A drone system for drone football competitions

Abstract

This invention provides a drone system for drone-based football competitions, belonging to the technical field of drones for football competitions. It includes an anti-collision device and a support ring. The anti-collision device is installed on the outer wall of the support ring and includes a positioning component. By incorporating the anti-collision device, when the drone is used to defend against an attacking drone, the onboard camera inside the drone observes the position of the attacking drone and drives a motor to align an arc-shaped push plate with the direction of the attacking drone's attack. When the attacking drone collides with the drone, the arc-shaped push plate absorbs the impact energy, causing it to deflect backward. Simultaneously, it moves the push fork and X-shaped frame backward, stretching the spring and preventing the drone from being knocked away by the attacking drone. When the impact energy of the attacking drone is exhausted, the spring, under the action of elasticity, will cause the arc-shaped push plate to return to its original position. At this point, the arc-shaped push plate can push the attacking drone outward, thus completing the defense.

Description

Technical Field

[0001] This invention relates to the field of drone technology for football competitions, and particularly to a drone system for drone football competitions. Background Technology

[0002] Drone soccer is an emerging competitive sport that requires drones to complete specific tasks in high-speed combat. Existing competitive drones are mostly focused on manual control and collision protection, offering limited functionality. The few drones with autonomous flight capabilities primarily target fixed locations or pre-set path points, making them unsuitable for the dynamic, unpredictable, high-level competitive task of a moving goal.

[0003] Currently, mainstream models rely solely on rigid carbon fiber and plastic spherical cages for integrated passive protection. The protective cages rely solely on the rigidity of the frame to absorb impacts and cannot adjust the protective surface according to the real-time attack direction of the enemy drone. The probability of protection failure is extremely high in oblique and lateral impact scenarios. After encountering a high-speed impact, the fuselage is easily knocked away and loses attitude control. It can only reduce the probability of hardware damage and cannot bounce the enemy drone away through buffer rebound, making it difficult to complete effective defense and blocking. At the same time, there is a lack of a drone system that can identify a uniformly moving goal in real time in a complex, high-speed competitive environment, plan a path, and autonomously and stably complete the crossing action. Therefore, this application provides a drone system for drone football competitions to meet the requirements. Summary of the Invention

[0004] The technical problem this invention aims to solve is to provide a drone system for drone-based football matches. By incorporating an anti-collision device, when the drone is used to defend against an attacking drone, the onboard camera inside the drone observes the position of the attacking drone and drives a motor to make an arc-shaped push plate face the direction of the attacking drone's attack. When the attacking drone collides with the drone, the arc-shaped push plate absorbs the impact energy, causing it to deflect backward. At the same time, it drives the push fork and X-shaped frame to move backward, and the spring is stretched, thus preventing the drone from being knocked away by the attacking drone. When the impact potential energy of the attacking drone is exhausted, the spring will drive the arc-shaped push plate back to its original position under the action of elastic force. At this time, the arc-shaped push plate can push the attacking drone outward and bounce it away, thus completing the defense. This solves the problem that existing drones used in football matches cannot form an effective defense.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A drone system for drone football competitions includes an anti-collision device and a support ring. The anti-collision device is installed on the outer wall of the support ring and includes a positioning component. The positioning component has four sets of arc-shaped push plates installed on both sides, arranged symmetrically in pairs. The drone body is installed inside the support ring and can adjust the position of the four sets of arc-shaped push plates.

[0006] Optionally, the alignment component includes an annular base shell, the inner wall of which is fixedly connected to the outer wall of the support ring, and bottom grooves are provided on both sides of the annular base shell, with the bottom grooves penetrating the top and bottom of the annular base shell. A rotating ring is rotatably connected to the inner wall of the annular base shell, and arc-shaped strips are fixedly installed on the top and bottom sides of the rotating ring. The arc-shaped strips are located in the corresponding bottom grooves and are rotatably connected to the inner wall of the bottom grooves.

