Modular high-speed rotary unmanned aerial vehicle capture control method and device

Abstract

This invention provides a modular high-speed rotating UAV capture and control method and apparatus. Applied to the field of UAV capture equipment technology, the method includes: a processor determining whether the firing window and authorization conditions are met based on the target state, rotation state, and safety constraints, via a firing request sent through a firing input interface and a rotation start request sent through a rotation switch input interface; when the conditions are met, a speed control signal is output through a motor control output interface, and an ignition authorization signal is output through an ignition authorization output interface. This approach solves the technical problems of short effective range of large nets in existing handheld UAV capture devices, cumbersome reloading after a single launch, low efficiency, and unstable launch units.

Description

Technical Field

[0001] This invention relates to the field of drone capture equipment technology, and in particular to a modular high-speed rotating drone capture control method and device. Background Technology

[0002] Currently, existing handheld drone catchers launch a large net using compressed air, gunpowder, or electromagnetic force to trap the drone in mid-air, causing its rotors to become entangled and fall. However, the net has a short effective range, is cumbersome to reload after each launch, is inefficient, and the launch unit is unstable and greatly affected by environmental factors, resulting in the net not fully opening or deviating from its trajectory. Summary of the Invention

[0003] This invention provides a modular high-speed rotating UAV capture and control method and device, which addresses and solves the technical problems of short working distance of large nets in existing handheld UAV capture devices, cumbersome reloading after a single launch, low efficiency, and unstable launch units.

[0004] According to a first aspect of the present invention, a modular high-speed rotating unmanned aerial vehicle (UAV) capture and control method is provided, comprising: The image acquisition module obtains the target image's position, contour size, and confidence features; the ranging module obtains the relative distance between the target and the capture device; and the inertial measurement module obtains the angular velocity and acceleration information of the capture device itself. The processor fuses image information, distance information, and inertial measurement information to estimate the relative state of the target and the current working state of the capture device, and performs handheld shakiness compensation for the line-of-sight deviation of the target in the image based on the inertial measurement information. Based on the target state, rotation state, and safety constraints, the processor determines whether the firing window and authorization conditions are met by using the firing request sent through the firing input interface and the rotation start request sent through the rotary switch input interface. When the conditions are met, the processor outputs a speed control signal through the motor control output interface and an ignition authorization signal through the ignition authorization output interface.

[0005] According to a second aspect of the present invention, a modular high-speed rotating unmanned aerial vehicle (UAV) capture and control device is provided, comprising: a net-launching module, a high-speed rotating launch linkage mechanism, and an integral gun body; the net-launching module is connected to the high-speed rotating launch linkage mechanism via a quick-release buckle, and the high-speed rotating launch linkage mechanism is connected to the integral gun body via screws; The entire gun body is equipped with a micro control computer; the micro control computer is set on the decorative fishbone or steel pipe and is electrically connected to the rotary switch, motor, firing button, battery and ignition circuit board respectively, and is used to perform target recognition and visual-inertial fusion state estimation, rotation state estimation, target rotation speed planning and firing window determination and ignition authorization control. The microcontroller is fixed on the decorative fishbone or steel pipe. The firing button and rotary switch serve as input signals for the microcontroller. The microcontroller outputs rotation control signals to the motor and ignition authorization signals to the ignition circuit board.

[0006] According to a third aspect of the present invention, an electronic device is provided. The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to implement the method according to the first aspect of the present invention.

[0007] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method according to a first aspect of the present invention.

[0008] Compared with existing technologies, the advantages and positive effects of this invention are: This invention addresses the problems existing in the prior art by proposing a high-speed rotating drone capture device. The drone capture net and launch module are modularized, and the capture device has a high-speed rotating launch linkage mechanism and a two-stage piston coordinated firing mechanism, so that the capture net has a forward and rotational motion trajectory after firing, thereby improving the ability to capture drones.

[0009] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0010] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the invention. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein: Figure 1 A flowchart of a modular high-speed rotating unmanned aerial vehicle (UAV) capture and control method according to an embodiment of the present invention is shown; Figure 2 A block diagram of a modular high-speed rotating unmanned aerial vehicle (UAV) capture and control device according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of the launch net module according to an embodiment of the present invention is shown. Figure 1 ; Figure 4 A schematic diagram of the structure of the launch net module according to an embodiment of the present invention is shown. Figure 2 ; Figure 5A schematic diagram of a high-speed rotating launch linkage mechanism according to an embodiment of the present invention is shown. Figure 1 ; Figure 6 A schematic diagram of a high-speed rotating launch linkage mechanism according to an embodiment of the present invention is shown. Figure 2 ; Figure 7 A schematic diagram of the overall gun body according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of a microcontroller computer according to an embodiment of the present invention is shown; Figure 9 A block diagram of an exemplary electronic device capable of implementing embodiments of the present invention is shown. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only 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.

