Intercepting unmanned aerial vehicle capable of casting catching net by utilizing self rotor pulling force and control method of intercepting unmanned aerial vehicle

Abstract

The invention discloses an interception unmanned aerial vehicle capable of casting a catching net by utilizing self rotor pulling force and a control method of the interception unmanned aerial vehicle. The unmanned aerial vehicle comprises a rack, a separable power unit, the catching net, a locking and separating mechanism, a recovery system and an avionics system. The separable power unit comprises a motor and a rotor wing and is installed on the machine frame in a releasable mode, and the catching net is fixedly connected to the upper portion of the machine arm. The locking and separating mechanism has a locking state and a releasing state, in the releasing state, the separable power unit is separated from the rack, and the pulling force generated by rotation of the rotor wings serves as a unique power source to drive the capturing net to fly away from the rack and unfold the capturing net. And the recovery system is mechanically linked with the locking and separating mechanism to synchronously trigger the parachute to unfold so as to recover the body. The control method comprises the steps of tracking a target, maximizing an accelerator, sending a release instruction, synchronously triggering recovery and the like. An independent casting device is abandoned, the structure is remarkably simplified, the weight is reduced, the response speed and the interception success rate are increased, and safe and reliable repeated use is achieved.

Description

Technical Field

[0001] This invention belongs to the field of drone countermeasure technology, specifically relating to an interceptor drone for countering small unmanned aerial vehicles, and more particularly to an interceptor drone that uses its own rotor thrust to launch a net and its control method. Background Technology

[0002] In recent years, with the popularization of civilian drone technology, the disorderly use of small unmanned aerial vehicles has posed an increasingly serious threat to public safety, privacy protection, and security in important areas. Physical interception technologies targeting such low-altitude, slow-moving, small targets have become a research hotspot. Among these, net-based interception, due to its advantages of minimal collateral damage and high capture success rate, is widely used in the field of drone countermeasures. A typical net-based interception drone usually carries a capture net, which is launched at the target drone via a projectile mechanism, causing it to entangle the target's rotor or fuselage, thereby achieving forced landing or capture.

[0003] Existing net-catching interceptor drones typically employ independent projectile power sources to deploy the nets. Based on the type of power source, existing technologies can be broadly categorized as follows: First, using gunpowder or compressed gas as power, the net is launched from a launch tube. For example, Chinese patent application CN119845096A discloses a net-catching drone countermeasure device, which uses a self-detaching mechanism and a retractable rope to open and tighten the net. Second, employing a powerful spring energy storage mechanism, the net is launched by trigger release. For example, Chinese patent application CN2022106712220 discloses a drone for clearing bird nests on power transmission lines, whose clearing mechanism includes a locking lever controlled by a servo motor, a power-accumulating launch spring, and a launch pusher. The servo motor drives the locking lever to release the spring, which in turn pushes the pusher to launch a traction arrow. In addition, in terms of recovery systems, existing technologies typically employ independently triggered parachute devices. For example, a low-altitude interception system deceleration and recovery device uses gunpowder as the power to open the parachute. By igniting black powder, high-temperature and high-pressure gas is generated to push the piston and push the parachute assembly out of the parachute compartment.

[0004] The aforementioned existing technologies have the following significant shortcomings: First, regardless of whether gunpowder, compressed gas, or springs are used, an independent launching device must be installed on the drone, which undoubtedly increases the overall weight, structural complexity, and manufacturing cost of the system. Second, gunpowder or high-pressure gas are hazardous materials, and their use, storage, and transportation are strictly regulated, posing safety hazards and making them unsuitable for frequent operations. Third, spring-powered mechanisms typically require a large installation space and are at risk of fatigue failure after long-term use. Furthermore, in existing technologies, net launching and drone recovery are usually two independently triggered actions, requiring two separate triggering mechanisms, which increases system complexity and the probability of failure. Finally, in terms of visual tracking, existing interceptor drones are typically equipped with only a single-direction camera, making it difficult for operators to keep track of the overhead airspace while tracking the target, posing a collision risk in complex urban environments.

[0005] Therefore, how to simplify the structure of intercepting drones, reduce weight and cost, while ensuring the speed and reliability of net launching, achieving reliable linkage between launching and recovery, and improving airspace situational awareness during operation have become urgent technical problems to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an intercepting drone that uses its own rotor thrust to launch a net and its control method. This drone abandons the traditional independent net-launching device, and through ingenious structural design, utilizes the thrust generated by the drone's own rotor rotation as the sole power source for net deployment. It aims to solve the technical problems of existing intercepting drones, such as complex structure, large weight, high cost, slow response speed, safety hazards, insufficient reliability due to independent launch and recovery systems, and poor airspace situational awareness during operation. This results in a simplified, lightweight, highly efficient, reliable interception, safe recovery, and flexible control of the intercepting drone.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: An intercepting drone that uses its own rotor thrust to launch a net includes a drone frame, at least one detachable power unit, a net, and a locking and separating mechanism. The detachable power unit is releasably mounted on the frame and includes a motor and a rotor connected to the motor. The net is fixedly connected to the detachable power unit. The locking and separating mechanism is mounted on the frame and has a locked state and a released state. In the locked state, it constrains the detachable power unit to the frame; in the released state, it releases the constraint on the detachable power unit. When the locking and separating mechanism switches to the released state, the detachable power unit is released from the constraint of the frame, and the thrust generated by the rotor rotation serves as the sole power source driving the detachable power unit, carrying the net, away from the frame.

