Unmanned aerial vehicle capturing system, method, equipment, medium and product

Abstract

The invention discloses an unmanned aerial vehicle capturing system, method, equipment, medium and product, and relates to the field of unmanned aerial vehicle countering, and the system comprises an unmanned aerial vehicle capturing system which comprises a negative pressure turbulent flow countering device and a flight device; the negative pressure turbulent flow countering device comprises a capturing cabin and a negative pressure turbulator, the negative pressure turbulator is used for generating disturbed airflow, and the capturing cabin is used for containing a falling target unmanned aerial vehicle; the flight device is installed on the outer surface of the capturing cabin and used for providing flight power for the capturing system. According to the embodiment of the invention, the target unmanned aerial vehicle can be captured into the capturing cabin, so that the target unmanned aerial vehicle cannot fall onto the ground, and damage to ground personnel and facilities is avoided.

Description

Technical Field

[0001] The present application relates to the field of drone countermeasure technology, and in particular to a drone capture system, method, equipment, medium and product. Background Art

[0002] Drones are increasingly used across a wide range of industries due to their advantages, such as small size, low cost, ease of use, low environmental requirements, and strong survivability. However, while drones provide convenience, they also bring many inconveniences. For example, unauthorized drones ("illegal drones") can enter restricted fly zones (such as airports, government agencies, military facilities, and other highly sensitive areas) without authorization, potentially disrupting aviation order, causing safety incidents, or leaking confidential information.

[0003] Traditional countermeasures against individual illegal drones primarily rely on netting and direct impacts. Netting involves launching a capture net at the drone, entangling it and rendering it incapable of flight, causing it to crash. Direct impacts involve using a countermeasure drone to collide with the illegal drone, causing it to crash.

[0004] However, both of the above-mentioned countermeasures to bring down illegal drones pose major safety risks: if an illegal drone is brought down in a downtown area, it may cause collateral damage to personnel and facilities on the ground. Summary of the Invention

[0005] The purpose of this application is to provide a drone capture system, method, device, medium and product to solve the problem of potential safety hazards in drone countermeasures described in the background technology.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a drone capture system, comprising: a negative pressure spoiler countermeasure device and a flight device;

[0008] The negative pressure spoiler countermeasure device includes a capture cabin and a negative pressure spoiler, wherein the negative pressure spoiler is used to generate disturbed airflow, and the capture cabin is used to accommodate the fallen target drone;

[0009] The flying device is installed on the outer surface of the capture cabin and is used to provide flight power for the capture system.

[0010] Optionally, the opening of the capture cabin faces upward, and the capture cabin is provided with an air outlet; the negative pressure spoiler includes an axial flow fan, which is installed in the capture cabin and is used to disturb the airflow above the capture cabin into the capture cabin and then discharge it from the air outlet, thereby forming a continuous negative pressure at least in and above the capture cabin.

[0011] Optionally, the negative pressure spoiler further includes a flow guiding device, which is installed below the axial flow fan and is used to guide the airflow generated by the axial flow fan.

[0012] Optionally, the guide device includes a guide cone and guide blades, the guide cone is installed below the axial flow fan, and the guide blades include a plurality of guide blades that are evenly distributed around the guide cone.

[0013] Optionally, the negative pressure spoiler countermeasure device also includes a hatch installed at the hatch of the capture cabin.

[0014] Optionally, the UAV capture system further includes a laser countermeasure device installed on the outer wall of the capture cabin, which is used to emit laser to the target UAV when the capture system is performing a mission, so as to interfere with, blind or burn the target UAV.

[0015] Optionally, the laser countermeasure device includes a vibration reduction device, which is mechanically connected to a drive motor of the laser countermeasure device and is used to reduce vibration of the drive motor;

[0016] The shock absorbing device includes at least one shock absorbing structure; the shock absorbing structure includes a motor supporting ejector, a shock absorbing component and a bracket; the bracket includes a plurality of support arms and a connecting portion connecting the support arms; the needle nose end of the motor supporting ejector is installed on the connecting portion, and the needle tip is against the rear end face of the driving motor; the shock absorbing component is installed on the side of each arm facing the driving motor; each shock absorbing component is also connected to a target end face of the driving motor; the target end face is an end face other than the front and rear end faces of the driving motor.

[0017] Optionally, the shock absorbing device includes two shock absorbing structures; the bracket in each shock absorbing structure is a U-shaped bracket, and the U-shaped bracket includes two arms; the connecting parts of the two U-shaped brackets in the shock absorbing device intersect crosswise, and the openings are oriented in the same direction.

[0018] Optionally, the shock-absorbing component includes a connected shock-absorbing pad and a support spring; wherein, the shock-absorbing pad is installed on the side of each arm facing the drive motor, and each shock-absorbing pad is also connected to one end of a support spring, and the other end of the support spring is connected to a target end face of the drive motor.

[0019] Optionally, the UAV capture system further includes a directional countermeasure device installed on the outer wall of the capture cabin, which is used to interfere with normal communication between the target UAV and its remote control device, thereby putting the target UAV into an uncontrolled state.

[0020] Optionally, the capture system further includes an electromagnetic catapult towing entanglement countermeasure device installed outside the capture cabin;

[0021] The electromagnetic catapult towing entanglement device includes an electromagnetic launch tube, a launch drive circuit and a catapult with a towing belt; the electromagnetic launch tube includes a metal tube and a multi-stage acceleration coil wrapped around the outside of the metal tube, and the launch drive circuit is electrically connected to the multi-stage acceleration coil; one end of the towing belt is connected to the catapult, and the other end is connected to the metal tube.

[0022] Optionally, the capture system further includes a navigation device installed on the outer wall of the capture cabin, at least for guiding the capture system to fly autonomously.

[0023] Optionally, the navigation device includes at least one of a navigation camera, a laser guidance radar and an airborne phased array radar.

[0024] Optionally, the capture system further includes a wireless signal detection module installed on the outer wall of the capture cabin, for detecting wireless signals related to the target UAV.

[0025] In a second aspect, the present application provides a drone capture method, which is applied to the drone capture system described in any one of the first aspects above, comprising:

[0026] receiving a mission mode sent by a ground station, wherein the mission mode is used to indicate a mode in which the capture system performs a mission on a target UAV;

[0027] If the mission mode is a capture mode, when the capture conditions are met, the negative pressure spoiler is activated to generate disturbed airflow; wherein the target drone that falls due to the disturbed airflow is captured by the capture cabin.

[0028] Optionally, when the received mission mode is a capture mode, the method further includes: starting a directional countermeasure device to block communication between the target UAV and its remote control device.

[0029] Optionally, after “starting the negative pressure spoiler”, the method further includes:

[0030] When the laser countermeasure condition is met, the laser countermeasure device is started, and the power of the laser countermeasure device is adjusted to the burning power, so that the target UAV is burned by the laser emitted by the laser countermeasure device.

[0031] Optionally, it also includes: when executing the "starting the laser countermeasure device", simultaneously starting the electromagnetic catapult towing entanglement countermeasure device, and launching the catapult bullet towards the target UAV through the electromagnetic catapult towing entanglement countermeasure device.

[0032] Optionally, after the step of “receiving the mission mode sent by the ground station”, the method further comprises:

[0033] When the mission mode is the drive-away mode, the power of the laser countermeasure device is adjusted to the drive-away power, and the target UAV is illuminated by the laser countermeasure device to drive the target UAV away;

[0034] If the expulsion goal is still not achieved, a capture request is sent to the ground station;

[0035] When receiving the consent request returned by the ground station, it enters the acquisition mode.

[0036] Optionally, the driving-away power includes an interference power and a blinding power, and the blinding power is greater than the interference power; and “adjusting the power of the laser countermeasure device to the driving-away power, and irradiating the target UAV with the laser countermeasure device to drive the target UAV away” includes:

[0037] Adjusting the power of the laser countermeasure device to a blinding power to blind the target drone, thereby achieving the purpose of driving the target drone away;

[0038] or:

[0039] Adjusting the power of the laser countermeasure device to an interference power, and irradiating the camera of the target UAV with the laser countermeasure device to interfere with the target UAV;

[0040] When the purpose of driving away the target UAV is still not achieved, the power of the laser countermeasure device is adjusted from the interference power to the blinding power to blind the target UAV, thereby achieving the purpose of driving away the target UAV.

[0041] Optionally, after the step of “receiving the mission mode sent by the ground station”, the method further comprises:

[0042] When the mission mode is the cruise mode, the aircraft flies along the edge of the no-fly zone in accordance with the flight attitude of the cruise mode, and activates the wireless signal detection module to detect wireless signals through the wireless signal detection module;

[0043] When a valid signal is detected, determining a signal category of the valid signal;

[0044] When the signal category is a remote control signal, extracting signal features and sending the signal features to a ground station, so that the ground station determines a mission mode according to the signal features;

[0045] When the signal type is a RemoteID signal, sending the RemoteID signal to a ground station, so that the ground station determines a mission mode according to the signal characteristics;

[0046] When the signal type is an image transmission signal, continuously capturing and decoding the image transmission signal, and sending the decoded image transmission signal to the ground station, so that the ground station stores the decoded image transmission signal;

[0047] When the signal category is a non-UAV signal, the non-UAV signal is processed according to the clutter processing method.

