CN107860265A - A kind of trap setting of the anti-unmanned plane of electromagnetism interference - Google Patents
A kind of trap setting of the anti-unmanned plane of electromagnetism interference Download PDFInfo
- Publication number
- CN107860265A CN107860265A CN201711267557.1A CN201711267557A CN107860265A CN 107860265 A CN107860265 A CN 107860265A CN 201711267557 A CN201711267557 A CN 201711267557A CN 107860265 A CN107860265 A CN 107860265A
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- China
- Prior art keywords
- trap setting
- afterbody
- control unit
- unmanned plane
- module
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
- F41H13/0093—Devices generating an electromagnetic pulse, e.g. for disrupting or destroying electronic devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The present invention provides a kind of trap setting of the anti-unmanned plane of electromagnetism interference, including head, afterbody, winglet and propeller arrangement；Trap setting control system is provided with head, trap setting control system includes information acquisition module, control unit and propeller motor；Information acquisition module includes image capture module, closely Laser Radar Scanning module, Electromagnetic Wave Detection module, and described image acquisition module, Laser Radar Scanning module, closely Electromagnetic Wave Detection module is connected with control unit respectively；Propeller motor is connected with propeller arrangement；Afterbody is arranged on the rear on head, interior to be provided with catching net；Winglet is arranged on head, and is connected with control unit；Propeller motor and closely Electromagnetic Wave Detection module alternately operate.The present invention provides a kind of trap setting for the electromagnetism interference that can accurately capture unmanned plane, makes UAV targets' to escape that possibility is low, and interference is smaller, it is more accurate to catch.
Description
Technical field
The present invention relates to aircraft field, more particularly to a kind of trap setting of anti-unmanned plane.
Background technology
In the life that people are more and more appeared in unmanned plane, the unmanned plane that some less comply with the rules is often
Being made troubles to other people even influences public safety.In order to take precautions against the illegal abuse of unmanned plane, a new things has been expedited the emergence of：Instead
UAS.
The means of existing anti-unmanned plane mainly have interference to block class, directly destroy class and monitor control class.Interference blocks
Class is by launching specific electromagnetic wave signal come all signals of jamming target unmanned plane, being cut off the signal of unmanned plane, touch
Hair unmanned plane makes a return voyage, and the counter dynamics of such method is poor；It is directly to shoot down unmanned plane using laser gun directly to destroy class, such
The counter dynamics of method is strong, but the unmanned plane shot down easily damages to ground staff；Monitoring control class mainly utilizes hacker
Technology invades the operating system of unmanned plane, kidnaps radio control, unmanned plane is captured, the technology content and technology of such method
Cost is high, it is difficult to popularizes.Nowadays a kind of trap setting for being used to intercept unmanned plane is engendered, trap setting passes through launch network bullet
Or deliver interception frame using unmanned plane and UAV targets are caught, net bullet can only rely on coasting flight after launching, no
Flight angle can be adjusted, UAV targets easily escape, and capture rate is low, and there can be the danger fallen and hurted sb.'s feelings；And pass through nothing
Man-machine delivery intercepts frame and UAV targets is intercepted, and because unmanned plane carries interception frame, its speed is difficult to overshoot
Unmanned plane, and mobile very flexible, capture rate is low, and practicality is poor.
Therefore, prior art could be improved and develop.
The content of the invention
The embodiment of the present invention provides a kind of trap setting for the electromagnetism interference that can accurately capture unmanned plane.
