An anti- uav cooperative defense system based on space-based interception and land-based recovery

Abstract

The application discloses a kind of anti-UAV cooperative defense systems based on air-based interception and land-based recovery, it is related to anti-UAV system technical field, including unmanned aerial vehicle main body and unmanned vehicle main body, unmanned aerial vehicle main body is equipped with unmanned aerial vehicle control module and airborne communication antenna, airborne communication antenna is electrically connected with unmanned aerial vehicle control module, unmanned vehicle main body is equipped with unmanned vehicle control unit and vehicle communication antenna, unmanned vehicle control unit and vehicle communication antenna are electrically connected, vehicle communication antenna and airborne communication antenna are electrically connected with control console;Unmanned aerial vehicle main body is equipped with GPS spoofing device, GPS spoofing device can make target unmanned aerial vehicle landing;Mechanical arm body is installed on unmanned vehicle main body, gripper body is installed at the execution end of mechanical arm body, and unmanned aerial vehicle recovery cabin is also provided on unmanned vehicle main body.The application makes target unmanned aerial vehicle landing by unmanned aerial vehicle main body, then uses gripper body to grab target unmanned aerial vehicle on ground and places into unmanned aerial vehicle recovery cabin.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anti-UAV systems, in particular to an anti-UAV cooperative defense system based on air-based interception and land-based recovery. BACKGROUND

[0002] Under the background of the national development of low-altitude economy and the promotion of new urbanization construction, as an important part of low-altitude economy, UAV technology has ushered in an unprecedented development opportunity. However, with the rapid popularization of UAV technology, the misuse of commercial UAVs poses a serious threat to airspace safety.

[0003] In recent years, with the rapid development of UAV technology, anti-UAV system technology has also made significant progress, but there are still many technical bottlenecks. In the aspect of interception technology, the existing patent net interception device has limited action distance, the energy consumption of laser weapons is too high, and there is a lack of recovery mechanism for intercepted UAVs; in the aspect of recovery technology, the recovery net is only suitable for own UAVs or requires target cooperation for landing; in the aspect of system cooperation, energy recovery is not considered, ground cooperation is lacking, and debris disposal is not addressed. These existing technologies generally have core defects such as disconnection between interception and recovery, low energy utilization efficiency, poor air-ground coordination, and primitive debris disposal methods.

[0004] Therefore, there is an urgent need in the art for an anti-UAV cooperative defense system based on air-based interception and land-based recovery to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide an anti-UAV cooperative defense system based on air-based interception and land-based recovery to solve the problems existing in the prior art, which uses a UAV main body to make the target UAV land, and then uses an unmanned vehicle main body to collect the target UAV on the ground.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] The present application discloses an anti-UAV cooperative defense system based on air-based interception and land-based recovery, comprising a UAV main body and an unmanned vehicle main body, wherein the UAV main body is provided with a UAV control module and an airborne communication antenna, the airborne communication antenna is electrically connected with the UAV control module, the unmanned vehicle main body is provided with an unmanned vehicle control unit and a vehicle communication antenna, the unmanned vehicle control unit and the vehicle communication antenna are electrically connected, and the vehicle communication antenna and the airborne communication antenna are both electrically connected with a control console.

[0008] The UAV main body is provided with a GPS spoofing device, which can make the target UAV land.

[0009] A robotic arm body is installed on the unmanned vehicle body, and a gripper body is installed at the execution end of the robotic arm body. A drone recovery cabin is also provided on the unmanned vehicle body, and the gripper body is used to grab the target drone on the ground and place it into the drone recovery cabin.

[0010] Preferably, the UAV control module includes a flight control module, a core computing module and a networking communication module, and the flight control module, the core computing module and the networking communication module are electrically connected.

[0011] Preferably, the drone body is provided with a power system module, and the power system module is used to drive the drone propeller on the drone body to rotate;

[0012] The power system module includes a drone motor, a drone battery and a drone electric regulator. The drone battery is connected to the drone motor through the drone electric regulator, and the output shaft of the drone motor is connected to the drone propeller.