[0012] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0013] Figure 1 A flowchart illustrating a modular high-speed rotating UAV capture and control method 100 according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, method 100 includes: S110: The image acquisition module acquires the target image position, contour size set confidence features; the ranging module acquires the relative distance between the target and the capture device; the inertial measurement module acquires the angular velocity and acceleration information of the capture device body. S120: The processor fuses image information, distance information and inertial measurement information to estimate the relative state of the target and the current working state of the capture device, and performs handheld shake compensation for the line-of-sight deviation of the target in the image based on the inertial measurement information. S130: Based on the target state, rotation state, and safety constraints, the processor determines whether the firing window and authorization conditions are met by using the firing request sent through the firing input interface and the rotation start request sent through the rotary switch input interface. When the conditions are met, the processor outputs a speed control signal through the motor control output interface and an ignition authorization signal through the ignition authorization output interface.

[0014] Optionally, in some embodiments, the processor estimates the target state, converting the raw measurement information output by the image acquisition module, ranging module, and inertial measurement module into target relative state information that can be directly used for control decisions. Since the raw image information is easily affected by recognition fluctuations, the raw ranging information is easily affected by measurement errors, and the handheld capture device experiences body posture disturbances during aiming, directly performing firing control based on the raw measurement results can easily lead to unreasonable rotation speed settings and firing timing deviations. Therefore, the processor fuses and estimates multi-source information to obtain state variables such as target distance, compensated line-of-sight deviation, line-of-sight deviation change trend, and target envelope width, and uses these state variables as inputs for subsequent rotation control and firing window determination to improve the stability and reliability of firing control.

[0015] After the operator completes coarse aiming, the micro-control computer continuously acquires images and distance information of the target ahead, and uses internal inertial measurement information to compensate for hand shake.

[0016] At the k-th sampling time, extract the center coordinates of the target bounding box from the target image in front. Target box width and identification confidence At the same time, obtain the target distance. In addition to the gun's angular velocity and acceleration information; the microcontroller first converts the target box center position into the target's relative azimuth and pitch deviations based on the image intrinsic parameters: (1) in, The coordinates of the principal point in the image. , This is the equivalent focal length parameter.

[0017] Because of the inherent disturbance of the gun body caused by the handheld device, the microcontroller further estimates the short-term angular displacement compensation of the gun body based on the inertial measurement results. and This leads to the compensated target deviation: (2) Further construct the target state vector: (3) in, The target distance is represented by the ranging module at the [number]th [time]. The data was measured directly at each sampling time. The target orientation deviation after inertial compensation is determined by the target image coordinates output by the image acquisition module and the angular velocity information output by the inertial measurement module. The target pitch deviation after inertial compensation is determined by the target image coordinates output by the image acquisition module and the angular velocity information output by the inertial measurement module. The target azimuth deviation rate is obtained by the processor through recursive estimation based on the target azimuth deviation at continuous sampling times. The target pitch deviation rate is obtained by the processor through recursive estimation based on the target pitch deviation at continuous sampling times. This represents the estimated width of the target envelope. This value can be estimated from the target bounding box width and distance. By recursively estimating the target state vector using Kalman filtering, the predicted state of the target within a future time window can be obtained. The specific algorithm is as follows: Equations of state: First, within a short time window, the processor adopts a constant angular velocity state model: (4) System Matrix Sampling period Determined by the processor control cycle, preferably, The range of values ​​is s, in this invention, s, This indicates process noise.

[0018] Measurement equation: Secondly, the measurement equation is defined as follows: (5) Measurement matrix Measurement vector , For measuring noise.

[0019] Noise covariance matrix: Further define the noise covariance matrix ,as follows: (6) The sources and ranges of each parameter are as follows: The variance of the distance-state process noise is determined by the error of the model where the target distance changes slowly, and its value range is [value range missing]. Preferred ; This represents the variance of the azimuth deviation process noise, with a value range of [value missing]. Preferred ; This represents the variance of pitch deviation process noise, with a value range of [value missing]. Preferred ; The variance of the process noise, representing the rate of change of azimuth deviation, has a range of values. Preferred ; This represents the variance of the pitch deviation rate process noise, with a value range of [value missing]. Preferred ; The variance of the noise during the target envelope width process is represented, and its value range is [value range missing]. Preferred .

