Two-degree-of-freedom unmanned aerial vehicle airborne catching net running firing system

Abstract

The invention provides a two-degree-of-freedom unmanned aerial vehicle airborne capturing net continuous launching system. A mounting device and a launching device are adopted to achieve capturing net launching angle control and continuous launching. Net bullets are pushed in a synchronous belt conveying mode; an integrated chip is adopted to control the working intervals of the clamp, the motor and the trigger; a coaxial turntable and a support frame are adopted to bear main loads and are combined with a motor to realize the change of a launching angle; a speed reduction stepping motor and a spring base are adopted to cope with recoil force generated by a single net bullet at the same moment; an integrated net bullet and an easy-to-disassemble bullet filling structure are adopted to realize rapid bullet loading and replacing; an electric firing mode is adopted, and ignition is achieved in the mode that two stages of a trigger make contact with two stages of an ignition device to form a loop. Pressurizing by adopting a slotted elastic cover and a sealed powder chamber; the launch device can be used as a module.

Description

TECHNICAL FIELD

[0001] The present application relates to anti-UAV technology, in particular to a two-degree-of-freedom UAV airborne net capturing and continuous launching system. BACKGROUND

[0002] With the development of UAV technology, it has been widely used in the fields of security and anti-terrorism, border patrol, wildlife management and air traffic control, etc. However, the problem of "black flight" has also emerged, which has brought instability to the society. At the same time, the low cost and easy control of UAVs make them a comprehensive deployment tool on the modern battlefield, so the demand for lightweight and high-precision UAV interception equipment has increased sharply. Airborne net capturing technology has the unique advantage of almost zero collateral damage due to its non-kinetic physical interception - only by winding and paralyzing the target power system or flight control surface with strong fiber material, fire, explosion or collateral damage can be avoided to the greatest extent. However, the traditional single-launch net capturing device cannot deal with the threat of swarming UAVs, which significantly restricts the mission effectiveness of anti-UAV platforms. The current mainstream airborne interception technology generally has a single launch limit, that is, each mission of the UAV only has the ability to launch a single net, resulting in low interception success rate. Single miss means mission failure, resulting in increased tactical cost, frequent return for supply and deteriorated cost-effectiveness ratio. The system has insufficient redundancy and cannot deal with saturated attack scenarios.

[0003] A "net capturing power mechanism for anti-UAV" is disclosed in Chinese patent 202510878227.4, which sets up four launch tubes, four launch heads and four connection ropes connected to the corresponding four UAVs. The four UAVs fly at the same height after pulling the net open, and capture the target UAV below by launching the launch head. It can carry a larger net, but it can only capture the target below, and uses a four-UAV scheme, which consumes more resources and computing power. The capture rate of this net capturing method cannot be guaranteed, and the launch direction cannot be changed, which has a great impact on its performance.

[0004] A "anti-UAV power spinning rope net capturing device and control method thereof" is disclosed in Chinese patent 202510008659.X, which uses a brushless motor as the power source for the net to expand, drives the net to expand and covers the target, sets up a magnetic shield to prevent affecting the UAV, and ensures the height of the net traction rope through the ball bearing and the magnetic shield to prevent the net capturing device from separating from the motor. The overall device can realize synchronous and safe landing of all components and realize recycling function. However, the device cannot realize continuous launching, and it is difficult to face the situation of UAV swarm or capture failure. It does not set up shock-absorbing measures, which limits the weight of the carried net and requires higher control of the UAV, resulting in increased cost. SUMMARY

[0005] The purpose of this invention is to provide a two-degree-of-freedom UAV-borne continuous-fire net-catching system to counter the threats of unauthorized UAV flights and UAV swarms, and to solve the problems of limited launch angle and long single-shot intervals that are common in existing UAV net-catching launchers. This invention aims to achieve rapid continuous firing of net-catching projectiles, flexible and adjustable launch angles, and high-reliability firing, thereby effectively improving the continuous operational capability of UAVs in tasks such as anti-UAV operations and target acquisition.