[0013] Preferably, a drone support platform is provided on the unmanned vehicle body, and the drone body can land on the drone support platform.

[0014] Preferably, the UAV support platform is provided with a charging interface, the unmanned vehicle body is provided with a vehicle power supply, the vehicle power supply is electrically connected to the charging interface, and the UAV body is provided with a charging head, which can be connected to the charging interface.

[0015] Preferably, the UAV support platform is provided with a plurality of positioning holes, and the UAV body is provided with a plurality of positioning rods, and the positioning rods can be inserted into the positioning holes;

[0016] The positioning hole is provided with an electromagnet, and an iron block is connected to the positioning rod. When the positioning rod is inserted into the positioning hole, the electromagnet can absorb the iron block.

[0017] Preferably, first protective cover slide rails are provided on both sides of the opening of the UAV recovery cabin, and a first telescopic protective cover is slidably connected to the first protective cover slide rails, and the first telescopic protective cover can block the opening of the UAV recovery cabin;

[0018] Second protective cover slide rails are provided on both sides of the opening of the UAV support platform, and a second telescopic protective cover is slidably connected to the second protective cover slide rails, and the second telescopic protective cover can block the opening of the UAV support platform.

[0019] Preferably, the unmanned vehicle body is provided with an unmanned vehicle sensing unit, and the unmanned vehicle sensing unit includes an ultrasonic sensor and a sensing camera;

[0020] The front end of the unmanned vehicle body is provided with a vehicle-mounted headlight and an unmanned vehicle front end camera.

[0021] Preferably, a drone perception module is provided on the drone body, and the drone perception module includes an RGB visual sensor, an acoustic sensor and a drone infrared camera.

[0022] Preferably, the robot body is a three-axis robot arm, the gripper body is provided with a silicone layer, and a pressure sensor is provided in the silicone layer;

[0023] A spiral wing protection frame is provided on the outer side of the drone spiral wing on the drone body.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The present invention can control the drone body and the unmanned vehicle body through a ground control console, induce the target drone to land through the GPS spoofing device on the drone body, or directly drive the drone body to knock down the target drone, and then use the unmanned vehicle body to go to the landing point of the target drone to collect the target drone or the wreckage of the target drone, thereby realizing the coordinated work of air interception and ground recovery of the target drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of module connections of an anti-UAV collaborative defense system based on air-based interception and land-based recovery according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic structural diagram of the unmanned vehicle main body in the anti-UAV collaborative defense system based on air-based interception and land-based recovery according to an embodiment of the present invention;

[0029] Figure 3 A top view of the unmanned vehicle main body in the anti-UAV collaborative defense system based on air-based interception and land-based recovery according to an embodiment of the present invention;

[0030] Figure 4 A top view of a drone body in an anti-drone collaborative defense system based on air-based interception and land-based recovery according to an embodiment of the present invention;

[0031] In the figure: 1-gripper body; 2-robotic arm body; 3-UAV recovery cabin; 4-first protective cover slide rail; 5-first telescopic protective cover; 6-vehicle communication antenna; 7-UAV perception unit; 8-second protective cover slide rail; 9-second telescopic protective cover; 10-track chassis; 11-vehicle headlight; 12-UAV front-end camera; 13-positioning hole; 14-charging port; 15-UAV support platform; 16-UAV perception module; 17-propeller protection frame; 18-UAV propeller; 19-flight control module; 20-GPS deception device; 21-airborne communication antenna. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide an anti-UAV collaborative defense system based on air-based interception and land-based recovery to solve the problems existing in the above-mentioned prior art. The target UAV is landed by using the UAV body, and then the target UAV on the ground is collected by using the unmanned vehicle body.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1-4 As shown, this embodiment provides an anti-UAV collaborative defense system based on air-based interception and land-based recovery, including a UAV main body and an unmanned vehicle main body. The UAV main body is provided with a UAV control module and an airborne communication antenna 21, and the airborne communication antenna 21 is electrically connected to the UAV control module. The unmanned vehicle main body is provided with an unmanned vehicle control unit and a vehicle communication antenna 6, and the unmanned vehicle control unit and the vehicle communication antenna 6 are electrically connected. The vehicle communication antenna 6 and the airborne communication antenna 21 are both electrically connected to the control console. The UAV control module on the UAV main body is electrically connected (i.e., signal connected) to the control console on land via the airborne communication module. This allows personnel to remotely control the operation of the UAV main body through the control console in the control room. The UAV control unit on the unmanned vehicle main body is signal-connected to the control console on land via the vehicle communication antenna 6, allowing personnel to remotely control the operation of the unmanned vehicle main body through the control console in the control room.