[0020] Measurement noise covariance matrix: Measurement noise covariance matrix Determined by static calibration and repeated measurement experiments, preferably, Take the diagonal matrix form: (7) This represents the variance of distance measurement noise, obtained by repeated measurements of a fixed target by the ranging module, and its value range is [value range missing]. Preferred ; This represents the variance of the azimuth deviation measurement noise, calculated from the image principal point positioning error and imaging noise, with a value range of [value missing]. Preferred ; This represents the variance of pitch deviation measurement noise, with a value range of [value missing]. Preferred ; This represents the target envelope width measurement noise variance, obtained from target bounding box width fluctuations and distance error propagation, with a value range of [value missing]. Preferred .

[0021] The processor further updates the target state estimate through the following recursive relationship: ; ; ; ; (8) in, This is the estimated target state at the current moment. To estimate the error covariance matrix, This represents the Kalman gain matrix.

[0022] After obtaining the target state estimation result, the processor further performs rotational state estimation, target rotational speed planning, and firing window determination based on the state estimation result.

[0023] The purpose of the rotational state estimation algorithm is to obtain the actual rotational speed information of the rotating outer shell and, based on this, determine whether the high-speed rotating launch linkage mechanism has reached the operating speed suitable for the current target state. Since the motor's drive command is not equivalent to the actual rotational speed of the outer shell, and the rotation establishment process is affected by power supply status, load changes, and transmission errors, a more realistic rotational state result is needed through rotational state estimation. This rotational state estimation result will serve as the input basis for subsequent target speed planning, rotational speed adjustment, and firing window determination.

[0024] The processor first determines the PWM duty cycle. and battery voltage The equivalent drive voltage of the motor is calculated as follows: (9) This is the processor output value, dimensionless, ranging from 0 to 1, and is selected as 0.35. The value range is 12 to 24V, and 18V is selected.

[0025] Furthermore, the processor estimates the motor speed based on the offline calibration results of the low-voltage DC motor: (10) in For motor 25 in the The estimated angular velocity at each sampling time point, in units of ; This is a zero-bias compensation term, in units of The value range is -20 to 20 rad / s, and is selected as 1 rad / s; This is the voltage-speed gain coefficient, in units of... The value range is 20~30 rad / s, and 25 rad / s is selected. This is the load correction factor, in units of The value range is 10~15 , selected as 12 .

[0026] The motor's output drives the rotating housing to rotate via a small pulley and a round belt. Let the transmission ratio between the motor's speed and the rotating housing's speed be... Then the estimated angular velocity of the rotating shell is: (11) For the estimated angular velocity of the rotating shell, The transmission ratio is determined by the transmission structure parameters between the small pulley and the rotating housing, and its value ranges from 1.0 to 2.5. It is selected as 1.5.

[0027] After clarifying the purpose of rotational state estimation, the processor further estimates the current rotational speed of the rotating shell based on the motor's drive information, power supply status, and the pre-stored motor-transmission mechanism model.

[0028] The target rotation speed planning algorithm aims to generate a suitable target rotation speed for the high-speed rotating launch linkage mechanism based on the current target state and rotation state. This ensures the capture net achieves a more appropriate centrifugal deployment capability during flight and deployment. When the target distance is far or the target line-of-sight deviation rate is large, the rotation speed needs to be increased to enhance deployment capability. When the target envelope width is large, excessively high rotation speed is unnecessary to avoid excessive centrifugal deployment leading to deployment center shift. Therefore, the processor needs to adaptively plan the target rotation speed based on the target state estimation results.

[0029] The processor generates the target rotational speed according to the following formula: (12) in: For the processor in the The target rotational speed generated at each sampling time, in units of ; This is a limiting function used to restrict the target rotational speed within an allowable range; The base rotational speed is set between 120 and 260 rad / s, and is selected as 180 rad / s. This is the range gain coefficient, with a value ranging from 5 to 25 rad / s, and is selected as 12 rad / (s·m); The gain coefficient for the rate of change of azimuth deviation is 20 to 100, and is selected as 60. The pitch deviation rate of change gain coefficient has a value range of 20 to 100, and is selected as 60. The target envelope width suppression coefficient has a value range of 50~200 rad / (s·m); The minimum permissible target rotational speed is selected as 100 rad / s; The maximum permissible target speed is selected as 550 rad / s.

[0030] The processor obtains the target speed. Then, it is compared with the current rotational state estimate. The comparison generates a speed control quantity for motor 25, which is then output to the motor drive circuit via the motor control output interface to drive the high-speed rotating launch linkage mechanism 102 to converge towards the target speed. The target speed... It also serves as the rotation condition input in the firing window determination, used to determine whether the current rotation state has met the requirements for firing.