[0006] The technical solution to achieve the purpose of this invention is: a two-degree-of-freedom UAV-borne net-catching and firing system, including a mounting device, a launching device, and net projectiles.

[0007] The mounting device is used to connect the UAV fuselage and the launching device, enabling the launching device to adjust its pitch and rotation degrees of freedom. The mounting device specifically includes: a longitudinal motor, a transverse motor, a coupling, a follower ring, a UAV frame connecting ring, a launching device connector, a support frame, a first bearing, and a central fixing plate. The top surfaces of the UAV frame connecting ring and the central fixing plate are both fixed to the bottom of the UAV. The central fixing plate is located at the center of the UAV frame connecting ring, with an annular gap between them. The support frame is a U-shaped bracket with its opening facing upwards. A vertical mounting rod is also provided on the bottom closed crossbeam. The upper part of the follower ring is located within the annular gap, and its lower part extends into the opening of the support frame and is fixedly connected to the support frame, enabling the passive rotation of the follower ring and the support frame around the vertical axis. The transverse motor is fixed to the bottom surface of the central fixing plate and is fixedly connected to the bottom closed crossbeam of the support frame via a coupling, driving the support frame, the follower ring, and the load below to rotate around the vertical axis. The longitudinal motor is fixedly connected to the bottom closed crossbeam of the support frame. The output shaft of the longitudinal motor is connected to one end of the launch device connector via a key, and the other end of the launch device connector is connected to the mounting rod of the support frame via the first bearing. The longitudinal motor drives the launch device connector and the launch device to rotate around the horizontal axis. The longitudinal motor and the transverse motor work together to achieve active attitude adjustment of the launch device in two degrees of freedom: pitch and circumferential rotation. The UAV frame connecting ring and the central fixing plate are provided with multiple connection holes to adapt to different types of UAVs.

[0008] The launching device is used to load, transport, and fire net projectiles. Specifically, it includes a launch protective shell, a bottom protective shell, a launch chamber, a base, three sets of transport mechanisms (including a transport motor, conveyor belt, I-beam support frame, first transport wheel, second transport wheel, transport wheel fixing component, and second bearing), an electromagnetic trigger, three retaining rings, and three electromagnetic clamps. The launch protective shell is fixedly connected to the launching device connector of the mounting device. The launch protective shell is threadedly connected to the bottom protective shell. The launch protective shell and the bottom protective shell together form an outer shell covering the launch chamber, the three sets of transport mechanisms, one electromagnetic trigger, three retaining rings, and three electromagnetic clamps. The three sets of transport mechanisms, three electromagnetic clamps, and three retaining rings are evenly installed circumferentially on the outer wall of the launch chamber. The electromagnetic trigger is installed in a pre-set groove in the front guide rail of the outer wall of the launch chamber and fixed with screws.

[0009] The conveying mechanism is used to sequentially push the net projectiles to the firing position. For each set of conveying mechanisms: the I-beam support frame is fixed to the firing chamber by bolts; the I-beam support frame also fixes the conveyor motor and the conveyor wheel fixing component by bolts; the conveyor wheel fixing component cooperates with the second bearing to complete the installation and limiting of the first conveyor wheel. The conveyor motor drives the second conveyor wheel to rotate via a key connection; the conveyor belt wraps around the two sets of conveyor wheels and runs close to the I-beam support frame.

[0010] The net projectile specifically includes a propellant chamber, a gas net compartment, an electric firing device, a projectile cover, a rope net, a traction block, and gunpowder. The net projectile is inserted into the inner cavity of the launch chamber via two outwardly extending poles of the electric firing device, following a pre-set guide rail on the launch chamber wall. The gas net compartment consists of a cylinder and a tapered truncated cone connected sequentially from front to back. A tapered blind hole is opened on the cylinder from front to back for placing the rope net. A central gas vent is opened along the center of the truncated cone. Four inclined gas vents are opened on the cylinder along the direction of the blind hole, all four inclined gas vents communicating with the central gas vent to form a gas channel. The propellant chamber is sealed with aluminum foil and adhesive after loading the propellant. The truncated cone of the gas net compartment is threadedly connected to the propellant chamber. An electric firing device is installed at the bottom of the propellant chamber, with its two poles extending outwards to receive the ignition signal from an electromagnetic trigger. The head of the gas net compartment is screwed tightly to the projectile cover. The high-pressure gas generated by the ignition of the propellant in the propellant chamber pushes the internal net traction block through the gas guide hole of the gas guide net compartment. The traction block breaks through the shell cover with the detachment groove, and then pulls the net out.