[0007] Optionally, gear mounting areas are provided on the inner walls of both ends of the annular base shell, gears are rotatably connected to the inner walls of the gear mounting areas, and internal racks are fixedly installed on the inner walls of both ends of the rotating ring, with the internal racks meshing with the corresponding gears.

[0008] Optionally, a top ring is fixedly installed on the top of the annular base shell, and top grooves are opened on both sides of the top ring. The top grooves are connected to the bottom grooves, and the two sets of arc-shaped strips on the top are rotatably connected to the inner walls of the corresponding top grooves. Motors are fixedly installed at both ends of the top of the top ring, and the output end of the motor is fixedly connected to the corresponding gear.

[0009] Optionally, the arc-shaped push plate is rotatably connected to the middle end wall of the corresponding arc-shaped strip, a side frame is fixedly installed on the middle inner wall of the arc-shaped strip, an X-shaped frame is rotatably connected to the end wall of the side frame, a spring is fixedly installed on the middle inner wall of the X-shaped frame, and the other end of the spring is fixedly connected to the side wall of the side frame, and a push fork is rotatably connected to the other end of the X-shaped frame, and the end wall of the push fork is rotatably connected to the inner wall of the arc-shaped push plate.

[0010] Optionally, the outer wall of the support ring is fixedly installed with side beams, and there are six sets of side beams evenly distributed on the outside of the support ring. The top and bottom of the six sets of side beams are fixedly installed with protective rings. A cross is fixedly installed on the top of the support ring. The cross arms of the cross are rotatably connected with rotors. The drone body is fixedly connected to the center of the top of the cross. The drone body is electrically connected to the four sets of rotors.

[0011] Compared with the prior art, the present invention has at least the following beneficial effects: In the above scheme, by setting up an anti-collision device, when the UAV is used to defend against an attacking aircraft, the onboard camera inside the UAV observes the position of the attacking aircraft and drives the motor to make the arc-shaped push plate face the direction of the attacking aircraft's attack. When the attacking aircraft collides with the UAV, the arc-shaped push plate can absorb the impact energy and deflect it backward. At the same time, it drives the push fork and X-shaped frame to move backward, and the spring is stretched, thereby preventing the UAV from being knocked away by the attacking aircraft. When the impact potential energy of the attacking aircraft is exhausted, the spring will drive the arc-shaped push plate back to its original position under the action of elastic force. At this time, the arc-shaped push plate can push the attacking aircraft outward and bounce it away, thereby completing the defense. By integrating an airborne camera and chip into the drone's body, when used as an attacking drone, the camera continuously searches for goal targets within its field of view. Once a goal is identified, it immediately tracks and calculates the goal's moving velocity vector and real-time spatial position. Based on this data, it predicts the goal's spatial trajectory over a future period and selects an optimal crossing time and spatial point. Subsequently, based on the drone's current state and the predicted crossing point, it calculates and generates a smooth approximation and crossing trajectory that satisfies dynamic constraints in real time. Then, the chip executes the trajectory control command to drive the drone to fly autonomously until the crossing maneuver is completed. Attached Figure Description

[0012] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0013] Figure 1 A three-dimensional structural diagram of a drone system for drone soccer competitions; Figure 2 A schematic diagram showing the assembly of four sets of arc-shaped push plates on this drone; Figure 3 This is a top-down view of the drone; Figure 4 A schematic diagram of the spherical protective sphere formed by the support ring, side beams, and protective ring; Figure 5 This is a schematic diagram of the anti-collision device. Figure 6 This is a schematic diagram showing the installation of the annular base shell and the resulting protective sphere; Figure 7 This is a breakdown diagram of the school placement components; Figure 8 This is a top plan view of the annular base shell; Figure 9 This is a schematic diagram of the assembly of the components on the rotating ring; Figure 10 This is a schematic diagram of the assembly of the arc-shaped push plate and the arc-shaped strip; Figure 11 This is an assembly breakdown diagram of the curved push plate and the curved strip; Figure 12 This is a schematic diagram of the assembly of the spring with the side frame and X-frame.

