 to drive the moving mechanism 3 to move on the steel wire rope 1, and the radio component 304 is arranged in the shell 301 for detecting the radio signal of the UAV.

[0024] When in use, the connection part 201 of the support assembly 2 is fixed on a building within the predetermined detection area (such as a higher position), and the steel wire rope 1 is connected and fixed to the support part 202, so that the steel wire rope 1 can extend to most positions of the predetermined detection area, and the mobile mechanism 3 is hung on the steel wire rope 1 through the suspension part, so that the driving wheel 4 and the ball 601 clamp the steel wire rope 1, and the driving wheel 4 drives the mobile mechanism 3 to move along the steel wire rope 1 to a position to stop, and at the same time, the radio component 304 in the shell 301 is used to detect the drone; obviously, compared with the prior art, the radio component 304 of this embodiment can be moved as needed, which significantly improves the detection range of the drone and reduces the detection blind spot.

[0025] Exemplarily, the support assembly 2 includes a connecting portion 201 and a supporting portion 202. The connecting portion 201 is made of high-strength metal material (such as stainless steel or aluminum alloy) and is temporarily or permanently firmly connected to fixed objects such as buildings and utility poles by bolts, welding or special clamps to ensure accurate positioning. The supporting portion 202 is used to carry the steel wire rope 1 and is detachably connected to the steel wire rope 1.

[0026] Exemplarily, in the mobile mechanism 3, the shell 301 serves as a protective shell for the core component. It is made of lightweight, high-strength materials and has dust-proof, waterproof and heat-dissipating functions. It is provided with cooling fins and ventilation holes on the surface and a cooling fan is placed inside to ensure that the radio component 304 and other equipment can operate stably in a suitable temperature environment. A power supply is also provided to power the power element 5, the radio component 304, the cooling fan, etc.

[0027] Exemplarily, the horizontal plate 302 and the vertical plate 303 of the suspension part are integrally formed of high-strength aluminum alloy, and the vertical plate 303 is reliably connected to the horizontal plate 302 and the shell 301 by bolts or rivets to ensure structural strength and stability. The driving wheel 4 under the horizontal plate 302 adopts a rubber tire or polyurethane material with a high friction coefficient to enhance the friction and grip with the wire rope 1; the ball 601 on the shell 301 is made of stainless steel.

[0028] Exemplarily, the radio component 304 includes a signal receiving antenna and a signal processing chip. The antenna is used to capture the radio signal of the drone. The signal processing chip uses a high-speed digital signal processor (DSP) or field programmable gate array (FPGA) technology to analyze and process the received signal in real time and extract signal characteristic parameters (such as frequency, power, modulation mode, etc.) to determine whether it is an unauthorized or suspicious drone.

[0029] In another embodiment, one end of the support portion 202 is connected to the connecting portion 201, and the other end extends away from the connecting portion 201. The support portion 202 includes a main body portion 2022 and a detachable portion 2021. Arc-shaped grooves 2023 are respectively provided on opposite sides of the main body portion and the detachable portion, and when the main body portion 2022 is connected to the detachable portion 2021, a channel for accommodating the steel wire rope 1 is formed.

[0030] In this embodiment, the main body part, as the main component of the support assembly 2, is responsible for providing the necessary strength and support force to ensure the stability of the entire device. The detachable part allows the user to easily install, adjust or replace the wire rope 1 according to actual needs. The detachable part is connected to the main body part by a plurality of bolts or other connection methods to ensure convenient operation; illustratively, the support assembly 2 is in a horizontal T-shape, the connecting part 201 is the horizontal part of the T-shape, the supporting part 202 is the vertical part of the T-shape, and the main body part 2022 and the detachable part 2021 are correspondingly provided with screw holes 2024.

[0031] In another embodiment, a plurality of rows of elastic rods 6 are provided on the upper surface of the shell 301, and the balls 601 are provided at the upper ends of the elastic rods 6, and the spacing between the balls 601 on two adjacent rows of the elastic rods 6 is smaller than the size of the steel wire rope 1, so as to form a U-shaped structure when clamping the steel wire rope 1.

