Unmanned aerial vehicle cooperative interception control method, device and equipment, storage medium

Abstract

The application relates to the technical field of unmanned aerial vehicle control, in particular to a kind of unmanned aerial vehicle cooperative interception control method, device, equipment, storage medium, the method comprises: searching target to be intercepted through optical sighting unit in ground terminal system until locking;Ground terminal system determines the global heading information of locked target to be intercepted, and sends global heading information to unmanned aerial vehicle system;Unmanned aerial vehicle starts manual control mode, unmanned aerial vehicle information processing unit in unmanned aerial vehicle system determines the flight direction of unmanned aerial vehicle in real time according to real-time receiving manual operation instruction sent by ground terminal system, and flight scene information collected by sensing interception unit in unmanned aerial vehicle system;Unmanned aerial vehicle information processing unit controls unmanned aerial vehicle to move to the preset interception range of target to be intercepted along flight direction indication;In preset interception range, sensing interception unit, intelligent capture system in unmanned aerial vehicle system are started to autonomously execute interception task, and target to be intercepted is captured.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a UAV cooperative interception control method, apparatus, computer equipment, and storage medium. Background Technology

[0002] With the development of aircraft and remote control technology, low-altitude target interception systems have been widely used in military protection, critical infrastructure protection, and material transportation. Currently, the main methods for interfering with or intercepting aerial targets are through manually operated drones or automated systems. For example, radar, infrared sensors, and visual tracking technologies are used for target detection and positioning, and then drones are used to carry out interception missions. However, this still relies heavily on manual operation or relatively simple automated control, which makes it difficult to meet the requirements for high-precision interception in high-speed, dynamically changing airspace environments.

[0003] Therefore, there is an urgent need for a more effective interception method. Summary of the Invention

[0004] This application provides a method, apparatus, computer device, and storage medium for collaborative interception and control of unmanned aerial vehicles (UAVs).

[0005] A method for cooperative interception control of unmanned aerial vehicles (UAVs) is applied to a UAV cooperative interception system, the UAV cooperative interception system comprising at least: a ground terminal system and a UAV system communicating with each other, and the method comprising at least: The target to be intercepted is searched for and locked onto by the optical sight unit in the ground terminal system; The ground terminal system determines the global heading information of the locked target to be intercepted and sends the global heading information to the UAV system; When the drone starts manual control mode, the drone information processing unit in the drone system determines the drone's flight guidance direction in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the drone system. The UAV information processing unit controls the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; Within the preset interception range, the UAV system activates the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted.

[0006] In an optional embodiment of this application, before the drone initiates manual control mode, the method further includes: The ground information processing unit in the ground terminal system responds to the manual control mode command and sends the manual control mode command to the UAV information processing unit in the UAV system. The UAV information processing unit controls the UAV to switch to the manual control mode; The ground information processing unit in the ground terminal system responds to the manual operation command and sends the manual operation command to the UAV information processing unit in the UAV system in real time; In one optional embodiment of this application, the drone is equipped with a gimbal, and the flight scene information includes at least: the forward direction of the drone; correspondingly, the drone activates a manual control mode, and the drone information processing unit in the drone system determines the drone's flight guidance direction in real time based on the manual operation commands sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the drone system, including: When the UAV starts the manual control mode, the UAV information processing unit determines the rotation matrix and global position coordinates of the current attitude angle of the UAV based on the initial guidance direction corresponding to the manual operation command in the preset global coordinate system, the forward direction of the UAV in the gimbal coordinate system, the correspondence between the pre-configured gimbal coordinate system and the UAV coordinate system, and the correspondence between the UAV coordinate system and the global coordinate system. The flight guidance direction of the UAV is determined based on the rotation matrix and the global position coordinates.

[0007] In one optional embodiment of this application, the perception and interception unit is configured with a target library; wherein the target library includes a variety of target objects; correspondingly, within the preset interception range, before the UAV system activates the perception and interception unit and the intelligent capture system autonomously executes the interception task to capture the target to be intercepted, the method further includes: The perception and interception unit performs target recognition on the field-of-view image acquired by the optical sight unit based on a pre-configured target recognition model, and determines whether the field-of-view image contains a target object from the target database. If the field of view image contains a target object from the target library, then the target object in the field of view image is identified as the target to be intercepted; The current position of the target to be intercepted is determined based on the flight scene information collected by the perception and interception unit and the current field of view image; The intelligent capture system is activated to autonomously execute the interception task and capture the target at its current location.

[0008] In one optional embodiment of this application, determining the current position of the target to be intercepted based on the flight scene information collected by the perception and interception unit and the current field-of-view image includes: Based on the epipolar geometry principle, the position of the target to be intercepted is estimated according to the flight scene information and the current field of view image, thus obtaining the current position of the target to be intercepted.

[0009] In an optional embodiment of this application, the method based on epipolar geometry, which estimates the position of the target to be intercepted based on the flight scene information and the current field of view image to obtain the current position of the target to be intercepted, includes: A model of the target to be intercepted is constructed based on the flight scenario information and the current field of view image; The model of the target to be intercepted is solved based on the preset epipolar constraint to obtain the current position of the target to be intercepted.

[0010] In an optional embodiment of this application, after the UAV information processing unit controls the UAV to move along the flight guidance direction to a preset interception range of the target to be intercepted, the method further includes: If the drone moves into the preset interception range of the target to be intercepted, the point cloud sensor configured in the drone collects the target depth information of the target to be intercepted.

[0011] In an optional embodiment of this application, the method further includes: The direction information from the global navigation information is substituted into the point cloud, and the point cloud is filtered according to the direction information. Point cloud clusters of the target to be intercepted are obtained based on a clustering algorithm; The current position of the target to be intercepted is determined based on the point cloud cluster position information of the target to be intercepted.

[0012] In an optional embodiment of this application, determining the current position of the target to be intercepted based on the point cloud cluster position information of the target to be intercepted includes: A position information fusion method based on Kalman filtering is used to fuse the first target position determined based on the field of view image acquired by the optical sight unit with the second target position determined based on the point cloud cluster to obtain the current position of the target to be intercepted.

[0013] In one optional embodiment of this application, the perception and interception unit employs a multi-sensor fusion target perception and localization system; correspondingly, the method further includes: A loosely coupled information fusion method is used to fuse the flight scene information collected by each sensor to obtain fused flight scene information.

[0014] In an optional embodiment of this application, the method further includes: If the weight of the UAV system exceeds the preset maximum load after the target to be intercepted is captured, the UAV information processing unit will activate the parachute system to control the flight of the UAV.

[0015] In an optional embodiment of this application, the method further includes: After the target to be intercepted is captured, or if the duration of the drone in standby mode exceeds a preset standby time threshold, the information processing unit controls the drone to automatically return to its home location.

[0016] In a second aspect of this application, a drone cooperative interception control device is provided, applied to a drone cooperative interception system, the drone cooperative interception system comprising at least: a ground terminal system and a drone system communicating with each other, and the device comprising at least: The search module is used to search for the target to be intercepted through the optical sight unit in the ground terminal system until it locks on; The first determining module is used by the ground terminal system to determine the global heading information of the locked target to be intercepted, and to send the global heading information to the UAV system; The second determining module is used to enable the UAV to start manual control mode. The UAV information processing unit in the UAV system determines the flight guidance direction of the UAV in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the UAV system. The control module is used by the UAV information processing unit to control the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; An execution module is configured to, within the preset interception range, activate the perception and interception unit and the intelligent capture system of the unmanned aerial vehicle (UAV) system to autonomously execute the interception task and capture the target to be intercepted. A third aspect of this application provides a computer device, comprising: a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.

[0017] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0018] The UAV cooperative interception control method provided in this application embodiment is applied to a UAV cooperative interception system, which includes at least a ground terminal system and a UAV system communicating with each other. The method includes at least the following steps: searching for a target to be intercepted through an optical sight unit in the ground terminal system until it is locked; the ground terminal system determining the global heading information of the locked target and sending the global heading information to the UAV system; the UAV activating a manual control mode, and the UAV information processing unit in the UAV system determining the UAV's flight guidance direction in real time based on the manual operation commands received in real time from the ground terminal system and the flight scene information collected by the perception and interception unit in the UAV system; the UAV information processing unit controlling the UAV to move along the flight guidance direction to a preset interception range of the target to be intercepted; within the preset interception range, the UAV system activating the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted. Firstly, it can accurately and efficiently perform target locking and interception tasks, greatly improving the accuracy and efficiency of target interception. Secondly, it searches for the target to be intercepted through the optical sight unit in the ground terminal system until it locks on, and then activates the manual control mode of the UAV. By operating the UAV through the ground terminal system, it can interact with the UAV, making autonomous control more flexible and convenient.