[0048] In a third aspect, the present application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the methods described in the first aspect above.

[0049] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0050] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the methods in the first aspect.

[0051] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0052] The drone capture system provided in the embodiments of the present application adds a negative pressure turbulence countermeasure to the capture system. This negative pressure turbulence countermeasure includes a capture chamber and a negative pressure spoiler. The negative pressure spoiler is used to create a disturbed airflow to affect the air pressure distribution within a certain area, thereby causing the target drone in the area to lose lift and horizontal thrust, unable to maintain its flight attitude, and fall into the capture chamber under the influence of gravity, thus completing the capture. Compared with the existing technology, the embodiments of the present application can capture the target drone in the capture chamber, preventing it from falling to the ground and avoiding damage to ground personnel and facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A logical diagram of a drone capture system provided in one embodiment of the present application;

[0055] Figure 2 A cross-sectional schematic diagram of a drone capture system provided in one embodiment of the present application;

[0056] Figure 3 A cross-sectional schematic diagram of a drone capture system provided in one embodiment of the present application;

[0057] Figure 4 A schematic top view of a drone capture system provided in another embodiment of the present application;

[0058] Figure 5 A logical diagram of another drone capture system provided in one embodiment of the present application;

[0059] Figure 6 A schematic structural diagram of a shock absorbing device provided in another embodiment of the present application;

[0060] Figure 7 A schematic diagram of a flow chart of a drone capture method provided in one embodiment of the present application;

[0061] Figure 8 A flowchart of a method for determining a mission mode of a drone capture system provided in one embodiment of the present application;

[0062] Figure 9 A schematic diagram of a flow chart of a drone capture method provided in one embodiment of the present application;

[0063] Figure 10 A schematic diagram of a flow chart of a drone capture method provided in one embodiment of the present application;

[0064] Figure 11 A flowchart of a method for driving away a target drone provided in one embodiment of the present application is provided;

[0065] Figure 12 A flowchart of a method for driving away a target drone provided in one embodiment of the present application is provided;

[0066] Figure 13 A schematic diagram of intercepting a target drone provided in one embodiment of the present application;

[0067] Figure 14 A schematic flow chart of a method for performing a cruise mission by a drone capture system according to an embodiment of the present application;

[0068] Figure 15 A schematic flow chart of a method for performing a cruise mission by a drone capture system according to an embodiment of the present application;

[0069] Figure 16 A system block diagram of a typical digital radio transmitter provided in one embodiment of the present application;

[0070] Figure 17A schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0071] In the picture:

[0072] Negative pressure spoiler countermeasure device 1; capture cabin 101; negative pressure spoiler 102; cabin door 103; axial flow fan 1021; guide cone 1022; guide vane 1023; flight device 2; flight assembly 200; support arm 201; power motor 202; blade 203; mission controller 3; data link communication module 4; navigation equipment 5; navigation camera 501; laser guidance radar 502; airborne phased array radar 503; laser countermeasure device 6; shock absorption device 7; shock absorption pad 71; support spring 72; motor support pin 73; bracket 74; directional countermeasure device 8; electromagnetic catapult towing entanglement countermeasure device 9; wireless signal detection module 10; voice broadcast module 11. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0074] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the contents involved in the present application are further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0075] See also Figure 1 , and combined with Figure 2 An embodiment of the present application provides a drone capture system, including: a negative pressure spoiler countermeasure device 1 and a flying device 2.

[0076] The negative pressure spoiler countermeasure device 1 includes a capture cabin 101 and a negative pressure spoiler 102 . The negative pressure spoiler 102 is used to generate disturbed airflow, and the capture cabin 101 is used to accommodate a fallen target drone.

[0077] The flying device 2 is installed on the outer surface of the capture cabin 101 to provide flight power for the capture system.

[0078] Among them, the drone capture system is used to capture the target drone, which can be a drone that has flown into a no-fly zone or is about to fly into a no-fly zone.

[0079] Among them, after the negative pressure spoiler 102 generates disturbed airflow, it affects the air pressure distribution in a certain area, causing the target drone within the effective range to lose lift and horizontal thrust, unable to maintain its flight posture, and fall into the capture cabin 101 under the influence of gravity.

[0080] Furthermore, when the capture system captures the target drone, the capture system controls its own position and places the target drone above the capture cabin 101 , so that when the target drone falls, it can fall into the capture cabin 101 .

[0081] Furthermore, after the negative pressure spoiler 102 generates a continuous negative pressure disturbed airflow in the capture cabin 101, the disturbed airflow flows from the top to the bottom of the capture cabin 101, which will have a suction force on the target UAV, disturbing the target UAV into the capture cabin 101, increasing the possibility of the target UAV falling into the capture cabin 101, and improving the success rate of capture.

[0082] The drone capture system provided in the embodiments of the present application adds a negative pressure turbulence countermeasure 1 to the capture system. The negative pressure turbulence countermeasure 1 includes a capture chamber 101 and a negative pressure spoiler 102. The negative pressure spoiler 102 is used to create a disturbed airflow to affect the air pressure distribution within a certain area, thereby causing the target drone in the area to lose lift and horizontal thrust, unable to maintain its flight attitude, and fall into the capture chamber 101 under the influence of gravity, thus completing the capture. Compared with the existing technology, the embodiments of the present application can capture the target drone within the capture chamber 101, preventing it from falling to the ground, avoiding damage to ground personnel and facilities, and also protecting the integrity of the target drone, facilitating subsequent forensic analysis.

[0083] Alternatively, see Figure 2 、 Figure 3 and Figure 4 The flying device 2 includes a plurality of flying components 200, which are evenly distributed on the outer wall of the capture cabin 101. Each flying component 200 includes a support arm 201, a power motor 202 and a blade 203. The support arm 201 is arranged on the outer wall of the capture cabin 101. The power motor 202 is installed above the support arm 201. The output end of the power motor 202 is installed with a blade 203, and the blade 203 is arranged horizontally.

[0084] The flying assembly 200 is arranged at an upper position. The number of the flying assembly 200 is determined according to the shape of the capture cabin 101 and can be 2, 4 or more.

[0085] Of course, the flying device 2 can also be other flying devices 2 in the prior art, such as the flying device 2 of an existing drone, as long as it can provide flight power for the capture system.

[0086] Alternatively, see Figure 2 The negative pressure turbulence countermeasure device 1 further includes a negative pressure turbulence controller, which is signal-connected to the axial flow fan 1021 and is used to control the working state of the axial flow fan 1021.

[0087] Alternatively, see Figure 2 、 Figure 3 and Figure 5 The UAV capture system also includes a mission controller 3, a data link communication module 4 and a navigation device 5.

[0088] The mission controller 3 is mounted on the inner bottom surface of the capture capsule 101 and utilizes a heterogeneous multi-processor architecture to enhance its performance. The mission controller 3 includes a flight attitude management module and a mission management module. The mission management module is signal-connected to the negative pressure spoiler controller, the data link communication module 4, the navigation device 5, and the flight device 2, transmitting mission and control signals to each device.

[0089] Furthermore, the mission management module is used to arrange and distribute mission instructions sent from ground communication systems or other collaborative devices, such as collaborative drones, and complete specified operations according to mission requirements; the mission management module uses an ARM (Advanced RISC Machines)-based multi-core processor.

[0090] Among them, the flight attitude management module is used to load the flight parameters according to the mission mode after receiving the take-off command, and perform flight attitude control according to the flight parameters, so that the capture system can fly smoothly and control the flight speed, altitude and direction according to the mission requirements to achieve the basic conditions required to perform the mission.

[0091] Furthermore, the flight attitude management module uses a multi-core processor based on a system-on-chip (SoC) as the main processor to collect data feedback from sensors such as acceleration sensors, inertial navigation sensors, air pressure sensors, and laser guidance radar 502 to calculate the flight attitude and spatial state.

[0092] The navigation device 5 is installed on the top of the side wall of the capture cabin 101 and is connected to the mission controller 3 by signal. It is used to guide the capture system to fly autonomously after receiving the navigation instructions sent by the mission controller 3.

[0093] The data link communication module 4 is mounted on the inner bottom surface of the capture chamber 101 and is connected to the mission controller 3 and the ground station for signal communication between the mission controller 3 and the ground station. Of course, if the capture system needs to communicate with other devices, such as other cooperating drones, this can be done through the data link communication module 4.

[0094] Furthermore, the data link communication module 4 is used to transmit and receive uplink and downlink data between the capture system and the ground station. The data link communication module 4 integrates an independent system-on-chip (SoC) and independently performs data packaging and unpacking, encryption and decryption, and message push and distribution functions without occupying the resources of the capture system's mission controller (task management module and flight attitude management module). Furthermore, the data link communication module 4 utilizes a wideband, multi-channel transceiver mechanism, enabling parallel transmission and low latency. For example, it can transmit control information and image information in parallel.

[0095] The data link communication module 4 includes uplink and downlink transceiver circuits, ad hoc network transceiver circuits, image transmission signal receiving circuits, and image transmission signal forwarding circuits. The data link communication module 4 is connected to the mission controller 3 via a multi-channel high-speed data interface. Data received by the data link communication module 4 can be sent to the mission controller 3 via this multi-channel high-speed data interface. The mission controller 3 can also send data to be transmitted to the data link communication module 4, which then transmits the data, thereby achieving data exchange.