Technical scheme is as follows：
A kind of trap setting of the anti-unmanned plane of electromagnetism interference, wherein, including head, afterbody, winglet and propeller arrangement；
Trap setting control system is provided with the head, the trap setting control system includes information acquisition module, control
Unit and propeller motor；Described information acquisition module includes image capture module, closely Laser Radar Scanning module, electromagnetism
Ripple detection module, described image acquisition module, Laser Radar Scanning module, closely Electromagnetic Wave Detection module is single with control respectively
Member connection；The propeller motor is connected with propeller arrangement；Described image acquisition module enters to the object in front of trap setting
Row IMAQ, the Laser Radar Scanning module are scanned to the object in front of trap setting, the closely electromagnetic wave
Detection module receives the electromagnetic wave around trap setting；
The afterbody is arranged on the rear on head, interior to be provided with catching net, and the catching net is connected with head, and use is additionally provided with afterbody
Structure is discharged in the afterbody for opening afterbody release catching net, the afterbody release structure is connected with control unit；
The winglet is arranged on head, and is connected with control unit；
The information that described control unit gathers to information acquisition module is identified, and to propeller motor, afterbody discharge structure,
Winglet and information acquisition module are controlled；
The propeller motor and closely Electromagnetic Wave Detection module alternately operate.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the trap setting also includes middle part, described
Middle part is arranged between head and afterbody, and parachute is provided with middle part, and the parachute is connected with head, and use is additionally provided with middle part
Structure is discharged in the middle part for opening middle part release parachute, the middle part release structure is connected with control unit, works as trap setting
When starting to fall, control unit control middle part release structure is opened, and discharges parachute.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the trap setting control system also includes
Speed measuring module, the speed measuring module are connected with control unit, when it is zero that speed measuring module, which detects the upward speed of trap setting,
Control unit control middle part release structure is opened, and discharges parachute.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the afterbody release structure is fried including afterbody
Medicine storehouse and explosive trigger；The afterbody magazine is the tubular structure that internal diameter is more than afterbody external diameter, or external diameter is less than in afterbody
The tubular structure in footpath, the upper and lower part of tubular structure are connected with tail seal respectively, are formed between afterbody magazine and afterbody
Accommodate the magazine of explosive；With being connected inside magazine, the other end is connected with control unit for one end of the explosive trigger.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the afterbody release structure is fried including afterbody
Pack and explosive trigger；The afterbody blasting charge is arranged between catching net and afterbody inwall, and the one of the explosive trigger
End is connected with the afterbody blasting charge, and the other end is connected with control unit.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the middle part release structure is fried including middle part
Medicine storehouse and explosive trigger；The middle part magazine is the tubular structure that internal diameter is more than middle part external diameter, or external diameter is less than in middle part
The tubular structure in footpath, the upper and lower part of tubular structure are tightly connected with middle part, formed between middle part magazine and middle part respectively
Accommodate the magazine of explosive；With being connected inside magazine, the other end is connected with control unit for one end of the explosive trigger.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the middle part release structure is fried including middle part
Pack and explosive trigger；The middle part blasting charge is arranged between catching net and middle part inwall, and the one of the explosive trigger
End is connected with the middle part blasting charge, and the other end is connected with control unit.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, catching net multiple edges be provided with than
The big fritter of catching net quality.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, the propeller arrangement is folding common
Axle counter rotating propeller, the winglet are collapsible winglet.
The trap setting of the anti-unmanned plane of described electromagnetism interference, wherein, described control unit is type self-destroyed chip.
Beneficial effects of the present invention：The present invention provides a kind of seizure dress of electromagnetism interference that can accurately capture unmanned plane
Put, using image capture module, Laser Radar Scanning module and closely three modules of Electromagnetic Wave Detection module cooperate, and make
UAV targets' escapes that possibility is low, and the electromagnetic wave that the propeller motor of trap setting is sent is offset, and makes low coverage
Interference from Electromagnetic Wave Detection module is smaller, and it is more accurate to catch.
Brief description of the drawings
Fig. 1 is the structural representation of the seizure system of the anti-unmanned plane in the embodiment of the present invention.
Fig. 2 is the structural representation of the trap setting of the electromagnetism interference in the embodiment of the present invention.
Fig. 3 is the signal of the another embodiment of the middle part release structure and afterbody release structure in the embodiment of the present invention
Figure.
Fig. 4 is the schematic diagram of the trap setting control system of the electromagnetism interference in the embodiment of the present invention.
Fig. 5 is the schematic diagram when catching net of the trap setting of the electromagnetism interference in the embodiment of the present invention is opened.
Fig. 6 is the schematic diagram when parachute of the trap setting of the electromagnetism interference in the embodiment of the present invention is opened.
Description of reference numerals：100th, trap setting；200th, emitter；400th, UAV targets；110th, head；111st, control
Unit processed；112nd, image capture module；113rd, closely Electromagnetic Wave Detection module；114th, Laser Radar Scanning module；115th, survey
Fast module；116th, microwave/radio-transmitting apparatus；120th, middle part；121st, parachute；122nd, middle part magazine；123rd, explosive
Trigger；124th, the middle part blasting charge；130th, afterbody；131st, catching net；132nd, afterbody magazine；133rd, explosive trigger；134、
The afterbody blasting charge；140th, propeller arrangement；150th, winglet；210th, launching tube；211st, pointing device；212nd, pedestal.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " length ", " on ", " under ", "front", "rear", " vertical ",
The orientation or position relationship of the instruction such as " level ", " top ", " bottom ", " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " the
One ", " second " is only used for describing purpose, and it is not intended that instruction or imply relative importance or it is implicit indicate it is indicated
The quantity of technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed and either implicitly include one or more
Multiple features.In the description of the invention, " multiple " are meant that two or more, unless otherwise clearly specific
Limit.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection or can mutually communicate；Can be joined directly together, can also be by between intermediary
Connect connected, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill of this area
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only example, and
And purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, between itself not indicating discussed various embodiments and/or setting
Relation.In addition, the invention provides various specific techniques and material examples, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
It refer to Fig. 1, Fig. 1 is the structural representation of the seizure system of the anti-unmanned plane in one embodiment of the invention, anti-nothing
Man-machine seizure system includes emitter 200 and trap setting 100.