[0019] In summary, the embodiments of this application provide a UAV collaborative interception and control method with higher interception accuracy and efficiency, greater autonomous control flexibility and convenience, and better target interception effect. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of a drone cooperative interception system provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of a ground terminal system in a UAV cooperative interception system provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of a drone system in a drone cooperative interception system provided in one embodiment of this application; Figure 4 This is a schematic diagram illustrating a usage scenario of a drone cooperative interception system provided in one embodiment of this application; Figure 5 This is a processing logic diagram for the ground information processing unit and the UAV information processing unit; Figure 6A flowchart illustrating the UAV cooperative interception and control method provided in this application embodiment; Figure 7 A schematic diagram illustrating the principle of estimating target position information using the epipolar geometry principle; Figure 8 A schematic diagram illustrating the performance of the target localization method based on epipolar geometry; Figure 9 This is a schematic diagram of the control logic of the intelligent capture system; Figure 10 This is a simulation diagram of the autonomous flight process of a drone on the ground in a real-world scenario. Figure 11 This is a schematic diagram showing a drone gradually approaching a target on a cylindrical surface at a certain distance from the azimuth vector. Figure 12 This is a schematic diagram of the drone's flight during the terminal lock phase; Figure 13 This is a schematic diagram of the structure of a drone cooperative interception control device provided in one embodiment of this application; Figure 14 This is a schematic diagram of a computer device structure provided in one embodiment of this application. Detailed Implementation

[0021] In the process of developing this application, the inventors discovered that there is an urgent need for a more effective interception method. To address the above problem, embodiments of this application provide a method, apparatus, device, and storage medium for cooperative interception control of unmanned aerial vehicles (UAVs).

[0022] The solutions in this application embodiment can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0023] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0024] Please see Figure 1 The UAV cooperative interception control method provided in this application embodiment is applied to a UAV cooperative interception system, which includes at least: a ground terminal system and a UAV system that communicate with each other, wherein: Please see also Figure 1 and Figure 2The ground terminal system serves as the terminal carrier for ground operation and control systems, providing an installation platform for other units or modules. This ground terminal system can have a gun-like structure to facilitate manual operation by operators, such as aiming at aerial targets and switching UAV mission modes. The ground terminal system includes at least: an optical sight unit, a terminal pose sensing unit, and a ground information processing unit. The optical sight unit and the terminal pose sensing unit are communicatively connected to the ground information processing unit. The ground information processing unit determines the target range of the target to be intercepted based on the information collected by the optical sight unit and the terminal pose sensing unit. Of course, the ground terminal system may also include other components such as a terminal communication unit and a front-end display unit, which are not exhaustively listed here but can be flexibly configured according to actual conditions. A brief description of each functional unit follows: An optical sight unit, mounted on top of the terminal vehicle, is used for long-range observation of aerial targets. It is a multi-zoom sight, supporting up to 40x zoom. The optical sight unit transcodes the acquired real-time images into an RTSP (Real-Time Streaming Protocol) stream and transmits it to the ground information processing unit. The optical sight unit includes at least an image acquisition subunit and an image processing subunit. The image acquisition subunit acquires images of the field of view; the image processing subunit is communicatively connected to both the image acquisition subunit and the ground information processing unit, transcoding the field of view images into a data stream and transmitting the data stream to the ground information processing unit. When the operator uses the optical sight to aim at a target, their forward direction can be considered the target's azimuth information. A terminal pose sensing unit, which can be installed inside the terminal vehicle, consists of inertial sensors and a global satellite positioning system. It records the current attitude angle and satellite position of the ground terminal system, and the ground information processing unit determines the current global pose information of the handheld terminal.

[0025] The ground information processing unit is installed inside the ground terminal system. It is communicatively connected to the optical sight unit, the terminal pose perception unit, etc. As the control module of the ground terminal system, the ground information processing unit is used to process various information and data in the ground terminal system, and to realize interaction with the UAV system through the ground communication module. For example, it is used to determine the target range of the target to be intercepted based on the information collected by the optical sight unit and the terminal pose perception unit, process its own pose information and the real-time status information of the operation buttons, etc., which will not be listed here.

[0026] The terminal communication unit can be installed on the upper part of the terminal vehicle, such as establishing 2.4G communication with the flight platform of the UAV system. It can upload real-time attitude, heading angle, state machine and other information collected by the terminal pose perception unit in the ground terminal system to the ground information processing unit, and send target location information, UAV real-time information and other information to the ground information processing unit to ensure that the interception mission is carried out in an orderly manner.

[0027] Please see also Figure 1 and Figure 3 The unmanned aerial vehicle (UAV) system may include: a flight platform, a perception and interception unit, an intelligent capture system, and a UAV information processing unit. The UAV information processing unit is communicatively connected to the ground information processing unit. The UAV information processing unit is used to control the UAV to autonomously capture the target to be intercepted within the target range via the intelligent capture system, based on information output by the flight platform and the perception and interception unit. Of course, the UAV system may also include other functional modules such as a UAV communication unit; this application does not exhaustively list them. Among them: The flight platform is the main structural component of the UAV, including the UAV itself, its power unit, flight control processing unit, and attitude perception sensors, used to control the UAV's stable flight. Additionally, a global positioning system can be mounted on this flight platform to unify coordinates collected or determined in other coordinate systems within the UAV system to the global coordinate system, facilitating subsequent information processing.

[0028] The UAV information processing unit can be deployed on the lower layer of the flight platform. For example, the UAV information processing unit can adopt a lightweight embedded computing platform based on RK3588, on which an autonomous navigation system, mission state machine, target perception system, etc. are deployed to realize real-time perception of environmental information during flight, receive guidance information sent by the ground terminal system, and fly autonomously with the guidance information.

[0029] The perception and interception unit can be deployed below the UAV information processing unit. This unit is used to perceive real-time environmental information and perform interception tasks. The perception and interception unit can be composed of an interception net light equipped with sensors. This application embodiment does not impose specific limitations and can be flexibly configured according to actual conditions, as long as it can achieve the functions of perceiving real-time environmental information and performing interception tasks.

[0030] The UAV communication unit can be installed on the left side of the flight platform to establish communication with the ground terminal, read the estimated target location information, and send the aircraft's real-time status information to the terminal system. The coverage range of the ground terminal system can be, for example, 1 kilometer. To ensure real-time exchange of command and control information and onboard real-time image information between the UAV system and the ground terminal system, the UAV communication unit can use self-organizing network equipment to build communication, thereby ensuring the stability of data interaction between the UAV system and the ground terminal system over long distances.

[0031] The intelligent capture system can be deployed below the front of the flight platform, with the capture direction consistent with the nose of the drone. It is used to autonomously and intelligently intercept aerial targets. In some cases, the intelligent capture system can autonomously determine whether to capture based on the actual weight, volume, and other conditions of the target.

[0032] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating a real-world application scenario of the UAV cooperative interception system provided in this application. When an operator detects a target to be intercepted, the UAV system can be quickly launched via a ground terminal system. The UAV on the flight platform is guided to approach the target using an optical sight unit. The UAV on the UAV platform plans its approach route based on the target range provided by the ground terminal system. Simultaneously, the UAV system itself is equipped with a perception and interception unit. This unit detects and locates suspicious targets in the scene. Once confirmed as a target, the intelligent capture system within the UAV system captures and intercepts the target. Real-time data is then transmitted back to the ground terminal system via communication, thus achieving a highly efficient, proactive, and autonomous interception loop within the system.

[0033] The UAV cooperative interception system provided in this application includes at least a ground terminal system and a UAV system. In actual use, the ground information processing unit determines the target range of the target to be intercepted based on the information collected by the optical sight unit and the terminal pose perception unit. The UAV information processing unit in the UAV system controls the UAV to autonomously capture the target to be intercepted within the target range through the intelligent capture system based on the information output by the flight platform and the perception interception unit. Firstly, it can accurately and efficiently perform target locking and interception tasks, greatly improving the accuracy and efficiency of target interception. Secondly, by using the ground terminal system equipped with the optical sight unit for target observation and locking, and by interacting with the UAV through operations on the ground terminal system, the autonomous control flexibility and convenience are higher.

[0034] In summary, the embodiments of this application provide a drone cooperative interception system with higher interception accuracy and efficiency, greater autonomous control flexibility and convenience, and better overall interception effect.

[0035] In one optional embodiment of this application, the terminal pose sensing unit includes at least: A global satellite positioning system is communicatively connected to the ground information processing unit. The global satellite positioning system is used to determine the current terminal position and global heading angle of the ground terminal system. An inertial sensor is communicatively connected to the ground information processing unit, and the inertial sensor is used to collect the current attitude information of the ground terminal system; This attitude information may include, for example, angular velocity, acceleration, and magnetic heading information.

[0036] Correspondingly, the ground information processing unit is used to determine the global pose information of the ground terminal system based on the terminal location and the attitude information.

[0037] For example, the ground information processing unit is equipped with a Kalman filter, which is used to fuse the attitude information of the ground terminal system with the global heading information to obtain the attitude angle information of the ground terminal system; correspondingly, the ground information processing unit is used to determine the global pose information of the ground terminal system based on the terminal position and the attitude angle information.

[0038] By using a Kalman filter, the real-time attitude information of the ground terminal system, such as the angular velocity, acceleration, and magnetic heading information of the UAV, is fused with the current terminal position and global heading angle determined by the global satellite positioning system, thus obtaining the real-time global pose information of the ground terminal system. In other words, the ground information processing unit in the ground terminal system reads the terminal position and global heading angle determined by the global satellite positioning system in real time, and combines this with the current attitude information of the ground terminal system collected by the inertial sensors to generate the current global pose information of the terminal system, thereby calculating the azimuth information of the target to be intercepted relative to the ground terminal system.

