An anti-UAV powered spinning rope net capture device and its control method

Abstract

The present invention discloses an anti-UAV powered spinning rope net capture device and a control method thereof, belonging to the field of UAV technology. The electromagnet circuit is controlled to be connected by a relay, so that the electromagnet loses suction instantly, and the four brushless motors are released quickly, synchronously and accurately; the brushless motor is used as the power source for the deployment of the capture net, driving the capture net to deploy and cover the target. The magnetic isolation plate not only engages with the electromagnet when the electromagnet is powered off to fix the four corners of the capture net on the UAV, but also effectively isolates the influence of the electromagnet on the brushless motor during the whole process, ensuring flight stability. The net ring can also rotate freely, keeping the direction of the net traction rope stable and avoiding entanglement with the motor or propeller; the ball bearing and the magnetic isolation plate jointly ensure the height of the net traction rope, preventing the separation of the net device from the motor, and the overall device can achieve the synchronous and safe landing of all components, realizing the recovery function.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an anti-UAV powered spinning rope net capture device and a control method thereof. Background Art

[0002] With the popularization and application of civil drones, the phenomena of "illegal flying" and "indiscriminate flying" of drones have been repeatedly banned, while the research on technical countermeasures against drones in low-altitude airspace is still relatively blank. The countermeasures against drones are related to social stability and public safety, and are an urgent social need at present.

[0003] Anti-drone systems developed at home and abroad are mainly divided into two categories: electromagnetic or optical interference and physical capture. Electromagnetic interference refers to the use of electromagnetic or optical interference to drone signals, which may affect normal communications in the surrounding area; optical interference refers to the use of optical principles and technical means to interfere with key components of drones such as the visual system, navigation system or sensors, thereby weakening or destroying the normal functions of the drone and achieving its defense or control; physical capture such as high-energy laser or impact methods has disadvantages such as high cost and low reuse rate. The capture net system proposed in this patent is suitable for reconnaissance of enemy drones and has been widely used in recent years. Foreign anti-drone capture net systems such as Drone Catcher mainly take the form of a huge capture net launched from the air that can be quickly deployed and wrap around the target drone, but it has problems such as large size, heavy weight and slow speed.

[0004] A search revealed an invention patent application in China, numbered 2019108363222. This patent discloses an aerial anti-drone netting device. By designing a recovery parachute at the rear end of the flying net, which is pulled out by the net, the parachute's bow mechanism is eliminated, while the netting device can be recovered. The patent includes multiple functional compartments from head to tail, launched from an aerial platform, and boasts a wide capture range, long interception distance, and high capture accuracy. However, the device is complex and compact, making manufacturing difficult and costly, and the use of pyrotechnics reduces product safety and stability.

[0005] A search revealed a utility model patent application in China with application number 2019203219220. This utility model describes a novel intelligent net-capture anti-drone system, comprising a base, an intelligent variable-speed gimbal, a launch unit, and a target detection and aiming unit. The system features innovative and efficient disposal methods, a high degree of intelligence, all-weather capture capabilities, and is safe, efficient, adaptable, and easy to maintain. However, the system presents difficulties in installation on aerial platforms, forcing it to be used only on mobile vehicles or at fixed locations.

[0006] The above technical solution has the following defects and shortcomings:

[0007] (1) Low speed and maneuverability: Existing UAV interceptors are heavy and large in size, which makes the carrier aircraft have no speed advantage and makes it difficult or impossible to complete the task of chasing small flying drones (which can reach about 45m / s at higher speeds).

[0008] (2) High equipment cost: A high-performance netting system requires advanced launching devices, net materials, and tracking and aiming technologies, which will significantly increase the manufacturing cost of the system.

[0009] (3) Low equipment safety and reliability: Net-catching devices that rely on high-pressure air guns or pyrotechnics to launch have certain safety hazards during the transportation stage, and the net-shooting effect is greatly affected by temperature, and its reliability needs to be improved. Summary of the Invention

[0010] The purpose of the present invention is to provide an anti-UAV powered spinning rope net capture device and a control method thereof, which solves the problems of low speed and maneuverability, high equipment cost, and low equipment safety and reliability in the prior art.