[0096] Optionally, in another exemplary embodiment of the present application, the opening of the capture cabin 101 faces upward, and the capture cabin 101 is provided with an air outlet; the negative pressure spoiler 102 includes an axial flow fan 1021, and the axial flow fan 1021 is installed in the capture cabin 101, and is used to disrupt the airflow above the capture cabin 101 into the capture cabin 101, and then discharge it from the air outlet, thereby forming a continuous negative pressure at least in and above the capture cabin 101.

[0097] The opening of the capture cabin 101 faces upward, so that the target UAV that has lost its flying ability can fall into the capture cabin 101 smoothly.

[0098] The air outlet is provided at the lower portion of the capture chamber 101 , so that airflow enters from the upper portion of the capture chamber 101 and is discharged from the lower portion, thereby forming a negative pressure inside and above the capture chamber 101 .

[0099] The axial flow fan 1021 is installed at the lower part of the capture chamber 101 and is used to disturb the airflow above the capture chamber 101 into the capture chamber 101, thereby creating a negative pressure inside and above the capture chamber 101. This frees up the space above the capture chamber 101 to accommodate the fallen target drone.

[0100] Alternatively, see Figure 2 In another exemplary embodiment of the present application, the negative pressure spoiler countermeasure device 1 further includes a hatch 103 installed at the hatch of the capture cabin 101.

[0101] The hatch 103 may be an electrically controlled hatch 103 , for example. When a capture mission is being performed, the electrically controlled hatch 103 is opened; when a capture mission is not being performed, the electrically controlled hatch 103 is closed.

[0102] After the door 103 is provided, the door 103 can be closed when performing a capture mission, thereby reducing the possibility of airflow entering the capture cabin 101 and reducing the flight resistance of the capture system.

[0103] The hatch 103 is connected to the negative pressure spoiler controller by signal, and the negative pressure spoiler controller is used to send the received opening and closing signals to the opening and closing actuator of the hatch 103.

[0104] Furthermore, the electrically controlled door 103 is signal-connected to the negative pressure spoiler controller, which transmits received opening and closing signals to the opening and closing actuator of the electrically controlled door 103, thereby opening or closing the electrically controlled door 103. Furthermore, the opening and closing signals are transmitted to the negative pressure spoiler controller by the mission controller 3.

[0105] When the mission controller 3 controls the axial flow fan 1021 of the negative pressure spoiler countermeasure device 1 to start according to the mission mode, it also controls the electric control door 103 to open; when the target UAV falls into the capture cabin 101, the sensor in the capture cabin 101 senses the target UAV falling into, and sends a message of successful capture to the mission controller 3; the mission controller 3 generates a control signal to close the cabin door 103, and sends the control signal to the negative pressure spoiler controller; after receiving the control signal, the negative pressure spoiler controller controls the electric control door 103 to close.

[0106] Optionally, in another exemplary embodiment of the present application, the negative pressure spoiler 102 further includes a flow guiding device, which is installed below the axial flow fan 1021 and is used to guide the airflow generated by the axial flow fan 1021.

[0107] The airflow in the capture chamber 101 can be smoothly guided to the outside of the capture chamber 101 by the flow guiding device, thereby improving the smoothness of the airflow and thus improving the success rate of capture.

[0108] Alternatively, see Figure 2 In another exemplary embodiment of the present application, the guide device includes a guide cone 1022 and a guide blade 1023. The guide cone 1022 is installed below the axial fan 1021. The guide blade 1023 includes multiple blades that are evenly distributed around the guide cone 1022.

[0109] Optionally, an isolation grid is horizontally arranged above the axial flow fan 1021 to isolate the space accommodating the fallen target drone from the space where the axial flow fan 1021 is installed, thereby reducing the impact of the fallen target drone on the axial flow fan 1021, which not only protects the target drone but also extends the service life of the axial flow fan 1021.

[0110] Furthermore, a buffer pad is provided above the isolation grid plate to reduce the impact on the falling target drone.

[0111] Furthermore, the buffer pad is also provided with an exhaust port to ensure the normal flow of the disturbed airflow.

[0112] Alternatively, see Figure 3 and Figure 5 In another exemplary embodiment of the present application, the UAV capture system further includes a laser countermeasure device 6 installed on the outer wall of the capture cabin 101, which is used to emit laser to the target UAV when the capture system is performing a mission, so as to interfere with, blind or burn the target UAV.

[0113] Furthermore, the laser countermeasure device 6 includes a laser, a laser controller and a beam controller; the beam controller includes a laser reflector, a drive motor and a vibration reduction device 7.

[0114] The laser controller is used to determine the optical power value that the laser needs to output and the target angle of the light beam; the laser controller is connected to the laser signal and is used to send the size of the optical power that needs to be output to the laser, so that the laser emits laser according to the optical power value; the laser controller is also connected to the drive motor signal and is used to control the drive motor according to the target angle, so that the drive motor drives the laser reflector to rotate, so that the light beam reflected on the laser reflector is emitted according to the target angle.

[0115] Furthermore, when the orientation of the target UAV changes, the laser emission angle is changed again, thereby achieving the effect of multi-beam strikes at different angles.

[0116] Furthermore, the laser may be a fiber laser.

[0117] Furthermore, the laser controller is connected to the laser through a control interface, and the laser controller and the beam controller are connected to the task controller 3 through a control interface. The task controller 3 controls the laser controller to turn on the laser according to the task mode, and controls the beam controller to scan, so that the laser beam generated by the laser can accurately irradiate the target.

[0118] In addition, compared with the ground laser countermeasure device, the laser countermeasure device 6 is set in the capture system in this application, which can achieve close-range laser countermeasure and improve the countermeasure efficiency. The specific analysis is as follows:

[0119] Features of ground laser countermeasures:

[0120] 1. Long optical path: A long optical path results in significant energy loss. In bad weather, scattering caused by clouds or fog will directly affect the effectiveness of countermeasures. To improve the countermeasure effect, a higher-power laser is required to compensate for the loss in the optical path. High-power lasers inevitably require high-power laser sources, which will greatly increase the cost of countermeasures.

[0121] 2. Lack of flexibility: Ground-based laser countermeasures lack flexibility. If an obstacle suddenly appears in the light path (such as a flying bird, balloon, or other aircraft), the countermeasure effect will be lost, resulting in a false countermeasure and missing the countermeasure window.

[0122] 3. There are safety hazards: Strong laser beams can easily interfere with other optoelectronic equipment nearby. At the same time, if there are no follow-up measures after countering the target drone on the ground, the target drone may fall, which may easily cause accidents in some sensitive areas (such as target drones flying over oil depots or chemical plants) and collateral damage.

[0123] The laser countermeasure device 6 in the capture system has the following advantages:

[0124] 1. The capture system can fly to an area close to the target drone for tracking and continuous countermeasures. Due to the short distance and optical path, the impact of bad weather can be greatly eliminated.

[0125] 2. When conducting close-range counterattacks, there will be almost no obstacles. Even if there are obstacles, the flight posture of the capture system can be changed in time to counterattack from a different angle, thereby reducing costs without affecting the counterattack effect.

[0126] 3. High flexibility and safety. The laser countermeasure device 6 of the capture system can achieve close-range strikes without affecting or interfering with the normal operation of other equipment. At the same time, it cooperates with the capture cabin 101 and the electromagnetic catapult towing entanglement countermeasure device 9 described later to entangle the target being tracked and struck, preventing the aircraft from falling and causing collateral damage after losing its flight ability after the strike.

[0127] Therefore, the present application installs the laser countermeasure device 6 on the capture system, making the cost and countermeasure effect much better than the ground laser countermeasure device. Even if the same technology is used as the ground laser countermeasure device, it does not affect its creative display.

[0128] Alternatively, see Figure 6 In another exemplary embodiment of the present application, the vibration reduction device 7 is mechanically connected to the driving motor of the laser countermeasure device 6 to reduce vibration of the driving motor;

[0129] Optionally, the shock absorbing device 7 includes at least one shock absorbing structure; the shock absorbing structure includes a motor supporting ejector pin 73, a shock absorbing component and a bracket 74; the bracket 74 includes a plurality of support arms and a connecting portion connecting the support arms; the needle nose end of the motor supporting ejector pin 73 is installed on the connecting portion, and the needle tip is against the rear end face of the driving motor; the shock absorbing component is installed on the side of each arm facing the driving motor; each of the shock absorbing components is also connected to a target end face of the driving motor; the target end face is an end face other than the front and rear end faces of the driving motor.

[0130] Optionally, the shock absorbing device 7 includes two shock absorbing structures; the bracket 74 in each shock absorbing structure is a U-shaped bracket, and the U-shaped bracket includes two arms; the connecting parts of the two U-shaped brackets in the shock absorbing device 7 intersect crosswise, and the openings are oriented in the same direction.

[0131] Optionally, the shock-absorbing component includes a connected shock-absorbing pad 71 and a support spring 72; wherein, the shock-absorbing pad 71 is installed on the side of each arm facing the drive motor, and each shock-absorbing pad 71 is also connected to one end of a support spring 72, and the other end of the support spring 72 is connected to a target end face of the drive motor.

