Unmanned aerial vehicle arresting model and method

Abstract

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle arresting model and method. The method comprises the following steps: determining the air leakage time of an air pressure assembly according to parameters of the air pressure assembly and parameters of an arresting rope; when the current time is the air leakage time and the tail end of an unmanned aerial vehicle is in a connecting state with the arresting rope, controlling the air pressure assembly to start air leakage; monitoring the air leakage flow of the air pressure assembly in real time, and when the air leakage flow is greater than the maximum air leakage flow, adjusting the flow valve of the air pressure assembly so that the air leakage flow is less than or equal to the maximum air leakage flow. The method can ensure that the unmanned aerial vehicle is safely recovered.

Description

Unmanned Aerial Vehicle (UAV) Interception Model and Method Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV interception model and method. Background Technology

[0002] With the widespread application of drones in various fields, the complexity of their recovery process has further increased. Recovering a drone requires not only rapid deceleration within a limited distance, but also addressing sudden changes in braking force caused by dynamic changes in the arresting rope, as well as the smooth decay of braking force under overload constraints.

[0003] Currently, the invention patent CN117208265A, when recovering drones, mainly involves lowering the proportional valve pressure and reducing the braking force when the measured displacement and speed of the drone are less than the ideal displacement and speed, thereby increasing the actual value and returning it to the ideal value. Conversely, when the measured displacement and speed are greater than the ideal displacement and speed, the proportional valve pressure is increased to increase the braking force, thereby decreasing the actual value and returning it to the ideal value, thus achieving drone interception. However, this method is difficult to guarantee reliable interception of drones within a limited interception distance, thus failing to ensure the safe recovery of drones. Summary of the Invention

[0004] Therefore, it is necessary to provide a drone interception model and method that can safely recover drones, addressing the aforementioned technical problems.

[0005] A drone arresting model is provided for use in an arresting system, the arresting system comprising an arresting rope, a pneumatic assembly, and a drone. The drone arresting model includes:

[0006] The deflation timing calculation module is used to determine the deflation timing of the air pressure component based on the parameters of the air pressure component and the parameters of the barrier rope.

[0007] The deflation module is used to control the air pressure component to start deflation when the current time is the deflation time and the tail end of the UAV is connected to the arresting rope.

[0008] The monitoring module is used to monitor the leakage flow rate of the pneumatic component in real time, and when the leakage flow rate is greater than the maximum leakage flow rate, adjust the flow valve of the pneumatic component so that the leakage flow rate is less than or equal to the maximum leakage flow rate.

[0009] Wherein, the maximum venting flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,maxThe drone starts accelerating at a preset acceleration a from the moment of deflation. min The time required for deceleration until a complete stop; P atable P is the preset stable pressure of the pneumatic assembly. cyl The cylinder pressure of the pneumatic assembly at the time of the venting. For the UAV at the deflation time t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate.

[0010] In this application, the degassing time of the pneumatic assembly is determined based on the parameters of the pneumatic assembly and the arresting rope. When the current time is the degassing time and the tail of the UAV is connected to the arresting rope, the pneumatic assembly is controlled to start degassing. The degassing flow rate of the pneumatic assembly is monitored in real time, and when the degassing flow rate is greater than the maximum degassing flow rate, the flow valve of the pneumatic assembly is adjusted to make the degassing flow rate less than or equal to the maximum degassing flow rate, wherein the maximum degassing flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset speed a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of degassing; For the drone at the moment of deflation t max The speed of the drone can be dynamically calculated to determine the maximum venting flow rate. This allows for real-time adjustment of the venting flow rate of the flow valve based on the drone's current flight status, ensuring a smooth and safe landing process. This avoids impact damage or rebound caused by excessive venting and ensures that the drone does not leave the deceleration area during deceleration, thus guaranteeing its safe recovery.

[0011] A method for intercepting unmanned aerial vehicles (UAVs) is applied to an interception system, the interception system including an arresting rope, a pneumatic assembly, and the UAV, the method comprising:

[0012] S1. Determine the deflation time of the pneumatic component based on the parameters of the pneumatic component and the parameters of the arresting rope;

[0013] S2. When the current moment is the deflation moment and the tail end of the drone is connected to the arresting rope, control the air pressure component to start deflation.

[0014] S3. Monitor the leakage flow rate of the pneumatic component in real time, and when the leakage flow rate is greater than the maximum leakage flow rate, adjust the flow valve of the pneumatic component so that the leakage flow rate is less than or equal to the maximum leakage flow rate;

[0015] Wherein, the maximum venting flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset acceleration a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl The cylinder pressure of the pneumatic assembly at the time of the venting. For the UAV at the deflation time t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate.