[0011] Preferably, the longitudinal motor and the transverse motor are servo motors equipped with reduction gears, and can be selected and adapted according to the expected payload (weight of the launching device and the net projectile).

[0012] Preferably, all three conveying motors are stepper motors equipped with reduction gears, and their advance distance for each push is precisely controlled to be the length of the net projectile, L = 150 mm. The entire conveying device and base structure are designed to withstand the recoil force P ≈ 15 MPa generated when a single net projectile is launched. The conveying motors, electromagnetic triggers, and electromagnetic clamps are all connected to an integrated circuit board for control. The control program is based on the advance logic of the conveying motors, precisely controlling the opening and closing state of the electromagnetic clamps and the energizing and firing timing of the electromagnetic triggers within the interval of a single push action. Each electromagnetic clamp is designed with a mechanically adjustable retaining spring at the top to securely hold the net projectile in the non-firing state and prevent it from accidentally slipping out.

[0013] Preferably, the control systems of the conveyor motor, electromagnetic trigger, and electromagnetic clamp can be modularly designed or directly integrated into the UAV's main control system. After completing a round of pushing several net munitions, the conveyor motor automatically resets to its initial position, preparing for subsequent loading and firing. The power cord of the entire device can be externally connected or integrated into the circuit board, and the required power can be provided by the UAV's onboard battery. The launch chamber and base feature a quick-release threaded connection design, facilitating rapid disassembly and loading during firing intervals or after a mission, shortening the preparation time for launching the next round of net catching.

[0014] Preferably, the integrated control chip can receive target data (such as position and velocity) acquired by the UAV's onboard vision system or other sensors, and analyze and calculate the lead time for intercepting the target. Based on this lead time, the control chip coordinates and controls the operation of the longitudinal motor and the lateral motor (adjusting the launch direction) in real time, as well as the propulsion of the conveyor motor, the clamping / release state of the electromagnetic gripper, and the ignition timing of the electromagnetic trigger, thereby achieving precise launch angle control and optimal firing timing control.

[0015] Compared with the prior art, the significant advantages of this invention are:

[0016] 1. This invention achieves rapid, precise and flexible adjustment of the launch direction in three-dimensional space through independent longitudinal and lateral motor drives, greatly enhancing the ability to track and intercept high-speed dynamic targets and targets at different altitudes.

[0017] 2. This invention employs a transmission system driven by three sets of high-performance stepper motors, combined with electromagnetic clamp positioning and electromagnetic trigger for precise firing, enabling rapid, stable, and efficient continuous firing of multiple net bombs, significantly shortening the firing interval and improving mission efficiency.

[0018] 3. The power source of this invention can be directly utilized from the drone battery, the control system can be a modular system or integrated into the drone's main control system, and the mechanical components adopt a quick-release design, making the device highly adaptable, portable, and serviceable, and facilitating rapid deployment, replacement, and maintenance.

[0019] 4. This invention uses an integrated chip that can receive airborne sensor data and calculate the intercept lead, achieving optimal control of the launch angle and firing time, and significantly improving the success rate of capturing high-speed moving targets.

[0020] 5. The present invention adopts a quick-release cover and base design, and the transmission motor is programmed with an automatic reset program, which greatly simplifies the preparation process for loading and re-launching, and improves the efficiency of capture or testing.