[0132] Alternatively, the shock absorbing device 7 can be directly described as: the shock absorbing device 7 includes a motor supporting pin 73, a shock absorbing pad 71, a support spring 72 and a bracket 74; the bracket 74 is a lying U-shaped structure, including two parallel arms and a connecting part connected between the two arms; the two arms are respectively recorded as the first arm and the second arm; the needle nose end of the motor supporting pin 73 is installed on the connecting part of the bracket 74, and the needle tip is against the center point of the rear end of the driving motor; the shock absorbing pad 71 includes two, which are respectively installed on the first arm and the second arm of the bracket 74, and the support spring 72 includes two, each of the support springs 72 has one end installed on the body of the driving motor, and the other end installed on the shock absorbing pad 71.

[0133] The shock-absorbing pad 71 may be a flexible rubber shock-absorbing pad 71 .

[0134] Furthermore, a limiting groove is provided on the outer surface of the driving motor and at the abutment point between the driving motor and the needle tip, and the needle tip is located in the limiting groove to prevent the needle tip from slipping.

[0135] Since the capture system will produce severe shaking and vibration during flight, this shock-absorbing device 7 can not only ensure that the operation of the drive motor is not affected, but also suspend the drive motor in the bracket 74 to avoid the impact of the shaking and vibration of the capture system, and absorb the vibration of the drive motor itself when it starts and stops, so that the laser beam output is stable and accurate.

[0136] Optionally, in another exemplary embodiment of the present application, the U-shaped brackets 74 include two, the connecting parts of the two U-shaped brackets 74 intersect crosswise, and the openings face the same direction.

[0137] In one example, when two U-shaped brackets 74 are used, only one ejector pin is required.

[0138] In another example, when two U-shaped brackets 74 are used, two ejector pins may be used to respectively abut against the rear end surface of the driving motor.

[0139] Alternatively, see Figure 3 and Figure 5 In another exemplary embodiment of the present application, the drone capture system further includes a directional countermeasure device 8 mounted on the outer wall of the capture chamber 101, configured to disrupt normal communication between the target drone and its remote control device, rendering the target drone uncontrollable. This improves the capture success rate when the target drone is uncontrollable.

[0140] In addition, the directional countermeasure device 8 can interfere with the communication of drones in the area by emitting electromagnetic waves, causing the drones to automatically return or land after losing contact. It can be used for group countermeasures or for countermeasures against single target drones. Furthermore, in this application, the directional countermeasure device 8 is an optional accessory and can be installed or removed according to mission requirements.

[0141] Furthermore, the directional countermeasure device 8 is connected to the task controller 3 by signal, and is used to receive task instructions sent by the task controller 3, or return the completion status to the task controller 3 after the task is completed.

[0142] The structure of the directional countermeasure device 8 can refer to the structure of the directional countermeasure device 8 on the ground, and this application will not describe it in detail.

[0143] Alternatively, see Figure 3 and Figure 5 In another exemplary embodiment of the present application, the capture system further includes an electromagnetic catapult towing entanglement countermeasure device 9 installed outside the capture cabin 101;

[0144] The electromagnetic catapult towing entanglement device includes an electromagnetic launch tube, a launch drive circuit and a catapult with a towing belt; the electromagnetic launch tube includes a metal tube and a multi-stage acceleration coil wrapped around the outside of the metal tube, and the launch drive circuit is electrically connected to the multi-stage acceleration coil; one end of the towing belt is connected to the catapult, and the other end is connected to the metal tube.

[0145] Among them, the launch drive circuit provides launch current for the multi-stage acceleration coil, and the metal tube serves as the launch pipeline of the catapult.

[0146] The metal tube may be a non-ferromagnetic metal tube such as a copper tube.

[0147] Furthermore, the transmission drive circuit is signal-connected to the task controller 3 and is used to receive a transmission instruction sent by the task controller 3 .

[0148] When the projectile needs to be launched, the drive circuit generates a driving current, which drives the multi-stage acceleration coil in a time-sharing manner. Under the control of the drive circuit, the current flows through the multiple acceleration coils, gradually accelerating the projectile under the magnetic force of each stage of the coil. Finally, it is ejected from the copper tube at a high speed, dragging the tow belt towards the target drone. During flight, the projectile's speed gradually slows. After deceleration, the projectile falls under the influence of gravity. Due to inertial acceleration, the projectile forms a tangled loop around the target drone, completing the entanglement and restraint of the target drone, similar to how a rope is wrapped around a pencil. Eventually, the projectile adheres to the target drone due to magnetic or viscous forces. Because the other end of the tow belt has not detached from the end of the launch tube, the entangled target drone is dragged out of the airspace along with the capture system.

[0149] When the projectile is in operation, the entanglement mode is related to the contact position between the projectile and the target drone. For example, the entanglement mode between the fuselage and the support arm is as described above. In addition, the trajectory of the projectile is angled, and the trajectory itself is a parabola, so it can form a natural entanglement. If it contacts the propeller of the target drone, no kinetic energy is required at this time, and it will be directly entangled by the propeller.

[0150] During capture, the electromagnetic launch tube will always point to the target drone following the positioning of the navigation camera 501 and be on standby at any time. When towing and entanglement are required, it can be launched immediately with zero delay, thereby countering the target drone.

[0151] In addition, the structure of the multi-stage acceleration coil can refer to the existing multi-stage acceleration coil, and this application will not describe it in detail.

[0152] After installing the electromagnetic ejection and towing entanglement device, if a capture mission is performed in severe weather such as strong winds, or if the target drone loses control due to sudden strong winds or other reasons during the capture of the drone and cannot accurately fall into the capture cabin 101, the electromagnetic ejection and towing entanglement device can be used in time to entangle the target drone to prevent it from falling to the ground.

[0153] Alternatively, see Figure 2 、 3 and Figure 5 In another exemplary embodiment of the present application, the capture system further includes a navigation device 5 installed on the outer wall of the capture cabin 101, at least for guiding the capture system to fly autonomously.

[0154] When the capture system receives a take-off instruction, the task management module will send a take-off message to the navigation system. After receiving the take-off message, the navigation device 5 obtains airspace information to guide the capture system to fly autonomously.

[0155] Alternatively, see Figure 2 、 Figure 3 and Figure 5 In another exemplary embodiment of the present application, the navigation device 5 includes at least one of a navigation camera 501 , a laser guidance radar 502 and an airborne phased array radar 503 .

[0156] During operation, the navigation camera 501 is used to detect the distance to the target drone and surrounding obstacles, thereby determining the flight path and providing obstacle avoidance guidance. The laser guidance radar 502 scans the surrounding environment and generates point cloud data, which is then integrated with the data from the navigation camera 501 for obstacle avoidance flight at various distances. The airborne phased array radar 503 is used to detect and locate surrounding drones.

[0157] In one example, the laser guidance radar 502 and the airborne phased array radar 503 are optional, and the navigation camera 501 is mandatory.

[0158] The navigation camera 501 , the laser guidance radar 502 and the airborne phased array radar 503 are installed on the outer wall of the capture cabin 101 and are all connected to the mission controller 3 for signal transmission, so as to receive navigation instructions sent by the mission controller 3 .

[0159] Furthermore, the navigation camera 501 includes a laser ranging circuit, a thermal imaging acquisition circuit, an infrared acquisition circuit, a visible light acquisition circuit, and an image processing SoC. The laser ranging circuit, the thermal imaging acquisition circuit, the infrared acquisition circuit, and the visible light acquisition circuit are all signal-connected to the image processing SoC.

[0160] The laser ranging circuit is used to detect the distance between the capture system and objects in the nearby airspace and transmit this information to the image processing SoC. The thermal imaging acquisition circuit, infrared acquisition circuit, and visible light acquisition circuit are used to capture images of objects in the nearby airspace, perform image recognition, and transmit the recognition results to the image processing SoC. Furthermore, the image processing SoC integrates the LeYOLO model and uses this model to achieve target recognition.

[0161] Furthermore, the image processing SoC is connected to the task controller 3 via a high-speed data interface, and transmits the image recognition results and distance information to the task controller 3. After receiving the image recognition results and distance information, the task controller 3 instructs the capture system to track and avoid obstacles based on the image recognition results and distance information.

[0162] Among them, the laser guidance radar 502 is used to measure medium and long-range target information and capture environmental information near the flight space of the system, and to collect three-dimensional data of target information and environmental information to generate point cloud data. The point cloud data describes spatial information, including the shape, size, distance, etc. of spatial objects.

[0163] Furthermore, the laser guidance radar 502 is connected to the mission controller 3 via a data interface and a control interface, and transmits point cloud data to the mission controller 3, thereby providing support for the capture system to fly safely in bad weather.

[0164] The airborne phased array radar 503 is used to detect long-range moving targets, allowing it to autonomously search for drones within an area when no ground radar provides target guidance. The radar transmits information such as the detected distance, heading, speed, and altitude to a ground station via the data link communication module 4, enabling the ground station to issue appropriate instructions based on the received information. If a target drone is detected, the airborne phased array radar 503 enters tracking mode, locks onto and tracks the target drone, and provides guidance data for setting a capture route.

[0165] In addition, the airborne phased array radar 503 is an optional accessory. It can be loaded or disassembled according to mission requirements without affecting the precise capture operation of the capture system.