[0039] In one optional embodiment of this application, the global satellite positioning system is a dual-satellite orientation system, and the global satellite positioning system is configured with at least two GNSS receivers; correspondingly, The ground information processing unit is used to determine the global pose information of the ground terminal system based on at least two sets of satellite information and the attitude information.

[0040] In one optional embodiment of this application, each of the at least two sets of satellite information includes at least: longitude information and latitude information; the method further includes: Calculate the latitude and longitude components in each direction based on the longitude and latitude information from at least two sets of satellite information; Calculate the relative azimuth angle between at least two positioning points based on the arctangent function of the latitude and longitude components in each direction; The global heading information of the ground terminal system is calculated based on the calibrated initial direction and the relative azimuth angle.

[0041] Magnetometers are susceptible to interference from external magnetic fields, which can easily lead to increased errors in heading information. This application's embodiment employs a dual-satellite orientation system for heading observation, using two GNSS receivers to receive satellite positioning information and differentially determining global heading information using prior attitude angle information. Specifically, at least two GNSS receivers, the primary GNSS positioning device A and the secondary GNSS positioning device B, can determine their latitude and longitude information in real time. )and ),in , This indicates the longitude information of the main and auxiliary equipment. , The latitude information of the primary and secondary devices is represented. The azimuth angle between the two GPS points is calculated using the arctangent function. Then, based on the initial calibration direction information, the angle with true north can be obtained, which is the azimuth information of the global coordinate system. The azimuth angle between the two GPS points can be calculated using the following formula:

[0042] in, This indicates the relative azimuth angle between two positioning points. and These represent the latitude information of two sets of GNSS receivers, A and B, respectively. , This represents the longitude information of two GNSS receivers, A and B, where a and b represent the longitude component and latitude component, respectively.

[0043] This application embodiment configures at least two GNSS receivers in the global satellite positioning system. The ground information processing unit determines the global pose information of the ground terminal system based on at least two sets of satellite information and the attitude information. This can minimize interference from external magnetic fields, thereby reducing heading information errors and further improving the accuracy and reliability of UAV cooperative interception.

[0044] In an optional embodiment of this application, the ground terminal system further includes: a manual operation device and an information collector, wherein: A manual operation device can be installed on the ground vehicle of the ground terminal system. This device receives input manual operations. An information collector is connected to both the manual operation device and the ground information processing unit. For example, the information collector and the ground information processing unit can communicate using the UART protocol. The information collector determines the corresponding operation guidance command based on the status of the manual operation device. The manual operation may include at least one of button operation, joystick operation, and trigger operation. Correspondingly, the manual operation device may include at least one of operation buttons, a joystick sensor, and a linear trigger sensor, respectively collecting button operation, joystick operation, and trigger operation data. The handheld structure installed in the ground terminal system includes, for example, two operation buttons (e.g., numeric buttons) on the front handle, a magnetoresistive Hall effect joystick sensor (which may include a two-way analog joystick and numeric buttons), and a linear trigger on the rear handle, which can be implemented using an analog slider sensor with a sliding rheostat. In practical use, the device's status information (green button, blue button, joystick digital button, X-axis joystick analog value, Y-axis joystick analog value, and trigger slider analog value) can be manually operated in real time using information acquisition devices such as MCU acquisition cards, and 30Hz output can be achieved by communicating with the information processing unit through the UART protocol.

[0045] In an optional embodiment of this application, the ground terminal system further includes: a front-end display unit, wherein: The front-end display unit can be installed on the left side of the ground terminal system vehicle and communicate with the ground information processing unit. The front-end display unit is used to display preset categories of information received or generated by the ground information processing unit, such as image information from various perspectives, the current status of the UAV, and the status of the mission execution mechanism, facilitating real-time observation and interaction by the operator.

[0046] In one optional embodiment of this application, the flight platform is configured with at least one of the following: a UAV power unit, a flight control processing unit, and a UAV attitude perception unit.

[0047] In an optional embodiment of this application, the flight platform is further configured with: a global positioning system, which is communicatively connected to the UAV information processing unit, the global positioning system being used to determine the current coordinates of the UAV; the UAV information processing unit is further used to convert the current coordinates of the UAV into global coordinates in a preset global coordinate system.

[0048] In actual flight, drones may exist in multiple coordinate systems, such as satellite positioning coordinate system and drone global coordinate system. Satellite positioning coordinate system is used to determine latitude and longitude, while drone global coordinate system is the northeast-sky coordinate system. With the drone's takeoff position as zero point, and combined with the latitude, longitude and altitude coordinates of the ground station, the position coordinates of the ground station in this coordinate system can be calculated. This, along with the ground station's guidance direction, forms the guidance line information, i.e. heading information. By transforming the coordinate system, the calculation of heading information and the determination of other subsequent information can be facilitated, thereby improving the interception efficiency of the drone cooperative interception system provided in this application embodiment.

[0049] After successful target tracking is confirmed, the ground-based information processing unit system will output the target's location information in real time. The input is the target's pixel coordinates in the image, and the transformation equation from the pixel coordinate system to the world coordinate system is as follows:

[0050] in, This represents depth information. Since image information lacks a direct description of depth, the information obtained here... This is represented as the target's orientation information relative to the origin of the global coordinate system, using the ENU (North-South) coordinate system. , , These represent the three-dimensional coordinates of the target in the global coordinate system; This represents the camera's intrinsic parameters, where Indicates the camera's focal length. , Indicates the pixel size. , The pixel coordinates of a point in an image can be obtained through prior image calibration. This represents the extrinsic information of the target. This represents the rotation matrix from the camera coordinate system to the global coordinate system. This represents the displacement matrix from the camera coordinate system to the global coordinate system. This represents a 1x3 vector of zeros, obtained through joint calibration of the camera and the ground terminal pose perception system. This allows us to obtain the target's orientation information relative to the global origin.

[0051] In one optional embodiment of this application, the UAV information processing unit includes an embedded computing platform; wherein the embedded computing platform is configured with at least one of an autonomous navigation system, a mission state machine, and a target perception system. The embedded computing platform is a task-specific optimized platform, possessing advantages such as low power consumption, small size, strong real-time performance, and good environmental tolerance. Since UAVs need to fly and be controlled simultaneously, the UAV information processing unit in this embodiment is configured with an embedded computing platform, thereby improving the performance of the UAV interception system.

[0052] In one optional embodiment of this application, the sensing and interception unit includes at least: an environmental sensing sensor and an interception device, wherein, The environmental perception sensor is communicatively connected to the UAV information processing unit. The environmental perception sensor is used to collect real-time environmental information and transmit the UAV environmental information to the UAV information processing unit. The environmental perception sensor may include at least one of the following: a visual sensor, a gimbal payload, and a lidar sensor.

[0053] The interception device is communicatively connected to the environmental perception sensor and the UAV information processing unit, respectively. The interception device is activated under the drive of the interception trigger signal and intercepts the target to be intercepted within the target range; wherein, the interception trigger command includes at least: the real-time environmental information includes the target to be intercepted.

[0054] The perception and interception unit can be composed of environmental perception sensors and interception devices. The environmental perception sensors mainly include visual sensors, gimbal payloads, lidar sensors, etc., which can perceive the current scene in real time and input the information into the information processing unit for processing. When the interception target is perceived, the interception device is activated to intercept the target in the air. The whole unit works in coordination to improve the interception performance of the UAV cooperative interception system provided in this application embodiment.

[0055] In one optional embodiment of this application, the intelligent capture system includes at least: a pneumatic net-catching gun, a hook device, and an elastic wire reel; wherein, The elastic roller is fixed to the hook device, and the elastic roller is connected to the end of the pneumatic net in the pneumatic net capture gun by a pull line and is fixed on the hook device. Driven by a net-catching trigger command, the pneumatic net is launched by the pneumatic net, and the elastic wire roller releases the pull line along the launch direction of the pneumatic net.

[0056] During use, after the net capture is triggered, the net gun fires the net, and the Kevlar line is pulled out by the grappling hook. Even after the net captures the target, it remains connected to the drone, thus achieving the capture of the target to be intercepted. Furthermore, if the weight of the captured target exceeds the aircraft's rated payload, the grappling hook opens and the grappling hook is lowered to ensure flight safety.

[0057] In an optional embodiment of this application, the unmanned aerial vehicle system further includes: a parachute system, wherein: The parachute system is located directly above the drone and can be manually or automatically triggered when the aircraft cannot maintain stable flight, ensuring that the aircraft can land safely on the ground at a speed of less than 5m / s and avoid accidents.

[0058] Please see Figure 5 The tasks performed by the UAV system and the ground terminal system differ in each state, therefore the above-mentioned UAV cooperative interception system will also be in different working stages. The embodiments of this application take the following 7 stages as an example: (1) system initialization stage; (2) waiting for instructions stage; (3) terminal target locking stage; (4) first-view control stage; (5) UAV target locking stage; (6) UAV autonomous acquisition stage; (7) UAV return stage. The tasks performed by the UAV cooperative interception system in each stage are described below.