[0016] In this application, the degassing time of the pneumatic assembly is determined based on the parameters of the pneumatic assembly and the arresting rope. When the current time is the degassing time and the tail of the UAV is connected to the arresting rope, the pneumatic assembly is controlled to start degassing. The degassing flow rate of the pneumatic assembly is monitored in real time, and when the degassing flow rate is greater than the maximum degassing flow rate, the flow valve of the pneumatic assembly is adjusted to make the degassing flow rate less than or equal to the maximum degassing flow rate, wherein the maximum degassing flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset speed a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of degassing; For the drone at the moment of deflation t max The speed of the drone can be dynamically calculated to determine the maximum venting flow rate. This allows for real-time adjustment of the venting flow rate of the flow valve based on the drone's current flight status, ensuring a smooth and safe landing process. This avoids impact damage or rebound caused by excessive venting and prevents the drone from leaving the deceleration area, thus ensuring its safe recovery.

[0017] In addition, by controlling the air pressure component to start venting at the moment of venting, the braking force of the drone can be prevented from increasing continuously, thereby further preventing damage or overturning of the drone.

[0018] In one embodiment, the process of determining the venting time includes:

[0019] S11. Calculate the length of the first rope release at the first moment and the length of the second rope release at the second moment of the blocking rope.

[0020] S12. Calculate the first cylinder pressure of the pneumatic assembly based on the first rope release length, and calculate the second cylinder pressure of the pneumatic assembly based on the second rope release length;

[0021] S13. Calculate the cylinder pressure change rate based on the pressure of the first cylinder and the pressure of the second cylinder:

[0022] S14. When the cylinder pressure change rate is greater than a preset value, update the first moment in S11 to the second moment, and update the second moment in S11.

[0023] S15. Repeat S11, S12, S13 and S14 until the cylinder pressure change rate is less than the preset value, and determine the current second moment as the venting moment.

[0024] Among them, the length of the first rope release The calculation formula is First cylinder pressure The calculation formula is , Let t1 be the displacement of the drone at the first moment, and D be the total length of the arresting rope. For the first moment of drone braking force, Let k be the radius of the winch in the pneumatic assembly at the first moment. p This is the pressure torque coefficient.

[0025] In this application, the first rope release length of the arresting rope at a first moment and the second rope release length at a second moment are calculated. Based on the first rope release length, the first cylinder pressure of the pneumatic assembly is calculated, and based on the second rope release length, the second cylinder pressure of the pneumatic assembly is calculated. Based on the first cylinder pressure and the second cylinder pressure, the cylinder pressure change rate is calculated. When the cylinder pressure change rate is less than a preset value, the first moment is updated to the second moment, and the second moment is updated. The above steps are repeated until the cylinder pressure change rate is greater than the preset value. The current second moment is then determined as the depressurization moment. This can gradually approach the theoretically optimal or engineering-feasible depressurization time point, avoiding premature depressurization that causes ineffective action or energy waste, and depressurization that causes structural damage or loss of control risk.

[0026] In one embodiment, the formula for calculating the braking force of the drone is: ;

[0027] The formula for calculating the radius of the winch is: ;

[0028] The formula for calculating the braking force of the arresting rope is: ;

[0029] Among them, F eff Let s(t) be the braking force of the UAV at time t, and s(t) be the displacement of the UAV at time t. pull (t) represents the length of the rope released at time t, R current P(t) is the winch radius at time t, R0 is the initial radius of the winch, d is the thickness of the arresting rope, P(t) is the brake disc pressure at time t, and F brake (t) represents the braking force of the stopping rope at time t.

[0030] In this application, by using Calculate the braking force of the drone, using Calculate the radius of the winch using... By calculating the braking force of the arresting rope on one side, high-precision, real-time dynamic calculation of the braking force is achieved during the drone interception process.

[0031] In one embodiment, the formula for calculating the venting gas volume is: ;

[0032] Cylinder pressure at time t The calculation formula is:

[0033] ;

[0034] Among them, Q supply (t) represents the venting flow rate at time t, C v A is the flow loss coefficient. valve P is the orifice area of ​​the flow valve. source This represents the total pressure of the pneumatic assembly at the moment of venting. v1 is the air density, v2 is the flow rate of gas from the buffer bottle into the pressure cylinder, and v3 is the flow rate of the flow valve. Here, R is the specific heat ratio, R is the ideal gas constant, and T is the temperature of the pneumatic cylinder.

[0035] In this application, by using Calculate the venting flow rate to enable real-time monitoring of the venting flow rate.

[0036] In one embodiment, the formula for calculating the total pressure of the pneumatic assembly at the moment of venting is: ;

[0037] Among them, P cyl The cylinder pressure of the pneumatic assembly at the time of the venting. The pressure is the loss, and k is the safety factor.

[0038] In this application, by means of Calculate the total pressure of the pneumatic assembly at the moment of venting. This allows for full consideration of the pressure loss due to flow resistance and the pressure loss due to local resistance, thus enabling accurate calculation of the total pressure of the pneumatic assembly at the moment of venting.

[0039] In one embodiment, the method further includes:

[0040] The real-time speed of the UAV and the real-time stopping force of the stopping rope are obtained.

[0041] When the real-time speed is less than a preset minimum speed and / or the real-time arresting rope braking force is less than a preset minimum arresting rope braking force, the braking operation on the UAV shall be stopped.