[0166] Alternatively, see Figure 3 and Figure 5 In another exemplary embodiment of the present application, the capture system further includes a wireless signal detection module 10 installed on the outer wall of the capture cabin 101, for detecting wireless signals related to the target drone.

[0167] Furthermore, wireless signals related to drones include drone remote control signals, broadcast signals, image transmission signals, etc. The wireless signal detection module 10 is used to detect and intercept wireless signals, record characteristic information such as the signal frequency, modulation mode, radio frequency fingerprint, and radiation power of the intercepted wireless signals, and send the signal characteristic information back to the ground station through the data link communication module 4. Upon receiving the signal characteristic information, the ground station performs corresponding processing. For example, if the intercepted signal is an image transmission signal, the image transmission signal is directly forwarded to the ground station for playback and recording as evidence of the target drone invading the no-fly zone, thereby solving the problem of difficulty in obtaining evidence of drone intrusion.

[0168] Furthermore, the wireless signal detection module 10 includes an antenna, a broadband wireless signal scanning circuit (including an analog signal amplifier and an analog-to-digital converter), a wireless signal feature extraction and identification circuit, a wireless data demodulation and extraction circuit, a remote identification code (RemoteID) broadcast receiving circuit, and a wireless signal processing SoC.

[0169] Among them, the antenna is used to receive wireless signals, and the received signals are input into the broadband wireless signal frequency sweeping circuit; the frequency sweeping circuit performs frequency band-by-band amplification and filtering preprocessing on the received wireless signals, and inputs the preprocessed wireless signals into the wireless signal feature extraction and identification circuit; the wireless signal feature extraction and identification circuit performs feature recognition on the preprocessed wireless signals and extracts valid data, and the extracted valid data is output to the wireless data demodulation and extraction circuit; the wireless data demodulation and extraction circuit demodulates the valid data to obtain the valid payload therein.

[0170] Among them, the RemoteID broadcast receiving circuit is used to receive the public broadcast information of the drone, including the drone number, manufacturer number, pilot distance and direction and other information.

[0171] The wireless signal processing SoC is connected to the task controller 3 via a high-speed data transmission interface for data transmission and parameter setting. For example, the extracted data and signal characteristic information are transmitted to the task controller 3 via the data interface and the control interface.

[0172] In addition, in order to fully cover the commonly used drone remote control and broadcast frequency bands, the wireless signal monitoring range is from 300MHz to 9GHz.

[0173] Optionally, the capture system further includes a voice broadcast module 11 installed on the outer wall of the capture cabin 101, which is used to play a warning message when performing an expulsion mission. The voice message can be a real-time voice sent from a ground station or a warning voice pre-stored in the mission controller 3.

[0174] The voice broadcast module 11 includes an audio amplifier and a speaker. The audio amplifier input is connected to the audio output interface of the task controller 3, and the speaker is connected to the audio amplifier output interface.

[0175] Furthermore, in addition to direct signal connections with the above-mentioned data link communication module 4, navigation camera 501, laser guidance radar 502, airborne phased array radar 503, wireless signal detection module 10, negative pressure spoiler countermeasure device 1, laser countermeasure device 6, directional countermeasure device 8 and voice broadcast module 11, the task management module is also connected to all other airborne subsystems and airborne equipment; and forms a control and data closed loop with each airborne subsystem and airborne equipment, and coordinates and forwards data between airborne subsystems and airborne equipment.

[0176] In addition, the connections between the various devices, apparatuses or structures involved in this application can be flexibly designed by those skilled in the art according to their needs. For example, they can be fixed by screws, magnets, welding, bonding, etc.

[0177] In addition, for other related content about the drone capture system, please refer to the following drone capture method.

[0178] The present application also provides a drone capture method, which is applied to any of the above drone capture systems and can be further executed by the task controller 3 in the capture system, see Figure 7 , including the following steps 201 and 202:

[0179] Step 201: Receive a mission mode sent by a ground station, where the mission mode is used to indicate a mode in which the capture system performs a mission on a target UAV.

[0180] See also Figure 8 , the task mode determination process is as follows:

[0181] The ground station is equipped with detection systems such as radar and omnidirectional countermeasure systems. When the detection system detects the target drone, it sends a take-off command to the capture system and determines the mission mode and airspace location that the capture system needs to perform.

[0182] After receiving the take-off command, the capture system flies to the determined airspace location and performs the determined mission mode.

[0183] Furthermore, mission modes include cruise, drive away, or capture.

[0184] Step 202: If the mission mode is the capture mode, when the capture conditions are met, the negative pressure spoiler is activated to generate a disturbed airflow; wherein the target UAV that falls due to the disturbed airflow is captured by the capture cabin.

[0185] Exemplary capture conditions may include distance, orientation, and wind speed. The distance condition requires that the target drone be within the range of the negative pressure spoiler, allowing the capture system's negative pressure spoiler to disrupt the target drone, rendering it incapable of flight. Furthermore, if the target drone resists capture at a closer distance, the capture system can respond promptly.

[0186] Among them, the orientation condition is that the target UAV is located above the capture cabin so that the target UAV can fall into the capture cabin after losing its flying ability.

[0187] Among them, the distance and direction can be determined by navigation equipment. The specific determination method can be found in the relevant existing technology, and this application will not elaborate on it here.

[0188] Among them, the wind condition is that the wind in the airspace cannot be too strong. An exemplary designable wind condition is: the current wind level is not greater than the wind level threshold, for example, it cannot exceed level 4 wind. When the wind is too strong, it affects the flight attitude of the capture system and also affects the generation of disturbed airflow. If the wind is too strong, when the disturbed airflow is less than the wind, the disturbed airflow cannot act on the target UAV, resulting in capture failure.

[0189] Furthermore, a wind sensor may be installed on the capture system to detect the wind force in the airspace.

[0190] Furthermore, if the task mode is the capture mode, the process of the capture system performing the capture task is as follows:

[0191] Load the flight parameters of the capture mode and adjust the flight attitude according to the flight parameters;

[0192] With the support of data provided by the navigation camera and laser guidance radar, the capture system determines its own position relative to the target drone, adjusts its altitude and heading, and determines the shortest flight path, approaching the target drone along the determined flight path;

[0193] After the capture system approaches the target drone, it first enters the tracking flight mode and, guided by the navigation camera, gradually approaches the target drone until the target drone enters the capture system's range.

[0194] When the target drone enters the effective range of the capture system, the capture cabin door is opened and the negative pressure spoiler countermeasure device is activated, thereby destroying the air pressure difference around the target drone, causing the target drone to lose lift and horizontal thrust and fall into the capture cabin, completing the capture.

[0195] In other embodiments of the present application, the capture system may also carry a tracking assist device. Once the capture system enters the launch range, the tracking assist device can be launched toward the target drone. The tracking assist device has adhesive or a magnetic portion on its outer surface, allowing it to adhere to the target drone's outer surface after being launched. The launch range is the distance the tracking assist device can adhere to the target drone's outer surface after being launched.

[0196] Furthermore, the tracking assistant may be a locator or a marker pattern.

[0197] If the tracking aid is a locator, when the locator is attached to the outer surface of the target drone, the target drone can be located by the locator, thereby facilitating tracking of the target drone. If the tracking aid is a logo pattern, when the logo image is attached to the outer surface of the target drone, the target drone can be identified by the logo pattern, thereby also facilitating tracking of the target drone.

[0198] Of course, the tracking assistant can include both a locator and a marker pattern to further improve the convenience of tracking.

[0199] After receiving a capture mission, this application activates a negative pressure spoiler, which captures the target drone into a capture chamber. This solves the problem of traditional countermeasures, where the target drone is easily dropped to the ground during the countermeasure process, causing collateral damage. Because the target drone is captured in the capture chamber, it is easily distinguishable from the capture system, thus solving the problem of being unable to accurately distinguish the target and lacking effective legal evidence collection capabilities during subsequent evidence collection. This application is suitable for scenarios requiring precise and safe countermeasures against target drones, such as urban security, airports, and military facilities.

[0200] Alternatively, see Figure 9 and Figure 10 In an exemplary embodiment of the present application, when the received mission mode is a capture mode, the method further includes step 101: starting a directional countermeasure device to block communication between the target drone and its remote control device.

[0201] When the mission mode is capture mode, before performing the capture operation on the target drone, the directional countermeasure device can be activated first, thereby blocking the communication between the target drone and the remote control device, causing the target drone to lose control, thereby increasing the success rate of capture.

[0202] Alternatively, see Figure 9 and Figure 10 In an exemplary embodiment of the present application, after “activating the negative pressure spoiler”, the method further includes the following step 301:

[0203] Step 301: When the laser countermeasure condition is met, the laser countermeasure device is started, and the power of the laser countermeasure device is adjusted to a burning power so that the laser emitted by the laser countermeasure device burns the target UAV.

[0204] Laser countermeasure conditions include failure of the capture mission using a negative pressure spoiler, excessive wind speed at the initial stage of the capture mission, the target drone's flight speed exceeding a predetermined speed, or the target drone attempting to escape at an accelerated speed. The predetermined speed can be manually set in advance.

[0205] When the capture mission fails using a negative pressure spoiler, it may be that the negative pressure spoiler is not suitable for the current situation. Therefore, the laser countermeasure device can be activated to burn the device and then fall into the capture cabin or be captured using a towing entanglement device.