[0032] In this embodiment, multiple rows of elastic rods 6 are arranged on the upper surface of the shell 301. Each elastic rod 6 has a certain flexibility and restoring force. When subjected to external force, the elastic rod 6 can be slightly deformed and quickly return to its original shape after the external force disappears. This feature enables the system to adapt to steel wire ropes 1 of different diameters and shapes, ensuring the tightness and reliability of clamping. The presence of the ball 601 reduces the friction between the steel wire rope 1 and the device, allowing the moving mechanism 3 to slide more smoothly on the steel wire rope 1, while also reducing the risk of wear; the adjacent rows of elastic rods 601 are connected to each other. The spacing between the balls 601 on the elastic rod 6 is designed to be smaller than the diameter of the wire rope 1, which ensures that when the wire rope 1 is clamped, the balls 601 can fit tightly against the wire rope 1 to form a stable U-shaped structure encirclement, effectively preventing the wire rope 1 from slipping out of the device; this design not only enhances the firmness of the clamping, but also maintains good contact performance when encountering a bent or tilted wire rope 1. As the moving mechanism 3 moves along the wire rope 1, the elastic rod 6 can automatically make fine adjustments according to the actual shape of the wire rope 1 to maintain the best clamping state.

[0033] In another embodiment, it also includes: a positioning module 3011 and a barometric altitude sensor 3012, wherein the positioning module 3011 and the barometric altitude sensor 3012 are arranged in the shell 301, and are used to obtain position information and altitude information respectively; a host computer, which is used to determine the three-dimensional coordinates of the mobile mechanism 3 according to the position information and the altitude information, and control the moving direction of the mobile mechanism 3 according to the three-dimensional coordinates.

[0034] In this embodiment, the positioning module 3011 is arranged inside the shell 301, and is used to accurately obtain the position information of the mobile mechanism 3. The positioning module 3011 can use satellite navigation systems such as GPS and Beidou, or combine wireless networks such as Wi-Fi and Bluetooth to perform precise indoor or outdoor positioning; the air pressure altitude sensor 3012 also located inside the shell 301 is used to monitor and calculate the altitude information of the mobile mechanism 3 in real time. By measuring the change of ambient air pressure, the sensor can calculate the height difference relative to the reference point; the upper computer is connected to the mobile mechanism 3 through the communication module, which is responsible for receiving information from the positioning module 3011 and the air pressure altitude sensor. The host computer receives the data from the sensor 3012, processes and analyzes it, and based on the received position information and altitude information, can determine the precise coordinates (X, Y, Z) of the mobile mechanism 3 in the three-dimensional space; the host computer can also actively control the moving direction of the mobile mechanism 3 according to the three-dimensional coordinates; for example, if an increase in drone activity is detected in a specific area, the host computer can adjust the direction of the mobile mechanism 3 by sending instructions so that it can cover the key area more efficiently. In an emergency, such as when an illegal intrusion or abnormal flight behavior is discovered, the host computer can also immediately command the mobile mechanism 3 to go to a designated location for detailed detection.

[0035] In another embodiment, the support assembly is fixed on a lifting device, and the lifting device may be a telescopic rod, and the lifting device is telescopic in the vertical direction to adjust the position of the support assembly connected thereto;

[0036] One end of the steel wire rope is fixed, and the other end is connected to the winch;

[0037] After the air pressure altitude sensor obtains the current altitude information of the mobile mechanism 3, it compares the control instruction issued by the host computer to the mobile mechanism 3 to determine whether the current altitude of the mobile mechanism 3 is consistent with the altitude that the mobile mechanism 3 is to reach in the control instruction;

[0038] If they are consistent, the moving mechanism 3 will only perform translation;

[0039] If the current height of the mobile mechanism 3 is lower than the height that the mobile mechanism 3 wants to reach, the mobile mechanism 3 will first be translated to the horizontal plane coordinate position included in the control instruction, and the winch will unwind the wire rope according to twice the difference between the current height of the mobile mechanism 3 and the height to be reached, and the lifting device will then control the support components at both ends of the wire rope segment where the mobile mechanism 3 is located to rise based on the height coordinate included in the control instruction, so that the wire rope between the two support components will rise horizontally to the height coordinate position included in the control instruction, so that the mobile mechanism 3 can smoothly reach the height required in the control instruction;

[0040] If the current height of the mobile mechanism 3 is higher than the height that the mobile mechanism 3 wants to reach, the mobile mechanism 3 will first be translated to the horizontal plane coordinate position included in the control instruction, and the hoist will unwind the wire rope according to twice the difference between the current height of the mobile mechanism 3 and the height to be reached, and the lifting device will then control the support components at both ends of the wire rope segment where the mobile mechanism 3 is located to descend based on the height coordinate included in the control instruction, so that the wire rope between the two support components will be horizontally lowered to the height coordinate position included in the control instruction, so that the mobile mechanism 3 can smoothly reach the height required in the control instruction;

[0041] In this embodiment, by setting up a lifting device and a winch, in conjunction with an air pressure height sensor, the mobile mechanism 3 can be quickly and accurately sent to the position required by the control instruction, so that the mobile mechanism 3 can not only move along the wire rope on the horizontal plane, but also meet the detection requirements in height.