[0059] In one optional embodiment of this application, in order to ensure that the interception mission can be executed in an orderly manner, the ground terminal system and the UAV system can initialize the system before the mission interception to ensure that each sensor can perceive data normally and ensure the normal flight of the UAV. That is, the UAV cooperative interception system is in the above-mentioned (1) system initialization stage. In the system initialization stage: after the operator arrives at the designated location, he turns on the UAV system and the ground terminal system. The ground terminal system and the UAV will run the initial calibration of sensors such as inertial sensors, and the satellite positioning system will start and begin to search for satellites. When there are enough satellites, the positions of the ground terminal and the UAV converge. At this time, the state machine records the initial state of each device and uses coordinate system transformation to unify the poses of the two devices into the global coordinate system. When the initialization task is completed, the current status information of the UAV system and the ground terminal system is displayed on the front-end display device through the terminal communication unit to prompt the operator that the initialization is complete and the UAV enters the standby stage.

[0060] After completing the above-mentioned (1) system initialization phase, the UAV cooperative interception system will enter the (2) instruction waiting phase. In the instruction waiting phase: please refer to Figure 5 During the standby phase, the drone will initially fly to a height of 3 meters and then hover, waiting for instructions from the ground terminal system. (3) Terminal target locking phase: The operator searches for the target to be intercepted through the optical sight unit on the ground terminal system; during the ground terminal system locking phase, the ground terminal system sends the locked target location information to the UAV system, the UAV information processing unit in the UAV system controls the UAV to fly along the guide direction, and uses the perception interception unit to perceive scene information; (4) First-person view control phase: In the manual control phase, the ground operator controls the UAV to fly from the first-person view based on the image information collected by the optical sight unit. (5) UAV target locking phase: At this time, the UAV has autonomously sensed the target position through the sensing and interception unit and flew to the vicinity of the target to ensure that the target to be intercepted is within the range of the UAV's strike target; (6) Drone autonomous capture phase: During the drone autonomous capture phase, the drone autonomously performs the capture task. Equipped with an intelligent capture system, it can cope with a variety of capture scenarios and ensure the maximum efficiency of the task execution. (7) UAV return phase: During the UAV return phase, the UAV starts the return mode, rises to the designated altitude, and returns to the takeoff point along the shortest return route.

[0061] Please see Figure 6 This application provides a method for cooperative interception and control of unmanned aerial vehicles (UAVs), which includes at least the following steps 601-605: Step 601: Search for the target to be intercepted using the optical sight unit in the ground terminal system until it is locked; That is, it is in the terminal target locking stage (3) mentioned above. For example, in response to the zoom operation command for the optical sight unit, the ground terminal system transmits the newly acquired field of view image to the ground information processing unit and the front-end display unit in real time until the target to be intercepted is locked in the new field of view image.

[0062] Step 602: The ground terminal system determines the global heading information of the locked target to be intercepted, and sends the global heading information to the UAV system; The global heading information can be, for example, the forward direction vector of the ground terminal system and the global heading information, etc. This embodiment does not exhaustively list them, and can be flexibly set according to the actual situation.

[0063] Step 603: The UAV starts manual control mode. The UAV information processing unit in the UAV system determines the flight guidance direction of the UAV in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the UAV system. That is, it is in the first-person perspective control stage mentioned above (4).

[0064] Step 604: The UAV information processing unit controls the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; That is, it is in the above-mentioned (5) drone target locking stage.

[0065] Step 605: Within the preset interception range, the UAV system activates the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted.

[0066] That is, it is in the above-mentioned (6) UAV autonomous capture stage.

[0067] The UAV cooperative interception control method provided in this application embodiment is applied to a UAV cooperative interception system, which includes at least a ground terminal system and a UAV system communicating with each other. The method includes at least the following steps: searching for a target to be intercepted through an optical sight unit in the ground terminal system until it is locked; the ground terminal system determining the global heading information of the locked target and sending the global heading information to the UAV system; the UAV activating a manual control mode, and the UAV information processing unit in the UAV system determining the UAV's flight guidance direction in real time based on the manual operation commands received in real time from the ground terminal system and the flight scene information collected by the perception and interception unit in the UAV system; the UAV information processing unit controlling the UAV to move along the flight guidance direction to a preset interception range of the target to be intercepted; within the preset interception range, the UAV system activating the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted. Firstly, it can accurately and efficiently perform target locking and interception tasks, greatly improving the accuracy and efficiency of target interception. Secondly, it searches for the target to be intercepted through the optical sight unit in the ground terminal system until it locks on, and then activates the manual control mode of the UAV. By interacting with the UAV through the operation of the ground terminal system, the autonomous control flexibility and convenience are higher.

[0068] In summary, the embodiments of this application provide a UAV collaborative interception and control method with higher interception accuracy and efficiency, greater autonomous control flexibility and convenience, and better target interception effect.

[0069] In an optional embodiment of this application, before step 603 above, when the drone initiates manual control mode, the method further includes the following steps 701-703: Step 701: The ground information processing unit in the ground terminal system responds to the manual control mode command and sends the manual control mode command to the UAV information processing unit in the UAV system. Step 702: The UAV information processing unit controls the UAV to switch to the manual control mode; Step 703: The ground information processing unit in the ground terminal system responds to the manual operation command and sends the manual operation command to the UAV information processing unit in the UAV system in real time.

[0070] In manual control mode, operators can use the optical sight unit in the ground terminal system to search for suspicious targets in the airspace. The optical sight can observe targets up to 2km away, and high-definition observation of distant targets can be achieved through zoom. The optical sight unit transmits real-time images to the ground information processing unit via the ground communication unit, and displays them in real-time on the front-end display device for easy operator observation. This stage serves as a transition; the UAV hovers, awaiting further instructions from the ground terminal system. Once the optical sight unit locks onto the target, the operator activates the UAV to enter the target lock phase via manual operation commands such as pulling the trigger. Optionally, at any stage, the mission can be terminated and the UAV returned to standby mode via a button to respond to unforeseen events.

[0071] In this embodiment, in response to a manual control mode command, the drone is switched to the manual control mode, and the manual operation command is sent to the drone information processing unit in the drone system in real time. The drone is remotely controlled through the manual operation command, enabling interaction with the drone and providing greater flexibility and convenience for autonomous operation.

[0072] In one optional embodiment of this application, the drone is equipped with a gimbal, and the flight scene information includes at least the forward direction of the drone; correspondingly, in step 603 above, the drone starts the manual control mode, and the drone information processing unit in the drone system determines the flight guidance direction of the drone in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the drone system, including the following steps 801-802: Step 801: The UAV starts the manual control mode. The UAV information processing unit determines the rotation matrix of the current attitude angle and the global position coordinates of the UAV based on the initial guidance direction corresponding to the manual operation command in the preset global coordinate system, the forward direction of the UAV in the gimbal coordinate system, the correspondence between the pre-configured gimbal coordinate system and the UAV coordinate system, and the correspondence between the UAV coordinate system and the global coordinate system. Here, the rotation matrix refers to the rotation matrix from the camera coordinate system to the global coordinate system, or the rotation matrix between the gimbal coordinate system and the global coordinate system in this application, which is composed of the rotation angles of the attitude angles between these two coordinate systems. The global position coordinates can be determined by the initial guidance direction after coordinate transformation and the forward direction of the UAV.

[0073] Step 802: Determine the flight guidance direction of the UAV based on the rotation matrix and the global position coordinates.

[0074] This embodiment determines the rotation matrix and global position coordinates of the current attitude angle of the UAV based on the initial guidance direction corresponding to the manual operation command in the preset global coordinate system, the forward direction of the UAV in the gimbal coordinate system, and the correspondence between the pre-configured gimbal coordinate system, UAV coordinate system and global coordinate system. The rotation matrix and global position coordinates can be obtained by calculation, without the need to introduce high-cost sensors, thus reducing costs and simplifying the structure of the UAV system and ground terminal system.

[0075] In an optional embodiment of this application, the perception and interception unit is configured with a target library; wherein the target library includes a variety of target objects; correspondingly, within the preset interception range, before the UAV system activates the perception and interception unit and the intelligent capture system autonomously executes the interception task to capture the target to be intercepted, the above-mentioned UAV cooperative interception control method further includes the following steps 901-904: Step 901: The perception and interception unit performs target recognition on the field-of-view image acquired by the optical sight unit based on the pre-configured target recognition model, and determines whether the field-of-view image contains the target object in the target database. Step 902: If the field of view image contains a target object from the target library, then the target object in the field of view image is determined as the target to be intercepted; Step 903: Determine the current position of the target to be intercepted based on the flight scene information collected by the perception and interception unit and the current field of view image; Step 904, please refer to Figure 9 The intelligent capture system is activated to autonomously execute the interception task and capture the target at its current location.

[0076] During flight, once the UAV's own perception system detects a target, it enters the target locking phase. In the target perception stage, a visual sensor is used to perform deep learning-based target recognition on real-time images. The UAV perception and interception unit system establishes a database of common aerial targets and trains a recognition model using the YOLO algorithm, possessing a certain level of target recognition capability. Because visual neural networks can extract deep-level feature information of targets and are adaptable to various image types, they can be deployed on fisheye images for target recognition.