[0008] As a preferred technical solution, the present invention further includes a recovery system, which comprises a parachute compartment, a canopy, a canopy locking member, an elastic release member, and a linkage mechanism. The parachute compartment is mounted on the frame and is used to accommodate a folded parachute. The canopy can be opened and closed to cover the opening of the parachute compartment. The canopy locking member has a locked position and a released position; in the locked position, it locks the canopy in a closed state, and in the released position, it allows the canopy to open. The elastic release member provides an elastic force to open the canopy. The linkage mechanism connects the canopy locking member to the locking and releasing mechanism. When the locking and releasing mechanism switches from the locked state to the released state, the linkage mechanism drives the canopy locking member to switch from the locked position to the released position, and the elastic release member drives the canopy to open, causing the parachute to deploy.

[0009] Furthermore, the locking and releasing mechanism includes a rotatable spindle, and the detachable power unit achieves locking and releasing through the rotation of the spindle. The hatch locking component is a hatch locking pin, which is fixedly connected to the spindle and rotates synchronously with the spindle. A spring mounting part is provided on the inner side of the hatch, and the spring mounting part is provided with an annular groove, which includes a closing part and a conducting part. The elastic release component is a compression spring, which is sleeved on the outer side of the spindle and elastically supported between the spring mounting part and the hatch locking pin. When the spindle is in a first angular position, the hatch locking pin is located in the closing part of the annular groove, the compression spring is compressed, and the hatch remains in a closed and locked state; when the spindle rotates to a second angular position, the hatch locking pin rotates into the conducting part of the annular groove, and the compression spring releases its elastic force to drive the hatch to open.

[0010] As another preferred technical solution, the locking and releasing mechanism includes a locking member, an elastic element, and a driving unit. The locking member is movably mounted on the frame and has a locked position and a released position that cooperate with the detachable power unit. The elastic element is connected to the locking member and provides an elastic force that moves the locking member from the locked position to the released position. In the locked state, the driving unit overcomes the elastic force of the elastic element to keep the locking member in the locked position. In response to an external release command, the driving unit releases the constraint on the locking member, allowing the locking member to move to the released position under the drive of the elastic element.

[0011] Furthermore, the locking element is a latch or a swing arm, the elastic element is a tension spring, and the drive unit is a servo motor. The servo motor includes a swingable output arm. In the locked state, the output arm abuts against the abutment portion on the locking element, overcoming the elastic force of the tension spring to keep the locking element in the locked position. When the servo motor swings to the release angle in response to a release command, the output arm disengages from the abutment portion, and the tension spring drives the locking element to move to the release position.

[0012] As a preferred technical solution, the present invention further includes a circuit on / off control mechanism, which includes a first electrical contact and a second electrical contact. The first electrical contact is disposed on the detachable power unit and electrically connected to the motor. The second electrical contact is disposed on the frame, connected to the onboard power supply circuit, and movably mounted. When the locking and disengagement mechanism is in the locked state, the second electrical contact contacts the first electrical contact, thereby establishing circuit continuity; when the locking and disengagement mechanism switches to the released state, the second electrical contact separates from the first electrical contact, thereby cutting off the circuit.

[0013] As a preferred technical solution, the net is a flexible mesh structure with multiple connecting ends, and there are multiple detachable power units. The multiple connecting ends of the net are respectively fixedly connected to the multiple detachable power units to achieve multi-directional synchronous dragging and unfolding, forming a larger interception coverage area.

[0014] As another preferred technical solution, the present invention also includes an avionics system, which comprises a flight controller, a forward-facing camera unit, a top-facing camera unit, a video switching circuit, and a wireless signal receiver. The forward-facing camera unit is mounted at the front of the frame and is used to acquire images of targets ahead in the flight direction. The top-facing camera unit is mounted at the top of the frame and is used to acquire environmental images of the airspace above. The video switching circuit is connected to both the forward-facing camera unit and the top-facing camera unit, and is used to select and output the video signal of one of the camera units in response to external commands. The wireless signal receiver is used to receive external control commands and transmit them to the flight controller and the video switching circuit.

[0015] The present invention also provides a control method for intercepting drones that use their own rotor thrust to launch a net, applicable to the intercepting drones described in any of the above technical solutions, comprising the following steps: Control the drone to fly towards the target area, acquire target images through the forward-facing camera unit, and track the target; When the drone approaches the preset interception distance, push the drone throttle to the maximum to make the rotor reach the highest speed; Send a release command to drive the locking and releasing mechanism to switch from the locked state to the released state; The detachable power unit breaks free from the frame constraint and flies away from the frame along with the capture net under the thrust generated by the rotor rotation. The capture net unfolds during the movement. The synchronous triggering of the recovery system causes the parachute to deploy, enabling the drone to be slowly recovered.

[0016] As a preferred technical solution, the control method further includes a video switching step: during the target tracking process, in response to the operator's switching command, the video signal of the forward-facing camera unit or the top-facing camera unit is selected to be output to the ground control station through the video switching circuit, so as to realize flexible switching between tracking the target and monitoring the airspace above.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Significantly Simplified Structure and Reduced Weight: This invention creatively utilizes the existing rotor power of the interceptor drone itself to replace the traditional independent net-launching device, completely eliminating dedicated launching mechanisms such as gunpowder, compressed gas, and powerful springs. This greatly simplifies the overall structure of the drone and significantly reduces system weight and manufacturing costs. Testing has verified that compared to drones using spring-launching mechanisms, the drone of this invention is 15-25% lighter and has more than 30% fewer structural components.

[0018] 2. Rapid launch response and efficient energy utilization: When the interception is triggered, the rotor is at its highest speed, and the resulting thrust directly serves as the initial kinetic energy for the net deployment. Compared to traditional methods that require triggering the launch device before releasing energy, this invention has a shorter and more efficient energy conversion path, resulting in greater and faster net deployment acceleration, significantly reducing the response time from command issuance to net coverage of the target. Tests show that the response time of this invention can be reduced to 30-50% of the comparative method, effectively improving the interception success rate.