[0021] 6. This invention derives a set of differential equations for the trajectory of the traction block applicable to this system. These equations take into account several major influencing factors, including gravity, air resistance, rope and net material, rope and net elasticity and its attenuation, and rope and net size (number of meshes). Attached Figure Description

[0022] Figure 1 This is a diagram showing the composition of the two-degree-of-freedom UAV airborne net-catching and firing system of the present invention.

[0023] Figure 2 This is a schematic diagram of the mounting device structure of the present invention.

[0024] Figure 3 This is a cross-sectional view of the mounting device of the present invention.

[0025] Figure 4 This is a diagram showing the components of the launching device of the present invention.

[0026] Figure 5 This is a schematic diagram of the internal structure of the launching device of the present invention.

[0027] Figure 6 This is a schematic diagram of the installation of the transmission wheel of the present invention.

[0028] Figure 7 This is a schematic diagram of the installation of the electromagnetic trigger of the present invention.

[0029] Figure 8 This is a schematic diagram of the installation of the electromagnetic trigger of the present invention.

[0030] Figure 9 This is a schematic diagram of the installation of the electromagnetic clamp of the present invention.

[0031] Figure 10 This is a schematic diagram of the installation of the electromagnetic clamp of the present invention.

[0032] Figure 11 This is a schematic diagram of the base installation of the present invention.

[0033] Figure 12 This is a structural diagram of the netting projectile of the present invention.

[0034] Figure 13 This is an installation diagram of the net-catching projectile of the present invention.

[0035] Figure 14 This is a cross-sectional view of the internal structure of the netting projectile of the present invention.

[0036] In the above diagram: 1-mounting device, 2-launching device, 3-net projectile, 101-longitudinal motor, 102-lateral motor, 103-coupling, 104-follower ring, 105-UAV frame connecting ring, 106-launching device connector, 107-bearing, 108-support frame, 109-center fixing plate, 201-launch protective shell, 202-bottom protective shell, 203-launch chamber, 204-base, 205-transmission motor, 206-conveyor belt, 207-I-beam support fixing frame, 208-first transmission wheel, 209-second transmission wheel, 210-transmission wheel fixing component, 211-electromagnetic trigger, 212-electromagnetic clamp, 214-ring clip, 301-propellant chamber, 302-gas-guided net chamber, 303-electric firing device, 304-projectile cover, 305-net, 306-traction block, 307-gunpowder. Detailed Implementation

[0037] The following will provide a more detailed description of the two-degree-of-freedom UAV airborne net-capturing and firing system described in this invention, in conjunction with the accompanying drawings and working principle.

[0038] like Figures 1-14 The present invention discloses a two-degree-of-freedom UAV-borne net-catching continuous firing system, which mainly includes a mounting device 1, a launching device 2, and a net projectile 3. The top of the mounting device 1 is mounted on the bottom of the UAV (not shown in the figure), and the bottom of the mounting device 1 is connected to the launching device 2, which fires the net projectile 3.

[0039] like Figure 2 , 3As shown, the mounting device 1 is used to achieve two degrees of freedom adjustment of the launch attitude and to support the launch device 2. The mounting device 1 specifically includes: a central fixing plate 109 positioned at the center of the UAV frame connecting ring 105, with an annular gap between them; the top surfaces of both the UAV frame connecting ring 105 and the central fixing plate 109 are fixedly connected to the bottom of the UAV; the connecting plate has 12 connection holes adapted to the interfaces of mainstream multi-rotor and fixed-wing UAVs; the support frame 108 is a U-shaped bracket with an upward opening; a vertical mounting rod is also provided on the bottom closed crossbeam; the upper part of the follower ring 104 is located between the central fixing plate 109 and the UAV frame connecting ring 105. Within the annular gap, the follower ring 104 is restricted from translating in the vertical direction but can be passively rotated around the vertical axis. The follower ring 104 extends into the opening of the support frame 108 and is fixedly connected to the support frame 108. One end of the launch device connector 106 is connected to the output shaft of the longitudinal motor 101 via a key, and the other end is connected to the mounting rod of the support frame 108 via the first bearing 107. The launch device connector 106 is used to connect the launch device 2. The transverse motor 102 is vertically fixed on the central fixed plate 109 and connected to the support frame 108 via a coupling 103. During operation, the horizontal motor 102 drives the support frame 108, the follower ring 104, the launch device connector 106 and the load below it to rotate around the vertical axis to achieve circumferential adjustment; the vertical motor 101 is horizontally fixed to the bottom closed crossbeam of the support frame 108 by bolts. During operation, the vertical motor 101 drives the launch device connector 106 and the launch device 2 to rotate around the horizontal axis to achieve pitch adjustment. The difficulty of the mounting device 1 of the present invention lies in rationally arranging the degrees of freedom while transferring the supporting force to the support frame 108.