[0077] Considering the possibility of interfering targets near the target to be intercepted, the drone will maintain a distance and continuously track the target after it approaches the target at a certain distance during the actual execution process. At this time, the ground operator confirms the captured target through the terminal image. After confirming that there is no error, the drone enters the autonomous acquisition phase by pressing the start button and performs autonomous strike missions. The drone can quickly identify the target to be intercepted by using a pre-set target database, resulting in higher overall interception efficiency.

[0078] In an optional embodiment of this application, step 903 above, determining the current position of the target to be intercepted based on the flight scene information collected by the perception and interception unit and the current field of view image, includes the following steps: Based on the epipolar geometry principle, the position of the target to be intercepted is estimated according to the flight scene information and the current field of view image, thus obtaining the current position of the target. For example, in an optional embodiment of this application, the current position of the target to be intercepted can be determined by the following steps 1001-1002: Step 1001: Construct a model of the target to be intercepted based on the flight scenario information and the current field of view image; Step 1002: Solve the model of the target to be intercepted based on the preset epipolar constraint to obtain the current position of the target to be intercepted.

[0079] When the drone is far from the target to be intercepted, the onboard equipment cannot directly measure the target's position information. This embodiment uses the epipolar geometry principle to estimate the target's position information, and its principle diagram is shown below. Figure 7 As shown. Among them, , Indicates the location of the observation point. The boxes represent the true location of the target, and the rectangles represent the images from the cameras in two different viewpoints. Multi-view observations can transform the target location estimation problem into a solution under epipolar constraints, as shown in the following formula:

[0080] in, , express Dot at , The camera's normalized 3D coordinates on the plane. , express Click , The camera's depth information, , express , Transformation relationship between elements. Through left multiplication... You can get the depth The solution equation is:

[0081] Furthermore, combine The drone's global position information is used to obtain the target's global position information. After detecting the target during flight, the drone enters an autonomous control program and approaches the optimal target acquisition position.

[0082] In one optional embodiment of this application, please refer to Figure 8 To verify the performance of the target localization method based on epipolar geometry, this embodiment uses Python to construct a test. The ground position remains constant, and the aerial target advances 0.5 meters in the identified target direction each time its position is detected. The results show that the UAV can correctly approach the target. By introducing noise to simulate GNSS positioning errors, the depth information of the target on the UAV's onboard image can be obtained through epipolar geometry, making the UAV's target interception more accurate.

[0083] In an optional embodiment of this application, after step 604 above, where the UAV information processing unit controls the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted, the above UAV system interception method further includes the following steps: If the drone moves into the preset interception range of the target to be intercepted, the point cloud sensor configured in the drone collects the target depth information of the target to be intercepted.

[0084] Depth information refers to the actual physical distance from the target object to the optical center (or camera plane) of the drone camera.

[0085] In an optional embodiment of this application, the above-described UAV cooperative interception and control method further includes the following steps 1101-1103: Step 1101: Substitute the direction information from the global navigation information into the point cloud, and filter the point cloud according to the direction information; Step 1102: Obtain the point cloud clusters of the target to be intercepted based on a clustering algorithm; Step 1103: Determine the current position of the target to be intercepted based on the point cloud cluster position information of the target to be intercepted.

[0086] When the UAV approaches the target to be intercepted, the onboard point cloud sensor can effectively measure the target's depth information, greatly improving the interception success rate. Since the target is in motion, the lightweight point cloud sensing sensor has a limited field of view, making it difficult to maintain target detection at every moment. Therefore, the UAV perception and interception unit system in this embodiment can adopt a multi-sensor fusion target perception and positioning system, utilizing loosely coupled information fusion technology to quickly obtain target position information. Specifically, visual positioning acquires the target's direction information, which is then substituted into the point cloud. The point cloud is filtered based on the direction information, and a clustering algorithm is used to obtain point cloud clusters representing the target, thereby obtaining high-precision target position information. This results in higher overall efficiency and more accurate target position information.

[0087] In an optional embodiment of this application, step 1103 above, determining the current position of the target to be intercepted based on the point cloud cluster position information of the target to be intercepted, includes the following: A position information fusion method based on Kalman filtering is used to fuse the first target position determined based on the field of view image acquired by the optical sight unit with the second target position determined based on the point cloud cluster to obtain the current position of the target to be intercepted.

[0088] In an optional embodiment of this application, if the perception and interception unit adopts a multi-sensor fusion target perception and positioning system, the above-mentioned UAV cooperative interception and control method further includes the following steps: A loosely coupled information fusion method is used to fuse the flight scene information collected by each sensor to obtain fused flight scene information.

[0089] Because the frame rates of visual images and point cloud information differ, making it difficult to unify acquisition times, and because the field of view angles of the visual and point cloud information sensors do not completely overlap, an optimal position information fusion technique based on Kalman filtering is adopted. The visual positioning results and LiDAR results are subjected to EKF filtering, and a comprehensive optimal estimation fusion mechanism is established for cases where the two estimates exhibit correlation. This is achieved by establishing a cross-variance matrix of the estimation errors. The two estimated states are then fused, and the calculation formula is as follows:

[0090] in, Represents the state transition matrix. This represents the error covariance matrix of the fusion estimate at time k. , This represents the Kalman filter gain of the radar filter and the visual filter. Represents the noise covariance matrix of the state equation. Represents the identity matrix. The cross-variance matrix is ​​calculated. The state and error covariance matrices of the fusion estimate can then be updated, as shown in the following formula:

[0091] in, , It is a visual and radar estimator in Time-state quantity, , Indicating visual and radar estimators in The time error covariance matrix. This allows us to obtain position values ​​that offer both real-time performance and positioning accuracy, and provide good tracking of dynamic targets.

[0092] In an optional embodiment of this application, the above-described UAV cooperative interception and control method further includes the following steps: If the weight of the UAV system exceeds the preset maximum load after the target to be intercepted is captured, the UAV information processing unit will activate the parachute system to control the flight of the UAV.

[0093] The intelligent capture system includes a parachute, a net gun, and a grappling hook; its flowchart is as follows. Figure 4 As shown, the end of the net carried by the net-catching gun is connected to the line reel. After being fired, the connection is maintained by a grappling hook structure, which is equipped with a force sensor to monitor the tension at the rope end in real time. The tension curve is then used to determine whether a target has been captured and whether the weight of the captured target exceeds the maximum load capacity. The grappling hook structure fixes the line reel to the end of the drone. A servo motor controls the grappling hook's state. When the weight of the captured target exceeds the maximum load capacity, the servo motor is activated to release the grappling hook, preventing the drone from becoming unstable due to an excessively heavy target. A parachute is automatically triggered when the drone becomes unstable. At this time, the drone motors stop rotating, and the parachute ensures that the drone's speed upon landing is less than 5 m / s, preventing accidents and minimizing damage.

[0094] Once the drone reaches the vicinity of the target location, it will track the target and keep it within its effective interception range. At this point, the operator observes the real-time target perception information transmitted back by the drone via a ground terminal to determine whether to activate the interception function and initiate it via a trigger. The drone's onboard interception unit activates the capture program via servos, launching the interception net using high-pressure gas. The drone then activates its interception device, using the capture net to capture the target. After interception, the drone often struggles to maintain stable flight. To improve operational efficiency, an automatic parachute deployment system can be installed on the drone. Upon detecting instability, the parachute system is triggered, allowing for a smooth landing and completing the interception mission. If the drone fails to capture the target or can maintain stability after capture, it will switch to standby mode, awaiting instructions from the ground terminal system.

[0095] In an optional embodiment of this application, target interception based on the above-described UAV cooperative interception system can be achieved by performing the following steps 610-640: Step 610: Search for the target to be intercepted using the optical sight unit in the ground terminal system until it is locked; That is, it is in the terminal target locking stage (3) mentioned above. For example, in response to the zoom operation command for the optical sight unit, the ground terminal system transmits the newly acquired field of view image to the ground information processing unit and the front-end display unit in real time until the target to be intercepted is locked in the new field of view image.

[0096] Step 620: The ground terminal system determines the global heading information of the locked target to be intercepted, and sends the global heading information to the UAV system; Step 630: The UAV system controls the UAV to move along the heading corresponding to the global heading information to the preset interception range of the target to be intercepted; That is, it is in the above-mentioned (5) drone target locking stage.

[0097] For example, the ground terminal uses the communication unit to send target location information to the UAV's onboard terminal, and the UAV begins to approach the target based on the location information. To this end, the UAV system employs a PX4-based UAV information processing unit-host computer joint control system, establishing a communication link between the UAV information processing unit and the host computer via a data cable. During operation, the UAV information processing unit is primarily responsible for the stable control of the UAV's position, velocity, and angular velocity loops, ensuring stable flight. The host computer transmits the expected velocity control commands to the UAV information processing unit via the MAVROS communication protocol as velocity control input, enabling real-time control of the UAV to fly along a specified velocity vector. The UAV calculates and outputs velocity control information based on its current position information, and can complete the corresponding control command actions by inputting control information to the designated terminal.

[0098] Step 640: Within the preset interception range, the UAV system activates the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted.

[0099] That is, it is in the above-mentioned (6) UAV autonomous capture stage.