[0019] 3. High safety and reusability: This invention, through a mechanical linkage design, ensures that the net launching and parachute release are completed simultaneously, guaranteeing the immediate recovery of the intercepting drone and avoiding damage from a hard landing. This allows for complete recovery and reuse of the device. Furthermore, since it does not involve explosives, high-pressure gases, or other hazardous materials, it eliminates safety hazards during storage, transportation, and use, significantly reducing the cost of a single interception mission. Tests show that the parachute deployment success rate and the drone's intact recovery rate of this invention both exceed 95%.

[0020] 4. Excellent operational flexibility and comprehensive situational awareness: This invention integrates forward and overhead dual cameras and is equipped with remote control switching functionality, enabling operators to accurately track targets ahead while simultaneously monitoring the overhead airspace environment in real time. This effectively solves the collision avoidance problem during operations in complex urban airspace, improving overall mission safety and operational flexibility. In simulated environment testing, the number of times operators were able to promptly detect and avoid overhead obstacles increased by over 80%.

[0021] 5. Easy to use and maintain, suitable for rapid deployment: The entire system requires no special control components, the preparation process is simple, and after recycling, it can be reused simply by replacing or refolding the net and resetting the locking mechanism. This facilitates rapid deployment and continuous operation, and has extremely high practical value.

[0022] 6. Scientific and rational control method, optimized operation process: The control method provided by this invention, focusing on the core innovation of using its own rotor thrust to launch the net, sets up an optimized process of "approaching the target - maximum throttle - sending command," ensuring that the rotor is at its highest speed at the moment of launch, maximizing the use of rotor thrust and improving the interception success rate. At the same time, the video switching steps allow the operator to flexibly adjust the monitoring perspective according to the task stage, improving the convenience and safety of operation. Attached Figure Description

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0024] Figure 1 This is an isometric schematic diagram of the overall structure of the interceptor drone described in this invention.

[0025] Figure 2 for Figure 1 A sectional view.

[0026] Figure 3 This is a schematic diagram of the structural composition of a single separable power unit.

[0027] Figure 4 A partial view of the locking and disengaging mechanism further illustrates the connection relationships between the various components.

[0028] Figure 5 This is a schematic diagram showing the connection between the catapult turntable and the swing arm.

[0029] Figure 6 These are schematic diagrams of the ejection turntable in the locked and released positions, respectively. Figure 6 'a' indicates the locking position. Figure 6 b is the release position.

[0030] Figure 7 A schematic diagram of the parachute installation and deployment structure, in which... Figure 7 'a' indicates a locked state. Figure 7b represents the released state.

[0031] Figure 8 This is a schematic diagram of the dual-camera image switching circuit in the avionics system described in this invention.

[0032] Figure 9 This is a schematic diagram of the module composition of the control system described in this invention.

[0033] Figure 10 This is a flowchart of the control method described in this invention.

[0034] Explanation of icon numbers: 1. Frame; 1-1. Central fuselage; 1-2. Arm; 2. Separable power unit; 2-1. Motor; 2-2. Rotor; 2-3. Motor base; 2-4. Upper electrode; 2-5. Metal connector; 3. Locking and disengagement mechanism; 3-1. Servo motor; 3-2. Driven sector gear; 3-3. Driven gear; 3-4. Spindle; 3-5. Launching turntable; 3-6. Swing arm; 3-7. Oscillating gear; 3-8. Press-release gear; 3-9. Tension spring; 3-10. Pre-installation pin; 3-11. Movable shaft; 3-12. Lower electrode; 3-13 Lower electrode holder; 3-14 Fixed shaft; 4. Parachute recovery system; 4-1 Parachute compartment; 4-2 Parachute compartment cover; 4-3 Compression spring; 4-4 Cover locking pin; 4-5 Spring mounting part; 4-6 Annular groove; 4-61 Sealing part; 4-62 Conducting part; 5-1 Flight controller; 5-2 Wireless signal receiver; 5-3 Electronic speed controller; 5-4 Battery; 5-5 Image transmission module; 5-6 Forward camera unit; 5-7 Top camera unit; 5-8 Video switching circuit. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1 to 9 As shown, the present invention provides an intercepting drone that uses its own rotor thrust to launch a net. The drone employs a multi-rotor configuration, specifically a quadcopter configuration in this embodiment. The drone includes a frame 1, a detachable power unit 2, a locking and separation mechanism 3, a parachute recovery system 4, and an avionics system.

[0037] The frame 1 includes a central fuselage 1-1 and four radially extending arms 1-2 from the central fuselage 1-1. The central fuselage 1-1 is the main load-bearing structure of the UAV, made of lightweight, high-strength materials, and houses the main components of the avionics system, including a flight controller 5-1, a wireless signal receiver 5-2, an electronic speed controller 5-3, a battery 5-4, and an image transmission module 5-5. A conical sleeve structure is provided at the bottom of the central fuselage 1-1, which forms the parachute compartment 4-1 for accommodating the folded parachute. A forward-facing camera unit 5-6 is installed at the front of the central fuselage 1-1 to acquire images of targets ahead of the flight path; a top-facing camera unit 5-7 is installed at the top to acquire environmental images of the airspace above.

[0038] The four arms 1-2 are symmetrically arranged in a cross shape to provide a stable flight attitude. Each arm 1-2 has a mounting structure at its end for mounting the detachable power unit 2. The mounting structure includes a positioning groove and a locking mating surface to ensure that the detachable power unit 2 can be accurately positioned and reliably locked.

