Unmanned aerial vehicle countering method and system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle countering method and system, and the method comprises the steps: carrying out the unmanned aerial vehicle detection of a corresponding detection region based on an unmanned aerial vehicle tracking device; in response to the detected unmanned aerial vehicle, laser emission parameters of a laser module are adjusted based on the detected distance between the unmanned aerial vehicle and the unmanned aerial vehicle tracking device; and the laser module after adjustment of the laser emission parameters emits laser to interfere with the unmanned aerial vehicle detected by the unmanned aerial vehicle tracking device. According to the scheme, the accuracy and the safety of countering the unmanned aerial vehicle through the laser are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method and system for countering UAVs. Background Technology

[0002] In recent years, safety has become one of the main themes of low-altitude economic development. Drones are widely used in various fields such as aerial photography, inspection, and disaster relief. To ensure the safe and healthy development of the low-altitude economy, drone countermeasures have become a crucial part of low-altitude security.

[0003] Traditional civilian drone countermeasures include radio frequency jamming and GPS spoofing. However, these methods cannot precisely target a single drone, as they affect many legitimate drones in the area. To achieve precise drone countermeasures, laser-based blinding methods have emerged. These methods typically use high-powered lasers to blind the drone, making them highly dangerous and potentially causing irreparable damage to the targeted drone, as well as the risk of injuring nearby personnel. Therefore, a precise and safe drone countermeasure method is urgently needed. Summary of the Invention

[0004] In view of this, the present invention proposes a method and system for countering unmanned aerial vehicles (UAVs), which solves the technical problems of being unable to accurately counter UAVs flying illegally when using radio frequency interference, GPS spoofing and other means, and the high risk and low safety of UAV countermeasures using laser blinding.

[0005] On one hand, embodiments of the present invention provide a method for countering unmanned aerial vehicles (UAVs), including: detecting UAVs in a corresponding detection area based on a UAV tracking device; adjusting the laser emission parameters of a laser module based on the distance between the detected UAV and the UAV tracking device in response to the detection of a UAV; and emitting laser light from the laser module after adjusting the laser emission parameters to interfere with the detected UAV.

[0006] In some embodiments, the laser emission parameters include laser emission power and laser spot size. Adjusting the laser emission parameters of the laser module based on the detected distance between the drone and the drone tracking device includes: adjusting the laser emission power of the laser module based on the distance, according to a strategy that distance is proportional to laser emission power; and adjusting the laser spot size of the laser emitted by the laser module based on the distance between the detected drone and the drone tracking device, according to a strategy that distance is inversely proportional to laser spot size.

[0007] In some implementations, adjusting the laser emission parameters of the laser module based on the detected distance between the drone and the drone tracking device includes: adjusting the laser emission power between 3W and 10W in response to the detected distance between the drone and the drone tracking device being 300m to 600m, and adjusting the radius of the laser spot between 20cm and 50cm.

[0008] In some implementations, drone detection based on a drone tracking device within a corresponding detection area includes: acquiring images of the detection area using the drone tracking device and identifying drones in the acquired images; and determining a tracking area based on the identified drone's location information in response to the identification of a drone in the detection area image. Emitting laser light from a laser module with adjusted laser emission parameters includes: emitting laser light towards the tracking area using the laser module with adjusted laser emission parameters.

[0009] In some implementations, determining the tracking area based on the identified drone position information includes: adjusting the zoom level of the variable zoom image acquisition device of the drone tracking device to continuously acquire drone images based on the zoom level adjusted variable zoom image acquisition device; determining the drone offset based on the drone position information in the continuously acquired drone images; amplifying the drone offset; and determining the tracking area based on the amplified offset. In some implementations, emitting laser light into the tracking area based on the laser module with adjusted laser emission parameters includes: adjusting the frequency of the laser module with adjusted laser emission parameters according to a preset angle and emitting laser light into the tracking area.

[0010] In some embodiments, before the drone detection is performed on the corresponding detection area based on the drone tracking device, the method further includes fixing the connection between the drone tracking device and the laser module based on a target calibrator.