[0036] The drone is equipped with a GPS spoofing device 20. This device, which forges satellite navigation signals to trick receiving devices into obtaining false positioning information, is widely used to prevent attacks or protect the privacy of intelligent devices such as vehicles, ships, and drones. This embodiment uses the GPS spoofing device 20 to induce the target drone to land. The specific structure of the GPS spoofing device 20 includes, but is not limited to, existing GPS spoofing modules such as those in patents CN109581424A or CN117607914A. Other existing GPS spoofing devices are also possible, and are not limited to these two.

[0037] The unmanned vehicle's main body is equipped with a robotic arm 2, the fixed end of which is mounted on the vehicle's main body. A gripper 1 is mounted on the actuating end of the robotic arm 2. A drone recovery chamber 3 is also located on the vehicle's main body. The gripper 1 is used to grab a target drone on the ground and place it into the chamber. Furthermore, the chamber is equipped with a cushioned air cushion with a honeycomb-shaped air chamber structure, directly installed on the bottom of the chamber to prevent damage to the target drone during its placement.

[0038] In actual use, workers can use the unmanned vehicle body to drive the drone body to the work site. In actual operation, multiple drone bodies can be used to intercept the same target drone simultaneously. The drone body is then activated, and the GPS spoofing device 20 on the drone body is used to interfere with the target drone, forcing it to land. The drone body then notifies the control console and the unmanned vehicle body of the target drone's location via the onboard communication antenna 21. The control console then drives the unmanned vehicle body to the target drone's location and uses the gripper body 1 to recover the target drone. If the GPS spoofing device 20 fails to land the target drone, the control console controls one of its own drone bodies to crash into the target drone, forcing it to land, and then drives the unmanned vehicle body to recover the target drone's wreckage.

[0039] In this embodiment, the drone control module includes a flight control module 19, a core computing module, and a networking and communication module. The flight control module 19 includes a flight controller (i.e., a conventional flight controller), the networking and communication module includes a conventional networking board, and the core computing module is a conventional onboard computer. The flight control module 19, the core computing module, and the networking and communication module are electrically connected. Specifically, the networking and communication module is communicatively connected to the flight control module 19 and the core computing module. Its core function is to establish and maintain efficient and reliable data communication links within and outside the drone. The flight control module 19 is the core of the drone's flight stability and basic control. The core computing module is communicatively connected to the flight control module 19 and the networking and communication module, serving as the drone's advanced intelligent processing unit.

[0040] The unmanned vehicle control unit can be an existing controller, including but not limited to a PLC controller, a single-chip microcomputer controller or a microcontroller.

[0041] In this embodiment, a power system module is provided on the drone body, and the power system module is used to drive the drone rotor 18 on the drone body to rotate.

[0042] The power system module includes a drone motor, a drone battery and a drone electronic regulator. The drone battery is connected to the drone motor through the drone electronic regulator. The output shaft of the drone motor is connected to the drone propeller 18. When the drone motor is started, the output shaft of the drone motor will drive the drone propeller 18 to rotate, thereby driving the drone body to take off.