[0031] The purpose of the firing window determination algorithm and the processor's firing window determination and ignition authorization control is to determine whether the current moment is suitable for firing based on the target state estimation results, rotation state estimation results, and target rotation speed planning results. Since there is a certain time process from target recognition, rotation establishment, ignition triggering, to the capture net flying out and fully deploying, and the deployment effect of the capture net is simultaneously affected by target distance, target line-of-sight deviation, target size, current rotation state, and handheld disturbance, the processor needs to determine the expected deployment effect of the capture net at the current moment. Only when conditions such as deployment diameter, deployment center deviation, rotation state, target recognition reliability, and power status are met will the processor output an ignition authorization signal to the ignition circuit board.

[0032] The processor estimates the flight time of the capture net based on the current target distance. and the equivalent axial flight speed of the net-launching module Calculate the time required for the capture net to fly to the vicinity of the target: (13) The speed was set to 18 m / s.

[0033] Effective diameter calculation is performed by the processor based on the current rotation state. and the flight time of the capture net Calculate the effective deployed diameter of the capture net near the target at the current moment if firing is carried out. : (14) in The base diameter is measured in meters (m), and its value ranges from 0.08 to 0.15 m. A value of 0.1 m is selected. The value of the gain coefficient in the rotating state is in the range of 0.0020 to 0.0030 m·s / rad, and is selected as 0.0025 m·s / rad; The flight time gain coefficient is 0.5 to 1.00 m / s, and 0.8 m / s is selected.

[0034] The aiming deviation projection calculation, in order to characterize the impact of the current aiming deviation on the target coverage capability of the capture net, is performed by the processor based on the compensated target azimuth deviation. Pitch deviation and target distance Calculate the equivalent offset corresponding to the aiming deviation in the target plane. : (15) Effective firing determination, the processor determines based on the effective deployment diameter. Target envelope width and equivalent aiming offset Construct an effective firing determination quantity : (16) For the first The effective firing determination quantity at each sampling time is expressed in meters. To ensure sufficient coverage margin, the effective deployed diameter of the capture net, after deducting the target envelope width and aiming deviation, still has enough coverage allowance. The selected range is 0.1~0.2m, and 0.15m is chosen. If... This indicates that under the current rotation and target conditions, the capture net has the ability to deploy near the target to meet the coverage requirements; if If the condition is not met at the current moment, it means that the conditions for effective firing are not present.

[0035] Ignition authorization conditions and output: The processor uses a comprehensive threshold determination method to output the ignition authorization signal. Specifically, the ignition authorization signal is only output when a valid firing determination is reached. Current rotational state estimate With target speed The deviation does not exceed the allowable rotational speed deviation threshold. Target recognition confidence Not lower than the identification confidence threshold Battery output voltage Not lower than the minimum operating voltage threshold Short circuit status indicator And target distance Falling into the effective capture range of the current launch capture module Only when the time is within the valid firing window will the processor determine that the current moment is within the valid firing window and output the ignition authorization signal; otherwise, the processor will not output the ignition authorization signal.

[0036] When the above conditions are met, the processor determines that the current moment is within a valid firing window and outputs the ignition authorization signal FireEnable. k =1, otherwise FireEnable k =0. The processor is only available in FireEnabled. k=1 and when the firing input interface detects that the operator has pressed the firing button, it outputs an ignition authorization signal to the ignition circuit board through the ignition authorization output interface to trigger the micro gas generator to work.

[0037] This embodiment includes components such as a net-capturing launch module, a high-speed rotating launch linkage mechanism, a high-energy gas triggering and protection system, and the overall gun body. The high-energy gas triggering and protection system is installed on the net-capturing launch module. The net-capturing launch module is fixed to the high-speed rotating launch linkage mechanism via quick-release clips. The high-speed rotating launch linkage mechanism is installed on the overall gun body. The net-capturing launch module has a built-in high-energy gas generator triggering and protection mechanism, and also features a two-stage piston. After the high-energy gas generator is triggered, it works in conjunction with the firing of the net and the small piston, ensuring that the net and the small piston have a certain initial velocity after being fired. The high-speed rotating launch linkage mechanism includes components such as a high-speed motor, a belt drive mechanism, a spring damping mechanism, and a rotary button. The high-energy gas generator is in a short-circuit state when not triggered; the short-circuit state is released only after the high-speed rotating launch linkage mechanism rotates to a certain speed. The reverse force generated by the capture device after the high-energy gas generator is triggered will not cause additional damage to the motor, and the motor jamming will not cause the entire system to jam.