[0011] In some implementations, fixing the connection between the UAV tracking device and the laser module based on the target calibration object includes: emitting a laser from the laser module to the target calibration object; acquiring an image of the target calibration object based on the UAV tracking device; adjusting the laser emission angle of the laser module until the position of the laser emitted by the laser module to the target calibration object on the image of the target calibration object meets the calibration conditions; once the adjustment of the laser module is complete, fixing the adjusted laser module to the position of the UAV tracking device.

[0012] In some implementations, before the drone tracking device performs drone detection on its corresponding detection area, the method further includes: networking several drone tracking devices in a honeycomb layout to obtain a drone tracking network.

[0013] The drone detection based on the drone tracking device to its corresponding detection area includes: responding to the first drone tracking device in the drone tracking network detecting a drone in its corresponding detection area, and determining a second drone tracking device whose detection area overlaps with the first drone tracking device.

[0014] The laser module emitting lasers based on the laser emission parameters includes: emitting lasers towards the detected drones based on the laser modules corresponding to the first drone tracking device and the second drone tracking device, respectively.

[0015] In some embodiments, after determining the second drone tracking device that overlaps with the detection area, the method further includes: Based on the detected location information of the drone, a tracking signal is sent to the second drone tracking device to adjust the tracking angle of the second drone tracking device and the laser emission angle of its corresponding laser module.

[0016] On the other hand, embodiments of the present invention also provide a drone countermeasure system, including a drone tracking device and a laser module, the drone countermeasure system being configured to counter drones based on the drone countermeasure method described in any of the above embodiments.

[0017] The present invention has at least the following beneficial effects: This invention provides a method and system for countering unmanned aerial vehicles (UAVs). The invention utilizes a UAV tracking device to detect UAVs in a corresponding detection area. In response to the detection of a UAV, the laser emission parameters of a laser module are adjusted based on the distance between the detected UAV and the UAV tracking device. The laser module then emits a laser beam based on the adjusted laser emission parameters to interfere with the UAV detected by the UAV tracking device. This technical solution improves the accuracy and safety of countering UAVs with lasers. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart of a method for countering unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the detection of a drone in the drone countermeasure method provided in this embodiment of the invention; Figure 3 This is a flowchart illustrating the process of determining the tracking area in the drone countermeasure method provided in this embodiment of the invention; Figure 4 A flowchart illustrating yet another method for countering unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention; Figure 5 A flowchart illustrating another method for countering unmanned aerial vehicles (UAVs) provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a drone countermeasure system provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to specific examples and the accompanying drawings.

[0021] It should be noted that all uses of "first" and "second" in the embodiments of the present invention are for the purpose of distinguishing two entities or parameters with the same name but different names. It is clear that "first" and "second" are only for the convenience of expression and should not be construed as limiting the embodiments of the present invention. Subsequent embodiments will not explain this in detail.

[0022] The present invention will now be described in detail with reference to the embodiments and accompanying drawings.

[0023] The first aspect of this invention provides a method for countering unmanned aerial vehicles (UAVs), such as... Figure 1 As shown, the method specifically includes steps S10 to S30.

[0024] S10. Based on the drone tracking device, conduct drone detection of its corresponding detection area.

[0025] Specifically, the drone tracking device may include an image acquisition device with an adjustable viewing angle, such as a PTZ camera with 360° image acquisition capability, thereby enabling the detection of the detection area. The detection area corresponds to the image scanning range of the image acquisition device.

[0026] In this embodiment of the invention, the drone tracking device can collect images of the detection area and identify drones in the collected images of the detection area to determine whether a drone has appeared in the detection area.

[0027] S20. In response to the detection of a drone, the laser emission parameters of the laser module are adjusted based on the distance between the detected drone and the drone tracking device.

[0028] Specifically, in this embodiment of the invention, the distance between the drone and the drone tracking device can be determined based on the location information of both the drone and the tracking device. Laser emission parameters can include the size of the laser spot, the laser color, and the laser wavelength. To ensure that the laser accurately interferes with the drone and reduces accidental injury to the human eye, the laser emission parameters of the laser module can be adjusted based on the detected distance between the drone and the tracking device. For example, when the detected distance between the drone and the tracking device is 300m to 600m, the laser emission power of the laser module can be adjusted between 3W and 10W, and the radius of the laser spot can be adjusted between 20cm and 50cm.