[0039] like Figure 2 and Figure 3 As shown, the detachable power unit 2 includes a motor 2-1 and a rotor 2-2 mounted on the output shaft of the motor 2-1. The motor 2-1 is a brushless DC motor with high power density and fast response characteristics. A motor base 2-3 is provided at the bottom of the motor 2-1, and the shape of the motor base 2-3 matches the mounting structure at the end of the arm 1-2 to ensure accurate positioning after embedding. An upper electrode 2-4 is mounted on the motor base 2-3 and electrically connected to the power input terminal of the motor 2-1. A metal connector 2-5 is provided on the motor housing for fixing and connecting the fishing net.

[0040] In this embodiment, four detachable power units 2 are respectively installed at the ends of the four arms 1-2. The net (not shown in the figure) is a flexible mesh structure woven from high-strength lightweight fibers, characterized by its light weight, high strength, and high deployment resistance. The four corners of the net are fixedly connected to the motor housings of the four detachable power units 2 by metal connectors 2-5 or high-strength ropes. In the retracted state, the net is folded and stored in the space above the arms 1-2. When the four detachable power units 2 are locked, the net is folded and retracted, without interfering with the normal rotation of the rotors 2-2. When the four detachable power units 2 are released simultaneously, the four corners of the net are synchronously dragged and unfolded, forming a complete interception coverage area, effectively improving the capture success rate.

[0041] The core of this invention lies in providing a servo-driven locking and disengagement mechanism 3. This structure is used to lock the detachable power unit 2 onto the arm 1-2, or to eject it at high speed according to a command. This ejection structure realizes all the functions of the locking and disengagement mechanism and is a key component of the technical solution of this invention.

[0042] like Figure 2 , Figure 4 and Figure 5 As shown, the locking and disengagement mechanism 3 specifically includes a servo motor 3-1, a drive gear 3-2, a driven gear 3-3, a spindle 3-4, a catapult turntable 3-5, a swing arm 3-6, a swing gear 3-7, a pressure release gear 3-8, a tension spring 3-9, and related connecting parts.

[0043] The servo motor 3-1 is fixedly installed inside the central fuselage 1-1, and its output shaft is connected to the drive sector gear 3-2. The drive sector gear 3-2 is a sector gear, and its rotation angle range matches the rotation range of the servo motor 3-1. In this embodiment, the rotation range of the servo motor 3-1 is 0° to 90°. The drive sector gear 3-2 meshes with the driven gear 3-3, which is fixedly installed on the spindle 3-4. The spindle 3-4 is rotatably supported in a bearing seat on the central fuselage 1-1 and can extend axially into the interior of the arm 1-2 and the parachute compartment 4-1 area. The ejection turntable 3-5 is fixedly installed on the spindle 3-4, located at the root or middle region of the arm 1-2, and rotates synchronously with the spindle 3-4.

[0044] like Figure 4 and Figure 5 As shown, the swing arm 3-6 is a lever structure, with its middle part hinged to the arm 1-2 via a pre-installed pin 3-10, allowing it to swing around the pre-installed pin 3-10. The first end of the swing arm 3-6 engages with the catapult turntable 3-5, specifically as follows... Figure 5 As shown, the first end of the swing arm 3-6 is provided with a protrusion or roller, which can be engaged into a groove on the outer periphery of the catapult turntable 3-5 to form a releasable connection. The second end of the swing arm 3-6 is hinged to the swing gear 3-7 via a movable shaft 3-11. The swing gear 3-7 meshes with the pressing gear 3-8, which is rotatably mounted on the arm 1-2 via a fixed shaft 3-14, located near the motor base 2-3.

[0045] One end of the tension spring 3-9 is connected to the middle or second end of the swing arm 3-6, and the other end is connected to a fixed point on the arm 1-2. The tension spring 3-9 is always in a stretched state, providing an elastic force that presses the swing arm 3-6 toward the first end towards the catapult turntable 3-5 around the pre-installed pin 3-10. This elastic force is the power source for the rapid movement of the swing arm 3-6.

[0046] like Figure 3 and Figure 4As shown, the upper electrode 2-4 is fixedly mounted on the motor base 2-3 and electrically connected to the motor 2-1. The lower electrode 3-12 is mounted on the pressure gear 3-8 via the lower electrode seat 3-13 and swings with the rotation of the pressure gear 3-8. The lower electrode 3-12 is connected to the onboard power circuit. When the detachable power unit 2 is in the locked state, the lower electrode 3-12 is in close contact with the upper electrode 2-4, realizing circuit connection and supplying power to the motor 2-1; when the detachable power unit 2 is released, the lower electrode 3-12 separates from the upper electrode 2-4, cutting off the circuit and ensuring that the separated power unit no longer consumes electrical energy.

[0047] The working principle of the locking and separating mechanism 3 is as follows, please refer to... Figure 2 , Figure 4 and Figure 6 As shown: Locked state (servo 3-1 is in the 90° position, such as...) Figure 6 (As shown in a): Servo motor 3-1 drives the active gear sector 3-2 to rotate to a 90° position. The active gear sector 3-2 drives the driven gear 3-3 and spindle 3-4 to rotate, causing the catapult turntable 3-5 to be in the first angle position. At this time, the outer circumferential surface of the catapult turntable 3-5 abuts against the protrusion at the first end of the swing arm 3-6, overcoming the tension of the tension spring 3-9, causing the swing arm 3-6 to swing around the pre-installed pin 3-10 to the first position. The second end of the swing arm 3-6 drives the swing gear 3-7 through the movable shaft 3-11. The swing gear 3-7 drives the pressing gear 3-8 to rotate to the first working position. In this position, the pressing gear 3-8 presses the lower electrode 3-12 against the upper electrode 2-4 through the lower electrode seat 3-13, realizing circuit conduction; at the same time, the specific position of the pressing gear 3-8 forms a mechanical constraint with the motor base 2-3, locking the detachable power unit 2 onto the arm 1-2. The meshing position of the oscillating gear 3-7 and the pressing gear 3-8 gives the entire transmission chain a certain self-locking characteristic, keeping it in a locked state.

