CN-122015578-A - Unmanned aerial vehicle countering equipment and countering method

CN122015578ACN 122015578 ACN122015578 ACN 122015578ACN-122015578-A

Abstract

The invention discloses unmanned aerial vehicle countering equipment and a countering method, comprising a detection module, a cooperative control module and a transmitting module, wherein the cooperative control module comprises a track prediction unit, a transmitting decision unit and a time sequence control unit, and the transmitting module comprises transmitting pipes which are arranged in a preset matrix. The transmitting decision unit judges the motion type of the unmanned aerial vehicle according to the motion data, determines a transmitting mode corresponding to the motion type, predicts the striking time according to the future track, and sends a striking instruction to the time sequence control unit. The timing control unit receives the striking instruction and determines the timing of one or more transmitting tubes enabled in the transmitting mode according to a future track. The launching module controls the one or more launching tubes to launch the captured projectile according to a time sequence. The invention balances interception precision and ammunition economy based on the self-adaptive emission mode of the unmanned aerial vehicle motion state.

Inventors

LI PEIHENG
YUAN DAN
ZHUANG XIAOXIA

Assignees

台州科尊科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260325

Claims (10)

1. The unmanned aerial vehicle reaction equipment is characterized in that, reaction equipment contains detection module, cooperative control module and emission module, cooperative control module includes orbit prediction unit, emission resolution unit and time sequence control unit, emission module contains the transmitting tube of predetermineeing the matrix and arranging, wherein: the detection module is used for collecting motion data of the unmanned aerial vehicle; the track prediction unit predicts a future track of the unmanned aerial vehicle according to the motion data; The transmitting decision unit is used for judging the motion type of the unmanned aerial vehicle according to the motion data, determining a transmitting mode corresponding to the motion type, and indicating the transmitting module to start the quantity and position arrangement of transmitting pipes; the time sequence control unit receives the striking instruction and determines the time sequence of one or more transmitting pipes started in the transmitting mode according to the future track; and the launching module is used for controlling the one or more launching tubes to launch the capturing bullets according to the time sequence.
2. The reaction apparatus of claim 1 wherein the type of motion comprises any one of: Straight line flying at uniform speed; variable speed straight line flight; and (5) speed changing and direction changing flying.
3. The reaction apparatus of claim 2, wherein: If the emission decision unit determines that the motion type of the unmanned aerial vehicle is uniform-speed linear flight, determining that the emission mode is a test striking mode, wherein an emission pipe corresponding to the test striking mode is a central emission pipe positioned in the center of a matrix; If the emission decision unit determines that the movement type of the unmanned aerial vehicle is variable-speed linear flight, determining that the emission mode is a vertical coverage mode, wherein the emission pipes corresponding to the vertical coverage mode are a row of vertically arranged emission pipes; If the transmitting decision unit determines that the motion type of the unmanned aerial vehicle is variable speed and variable direction flight, the transmitting mode is determined to be a saturated striking mode, and transmitting pipes corresponding to the saturated striking mode are all transmitting pipes.
4. A countering apparatus according to claim 3, wherein the transmission decision unit comprises a motion classification module and a probability judgment module; If the motion classification module judges that the motion type of the unmanned aerial vehicle is uniform linear flight according to the motion data, the probability judgment module determines a striking area of the transmitting module, calculates the coincidence rate of a central transmitting tube corresponding area in the striking area and the future track according to the future track, and controls the central transmitting tube to start striking when the coincidence rate is larger than a specified value; If the motion classification module judges that the motion type of the unmanned aerial vehicle is variable-speed linear flight according to the motion data, the probability judgment module determines a striking area of the transmitting module, calculates the coincidence rate of a vertically arranged row of transmitting tubes corresponding to the striking area and the future track according to the future track, and controls the row of transmitting tubes to start striking when the coincidence rate is larger than a specified value; and if the motion classification module judges that the motion type of the unmanned aerial vehicle is variable speed and variable direction flight according to the motion data, the probability judgment module determines a striking area of the transmitting module, calculates the coincidence rate of the striking area and the future track according to the future track, and controls all transmitting pipes to start striking when the coincidence rate is larger than a specified value.
5. The reaction apparatus according to claim 4, wherein the timing control unit includes a transmission mode switching module and a timing calculation module; If the motion classification module judges that the motion type of the unmanned aerial vehicle is uniform-speed linear flight according to the motion data, the emission mode switching module is switched to the test striking mode, and the time sequence calculation module controls the central emission tube to emit capturing bullets; If the motion classification module judges that the motion type of the unmanned aerial vehicle is variable-speed linear flight according to the motion data, the emission mode switching module is switched to the vertical coverage mode, the time sequence control module calculates the time when a future track coincides with a striking area corresponding to a row of vertically arranged emission pipes, and determines the emission sequence and the emission interval of each emission pipe contained in the row of emission pipes along the front-rear direction of the future track; And if the motion classification module judges that the motion type of the unmanned aerial vehicle is variable speed and variable direction flight according to the motion data, the emission mode switching module is switched to the saturated striking mode, the time sequence control module calculates the time-space probability of the unmanned aerial vehicle passing through the corresponding position of each emission tube in the striking area of the emission module according to the future track, and determines the emission time sequence of each emission tube according to the time-space probability.
6. The countering apparatus of claim 1, wherein the detection module and the emission module are respectively provided with a two-axis pan-tilt, and the cooperative control module further comprises a calibration unit; The detection module comprises an industrial camera and a solid-state laser radar, and the industrial camera and the solid-state laser radar are placed on a two-axis cradle head of the detection module; The transmitting tube is arranged on a two-axis cradle head of the transmitting module; And the calibration unit is used for calibrating the coordinate system of the two-axis holder of the detection module and the emission module.
7. The reaction apparatus of claim 6 wherein the transmitting module further comprises: and the mechanical locking structure is used for locking the two-axis cradle head of the transmitting module and the transmitting frame of the transmitting pipe before the transmitting module receives the striking instruction and controls the transmitting capturing bullet, wherein the mechanical locking structure is matched with the gear engagement structure by adopting an electromagnetic lock, and the electromagnetic lock is positioned between the base of the two-axis cradle head of the transmitting module and the transmitting frame of the transmitting pipe.
8. The reaction apparatus of claim 1 wherein the launch tube is deflected outwardly by a preset angle, the preset angle being set according to an expected strike range of the launch tube.
9. The countering apparatus according to claim 1, wherein the timing control unit determines an idle time of the captured projectile according to the future trajectory and an interception distance, which is a distance between a biaxial holder of the transmitting module and a predicted interception point, and issues the idle time to the transmitting module; And the emission module is used for controlling the one or more emission tubes to emit the capturing bullets according to the time sequence and the idle explosion time.
10. A method of drone countering based on the drone countering device of claim 1, wherein the drone countering device is deployed in a target airspace, comprising: Starting the unmanned aerial vehicle countering equipment, and calibrating the detection module and the emission module by a calibration unit of the cooperative control module; The detection module is controlled to scan the target airspace uninterruptedly, and motion data of the unmanned aerial vehicle are collected; Predicting a future track of the unmanned aerial vehicle according to the motion data; judging the motion type of the unmanned aerial vehicle according to the motion data, determining a transmitting mode corresponding to the motion type, predicting striking time according to the future track, and issuing striking instructions, wherein the transmitting mode is used for indicating the transmitting module to start the quantity and position arrangement of transmitting pipes; determining a timing of one or more launch tubes enabled in the launch mode based on the future trajectory; And controlling the one or more launching tubes to launch the catching bullets according to the time sequence.