[0011] To achieve the above-mentioned objectives, the present invention provides an anti-UAV powered spinning rope net capture device, comprising a UAV body body, the UAV body body being fixed to the top of a frame, a fairing being installed on the top of the UAV body body, arms equipped with motor mechanisms being provided at the four corner edges of the UAV body body, a ranging module, a main control module and a relay module being integrated in the UAV body body, and each of the motor mechanisms being connected to a capture net arranged inside the fairing via a traction rope.

[0012] Preferably, the fairing is made of engineering plastic or 3D printing material with strong impact resistance, non-magnetic or weak magnetic properties, and includes an upper cover and a lower cover. The upper cover and the lower cover are fastened together by a micro electromagnetic lock structure, and a servo is also installed on the outer surface of the lower cover.

[0013] Preferably, the motor mechanism includes an electromagnetic block and a magnetic isolation plate installed on the top of the electromagnetic block, wherein the magnetic isolation plate is connected to the brushless motor via a ball bearing, and a propeller is provided on the top of the brushless motor. The brushless motor is a common model of brushless motor on the market, which drives the propeller to rotate when the drone is in normal working condition, providing power for the drone to fly. The electromagnet is used to provide magnetic force and is composed of a common model of power-off type electromagnet on the market. When the power is off, it can provide a suction force of about 1 kg to the ferromagnetic material, and loses the suction force when the power is on. The electromagnet is a cylinder with a threaded hole at the bottom, which is always bolted to the fuselage. The magnetic isolation plate has the function of attracting the electromagnet when the power is on, isolating the electromagnet from the brushless motor to prevent the magnetic force of the electromagnet from affecting the normal working condition of the brushless motor when the power is on. It is made of silicon steel or Permalloy with strong ferromagnetism. There are holes on the magnetic isolation plate, which is always bolted to the brushless motor. At the same time, there are fixing buckles around the magnetic isolation plate. When the magnetic isolation tube is vertically attracted to the electromagnet, the fixing buckles are used to limit its horizontal movement freedom.

[0014] Preferably, a parachute is provided on one side of the bottom of the frame, which is composed of the Flyfire parachute recovery product Manti or a similar product with an automatic opening function when the drone descends.

[0015] Preferably, the fishing net is made of Zylon material, has a quadrilateral mesh shape and a quadrilateral mesh size, and the mesh size is 30×30 cm.

[0016] Preferably, a small metal ring is installed on the side of the ball bearing, and the four corners of the net are fixedly connected to each of the metal rings through the traction rope. A traction rope of about 1m is always connected to the geometric center of the frame at the geometric center of the net, so that the net is still connected to the fuselage after it flies out, making it convenient for the opened parachute to drive the two to land safely at the same time.

[0017] A control method for an anti-UAV powered spinning rope net capture device comprises the following steps:

[0018] S1. During normal flight, the circuits containing the four electromagnets attract the magnetic shield. The net remains in place, and four traction ropes extend from the cabin and extend above the four arms of the drone-hunting frame. The net folds into a triangle, similar to a parachute, and then rotates and retracts along its horizontal and vertical axes.

[0019] S2. When the ranging module on the fuselage detects that the distance between the pursuing drone and the pursued drone is less than or equal to the set value, the ranging module sends a signal to the main control module. The main control module uses voltage control to deactivate the electromagnetic lock on the lower cover of the fairing, separating the upper and lower covers of the fairing, exposing the net device in the fairing, and simultaneously connects the circuit where the electromagnet is located.

[0020] S3. After the electromagnet circuit is connected, the electromagnet loses its attraction to the magnetic isolation plate. At this time, the four motors are released from the vertical direction and detached from the drone frame. The drone continues to fly out quickly relying on the remaining lift of the propellers. Each propeller, brushless motor, net ring and magnetic isolation plate act as a mass block to pull the capture net to unfold, so that the net covers and entangles the target, causing the target to lose power and fall.

