CN-122009575-A - Interception unmanned aerial vehicle for throwing catching net by utilizing tension of rotor wing of interception unmanned aerial vehicle and control method of interception unmanned aerial vehicle

CN122009575ACN 122009575 ACN122009575 ACN 122009575ACN-122009575-A

Abstract

The invention discloses an interception unmanned aerial vehicle which casts a catching net by utilizing the tension of a rotor wing of the unmanned aerial vehicle and a control method thereof. The separable power unit comprises a motor and a rotor wing, is releasably arranged on the frame, and the catching net is fixedly connected above the horn. The locking and separating mechanism has a locking state and a releasing state, in the releasing state, the separable power unit is separated from the frame, and the pulling force generated by the rotation of the rotor wing is used as the only power source to drive the capturing net to fly away from the frame and to unfold the capturing net. The recovery system is mechanically linked with the locking and separating mechanism, and the parachute is synchronously triggered to be unfolded to realize the recovery of the body. The control method comprises the steps of tracking a target, maximizing an accelerator, sending a release instruction, synchronously triggering recovery and the like. The invention abandons an independent casting device, remarkably simplifies the structure, lightens the weight, improves the response speed and the interception success rate, and realizes safe and reliable reuse.

Inventors

LIU TONG
Guan Tongfei

Assignees

中科翼通(宁波)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260326

Claims (10)

1. An interception unmanned aerial vehicle utilizing self rotor pulling force to cast a catching net, comprising: an unmanned aerial vehicle frame; at least one detachable power unit releasably mounted to the frame and comprising a motor and a rotor connected to the motor; the catching net is fixedly connected with the separable power unit; The locking and separating mechanism is arranged on the stand and is provided with a locking state and a releasing state, the separable power unit is restrained on the stand in the locking state, and the separable power unit is released in the releasing state; When the locking and separating mechanism is switched to a release state, the separable power unit is separated from the restraint of the rack, and the pulling force generated by rotation of the rotor wing is used as the only power source for driving the separable power unit to carry the catching net to leave the rack.
2. The intercepting drone of claim 1, further comprising a recovery system, the recovery system comprising: the parachute cabin is arranged on the frame and used for accommodating the parachute in a folded state; The cabin cover can cover the opening of the parachute cabin in an openable and closable manner; A hatch lock having a lock position in which the hatch is locked in a closed state and a release position in which the hatch is allowed to open; the linkage mechanism is used for connecting the hatch cover locking piece with the locking and separating mechanism; When the locking and separating mechanism is switched from the locking state to the releasing state, the linkage mechanism drives the hatch cover locking piece to be switched from the locking position to the releasing position, and the elastic releasing piece drives the hatch cover to be opened, so that the parachute is unfolded.
3. The intercepting unmanned aerial vehicle of claim 2 that throws a catch net with its own rotor tension, wherein the locking and disengaging mechanism comprises a rotatable spindle, the separable power unit effecting locking and release by rotation of the spindle; The hatch cover locking piece is a hatch cover locking pin, is fixedly connected to the mandrel and synchronously rotates along with the mandrel; The inner side of the hatch cover is provided with a spring installation part, the spring installation part is provided with a ring groove, and the ring groove comprises a sealing part and a conducting part; the elastic release piece is a compression spring, sleeved on the outer side of the mandrel and elastically supported between the spring mounting part and the hatch cover lock pin; Wherein when the mandrel is in a first angular position, the hatch lock pin is positioned in the closed portion of the ring groove, the compression spring is compressed, and the hatch is kept in a closed and locked state; when the mandrel rotates to a second angle position, the hatch cover lock pin rotates into the conducting part of the annular groove, and the compression spring releases elastic force to drive the hatch cover to open.
4. The intercepting unmanned aerial vehicle of claim 1 which casts a catching net by self rotor tension, characterized in that the locking and separating mechanism comprises: a locking member movably mounted on the frame and having a locking position and a release position for engagement with the separable power unit; An elastic element connected with the locking piece and providing an elastic force for moving the locking piece from a locking position to a releasing position; and a driving unit for keeping the locking piece at a locking position against the elastic force of the elastic element in a locking state, releasing the constraint on the locking piece in response to an external release instruction, and enabling the locking piece to move to a release position under the driving of the elastic element.
5. The intercepting unmanned aerial vehicle for throwing a catching net by utilizing the pull force of a rotor of the intercepting unmanned aerial vehicle according to claim 4, wherein the locking piece is a buckle or a swing arm, the elastic element is a tension spring, and the driving unit is a steering engine; the steering engine comprises an output arm capable of swinging, the output arm is propped against an abutting part on the locking piece in a locking state, the locking piece is kept at a locking position against the elastic force of the tension spring, when the steering engine swings to a release angle in response to a release instruction, the output arm is separated from the abutting part, and the tension spring drives the locking piece to move to the release position.
6. The intercepting unmanned aerial vehicle utilizing self-rotor pulling force to cast a net according to claim 1, further comprising a circuit on-off control mechanism, the circuit on-off control mechanism comprising: The first electric contact piece is arranged on the separable power unit and is electrically connected with the motor; the second electric contact piece is arranged on the rack, is connected with an onboard power supply circuit and is movably installed; when the locking and separating mechanism is in a locking state, the second electric contact piece is in contact with the first electric contact piece, so that the circuit is conducted; when the locking and disconnecting mechanism is switched to a released state, the second electrical contact is disconnected from the first electrical contact, cutting off the circuit.
7. The intercepting unmanned aerial vehicle utilizing self-rotor pulling force to cast a capturing net according to claim 1, wherein the capturing net is of a flexible net structure and is provided with a plurality of connecting ends, the plurality of separable power units are respectively and fixedly connected to the plurality of separable power units.
8. The intercepting unmanned aerial vehicle of claim 1 which casts a catching net by self rotor tension, the system is characterized by further comprising an avionics system, wherein the avionics system comprises: a flight controller; the forward camera shooting unit is arranged at the front part of the frame and is used for acquiring a target image in front of the flight direction; the top-facing camera shooting unit is arranged at the top of the frame and used for acquiring an environment image of an upper airspace; The video switching circuit is respectively connected with the forward camera unit and the top camera unit and is used for responding to an external instruction to select and output video signals of one path of camera unit; and the wireless signal receiver is used for receiving an external control instruction and transmitting the external control instruction to the flight controller and the video switching circuit.
9. A control method of an interception unmanned aerial vehicle using self rotor pulling force to cast a catching net, applied to the interception unmanned aerial vehicle as claimed in any one of claims 1 to 8, characterized by comprising the following steps: Controlling the unmanned aerial vehicle to fly to a target area, acquiring a target image through a forward shooting unit and tracking a target; when the unmanned aerial vehicle approaches to a preset interception distance, pushing the throttle of the unmanned aerial vehicle to the maximum so that the rotor reaches the maximum rotating speed; A release instruction is sent to drive the locking and separating mechanism to switch from a locking state to a release state; The separable power unit is separated from the constraint of the frame, and is driven by the pulling force generated by the rotation of the rotor to fly away from the frame together with the catching net, and the catching net is unfolded in the movement process; the recovery system is triggered synchronously, so that the parachute is unfolded, and the slow descent recovery of the unmanned aerial vehicle body is realized.
10. The method for controlling an interception unmanned aerial vehicle using a self-rotor pulling force cast net according to claim 9, further comprising a video switching step of selectively outputting a video signal of a forward camera unit or a top camera unit to a ground control station through a video switching circuit in response to a switching instruction of an operator in tracking a target.