[0042] In this application, by obtaining the real-time speed of the drone and the real-time stopping force of the stopping rope, the braking operation on the drone is stopped when the real-time speed is less than a preset minimum speed and / or the real-time stopping force is less than a preset minimum stopping force. This can avoid ineffective or harmful continuous braking and prevent the drone from overturning or being damaged.

[0043] In one embodiment, the arresting rope includes a first arresting rope on the left side of the drone and a second arresting rope on the right side of the drone, and the method further includes:

[0044] Calculate the difference in rope release length between the first barrier rope and the second barrier rope;

[0045] When the difference in rope lengths exceeds a preset length difference threshold, the target blocking rope with the longest rope length among the first blocking rope and the second blocking rope is obtained.

[0046] Control the target blocking rope to stop releasing rope, and control the non-target blocking rope to continue releasing rope until the difference in rope length is less than or equal to the length difference threshold.

[0047] In this application, by controlling the target arresting rope to stop releasing and controlling the non-target arresting rope to continue releasing until the difference in rope length is less than or equal to the length difference threshold, the length of multiple arresting ropes can be synchronized, ensuring that the UAV is subjected to uniform force during the interception process and avoiding deflection, rollover or local overload caused by inconsistent rope lengths.

[0048] In one embodiment, the method further includes:

[0049] When the air pressure component starts to release air, the acceleration of the UAV is simultaneously controlled to remain greater than or equal to the preset acceleration.

[0050] Among them, the preset acceleration a min The calculation formula is: , For the UAV at the deflation time t max speed, S max The length of the area for the drone to slow down, For the drone at the moment of deflation t max The displacement.

[0051] In this application, by simultaneously controlling the acceleration of the drone to remain greater than or equal to a preset acceleration when the pneumatic assembly starts to release air, it can be ensured that the drone will not run out of the deceleration zone.

[0052] In one embodiment, the method further includes:

[0053] The current braking force of the drone is calculated in real time, and the calculated current braking force is compared with a preset braking force threshold.

[0054] When the current braking force is greater than the preset braking force threshold, the pneumatic component is controlled to start deflating.

[0055] In this application, the current braking force of the drone is calculated in real time and compared with a preset braking force threshold. When the current braking force is greater than the preset braking force threshold, the air pressure component is controlled to start deflating. This can prevent the braking force received by the drone from continuously increasing, thereby preventing the drone from overturning and being damaged. Attached Figure Description

[0056] Figure 1 shows the application environment of a drone interception model in one embodiment;

[0057] Figure 2 is a flowchart illustrating a drone interception method in one embodiment;

[0058] Figure 3 is a schematic diagram of the overall process of drone interception in one embodiment;

[0059] Figure 4 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The drone arresting model provided in this application embodiment can be applied to the arresting system shown in Figure 1. The arresting system includes an arresting rope, a pneumatic component in the arresting assembly, and a drone. The drone arresting model includes:

[0062] The deflation timing calculation module is used to determine the deflation timing of the pneumatic assembly based on the parameters of the pneumatic assembly and the barrier rope.

[0063] The deflation module is used to control the air pressure component to start deflation when the current moment is the deflation moment and the tail end of the drone is connected to the arresting rope.

[0064] The monitoring module is used to monitor the leakage flow of the pneumatic component in real time, and adjust the flow valve of the pneumatic component when the leakage flow is greater than the maximum leakage flow, so that the leakage flow is less than or equal to the maximum leakage flow.

[0065] Among them, the maximum venting flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset speed a from the moment of deflation. min The time required for deceleration until a complete stop; P atable P is the preset stable pressure of the pneumatic assembly. cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of degassing; For the drone at the moment of deflation t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate.

[0066] In one embodiment, as shown in Figure 2, a method for intercepting a drone is provided. Taking the application of this method to the interception system in Figure 1 as an example, the interception system includes an arresting rope, a pneumatic assembly, and a drone. The method includes:

[0067] S1. Determine the timing of air release of the pneumatic assembly based on the parameters of the pneumatic assembly and the barrier rope.

[0068] The parameters of the pneumatic assembly include the cylinder pressure at different times, and the parameters of the arresting rope include the rope release length at different times. The rope release length refers to the effective usable length of the arresting rope released from the fixed point.

[0069] The venting moment is the moment when the flow valve of the pneumatic cylinder in the pneumatic assembly opens, initiating the venting process. The venting moment is a predicted initiation point, so it can be calculated in advance based on the parameters of the pneumatic assembly and the barrier rope.

[0070] S2. When the current moment is the deflation moment and the tail end of the drone is connected to the arresting rope, control the air pressure component to start deflation.

[0071] The drone's tail hook will vertically hook onto the midpoint of the arresting rope from directly above during landing, thus connecting the drone's tail to the arresting rope and using the arresting rope to stop the drone.