[0021] S4. Because the geometric center of the net is connected to the interceptor fuselage, the two fall together. After the parachute module detects the downward trend of the fuselage, the parachute quickly pops out from the side and opens, bringing the net device, the captured drone, and the interceptor to a safe landing.

[0022] Preferably, in step S1, the circuit where the four electromagnets are located is composed of electromagnets, batteries, and relay switches. Since the electromagnets are powered by batteries and the switches controlled by relays are disconnected, the electromagnets have an attractive force that attracts the magnetic isolation plate.

[0023] Preferably, in step S2, the step of connecting the circuit where the electromagnet is located is:

[0024] The main control module uses level control to make a pin that originally outputs high level or low level change to output low level or high level, so that the relay switch connected to the output end is closed, and the circuit where the electromagnet is located is connected.

[0025] Therefore, the present invention adopts an anti-UAV powered spinning rope net capture device and a control method thereof of the above structure, which has the following beneficial effects:

[0026] (1) The present invention uses a motor-rotating structure to release a capture net to intercept drones. Compared with the traditional net-bullet anti-drone system that deals with low altitude, the device can capture low, medium and high altitude drones. It is maneuverable and flexible, and the capture net has a large deployment area and can adapt to targets of various sizes. It has low requirements on hardware and algorithm complexity.

[0027] (2) The present invention can utilize a small drone equipped with a simple netting mechanism, which is more lightweight and compact, and can ensure that the anti-UAV interceptor's flight speed reaches or exceeds the speed of a small drone (about 50m / s). It is also easy to carry and suitable for deployment in cities.

[0028] (3) The present invention uses a power-off type electromagnetic release device. Compared with the use of springs, high-pressure gas cylinders, electromagnetic guns or ignition devices, the device is simple, can reduce weight, and improves the safety and stability of the device.

[0029] (4) The invention uses an integrated landing and recovery device, which connects the geometric center of the capture net and the interceptor fuselage so that after the capture net is deployed and the target is successfully captured, the capture net, the target and the interceptor fuselage fall synchronously; at this time, the parachute is deployed, and all components are synchronously and smoothly landed and recovered.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of an anti-UAV powered spinning rope net capture device and its control method according to the present invention;

[0032] Figure 2 This is a schematic diagram of the fairing without upper cover structure of an anti-UAV powered spinning rope net capture device and its control method of the present invention;

[0033] Figure 3 A schematic diagram of a magnetic isolation plate of an anti-UAV powered spinning rope net capture device and a control method thereof according to the present invention;

[0034] Figure 4 This is a schematic diagram of the fairing upper cover of an anti-UAV powered spinning rope net capture device and its control method according to the present invention;

[0035] Figure 5 This is a schematic diagram of the lower shell structure of the fairing of an anti-UAV powered spinning rope net capture device and its control method according to the present invention;

[0036] Figure 6 This is a schematic diagram of the ball bearing structure of an anti-UAV powered spinning rope net capture device and its control method of the present invention;

[0037] Figure 7 This is a schematic diagram of the electromagnet structure of an anti-UAV powered spinning rope net capture device and its control method of the present invention;

[0038] Figure 8 This is a schematic diagram of the folding method of the capture net of an anti-UAV powered spinning rope net capture device and its control method according to the present invention;

[0039] Figure 9 This is a schematic diagram of a net control mode of an anti-UAV powered spinning rope net capture device and a control method thereof according to the present invention;

[0040] Figure 10 This is a structural schematic diagram of an anti-UAV powered spinning rope net capture device and its control method when the net is opened;

[0041] Figure 11 This is a schematic diagram of the process of capturing a target using a net in an anti-UAV powered spinning rope net capture device and a control method thereof according to the present invention;

[0042] Reference numerals

[0043] 1. Brushless motor, 2. Electromagnet, 3. Servo, 4. Propeller, 5. Magnetic shield, 6. Ball bearing, 7. Parachute, 8. Frame, 9. Fairing, 10. Net, 11. Tow rope, 12. UAV fuselage, 13. Arm. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0045] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0046] Example

[0047] like Figure 1-11 The present invention provides an anti-UAV powered spinning rope net capture device, including a UAV body body 12, which is fixed on the top of a frame 8, a fairing 9 is installed on the top of the UAV body body 12, and arms 13 equipped with motor mechanisms are provided at the four corner edges of the UAV body body 12. The UAV body body 12 is integrated with a ranging module, a main control module and a relay module, and each motor mechanism is connected to a capture net 10 arranged inside the fairing 9 through a traction rope 11.