[0029] In some embodiments, in order to further improve the safety of laser interference and reduce accidental damage to the human eye caused by laser, the laser can be set to green light with a wavelength of 520nm, blue light with a wavelength of 488nm, or violet light with a wavelength of 410nm, which are less harmful to the human eye.

[0030] S30. The laser module, after adjusting its laser emission parameters, emits a laser beam to interfere with the detected drone. In this embodiment of the invention, to improve the lifespan of the laser module and reduce laser interference with the surrounding environment, the laser module is typically in a turned-off state. When the drone tracking device detects a drone in the detection area, it can control the laser module to turn on and adjust the laser emission parameters of the laser module based on the distance between the detected drone and the drone tracking device. The laser module then emits a laser beam towards the detected drone based on the adjusted parameters, thereby interfering with and countering the detected drone.

[0031] This invention improves the accuracy and safety of countering drones with lasers by using a drone tracking device to detect drones in their corresponding detection area, adjusting the laser emission parameters of a laser module based on the distance between the detected drone and the drone tracking device, and emitting laser light from the laser module after adjusting the laser emission parameters.

[0032] In some embodiments of the present invention, the specific method for adjusting the laser emission parameters of the laser module based on the detected distance between the drone and the drone tracking device can be as follows: according to the strategy that distance is proportional to laser emission power, the laser emission power of the laser module is adjusted based on the detected distance between the drone and the drone tracking device; according to the strategy that distance is inversely proportional to laser spot size, the laser spot size of the laser emitted by the laser module is adjusted based on the detected distance between the drone and the drone tracking device.

[0033] Specifically, in this embodiment of the invention, the proportionality between distance and laser emission power can be understood as the greater the distance between the detected drone and the drone tracking device, the greater the laser emission power. More specifically, to balance the safety and accuracy of drone countermeasures, the laser emission power can be adjusted between 3W and 10W when the distance between the detected drone and the drone tracking device is 300m to 600m.

[0034] In this embodiment of the invention, the inverse relationship between distance and laser spot size can be understood as the greater the distance between the detected drone and the drone tracking device, the smaller the laser spot size. More specifically, to balance the safety and accuracy of drone countermeasures, the radius of the laser spot can be adjusted between 20cm and 50cm when the distance between the detected drone and the drone tracking device is 300m to 600m.

[0035] The embodiments of the present invention further improve the accuracy and safety of countering drones with lasers through the above-described scheme.

[0036] In some embodiments of the present invention, such as Figure 2 As shown, drone detection can be performed on the detection area corresponding to the drone tracking device through steps S21 to S22.

[0037] S21. Collect images of the detection area based on the drone tracking device, and perform drone identification on the collected images of the detection area.

[0038] Specifically, the drone tracking device may include a variable-zoom image acquisition device, such as a PTZ camera with 40x optical zoom. In this embodiment of the invention, the PTZ camera can acquire images of the detection area, and a drone can be identified based on the acquired images of the detection area using a target detection model (e.g., the YOLO model). If a drone is identified, the target detection model will output the corresponding drone perception box and the information of the perception box. The information of the perception box may include the drone's position coordinates, size coordinates, and type.

[0039] S22. In response to the identification of a drone in the image of the detection area, determine the tracking area based on the identified drone's location information.

[0040] Specifically, when a drone is identified from the image of the detection area, the zoom level of the variable zoom image acquisition device can be adjusted. Based on the zoom level adjustment, the variable zoom image acquisition device can acquire images of the drone, and the acquired magnified drone images can be used for drone identification. This allows for the accurate determination of the drone's location information, which in turn determines the tracking area, thereby enabling precise tracking and interference with the drone.

[0041] In some embodiments of the present invention, the laser module that emits laser light after adjusting the laser emission parameters can be used to emit laser light into the tracking area by adjusting the frequency according to a preset angle.

[0042] Specifically, after determining the tracking area, the laser module can be turned on and controlled to adjust the laser emission angle according to the preset angle adjustment frequency. Under the adjusted laser emission angle, the laser is emitted into the tracking area according to the preset laser emission parameters, thereby realizing dynamic tracking and interference of the drone.