[0014] Figure label: Anti-collision device 100, alignment component 110, annular base shell 111, bottom groove 112, gear mounting area 113, swivel ring 114, internal rack 115, arc strip 116, gear 117, top ring 120, top groove 121, motor 122, side frame 130, X-frame 131, spring 132, push fork 133, arc push plate 134, support ring 200, side beam 210, protective ring 220, cross 230, rotor 231, UAV body 232.

[0015] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0016] The following is a detailed description of a drone system for drone football competitions provided by the present invention, with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments; those skilled in the art can also use other alternative methods to implement some well-known technologies; and the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0017] like Figures 1 to 12As shown, an embodiment of the present invention provides a drone system for drone football competitions, including an anti-collision device 100 and a support ring 200. The anti-collision device 100 is installed on the outer wall of the support ring 200 and can protect the drone from impacts. It is specifically designed for defensive drones. The anti-collision device 100 includes a positioning assembly 110. Arc-shaped push plates 134 are installed on both sides of the positioning assembly 110. There are four sets of arc-shaped push plates 134, which are symmetrically arranged in pairs. The arc-shaped push plates 134 are the execution parts of the anti-collision device 100 and are rotatably mounted on the positioning assembly 110. By rotating, they can absorb the impact energy generated. A drone body 232 is disposed inside the support ring 200. The drone body 232 can adjust the position of the four sets of arc-shaped push plates 134. The drone body 232 has a built-in airborne camera with a USB interface for real-time monitoring. The system acquires images of the front (including the goal and the opposing drone, and calculates their real-time position, speed, and orientation relative to the drone). In particular, the core MCU inside the drone body 232 uses an STM32H743 series chip with a main frequency of no less than 480MHz, integrating a dual-redundant accelerometer, gyroscope, and barometer, and is equipped with IMU temperature compensation and active processor cooling unit to ensure high-precision and high-stability flight control within an operating temperature range of -20℃ to 60℃. At the same time, the drone body 232 integrates an optical flow sensor (for high-precision indoor positioning). Combined with the real-time acquired images and the drone's own position information, it can plan a smooth flight trajectory from the drone's current position to the predicted goal crossing point in real time, and send control commands to the chip to drive the drone to fly autonomously along the trajectory and cross the goal.

[0018] As one implementation method in this embodiment, such as Figures 5 to 9As shown, the alignment component 110 includes an annular base shell 111. The inner wall of the annular base shell 111 is fixedly connected to the outer wall of the support ring 200, which supports the annular base shell 111. Bottom grooves 112 are formed on both sides of the annular base shell 111, penetrating the top and bottom of the annular base shell 111. A rotating ring 114 is rotatably connected to the inner wall of the annular base shell 111. The rotating ring 114 is located inside the annular base shell 111. Arc-shaped strips 116 are fixedly installed on the top and bottom sides of the rotating ring 114, located within the corresponding bottom grooves 112 and rotatably connected to the inner wall of the bottom grooves 112. Gear mounting areas 113 are formed on the inner walls of both ends of the annular base shell 111, with gears 117 rotatably connected to the inner walls of the gear mounting areas 113. Internal racks 115 are fixedly installed on the inner walls of both ends of the rotating ring 114, meshing with the corresponding gears 117. A top ring 120 is fixedly installed at the top of the 11th unit. Top grooves 121 are formed on both sides of the top ring 120, communicating with the bottom groove 112. Two sets of arc-shaped strips 116 at the top are rotatably connected to the inner walls of the corresponding top grooves 121. Motors 122 are fixedly installed at both ends of the top of the top ring 120, and the output of the motors 122 is fixedly connected to the corresponding gears 117. In this invention, when the attacking aircraft approaches the UAV, the onboard camera inside the UAV body 232 observes the position of the attacking aircraft and drives the motors 122 to engage the gears 117 with the internal rack 115, thereby causing the rotating ring 114 to rotate. This causes the arc-shaped strips 116 on the rotating ring 114 to rotate within the corresponding bottom grooves 112 and top grooves 121. At this time, the arc-shaped push plate 134 on the arc-shaped strip 116 can rotate along with the arc-shaped strip 116, so that the arc-shaped push plate 134 faces the attacking direction of the attacking aircraft.