[0048] The fairing 9 is constructed from engineering plastic or other impact-resistant, non-magnetic or weakly magnetic 3D-printed materials. A micro-electromagnetic lock mechanism interlocks the upper and lower covers. During normal flight, the locks secure the upper and lower covers, while the space inside the lower cover holds the folded capture net. The fairing protects the critical power mechanisms of the anti-UAV powered spinning net capture system while minimizing drag on the interceptor during high-speed flight, providing improved aerodynamics and achieving the desired flight performance. A servo 3 is also mounted on the outer surface of the lower cover.

[0049] The motor mechanism includes an electromagnetic block 2 and a magnetic shielding plate 5 mounted on top of the electromagnetic block 2. The shielding plate 5 is connected to the brushless motor 1 via a ball bearing 6. A propeller 4 is mounted on top of the brushless motor 1. The brushless motor 1 is a common commercially available model. When the drone is operating normally, power is applied to the propeller, driving the propeller and providing power for flight. The electromagnetic block 2, used to provide magnetic force, is a common commercially available power-off electromagnet. When powered off, it can provide approximately 1 kg of suction to ferromagnetic materials, but loses this suction when powered on. The electromagnetic block 2 is cylindrical with a threaded hole at the bottom, maintaining a constant bolt connection to the fuselage. The magnetic shielding plate 5 simultaneously attracts the electromagnetic block 2 when powered on, isolating it from the brushless motor 1 to prevent the magnetic force of the electromagnetic block 2 from affecting the normal operation of the brushless motor 1. Made of silicon steel or Permalloy with strong ferromagnetism, the magnetic isolation plate 5 has holes on it, which is always bolted to the brushless motor 1. At the same time, there are fixing buckles around the magnetic isolation plate 5. When the magnetic isolation cylinder is vertically attracted to the electromagnetic block 2, the fixing buckles are used to limit its horizontal movement freedom.

[0050] A parachute 7 is provided on one side of the bottom of the frame 8, which is composed of a Flyfire parachute recovery product Manti or a similar product with an automatic opening function when the drone descends.

[0051] The catching net 10 is made of Zylon material, has a quadrilateral mesh shape and a quadrilateral mesh size, and the mesh size is 30×30 cm.

[0052] A small metal ring is installed on the side of the ball bearing 6, and the four corners of the net 10 are fixedly connected to each metal ring through a traction rope 11. A traction rope 11 of about 1 meter is always connected to the geometric center of the frame 8 at the geometric center of the net 10, so that after the net 10 flies out, the net 10 is still connected to the main body 12 of the drone, making it easy for the opened parachute 7 to drive the two to land safely at the same time.

[0053] A control method for an anti-UAV powered spinning rope net capture device comprises the following steps:

[0054] S1. During normal flight of the interceptor, the circuit containing the four electromagnetic blocks 2 consists of an electromagnet, a battery, and a relay switch. Since the electromagnet is powered by the battery and the relay-controlled switch is disconnected, the electromagnet has an attractive force, attracting the magnetic isolation plate 5. At this time, the capture net 10 is not released. The four capture net traction ropes 11 extend from the cabin and are distributed above the four arms of the pursuit frame 8. The capture net 10 is folded into a triangle in the same way as a parachute is folded, and then rotated along the horizontal and vertical axes to be retracted.