Emitter 200 provides motive force, including actuating unit and guiding mechanism for the transmitting of trap setting 100, when anti-
When the seizure system of unmanned plane is used for vehicle-mounted, boat-carrying or ground launch, emitter 200 also includes pedestal 212.
The one of which embodiment of emitter 200 can be gases at high pressure emitter 200, and its actuating unit includes
High pressure tank, high pressure air exhaust valve, guiding mechanism are launching tube 210.
High pressure tank is connected by high pressure air exhaust valve with the inside of launching tube 210, and high pressure gas is stored in high pressure tank
Body, gases at high pressure are inert gas, and when high pressure air exhaust valve is opened, gases at high pressure are entered from high pressure tank by high pressure air exhaust valve
Enter in launching tube 210.Pedestal 212 is arranged on mounting plane（As on car, on ship, on ground）, pedestal 212 and launching tube 210
It is flexibly connected, the maximum horizontal anglec of rotation of launching tube 210 is up to 360 °, and the maximum vertical anglec of rotation is up to 90 °.Emitter
200 are provided with pointing device 211, and pointing device 211 is optical sight.
Emitter 200 is that trap setting 100 provides initial motive force, trap setting 100 is obtained larger initial velocity
Degree, then secondary motive force is obtained by the propeller motor and propeller arrangement 140 of trap setting 100 itself, this is set excellent
Point is the capacity that can reduce battery in trap setting 100, and the capacity of battery only needs that the capture-process of trap setting 100 can be maintained
Flight, carry UAV targets 400 without it and make a return voyage, can further reduce the capacity and trap setting 100 of its battery
The high speed chases of overall weight, more conducively trap setting 100.
As shown in Figures 2 to 6, the trap setting 100 of electromagnetism interference of the invention is that profile is three sections of guided missile shape
Formula structure, including positioned at the head 110 of leading portion, positioned at the middle part 120 in stage casing and the afterbody 130 positioned at latter end, head 110 is with
The first lattice is provided between portion 120, the second lattice is provided between middle part 120 and afterbody 130.
The head 110 is the bullet shape of inner hollow, interior to be provided with trap setting control system, trap setting control
System includes information acquisition module, control unit 111, battery and propeller motor.Information acquisition module is arranged on head 110
Front end, and being acquired to the information of UAV targets 400, information acquisition module, propeller motor respectively with control unit
111 connections；The detection data of the receive information acquisition module of control unit 111, and detection data are analyzed and processed, identification inspection
Survey data whether with the Data Matching that stores in advance；Control unit 111 can also be carried out to information acquisition module and propeller motor
Control, described control unit 111 are single-chip microcomputer, and battery is that control unit 111 and propeller motor are powered.Head 110 also includes
With the propeller arrangement 140 of propeller motor connection, propeller arrangement 140 is foldable propeller, in battery, spiral shell
The blade of rotation paddle structure 140 is pressed close to the outer wall of trap setting 100 and packed up along the folded lengthwise of trap setting 100, when catching
When catching device 100 and leaving emitter 200, the blade of folding is radially opened.Propeller arrangement 140 is preferably folding common
Axle counter rotating propeller.In order to reduce interference of the propeller motor to information acquisition module, propeller motor is electromagnetically shielded.