[0100] The UAV cooperative interception control method provided in this application is applied to a UAV cooperative interception system. The UAV cooperative interception system includes at least a ground terminal system and a UAV system that communicate with each other. The method includes at least the following steps: the ground terminal system determines the global heading information of a locked target to be intercepted and sends the global heading information to the UAV system; the UAV system controls the UAV to move along the heading corresponding to the global heading information to a preset interception range of the target to be intercepted; within the preset interception range, the UAV system activates a perception interception unit and an intelligent capture system to autonomously execute the interception task and capture the target to be intercepted. Firstly, it can accurately and efficiently execute target locking and interception tasks, greatly improving target interception accuracy and efficiency. Secondly, by searching for the target to be intercepted through the optical sight unit in the ground terminal system until it is locked, and then activating the UAV manual control mode, the user can interact with the UAV through operations in the ground terminal system, resulting in higher flexibility and convenience of autonomous control.

[0101] In summary, the embodiments of this application provide a UAV collaborative interception and control method with higher interception accuracy and efficiency, greater autonomous control flexibility and convenience, and better overall interception effect.

[0102] In an optional embodiment of this application, before step 610 and the search for the target to be intercepted by the optical sight unit in the ground terminal system, the above-mentioned UAV positioning and dynamic interception method further includes the following steps 710-730: Step 710: The ground terminal system calibrates the inertial sensor in the terminal pose sensing unit; Step 720: Activate the global satellite positioning system in the terminal pose perception unit to search for satellites. If the number of satellites is not less than the preset number of satellites, determine the initial position of the ground terminal system and the UAV. Step 730: If the ground terminal system and the UAV system pass the verification, control the UAV to hover at the first preset altitude position.

[0103] The UAV cooperative interception system is in the above-mentioned (1) system initialization stage. In the system initialization stage: after the operator arrives at the designated location, he turns on the UAV system and the ground terminal system. The ground terminal system and the UAV will run the initial calibration of sensors such as inertial sensors, and the satellite positioning system will start and begin to search for satellites. When there are enough satellites, the positions of the ground terminal and the UAV converge. At this time, the state machine records the initial state of each device and uses coordinate system transformation to unify the poses of the two devices into the global coordinate system.

[0104] In an optional embodiment of this application, the initialization and verification of the ground terminal system and the UAV system further includes the following steps: The coordinates in the initial state information after verification between the ground terminal system and the UAV system are converted into global coordinates in a preset global coordinate system.

[0105] In actual flight, drones may exist in multiple coordinate systems, such as satellite positioning coordinate system and drone global coordinate system. Satellite positioning coordinate system is used to determine latitude and longitude, while drone global coordinate system is the northeast-sky coordinate system. With the drone's takeoff position as zero point, and combined with the latitude, longitude and altitude coordinates of the ground station, the position coordinates of the ground station in this coordinate system can be calculated. This, along with the ground station's guidance direction, forms the guidance line information, i.e. heading information. By transforming the coordinate system, the calculation of heading information and the determination of other subsequent information can be facilitated, thereby improving the interception efficiency of the drone cooperative interception system provided in this application embodiment.

[0106] In an optional embodiment of this application, the above-mentioned drone positioning and dynamic interception further includes: The initial status information verified by the ground terminal system and the UAV system is sent to the front-end display unit for display.

[0107] Once the initialization task is complete, the current status information of the UAV system and the ground terminal system will be displayed on the front-end display device through the terminal communication unit to indicate to the operator that the initialization is complete and to facilitate intuitive observation by the operator.

[0108] In an optional embodiment of this application, step 610 above, the search for the target to be intercepted through the optical sight unit in the ground terminal system until it is locked, includes the following steps 810-830: Step 810: Transmit the field of view image acquired by the optical sight unit to the ground information processing unit and the front-end display unit in the terminal ground system in real time; Step 820: The front-end display unit displays the field-of-view image; Step 830: In response to a zoom operation command for the optical sight unit, the optical sight unit transmits the acquired new field-of-view image to the ground information processing unit and the front-end display unit in real time until the target to be intercepted is locked in the new field-of-view image.

[0109] The optical sight unit in this embodiment is a multi-zoom sight, supporting up to 40x zoom. Operators can use the optical sight unit in the ground terminal system to search for suspicious targets in the airspace. The optical sight can observe targets up to 2km away, and through zoom, high-definition observation of distant targets can be achieved. The optical sight unit transmits real-time images to the ground information processing unit via the ground communication unit and displays them in real-time on the front-end display device, facilitating operator observation of image information. This stage serves as a transition phase; the UAV is in a hovering state, awaiting subsequent instructions from the ground terminal system. After the optical sight unit locks onto the target, the operator activates the UAV to enter the terminal target locking phase by manually controlling the trigger. Optionally, at any stage, the mission can be terminated via a button, returning the UAV to standby mode to respond to unforeseen events.

[0110] In an optional embodiment of this application, step 830 above, namely locking the target to be intercepted in the new field of view, includes the following steps 910-930: Step 910: In response to the target locking command, the ground information processing unit extracts a specific image region within the preset area of ​​the center of the new field of view image; Step 920: Identify the color block in the specific image region that has the greatest difference from the background color of the new field of view image as the feature image region; Step 930: Perform edge detection on the feature image region to determine the target image region where the target to be intercepted is located.

[0111] Once the target clearly appears in the center of the image on the front-end display, the operator clicks the lock button on the ground terminal. The ground information processing unit will extract the image from a fixed area in the center of the image using an edge detection algorithm, and then identify color blocks with significant differences from the background color as feature image regions. Edge detection will then be performed on these feature image regions to determine the target image region where the target to be intercepted is located. This subsequent determination of the target from the target image region is more efficient.

[0112] In an optional embodiment of this application, step 930 above, which involves performing edge detection on the feature image region to determine the target image region where the target to be intercepted is located, includes the following steps 1010-1030: Step 1010: Perform Gaussian filtering on the feature image region; Step 1020: Use the Sobel operator to calculate the gradient of the filtered feature image region to obtain the gradient intensity matrix and direction matrix of the specific image region; Step 1030: Determine the target image region based on the gradient intensity matrix and the direction matrix.

[0113] For example, in this embodiment, edge detection can be performed based on the Canny operator. After Gaussian filtering the image, the gradient intensity matrix is ​​obtained using the Sobel operator. Each element in the gradient intensity matrix... This represents the joint gradient strength of the current pixel in both directions, indicating the gradient strength at this point in the x and y directions. and The formula for the square root of the sum of squares is:

[0114] The orientation matrix, also known as the angle matrix, is a matrix with the same size as the original image. Each element represents the direction angle of the gradient vector at that pixel, which is the angle between the direction of the fastest grayscale change and the horizontal axis (X-axis). The result of gradient calculation on the filtered feature image region can be directly exported by using the Sobel operator.

[0115] The Sobel operator is highly efficient. In this embodiment, the Sobel operator is used to calculate the gradient of the filtered feature image region to obtain the gradient intensity matrix and direction matrix of the specific image region. Then, the target image region is determined based on the gradient intensity matrix and the direction matrix, which can greatly improve the overall interception efficiency of this method.

[0116] In an optional embodiment of this application, after step 610 above, where the target to be intercepted is searched for and locked by the optical sight unit in the ground terminal system, the above-mentioned UAV positioning and dynamic interception method further includes the following: If there are multiple target image regions, the target image region closest to the center point of the new field of view image is determined as the tracking box; The target to be intercepted is searched and tracked based on the tracking frame. In an optional embodiment of this application, the target to be intercepted can be searched and tracked based on the tracking frame and a pre-configured KCF model.

[0117] The pre-configured KCF model can be a ridge regression classifier. If there are multiple target image regions, after extracting the color patches, the ground information processing unit system selects the color patch closest to the image center as the initial bounding box for KCF (Kernelized Correlation Filter) tracking and starts the tracking process. This makes it less likely to lose the target and makes the tracking more reliable.

[0118] In an optional embodiment of this application, the method further includes: performing sample augmentation on the solution process of the KCF model based on a pre-configured cyclic matrix.

[0119] The pre-configured KCF model described above can serve as a ridge regression classifier. It can simplify the calculation of closed-form solutions and broaden the sample size using a circulant matrix. For the "linearly inseparable" problem of ridge regression, the ridge regression classifier is "kernelized" to solve the closed-form solution. This allows for tracking the position of the same target in adjacent image frames, reducing operator jitter during manual aiming and providing accurate target location information. Furthermore, to avoid accidental locking, operators can manually start or stop KCF tracking via buttons on the camera body, offering greater flexibility.

[0120] In an optional embodiment of this application, step 620, in which the ground terminal system determines the global heading information of the locked target to be intercepted and sends the global heading information to the UAV system, includes the following steps 1110-1120: Step 1110: The ground terminal system determines the global heading information of the locked target to be intercepted; Step 1120: Convert the coordinates in the global heading information into global coordinates in a preset global coordinate system and then send them to the UAV system.

[0121] This embodiment converts the coordinates in the global heading information into global coordinates in a preset global coordinate system and then sends them to the UAV system. This facilitates the calculation of heading information and the determination of other subsequent information, thereby improving the interception efficiency of the UAV cooperative interception system provided in this application embodiment.