[0038] Compared with the prior art, the advantages of this invention are that the launching net module can be quickly replaced after the catcher fires once. At the same time, the dual-piston coordinated firing and high-speed rotating linkage mechanism make the capture net fly faster, farther and spread wider, thereby increasing the possibility of capturing drones. The safe high-energy gas generator triggering and protection mechanism can ensure the safety of the launching net module during transportation and use, and will not cause harm to personnel.

[0039] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0040] The above is an introduction to the method embodiments. The following describes the solution of the present invention further through device embodiments.

[0041] Figure 2 A block diagram of a modular high-speed rotating unmanned aerial vehicle (UAV) capture and control device according to an embodiment of the present invention is shown.

[0042] like Figure 2As shown, the device includes: a net-launching module 103, a high-speed rotating launch linkage mechanism 102, and an overall gun body 101; the net-launching module 103 is connected to the high-speed rotating launch linkage mechanism 102 via a quick-release buckle, and the high-speed rotating launch linkage mechanism 102 is connected to the overall gun body 101 via screws.

[0043] like Figure 3 As shown and Figure 4 The launching net module 103 consists of net nest 1 and M2. 3. Hex socket screws; 2. Air nozzle; 3. Limiting screws; 4. M5 8. Socket head cap screw; 5. Piston sleeve; 6. Connector mounting base; 7. Male connector; 8. Ignition circuit board; 9. Short circuit switch; 10. First threaded ring; 11. Miniature gas generator; 12. First sealing ring; 13. Large piston; 14. Second threaded ring; 15. Small piston; 16. Through-hole screw; 17. Snap-mesh net; 18. M2.5 It consists of 8 pan head screws, 19, and a second sealing ring, 20.

[0044] The air nozzle 3 and piston sleeve 6 are connected via M3 8 hexagon socket screws 5 are connected; limit screws 4 are tightened on piston sleeve 6; first sealing ring 13 is fitted into the groove of large piston 14 and inserted into piston sleeve 6; second threaded ring 15 with adhesive is screwed into piston sleeve 6 and tightened; capture net 18 is composed of 8 Kevlar aramid threads, one end of the 8 Kevlar aramid threads is tied together; the other end is respectively tied with through screw 17, through screw 17 is screwed onto small piston 16; second sealing ring 20 is fitted into the groove of small piston 16; small pistons are inserted into the holes of air passage nozzle 3 in sequence, and capture net is folded and put into net nest 1; net nest 1 is connected through M2 3. Hex socket screws 2 are press-fitted onto the air nozzle 3; connector male 8 is soldered onto the ignition circuit board 9 and press-fitted onto connector mounting base 7 with screws, while short circuit switch 10 is press-fitted onto connector mounting base 7, and the short circuit switch lead and the miniature gas generator trigger connector are soldered onto the ignition circuit board; miniature gas generator 12 is press-fitted onto piston sleeve 6 via first screw ring 11, and after the trigger connector is inserted into the tail of the miniature gas generator, connector mounting base 7 is connected via M2.5... 8 pan head screws 19 are fixed on the piston sleeve 6 to form the launching net module 103.

[0045] like Figure 6 As shown, the high-speed rotating launch linkage mechanism 102 consists of a roller 21, a housing 22, a first grip 23, a rotary switch 24, a motor 25, a motor mounting base 26, a small pulley 27, a round belt 28, a third screw ring 29, a deep groove ball bearing 30, a bushing 31, a rotating outer shell 32, a connector female seat 33, a baffle 34, a return spring 35, a slip ring 36, and a deep groove ball bearing 37.

[0046] The motor 25 is mounted on the motor mounting base 26 with screws, and the small pulley 27 is glued to the motor 25 with adhesive; the deep groove ball bearing 30 is mounted on the small shaft end of the rotating housing 32, and the bearing is limited by a baffle 34 mounted on the small shaft end face; the lead wire of the mating plug female seat 33 is welded and fixed to the rotating housing 32 with adhesive; the other end of the lead wire is welded to the rotor end lead wire of the slip ring 36, and the slip ring 36 is glued to the rotating housing 32; the return spring 35 is sleeved on the small shaft end of the rotating housing 32, the slip ring stator end lead wire passes through the reserved hole, and the rotating housing is installed into the housing 22; after assembly, the bushing 31 is installed into the housing 22, and the door is opened. The opening position is consistent with the opening position of the housing. The round belt 28 is inserted through the gap between the bushing and the rotating housing and taken out from the reserved opening of the housing. At the same time, the deep groove ball bearing 30 is installed into the housing and pressed in with the third screw ring 29. The roller 29 is installed on the rotating housing 32 and fastened with screws. At the same time, the entire motor assembly is fixed on the housing 22, and the round belt is fitted into the corresponding slot of the small pulley 27. The red and black wires on the rotary switch 24 are connected to the first grip 23. The red wire is connected to the positive wire of the motor, and the black wire and the negative wire of the motor are led to the battery of the overall gun body 101. The first grip 23 is finally fixed on the housing 22 to form the high-speed rotating firing mechanism 102.