The middle part 120 is hollow tubular structure, interior to be provided with parachute 121, the hollow tubular structure at middle part 120 and first
The storage area of parachute 121 is formed between lattice, the second lattice；The parachute 121 is connected with head 110, and is rolled over
It is folded to be placed in the hollow tubular structure at middle part 120, the folding mode of parachute 121 and the existing folding mode of parachute 121
It is same or similar.The middle part release structure that parachute 121 is discharged for opening middle part 120 is additionally provided with middle part 120, as middle part
The one of which embodiment of structure is discharged, middle part release structure includes middle part magazine 122 and explosive trigger 123, described
Middle part magazine 122 can be the tubular structure that internal diameter is more than the external diameter of middle part 120, and the upper and lower part of tubular structure is respectively with
The outer surface in portion 120 is tightly connected, and the explosive for accommodating explosive is formed between the inwall of middle part magazine 122 and the outer wall at middle part 120
Storehouse；Middle part magazine 122 can also be arranged on the inwall at middle part 120, and middle part magazine 122 is that external diameter is less than the internal diameter of middle part 120
Tubular structure, between the outer wall of middle part magazine 122 and the inwall of middle part 120 formed accommodate explosive magazine；Explosive trigger
123 one end inside magazine with being connected, and the other end is connected with control unit 111, and control unit 111 can be to explosive trigger
123 send trigger signal, ignite middle part magazine 122, explosive trigger 123 can be sparker.Middle part release knot
The another embodiment of structure can also use gases at high pressure and relief valve, sent and discharged to relief valve by control unit 111
Signal, triggering relief valve blast gases at high pressure to middle part 120, and gases at high pressure break through middle part 120, discharge parachute 121, the method
Need to set high pressure gas storage room in trap setting 100, increase the weight and volume of trap setting 100.Open middle part 120
The mode of release parachute 121 is not limited to above two mode or the middle part blasting charge 124 and explosive trigger
123, the middle part blasting charge 124 is arranged between parachute 121 and the inwall of middle part 120, and presses close to 120 inwalls of middle part, explosive triggering
One end of device 123 is connected with the middle part blasting charge 124, and the other end is connected with control unit 111.
The afterbody 130 is the hollow tubular structure of bottom lock, interior to be provided with catching net 131, the hollow tubular of afterbody 130
The storage area of catching net 131 is formed between structure and the second lattice, bottom；The catching net 131 is connected with head 110,
Catching net 131 is folded and is placed in afterbody 130.The tail that catching net 131 is discharged for opening afterbody 130 is additionally provided with afterbody 130
Portion discharges structure, and as the one of which embodiment of afterbody release structure, afterbody release structure includes the He of afterbody magazine 132
The set-up mode of explosive trigger 133, afterbody magazine 132 and explosive trigger 133 triggers with middle part magazine 122 and explosive
The set-up mode of device 133 is identical, and here is omitted.In addition, afterbody release structure can also use gases at high pressure and relief valve,
Or the afterbody blasting charge 134 and explosive trigger 133, the afterbody blasting charge 134 be arranged on catching net 131 and the inwall of afterbody 130 it
Between.In order that catching net 131 is opened more rapidly with fully, it is connected with multiple edges of catching net 131 than the matter of catching net 131
The bigger fritter of amount, when folding catching net 131, flocks together fritter, and presses close to the inwall of afterbody 130, when afterbody discharges
When structure is the afterbody blasting charge 134 and explosive trigger 133, the afterbody blasting charge 134 is placed on the centre of fritter, explosive trigger
133 one end is connected with the afterbody blasting charge 134, and the other end is connected with control unit 111, when the afterbody blasting charge 134 is blown, by
Bigger than catching net 131 in the quality of fritter, fritter is opened rapidly by rapid fry to surrounding, catching net 131；Tied when afterbody discharges
When structure is pressure-air, pressure-air pours afterbody 130 and breaks through the outer wall of afterbody 130, because the quality of fritter compares catching net
131 is big, and fritter is rushed at rapidly surrounding, and catching net 131 opens rapidly.
Trap setting 100 uses three stage structure, and the catching net 131 for needing first to discharge is arranged on afterbody 130, makes to catch
The moment for catching the release of net 131 opens to the rear of trap setting 100, and flight on trap setting 100 influences smaller, also allows seizure
Net 131 is easier to open.And middle part 120 is provided with parachute 121, after UAV targets 400 are captured, trap setting 100
Parachute 121 is opened, and is provided buffering for trap setting 100 and falling for UAV targets 400, will not be crashed and hurt sb.'s feelings, also just
In the recovery of trap setting 100.The first lattice is provided between head 110 and middle part 120, is set between middle part 120 and afterbody 130
There is the second lattice, influencing each other between reducing per part, the outer wall of middle part 120 and afterbody 130 can use easy explosion
Material.
The trap setting 100 also includes winglet 150, after winglet 150 is arranged on head 110, propeller arrangement 140
Side, winglet 150 is collapsible winglet 150, and winglet 150 can be to the folded inside on head 110, can also be along the outer wall on head 110
Fold.It is battery in trap setting 100, winglet 150, which is folded, to be packed up, and emitter 200 is left in trap setting 100
When, winglet 150 is opened or ejected；Winglet 150 is connected with control unit 111, in the flight course of trap setting 100, control
Unit 111 can adjust the angle of winglet 150, so as to adjust the heading of trap setting 100.