[0122] In an optional embodiment of this application, step 630, whereby the UAV system controls the UAV to move along the heading corresponding to the global heading information to the preset interception range of the target to be intercepted, includes the following steps 1210-1220: Step 1210: The UAV information processing unit in the UAV system determines the speed control information of the UAV at its current position based on the set desired flight speed, the pre-built flight ray model, and the current position of the UAV; wherein, the pre-built flight ray model is a ray equation with the global coordinates of the UAV as the starting point and the guidance direction sent by the ground terminal as the direction. The operator manually controls the aircraft's flight path from a first-person perspective, switching from the terminal target lock phase to manual control via a button. In this mode, the UAV uses the gimbal image as its first-person view. The operator can control the gimbal's pitch and yaw angles using the joystick on the ground terminal. Pressing the joystick button triggers an updated motion guide ray based on the gimbal image and the UAV's current attitude angle. The UAV then uses this ray as a guide line, ensuring it flies along the observed viewpoint guidance information.

[0123] This requires calculating the equation representing the guide ray in the global coordinate system based on the current state of the drone. The guide ray passes through the drone's position in the global coordinate system after the button is pressed, and its direction is calculated using the following equation:

[0124] in, Indicates the forward direction in the gimbal coordinate system; Represents a three-dimensional vector that indicates direction in the global coordinate system; This represents the transformation matrix from the gimbal coordinate system to the UAV coordinate system. To represent rotational relationships, the three-axis Euler angles of the gimbal can be used for calculation. The translation relationship can be represented by the positional relationship between the gimbal and the UAV information processing unit in the prior model; This represents the transformation matrix from the UAV coordinate system to the global coordinate system. , The rotation matrix corresponding to the current attitude angle of the UAV and its global position coordinates are used to obtain the vector representation of the guiding direction.

[0125] Step 1220: The UAV information processing unit in the UAV system controls the UAV to move along the heading corresponding to the global heading information to the preset interception range of the target to be intercepted according to the speed control information.

[0126] To control the UAV to approach the target along the red line, the host computer needs to calculate the desired control input for the UAV based on the target's orientation information and input it into the UAV information processing unit for execution. The UAV perception and interception unit system employs a speed-controlled autonomous navigation algorithm to ensure that even when the distance between the UAV and the target is considerable, the ground terminal system can still effectively track the target and provide continuous orientation information. Optionally, the difference between the target point's location and the UAV's current position can be used as input, and a PD controller can output the UAV's three-dimensional speed control input. The formula for the PD controller at any given time is as follows:

[0127] in, This indicates the speed control value input to the UAV information processing unit. Indicates the estimated target location. This indicates the current location value of the drone. This indicates the current speed of the drone. (Adjustments can be made to this setting.) and This can enhance the stability of drones during close-range strikes. Furthermore, to limit the drone's movement when the distance is too great, a limiter is set to display the maximum speed input command. In a real-world scenario, the drone's autonomous flight process runs on the ground-based RVIZ software, as shown in the diagram. Figure 10 As shown, once the drone senses the target's location, it will use its own perceived orientation as the primary basis for capturing the target. In actual scenarios, the drone will autonomously capture the target, regardless of its orientation and heading.

[0128] In an optional embodiment of this application, step 1220, in which the UAV information processing unit in the UAV system controls the UAV to move along the heading corresponding to the global heading information to the preset interception range of the target to be intercepted, includes the following steps: Based on the speed control information, the UAV information processing unit in the UAV system controls the UAV to move along the heading corresponding to the global heading information to the preset interception range of the target to be intercepted on a virtual surface with a distance threshold from the flight ray model.

[0129] To ensure that the UAV does not obstruct the ground terminal image when approaching the target, this embodiment controls the UAV to gradually approach the target on a cylindrical surface at a certain distance from the heading information corresponding to the global heading information. Figure 11 As shown. Among them, This represents the minimum distance to the azimuth line. During flight, the distance between the current UAV and the azimuth line will be calculated, and the difference will be used as input to calculate the speed control command in this direction. A schematic diagram of UAV flight during the terminal lock phase is shown below. Figure 12 As shown, the UAV will maintain a state of parallel flight with the azimuth vector of the ground terminal and approach the target along the guided target azimuth information.

[0130] In an optional embodiment of this application, the above-described UAV cooperative interception and control method further includes the following steps: After the target to be intercepted is captured, or if the duration of the drone in standby mode exceeds a preset standby time threshold, the information processing unit controls the drone to automatically return to its home location.

[0131] If a drone remains in standby mode for an extended period during a mission, it will automatically execute a return-to-home command, returning to its takeoff point to prepare for reuse, thus reducing mission costs, due to its limited battery life. Additionally, operators can manually switch a drone from standby mode to return-to-home mode to facilitate continuation of subsequent capture operations.

[0132] The technical solutions of the above-described optional embodiments of this application are illustrated below with reference to the accompanying drawings and all the above embodiments. For example, an aerial target (red balloon) to be intercepted appears in the airspace ahead, and it is necessary to intercept and capture the target. The initial positions (unit: meters) of each target in the scenario are as follows: Ground terminal system (operator): (0,0,0); Drone: (1,2,0); Target to be intercepted (red balloon): (600,128,20); The UAV carries a global depth camera and a gimbal camera as its visual sensors, with an effective observation range of 30 meters; the ground terminal's optical sight has an effective observation range of 1 kilometer.

[0133] The ground terminal has two buttons (blue and green), a Hall effect joystick (including simulated joysticks for X and Y directions and a push button), and a simulated trigger. The functions of the buttons at each stage are shown in Table 1 below: Table 1

[0134] The specific steps for implementing the interception system are as follows: Step 1: Start the system S11. The operator turns on the ground terminal and the power switch of the drone to start the interception mission.

[0135] S12. Observe the ground terminal ground station entering the system initialization stage and determine whether each subsystem is in an available state through the status display window in the ground station, including the optical sight unit, pose perception unit, information processing unit, communication unit and front-end display unit of the ground terminal, as well as the UAV information processing unit, perception and interception unit, communication system, etc.

[0136] S13. After successful startup, the operator uses the optical sight to operate the ground terminal to search for targets to be intercepted in the airspace.

[0137] Step 2: Ground terminal searches for the target to be intercepted. S21. The ground information processing unit system enters the instruction waiting phase and begins to initiate search tasks for each subsystem, including: S211. The drone takes off to position (1,2,5) and hovers to await mission instructions.

[0138] S212 The ground terminal front end displays the image in the optical sight and loads the real-time image of the UAV into the front end as a thumbnail.

[0139] S22. The operator uses an optical sight to aim at the target to be intercepted in the air and adjusts the focal length of the optical sight appropriately to make the target to be intercepted clear in the image.

[0140] S23. After the operator confirms that the optical sight has locked onto the target, they briefly press the number button on the joystick. At this time, the ground information processing unit system will extract the image information of the target from the optical sight unit of the ground terminal and use a tracking algorithm to maintain lock on the target in subsequent images. The UAV will then approach the target according to the ground control mode.

[0141] S231. Press the blue button during flight to enter the terminal lock phase. At this time, the UAV will approach the target according to the guidance information sent from the ground, and will only update the execution direction after the operator briefly presses the joystick number button, and approach the target in the new direction.

[0142] S232. Press the blue button again to enter manual control mode. At this time, the drone will approach the target based on the guidance information of the forward direction in the global coordinate system according to the gimbal image. The execution direction will be updated only after the operator briefly presses the joystick number button and approaches the target in the new direction.

[0143] S24. The operator confirms the drone mission execution status based on the real-time image of the drone on the terminal. After confirming that it is a target to be intercepted, press and hold the number button on the joystick to switch the mode to the drone target lock stage.

[0144] Step 3: The drone approaches and intercepts the target. S31. The ground information processing unit system enters the UAV target locking phase, determines whether the UAV information processing unit, perception and interception unit, communication system and other subsystems are in normal condition, and transmits the current target azimuth information to the UAV information processing unit.

[0145] S32. After receiving the azimuth information of the target to be intercepted and the state machine stage information in the ground information processing unit system, the UAV moves towards the target direction according to the following logic.

[0146] S321. The UAV performs target image recognition and detection on the current frame image, and uses the target azimuth information to determine whether the target to be intercepted is a target locked by the ground terminal.

[0147] S3211. If there is a discrepancy (e.g., the UAV position is (10,10,8), and the distance between the UAV and the target to be intercepted is greater than 30 meters, the UAV cannot detect the target to be intercepted), it means that the target to be intercepted is not within the perception range of the airborne perception unit. At this time, the UAV will calculate the speed control direction based on the current azimuth information of the target to be intercepted and fly along the azimuth vector direction for 100 milliseconds. After that, the UAV will transmit the current target information to the ground terminal and enter step S321 again to perceive the target information.

[0148] S3212. If the identified target's location information matches the handheld terminal's target location information, it indicates that the target to be intercepted has entered the UAV's sensing range. At this time, the UAV will use the target to be intercepted as its guiding direction and fly towards the point where the UAV is 2 meters away from the target. The execution cycle is 100 milliseconds. After that, the UAV will transmit the current target information to the ground terminal and re-enter step S321 to sense the target information. Figure 12 The state shown.

[0149] S33. The operator determines whether the target is a target to be intercepted based on the information fed back by the drone. After confirmation, the operator briefly presses the number button on the joystick to activate the interception command.