[0048] Released state (servo 3-1 rotated to 0° position, such as...) Figure 6(As shown in b): When an external release command is received, the flight controller 5-1 drives the servo motor 3-1 to rotate to the 0° position. The servo motor 3-1 drives the active gear sector 3-2 to rotate, which in turn drives the driven gear 3-3 and the spindle 3-4 to rotate, causing the ejection turntable 3-5 to rotate to the second angle position. At this time, the groove of the ejection turntable 3-5 rotates to a position opposite to the protrusion at the first end of the swing arm 3-6, and the elastic force of the tension spring 3-9 is immediately released, driving the swing arm 3-6 to swing rapidly around the pre-installed pin 3-10, causing the protrusion at the first end of the swing arm 3-6 to fall into the groove of the ejection turntable 3-5. The swing of the swing arm 3-6 drives the swing gear 3-7 through the movable shaft 3-11, and the swing gear 3-7 drives the release gear 3-8 to rotate to the second working position. At this position, the pressing gear 3-8 drives the lower electrode 3-12 to swing, causing the lower electrode 3-12 to separate from the upper electrode 2-4 and cut off the circuit; at the same time, the rotation of the pressing gear 3-8 releases the mechanical constraint on the motor base 2-3.

[0049] Once the mechanical constraints of the motor base 2-3 are released, the enormous pulling force generated by the rotor 2-2 at its highest speed immediately drives the detachable power unit 2 to detach from the mounting structure of the arm 1-2 at high speed, achieving ejection. As all four detachable power units 2 are released simultaneously, the four corners of the net are dragged synchronously, causing the net to rapidly unfold in the air.

[0050] Please combine Figure 2 , Figure 7 As shown, the parachute recovery system 4 is integrated into a conical sleeve at the bottom of the central fuselage 1-1. This conical sleeve constitutes the parachute compartment 4-1, used for the safe recovery of the UAV body after the net is launched. The system includes the parachute compartment 4-1, the parachute compartment cover 4-2, a compression spring 4-3, a cover locking pin 4-4, a spring mounting part 4-5, and a linkage structure. The parachute (not shown) is folded and housed within the parachute compartment 4-1.

[0051] like Figure 7 As shown, the parachute compartment 4-1 is an internal cavity within a conical sleeve at the bottom of the central fuselage 1-1, with a downward-facing opening to accommodate a parachute in a folded state. A parachute compartment cover 4-2 is located at the top opening of the parachute compartment 4-1. This cover can be opened and closed to cover the opening of the parachute compartment 4-1, and its shape matches the opening to ensure a continuous fuselage outer surface when closed, reducing flight drag. One side of the parachute compartment cover 4-2 is connected to the central fuselage 1-1 via a hinge or snap-fit ​​structure, while the other side is a free end.

[0052] A spring mounting portion 4-5 is provided on the inner side of the parachute canopy 4-2 (the side facing the parachute compartment 4-1). The spring mounting portion 4-5 is a cylindrical structure extending from the bottom of the canopy into the interior of the parachute compartment 4-1, and its side wall is provided with an annular groove 4-6 for accommodating the canopy locking pin 4-4. The annular groove 4-6 includes a closing portion 4-61 and a guiding portion 4-62, wherein the closing portion 4-61 is a continuous annular wall surface, and the guiding portion 4-62 is a notch or groove on the side wall of the annular groove 4-6. The shape and size of the notch match the end of the canopy locking pin 4-4, allowing the canopy locking pin 4-4 to pass through at a specific angle, thereby releasing the axial restriction on the spring mounting portion 4-5.

[0053] The lower end of the spindle 3-4 extends into the bottom of the spring mounting part 4-5. A radially penetrating locking pin hole is provided on the spindle 3-4, and the hatch locking pin 4-4 is inserted through this locking pin hole, thus forming a fixed connection with the spindle 3-4 and rotating synchronously with the spindle 3-4. Both ends of the hatch locking pin 4-4 extend beyond the outside of the spindle 3-4, and their ends are accommodated in the annular groove 4-6 of the spring mounting part 4-5, engaging with the wall surface of the annular groove 4-6.

[0054] The compression spring 4-3 is sleeved on the outside of the spindle 3-4 and elastically supported between the spring mounting part 4-5 and the hatch locking pin 4-4. Specifically, the lower end of the compression spring 4-3 abuts against the upper end face of the spring mounting part 4-5, and the upper end abuts against the lower end face of the hatch locking pin 4-4, and is always in a pre-compressed state. The hatch locking pin 4-4 acts as the support point of the spring, transmitting the spring force to the spring mounting part 4-5. However, due to the limiting effect of the annular groove 4-6, the spring mounting part 4-5 cannot move upward, thus keeping the hatch closed.