Described information acquisition module include speed measuring module 115, image capture module 112, Laser Radar Scanning module 114,
Closely Electromagnetic Wave Detection module 113, speed measuring module 115, image capture module 112, Laser Radar Scanning module 114, low coverage
It is connected respectively with control unit 111 from Electromagnetic Wave Detection module 113.Trap setting 100 can use image capture module 112 or
Laser Radar Scanning module 114, or the combination of the two carry out the information gathering of UAV targets 400, use in the present embodiment
The combination of image capture module 112 and Laser Radar Scanning module 114 carries out the information gathering of UAV targets 400.
Speed measuring module 115 detects to the speed of trap setting 100, and transmits data to control unit 111；Work as seizure
After device 100 leaves emitter 200, speed measuring module 115 detects the pace of trap setting 100 when being zero, and control is single
Member 111 controls propeller electric motor starting, and propeller motor driven propeller arrangement 140 rotates at a high speed, is provided for trap setting 100
Flying power；After trap setting 100 discharges catching net 131, and UAV targets 400 are caught, trap setting 100 carries
UAV targets 400 fly, and speed measuring module 115 detects the upward speed of trap setting 100 when being zero, and control unit 111 is controlled
System middle part 120 discharges parachute 121, and parachute 121 opens, and provides and delays for the landing of trap setting 100 and UAV targets 400
Punching.Speed measuring module 115 can be pitot.
Image capture module 112 includes camera, and camera is arranged on the front end of trap setting 100 and stretches out seizure dress
100 outer wall is put, camera is preferably high-definition camera；Image recognition energy during in order to strengthen poor visibility or light condition difference
Power, infrared camera can be selected, make the scope of application of image capture module 112 wider, limited by environmental condition smaller；At this
In embodiment, in order that camera can obtain remote image, target image collection is carried out from focal length camera.
In the flight course of trap setting 100, image capture module 112 is obtained by focal length camera to be entered in visual field
Scenery, and the image that this is collected is sent to control unit 111, is matched with the target signature prestored,
Before success, focal length camera will not stop to obtain the scene features in visual field；, can be with if the object of image recognition is unmanned plane
Sets target is characterized as the propeller of unmanned plane, and the characteristic of the propeller of unmanned plane is stored in control unit 111,
When unmanned plane enters the visual field of focal length camera, camera gets the image of unmanned plane propeller, and it is single to be sent to control
Member 111, is matched with the target signature stored in advance, and after the match is successful, control unit 111 is locked as unmanned plane to follow the trail of mesh
Mark, and the heading of the angle adjustment trap setting 100 by adjusting winglet 150, UAV targets 400 is in all the time and take the photograph
As the middle of head visual field.
Laser Radar Scanning module 114 includes generating laser, and generating laser is sent out to the front region of trap setting 100
Outgoing laser beam, the object in scanning range is scanned, and the laser signal that object reflects is sent to control unit
111.If the trace trap object of trap setting 100 is unmanned plane, the propeller of unmanned plane is set as identification object, and nobody
The propeller of machine is characterized in rotating at a high speed, and when laser is irradiated on the blade of propeller, laser is reflected, when laser irradiates
During to gap between propeller blade, gap of the laser through blade, photograph of the propeller of rotation in laser beam at a high speed
Penetrate down, the reflection of laser is in dynamic change, and control unit 111 judges that sweep object is unmanned plane according to this reflectance signature, and handle
Unmanned plane be locked as follow the trail of target, the heading of the angle adjustment trap setting 100 by adjusting winglet 150, make target without
Man-machine 400 are in the scanning range of trap setting 100 all the time.Laser Radar Scanning module 114 can use existing
3irobotics laser radar range sensors, or 128 line laser radar VLS-128, maximum scanning range is up to 180 °.
When the distance objective unmanned plane 400 of trap setting 100 is nearer, Laser Radar Scanning module 114 receive target without
The laser signal display target unmanned planes 400 of man-machine 400 reflection are apart from close, now because trap setting 100 is at a high speed
State of flight, the distance between trap setting 100 and UAV targets 400 also rapid decrement, therefore when control unit 111 receives
And calculate to when catching UAV targets 400 and the range information of Laser Radar Scanning module 114, both actual distances are
Less than the distance received, now trap setting 100 easily misses the opportunity for opening catching net, and closely Electromagnetic Wave Detection
Module 113 is exactly above-mentioned in order to solve the problems, such as.The laser that control unit 111 is received by Laser Radar Scanning module 114
Transmitting information substantially judges the distance of UAV targets 400 and trap setting 100, as UAV targets 400 and trap setting 100
Distance when being less than pre-determined distance（Pre-determined distance can be 30m, 20m, 10m etc.）, control unit 111 starts closely electromagnetic wave
Detection module 113, prevent UAV targets 400 from escaping to the dead angle of the information gathering of trap setting 100 or sending the cover-ups such as smog
Escape, trap setting 100 is opened catching net 131 in time.