[0019] In this embodiment, as Figures 10 to 12 As shown, the arc-shaped push plate 134 is rotatably connected to the middle end wall of the corresponding arc-shaped strip 116. The arc-shaped strip 116 supports the arc-shaped push plate 134. A side frame 130 is fixedly installed on the inner wall of the middle part of the arc-shaped strip 116. An X-shaped frame 131 is rotatably connected to the end wall of the side frame 130. A spring 132 is fixedly installed on the inner wall of the middle part of the X-shaped frame 131. The arc-shaped push plate 134 can absorb the energy generated by the impact through rotation. At the same time, the spring 132 can be stretched after being impacted, playing the role of energy storage. The other end of the spring 132 is fixedly connected to the side wall of the side frame 130. The X-shaped frame 131 is also fixedly connected to the side wall of the side frame 130. One end is rotatably connected to a push fork 133, and the end wall of the push fork 133 is rotatably connected to the inner wall of the arc-shaped push plate 134. In this invention, when the attacking aircraft collides with the drone, the arc-shaped push plate 134 can absorb the impact energy and deflect it backward, while simultaneously driving the push fork 133 and the X-shaped frame 131 to move backward, and the spring 132 is stretched, thereby preventing the drone from being knocked away by the attacking aircraft. When the impact potential energy of the attacking aircraft is exhausted, the spring 132 will drive the arc-shaped push plate 134 to return to its position under the action of elasticity. At this time, the arc-shaped push plate 134 can push the attacking aircraft outward to bounce it away, thereby completing the defense.

[0020] As one implementation method in this embodiment, such as Figures 1 to 4 As shown, side beams 210 are fixedly installed on the outer wall of the support ring 200. Six sets of side beams 210 are evenly distributed on the outer side of the support ring 200. Protective rings 220 are fixedly installed at the top and bottom of each of the six sets of side beams 210. The support ring 200, side beams 210, and protective rings 220 together form the external protective barrier of the drone. A cross 230 is fixedly installed at the top of the support ring 200. Rotors 231 are rotatably connected to the middle of the cross arms of the cross 230. The support ring 200, side beams 210, and protective rings 220 can protect the rotors 231 from the drone body 232. To protect the drone from impact damage, the drone body 232 is fixedly connected to the top center of the cross 230. The drone body 232 is electrically connected to the four sets of rotors 231. In this invention, the support ring 200, side beam 210, protective ring 220 and cross 230 together form the spherical protective frame of the drone. The spherical protective frame is made of carbon fiber and metal composite material. The diameter of the spherical protective frame is 40cm±2cm and the total weight is no more than 2.5kg. It is used to isolate the internal body and blades from direct contact with the outside during flight and collision.