[0072] The deflator assembly can be deflated via control commands. Specifically, when the current moment is the deflating moment and the tail of the UAV is connected to the arresting line, the controller in the arresting system sends a control command to the flow valve of the pneumatic assembly to open the flow valve and initiate the deflating process.

[0073] S3. Monitor the air leakage flow of the air pressure component in real time, and adjust the flow valve of the air pressure component when the air leakage flow is greater than the maximum air leakage flow, so that the air leakage flow is less than or equal to the maximum air leakage flow.

[0074] Among them, the maximum venting flow rate Q max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset speed a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of degassing; For the drone at the moment of deflation t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate. The drone at deflation time t... max The speed can be determined based on the drone's acceleration, initial speed, and deceleration time.

[0075] The venting flow rate of the pneumatic assembly can be monitored by sensors or calculated.

[0076] Furthermore, if the current venting time of the pneumatic component exceeds a preset time, the monitoring of the venting flow rate will cease. This is because the venting flow rate of the pneumatic component may only exceed the maximum venting flow rate at the very beginning of venting, and will slowly decrease after a period of venting, remaining consistently below the maximum venting flow rate. Therefore, it is unnecessary to continuously monitor the venting flow rate of the pneumatic component, thus saving computer resources and reducing workload.

[0077] Furthermore, the formula for calculating the cylinder pressure at the moment of degassing of the pneumatic assembly is as follows: F eff(tmax) represents the braking force of the UAV at time tmax during deflation, s(tmax) represents the displacement of the UAV at time tmax during deflation, and L pull (tmax) is the length of the rope released at the deflation time tmax, R current (tmax) is the winch radius at the venting time tmax, k p This is the pressure torque coefficient. The UAV braking force refers to the braking force applied to the UAV due to the arresting cable. The UAV braking force refers to the effective braking force applied to the UAV by the arresting cable, not the UAV's own braking force. Furthermore, the UAV braking force F at the deflating moment tmax... eff The formula for calculating (tmax) is: D is the total length of the barrier rope, F brake (tmax) represents the braking force provided by the brake disc of the arresting system at the deflation moment tmax through the arresting rope on one side. Further, if F is calculated according to the formula... eff If (tmax) is greater than a preset braking force threshold, then the preset braking force threshold is used as the UAV braking force at the moment of deflation, and the cylinder pressure of the air pressure component at the moment of deflation is calculated based on the preset braking force threshold. Furthermore, at the moment of deflation (tmax), the braking force F of the arresting system's brake disc is provided by the arresting rope on one side via the arresting rope. brake The formula for calculating (tmax) is: .

[0078] Furthermore, during the degassing process, the cylinder pressure change pattern in the pneumatic assembly is as follows: Q(t) is the venting flow rate at time t, and P cyl (t) represents the cylinder pressure of the pneumatic assembly at time t.

[0079] Furthermore, P cyl,min In order to achieve the preset acceleration a min The minimum pressure that must be maintained inside the cylinder, i.e., if the cylinder pressure is lower than P cyl,min The resulting braking force is insufficient to provide a min The deceleration may prevent the drone from stopping within the allowed distance / time.

[0080] In the aforementioned drone interception method, the degassing time of the pneumatic component is determined based on the parameters of the pneumatic component and the arresting rope. When the current moment is the degassing time and the tail of the drone is connected to the arresting rope, the pneumatic component is controlled to start degassing. The degassing flow rate of the pneumatic component is monitored in real time. When the degassing flow rate exceeds the maximum degassing flow rate, the flow valve of the pneumatic component is adjusted to make the degassing flow rate less than or equal to the maximum degassing flow rate. The maximum degassing flow rate is Q. max The calculation formula is: , V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset speed a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of degassing; For the drone at the moment of deflation t max The speed of the drone can be dynamically calculated to determine the maximum venting flow rate. This allows for real-time adjustment of the venting flow rate of the flow valve based on the drone's current flight status, ensuring a smooth and safe landing process. This avoids impact damage or rebound caused by excessive venting and prevents the drone from leaving the deceleration area, thus ensuring its safe recovery.

[0081] In addition, by controlling the air pressure component to start venting at the moment of venting, the braking force of the drone can be prevented from continuously increasing, thereby avoiding damage or overturning of the drone.

[0082] In one embodiment, the process of determining the deflation time includes:

[0083] S11. Calculate the length of the first rope release at the first moment and the length of the second rope release at the second moment.

[0084] The first and second moments refer to the points after the drone's tail connects to the arresting rope. However, since the length of the arresting rope at the first moment can be calculated based on the drone's displacement and the total rope length, and the drone's displacement can be calculated based on its acceleration, the first rope length at the first moment and the second rope length at the second moment can be predetermined by pre-determining the acceleration and the total rope length. This avoids having to calculate them after the drone's tail connects to the arresting rope in the actual scenario. Similarly, the pressures of the first and second cylinders can also be calculated based on pre-determined data.