[0047] like Figure 7 As shown, the overall gun body 101 consists of a stock 38, a battery 39, a second grip 40, a firing button 41, a decorative herringbone 42, a steel pipe 43, and a microcontrol computer 44. The microcontrol computer 44 is mounted on the decorative herringbone 42 or the steel pipe 43 and is electrically connected to the rotary switch 24, the motor 25, the firing button 41, the battery 39, and the ignition circuit board 9, respectively. It is used to perform target recognition and visual-inertial fusion state estimation, rotation state estimation, target rotation speed planning, and firing window determination and ignition authorization control. 44 is fixed to the decorative fishbone 42 or steel pipe 43. The firing button 41 and rotary switch 24 are both input signals to the micro control computer 44. The micro control computer 44 outputs a rotation control signal to the motor 25 and an ignition authorization signal to the ignition circuit board 9. The stock 38 is fixed to the steel pipe 43 by screw ring press-fit. The battery is inserted into the second grip 40. The firing button 41 is wired according to the corresponding wiring table and fixed to the second grip 40. The second grip 40 and the decorative fishbone 42 are fixed to the steel pipe with screws to form an integral gun body.

[0048] In this embodiment, the launch net module 103 is first inserted into the limiting groove of the high-speed rotating launch linkage mechanism 102 and rotated at a certain angle to complete the installation, so that the male connector 8 and the female connector 33 are connected and connected; then, the second grip 40 of the whole gun body 101 is held with both hands to aim at the incoming drone and the accidental triggering safety device of the firing button 41 is released; after the micro control computer 44 is powered on, it first acquires the target image information, target distance information and the attitude disturbance information of the capture device body, and executes the target recognition and visual-inertial fusion state estimation algorithm to obtain target state quantities such as target distance, compensated target azimuth deviation, pitch deviation, target envelope width and target recognition confidence. After the operator presses the rotary switch 24, the microcontroller 44 controls the motor 25 to drive the high-speed rotating launch linkage mechanism 102 to rotate, and executes a rotation state estimation algorithm to obtain the current rotation state of the rotating shell 32. Subsequently, the microcontroller 44 executes a target speed planning algorithm based on the target state estimation result and the current rotation state to generate a target speed that matches the current target operating conditions, and controls the motor 25 to continuously adjust the high-speed rotating launch linkage mechanism 102 to converge toward the target speed. When the processor further executes the firing window determination and ignition authorization algorithm based on the target distance, target envelope width, target line-of-sight deviation, current rotation state, and the deployment capability of the current launch net module 103, and determines the current target position... During the effective firing window, if the internal short-circuit protection of the net-catching module 103 has been released, and the power supply status and identification reliability meet the ignition authorization conditions, then the micro-control computer 44 enters the firing permission state. After the operator presses the firing button 41, the micro-control computer 44 outputs an ignition authorization signal to the ignition circuit board 9. After receiving the ignition authorization signal, the ignition circuit board 9 detonates the micro gas generator 12 to generate a large amount of gas. Driven by the gas, the large piston 14 moves forward and hits the net 1, while exposing the air passage. The high-pressure gas is pushed out through the air passage to eight small pistons 16. The small pistons 16 drive the eight Kevlar aramid threads in the net 18 to expand to their maximum size in a high-speed rotating state, thereby rushing towards the invading drone and capturing it.

[0049] In this embodiment, Figure 8 The microcontroller 44 specifically includes: Power supply module: Used to provide stable operating power to the various functional units inside the microcontroller computer, and to provide the required voltage and current to the image acquisition module, ranging module, inertial measurement module, processor, and various input / output interfaces.

[0050] Image acquisition module: used to acquire continuous image sequences of the area in front of the launch direction in real time, providing the processor with target image position, target contour size and target confidence feature information to support target recognition, target line-of-sight deviation estimation and target scale estimation.

[0051] The ranging module is used to acquire the relative distance information between the target and the capture device in real time. The processor calculates the flight time required for the capture net to fly to the vicinity of the target based on this distance information, and uses it as an important basis for determining the firing window.

[0052] Inertial measurement module: used to measure the angular velocity and acceleration information of the capture device in real time. The processor uses this information to perform perturbation compensation for the line-of-sight deviation of the target in the image, so as to eliminate the influence of hand-held shakiness on the target state estimation.