[0021] The working principle of the technical solution provided by this invention is as follows: During the competition, the drone is used by the defensive drone to intercept the offensive drone. When the offensive drone approaches the drone, the onboard camera inside the drone body 232 observes the position of the offensive drone and drives the motor 122 to drive the gear 117 to mesh with the internal rack 115, thereby driving the rotating ring 114 to rotate. This causes the arc-shaped strip 116 on the rotating ring 114 to rotate in the corresponding bottom groove 112 and top groove 121. At this time, the arc-shaped push plate 134 on the arc-shaped strip 116 can follow the arc. The slat 116 rotates so that the arc-shaped push plate 134 faces the direction of the attacking aircraft. When the attacking aircraft hits the drone, the arc-shaped push plate 134 can absorb the impact energy and deflect it backward. At the same time, it drives the push fork 133 and the X-shaped frame 131 to move backward, and the spring 132 is stretched, thereby preventing the drone from being knocked away by the attacking aircraft. When the impact potential energy of the attacking aircraft is exhausted, the spring 132 will drive the arc-shaped push plate 134 back to its original position under the action of elasticity. At this time, the arc-shaped push plate 134 can push the attacking aircraft outward and knock it away, thereby completing the defense. During the match, when the attacking drone is used to pass through the goal, it takes off and enters a hovering or low-speed cruise state. It continuously searches for the goal target within its field of view using its onboard camera. Once the goal is identified, it immediately tracks and calculates the goal's moving speed vector and real-time spatial position. Based on this data, it predicts the goal's spatial trajectory over a period of time and selects an optimal crossing time and spatial point. Then, based on the drone's current state and the predicted crossing point, it calculates and generates a smooth approximation and crossing trajectory that meets dynamic constraints in real time. Subsequently, the chip executes the trajectory control command to drive the drone to fly autonomously until the crossing is completed. During the crossing, if the remote controller issues an emergency command, the autonomous mission is immediately interrupted, and a preset emergency safety strategy (landing on the spot, returning to home, or switching to manual control) is executed. The autonomous frame-penetrating operation logic of this drone is as follows: I. 0.5s Periodic Displacement Sampling and Goal Motion Stability Judgment Unit The MCU is set to a fixed displacement sampling period of 0.5 seconds, which caches the current spatial pose and initial flight heading angle of the UAV in real time, synchronously stores the body pose data of the previous sampling period, and records the sampling timestamp to complete the cycle timing. After a single sampling interval accumulates to 1 second, the displacement calculation process is initiated: the planar displacement of the UAV relative to the previous sampling period is calculated, and the directional displacement component along the vertical direction of the initial heading is obtained. The logic distinguishes between initial sampling and repeated sampling: Initial sampling only initializes the displacement flag and compares the positive and negative signs of the heading displacement components over two consecutive cycles with non-initial sampling, thus determining the two types of motion states. If the signs of the current and subsequent period heading displacement components are consistent, the moving goal trajectory is determined to be stable, and the stability indicator of the trajectory is set. If the signs of the current and subsequent cycle heading displacement components are opposite, it indicates that the heading of the moving goal has reversed, and the heading reversal indicator is set. After a single cycle of calculation is completed, the current heading displacement component is cached, the historical fuselage pose cache is updated, and the next 0.5s sampling cycle begins.

[0022] II. Goal Center Continuous Aiming Lock-On Judgment Unit The aiming verification logic is only initiated after the goal trajectory stability indicator is set: If the X and Y axis errors of the goal space calculated by the airborne camera are both less than the preset threshold, it is determined that the airborne camera can continuously capture the geometric center of the moving goal. When the continuous and stable aiming time exceeds 2 seconds, the MCU caches the current UAV spatial pose, real-time heading, and goal reference lateral movement speed, switches the flight mission phase to the approach-through-the-frame phase, and officially starts the autonomous passage through the dynamic goal mission. If the airborne camera loses its aim at the center of the goal, immediately refresh the aiming timer window, reset the continuous aiming timer, and pause the goal-scoring task trigger judgment.

[0023] III. Dynamic Goal Autonomous Crossing Dynamics Velocity Control Unit (Goal Crossing Execution Phase) After entering the autonomous frame-penetrating mission, the MCU generates a smooth flight trajectory based on dynamic constraints and issues speed control commands to drive the rotor to perform flight maneuvers: Extract the current lateral and vertical flight speed directions of the UAV; calculate the planar displacement from the aiming and locking reference pose, and convert it into axial displacement along the locked heading; If the axial displacement does not reach the crossing reference distance (the fuselage has not yet passed through the goal): The MCU issues a constant axial crossing speed control command, maintains the lateral movement speed of the moving goal reference, sets the vertical flight speed to zero, and continues to fly autonomously along the predicted smooth trajectory to complete the goal crossing; If the axial displacement exceeds the crossing reference distance (the fuselage completely passes through the goal): the axial flight speed is reset to zero, the landing indicator is set, and the autonomous crossing trajectory execution logic is terminated.