[0085] S12. Calculate the first cylinder pressure of the pneumatic assembly based on the first rope release length, and calculate the second cylinder pressure of the pneumatic assembly based on the second rope release length;

[0086] Among them, the length of the first rope release The calculation formula is First cylinder pressure The calculation formula is , Let t1 be the displacement of the drone at the first moment, and D be the total length of the arresting rope. For the first moment of drone braking force, Let k be the radius of the winch in the pneumatic assembly at the first moment. p This is the pressure torque coefficient.

[0087] The formula for calculating the displacement s(t1) of the UAV at the first moment t1 is: 'a' represents the acceleration of the drone. Furthermore, the acceleration of the drone is the preset maximum acceleration.

[0088] Second rope release length The calculation formula is Second cylinder pressure The calculation formula is s(t2) is the displacement of the UAV at the second time t2, F eff (t2) represents the braking force of the drone at the second moment, R current (t2) is the radius of the winch in the pneumatic assembly at the second moment.

[0089] The formula for calculating the displacement s(t2) of the UAV at the second time t2 is: , where a is the acceleration of the drone.

[0090] S13. Based on the pressure of the first cylinder and the pressure of the second cylinder, calculate the cylinder pressure change rate:

[0091] The formula for calculating the cylinder pressure change rate M is as follows: .

[0092] S14. When the cylinder pressure change rate is greater than the preset value, update the first moment in S11 to the second moment, and update the second moment in S11.

[0093] The moment following the first moment update is the original second moment.

[0094] S15. Repeat S11, S12, S13 and S14 until the cylinder pressure change rate is less than the preset value, and then determine the current second moment as the venting moment.

[0095] The preset value is a threshold data set by the staff in advance.

[0096] When updating the second time step, the updated second time step is the time step that was never involved in the cylinder pressure calculation.

[0097] In this embodiment, the first rope release length of the arresting rope at the first moment and the second rope release length at the second moment are calculated. Based on the first rope release length, the first cylinder pressure of the pneumatic component is calculated, and based on the second rope release length, the second cylinder pressure of the pneumatic component is calculated. Based on the first cylinder pressure and the second cylinder pressure, the cylinder pressure change rate is calculated. When the cylinder pressure change rate is less than a preset value, the first moment is updated to the second moment, and the second moment is updated. The above steps are repeated until the cylinder pressure change rate is greater than the preset value. The current second moment is determined as the depressurization moment. In this way, the depressurization time point can be gradually approached to the theoretically optimal or engineering feasible depressurization time point, avoiding premature depressurization which would cause ineffective action or energy waste, and depressurization too late which would cause structural damage or loss of control risk.

[0098] In one embodiment, the formula for calculating the braking force of the drone is: ;

[0099] The formula for calculating the radius of a winch is: ;

[0100] The formula for calculating the braking force of the stopping rope is: ;

[0101] Among them, F eff Let s(t) be the braking force of the UAV at time t, and s(t) be the displacement of the UAV at time t. pull (t) represents the length of the rope released at time t, R current P(t) is the winch radius at time t, R0 is the initial radius of the winch, d is the thickness of the arresting rope, P(t) is the brake disc pressure at time t, and F brake (t) represents the braking force of the stopping rope at time t.

[0102] The arresting ropes include a first arresting rope on the left side of the drone and a second arresting rope on the right side of the drone. The components of the braking force on both sides in the direction of motion are superimposed to form the drone's braking force.

[0103] When calculating the drone's braking force at the first moment, simply set the time parameter in the drone's braking force calculation formula to the first moment to calculate the drone's braking force at the first moment; when calculating the drone's braking force at the second moment, simply set the time parameter in the drone's braking force calculation formula to the second moment to calculate the drone's braking force at the second moment.

[0104] To calculate the winch radius at the first moment, simply set the time parameter in the winch radius calculation formula to the first moment; to calculate the winch radius at the second moment, simply set the time parameter in the winch radius calculation formula to the second moment.

[0105] When calculating the braking force of the arresting rope at the first moment, simply set the time parameter in the arresting rope braking force calculation formula to the first moment to calculate the braking force of the arresting rope at the first moment; when calculating the braking force of the arresting rope at the second moment, simply set the time parameter in the arresting rope braking force calculation formula to the second moment to calculate the braking force of the arresting rope at the second moment.

[0106] In this embodiment, by using Calculate the braking force of the drone, using Calculate the radius of the winch using... By calculating the braking force of the arresting rope on one side, high-precision, real-time dynamic calculation of the braking force is achieved during the drone interception process.

[0107] In one embodiment, the formula for calculating the leakage flow rate is: ;

[0108] Cylinder pressure at time t The calculation formula is:

[0109] ;

[0110] Among them, Q supply (t) represents the venting flow rate at time t, C v A is the flow loss coefficient. valve P is the orifice area of ​​the flow valve. source This represents the total pressure of the pneumatic assembly at the moment of venting. v1 is the air density, v2 is the flow rate of gas from the buffer bottle into the pressure cylinder, and v3 is the flow rate of the flow valve. Here, R is the specific heat ratio, R is the ideal gas constant, and T is the temperature of the pneumatic cylinder.