[0042] In another embodiment, the radio component 304 is also used to obtain interference signals, and obtain the interference signal strengths at multiple three-dimensional coordinates during the movement of the mobile mechanism 3. The host computer obtains the interference signal strengths at multiple three-dimensional coordinates, estimates the position of the interference source, and records it for controlling the stop position of the mobile mechanism 3.

[0043] In view of the fact that the radio component 304 may be interfered by communication base stations, illegal transmitters, unauthorized communication equipment, etc., the radio component 304 in this embodiment also obtains interference signals, and as the mobile mechanism 3 moves along the wire rope 1, the radio component 304 can obtain the interference signal strength at multiple different three-dimensional coordinates. By analyzing the interference signal strength at multiple three-dimensional coordinates, the host computer can use triangulation, multipath analysis and other methods to determine the specific location of the interference source, and automatically record the location of the interference source detected each time and its related parameters (such as timestamp, signal strength, etc.).

[0044] The embodiment of the present application also provides a UAV detection method based on a radio component 304, including: S1: a support component 2 and a steel wire rope 1 are set in a predetermined detection area, and a plurality of mobile mechanisms 3 are set on the steel wire rope 1, wherein the mobile mechanism 3 includes a shell 301, a suspension part and a radio component 304, the suspension part includes a horizontal plate 302 and a vertical plate 303, the vertical plate 303 connects the horizontal plate 302 with the shell 301, a driving wheel 4 is set on the lower surface of the horizontal plate 302, and a ball 601 is set on the upper surface of the shell 301, the driving wheel 4 and the ball 601 are used to clamp the steel wire rope 1, the driving wheel 4 is connected to the power element 5 to drive the mobile mechanism 3 to move on the steel wire rope 1, and the radio component 304 is set in the shell 301; S2: detection positions are assigned to the plurality of mobile mechanisms 3 according to the predetermined detection area, and the plurality of mobile mechanisms 3 are moved to each of the detection positions respectively.

[0045] In this embodiment, in a predetermined detection area, the support assembly 2 and the wire rope 1 are first installed, and the support assembly 2 is fixed to the surrounding environment (such as buildings, trees or other stable structures) through the connecting portion 201. The support portion 202 provides sufficient support force for the wire rope 1, and multiple mobile mechanisms 3 are suspended and arranged on the wire rope 1; then, according to the specific conditions of the predetermined detection area, respective detection positions are assigned to the multiple mobile mechanisms 3. The selection of these positions should take into account the need to cover the entire area while avoiding repeated coverage to improve efficiency; this process can be achieved in a pre-programmed manner, or it can be dynamically adjusted according to real-time monitoring data. For example, when an increase in drone activity is detected in a certain area, the system can temporarily adjust certain mobile mechanisms 3 to go to that area for key detection; it can be seen that in this embodiment, the mobile mechanism 3 can automatically move along the wire rope 1 according to a preset path or real-time instructions, thereby expanding the detection range and improving flexibility.

[0046] In another embodiment, in S2, the objective function is to maximize the detection range of the multiple mobile mechanisms 3, and the number of the mobile mechanisms 3, the position of the predetermined detection area, the detection range of the mobile mechanisms 3, and the distribution of the wire rope 1 are used as constraints, and a particle swarm algorithm is used to assign a detection position to each of the mobile mechanisms 3.

[0047] In practical applications, the number of mobile mechanisms 3 cannot be infinite, so it is necessary to use the existing number of mobile mechanisms 3 to obtain the largest possible detection range. In this embodiment, maximizing the detection range of multiple mobile mechanisms 3 is used as the objective function, aiming to make full use of the existing mobile mechanism 3 resources, cover the predetermined detection area as comprehensively as possible, and improve the detection probability and effect of the drone. Specifically, assuming that there are n mobile mechanisms 3, the detection range S of each mobile mechanism j (j=1, 2...n) in space is j It can be represented by a geometric area, which can be determined according to the performance of the radio component 304. Then the objective function F can be expressed as the sum of the detection ranges of all mobile mechanisms 3, that is, , that is, the goal is to maximize F.