[0053] Processor: Used to fuse image information, target distance information and inertial measurement information, estimate the target relative state and the current working state of the capture device, and generate motor control signals and ignition authorization signals based on the pre-stored capture net unfolding dynamic model.

[0054] Firing input interface: used to collect the operator's firing request signal. The processor will only convert the firing request into an ignition authorization output when the current target state, rotation state and safety constraints are all satisfied.

[0055] Rotary switch input interface: used to receive rotation start requests. The processor outputs motor control signals based on the request, combined with the target state and the current system state, to adjust the operating speed of the rotating housing.

[0056] Motor control output interface: Used to receive the target speed control signal generated by the processor and output it to the motor drive circuit to control the high-speed rotating launch linkage mechanism to achieve a rotation speed that matches the current target state.

[0057] Ignition authorization output interface: When the processor determines that it is currently in a valid firing window and meets the safety authorization conditions, it outputs an ignition authorization signal to the ignition circuit board 9 to trigger the micro gas generator 12 to work.

[0058] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the described module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0059] According to embodiments of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0060] Figure 8A schematic block diagram of an electronic device 300 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0061] Electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in ROM 302 or a computer program loaded into RAM 303 from storage unit 308. RAM 303 can also store various programs and data required for the operation of electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via bus 304. I / O interface 305 is also connected to bus 304.

[0062] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0063] The computing unit 301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the modular high-speed rotating drone capture and control method. For example, in some embodiments, the modular high-speed rotating drone capture and control method can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the modular high-speed rotating drone capture and control method described above can be performed. Alternatively, in other embodiments, computing unit 301 may be configured to perform the modular high-speed rotating UAV capture control method by any other suitable means (e.g., by means of firmware).

[0064] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0065] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0066] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0067] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including voice input, speech input, or tactile input).

[0068] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0069] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0070] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0071] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A modular high-speed rotating unmanned aerial vehicle (UAV) capture and control method, characterized in that, include: The image acquisition module obtains the target image's location, contour size, and confidence features. The relative distance between the target and the capture device is obtained through the ranging module; The angular velocity and acceleration information of the capture device body are obtained through the inertial measurement module; The processor fuses image information, distance information, and inertial measurement information to estimate the relative state of the target and the current working state of the capture device, and performs handheld shakiness compensation for the line-of-sight deviation of the target in the image based on the inertial measurement information. Based on the target state, rotation state, and safety constraints, the processor determines whether the firing window and authorization conditions are met by using the firing request sent through the firing input interface and the rotation start request sent through the rotary switch input interface. When the conditions are met, the processor outputs a speed control signal through the motor control output interface and an ignition authorization signal through the ignition authorization output interface.

2. The modular high-speed rotating UAV capture and control method according to claim 1, characterized in that, The processor estimates the target state, converting the raw measurement information output by the image acquisition module, ranging module, and inertial measurement module into target relative state information for control decisions. The processor fuses and estimates the multi-source information to obtain the target distance, compensated line-of-sight deviation, line-of-sight deviation trend, and target envelope width state variables, and uses these state variables as inputs for rotation control and firing window determination.

3. The modular high-speed rotating UAV capture and control method according to claim 2, characterized in that, After completing coarse aiming, the microcontroller continuously acquires images and distance information of the target ahead, and uses internal inertial measurement information to compensate for hand-held shaking. At the sampling time, the center coordinates of the target box, the width of the target box, and the recognition confidence are extracted from the image of the target in front. At the same time, the target distance, the angular velocity of the gun body, and the acceleration information are obtained. The micro control computer first converts the center position of the target box into the target relative azimuth deviation and pitch deviation based on the image intrinsic parameters. Estimate the short-time angular displacement compensation of the gun body based on the inertial measurement results, and obtain the compensated target deviation; Construct the target state vector.

4. The modular high-speed rotating UAV capture and control method according to claim 3, characterized in that, By recursively estimating the target state vector using Kalman filtering, the predicted state of the target within a future time window can be obtained. After obtaining the target state estimation result, the processor performs rotational state estimation, target rotational speed planning, and firing window determination based on the state estimation result.

5. The modular high-speed rotating UAV capture and control method according to claim 4, characterized in that, The processor performs rotational state estimation, obtains the actual rotational speed information of the rotating shell, and determines whether the high-speed rotating launch linkage mechanism has reached the working speed suitable for the current target state. The rotational state results are obtained through rotational state estimation; The rotational state estimation results will serve as the input for target rotational speed planning, rotational speed adjustment, and firing window determination.