[0111] In this embodiment, by using Calculate the venting flow rate to enable real-time monitoring of the venting flow rate.

[0112] In some embodiments, the formula for calculating the venting volume is: .

[0113] In one embodiment, the formula for calculating the total pressure of the pneumatic assembly at the moment of venting is: ;

[0114] Among them, P cyl This refers to the cylinder pressure of the pneumatic assembly at the moment of venting. The pressure is the loss, and k is the safety factor.

[0115] Pressure loss includes friction loss pressure and local resistance loss pressure. Friction loss pressure is the pressure loss caused by viscous friction between the gas and the pipe wall, as well as between different layers of the gas, when gas flows in a straight pipe section. Local resistance loss pressure is the energy loss caused by sudden changes in the direction or magnitude of flow velocity, the generation of eddies, or separation when gas flows through local obstacles or geometric abrupt changes in the pipeline (such as elbows, valves, tees, reducers, filters, nozzles, etc.).

[0116] In this embodiment, through Calculate the total pressure of the pneumatic assembly at the moment of venting. This allows for full consideration of the pressure loss due to flow resistance and the pressure loss due to local resistance, thus enabling accurate calculation of the total pressure of the pneumatic assembly at the moment of venting.

[0117] In one embodiment, the method further includes:

[0118] Obtain the real-time speed of the drone and the real-time arresting force of the arresting rope;

[0119] Stop braking the drone when the real-time speed is less than the preset minimum speed and / or the real-time arresting cable braking force is less than the preset minimum arresting cable braking force.

[0120] The real-time speed of the drone can be collected by a speed sensor deployed inside the drone.

[0121] Real-time stopping rope braking force refers to the current stopping rope braking force. The current stopping rope braking force can be expressed by the formula... The calculations show that t is the current time, and F... brake (t) represents the braking force of the stopping rope at the current time t, k p Let P(t) be the pressure torque coefficient, P(t) be the brake disc pressure at time t, and R be the torque coefficient. current (t) represents the radius of the winch at the current time t.

[0122] Ceasing braking operations on a drone refers to canceling or ending the currently executing deceleration / stopping control operation, allowing the drone to return to normal flight control. For example, detaching the drone's tail from the arresting cable.

[0123] In this embodiment, by acquiring the real-time speed of the drone and the real-time braking force of the arresting rope, the braking operation on the drone is stopped when the real-time speed is less than the preset minimum speed and / or the real-time braking force of the arresting rope is less than the preset minimum braking force. This can avoid ineffective or harmful continuous braking and prevent the drone from overturning or being damaged.

[0124] In one embodiment, if the real-time speed of the drone is less than a preset minimum speed and / or the rate of change of the arresting cable braking force is a preset rate of change, the braking operation on the drone is stopped.

[0125] In one embodiment, the arresting ropes include a first arresting rope on the left side of the drone and a second arresting rope on the right side of the drone, and the method further includes:

[0126] Calculate the difference in rope release length between the first and second blocking ropes;

[0127] When the difference in rope lengths exceeds a preset length difference threshold, the target blocking rope with the longest rope length among the first and second blocking ropes is selected.

[0128] Stop releasing the target blocking rope and continue releasing the non-target blocking rope until the difference in rope length is less than or equal to the length difference threshold.

[0129] Among them, the difference in rope release length The calculation formula is , The length of the first stopping rope is the length of the rope that is let out. The length of the second stopping rope.

[0130] The target stopping rope is the longest of the two stopping ropes (first and second). The non-target stopping rope is the other stopping rope. For example, if the target stopping rope is the first stopping rope, then the non-target stopping rope is the second stopping rope.

[0131] Controlling the release of the target arresting rope to stop means terminating the release action of the rope, so that the length of the target arresting rope no longer increases. Controlling the release of the non-target arresting rope to continue means continuing the release action of the rope, so that the length of the non-target arresting rope continues to increase.

[0132] In this embodiment, by controlling the target arresting rope to stop releasing and controlling the non-target arresting rope to continue releasing until the difference in rope length is less than or equal to the length difference threshold, the length of multiple arresting ropes can be synchronized, ensuring that the UAV is subjected to uniform force during the interception process and avoiding deflection, rollover or local overload caused by inconsistent rope lengths.

[0133] In one embodiment, the method further includes:

[0134] When the pneumatic assembly starts to release air, the acceleration of the drone is synchronously controlled to remain greater than or equal to the preset acceleration.

[0135] Among them, the preset acceleration a min The calculation formula is: , For the drone at the moment of deflation t maxspeed, S max The length of the area for the drone to slow down, For the drone at the moment of deflation t max The displacement.

[0136] In this embodiment, by simultaneously controlling the acceleration of the drone to be greater than or equal to the preset acceleration when the pneumatic component starts to release air, it can be ensured that the drone will not run out of the deceleration zone.

[0137] In one embodiment, the method further includes:

[0138] The current braking force of the drone is calculated in real time and compared with the preset braking force threshold.