[0055] The working principle of the linkage between the parachute recovery system 4 and the locking and separation mechanism 3 is as follows. Please refer to... Figure 2 , Figure 6 and Figure 7 As shown: Locked state (servo 3-1 is in the 90° position, such as...) Figure 7(As shown in a): When the servo motor 3-1 is at the 90° position, it drives the spindle 3-4 to rotate to the first angle position via the drive gear 3-2 and the driven gear 3-3. At this time, the canopy locking pin 4-4, which is fixedly connected to the spindle 3-4, rotates to the first angle with the spindle 3-4, and both ends of the canopy locking pin 4-4 are exactly located within the closed portion 4-61 area of ​​the annular groove 4-6 of the spring mounting portion 4-5. The closed portion 4-61 is a continuous annular wall surface, which axially limits the canopy locking pin 4-4. Since the canopy locking pin 4-4 is fixedly connected to the spindle 3-4, and the spindle 3-4 is fixed in the axial direction, the canopy locking pin 4-4 cannot move upward. At this time, the parachute canopy 4-2 is connected to the spindle 3-4 through the canopy locking pin 4-4, and the axial movement of the canopy is restricted. The compression spring 4-3 is compressed between the spring mounting part 4-5 and the canopy locking pin 4-4. Its elastic force acts on the spring mounting part 4-5, but because the canopy locking pin 4-4 is stuck in the annular groove closure part 4-61, the spring mounting part 4-5 cannot move upward, thereby keeping the parachute canopy 4-2 in a closed and locked state.

[0056] Released state (servo 3-1 rotated to 0° position, such as...) Figure 7 (As shown in b): When an external release command is received, the servo motor 3-1 rotates to the 0° position, driving the spindle 3-4 to rotate to the second angle position via the drive gear 3-2 and the driven gear 3-3. At this time, the canopy locking pin 4-4, which is fixedly connected to the spindle 3-4, rotates to the second angle with the spindle 3-4, and both ends of the canopy locking pin 4-4 just rotate into the guide part 4-62 of the annular groove 4-6 of the spring mounting part 4-5. The guide part 4-62 is a notch on the side wall of the annular groove 4-6, where there is no longer an axial limit on the canopy locking pin 4-4. The elastic force stored in the compressed spring 4-3 is immediately released, pushing the spring mounting part 4-5 to move downward, and the spring mounting part 4-5 drives the parachute canopy 4-2 to quickly spring open downward. At the same time, the canopy locking pin 4-4 disengages from the guide part 4-62 of the annular groove 4-6, and the parachute canopy 4-2 is completely released from the connection constraint with the spindle 3-4.

[0057] After the parachute canopy 4-2 pops open, the parachute is pulled out by the airflow and fully deploys, providing sufficient aerodynamic drag for the drone body, which has lost all power, so that it descends slowly.

[0058] Through the aforementioned linkage design, a single servo motor action simultaneously triggers the net launching and parachute release, ensuring that the UAV body can immediately enter the recovery state after the power unit detaches, minimizing freefall time and improving recovery reliability. This structure utilizes the rotation angle of the spindle 3-4 to precisely control the engagement position of the canopy locking pin 4-4 and the annular groove 4-6, converting the rotational motion of the servo motor 3-1 into the energy storage and release of the compression spring 4-3. The structure is compact, reliable, and requires no additional independent locking mechanism.

[0059] Please combine Figure 1 , Figure 8 and Figure 9 As shown, the avionics system includes a flight controller 5-1, a wireless signal receiver 5-2, an electronic speed controller 5-3, a battery 5-4, an image transmission module 5-5, a forward-facing camera unit 5-6, a top-facing camera unit 5-7, and a video switching circuit 5-8.

[0060] The flight controller 5-1 is the core control unit of the UAV, integrated inside the central fuselage 1-1. It integrates a processor, memory, IMU (Inertial Measurement Unit), GPS module, barometer, and other sensors. It is used to process sensor data, execute flight control algorithms, manage mission logic, and interact with various functional modules. The flight controller 5-1 is also responsible for receiving instructions from the wireless signal receiver 5-2 and controlling actuators such as the servo motor 3-1 and electronic speed controller 5-3 according to the instructions.

[0061] The forward-facing camera unit 5-6 is mounted at the front of the central fuselage 1-1, with its optical axis pointing towards the forward direction of the UAV's flight path, and is used to acquire image information of the target UAV. The forward-facing camera unit 5-6 preferably uses a high-definition camera and is equipped with a gimbal stabilization mechanism to ensure stable capture of target images during flight maneuvers. The flight controller 5-1 can process the images acquired by the forward-facing camera unit 5-6 in real time, lock onto the target using image recognition algorithms, and guide the UAV to approach the target.

[0062] The top-facing camera unit 5-7 is mounted on the top of the central fuselage 1-1, with its optical axis pointing towards the zenith, and is used to acquire environmental images of the airspace above the UAV. When operating in complex urban environments, the operator can use the top-facing camera unit 5-7 to monitor in real time whether there are obstacles or other aircraft above, avoiding the risk of collision.

[0063] like Figure 8 and Figure 9 As shown, the video switching circuit 5-8 is electrically connected to both the forward-facing camera unit 5-6 and the top-facing camera unit 5-7, and receives switching commands from the wireless signal receiver 5-2. Based on the command, the video switching circuit 5-8 selects to output the video signal from either the forward-facing camera unit 5-6 or the top-facing camera unit 5-7 to the image transmitting module 5-5, which then wirelessly transmits the video signal to the ground control station. The operator can switch the video source at any time according to the mission stage and needs, achieving flexible monitoring by "looking forward when tracking and looking upwards when avoiding collisions."

[0064] The wireless signal receiver 5-2 is used to receive various control commands sent by the ground control station, including flight control commands, camera switching commands, release commands, etc., and transmits the commands to the flight controller 5-1 or the video switching circuit 5-8. The wireless signal receiver 5-2 adopts a redundant receiving design to ensure the reliability of command reception.

[0065] The electronic speed controller 5-3 is connected between the flight controller 5-1 and each motor 2-1. It adjusts the speed of each motor 2-1 according to the instructions from the flight controller 5-1, achieving precise control of the UAV's flight. The electronic speed controller 5-3 has a fast response characteristic, capable of adjusting motor speeds within milliseconds to ensure flight stability and maneuverability.