[0048] The constraints include: the number n of mobile mechanisms 3; the location of the predetermined detection area, which has a clear geographical location and range boundary. For example, for an airport clearance area, it has a specific latitude and longitude coordinate range and shape characteristics (it may be an irregular polygon, etc.). The detection range of the mobile mechanism 3 must fall within this predetermined area. The detection range of the mobile mechanism 3: the detection range, which is the size of the detection range of each mobile mechanism 3 itself, is determined by the performance of the radio component 304 and can be calibrated in advance; the distribution of the wire rope 1, the wire rope 1 limits the position that the mobile mechanism 3 can reach.

[0049] A suitable encoding method is used to represent the detection position allocation scheme of the mobile mechanism 3 so that it can be processed by the particle swarm algorithm and its three-dimensional coordinates can be used; Initialize the particle swarm: randomly generate a certain number of particles (the population size is set to m) to form an initial particle swarm. Each particle must meet the various constraints mentioned above, thereby initializing a set of different detection position allocation schemes of the mobile mechanism 3 as the starting point of the algorithm search.

[0050] For the detection position allocation scheme of the mobile mechanism 3 represented by each particle, its fitness value is calculated according to the set objective function, that is, the position information of each mobile mechanism 3 corresponding to the particle code is substituted into the calculation of the detection range of each mobile mechanism 3, and then the value of the objective function is summed up, which is the fitness value of the particle; the higher the fitness value, the larger the total detection range of the mobile mechanism 3 under the allocation scheme, and the more it meets our expected optimization goal.

[0051] For each particle, compare its current fitness value with the fitness value of the individual extreme value it has experienced before (that is, the detection position allocation scheme corresponding to the optimal fitness that the particle has ever achieved). If the current fitness value is better, update the individual extreme value of the particle to the current position and the corresponding fitness value, and record the best position found by the particle itself.

[0052] In the entire particle swarm, compare the fitness values ​​of all particles to find the optimal fitness value and the corresponding particle position; if this value is better than the previously recorded global extreme value (the detection position allocation plan corresponding to the optimal fitness ever achieved by the entire particle swarm), then update the global extreme value to the position and fitness value of the current optimal particle, marking the best position allocation plan currently found by the entire particle swarm.

[0053] Update the speed and position of each particle according to the update formula. The speed update formula is as follows:

[0054]

[0055]

[0056] Among them, V i (t) is the velocity of particle i at time t, ω is the inertia weight, c1 and c2 are learning factors, r1 and r2 are random numbers, pbest i is the best position found by particle i itself, gbest is the best position found by all particles in the entire population, x i (t) is the position of particle i at time t, x i (t+1) is the position of particle i at time t+1.

[0057] Set appropriate iteration termination conditions, such as reaching the maximum number of iterations or the global extreme value of the particle swarm no longer changes significantly in several consecutive iterations. When the termination conditions are met, stop the iteration. The particle position corresponding to the global extreme value obtained at this time is the optimal detection position.

[0058] In another embodiment, a positioning module 3011 and a barometric altitude sensor 3012 are further provided in the shell 301, which are used to obtain position information and altitude information respectively; the three-dimensional coordinates of the mobile mechanism 3 are determined according to the position information and the altitude information, and the mobile mechanism 3 is controlled according to the three-dimensional coordinates until the mobile mechanism 3 moves to the assigned detection position; in this embodiment, the three-dimensional coordinates of the mobile mechanism 3 are determined in real time by the positioning module 3011 and the barometric altitude sensor 3012, the mobile mechanism 3 is moved to the assigned detection position, and the position of the mobile mechanism 3 is corrected in real time.

[0059] In another embodiment, the radio component 304 is also used to obtain interference signals and obtain the interference signal strengths at multiple three-dimensional coordinates during the movement of the mobile mechanism 3; based on the interference signal strengths at multiple three-dimensional coordinates, the position of the interference source is estimated and recorded as the constraint condition; in this embodiment, when using the particle swarm algorithm to assign a detection position to each mobile mechanism 3, the influence of the position of the interference source is considered, that is, it is necessary to avoid assigning the mobile mechanism 3 to an area that is too close to the interference source, because this may make the interference signal received by the mobile mechanism 3 too strong, seriously affecting its normal detection effect on the drone, so as to improve the overall detection effect.