[0206] At the beginning of the capture mission, the target drone's flight speed is greater than the predetermined speed, which means that the target drone is too fast and difficult to capture using the negative pressure spoiler method. Therefore, the laser countermeasure device can also be directly activated to assist in the capture.

[0207] Before the negative pressure spoiler countermeasure device completes the capture, if the target UAV attempts to escape by accelerating, the capture system will activate the laser countermeasure device and adjust the power to the burning power, thereby emitting a high-power laser at the target UAV, directly burning the target UAV, causing it to lose its flight control ability and prevent it from escaping; at the same time, under the guidance of the navigation camera, the target UAV that has lost its flight control ability will be captured into the capture cabin through the negative pressure spoiler countermeasure device, completing the capture.

[0208] Furthermore, if the capture system fails to capture successfully after emitting the laser, the capture system automatically executes the second capture process until the capture is completed.

[0209] Alternatively, see Figure 9 In an exemplary embodiment of the present application, the method further includes step 401: when executing the "starting the laser countermeasure device", the electromagnetic catapult towing entanglement countermeasure device is started at the same time, and the catapult is launched toward the target UAV through the electromagnetic catapult towing entanglement countermeasure device.

[0210] Activating the electromagnetic catapult towing entanglement countermeasure device can work together with the capture cabin. When the burned drone falls into the capture cabin, there is no need to use the electromagnetic catapult towing entanglement countermeasure device; if it does not fall into the capture cabin, the electromagnetic catapult towing entanglement countermeasure device will be on standby at any time to use the electromagnetic catapult towing entanglement countermeasure device to capture the target drone that has been burned by the laser, so as to prevent the burned target drone from falling to the ground.

[0211] Alternatively, see Figure 11 and Figure 12 In an exemplary embodiment of the present application, after the step of “receiving the mission mode sent by the ground station”, the method further comprises the following steps:

[0212] Step 1: When the mission mode is the drive-away mode, the power of the laser countermeasure device is adjusted to the drive-away power, and the target UAV is illuminated by the laser countermeasure device to drive the target UAV away;

[0213] Step 2: When the expulsion purpose is not achieved, a capture request is sent to the ground station;

[0214] Step 3: When receiving the consent request returned by the ground station, enter the acquisition mode.

[0215] Furthermore, the driving away power includes interference power and blinding power, and the blinding power is greater than the interference power; then the above steps 1-3 can be implemented through the following steps 501-505:

[0216] Step 501: When the mission mode is the drive-away mode, the power of the laser countermeasure device is adjusted to the interference power, and the camera of the target UAV is illuminated by the laser countermeasure device to interfere with the target UAV.

[0217] Among them, the jamming power is relatively small and can only interfere with the camera of the target drone. It will not blind or burn the target drone.

[0218] Before executing step 501, the drive-away mode further includes the following steps:

[0219] Step 1: When the mission mode is the drive-away mode, the capture system loads the flight parameters of the drive-away mode and adjusts the flight attitude according to the flight parameters.

[0220] In step 2, the capture system, supported by data provided by the navigation camera and laser guidance radar, determines its own position relative to the target drone; adjusts its own altitude and heading based on the relative position; and determines the closest flight path that can approach the target drone, and approaches the target drone along this flight path.

[0221] Step 3: After approaching the target drone, the interception position is planned based on the target drone's flight direction. If the target drone is moving away from the no-fly zone, the drone gradually approaches the target drone from behind to force it to speed away while playing a warning tone. If the target drone is moving deeper into the no-fly zone, the drone is blocked in its path and a warning tone is played.

[0222] Step 4: If the target drone flies out of the no-fly zone after being intercepted, the expulsion mission is completed, and then it is reported to the ground station, and the next step is to determine whether to return home or enter cruise mode.

[0223] In step 5, if the target drone continues to move deeper into the no-fly zone after being intercepted and warned, step 501 is executed. The specific process of step 501 may be as follows: the capture system activates the laser countermeasure device, adjusts the laser countermeasure device's power to a jamming power level, and uses the laser countermeasure device to illuminate the target drone's camera and other image acquisition devices to prevent the target drone from further exploring the no-fly zone. The capture system then continues to approach the target drone, ultimately intercepting it and driving it away.

[0224] In addition, the flight direction of the target drone and the area setting of the no-fly zone mentioned above can also be determined by the AI ​​in the mission controller. Furthermore, the AI ​​can be a LeYOLO model.

[0225] Optionally, before executing step 501, the method further includes:

[0226] When the mission mode is the drive-away mode, determining the flight direction of the target UAV;

[0227] When the flight direction is close to a no-fly zone, the target UAV is blocked on its route and a warning voice is played to drive the target UAV away.

[0228] Furthermore, the flight direction of the target UAV is determined by the following method:

[0229] Determine the position of the target UAV at predetermined intervals to obtain the position of the target UAV at different times;

[0230] Connecting the positions at different times in chronological order to obtain a direction indicator line of the target UAV;

[0231] Alternatively, determining the distances between the positions at different times and the center of the no-fly zone in chronological order;

[0232] When the separation distance gradually increases, determining that the target UAV is moving away from the no-fly zone;

[0233] When the interval distance gradually decreases, it is determined that the target UAV is entering the no-fly zone.

[0234] In addition, the above-mentioned interception positions are regulated by the following method:

[0235] like Figure 13 As shown, when the capture system enters the interception mode or capture mode, it will approach the target UAV at high speed. In the process of approaching the target UAV, it will continuously lock the target UAV to be monitored through the navigation camera and laser guidance radar, and calculate the distance between it and the target UAV in real time. While the target UAV is moving, the navigation camera will generate a trajectory map of the target, determine the flight direction of the target UAV based on the trajectory map, and predict the time to reach the intersection based on the flight speed of the capture system. The intersection is the first intersection position of the target trajectory map and the capture system route map, and the intersection position is the ideal interception position.

[0236] like Figure 13 As shown, the red solid dot is the current position of the target UAV, the red hollow dot is the previous position of the target UAV, the green dot is the current position of the capture system, the blue dot is the predicted flight path of the capture system, and the gray dot is the predicted intersection position.

[0237] The determination of route intersection relies on geometric analysis of the trajectories of the two drones and real-time position comparison. The path of each drone is expressed as a time-parameterized polynomial equation:

[0238] r → (t) = (x(t), y(t), z(t))

[0239] Here, x(t), y(t), and z(t) are spatial functions based on time. If a real solution exists for the trajectory equations of the two drones, the intersection of their routes is determined, which is also the point where the two drones meet, i.e., the interception location. The intersection is determined by correlating the trajectory equations of the two drones (trajectory graphs generated by real-time monitoring of the target's position) and solving for the intersection coordinates. If the trajectory of drone A (the target drone) is rA(t) and that of drone B (the capture system) is rB(t), the intersection satisfies rA(t) = rB(t). In the above equation, the time function t is the time vector calculated based on the target's movement speed and the capture system's flight speed. During the capture process, if the target drone changes its flight direction or speed, the time vector and trajectory polynomials must be adjusted in real time, and a new interception point must be recalculated. This process is repeated until the capture system and the target drone reach the interception point simultaneously. Upon reaching the interception point, the capture system enters companion flight mode and activates the interception or capture equipment.

[0240] Step 502: When the purpose of driving away the target drone is not achieved, the power of the laser countermeasure device is increased to a blinding power to blind the target drone, thereby achieving the purpose of driving away the target drone.

[0241] Among them, the blinding power is greater than the interference power, and the blinding power can directly blind the camera of the target drone, making it lose its shooting ability.

[0242] It should be noted here that step 501 can also be skipped to directly blind the target drone, and this application does not impose any restrictions on this.

[0243] Step 503: When the expulsion purpose is still not achieved, a capture request is sent to the ground station.

[0244] Step 504: When receiving the consent request returned by the ground station, enter the acquisition mode.

[0245] If repeated attempts to drive away the target drone are unsuccessful, a capture request is made to capture the target drone and prevent the target drone from illegally intruding.

[0246] If the ground station does not agree to enter the capture mode, the capture system will continue to fly close to the target UAV, interfere with the flight path of the target UAV, and report the status of the target UAV and the capture system itself to the ground station in real time.

[0247] In addition, when the target drone is driven away or captured, the shooting equipment in the capture system is activated to shoot to record the process of driving away or capturing, which is retained as evidence that the target drone has invaded the no-fly zone.

[0248] Alternatively, see Figure 14 and Figure 15In an exemplary embodiment of the present application, after the “receiving the mission mode sent by the ground station”, the method further includes the following steps 601 to 606:

[0249] Step 601: When the mission mode is the cruise mode, the aircraft flies along the edge of the no-fly zone according to the flight attitude of the cruise mode, and starts a wireless signal detection module to detect wireless signals through the wireless signal detection module.

[0250] When the mission mode is cruise mode, the capture system loads the flight parameters of the cruise mode and adjusts the flight attitude according to the flight parameters, and flies along the edge of the no-fly zone with the flight attitude.

[0251] After stable flight in a cruising attitude, the capture system turns on the wireless signal detection module and scans the frequency band to search for wireless signals.

[0252] Furthermore, if the acquisition system is equipped with an airborne phased array radar, the airborne phased array radar is turned on and active search is performed through the airborne phased array radar.