[0040] Both the longitudinal motor 101 and the transverse motor 102 are servo motors with internal reduction gears, and the selection can be adjusted according to the expected payload.

[0041] like Figure 4 , 5 As shown, the launching device 2 is responsible for the storage, pushing, and launching of the net projectile 3. The launching protective shell 201 is a load-bearing shell, and its upper part is fixed to the lower end face of the launching device connector 106 by bolts. The launching chamber 203, three sets of conveying devices, three electromagnetic clamps 212, three retaining rings 214, and one electromagnetic trigger 211 are installed inside the launching protective shell 201. The bottom protective shell 202 is locked to the bottom of the launching protective shell 201 by threads. The spring base 204 is fixed to the bottom of the launching chamber 203, as shown. Figure 11As shown. Three sets of conveying devices are evenly installed circumferentially on the outer wall of the launch chamber 203 (each set of conveying devices extends along the axial direction of the launch chamber 203). The conveying devices include: a conveying motor 205, a conveyor belt 206, an I-beam support frame 207, a first conveying wheel 208, a second conveying wheel 209, a conveying wheel fixing component 210, and a second bearing 213. The conveying motor 205 is preferably a stepper motor equipped with a reduction gear, and the conveying motor 205 is fixed to the I-beam support frame 207 by bolts. For each set of conveying devices, the I-beam support frame 207 is fixed to the launch chamber 203 by bolts, and the first conveying wheel 208 is installed on the conveying wheel fixing component 210. The conveying wheel fixing component 210 and the second bearing 213 together complete the limiting of the first conveying wheel 208. Figure 6 As shown; the transmission motor 205 and the second transmission wheel 209 are fixedly connected by a key, and the transmission belt 206 is tensioned and installed between the first transmission wheel 208 and the second transmission wheel 209, running close to the support surface of the I-beam support frame 207.

[0042] Each conveyor motor 205 is started once under control, and the precise rotation angle controls the conveyor belt 206 to move a fixed distance L, propelling the net bullet 3 forward along the guide rail by L. Figure 5 , 9 As shown in Figure 10, electromagnetic clamps 212 are respectively arranged on the outer wall of the launch chamber 203 on the left side of the I-beam support frame 207. The electromagnetic clamps 212 are attracted when energized and released when de-energized. When the electromagnetic clamps 212 are de-energized, they ensure the stability of the net projectile. The mechanical adjustable retaining spring 214 relies on elasticity to clamp the net projectile 3, preventing the net projectile 3 from falling off or shaking when not firing. Figure 7 , 8 As shown, the electromagnetic trigger 211 is installed on a guide rail with a preset mounting hole 130mm away from the front launch port of the launch chamber 203; the transmission motor 205, the electromagnetic trigger 211, and the electromagnetic clamp 212 are all connected to the integrated circuit board. The integrated circuit board receives control signals and works according to the preset program. After all the net bullet launch commands are completed, the transmission motor 205 moves to the initial position to reset. The spring base 204 and the transmission motor 205 work together to absorb the recoil force P generated when a single net bullet is fired.