Description

Interception unmanned aerial vehicle for throwing catching net by utilizing tension of rotor wing of interception unmanned aerial vehicle and control method of interception unmanned aerial vehicle Technical Field The invention belongs to the technical field of unmanned aerial vehicle countering, in particular relates to an interception unmanned aerial vehicle for countering a small unmanned aerial vehicle, and particularly relates to an interception unmanned aerial vehicle for throwing a catching net by utilizing self rotor wing tension and a control method thereof. Background In recent years, with popularization of civil unmanned aerial vehicle technology, unordered use of small unmanned aerial vehicles forms an increasingly serious threat to public security, privacy protection and security in important areas. The physical interception technology for the low-altitude slow-speed small-sized target becomes a research hot spot, wherein the net capturing type interception is widely applied to the unmanned aerial vehicle countering field due to the advantages of small collateral damage, high capturing success rate and the like. A typical net capture type interception unmanned aerial vehicle generally carries a capture net, and the capture net is shot to a target unmanned aerial vehicle through a certain projection mechanism, so that the target unmanned aerial vehicle winds around a target rotor or a target body, and forced landing or capture is achieved. The existing net capturing type interception unmanned aerial vehicle usually adopts an independent throwing power source to spread a capturing net. According to different power source types, the prior art is mainly divided into a first category, wherein gunpowder or compressed gas is adopted as power, a capturing net is ejected out through an emission cylinder, for example, china patent application with the publication number of CN119845096A discloses an net capturing type unmanned aerial vehicle countercheck device, the capturing net is opened and tightened through the cooperation of a self-releasing mechanism and a shrinkage rope, a second category, namely, a powerful spring energy storage mechanism is adopted, the capturing net is ejected out through triggering release, for example, china patent application with the publication number of CN2022106712220 discloses a power transmission line bird nest cleaning unmanned aerial vehicle, the cleaning mechanism comprises a locking rod controlled by a steering engine, a power storage emission spring and an emission push plate, the steering engine drives the locking rod to release the spring, and the spring pushes the push plate to launch a traction arrow. In addition, in the aspect of recovery systems, the prior art generally adopts an independently triggered parachute device, for example, a low-altitude interception system speed reduction recovery device adopts gunpowder as parachute opening power, and a parachute assembly is pushed out of a parachute cabin by igniting black powder to generate high-temperature high-pressure gas to push a piston. The prior art has the obvious defects that firstly, no matter gunpowder, compressed gas or a spring is needed to be additionally arranged on the unmanned aerial vehicle, the overall weight, the structural complexity and the manufacturing cost of the system are definitely increased, secondly, gunpowder or high-pressure gas belongs to dangerous goods, the use, the storage and the transportation of the gunpowder or the high-pressure gas are strictly regulated, potential safety hazards exist, the operation is not suitable for frequent operation, and a spring power accumulating mechanism usually needs a larger installation space and has the risk of fatigue failure after long-term use. Therefore, how to simplify the structure of the interception unmanned aerial vehicle, reduce the weight and the cost, ensure the rapidity and the reliability of the casting of the capturing net, realize the reliable linkage of the casting and the recovery, and improve the airspace situation awareness in the operation process becomes a technical problem to be solved in the field. Disclosure of Invention The invention aims to overcome the defects of the prior art and provides an interception unmanned aerial vehicle which uses the tension of a rotor wing to cast a catching net and a control method thereof. The unmanned aerial vehicle abandons the traditional independent net throwing device, through ingenious structural design, the tensile force generated by rotation of the rotor wing of the unmanned aerial vehicle is utilized as the only power source for net throwing, and the unmanned aerial vehicle aims at solving the technical problems that the existing intercepting unmanned aerial vehicle is complex in structure, large in weight, high in cost, slow in response speed, insufficient in reliability due to the existence of potential safety hazards and independent of throwing and recovery systems, poor i