[0055] S2. When the distance measurement module of the drone body 12 detects that the distance between the pursuing drone and the pursued drone is less than or equal to the set value, the distance measurement module sends a signal to the main control module. The main control module controls the level to make the electromagnetic lock of the fairing lower cover lose its suction, so that the upper and lower covers of the fairing 9 are separated, exposing the capture net 10 in the fairing 9, and at the same time, the circuit where the electromagnetic block 2 is located is turned on;

[0056] S3. After the circuit of the electromagnetic block 2 is connected, the electromagnetic block 2 loses its attraction to the magnetic isolation plate 5. At this time, the four brushless motors 1 are released from the vertical direction and separated from the frame 8. The propeller 4 relies on the remaining lift to continue to fly out quickly. Each propeller 4, the brushless motor 1, the small metal ring and the magnetic isolation plate 5 act as a mass block to pull the capture net 10 to unfold, so that the net covers and entangles the target, causing the target to lose power and fall.

[0057] S4. Since the geometric center of the capture net is connected to the interceptor drone fuselage body 12, the two fall together. After the parachute module detects the falling trend of the drone fuselage body, the parachute 7 quickly pops out from the side and opens, driving the capture net 10, the captured drone and the interceptor to land safely.

[0058] The servo 3 is composed of a small AS0017 servo or a similar product with a geometric size of only about 10 mm. It provides the mechanical energy required to open the fairing at the moment the motor module flies out, and indirectly drives the ejection mechanism to work smoothly.

[0059] The ball bearing 6 is made of stainless steel or other materials, with a small metal ring attached to the side. During use, the traction rope at one corner of the quadrilateral net 10 is wrapped around and tied to the small ring, and the main body of the ball bearing 6 is nested and engaged with the outside of the brushless motor 1. On the one hand, the net ring can rotate freely relative to the vertical axis of the brushless motor 1. Therefore, after the brushless motor 1 is ejected from the fuselage, when the brushless motor performs complex movements in space, the flexible relative rotation of the inner and outer rings of the ball bearing 6 ensures that the direction of the traction rope 11 remains basically stable, and the traction rope 11 will not be entangled with the brushless motor 1 or the propeller 4. On the other hand, together with the magnetic isolation plate 5, the horizontal height of the traction rope 11 is limited to above the bottom surface of the brushless motor 1, so that the net 10 will not be separated from the brushless motor device.

[0060] The parachute 7 is composed of the Flyfire parachute recovery product Manti or a similar product with an automatic opening function when the drone descends. It is fixed to the drone's frame 8. When the interceptor releases the power device and begins to fall, the parachute 7 can be opened from the side without affecting the opening of the capture net 10 directly above the fuselage or being entangled with it, driving the capture net 10, the captured drone and the interceptor to land safely.

[0061] The ranging module is composed of a distance sensor, the main control module is composed of a flight control board, and the relay module is composed of a relay that uses the pin level of the main control module as an input signal to control the on / off of the electromagnet circuit.

[0062] Therefore, the present invention utilizes the aforementioned anti-drone powered spinning rope net capture device and its control method. A relay controls the electromagnet circuit, instantly deactivating the electromagnet's suction force, enabling the rapid, synchronous, and accurate release of four brushless motors. The brushless motors then serve as the power source for deploying the net, driving it to unfold and envelop the target. The magnetic isolation plates not only engage with the electromagnets when power is off, securing the four corners of the net to the drone, but also effectively isolate the electromagnets from the brushless motors throughout the entire flight process, ensuring flight stability.

[0063] The present invention fixes a traction rope at one corner of the net on a small ring of a ball bearing, and installs the ball bearing on the outside of a brushless motor, so that the net ring can rotate freely, keeping the direction of the net traction rope stable and avoiding entanglement with the motor or propeller; at the same time, the ball bearing and the magnetic isolation plate jointly ensure the height of the net traction rope to prevent the net device from separating from the motor.