[0043] The preset angle adjustment frequency can be set based on the actual application scenario. In some embodiments, the frequency can also be determined according to the area of ​​the tracking region. When the tracking region is relatively large, the frequency can be set higher; when the tracking region is relatively small, the frequency can be set higher. In some embodiments, to ensure better tracking and interference effects, the preset frequency can be set to 10Hz~30Hz, for example, 10Hz, 12Hz, 15Hz, 18Hz, 20Hz, 22Hz, 25Hz, 28Hz, 30Hz, etc., without specific limitations. In some embodiments, the preset frequency can also be set to a frequency other than 10Hz~30Hz, without specific limitations.

[0044] The laser emission angle can be adjusted in a preset order. For example, it can be adjusted in the order of up, down, left, right, down, up, left, right, up, down, right, left, or any other order. The angle adjusted each time can be freely set, such as 1°, 2°, or 3°, etc. There is no specific limitation here, as long as the adjusted laser emission angle can hit the tracking area.

[0045] This invention provides a technical solution that uses a drone tracking device to collect images of a detection area, identifies drones within those images, determines a tracking area based on the identified drone's location information, and then uses a laser module to emit laser light into the tracking area according to pre-set laser emission parameters. This approach achieves dynamic tracking and interference with drones, increasing the probability of successfully targeting drones with a laser.

[0046] In some embodiments of the present invention, such as Figure 3 As shown, when a drone is identified in the image of the detection area, the tracking area can be determined according to steps S221~S223.

[0047] S221. Adjust the zoom ratio of the zoomable image acquisition device to continuously acquire UAV images based on the zoom ratio adjustment.

[0048] Specifically, when a drone is identified from the image of the detection area, the zoom level of the variable-zoom image acquisition device can be adjusted. Based on this adjusted zoom level, the variable-zoom image acquisition device can continuously acquire drone images within a preset time period. The preset time period can be determined according to the actual scenario. For example, the preset time period can be 500ms, 1s, 2s, or 3s, etc., without specific limitations.

[0049] S222. Based on the drone's position information in the continuously acquired drone images, determine the drone's offset.

[0050] Specifically, drone identification can be performed sequentially on multiple frames of continuously acquired drone images to obtain the drone's position information in each frame. Based on the maximum offset of the drone's position in the multiple frames of drone images, the drone's offset can be determined.

[0051] S223. Amplify the drone offset and determine the tracking area based on the amplified offset.

[0052] Specifically, the drone offset can be magnified by a preset factor, such as 2x, 3x, or 5x, so that the tracking area can be determined based on the magnified offset.

[0053] More specifically, when determining the tracking area based on the magnified offset, the average position information of the drone in multiple drone images can be calculated based on the position information of the drone in each frame of the drone image, and the tracking area can be determined with the average position information as the center and the magnified offset as the radius.

[0054] In one specific embodiment, the YOLO model can be used to identify drones from the acquired detection area image. When a drone is identified from the detection area image, the zoom level of the variable-focus image acquisition device is increased to ensure that the drone image acquired by the zoom-magnified variable-focus image acquisition device has a side length of at least 200 pixels. The variable-focus image acquisition device continuously acquires multiple frames of drone images based on the zoom-magnified variable-focus image acquisition device. Based on the drone's position information in each frame, the drone's offset (delta_x, delta_y) is calculated. Then, this offset (delta_x, delta_y) is magnified by 5 times to determine the tracking area. Subsequently, the variable-focus image acquisition device is controlled to move up, down, left, and right at a frequency of 20Hz to scan the drone located in the tracking area. The movement of the variable-focus image acquisition device drives the laser module to move in tandem, thereby enabling the laser spot to scan the drone up, down, left, and right, increasing the probability of the laser hitting the drone.

[0055] This invention, through adjusting the zoom magnification of a variable-zoom image acquisition device, continuously acquires drone images based on the adjusted zoom magnification. Based on the drone's position information in the continuously acquired images, the drone's offset is determined. This offset is then amplified, and a tracking area is determined based on the amplified offset. Finally, a laser module emits laser light into the tracking area according to pre-set laser emission parameters. This technical solution achieves dynamic tracking and interference of the drone, increasing the probability of the laser accurately targeting the drone.