6. The modular high-speed rotating UAV capture and control method according to claim 5, characterized in that, The processor first calculates the equivalent drive voltage of the motor based on the PWM duty cycle and the battery voltage; Estimate the motor speed based on the offline calibration results of the low-voltage DC motor; The motor output drives the rotating housing to rotate via a small pulley and a round belt. The transmission ratio between the motor speed and the rotating housing speed is set to obtain the estimated angular velocity of the rotating housing. After determining the purpose of rotational state estimation, the processor estimates the current rotational speed of the rotating shell based on the motor's drive information, power supply status, and a pre-stored motor-transmission mechanism model.

7. The modular high-speed rotating UAV capture and control method according to claim 1, characterized in that, The processor performs target rotation speed planning. Based on the current target state and current rotation state, it generates a target rotation speed suitable for the current working conditions for the high-speed rotating launch linkage mechanism, enabling the capture net to obtain centrifugal deployment capability during flight and deployment. The processor adaptively plans the target rotation speed based on the target state estimation results. After obtaining the target rotational speed, the processor compares it with the estimated value of the current rotational state, generates the speed control quantity of the motor, and outputs it to the motor drive circuit through the motor control output interface to drive the high-speed rotating launch linkage mechanism to converge toward the target rotational speed. The target rotational speed is also used as the rotational condition input in the firing window determination to determine whether the current rotational state has met the requirements for firing.

8. The modular high-speed rotating UAV capture and control method according to claim 1, characterized in that, The processor determines the firing window and ignition authorization control, and decides whether to fire at the current moment based on the target state estimation result, rotation state estimation result and target rotation speed planning result; The expected deployment effect of the capture net at the current moment is determined, and an ignition authorization signal is output to the ignition circuit board when the deployment diameter, deployment center deviation, rotation state, target recognition reliability and power status conditions are met.

9. A modular high-speed rotating UAV capture and control device, used to implement the modular high-speed rotating UAV capture and control method according to any one of claims 1-8, characterized in that, include: The system comprises a net-launching module, a high-speed rotating launch linkage mechanism, and the overall gun body. The net-launching module is connected to the high-speed rotating launch linkage mechanism via a quick-release buckle, and the high-speed rotating launch linkage mechanism is connected to the overall gun body via screws. The entire gun body is equipped with a micro control computer; the micro control computer is set on the decorative fishbone or steel pipe and is electrically connected to the rotary switch, motor, firing button, battery and ignition circuit board respectively, and is used to perform target recognition and visual-inertial fusion state estimation, rotation state estimation, target rotation speed planning and firing window determination and ignition authorization control. The microcontroller is fixed on the decorative fishbone or steel pipe. The firing button and rotary switch serve as input signals for the microcontroller. The microcontroller outputs rotation control signals to the motor and ignition authorization signals to the ignition circuit board.

10. The modular high-speed rotating UAV capture and control device as described in claim 9, characterized in that, A microcontroller computer, comprising: The power supply module is used to provide stable operating power to the various functional units inside the microcontroller computer, and to provide the required voltage and current to the image acquisition module, ranging module, inertial measurement module, processor, and various input / output interfaces. The image acquisition module is used to acquire a continuous image sequence of the area in front of the launch direction in real time, providing the processor with target image position, target contour size and target confidence feature information to support target recognition, target line-of-sight deviation estimation and target scale estimation; The ranging module is used to acquire the relative distance information between the target and the capture device in real time. The processor calculates the flight time required for the capture net to fly to the vicinity of the target based on the relative distance information and uses it as an important basis for determining the firing window. The inertial measurement module is used to measure the angular velocity and acceleration information of the capture device in real time. The processor uses this information to perform perturbation compensation for the line-of-sight deviation of the target in the image. The processor is used to fuse image information, target distance information and inertial measurement information, estimate the target relative state and the current working state of the capture device, and generate motor control signals and ignition authorization signals based on the pre-stored capture net deployment dynamic model. The firing input interface is used to collect the operator's firing request signal. The processor will only convert the firing request into an ignition authorization output when the current target state, rotation state and safety constraints are all satisfied. The rotary switch input interface is used to receive rotation start requests. The processor outputs motor control signals based on the request, combined with the target state and the current system state, to adjust the operating speed of the rotating housing. The motor control output interface is used to receive the target speed control signal generated by the processor and output it to the motor drive circuit to control the high-speed rotating launch linkage mechanism to achieve a rotation speed that matches the current target state. The ignition authorization output interface is used to output an ignition authorization signal to the ignition circuit board when the processor determines that it is currently in a valid firing window and meets the safety authorization conditions, so as to trigger the micro gas generator to work.

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