[0024] IV. Airborne Camera Visual Observation Auxiliary Unit The airborne camera acquires real-time images of the stadium environment, identifies the moving goal and draws the goal's bounding box, marks the goal's geometric center point and outputs a visual debugging screen; it also outputs a binarized image for visual recognition parameter debugging, and continuously transmits the real-time spatial coordinates and motion velocity vector of the moving goal to the MCU, providing a visual input source for displacement calculation and trajectory prediction.

[0025] V. Emergency Disruption Safety Strategy for Autonomous Missions When the remote controller issues an emergency control command, the MCU immediately interrupts all autonomous flight trajectory calculations, exits the automatic flight mission, and executes a preset safety strategy: hovering and landing in place, automatic return to home, or directly switching to manual control mode to ensure the safety of the competition flight.

[0026] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0027] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A drone system for drone football competitions, comprising an anti-collision device (100) and a support ring (200), wherein the anti-collision device (100) is mounted on the outer wall of the support ring (200), characterized in that, The anti-collision device (100) includes a positioning component (110), and arc-shaped push plates (134) are installed on both sides of the positioning component (110). There are four sets of arc-shaped push plates (134), which are arranged symmetrically in pairs. The support ring (200) contains a drone body (232), and the drone body (232) can adjust the position of the four sets of arc-shaped push plates (134).

2. The drone system for drone football competition according to claim 1, characterized in that, The alignment component (110) includes an annular base shell (111). The inner wall of the annular base shell (111) is fixedly connected to the outer wall of the support ring (200). Both sides of the annular base shell (111) are provided with bottom grooves (112), and the bottom grooves (112) penetrate the top and bottom of the annular base shell (111). The inner wall of the annular base shell (111) is rotatably connected to a rotating ring (114). Both sides of the rotating ring (114) are fixedly installed with arc-shaped strips (116). The arc-shaped strips (116) are located in the corresponding bottom grooves (112) and are rotatably connected to the inner wall of the bottom grooves (112).

3. The unmanned aerial vehicle (UAV) system for UAV football competitions according to claim 2, characterized in that, The inner walls at both ends of the annular base shell (111) are provided with gear mounting areas (113), and gears (117) are rotatably connected to the inner walls of the gear mounting areas (113). The inner walls at both ends of the rotating ring (114) are fixedly installed with internal racks (115), and the internal racks (115) mesh with the corresponding gears (117).

4. The drone system for drone football competition according to claim 3, characterized in that, A top ring (120) is fixedly installed on the top of the annular base shell (111). Top grooves (121) are provided on both sides of the top ring (120). The top grooves (121) are connected to the bottom grooves (112). The two sets of arc strips (116) on the top are rotatably connected to the inner wall of the corresponding top grooves (121). Motors (122) are fixedly installed at both ends of the top of the top ring (120). The output end of the motor (122) is fixedly connected to the corresponding gear (117).

5. A drone system for drone football competitions according to claim 2, characterized in that, The arc-shaped push plate (134) is rotatably connected to the middle end wall of the corresponding arc-shaped strip (116). A side frame (130) is fixedly installed on the middle inner wall of the arc-shaped strip (116). An X-shaped frame (131) is rotatably connected to the end wall of the side frame (130). A spring (132) is fixedly installed on the middle inner wall of the X-shaped frame (131), and the other end of the spring (132) is fixedly connected to the side wall of the side frame (130). A push fork (133) is rotatably connected to the other end of the X-shaped frame (131), and the end wall of the push fork (133) is rotatably connected to the inner wall of the arc-shaped push plate (134).

6. The unmanned aerial vehicle (UAV) system for UAV soccer competitions according to claim 1, characterized in that, The outer wall of the support ring (200) is fixedly installed with side beams (210). There are six sets of side beams (210) evenly distributed on the outside of the support ring (200). The top and bottom of the six sets of side beams (210) are fixedly installed with protective rings (220). The top of the support ring (200) is fixedly installed with a cross (230). The cross arms of the cross (230) are rotatably connected with rotors (231). The drone body (232) is fixedly connected to the center of the top of the cross (230). The drone body (232) is electrically connected to the four sets of rotors (231).

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