[0056] In some embodiments of the present invention, such as Figure 4 As shown, the drone countermeasure method provided in this embodiment of the invention may include step S01 in addition to steps S10 to S30.

[0057] S01. Fix the connection between the drone tracking device and the laser module based on the target calibration object.

[0058] The target object can be a building located within the field of view of the drone tracking device.

[0059] In some specific embodiments, in order to ensure that the subsequent drone tracking device and laser module have good tracking and interference effects, a building within a range of (400~500) m of the drone tracking device can be selected as the target marker.

[0060] In this embodiment of the invention, the connection between the drone tracking device and the laser module can be fixed in the following manner: the laser module emits a laser towards the target calibration object; the drone tracking device acquires an image of the target calibration object; the laser emission angle of the laser module is adjusted until the position of the laser emitted by the laser module towards the target calibration object on the image of the target calibration object meets the calibration conditions, the adjustment of the laser module is completed, and the adjusted laser module and the drone tracking device are fixed in position.

[0061] The calibration conditions are used to define the distance between the laser position on the target calibration image and the center of the target calibration image. When the distance between the two is small enough, the calibration is considered complete.

[0062] In some specific embodiments, the calibration condition can be that the difference between the position coordinates of the laser emitted by the laser module to the target calibration object on the image of the target calibration object and the center coordinates of the image of the target calibration object is within a threshold range, wherein the threshold can be set based on the actual scenario.

[0063] In some specific embodiments, the calibration condition can be that the position of the laser emitted by the laser module towards the target calibration object in the image of the target calibration object coincides with the center of the image of the target calibration object. For example, by adjusting the installation angle of the laser module, it can be ensured that when the center point of the laser emitted by the laser module hits a calibration object 400m to 500m away from the UAV tracking device, the laser position in the image of the calibration object acquired by the UAV tracking device falls exactly at the center of the image.

[0064] In this embodiment of the invention, the above-described scheme enables the linkage between the drone tracking device and the laser module. This allows the laser module to adjust its laser emission angle by adjusting the image acquisition angle of the drone tracking device. Consequently, during subsequent detection, the laser emitted by the laser module can accurately hit the drone when the drone tracking device tracks it, thus serving as a warning to the drone.

[0065] In some embodiments of the present invention, before detecting drones in their corresponding detection areas based on the drone tracking devices, the drone countermeasure method provided by the present invention further includes: networking several drone tracking devices in a honeycomb layout to obtain a drone tracking network. Detecting drones in their corresponding detection areas based on the drone tracking devices includes: in response to a first drone tracking device in the drone tracking network detecting a drone in its corresponding detection area, identifying a second drone tracking device whose detection area overlaps with the first drone tracking device's detection area. Emitting laser light based on a laser module with adjusted laser emission parameters includes: emitting laser light towards the detected drone based on the laser modules corresponding to the first and second drone tracking devices, respectively.

[0066] Specifically, such as Figure 5 As shown, the drone countermeasure method provided in this embodiment of the invention includes steps S500 to S530.

[0067] S500: Several drone tracking devices are networked in a honeycomb pattern to obtain a drone tracking network.

[0068] Specifically, several drone tracking devices can be networked in a honeycomb pattern with preset side lengths to obtain a drone tracking network, thereby providing global coverage of the low-altitude area that needs to be monitored. To ensure good drone tracking and interference effects, the preset side length can be set to 800m~1200m, for example, 800m, 900m, 1000m, 1100m or 1200m.

[0069] S510, in response to the first drone tracking device in the drone tracking network detecting a drone within its corresponding detection area.

[0070] When a drone tracking device in the drone tracking network detects a drone, the drone tracking device that detected the drone is identified as the first drone tracking device.

[0071] S520. A second drone tracking device, whose detection area overlaps with the detection area of ​​the first drone tracking device, sends a tracking signal to the second drone tracking device based on the detected drone position information, so as to adjust the tracking angle of the second drone tracking device and the laser emission angle of its corresponding laser module.