[0043] This invention proposes for the first time a mechanical structure in which several net projectiles 3 are launched continuously from a single launch chamber 203. After the net projectiles 3 are loaded, the electromagnetic clamp 212 is de-energized and clamped, and the retaining spring 214 is locked in place. Upon receiving the launch command, the electromagnetic trigger 211 transmits an ignition signal to the electric firing device 303. The electric firing device 303 completes the detonation operation and launches the traction block 306. The traction block 306 pulls the net rope 305 open to capture the target "black flight". After the launch is completed, the electromagnetic clamp 212 is energized and released. The conveyor motor 205 drives the conveyor belt 206 to run. The conveyor belt 206 pushes the launched net projectiles 3 to open the mechanical retaining spring 214 to complete the ejection of the shells and pushes the remaining net projectiles 3. After the next net projectile 3 is pushed to the head of the launch chamber 203, the electromagnetic clamp 212 is de-energized and clamped, and the electromagnetic trigger 211 waits for the next launch command.

[0044] like Figure 12 , 13 As shown in Figure 14, the net projectile 3 includes a propellant chamber 301, a gas-guided net compartment 302, an electric firing device 303, a projectile cover 304, a rope net 305, a traction block 306, and gunpowder 307. The propellant chamber 301 is located at the bottom and is filled with propellant. The electric firing device 303 is embedded in the center of the bottom. The gas-guided net compartment 302 is composed of a cylinder and a tapered truncated cone connected sequentially from front to back. A tapered conical blind hole is opened on the cylinder from front to back for placing the rope net 305. A central gas-guided hole is opened along the center of the truncated cone. Four inclined gas-guided holes are opened on the cylinder along the direction of the conical blind hole. All four inclined gas-guided holes are connected to the central gas-guided hole to form a gas-guided channel. After the propellant is loaded, the propellant chamber 301 is sealed with aluminum foil and adhesive material. The gas-guided net compartment 302... The external thread of the cone is tightly screwed into the upper thread of the propellant chamber 301. The four inclined air ducts of the gas duct mesh 302 are fitted with traction blocks 306. The lower part of the cartridge cover 304 is screwed tightly into the head of the gas duct mesh 302 by threads. The surface of the cartridge cover 304 has a pre-formed annular detachment groove structure. After receiving the ignition signal transmitted by the electric firing device 303, the propellant in the propellant chamber 301 is ignited to generate high-pressure gas. The high-pressure gas pushes the traction blocks 306 through the air ducts of the gas duct mesh 302. The traction blocks 306 impact the cartridge cover 304 with the pre-formed detachment groove, causing it to break and detach along the groove structure. The traction blocks 306 drive the rope net 305 to be launched at high speed. During flight, the traction blocks 306 pull the rope net 305 to fully unfold and form a coverage area to capture the target.

[0045] This invention is the first to propose a trajectory formula for the traction block 306 that takes into account the influence of spring force transmission and attenuation between rope segments of the rope net 305, air resistance, gravity, rope net 305 size, and material properties on the traction block 306. After the net projectile 3 is ignited, the trajectories of the four traction blocks 306 satisfy the following formula:

[0046] ,

[0047] ,

[0048] ,

[0049] in:

[0050] ,

[0051] ,

[0052] In the above formula: , , They are respectively , , Directional displacement components, This corresponds to traction block 306. =1,2,3,4 Indicates time, For the mass of traction block 306, air density, The air drag coefficient, This represents the cross-sectional area of ​​traction block 306. Represents the velocity vector. , , These are the corresponding traction blocks 306. , , The directional velocity component divides the rope net 305 into several segments. The spring force transmitted to each rope segment, , , They are respectively , , Directional spring force, For the transfer matrix, The elastic coefficient, The original length of the rope segment The length of the rope segment. is the unit vector of the rope segment direction;

[0053] Based on the mesh parameters and material properties of rope net 305, calculate the transfer matrix. :

[0054]

[0055] in:

[0056]

[0057]

[0058]

[0059] In the formula: The total number of valid paths. For the first The first rope segment The transfer matrix of each transfer path. For a rope net of 305, the number of ropes on one side is [number missing]. For the first The angle of the rope segment. As the attenuation factor, The material attenuation coefficient, This is the length of the rope segment.