[0064] The geometric center of the net and the geometric center of the interceptor fuselage are always connected by a towing rope, so that after the net captures the target, the net, the target and the interceptor fuselage fall synchronously; at this time, the parachute is deployed, and all components are synchronously and safely landed, realizing the recovery function.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An anti-UAV powered spinning rope net capture device, characterized by: The drone comprises a main body, the main body being fixed to the top of a frame, a fairing being mounted on the top of the main body, arms equipped with motor mechanisms being provided at the four corners of the main body, a ranging module, a main control module, and a relay module being integrated into the main body, and each motor mechanism being connected to a capture net arranged inside the fairing via a traction rope; The motor mechanism includes an electromagnetic block and a magnetic isolation plate installed on the top of the electromagnetic block. The magnetic isolation plate is connected to the brushless motor through a ball bearing. A propeller is provided on the top of the brushless motor. The electromagnetic block is a cylindrical structure with a threaded hole at the bottom. A number of through holes are provided on the magnetic isolation plate, and fixing buckles are provided around the magnetic isolation plate. The magnetic isolation plate can be attracted to the electromagnetic block when power is turned on.

2. The anti-UAV powered spinning rope net capture device according to claim 1, characterized in that: The fairing is made of engineering plastic or 3D printing material with strong impact resistance, non-magnetic or weak magnetic properties, and includes an upper cover and a lower cover. The upper cover and the lower cover are fastened together by a micro electromagnetic lock structure, and a servo is also installed on the outer surface of the lower cover.

3. The anti-UAV powered spinning rope net capture device according to claim 1, characterized in that: A parachute is provided on one side of the bottom of the frame.

4. The anti-UAV powered spinning rope net capture device according to claim 1, characterized in that: The fishing net is made of Zylon material, has a quadrilateral net shape and quadrilateral mesh, and the mesh size is 30×30 cm.

5. The anti-UAV powered spinning rope net capture device according to claim 3, characterized in that: A small metal ring is installed on the side of the ball bearing, and the four corners of the fishing net are fixedly connected to each of the small metal rings through the traction rope.

6. The control method of the anti-UAV powered spinning rope net capture device according to any one of claim 5, characterized in that: The following steps are involved: S1. During normal flight, the circuits housing the four electromagnetic blocks attract the magnetic shield. The net remains unreleased, and four traction ropes extend from the cabin and extend above the four arms of the pursuit rack. The net folds into a triangle, similar to a parachute, and then rotates and retracts along its horizontal and vertical axes. S2. When the ranging module of the drone fuselage detects that the distance between the interceptor and the pursued drone is less than or equal to the set value, the ranging module sends a signal to the main control module. The main control module uses voltage control to make the micro electromagnetic lock structure of the fairing lower cover lose its suction, so that the upper and lower covers of the fairing are separated, revealing the capture net in the fairing, and at the same time, the circuit where the electromagnetic block is located is turned on. S3. After the electromagnetic block circuit is connected, the electromagnetic block loses its attraction to the magnetic isolation plate. At this time, the four brushless motors are released from the vertical direction and detached from the frame. Relying on the remaining lift of the propellers, the aircraft continues to fly out quickly. Each propeller, brushless motor, small metal ring and magnetic isolation plate act as a mass block to pull the capture net to unfold, so that the capture net covers and entangles the target, causing the target to lose power and fall. S4. Since the geometric center of the capture net is connected to the main body of the interceptor drone, the two fall together. After the parachute module detects the falling trend of the drone body, the parachute quickly pops out from the side and opens, driving the capture net, the captured drone and the interceptor to land safely.

7. The control method of the anti-UAV powered spinning rope net capture device according to claim 6, characterized in that: In step S1, the circuit where the four electromagnetic blocks are located is composed of electromagnetic blocks, batteries, and relay switches. Since the electromagnetic blocks are powered by batteries and the switches controlled by relays are disconnected, the electromagnetic blocks have an attractive force that attracts the magnetic isolation plates.

8. The control method of the anti-UAV powered spinning rope net capture device according to claim 6, characterized in that: In step S2, the steps of connecting the circuit where the electromagnetic block is located are as follows: The main control module uses level control to change a pin that originally outputs high level or low level to output low level or high level, so that the relay switch connected to the pin is closed, and the circuit where the electromagnetic block is located is turned on.

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