[0139] When the current braking force is greater than the preset braking force threshold, the control air pressure component starts to release air.

[0140] Among them, the current braking force F eff The formula for calculating (t) is: s(t) is the displacement of the UAV at the current time t, F brake (t) represents the braking force of the stopping rope at the current time t, L pull (t) represents the length of the rope released at the current time t. The current braking force refers to the braking force currently received by the UAV.

[0141] The preset braking force threshold is determined based on the drone's maximum load capacity, drone mass, and preset maximum acceleration. Specifically, the preset braking force threshold is: , Let m be the maximum payload capacity of the drone, and a be the mass of the drone. max This is the preset maximum acceleration.

[0142] In real-world scenarios, various situations may arise when a drone is blocked. For example, if the current braking force exceeds the preset braking force threshold, and the air pressure component has not yet depressurized, the current braking force will continue to rise, potentially damaging the drone.

[0143] In this embodiment, the current braking force of the drone is calculated in real time and compared with a preset braking force threshold. When the current braking force is greater than the preset braking force threshold, the air pressure component is controlled to start deflating. This can prevent the braking force received by the drone from continuously increasing, thereby preventing the drone from overturning and being damaged.

[0144] This application also provides an application scenario in which the above-described drone interception method is applied. In the actual scenario, the specific values ​​of each parameter are shown in Table 1. Specifically, the drone interception method is applied in this scenario as follows:

[0145] Table 1 Basic Parameter Settings

[0146]

[0147] Step 1: Parameter calculation and system standby.

[0148] System standby: When the system is powered on, it self-tests the working status of the controller, sensors, and flow valves. Both flow valves are in the standby position, and the gas source and buffer gas cylinder remain closed.

[0149] Parameter calculation: Calculate the venting time and maximum venting flow rate.

[0150] Step 2: Padlock detection.

[0151] Initial conditions: The UAV glides along the arresting rope with an initial velocity v0, and the hook is pre-deployed;

[0152] Triggering logic: When the drone pulls the arresting rope, the arresting rope generates tension, indicating successful locking. The controller sends a braking preparation signal, and the dual-sided electromagnetic reversing valves enter the ready-to-trigger state.

[0153] Step 3: Pneumatic brake activation.

[0154] Gas source control: After the barrier rope is displaced, it triggers the flow valve switch, and the double-sided gas tanks release high-pressure gas. The high-pressure gas is stabilized by the throttle valve and then flows into the cylinder through the buffer gas cylinder.

[0155] Actuator response: Compressed air drives the pistons on both sides to generate acceleration, the pistons drive the brake pair to fit against the brake disc, and the brake disc assembly generates the braking force of the arresting rope.

[0156] Step 4: Braking force transmission.

[0157] Force transmission process: The braking force of the arresting rope acts on the drone hook through the arresting rope, thereby forming the drone's braking force.

[0158] Step 5: Deflator control.

[0159] Gas release determination: After the gas release time is reached, the flow valve switches to the gas release position and controls the gas release flow rate according to the maximum gas release flow rate.

[0160] Step 6: Determine if braking has ended.

[0161] Termination threshold: Braking is considered complete when the drone stops and the rate of change of braking force on both arresting cables is zero.

[0162] Step 7: Automatic reset control.

[0163] Reset preparation: Close both sides of the solenoid directional valve, open the clutch, and start the reset motor.

[0164] Reset complete: When the double-sided blocking ropes are retracted to their initial length, the limit switch is triggered, the reset motor is turned off, the clutch is disengaged, and the reset is complete.

[0165] The overall flowchart of the above steps is shown in Figure 3.

[0166] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0167] In one embodiment, a computer device, which may be a server, is provided, and its internal structure is shown in Figure 4. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores various types of data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for intercepting unmanned aerial vehicles (UAVs).

[0168] Those skilled in the art will understand that the structure shown in Figure 4 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0169] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0170] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0171] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0172] 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 computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0173] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0174] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A drone interception model, characterized in that, This invention relates to an arresting system comprising an arresting rope, a pneumatic assembly, and a drone. The drone arresting model includes: a deflation timing calculation module for determining the deflation timing of the pneumatic assembly based on the parameters of the pneumatic assembly and the arresting rope; a deflation module for controlling the pneumatic assembly to initiate deflation when the current time is the deflation timing and the tail of the drone is connected to the arresting rope; and a monitoring module for real-time monitoring of the deflation flow rate of the pneumatic assembly and adjusting the flow valve of the pneumatic assembly to make the deflation flow rate less than or equal to the maximum deflation flow rate when the deflation flow rate is greater than the maximum deflation flow rate. The maximum deflation flow rate Q is defined as follows: max The calculation formula is: ， V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset acceleration a from the moment of deflation. min The time required for deceleration until a complete stop; P atable P is the preset stable pressure of the pneumatic assembly. cyl The cylinder pressure of the pneumatic assembly at the time of the venting. For the UAV at the deflation time t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate.