Claims

1. A two-degree-of-freedom UAV-borne continuous-fire net-catching system, characterized in that: Includes mounting device (1), launching device (2), and several sets of net projectiles (3); The mounting device (1) connects the UAV and the launching device (2). The mounting device (1) can adjust the launching angle. The launching device (2) is used to fire the net projectile (3) contained therein. The mounting device (1) includes a longitudinal motor (101), a transverse motor (102), a coupling (103), a follower ring (104), a UAV frame connecting ring (105), a launch device connector (106), a first bearing (107), a support frame (108), and a central fixing plate (109). The central fixing plate (109) is located at the center of the UAV frame connecting ring (105), with an annular gap between them. The top surfaces of both the UAV frame connecting ring (105) and the central fixing plate (109) are fixed to the bottom of the UAV. The support frame (108) is a U-shaped bracket with its opening facing upwards. A vertical mounting rod is also provided on the bottom closed crossbeam. The upper part of the follower ring (104) is located in the annular gap, and its lower part extends into the opening of the support frame (108) and is fixed to the support frame (108), realizing the passive rotation of the follower ring (104) and the support frame (108); the longitudinal motor (101) and the support frame ( The bottom closed crossbeam of 108 is fixedly connected. The output shaft of the longitudinal motor (101) is connected to one end of the launching device connector (106) by a key. The other end of the launching device connector (106) is connected to the vertical mounting rod of the support frame (108) by the first bearing (107). The top surface of the transverse motor (102) is fixed to the center of the bottom surface of the central fixed plate (109). The output shaft at the bottom of the transverse motor (102) is connected to the bottom closed crossbeam of the support frame (108) by a coupling (103). The longitudinal motor (101) and the transverse motor (102) together realize the active control of longitudinal and transverse rotation.

2. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 1, characterized in that: The launching device (2) includes a launching protective shell (201), a bottom protective shell (202), a launching chamber (203), a spring base (204), an electromagnetic trigger (211), three sets of electromagnetic clamps (212), three snap rings (214), and three sets of transmission components; several sets of net projectiles (3) are placed inside the launching chamber (203), the bottom of the launching chamber (203) is fixedly connected to the spring base (204), three sets of transmission components are evenly distributed around the outer wall of the launching chamber (203), each set of transmission components has an electromagnetic clamp (212) and a snap ring (214) at its head, the electromagnetic trigger (211) is installed on the outer wall of the launching chamber (203), the launching protective shell (201) is fixedly connected to the launching chamber (203), and the launching protective shell (201) covers the launching chamber (203), the electromagnetic trigger (211), the three sets of electromagnetic clamps (212), the three snap rings (214), and the three sets of transmission components.

3. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 2, characterized in that: The conveying assembly includes a conveyor motor (205), a conveyor belt (206), an I-beam support frame (207), a first conveyor wheel (208), a second conveyor wheel (209), a conveyor wheel fixing component (210), and a second bearing (213). The launch protective shell (201) is fixed to the bottom of the launch device connector (106), the launch protective shell (201) is fitted onto the outer wall of the launch chamber (203) and fixed, and the bottom protective shell (202) is fixed to the tail of the launch protective shell (201) by threads; For each set of transmission components, an axially extending I-beam support bracket (207) is fixed to the outer wall of the launch chamber (203). Each I-beam support bracket (207) has a set of transmission motors (205) at its tail and a transmission wheel fixing component (210) at its head. The first transmission wheel (208) is mounted on the transmission wheel fixing component (210). The transmission wheel fixing component (210) and the second bearing (213) together complete the limiting of the first transmission wheel (208). The transmission motor (205) and the second transmission wheel (209) are connected. The conveyor belt (206) is fixed by a key connection; it is installed between the first conveyor wheel (208) and the second conveyor wheel (209) and close to the I-beam support frame (207); the electromagnetic clamp (212) is installed on the launch chamber (203) and is located on one side of the I-beam support frame (207); the inner wall of the launch chamber (203) is machined with guide rails for placing the electric firing device (303) and positioning the net bullet (3); the electromagnetic trigger (211) is fixed to the launch chamber (203) at the location of the guide rails.

4. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 3, characterized in that: In the launching device (2), the three transmission motors (205) are all stepper motors equipped with reduction wheels. The upper limit block of the conveyor belt (206) realizes the propulsion of the net projectile (3). The three transmission motors (205) control the propulsion distance of each time to the length L of the net projectile (3) and cooperate with the spring base (204) to deal with the recoil force P generated by a single net projectile (3). The top of the electromagnetic clamp (212) is equipped with a mechanical adjustable snap ring (214) to limit the net projectile (3) so that it does not fall off when the launch angle is adjusted.

5. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 4, characterized in that: The net bullet (3) includes a powder chamber (301), a gas net compartment (302), an electric firing device (303), a bullet cover (304), a rope net (305), a traction block (306), and gunpowder (307); The net projectile (3) is inserted into the launch chamber (203) in sequence through the two-stage corresponding launch chamber (203) wall guide rails extended by the electric firing device (303); the gas-guided net chamber (302) is composed of a cylinder and a tapered truncated cone connected from front to back. A tapered conical blind hole is opened from front to back on the cylinder for placing the rope net (305). A central gas guide hole is opened along the center of the truncated cone. Four inclined gas guide holes are opened on the cylinder along the direction of the conical blind hole. All four inclined gas guide holes are connected to the central gas guide hole to form a gas guide channel. The cone of the gas-conducting mesh compartment (302) is screwed tightly to the powder chamber (301) by threads. The head of the gas-conducting mesh compartment (302) is fixed to the shell cover (304). Four traction blocks (306) are located in four inclined gas-conducting holes respectively. The four corners of the rope net (305) are connected to the four traction blocks (306) respectively. After the powder chamber (301) is filled with gunpowder (307), it is sealed with aluminum foil and adhesive. The bottom of the powder chamber (301) is equipped with an electric firing device (303). The electric firing device (303) extends outward in two stages to receive the signal of the electromagnetic trigger (211).

6. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 5, characterized in that: In the net projectile (3), the high-pressure gas generated by the detonating gunpowder (307) in the gunpowder chamber (301) propels the traction block (306) through the gas channel on the gas guide net compartment (302) and then crushes the projectile cover (304), thereby tractioning the net (305) to be launched.

7. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 6, characterized in that: The transmission motor (205), electromagnetic trigger (211), and electromagnetic clamp (212) are used in a modular manner or integrated with the UAV system; the transmission motor (205) automatically resets its position after completing one round of propulsion; the launch chamber (203) and spring base (204) are both quick-release designs, which facilitates quick loading of ammunition for the second round of launch.

8. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 7, characterized in that: After the net projectile (3) is ignited, the trajectories of the four traction blocks (306) satisfy the following formula: ， ， ， in: ， ， In the above formula: , , They are respectively , , Directional displacement components, This represents the corresponding traction block (306). =1,2,3,4 Indicates time, For the mass of the traction block (306), air density, The air drag coefficient, This represents the cross-sectional area of ​​the traction block (306). Represents the velocity vector. , , These are the corresponding traction blocks (306). , , The directional velocity component divides the rope net (305) into several rope segments. The spring force transmitted to each rope segment, , , They are respectively , , Directional spring force, For the transfer matrix, The elastic coefficient, The original length of the rope segment The length of the rope segment. is the unit vector of the rope segment direction; Based on the mesh parameters and material properties of the rope net (305), the transfer matrix is ​​calculated. : ， in: ， ， ， In the above formula: The total number of valid paths. For the first The first rope segment The transfer matrix of each transfer path. For the rope net (305), the number of ropes on one side is 1. For the first The angle of a rope segment. As the attenuation factor, The material attenuation coefficient, This is the length of the rope segment.

9. The two-degree-of-freedom UAV airborne net-catching and firing system according to claim 1, characterized in that: In the mounting device (1), both the longitudinal motor (101) and the transverse motor (102) are geared motors, and the motors are selected according to the amount of ammunition loaded.

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