[0043] The drone's motor converts electrical energy into mechanical rotational kinetic energy, directly driving the drone's propellers 18 to generate the lift and thrust required for flight. It is the terminal that executes all maneuvers for the drone's main body. The drone's electric controller is electrically connected between the drone's battery and the drone's motor, and is communicatively connected to the flight control module 19 to control the drone's motor's speed. The drone's battery serves as the energy source for the entire drone, storing chemical energy and converting it into DC power during operation. This provides power to the power system module, networking and communication module, flight control module 19, and core computing module.

[0044] In this embodiment, a concave drone support platform 15 is provided on the unmanned vehicle body, and the drone body can land on the drone support platform 15. When the drone body is not working, it can land on the drone support platform 15.

[0045] In this embodiment, a charging port 14 is provided on the drone support platform 15, and a vehicle power supply is provided on the unmanned vehicle body. The vehicle power supply can be an existing battery or other power source. The vehicle power supply is electrically connected to the charging port 14, and a charging head is provided on the drone body, which can be connected to the charging port 14. When the drone body runs low on power after operating for a period of time, it can land on the drone support platform 15. The charging head on the drone body then connects to the charging port 14 on the unmanned vehicle body to charge the drone body, thereby maintaining the drone body's long-distance operation.

[0046] Furthermore, the drone support platform 15 is equipped with four charging ports 14, meaning that one drone support platform 15 can simultaneously support and charge four drone bodies. The airborne interception drone swarm employs a four-drone formation for coordinated operations, achieving three-dimensional encirclement through networking and communication modules, significantly increasing the probability of capturing the target drone.

[0047] In this embodiment, the drone support platform 15 is provided with several positioning holes 13. Specifically, each charging port 14 has a positioning hole 13 at each corner, meaning that each charging port 14 has four corresponding positioning holes 13. Correspondingly, the drone body is provided with several positioning rods, specifically four, each of which can be inserted into a corresponding positioning hole 13. This arrangement facilitates quick positioning and securing of the drone body.

[0048] In order to further improve the fixing effect of the drone body, the positioning hole 13 is provided with an electromagnet, which is electrically connected to the unmanned vehicle control unit and is controlled by the unmanned vehicle control unit. An iron block is connected to the positioning rod. When the positioning rod is inserted into the positioning hole 13, the electromagnet can absorb the iron block, thereby firmly fixing the positioning rod and preventing the positioning rod from detaching from the positioning hole 13. During actual use, when the drone body lands on the drone support platform 15, the positioning rod of the drone body is inserted into the positioning hole 13, and then the electromagnet is started. The magnetic attraction between the electromagnet and the iron block is used to firmly fix the drone body. When the drone body needs to take off, the unmanned vehicle control unit is used to turn off the electromagnet to release the magnetic attraction between the electromagnet and the iron block. At this time, the drone body can be started to take off.

[0049] In this embodiment, first protective cover rails 4 are provided on both sides of the opening of the drone recovery cabin 3. A first telescopic protective cover 5 is slidably connected to the first protective cover rails 4. When the first telescopic protective cover 5 is fully opened, the first telescopic protective cover 5 can block the opening of the drone recovery cabin 3. The purpose of this arrangement is to close the drone recovery cabin 3 when it is not in use to prevent other impurities from falling into the drone recovery cabin 3.

[0050] Similarly, second protective cover rails 8 are provided on either side of the opening of the drone support platform 15. A second telescopic protective cover 9 is slidably connected to the second protective cover rails 8. When the second telescopic protective cover 9 is fully opened, it can block the opening of the drone support platform 15. This configuration is intended to close the drone support platform 15 when the drone body is not being charged, preventing other impurities or rainwater from entering the charging port 14 and shortening its service life.

[0051] The first telescopic protective cover 5 and the second telescopic protective cover 9 have the same structure, both being plate-like structures, such as stainless steel, solid wood, or plastic. They are driven in the same way. For example, the first telescopic protective cover 5 is connected to the telescopic end of a hydraulic cylinder, which is fixed to the main body of the unmanned vehicle. As the hydraulic cylinder expands and contracts, it drives the first telescopic protective cover 5 to slide on the first protective cover rail 4. Of course, the main body of the unmanned vehicle is equipped with a protective cover groove that can accommodate the first telescopic protective cover 5, so that a portion of the first telescopic protective cover 5 is located within the protective cover groove, while another portion extends out of the protective cover groove and slides on the first protective cover rail 4. The telescopic method of the second telescopic protective cover 9 is the same as that of the first telescopic protective cover 5, so it will not be described in detail.