2. A method for intercepting unmanned aerial vehicles (UAVs), characterized in that, An arresting system, comprising an arresting rope, a pneumatic assembly, and a drone, is described. The method includes: S1, determining the degassing time of the pneumatic assembly based on parameters of the pneumatic assembly and the arresting rope; S2, controlling the pneumatic assembly to initiate degassing when the current time is the degassing time and the tail of the drone is connected to the arresting rope; S3, monitoring the degassing flow rate of the pneumatic assembly in real time, and adjusting the flow valve of the pneumatic assembly when the degassing flow rate exceeds the maximum degassing flow rate, so that the degassing flow rate is less than or equal to the maximum degassing flow rate; wherein the maximum degassing flow rate Q... max The calculation formula is: ， V total The total volume of the pneumatic cylinder and buffer bottle in the pneumatic assembly; t exh,max The drone starts accelerating at a preset acceleration a from the moment of deflation. min The time required for deceleration until a complete stop; P stable P is the preset stable pressure of the pneumatic assembly. cyl The cylinder pressure of the pneumatic assembly at the time of the venting. For the UAV at the deflation time t max The speed, the preset acceleration is determined based on the length of the region for the drone to decelerate.

3. The method according to claim 2, characterized in that, The process of determining the deflation time includes: S11, calculating the first rope release length of the arresting rope at a first moment and the second rope release length at a second moment; S12, calculating the first cylinder pressure of the pneumatic assembly based on the first rope release length, and calculating the second cylinder pressure of the pneumatic assembly based on the second rope release length; S13, calculating the cylinder pressure change rate based on the first cylinder pressure and the second cylinder pressure; S14, when the cylinder pressure change rate is greater than a preset value, updating the first moment in S11 to the second moment, and updating the second moment in S11; S15, repeating S11, S12, S13 and S14 until the cylinder pressure change rate is less than the preset value, and determining the current second moment as the deflation time; wherein, the first rope release length... The calculation formula is First cylinder pressure The calculation formula is ， Let t1 be the displacement of the drone at the first moment, and D be the total length of the arresting rope. For the first moment of drone braking force, Let k be the radius of the winch in the pneumatic assembly at the first moment. p This is the pressure torque coefficient.

4. The method according to claim 3, characterized in that, The formula for calculating the braking force of the UAV is: The formula for calculating the radius of the winch is: The formula for calculating the braking force of the arresting rope is: Among them, F eff Let s(t) be the braking force of the UAV at time t, and s(t) be the displacement of the UAV at time t. pull (t) represents the length of the rope released at time t, R current P(t) is the winch radius at time t, R0 is the initial radius of the winch, d is the thickness of the arresting rope, P(t) is the brake disc pressure at time t, and F brake (t) represents the braking force of the stopping rope at time t.

5. The method according to claim 2, characterized in that, The formula for calculating the leakage flow rate is: Cylinder pressure at time t The calculation formula is: ; where Q supply (t) represents the venting flow rate at time t, C v A is the flow loss coefficient. valve P is the orifice area of ​​the flow valve. source This represents the total pressure of the pneumatic assembly at the moment of venting. v1 is the air density, v2 is the flow rate of gas from the buffer bottle into the pressure cylinder, and v3 is the flow rate of the flow valve. Here, R is the specific heat ratio, R is the ideal gas constant, and T is the temperature of the pneumatic cylinder.

6. The method according to claim 5, characterized in that, The formula for calculating the total pressure of the pneumatic assembly at the moment of deflation is: Among them, P cyl The cylinder pressure of the pneumatic assembly at the time of the venting. The pressure is the loss, and k is the safety factor.

7. The method according to claim 2, characterized in that, The method further includes: acquiring the real-time speed of the UAV and the real-time arresting rope braking force; and stopping the braking operation on the UAV when the real-time speed is less than a preset minimum speed and / or the real-time arresting rope braking force is less than a preset minimum arresting rope braking force.

8. The method according to claim 2, characterized in that, The arresting ropes include a first arresting rope on the left side of the drone and a second arresting rope on the right side of the drone. The method further includes: calculating the rope release length difference between the first arresting rope and the second arresting rope; when the rope release length difference is greater than a preset length difference threshold, obtaining the target arresting rope with the longest rope release length among the first arresting rope and the second arresting rope; controlling the target arresting rope to stop releasing rope, and controlling the non-target arresting rope to continue releasing rope, until the rope release length difference is less than or equal to the length difference threshold.

9. The method according to claim 2, characterized in that, The method further includes: when the pneumatic assembly starts to release air, simultaneously controlling the acceleration of the drone to remain greater than or equal to a preset acceleration; wherein, the preset acceleration a min The calculation formula is: ， For the UAV at the deflation time t max speed, S max The length of the area for the drone to slow down, For the drone at the moment of deflation t max The displacement.

10. The method according to claim 2, characterized in that, The method further includes: calculating the current braking force of the UAV in real time and comparing the calculated current braking force with a preset braking force threshold; when the current braking force is greater than the preset braking force threshold, controlling the air pressure component to start deflating.

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