Closely Electromagnetic Wave Detection module 113 can receive the weak electromagnetic ripple that the motor of UAV targets 400 is sent, and handle
Electromagnetic wave signal is sent to control unit 111, and control unit 111 judges whether the frequency range of electromagnetic wave is in default electromagnetism wave frequency
Section（Default electromagnetic wave frequency range is the electromagnetic wave frequency range of existing unmanned plane motor）, when the electromagnetic wave of reception falls into default electromagnetism
During wave frequency section, control unit 111 control afterbody release catching net 131, catching net 131 open after after UAV targets 400
Catch UAV targets 400 in lower section；Or when control unit 111 receives electromagnetic wave signal, afterbody release is directly controlled to catch
Net 131.It is only nearer in distance objective unmanned plane 400 because the electromagnetic wave signal that the motor of UAV targets 400 is sent is faint
When（About 5m or so）It can just receive, and the best opportunity that this distance and catching net 131 are opened, therefore, using closely
Whether Electromagnetic Wave Detection module 113 receives the motor electromagnetic ripple signal of UAV targets 400 to control beating for catching net 131
Open, control unit 111 is more accurately and reliably judged the opportunity that catching net 131 is opened.Closely Electromagnetic Wave Detection module
113 can be electric field induction circuit, and when the electromagnetic field changed occurs in electric field induction near circuitry, electric field induction circuit is to control
Unit 111 exports electric signal, and when control unit 111 receives this electric signal, rearwardly release structure sends release signal at once,
Afterbody release structure release goes out catching net 131.
Because closely Electromagnetic Wave Detection module 113 and control unit 111 are that the propeller motor of unmanned plane is sent
Electromagnetic wave is identified, and trap setting 100 itself also has propeller motor, can also send electromagnetic wave, and the frequency range of electromagnetic wave
All in identification band limits, very big interference can be caused to the identification of control unit 111, it is therefore desirable to trap setting 100
Propeller motor be electromagnetically shielded, but the weight of trap setting 100 can be increased using existing electromagnetic shielding material.This hair
The mode of bright electromagnetic shielding is by the control propeller motor of control unit 111 and closely Electromagnetic Wave Detection module 113 replaces
Running, when closely Electromagnetic Wave Detection module 113 gathers electromagnetic wave signal, propeller motor break-off, when propeller electricity
When machine operates, closely Electromagnetic Wave Detection module 113, so as to avoid that caused interference is identified to electromagnetic wave, makes without detection
Closely electromagnetic wave detection and identification it is more accurate.
Specifically, a length of 0.5 second or 1 second when the closely each detection of Electromagnetic Wave Detection module 113 is set, control unit
111 be single-chip microcomputer, when Laser Radar Scanning module 114 detects that UAV targets 400 and the distance of trap setting 100 are less than in advance
If apart from when, Laser Radar Scanning module 114 at once to single-chip microcomputer send arriving signal, single-chip microcomputer is at once to closely electromagnetic wave
Detection module 113 sends enabled instruction, while sends pause instruction to propeller motor, and propeller motor shuts down, low coverage
Start from Electromagnetic Wave Detection module 113 and detect, single-chip microcomputer starts timing, and after 0.5 second or 1 second, single-chip microcomputer is at once to closely electric
The pause instruction of magnetic wave detection module 113, while enabled instruction is sent to propeller motor, single-chip microcomputer starts timing, 0.5 second or 1
Closely Electromagnetic Wave Detection module 113, pause propeller motor are again started up after second；When closely Electromagnetic Wave Detection module 113
When detecting electromagnetic wave signal, release signal is sent to single-chip microcomputer at once, single-chip microcomputer rearwardly discharges structure and sends release at once
Instruction.