Description

Unmanned aerial vehicle countering equipment and countering method Technical Field The invention relates to the technical field of unmanned aerial vehicle countering, in particular to unmanned aerial vehicle countering equipment and a countering method. Background With the rapid popularization of unmanned aerial vehicle technology, the problem of low-altitude miniature and low-speed unmanned aerial vehicle's illegal flight is increasingly outstanding, and serious threat is caused to fields such as urban security, key facility protection, public security, etc., and anti-unmanned aerial vehicle interception technology has become a research hotspot in the current security field. At present, anti-unmanned aerial vehicle interception systems are mainly divided into electronic interference types, hard destruction types and soft killing interception types, wherein soft killing interception (such as catching bullet interception) is widely applied to scenes such as dense population, sensitive facilities and the like due to the advantages of no secondary injury, environmental friendliness and the like. In the related art, the soft killing interception technology generally adopts a fixed emission mode, such as a single emission mode or a multiple emission mode, but the interception success rate of the fixed single emission mode on an interception target with a complex motion track is lower, and the fixed multiple emission mode wastes ammunition aiming at the interception target with a simple motion track, so that flexible adaptation of the motion track of the interception target and the emission mode cannot be realized. Accordingly, the present description provides an unmanned aerial vehicle countering apparatus. Disclosure of Invention The present invention provides an unmanned aerial vehicle countering apparatus and a countering method to at least partially solve the above-mentioned problems of the prior art. The invention adopts the following technical scheme: The invention provides unmanned aerial vehicle countering equipment, which comprises a detection module, a cooperative control module and a transmitting module, wherein the cooperative control module comprises a track prediction unit, a transmitting decision unit and a time sequence control unit, and the transmitting module comprises transmitting pipes which are arranged in a preset matrix, wherein the transmitting pipes are arranged in a preset matrix mode: the detection module is used for collecting motion data of the unmanned aerial vehicle; the track prediction unit predicts a future track of the unmanned aerial vehicle according to the motion data; The transmitting decision unit is used for judging the motion type of the unmanned aerial vehicle according to the motion data, determining a transmitting mode corresponding to the motion type, and indicating the transmitting module to start the quantity and position arrangement of transmitting pipes; the time sequence control unit receives the striking instruction and determines the time sequence of one or more transmitting pipes started in the transmitting mode according to the future track; and the launching module is used for controlling the one or more launching tubes to launch the capturing bullets according to the time sequence. Optionally, the motion type includes any one of the following: Straight line flying at uniform speed; variable speed straight line flight; and (5) speed changing and direction changing flying. Optionally, if the emission determination unit determines that the motion type of the unmanned aerial vehicle is uniform-speed linear flight, determining that the emission mode is a test striking mode, and the emission tube corresponding to the test striking mode is a central emission tube located at the center of the matrix; If the emission decision unit determines that the movement type of the unmanned aerial vehicle is variable-speed linear flight, determining that the emission mode is a vertical coverage mode, wherein the emission pipes corresponding to the vertical coverage mode are a row of vertically arranged emission pipes; And if the transmitting decision unit determines that the motion type of the unmanned aerial vehicle is variable speed and variable direction flight, determining that the transmitting mode is a saturated striking mode, and transmitting pipes corresponding to the saturated striking mode are all transmitting pipes. Optionally, the transmission decision unit includes a motion classification module and a probability judgment module; If the motion classification module judges that the motion type of the unmanned aerial vehicle is uniform linear flight according to the motion data, the probability judgment module determines a striking area of the transmitting module, calculates the coincidence rate of a central transmitting tube corresponding area in the striking area and the future track according to the future track, and controls the transmitting tube to start strik