[0072] Based on the first drone tracking device, a tracking signal is sent to the second drone tracking device that overlaps with the detected drone's position information; based on the second drone tracking device, the tracking angle is adjusted according to the tracking signal, thereby causing the laser emission angle of the corresponding laser module to be adjusted as well.

[0073] After detecting a drone, the first drone tracking device transmits the drone's location information to the cloud platform. The cloud platform then sends the drone's location information to a second drone tracking device in the same detection area as the first drone tracking device via a tracking signal. Upon receiving the tracking signal containing the drone's location information, the second drone tracking device immediately adjusts its image acquisition angle to track the drone, thereby enabling multiple drone tracking devices to lock onto the same drone.

[0074] S530, based on the laser modules corresponding to the first and second drone tracking devices, emits lasers simultaneously towards the detected drones.

[0075] Specifically, since the laser module and the drone tracking device are calibrated, they will work together. Because multiple drone tracking devices lock onto the same drone through image acquisition angles, the laser module, which is fixedly connected to the drone tracking device, also adjusts its laser emission angle through linkage with the drone tracking device. Thus, multiple laser modules can achieve a network attack on the drone, that is, multiple laser modules simultaneously target the same drone.

[0076] This invention provides a drone tracking network by networking several drone tracking devices in a honeycomb pattern. In response to a first drone tracking device detecting a drone within its corresponding detection area, the first tracking device sends a tracking signal to a second drone tracking device based on the detected drone's position information. The second tracking device then adjusts its tracking angle according to the tracking signal, thereby adjusting the laser emission angle of the corresponding laser module. This technical solution, where the laser modules of the first and second tracking devices simultaneously emit lasers towards the detected drone, creates a four-way laser network, preventing drones from evading the lasers by adjusting their angles, significantly improving the laser's effectiveness in countering drones. In this embodiment, to avoid false interference and prevent drones that comply with flight regulations from being treated as violators, the first tracking device can transmit the corresponding frame image to the cloud platform after detecting a drone. Upon receiving the drone image, the platform outputs a warning message to alert personnel that a drone has been detected, allowing them to determine whether to activate the laser module for drone countermeasures.

[0077] Based on the same inventive concept, according to another aspect of the present invention, embodiments of the present invention also provide a drone countermeasure system, such as... Figure 6 As shown, the drone countermeasure system 10 includes a drone tracking device 11 and a laser module 12. The drone tracking device is used to detect drones in the detection area; the laser module is used to emit lasers at the drones detected by the drone tracking device according to preset laser emission parameters to interfere with the detected drones.

[0078] This invention improves the accuracy and safety of countering drones with lasers by using a drone tracking device to detect drones in their corresponding detection area, adjusting the laser emission parameters of a laser module based on the distance between the detected drone and the drone tracking device, and emitting laser light from the adjusted laser module to interfere with the drone detected by the drone tracking device.

[0079] In this embodiment of the invention, the drone tracking device may include a gimbal and a variable-focus image acquisition device. The variable-focus image acquisition device is fixedly connected to the gimbal, and the image acquisition angle can be adjusted through the gimbal. The laser module can be calibrated with the variable-focus image acquisition device and then fixedly connected to the gimbal, thereby achieving a fixed connection with the variable-focus image acquisition device.

[0080] Finally, it should be noted that those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium for the program can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. The above computer program embodiments can achieve the same or similar effects as any of the corresponding foregoing method embodiments.

[0081] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the functionality of various illustrative components, blocks, modules, circuits, and steps has been generally described. Whether this functionality is implemented as software or as hardware depends on the specific application and the design constraints imposed on the system as a whole. Those skilled in the art can implement the functionality in various ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the embodiments disclosed herein.

[0082] The above are exemplary embodiments disclosed in this invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this invention as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. The sequence numbers of the disclosed embodiments of this invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. Furthermore, although the elements disclosed in the embodiments of this invention may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0083] It should be understood that, as used herein, the singular form “a” is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, “and / or” refers to any and all possible combinations of one or more of the associated listed items.