[0066] The battery 5-4 is a rechargeable lithium battery installed inside the central body 1-1, providing power to the entire system. The battery 5-4 is connected to each electrical component through a power management module to ensure stable power supply and has functions such as voltage detection and over-discharge protection.

[0067] Please see Figure 10 As shown, the present invention also provides a control method for intercepting drones that use their own rotor thrust to launch a net. This method is applied to the intercepting drones described in any of the above technical solutions and includes the following steps: Step S1: Preparation Phase The operator first places the servo motor 3-1 in the release position (0°), and installs the motor bases 2-3 of the four detachable power units 2 at their respective mounting positions at the ends of the four arms 1-2. The operator then manually resets the swing arm 3-6 to the locked position. At this point, the servo motor 3-1 should rotate to a 90° position, causing the groove of the catapult turntable 3-5 to rotate away from the swing arm 3-6, with the first end of the swing arm 3-6 abutting against the outer circumference of the catapult turntable 3-5, maintaining the locked state. Simultaneously, the operator checks that the upper electrode 2-4 and lower electrode 3-12 are in good contact to ensure circuit continuity. The four corners of the capture net are then fixed to the motor housings of the four detachable power units 2 using metal connectors 2-5. The capture net is folded neatly and placed in the space above the arms 1-2, ensuring it does not interfere with the rotation of the rotor 2-2. The parachute is folded and placed inside the parachute compartment 4-1, and the parachute compartment cover 4-2 is closed, locking the cover pin 4-4 into the closed portion 4-61 of the annular groove 4-6. Complete the system standby status settings.

[0068] Step S2: Takeoff and Tracking Approach Phase The operator starts the drone via the ground control station, and after takeoff, the drone flies towards the target area. The flight controller 5-1 controls the flight attitude and heading according to a preset program or remote control commands. The forward-facing camera unit 5-6 continuously operates, transmitting the acquired forward images to the ground station via the image transmission module 5-5. The operator identifies the target drone through the forward-facing image and guides the drone to approach the target from behind or below the side, either manually or through a target tracking algorithm. During the approach, the operator can switch to the top-facing camera unit 5-7 as needed to confirm the safety of the airspace above. When the drone approaches to a preset interception distance (e.g., 5-10 meters), it enters the interception preparation state.

[0069] Step S3: Interception Trigger Phase After confirming that the interception conditions are met, the operator first pushes the flight throttle to its maximum position, causing all rotors 2-2 to reach their maximum speed to obtain maximum rotor thrust. Then, a "release" command is sent via the ground control station. The wireless signal receiver 5-2 receives the command and transmits it to the flight controller 5-1, which then drives the designated servo 3-1 to the release position (0°).

[0070] Step S4: Net Deployment Stage When the servo motor 3-1 rotates to the 0° position, it drives the active gear sector 3-2 to rotate. The active gear sector 3-2 drives the driven gear 3-3 and the spindle 3-4 to rotate, causing the catapult turntable 3-5 to rotate to a position where the groove is opposite the first end of the swing arm 3-6. The elastic force of the tension spring 3-9 is released instantaneously, driving the swing arm 3-6 to swing rapidly around the pre-installed pin 3-10. The protrusion at the first end of the swing arm 3-6 falls into the groove of the catapult turntable 3-5. The swing of the swing arm 3-6 drives the swing gear 3-7 through the movable shaft 3-11. The swing gear 3-7 drives the pressure release gear 3-8 to rotate to the second working position, separating the lower electrode 3-12 from the upper electrode 2-4 and cutting off the circuit. At the same time, the rotation of the pressure release gear 3-8 releases the mechanical constraint on the motor base 2-3. At this time, the four rotors 2-2, which are at their highest speed, generate a huge upward pull. This pull, as the sole power source, drives the four detachable power units 2 to be instantly pulled out of their respective arm 1-2 mounting structures at high speed. The four corners of the net, which is fixedly connected to the four detachable power units 2, are pulled synchronously, and the net quickly unfolds from above the arms 1-2, forming a complete interception net under the action of air resistance, and flies towards the target UAV. The continuous rotation of the rotors 2-2 causes the four detachable power units 2 to continue flying forward and upward, driving the net to fully open and cover the target.

[0071] Step S5: Recycling Phase As the swing arm 3-6 swings to the release position, the rotation of the spindle 3-4 causes the canopy locking pin 4-4 to move from the closed portion 4-61 of the annular groove 4-6 into the conductive portion 4-62. The elastic force of the compression spring 4-3 is immediately released, pushing the spring mounting portion 4-5 downward and driving the parachute canopy 4-2 to quickly open. The parachute is pulled out by the airflow and fully deploys, providing sufficient aerodynamic drag for the drone body, which has lost all power, allowing it to descend slowly.

[0072] Step S6: Recycling and Resetting After the drone lands, the operator retrieves the drone, checks the status of each component, refolds and installs the capture net, reinstalls and locks the four detachable power units 2, and resets the parachute, ready for the next mission.

[0073] To verify the technical effects of this invention, the applicant verified the simplification and weight reduction effects: a weight comparison was conducted between the drone of this invention (test prototype A) and a comparative drone using a spring-launching mechanism (comparative prototype B, referring to existing technology). The total weight of test prototype A was 1090 grams, and the total weight of comparative prototype B was 2300 grams. The test results show that, due to the removal of independent launch springs, push plates, and other components, the weight of the drone of this invention is reduced by 47.39%, and the number of structural parts is reduced by 11, significantly simplifying the overall structure.

[0074] The above test data fully demonstrates that the core innovation of this invention, which utilizes the thrust of its own rotor to launch the net, has achieved significant technical effects in terms of simplifying the structure and reducing weight, overcoming many defects in the existing technology, and has outstanding substantive features and significant progress.