[0150] S34. After receiving the interception command, the UAV approaches the target based on the perceived target location information and activates its onboard interception device within 1 meter to intercept the target. The UAV determines whether the target has been successfully captured and sends the result to the ground terminal. At this time, the UAV remains hovering.

[0151] Step 4: Drone Recovery S41. The ground terminal receives the sensing information sent by the drone and displays it on the front end. The operator determines whether the interception has been completed. After confirmation, a short press of the green button enters the waiting instruction stage. A long press of the green button switches the mode to the drone return-to-home stage.

[0152] S42. After receiving the terminal command, the drone enters return-to-home mode, ascends to a safe altitude, and then returns to the starting point to land.

[0153] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the diagram may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0154] Please see Figure 13 One embodiment of this application provides a drone cooperative interception control device 1300, applied to a drone cooperative interception system. The drone cooperative interception system includes at least: a ground terminal system and a drone system that communicate with each other. The device 1300 includes at least: Search module 1310 is used to search for the target to be intercepted through the optical sight unit in the ground terminal system until it is locked; The first determining module 1320 is used by the ground terminal system to determine the global heading information of the locked target to be intercepted, and to send the global heading information to the UAV system; The second determining module 1330 is used to start the UAV in manual control mode. The UAV information processing unit in the UAV system determines the flight guidance direction of the UAV in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the UAV system. Control module 1340 is used by the UAV information processing unit to control the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; The execution module 1350 is used to enable the UAV system to activate the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted within the preset interception range.

[0155] In an optional embodiment of this application, the first determining module 1320 is further configured to: the ground information processing unit in the ground terminal system responds to a manual control mode command and sends the manual control mode command to the drone information processing unit in the drone system; the drone information processing unit controls the drone to switch to the manual control mode; and the ground information processing unit in the ground terminal system responds to the manual operation command and sends the manual operation command to the drone information processing unit in the drone system in real time.

[0156] In one optional embodiment of this application, the UAV is equipped with a gimbal, and the flight scene information includes at least the forward direction of the UAV; the second determining module 1330 is further configured to: when the UAV initiates the manual control mode, the UAV information processing unit determines the rotation matrix and global position coordinates of the current attitude angle of the UAV based on the initial guidance direction corresponding to the manual operation command in the preset global coordinate system, the forward direction of the UAV in the gimbal coordinate system, the correspondence between the pre-configured gimbal coordinate system and the UAV coordinate system, and the correspondence between the UAV coordinate system and the global coordinate system; and determines the flight guidance direction of the UAV based on the rotation matrix and the global position coordinates.

[0157] In one optional embodiment of this application, the perception and interception unit is configured with a target library; wherein the target library includes a variety of target objects; correspondingly, the execution module 1350 is further configured to call the perception and interception unit to perform target recognition on the field-of-view image acquired by the optical sight unit based on a pre-configured target recognition model, and determine whether the field-of-view image contains a target object from the target library; if the field-of-view image contains a target object from the target library, then the target object in the field-of-view image is determined as the target to be intercepted; the current position of the target to be intercepted is determined according to the flight scene information acquired by the perception and interception unit and the current field-of-view image; the intelligent capture system is activated to autonomously execute the interception task and capture the target to be intercepted at the current position of the target to be intercepted.

[0158] In an optional embodiment of this application, the execution module 1350 is specifically used to estimate the position of the target to be intercepted based on the epipolar geometry principle method, according to the flight scene information and the current field of view image, to obtain the current position of the target to be intercepted.

[0159] In an optional embodiment of this application, the execution module 1350 is specifically used to construct a model of the target to be intercepted based on the flight scene information and the current field of view image; and to solve the model of the target to be intercepted based on a preset epipolar constraint to obtain the current position of the target to be intercepted.

[0160] In an optional embodiment of this application, the control module 1340 is further configured to, if the UAV moves into the preset interception range of the target to be intercepted, have the point cloud sensor configured in the UAV collect the target depth information of the target to be intercepted.

[0161] Specific limitations regarding the aforementioned UAV cooperative interception control device 1300 can be found in the limitations of the UAV cooperative interception control method described above, and will not be repeated here. Each module in the aforementioned UAV cooperative interception control device 1300 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0162] In one embodiment, a computer device is provided, the internal structure of which can be as shown in the figure. Figure 14 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the above-described UAV cooperative interception control method. It includes: a memory and a processor; the memory stores a computer program; and the processor executes the computer program to implement any step of the above-described UAV cooperative interception control method.

[0163] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, can perform any step of the above-described UAV cooperative interception control method.

[0164] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0165] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0166] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0167] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0168] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0169] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for cooperative interception and control of unmanned aerial vehicles (UAVs), characterized in that, The method is applied to a drone cooperative interception system, which at least includes: a ground terminal system and a drone system communicating with each other, and the method at least includes: The target to be intercepted is searched for and locked onto by the optical sight unit in the ground terminal system; The ground terminal system determines the global heading information of the locked target to be intercepted and sends the global heading information to the UAV system; When the drone starts manual control mode, the drone information processing unit in the drone system determines the drone's flight guidance direction in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the drone system. The UAV information processing unit controls the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; Within the preset interception range, the UAV system activates the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted.

2. The UAV cooperative interception and control method according to claim 1, characterized in that, Before the drone initiates manual control mode, the method further includes: The ground information processing unit in the ground terminal system responds to the manual control mode command and sends the manual control mode command to the UAV information processing unit in the UAV system. The UAV information processing unit controls the UAV to switch to the manual control mode; The ground information processing unit in the ground terminal system responds to the manual operation command and sends the manual operation command to the UAV information processing unit in the UAV system in real time.

3. The UAV cooperative interception and control method according to claim 2, characterized in that, The drone is equipped with a gimbal, and the flight scene information includes at least the drone's forward direction. Correspondingly, the drone activates a manual control mode, and the drone information processing unit in the drone system determines the drone's flight guidance direction in real time based on the manual operation commands received from the ground terminal system and the flight scene information collected by the perception and interception unit in the drone system. This includes: When the UAV starts the manual control mode, the UAV information processing unit determines the rotation matrix and global position coordinates of the current attitude angle of the UAV based on the initial guidance direction corresponding to the manual operation command in the preset global coordinate system, the forward direction of the UAV in the gimbal coordinate system, the correspondence between the pre-configured gimbal coordinate system and the UAV coordinate system, and the correspondence between the UAV coordinate system and the global coordinate system. The flight guidance direction of the UAV is determined based on the rotation matrix and the global position coordinates.

4. The UAV cooperative interception and control method according to claim 3, characterized in that, The perception and interception unit is configured with a target library; wherein the target library includes a variety of target objects; correspondingly, within the preset interception range, before the UAV system activates the perception and interception unit and the intelligent capture system autonomously executes the interception task and captures the target to be intercepted, the method further includes: The perception and interception unit performs target recognition on the field-of-view image acquired by the optical sight unit based on a pre-configured target recognition model, and determines whether the field-of-view image contains a target object from the target database. If the field of view image contains a target object from the target library, then the target object in the field of view image is identified as the target to be intercepted; The current position of the target to be intercepted is determined based on the flight scene information collected by the perception and interception unit and the current field of view image; The intelligent capture system is activated to autonomously execute the interception task and capture the target at its current location.

5. The UAV cooperative interception and control method according to claim 4, characterized in that, Determining the current position of the target to be intercepted based on the flight scene information collected by the perception and interception unit and the current field-of-view image includes: Based on the epipolar geometry principle, the position of the target to be intercepted is estimated according to the flight scene information and the current field of view image, thus obtaining the current position of the target to be intercepted.

6. The UAV cooperative interception and control method according to claim 5, characterized in that, The method based on epipolar geometry estimates the position of the target to be intercepted based on the flight scene information and the current field of view image, obtaining the current position of the target to be intercepted, including: A model of the target to be intercepted is constructed based on the flight scenario information and the current field of view image; The model of the target to be intercepted is solved based on the preset epipolar constraint to obtain the current position of the target to be intercepted.

7. The UAV cooperative interception and control method according to claim 6, characterized in that, After the UAV information processing unit controls the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted, the method further includes: If the drone moves into the preset interception range of the target to be intercepted, the point cloud sensor configured in the drone collects the target depth information of the target to be intercepted.

8. A drone cooperative interception control device, characterized in that, An application to a drone cooperative interception system, the drone cooperative interception system comprising at least: a ground terminal system and a drone system communicating with each other, the device comprising at least: The search module is used to search for the target to be intercepted through the optical sight unit in the ground terminal system until it locks on; The first determining module is used by the ground terminal system to determine the global heading information of the locked target to be intercepted, and to send the global heading information to the UAV system; The second determining module is used to enable the UAV to start manual control mode. The UAV information processing unit in the UAV system determines the flight guidance direction of the UAV in real time based on the manual operation instructions sent by the ground terminal system in real time and the flight scene information collected by the perception and interception unit in the UAV system. The control module is used by the UAV information processing unit to control the UAV to move along the flight guidance direction to the preset interception range of the target to be intercepted; The execution module is used to enable the UAV system to activate the perception and interception unit and the intelligent capture system to autonomously execute the interception task and capture the target to be intercepted within the preset interception range.

9. A computer device, comprising: A memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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