[0084] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples. Within the framework of the invention, technical features of the above embodiments or different embodiments can be combined, and many other variations of different aspects of the invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A method for countering unmanned aerial vehicles (UAVs), characterized in that, include: Based on the drone tracking device, drones are used to detect the corresponding detection area. In response to the detection of a drone, the laser emission parameters of the laser module are adjusted based on the distance between the detected drone and the drone tracking device. The laser module, after adjusting its laser emission parameters, emits a laser to interfere with the detected drone.

2. The method according to claim 1, characterized in that, The laser emission parameters include laser emission power and laser spot size. Adjusting the laser emission parameters of the laser module based on the detected distance between the drone and the drone tracking device includes: Based on a strategy where distance is proportional to laser emission power, the laser emission power of the laser module is adjusted according to the distance between the detected drone and the drone tracking device. Based on a strategy where distance is inversely proportional to laser spot size, the laser spot size emitted by the laser module is adjusted according to the distance between the detected drone and the drone tracking device.

3. The method according to claim 2, characterized in that, Adjusting the laser emission parameters of the laser module based on the detected distance between the drone and the drone tracking device includes: In response to the detected drone being 300m to 600m away from the drone tracking device, the laser emission power is adjusted between 3W and 10W, and the radius of the laser spot is adjusted between 20cm and 50cm.

4. The method according to claim 1, characterized in that, The drone detection based on the drone tracking device for its corresponding detection area includes: acquiring images of the detection area based on the drone tracking device, and identifying drones in the acquired images of the detection area; in response to the identification of a drone in the images of the detection area, determining the tracking area based on the identified drone's location information; The laser module emitting laser light based on the laser emission parameters includes: the laser module emitting laser light towards the tracking area based on the laser emission parameters.

5. The method according to claim 4, characterized in that, The tracking area is determined based on the identified drone location information, including: Adjust the zoom magnification of the variable zoom image acquisition device of the UAV tracking device so as to continuously acquire UAV images based on the adjusted zoom magnification; The drone offset is determined based on the drone's position information in continuously acquired drone images; The offset of the drone is amplified, and the tracking area is determined based on the amplified offset.

6. The method according to claim 4, characterized in that, The laser module, with its laser emission parameters adjusted, emits laser light into the tracking area, including: The laser module, after adjusting the laser emission parameters, adjusts the frequency according to a preset angle and emits laser light into the tracking area.

7. The method according to claim 1, characterized in that, Before performing drone detection on the corresponding detection area based on the drone tracking device, the method further includes: The connection between the drone tracking device and the laser module is fixed based on the target calibrator.

8. The method according to claim 7, characterized in that, Fixing the connection between the UAV tracking device and the laser module based on the target marker includes: The laser module emits a laser towards the target object. Based on the aforementioned drone tracking device, images of the target marker are acquired; Adjust the laser emission angle of the laser module until the position of the laser emitted by the laser module towards the target calibration object on the image of the target calibration object meets the calibration conditions. The adjustment of the laser module is then completed. The adjusted laser module is then fixed in position with the UAV tracking device.

9. The method according to claim 1, characterized in that, Before performing drone detection on the corresponding detection area based on the drone tracking device, the method further includes: networking several drone tracking devices in a honeycomb layout to obtain a drone tracking network; The drone detection based on the drone tracking device to its corresponding detection area includes: responding to the first drone tracking device in the drone tracking network detecting a drone in its corresponding detection area, and determining a second drone tracking device whose detection area overlaps with the drone tracking device; The laser module emitting lasers based on the laser emission parameters includes: emitting lasers towards the detected drones based on the laser modules corresponding to the first drone tracking device and the second drone tracking device, respectively.

10. The method according to claim 9, characterized in that, After determining the second UAV tracking device that overlaps with the detection area, the method further includes: Based on the detected location information of the drone, a tracking signal is sent to the second drone tracking device to adjust the tracking angle of the second drone tracking device and the laser emission angle of its corresponding laser module.

11. A drone countermeasure system, characterized in that, The system includes a drone tracking device and a laser module, and the drone countermeasure system is configured to counter drones based on the drone countermeasure method as described in any one of claims 1-10.

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