[0060] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A drone detection device based on a radio component, characterized in that: include: A support assembly, comprising a connecting portion and a supporting portion, wherein the connecting portion is used to be connected to a fixed object, and the supporting portion is used to support the steel wire rope; A mobile mechanism, comprising a housing, a suspension part and a radio assembly, wherein the suspension part comprises a horizontal plate and a vertical plate, wherein the vertical plate connects the horizontal plate to the housing, a driving wheel is arranged on the lower surface of the horizontal plate, and a ball is arranged on the upper surface of the housing, wherein the driving wheel and the ball are used to clamp the steel wire rope, wherein the driving wheel is connected to a power element to drive the mobile mechanism to move on the steel wire rope, and wherein the radio assembly is arranged in the housing and is used to detect radio signals of the drone; One end of the support portion is connected to the connecting portion, and the other end extends away from the connecting portion. The support portion includes a main body portion and a detachable portion. The main body portion and the detachable portion are provided with arc-shaped grooves on opposite sides thereof, and when the main body portion and the detachable portion are connected, a channel for accommodating the steel wire rope is formed; The upper surface of the housing is provided with multiple rows of elastic rods, the balls are arranged on the upper ends of the elastic rods, and the spacing between the balls on two adjacent rows of the elastic rods is smaller than the size of the steel wire rope, so as to form a U-shaped structure when clamping the steel wire rope; Also includes: A positioning module and an air pressure altitude sensor, wherein the positioning module and the air pressure altitude sensor are arranged in the housing and are used to obtain position information and altitude information respectively; A host computer, which is used to determine the three-dimensional coordinates of the mobile mechanism according to the position information and the height information, and control the moving direction of the mobile mechanism according to the three-dimensional coordinates; The radio component is also used to obtain interference signals and obtain the interference signal strength at multiple three-dimensional coordinates during the movement of the mobile mechanism. The host computer obtains the interference signal strength at multiple three-dimensional coordinates, estimates the position of the interference source, and records it for controlling the stop position of the mobile mechanism.

2. The drone detection method based on the drone detection device of claim 1 is characterized in that: include: S1: A support assembly and a steel wire rope are arranged in a predetermined detection area, and a plurality of moving mechanisms are arranged on the steel wire rope, wherein the moving mechanism comprises a shell, a suspension part and a radio assembly, the suspension part comprises a horizontal plate and a vertical plate, the vertical plate connects the horizontal plate with the shell, a driving wheel is arranged on the lower surface of the horizontal plate, a ball is arranged on the upper surface of the shell, the driving wheel and the ball are used to clamp the steel wire rope, the driving wheel is connected to a power element to drive the moving mechanism to move on the steel wire rope, and the radio assembly is arranged in the shell; S2: allocating detection positions to the plurality of mobile mechanisms according to the predetermined detection area, and moving the plurality of mobile mechanisms to the detection positions respectively; The housing is also provided with a positioning module and an air pressure altitude sensor for obtaining position information and altitude information respectively; The three-dimensional coordinates of the mobile mechanism are determined according to the position information and the height information, and the mobile mechanism is controlled according to the three-dimensional coordinates until the mobile mechanism moves to the assigned detection position; the radio component is also used to obtain interference signals, and obtain the interference signal strength at multiple three-dimensional coordinates during the movement of the mobile mechanism. The host computer obtains the interference signal strength at multiple three-dimensional coordinates, estimates the position of the interference source, and records it for controlling the stop position of the mobile mechanism.

3. The drone detection method according to claim 2, characterized in that: In S2, maximizing the detection range of the plurality of mobile mechanisms is taken as the objective function, and the number of the mobile mechanisms, the position of the predetermined detection area, the detection range of the mobile mechanisms, and the distribution of the wire ropes are taken as constraints, and a particle swarm algorithm is used to assign a detection position to each mobile mechanism.

4. The drone detection method according to claim 2, characterized in that: The position of the interference source is estimated according to the interference signal strengths at the multiple three-dimensional coordinates, and recorded as the constraint condition.

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