[0253] During the cruise, the navigation camera scans nearby drones in the thermal radiation band, visible light band, and infrared band, and generates point cloud data of the airspace near the capture system through the laser guidance radar, providing data support for the safe flight of the capture system.

[0254] Step 602: When a valid signal is detected, determine the signal category of the valid signal.

[0255] Determine the signal category based on the signal characteristics and perform corresponding operations based on the signal category.

[0256] Step 603: When the signal category is a remote control signal, extract signal features and send the signal features to a ground station, so that the ground station determines a mission mode according to the signal features.

[0257] When the ground station receives the remote control signal, it records it and compares or matches it with previously recorded remote control signals. If there is no corresponding recorded remote control signal, indicating that the remote control signal is new, it is added to the database. At the same time, the RemoteID broadcast by the drone is obtained and the remote control signal is feature-bound to the RemoteID. Otherwise, if the remote control signal is old, the corresponding information of the remote control signal is queried to determine whether the target drone is legitimate or illegal.

[0258] Step 604: When the signal type is a RemoteID signal, the RemoteID signal is sent to a ground station, so that the ground station determines a mission mode according to the signal characteristics.

[0259] When the ground station receives the RemoteID signal, it compares and screens the signal; if the RemoteID is on the whitelist, the flight is considered legal; if the RemoteID is not on the whitelist, the flight is considered illegal, and the RemoteID and its signal characteristics are recorded to determine whether to expel or capture the aircraft.

[0260] Step 605: When the signal type is a video transmission signal, continuously capture and decode the video transmission signal, and send the decoded video transmission signal to the ground station, so that the ground station stores the decoded video transmission signal.

[0261] The ground station plays back the image transmission signal, binds it to the RemoteID, and records and stores it as evidence that the drone corresponding to the ID has intruded into the no-fly zone. It is also stored together with the images and video data captured by the capture system to preserve evidence for subsequent evidence collection.

[0262] Step 606: When the signal category is a non-UAV signal, process the non-UAV signal according to a clutter processing method.

[0263] Among them, non-UAV signals represent signals that do not belong to UAV signals and will be treated as clutter. The signal features of the clutter signal are extracted to determine whether it is an existing recorded clutter or a newly appeared clutter. If it is a newly appeared clutter, the signal features are added to the database for storage, providing data for establishing RF source monitoring around the no-fly zone.

[0264] In addition, for each wireless signal detected by the wireless signal detection module, the wireless signal detection module sends it to the task management module in the task controller. The task management module then sends the wireless signal to the data link communication module, which then sends the wireless signal to the ground station. The ground station determines the task instruction based on the wireless signal. The task instruction includes the task mode. Once the task instruction is determined, the ground station sends the task instruction to the capture system via the air interface. The capture system receives the task instruction returned by the ground station via the data link communication module and sends it to the task management module in the task controller. After receiving the task instruction, the task management module decomposes the task instruction to obtain the task mode. The task management module sends the task mode to the flight attitude management module. When receiving the task, the flight attitude management module loads flight parameters according to the task mode and adjusts the flight attitude based on the flight parameters, thereby starting to enter the corresponding task mode.

[0265] At the same time, the mission management module transmits target information (including the target drone's location, heading, altitude, and speed) to the navigation camera. The navigation camera calculates the distance to the target drone based on its own coordinates and generates route data (altitude, azimuth, and target speed). The navigation camera feeds this route data back to the mission management module, simultaneously locking onto the target drone and entering tracking mode. The flight attitude management module adjusts flight parameters based on the route data to approach the mission target. During flight, the mission management module acquires real-time spatial environment information generated by the laser guidance radar and navigation camera to avoid obstacles or other legal aircraft. When the capture system enters the mission range, it executes the corresponding task.

[0266] Furthermore, different wireless signals are generated by different devices. The principle of different devices generating wireless signals with different characteristics is as follows:

[0267] like Figure 16 The following is a typical system block diagram of a digital radio transmitter. After digital signal processing, the baseband signal enters the analog circuitry. Factors such as component tolerance, impedance variations, and circuit board parasitics, as well as interactions between these components, are the primary contributors to the transmitter's RF signature. Integrated circuits (ICs) and non-ICs are essentially composed of electronic components, and component tolerances lead to tolerance effects in the final device. Electronic component tolerances can be divided into manufacturing tolerance and drift tolerance. Manufacturing tolerance refers to the deviation of an electronic component's electrical parameters from its nominal value due to material and process variations during the component production process. Common tolerances include ±5%, ±10%, and ±20%. Smaller tolerances increase production costs. Drift tolerance primarily refers to the degradation of component parameters over time due to aging. It also includes variations in component parameters during operation due to environmental factors such as temperature and humidity. In addition to tolerances within integrated circuits and non-integrated circuit components, factors contributing to RF signatures also include tolerances in printed circuit board materials and traces. These factors are collectively referred to as circuit tolerance effects. This tolerance effect causes variations in the actual hardware parameters of wireless communication devices, even within the same manufacturer, model, series, and even batch. These include oscillator frequency deviation, phase noise, modulator modulation error, power amplifier nonlinear distortion, power ramp-up distortion, and distortion in filters such as intermediate frequency (IF) and RF filters. These hardware tolerances are the material basis for RF signatures. While improving production precision can reduce hardware tolerances, this significantly increases costs. Furthermore, common technical standards such as IEEE 802.11 and IEEE 802.15.4 require devices to tolerate large fluctuations in received signals. Therefore, these hardware tolerances can be used to construct a unique transmitter signature.

[0268] Furthermore, different devices can be identified by the characteristics of the signals they transmit:

[0269] RF signature recognition analyzes the communication signals of wireless communication devices to extract RF signatures for device identification. Therefore, theoretically, all wireless communication devices can be identified by extracting RF signature parameters. To date, a wide variety of wireless devices have been used for RF signature recognition, including VHF FM transmitters, Bluetooth devices, GSM devices, IEEE802.16 WiMax devices, Universal Mobile Telecommunications System (UMTS) devices, LTE devices, cognitive radio network (CRN) devices, drone onboard communication equipment, drone ground station communication equipment, and drone image transmission equipment.

[0270] The specific process of signal feature extraction of wireless signals by the wireless signal detection module includes: preprocessing → FFT calculation → frequency domain feature extraction → error calibration. Preprocessing includes an anti-aliasing filtering algorithm to filter out the spectrum aliasing caused by ADC (Analog to Digital Converter) conversion. The anti-aliasing filtering algorithm uses the time convolution formula. The filtered output signal y[n] is generated by the convolution of the input signal x[n] and the filter impulse response h[k]:

[0271]

[0272] Where M is the filter order, k is the position of the current frequency point in the spectrum sequence, and k has the same meaning in subsequent formulas.

[0273] The filtered data is transformed from the time domain signal to the frequency domain signal through the fast Fourier transform (FFT). The signal feature extraction part is performed on the transformed frequency domain signal. First, the power density spectrum (PSD) algorithm is used to extract the energy density distribution of the RF signal:

[0274]

[0275] Where PSD(k) is the energy density distribution, X(k) is the FFT conversion result, N is the number of FFT conversion points, and fs is the ADC sampling frequency.

[0276] At the same time, based on the FFT conversion results, the frequency band energy integration formula is used to divide the target frequency band and calculate the energy proportion:

[0277]

[0278] Among them, Eband is the energy ratio of the target frequency band, X(k) is the FFT conversion result, and f a is the starting point of the target frequency band to be divided, f b is the target frequency band end point of the division, and Δf is the spectrum resolution of FFT.

[0279] After the above calculations, the energy distribution of a specific spectrum is obtained as one of the wireless signal characteristics. Next, the phase difference method is used to calculate the phase difference of adjacent frequencies, and the phase offset caused by the tolerance is detected with high precision:

[0280] Δφ=∠(X1(k)·X2(k))

[0281] Where Δφ is the phase offset caused by the tolerance, X1(k) and X2(k) are two adjacent frequency sources in the FFT conversion result. Based on the distance between the two sources and the wavelength, the minimum phase difference is calculated as the second wireless signal feature.

[0282] After error calibration, the above two signal characteristic parameters are saved as characteristic data to provide data support for subsequent signal characteristic comparison and identification.

[0283] Furthermore, the above task instructions can be decomposed by the following method:

[0284] A task instruction is a set of data containing specified information. The task instruction is decomposed according to the mapping relationship of the data location. The data structure of the task instruction is as follows:

[0285] Position Index Data length illustrate Baotou Two-byte value Indicates the effective start flag of a new instruction Mission Mode 4-byte value Indicate what task to perform Interval code 1 Two-byte fixed value Data segment identification Instruction payload Variable-length array Controlling data and location information Interval code 2 Two-byte fixed value Data segment identification Instruction configuration parameters Variable-length array Auxiliary parameters for controlling data Timecode 8-byte array The effective time of this instruction User data Variable-length array User-defined additional information to be exchanged Execution Data Variable-length array How user data is processed Interval code 3 Two-byte fixed value Data segment identification wrap tail Two-byte value Indicates the effective end of an instruction

[0286] After receiving a task instruction, the task controller first identifies the task mode from the data structure according to the above data structure; then extracts subsequent data in sequence according to the task mode, and determines the airborne equipment involved in executing this task mode based on the data content; detects the online status of the airborne equipment. If it is online, the subsequent data is sent to the associated device through the data interface. If it is not online, the relevant data of the device is ignored to complete the decomposition of the task instruction.