In order to reduce the cost of trap setting 100, the utilization rate of trap setting 100 is improved, trap setting 100 also includes seeking
Structure is returned, it can be microwave/radio-transmitting apparatus 116 or aerosol bomb/signal flare to recover structure, and microwave/radio wave is sent out
Injection device 116 and aerosol bomb/signal flare may be provided in head 110；When trap setting 100 starts to fall, or control unit
While 111 triggering middle part release structures are opened, or after trap setting 100 contacts to earth, structure opening is recovered, and send out letter
Breath；When it is microwave/radio-transmitting apparatus 116 to recover structure, microwave/radio-transmitting apparatus 116 and control unit
111 connections, control unit 111 can control microwave/radio-transmitting apparatus 116 to send microwave/radio signal；Tied when recovering
When structure is aerosol bomb/signal flare, it can be triggered by lighting or sending signal by control unit 111；Ground staff is according to reception
The signal of the microwave/radio wave arrived judges the source direction of signal, or gives seizure dress for change according to aerial smog source direction
100 are put, and trap setting 100 is recycled.Recovering structure can also use flasher or sound-producing device progress auxiliary
Help and give for change.
In order to illegally utilize after preventing from other people from picking up obtaining trap setting 100, control unit 111 is type self-destroyed chip, when recovering
The moment that structure is opened, control unit 111 carry out self-destruction, other people can not be also utilized even if picking up to obtain.
The start-up course of the trap setting 100 of the electromagnetism interference of the present invention is as follows：First, the transmitting of trap setting 100
Device 200 is standby, and trap setting 100 is installed in emitter 200, and ground staff is supervised by the radio on ground
Survey device and find aerial unmanned plane；It was found that after unmanned plane, unmanned plane that ground staff detects according to radio monitoring device
Positional information, adjust the direction of the launch and angle of emitter 200, run-home unmanned plane 400, while image capture module
112 start, the subject image in acquisition field of view, and control unit 111 carries out target identification to the image collected, works as control unit
After 111 identify UAV targets 400, control unit 111 can send out voice prompt, and ground staff launches seizure dress at once
Put 100；Trap setting 100 accelerates to fly out from emitter 200, and propeller and winglet 150 are opened, and speed measuring module 115 is to catching
The speed for catching device 100 is detected；The pace of trap setting 100 after speed measuring module 115 detects transmitting is zero
When, control unit 111 controls propeller electric motor starting, and propeller arrangement 140 rotates at a high speed, and power is provided for trap setting 100.
The target identification and tracing process of trap setting 100 are as follows：After trap setting 100 departs from emitter 200, control
Target location control trap setting 100 of the unit 111 in focal length camera is tracked to UAV targets 400；If chase after
During track, UAV targets 400 flee from the acquisition range of image capture module 112（The field range of focal length camera is narrower
Narrow, UAV targets 400 are easier to escape）, or UAV targets 400 are beyond the field range of focal length camera, control unit
111 lose tracking target, and triggering Laser Radar Scanning module 114 starts and scanned on a large scale, due to UAV targets
400 flee from that speed is limited, start Laser Radar Scanning at once in the moment that tracking target disappears, UAV targets 400 are almost
The possibility do not escaped, control unit 111 carry out secondary identification and tracking again；When Laser Radar Scanning module 114 is got
UAV targets 400 and trap setting 100 distance already less than pre-determined distance when, control unit 111 triggers closely electric
Magnetic wave detection module 113 starts；When closely Electromagnetic Wave Detection module 113 collects the electromagnetic wave around trap setting 100,
Control unit 111 triggers afterbody release structure.
The seizure descent of trap setting 100 is as follows：It is triggered when afterbody discharges structure, the catching net 131 of afterbody 130
It is released, catching net 131 captures UAV targets 400, the spiral shell of UAV targets 400 from the back lower place that trap setting 100 flies
The rotation oar net 131 that is captured snarls, and loses flying power；UAV targets 400 fly with trap setting 100, when battery
Electricity release finishes, and trap setting 100 runs out of steam, and is fallen together with UAV targets 400；Speed measuring module 115 detects
When the upward speed of trap setting 100 is zero, the triggering of control unit 111 middle part release structure release parachute 121；Parachute
121 open, and trap setting 100 slowly falls with UAV targets 400.
Trap setting 100 to recover process as follows：When trap setting 100 starts to fall, or in the triggering of control unit 111
While portion's release structure is opened, or after trap setting 100 contacts to earth, structure is recovered in triggering, is recovered structure and is outwards launched microwave/nothing
Line electric wave, or recover structure and outwards launch aerosol bomb；Ground staff gathers microwave/radio wave that trap setting 100 is sent, or
Found according to the direction of smog.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means with reference to the embodiment or example description
Specific features, structure, material or feature are contained at least one embodiment or example of the present invention.In this specification
In, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Sign, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
In summary, although the present invention is disclosed above with preferred embodiment, above preferred embodiment simultaneously is not used to limit
The system present invention, one of ordinary skill in the art, without departing from the spirit and scope of the present invention, it can make various changes and profit
Decorations, therefore protection scope of the present invention is defined by the scope that claim defines.