[0075] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intercepting drone that uses its own rotor thrust to launch a net, characterized in that, include: Drone rack; At least one detachable power unit is releasably mounted on the frame, including a motor and a rotor connected to the motor; The fishing net is fixedly connected to the detachable power unit; A locking and disengaging mechanism is installed on the frame and has a locked state and a released state. In the locked state, the separable power unit is constrained to the frame, and in the released state, the constraint on the separable power unit is released. When the locking and separating mechanism switches to the released state, the detachable power unit is released from the constraint of the frame, and the thrust generated by the rotation of the rotor serves as the sole power source for driving the detachable power unit, along with the net, away from the frame.

2. The intercepting drone that uses its own rotor thrust to launch a net according to claim 1, characterized in that, It also includes a recycling system, which comprises: A parachute compartment, located on the frame, is used to house a folded parachute. A canopy that can be opened and closed to cover the opening of the parachute compartment; A hatch locking element has a locked position and a released position, wherein the hatch is locked in a closed state in the locked position and the hatch is allowed to open in the released position; a resilient release element is used to provide a resilient force for opening the hatch; A linkage mechanism connects the hatch locking component to the locking and disengaging mechanism. When the locking and separating mechanism switches from the locked state to the released state, the linkage mechanism drives the canopy locking component to switch from the locked position to the released position, and the elastic release component drives the canopy to open, causing the parachute to deploy.

3. The intercepting drone that uses its own rotor thrust to launch a net according to claim 2, characterized in that, The locking and releasing mechanism includes a rotatable spindle, and the detachable power unit achieves locking and releasing through the rotation of the spindle; The hatch locking component is a hatch locking pin, which is fixedly connected to the spindle and rotates synchronously with the spindle; The inner side of the hatch is provided with a spring mounting part, and the spring mounting part is provided with an annular groove, the annular groove including a closing part and a conducting part; The elastic release component is a compression spring, which is sleeved on the outside of the spindle and elastically supported between the spring mounting part and the hatch cover locking pin. When the mandrel is in the first angular position, the hatch locking pin is located in the closed part of the annular groove, the compression spring is compressed, and the hatch remains in a closed and locked state; when the mandrel rotates to the second angular position, the hatch locking pin rotates into the conductive part of the annular groove, and the compression spring releases its elastic force to drive the hatch to open.

4. The intercepting drone that uses its own rotor thrust to launch a net according to claim 1, characterized in that, The locking and separating mechanism includes: A locking element is movably mounted on the frame and has a locking position and a releasing position that cooperate with the detachable power unit; An elastic element, connected to the locking member, provides an elastic force that moves the locking member from a locked position to a released position; The drive unit overcomes the elastic force of the elastic element in the locked state to keep the locking member in the locked position, and releases the constraint on the locking member in response to an external release command, so that the locking member moves to the release position under the drive of the elastic element.

5. The intercepting drone that uses its own rotor thrust to launch a net according to claim 4, characterized in that, The locking element is a buckle or a swing arm, the elastic element is a tension spring, and the drive unit is a servo motor; The servo motor includes a swingable output arm. In the locked state, the output arm abuts against the abutment portion on the locking member, overcoming the elastic force of the tension spring and keeping the locking member in the locked position. When the servo motor swings to the release angle in response to a release command, the output arm disengages from the abutment portion, and the tension spring drives the locking member to move to the release position.

6. The intercepting drone that uses its own rotor thrust to launch a net according to claim 1, characterized in that, It also includes a circuit on / off control mechanism, which includes: The first electrical contact is disposed on the detachable power unit and is electrically connected to the motor; The second electrical contact is mounted on the frame, connected to the airborne power circuit, and can be movably installed. When the locking and separating mechanism is in the locked state, the second electrical contact is in contact with the first electrical contact to make the circuit conductive; when the locking and separating mechanism is switched to the released state, the second electrical contact is separated from the first electrical contact to cut off the circuit.

7. The intercepting drone that uses its own rotor thrust to launch a net according to claim 1, characterized in that, The fishing net is a flexible mesh structure with multiple connection ends. There are multiple detachable power units, and the multiple connection ends of the fishing net are respectively fixedly connected to the multiple detachable power units.

8. The intercepting drone that uses its own rotor thrust to launch a net according to claim 1, characterized in that, It also includes avionics systems, which include: Flight controller; A forward-facing camera unit, mounted at the front of the frame, is used to acquire images of the target ahead in the flight direction; A top-facing camera unit is mounted on the top of the frame to acquire environmental images of the airspace above. The video switching circuit is connected to the front camera unit and the top camera unit respectively, and is used to select and output the video signal of one of the camera units in response to an external command; A wireless signal receiver is used to receive external control commands and transmit them to the flight controller and the video switching circuit.

9. A control method for an interceptor drone that uses its own rotor thrust to launch a net, applied to the interceptor drone described in any one of claims 1 to 8, characterized in that, Includes the following steps: Control the drone to fly towards the target area, acquire target images through the forward-facing camera unit, and track the target; When the drone approaches the preset interception distance, push the drone throttle to the maximum to make the rotor reach the highest speed; Send a release command to drive the locking and releasing mechanism to switch from the locked state to the released state; The detachable power unit breaks free from the frame constraint and flies away from the frame along with the capture net under the thrust generated by the rotor rotation. The capture net unfolds during the movement. The synchronous triggering of the recovery system causes the parachute to deploy, enabling the drone to be slowly recovered.

10. The control method for intercepting unmanned aerial vehicles by launching a net using its own rotor thrust according to claim 9, characterized in that, It also includes a video switching step: during target tracking, in response to the operator's switching command, the video switching circuit selects to output the video signal of the forward camera unit or the top camera unit to the ground control station.

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