[0287] The process of task instruction decomposition is the process of parsing instruction data, and its core is the instruction data structure. The data structure listed above is just an example that can be implemented by this application. The function structure transformed on this basis still falls within the scope of this application as long as it is decomposed level by level.

[0288] In addition, for other relevant contents of the drone capture system provided in this application, please refer to the following drone capture method.

[0289] The capture distance is the distance that enables the capture system to successfully capture the target drone in the distance dimension.

[0290] In an exemplary embodiment, an electronic device is provided. The electronic device may be a server or a terminal. The internal structure diagram thereof may be referred to Figure 17 As shown. The electronic device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the electronic device is used to store drone capture-related data. The input / output interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a drone capture method can be implemented.

[0291] Those skilled in the art will understand that Figure 17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0292] In an exemplary embodiment, an electronic device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0293] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0294] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0295] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data agreed upon by the user or fully agreed upon by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0296] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In the embodiments provided in this application, any reference to a memory, a database or other medium can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetic random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0297] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, data processing logic of programmable logic devices, and the like.

[0298] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0299] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A drone capture system, characterized in that: include: Negative pressure spoiler countermeasures and flight devices; The negative pressure spoiler countermeasure device includes a capture cabin and a negative pressure spoiler, wherein the negative pressure spoiler is used to generate disturbed airflow, and the capture cabin is used to accommodate the fallen target drone; The flying device is installed on the outer surface of the capture cabin and is used to provide flight power for the capture system.

2. The drone capture system according to claim 1, characterized in that: The opening of the capture cabin faces upward, and the capture cabin is provided with an air outlet; the negative pressure spoiler includes an axial flow fan, which is installed in the capture cabin and is used to disturb the airflow above the capture cabin into the capture cabin and then discharge it from the air outlet, thereby forming a continuous negative pressure at least in and above the capture cabin.

3. The drone capture system according to claim 2, characterized in that: The negative pressure spoiler further includes a flow guiding device, which is installed below the axial flow fan and is used to guide the airflow generated by the axial flow fan.

4. The drone capture system according to claim 3, characterized in that: The flow guide device includes a flow guide cone and flow guide blades. The flow guide cone is installed below the axial flow fan. The flow guide blades include a plurality of flow guide blades that are evenly distributed around the flow guide cone.

5. The drone capture system according to claim 1, characterized in that: The negative pressure spoiler countermeasure device also includes a hatch installed at the hatch of the capture cabin.

6. The drone capture system according to claim 1, characterized in that: The UAV capture system also includes a laser countermeasure device installed on the outer wall of the capture cabin, which is used to emit laser at the target UAV when the capture system is performing a mission, so as to interfere with, blind or burn the target UAV.

7. The drone capture system according to claim 6, characterized in that: The laser countermeasure device includes a vibration reduction device, which is mechanically connected to the drive motor of the laser countermeasure device and is used to reduce vibration of the drive motor; The shock absorbing device includes at least one shock absorbing structure; the shock absorbing structure includes a motor supporting ejector, a shock absorbing component and a bracket; the bracket includes a plurality of support arms and a connecting portion connecting the support arms; the needle nose end of the motor supporting ejector is installed on the connecting portion, and the needle tip is against the rear end face of the driving motor; the shock absorbing component is installed on the side of each arm facing the driving motor; each shock absorbing component is also connected to a target end face of the driving motor; the target end face is an end face other than the front and rear end faces of the driving motor.

8. The drone capture system according to claim 7, characterized in that: The shock absorbing device includes two shock absorbing structures; the bracket in each shock absorbing structure is a U-shaped bracket, and the U-shaped bracket includes two arms; the connecting parts of the two U-shaped brackets in the shock absorbing device intersect crosswise, and the openings face the same direction.

9. The drone capture system according to claim 7, characterized in that: The shock-absorbing component includes a connected shock-absorbing pad and a support spring; wherein, the shock-absorbing pad is installed on the side of each arm facing the drive motor, and each shock-absorbing pad is also connected to one end of a support spring, and the other end of the support spring is connected to a target end face of the drive motor.

10. The drone capture system according to claim 1, characterized in that: The UAV capture system also includes a directional countermeasure device installed on the outer wall of the capture cabin, which is used to interfere with the normal communication between the target UAV and its remote control device, so that the target UAV is in an uncontrolled state.

11. The drone capture system according to claim 1, characterized in that: The capture system further includes an electromagnetic catapult towing entanglement countermeasure device installed outside the capture cabin; The electromagnetic catapult towing entanglement device includes an electromagnetic launch tube, a launch drive circuit and a catapult with a towing belt; the electromagnetic launch tube includes a metal tube and a multi-stage acceleration coil wrapped around the outside of the metal tube, and the launch drive circuit is electrically connected to the multi-stage acceleration coil; one end of the towing belt is connected to the catapult, and the other end is connected to the metal tube.

12. The drone capture system according to claim 1, characterized in that: The capture system further comprises a navigation device installed on the outer wall of the capture cabin, which is at least used to guide the capture system to fly autonomously.

13. The drone capture system according to claim 12, characterized in that: The navigation device includes at least one of a navigation camera, a laser guidance radar and an airborne phased array radar.

14. The drone capture system according to any one of claims 1 to 13, characterized in that: The capture system also includes a wireless signal detection module installed on the outer wall of the capture cabin, which is used to detect wireless signals related to the target drone.

15. A method for capturing a drone, characterized in that: The drone capture system according to any one of claims 1 to 14 comprises: receiving a mission mode sent by a ground station, wherein the mission mode is used to indicate a mode in which the capture system performs a mission on a target UAV; If the mission mode is a capture mode, when the capture conditions are met, the negative pressure spoiler is activated to generate disturbed airflow; wherein the target drone that falls due to the disturbed airflow is captured by the capture cabin.

16. The drone capture method according to claim 15, characterized in that: When the received mission mode is a capture mode, the method further includes: starting a directional countermeasure device to block communication between the target UAV and its remote control device.

17. The drone capture method according to claim 15, characterized in that: After the step of “starting the negative pressure spoiler”, the method further comprises: When the laser countermeasure condition is met, the laser countermeasure device is started, and the power of the laser countermeasure device is adjusted to the burning power, so that the target UAV is burned by the laser emitted by the laser countermeasure device.

18. The drone capture method according to claim 17, characterized in that: Also includes: When the "activation of the laser countermeasure device" is executed, the electromagnetic catapult towing entanglement countermeasure device is activated at the same time, and the catapult is launched toward the target UAV through the electromagnetic catapult towing entanglement countermeasure device.

19. The drone capture method according to claim 15, characterized in that: After the step of "receiving the mission mode sent by the ground station", the method further comprises: When the mission mode is the drive-away mode, the power of the laser countermeasure device is adjusted to the drive-away power, and the target UAV is illuminated by the laser countermeasure device to drive the target UAV away; When the purpose of driving away is not achieved, a capture request is sent to the ground station; When receiving the consent request returned by the ground station, it enters the acquisition mode.

20. The drone capture method according to claim 19, characterized in that: The driving-away power includes interference power and blinding power, wherein the blinding power is greater than the interference power; and “adjusting the power of the laser countermeasure device to the driving-away power, and irradiating the target UAV with the laser countermeasure device to drive the target UAV away” includes: Adjusting the power of the laser countermeasure device to a blinding power to blind the target drone, thereby achieving the purpose of driving the target drone away; or: Adjusting the power of the laser countermeasure device to an interference power, and irradiating the camera of the target UAV with the laser countermeasure device to interfere with the target UAV; When the purpose of driving away the target UAV is still not achieved, the power of the laser countermeasure device is adjusted from the interference power to the blinding power to blind the target UAV, thereby achieving the purpose of driving away the target UAV.

21. The drone capture method according to claim 15, characterized in that: After the step of "receiving the mission mode sent by the ground station", the method further comprises: When the mission mode is the cruise mode, the aircraft flies along the edge of the no-fly zone in accordance with the flight attitude of the cruise mode, and activates the wireless signal detection module to detect wireless signals through the wireless signal detection module; When a valid signal is detected, determining a signal category of the valid signal; When the signal category is a remote control signal, extracting signal features and sending the signal features to a ground station, so that the ground station determines a mission mode according to the signal features; When the signal category is a RemoteID signal, sending the RemoteID signal to a ground station, so that the ground station determines a mission mode according to a signal feature of the RemoteID signal; When the signal type is an image transmission signal, continuously capturing and decoding the image transmission signal, and sending the decoded image transmission signal to the ground station, so that the ground station stores the decoded image transmission signal; When the signal category is a non-UAV signal, the non-UAV signal is processed according to the clutter processing method.

22. An electronic device comprising: A memory, a task processor, and a computer program stored in the memory and executable on the processor, characterized in that the task controller is installed in any one of the drone capture systems described in claims 1-8, and the task processor executes the computer program to implement any one of the drone capture methods described in claims 15-21.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the drone capture method according to any one of claims 15 to 21 is implemented.

24. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the drone capture method according to any one of claims 15 to 21 is implemented.

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