Claims (10)
1. the trap setting of the anti-unmanned plane of a kind of electromagnetism interference, it is characterised in that including head, afterbody, winglet and spiral
Paddle structure；
Trap setting control system is provided with the head, the trap setting control system includes information acquisition module, control
Unit and propeller motor；Described information acquisition module includes image capture module, closely Laser Radar Scanning module, electromagnetism
Ripple detection module, described image acquisition module, Laser Radar Scanning module, closely Electromagnetic Wave Detection module is single with control respectively
Member connection；The propeller motor is connected with propeller arrangement；Described image acquisition module enters to the object in front of trap setting
Row IMAQ, the Laser Radar Scanning module are scanned to the object in front of trap setting, the closely electromagnetic wave
Detection module receives the electromagnetic wave around trap setting；
The afterbody is arranged on the rear on head, interior to be provided with catching net, and the catching net is connected with head, and use is additionally provided with afterbody
Structure is discharged in the afterbody for opening afterbody release catching net, the afterbody release structure is connected with control unit；
The winglet is arranged on head, and is connected with control unit；
The information that described control unit gathers to information acquisition module is identified, and to propeller motor, afterbody discharge structure,
Winglet and information acquisition module are controlled；
The propeller motor and closely Electromagnetic Wave Detection module alternately operate.
2. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 1, it is characterised in that described to catch dress
Putting also includes middle part, and the middle part is arranged between head and afterbody, and parachute is provided with middle part, and the parachute connects with head
Connect, be additionally provided with middle part and discharge structure for opening the middle part of middle part release parachute, the middle part release structure and control are single
Member connection, when trap setting starts to fall, control unit control middle part release structure is opened, and discharges parachute.
3. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 2, it is characterised in that described to catch dress
Putting control system also includes speed measuring module, and the speed measuring module is connected with control unit, when speed measuring module detects trap setting
When upward speed is zero, control unit control middle part release structure is opened, and discharges parachute.
4. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 1, it is characterised in that the afterbody is released
Putting structure includes afterbody magazine and explosive trigger；The afterbody magazine is the tubular structure that internal diameter is more than afterbody external diameter,
Or external diameter is less than the tubular structure of afterbody internal diameter, the upper and lower part of tubular structure is connected with tail seal respectively, afterbody explosive
The magazine for accommodating explosive is formed between storehouse and afterbody；One end of the explosive trigger inside magazine with being connected, the other end
It is connected with control unit.
5. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 1, it is characterised in that the afterbody is released
Putting structure includes the afterbody blasting charge and explosive trigger；The afterbody blasting charge is arranged between catching net and afterbody inwall, institute
The one end for stating explosive trigger is connected with the afterbody blasting charge, and the other end is connected with control unit.
6. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 2, it is characterised in that release at the middle part
Putting structure includes middle part magazine and explosive trigger；The middle part magazine is the tubular structure that internal diameter is more than middle part external diameter,
Or external diameter is less than the tubular structure of middle part internal diameter, the upper and lower part of tubular structure is tightly connected with middle part respectively, middle part explosive
The magazine for accommodating explosive is formed between storehouse and middle part；One end of the explosive trigger inside magazine with being connected, the other end
It is connected with control unit.
7. the trap setting of the anti-unmanned plane of electromagnetism interference according to claim 2, it is characterised in that release at the middle part
Putting structure includes the middle part blasting charge and explosive trigger；The middle part blasting charge is arranged between catching net and middle part inwall, institute
The one end for stating explosive trigger is connected with the middle part blasting charge, and the other end is connected with control unit.
8. the trap setting of the anti-unmanned plane of the electromagnetism interference according to any one of claim 1 ~ 7, it is characterised in that
Multiple edges of catching net are provided with the fritter bigger than catching net quality.
9. the trap setting of the anti-unmanned plane of the electromagnetism interference according to any one of claim 1 ~ 7, it is characterised in that institute
It is folding coaxial counter rotating propeller to state propeller arrangement, and the winglet is collapsible winglet.
10. the trap setting of the anti-unmanned plane of the electromagnetism interference according to any one of claim 1 ~ 7, it is characterised in that
Described control unit is type self-destroyed chip.
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| CN201711267557.1A CN107860265B (en) | 2017-12-05 | 2017-12-05 | Anti-unmanned aerial vehicle's of anti-electromagnetic interference trapping apparatus |
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| CN105711850A (en) * | 2016-01-30 | 2016-06-29 | 上海仪耐新材料科技有限公司 | Net-bullet type intelligent interception system for resisting unmanned aerial vehicle |
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