[0052] In this embodiment, the unmanned vehicle body is provided with an unmanned vehicle sensing unit 7, which includes an ultrasonic sensor and a sensing camera. Figure 2 As can be seen in the figure, the unmanned vehicle perception unit 7 and vehicle communication antenna 6 are both located in the middle of the upper end of the unmanned vehicle body, with the ultrasonic sensor and perception camera located on either side of the vehicle communication antenna 6. The ultrasonic sensor and perception camera are electrically connected to the control console via the unmanned vehicle control unit. If there is an obstacle ahead that the perception camera cannot capture, the unmanned vehicle perception unit 7 in the unmanned vehicle body detects it through the ultrasonic sensor, automatically avoids the obstacle, and reports back to the control console.

[0053] The front end of the unmanned vehicle is equipped with a headlight 11 and a front-end camera 12. These are also electrically connected to the control console via the unmanned vehicle control unit. The console adjusts the direction of travel of the drone and unmanned vehicle. It also controls the perception camera in the unmanned vehicle's perception unit 7, the front-end camera, and the turning on and off of the headlight 11. Furthermore, the headlight 11 contains a light sensor that automatically switches on and off when ambient light levels fall below or exceed certain levels.

[0054] In this embodiment, the drone body is equipped with a drone perception module 16, which includes an RGB visual sensor, an acoustic sensor, and a drone infrared camera. These RGB visual sensor, acoustic sensor, and drone infrared camera are electrically connected (i.e., signal-connected) to the control console via the drone control module. The RGB visual sensor identifies the positioning holes 13 on the drone support platform 15, enabling the drone body to land precisely. The acoustic sensor captures and analyzes acoustic signals to achieve environmental perception and status monitoring, thereby achieving obstacle avoidance. The drone infrared camera captures infrared radiation energy from target objects to visualize their temperature, thereby monitoring the environment and transmitting relevant image information to the control console.

[0055] The drone's main body is also equipped with a light sensor that automatically switches on and off when ambient light levels drop below or exceed a certain level. The light in the drone's main body and the headlights 11 in the unmanned vehicle's main body can automatically illuminate in the dark, improving the clarity of reconnaissance images.

[0056] In this embodiment, the robotic arm body 2 in the unmanned vehicle body can be an existing three-axis robotic arm or a four-axis robotic arm, so that the multi-angle movement of the gripper body 1 can be achieved. The gripper body 1 can be an existing pneumatic gripper or an electric gripper. A silicone layer is provided on the gripper body 1, and a pressure sensor is provided inside the silicone layer. The pressure sensor can be an existing thin-film pressure sensor. The pressure sensor is electrically connected to the console through the unmanned vehicle control unit. When the gripper body 1 clamps the target drone, the pressure sensor can transmit the relevant pressure value to the console, and the staff can adjust the clamping force of the gripper body 1 according to actual needs. In addition, the gripper body 1 is also linked with the drone's infrared camera to support dynamic target capture, which greatly improves the recovery success rate.

[0057] The walking device in the UAV body adopts the existing crawler chassis 10, so that the UAV body can run smoothly on various ground surfaces. The landing gear of the UAV body can also adopt the existing telescopic landing gear.

[0058] The drone body adopts an existing four-rotor drone, and a spiral wing protection frame 17 is provided on the outer side of the four drone rotors 18 on the drone body to prevent foreign objects from expanding with the drone rotors 18 and thus damaging the drone rotors 18.

[0059] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0060] In the description of the present invention, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; they may refer to mechanical or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application.

[0061] If the present invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by integral molding using a casting process) (except where it is obviously not possible to use an integrated molding process).

[0062] In addition, unless otherwise stated, the terms used in any technical solution disclosed in the present invention to express positional relationships or shapes include states or shapes that are approximate, similar, or close thereto.

[0063] Any component provided by the present invention may be assembled from multiple separate components, or may be a separate component manufactured by an integral molding process.

[0064] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0065] It should also be noted that in the embodiments of the present application, the same figure mark represents the same component or the same part.

[0066] Adaptive changes based on actual needs are all within the scope of protection of the present invention.

[0067] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A coordinated anti-UAV defense system based on air-based interception and land-based recovery, characterized by: The invention comprises an unmanned aerial vehicle (UAV) main body and an unmanned vehicle main body, wherein the UAV main body is provided with an UAV control module and an airborne communication antenna (21), and the airborne communication antenna (21) is electrically connected to the UAV control module; the unmanned vehicle main body is provided with an unmanned vehicle control unit and a vehicle communication antenna (6), and the unmanned vehicle control unit is electrically connected to the vehicle communication antenna (6), and the vehicle communication antenna (6) and the airborne communication antenna (21) are both electrically connected to a control console; The drone body is provided with a GPS deception device (20), and the GPS deception device (20) is capable of causing the target drone to land; The unmanned vehicle body is provided with a mechanical arm body (2), the execution end of the mechanical arm body (2) is provided with a gripper body (1), and the unmanned vehicle body is also provided with a drone recovery cabin (3), and the gripper body (1) is used to grab a target drone on the ground and place it into the drone recovery cabin (3); The unmanned vehicle body is provided with a drone support platform (15), and the drone body can land on the drone support platform (15); the drone support platform (15) is provided with a charging interface (14), the unmanned vehicle body is provided with a vehicle power supply, and the vehicle power supply is electrically connected to the charging interface (14); the drone body is provided with a charging head, and the charging head can be connected to the charging interface (14).

2. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: The UAV control module includes a flight control module, a core computing module and a networking communication module, and the flight control module, the core computing module and the networking communication module are electrically connected.

3. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: The drone body is provided with a power system module, and the power system module is used to drive the drone propeller (18) on the drone body to rotate; The power system module includes a drone motor, a drone battery, and a drone electric regulator. The drone battery is connected to the drone motor via the drone electric regulator, and the output shaft of the drone motor is connected to the drone propeller (18).

4. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: The UAV support platform (15) is provided with a plurality of positioning holes (13), and the UAV body is provided with a plurality of positioning rods, and the positioning rods can be inserted into the positioning holes (13); The positioning hole (13) is provided with an electromagnet, and an iron block is connected to the positioning rod. When the positioning rod is inserted into the positioning hole (13), the electromagnet can absorb the iron block.

5. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 4 is characterized in that: First protective cover slide rails (4) are provided on both sides of the opening of the UAV recovery cabin (3); a first telescopic protective cover (5) is slidably connected to the first protective cover slide rails (4); the first telescopic protective cover (5) is capable of blocking the opening of the UAV recovery cabin (3); Second protective cover slide rails (8) are provided on both sides of the opening of the UAV support platform (15), and a second telescopic protective cover (9) is slidably connected to the second protective cover slide rails (8), and the second telescopic protective cover (9) can block the opening of the UAV support platform (15).

6. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: An unmanned vehicle sensing unit (7) is provided on the unmanned vehicle body, and the unmanned vehicle sensing unit (7) comprises an ultrasonic sensor and a sensing camera; The front end of the unmanned vehicle body is provided with a vehicle-mounted headlight (11) and an unmanned vehicle front end camera (12).

7. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: A drone perception module (16) is provided on the drone body, and the drone perception module (16) comprises an RGB visual sensor, an acoustic sensor, and a drone infrared camera.

8. The anti-UAV coordinated defense system based on air-based interception and land-based recovery according to claim 1 is characterized by: The robot arm body is a three-axis robot arm, the gripper body is provided with a silicone layer, and the silicone layer is provided with a pressure sensor; A spiral wing protection frame (17) is provided on the outer side of the drone spiral wing (18) on the drone body.

Images