CN107933907A - A kind of trap setting of the anti-unmanned plane with retrieval function - Google Patents
A kind of trap setting of the anti-unmanned plane with retrieval function Download PDFInfo
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- CN107933907A CN107933907A CN201711269646.XA CN201711269646A CN107933907A CN 107933907 A CN107933907 A CN 107933907A CN 201711269646 A CN201711269646 A CN 201711269646A CN 107933907 A CN107933907 A CN 107933907A
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- trap setting
- afterbody
- control unit
- unmanned plane
- module
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000002360 explosive Substances 0.000 claims description 37
- 238000005422 blasting Methods 0.000 claims description 23
- 239000003814 drug Substances 0.000 claims 2
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- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
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- 230000005684 electric field Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
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- 238000012806 monitoring device Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
-
- 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
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
- F41H11/04—Aerial barrages
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The present invention provides a kind of trap setting of the anti-unmanned plane with retrieval function, including head, afterbody, winglet and propeller arrangement；Trap setting control system is equipped 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 equipped with catching net；Winglet is arranged on head, and is connected with control unit；Trap setting further includes microwave/radio-transmitting apparatus, and microwave/radio-transmitting apparatus is when trap setting falls or lower backwardness starts.The present invention provides the trap setting that a kind of capture rate is high and can recycle, and makes UAV targets' to escape that possibility is low, improves the utilization rate of trap setting.
Description
Technical field
The present invention relates to aircraft field, more particularly to a kind of trap setting of anti-unmanned plane.
Background technology
As unmanned plane more and more occurs in people's lives, the unmanned plane that some less comply with the rules is often
Making 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
UAV system.
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 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
It is of high cost, it is difficult to popularize.Nowadays a kind of trap setting for being used to intercept unmanned plane is gradually appeared, 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 can exist to fall and hurt sb.'s feelings and can not recycle
Problem, and interception frame is delivered by unmanned plane UAV targets are intercepted, since unmanned plane carries interception frame, its speed
It is difficult to overshoot unmanned plane, and mobile very flexible, capture rate is low, and practicality is poor.
Therefore, the prior art could be improved and develop.
The content of the invention
The embodiment of the present invention provides the trap setting that a kind of capture rate is high and can recycle.
Technical scheme is as follows：
A kind of trap setting of the anti-unmanned plane with retrieval function, wherein, including head, afterbody, winglet and propeller arrangement；
Trap setting control system is equipped 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 to the object in front of trap setting into
Row Image Acquisition, the laser radar scanning module are scanned 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 equipped 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 trap setting further includes microwave/radio-transmitting apparatus, and microwave/radio-transmitting apparatus is arranged on head
It is interior, and be connected with control unit, microwave/radio-transmitting apparatus is when trap setting falls or lower backwardness starts；
The information that described control unit gathers information acquisition module is identified, and to propeller motor, afterbody release structure,
Winglet, microwave/radio-transmitting apparatus and information acquisition module are controlled.
The trap setting of the anti-unmanned plane with retrieval function, wherein, the trap setting further includes middle part, institute
State middle part to be arranged between head and afterbody, parachute is equipped with middle part, the parachute is connected with head, is additionally provided with middle part
Middle part for opening middle part release parachute discharges structure, and the middle part release structure is connected with control unit, is filled when catching
Put when starting to fall, control unit control middle part release structure is opened, and discharges parachute.
The trap setting of the anti-unmanned plane with retrieval function, wherein, the trap setting control system is also wrapped
Speed measuring module is included, the speed measuring module is connected with control unit, when speed measuring module detects that the upward speed of trap setting is zero
When, control unit control middle part release structure is opened, and discharges parachute.
The trap setting of the anti-unmanned plane with retrieval function, wherein, the afterbody release structure includes afterbody
Magazine and explosive trigger；The afterbody magazine is more than the tubular structure of afterbody outside diameter for internal diameter, or outside diameter is less than afterbody
The tubular structure of internal diameter, the upper and lower part of tubular structure are connected with tail seal respectively, shape between afterbody magazine and afterbody
Into the magazine for accommodating 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 with retrieval function, wherein, the afterbody release structure includes afterbody
The blasting charge and explosive trigger；The afterbody blasting charge is arranged between catching net and afterbody inner wall, the explosive trigger
One 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 with retrieval function, wherein, the middle part release structure includes middle part
Magazine and explosive trigger；The middle part magazine is more than the tubular structure of middle part outside diameter for internal diameter, or outside diameter is less than middle part
The tubular structure of internal diameter, the upper and lower part of tubular structure are tightly connected with middle part respectively, shape between middle part magazine and middle part
Into the magazine for accommodating 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 with retrieval function, wherein, the middle part release structure includes middle part
The blasting charge and explosive trigger；The middle part blasting charge is arranged between catching net and middle part inner wall, the explosive trigger
One 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 with retrieval function, wherein, it is equipped with multiple edges of catching net
The fritter bigger than catching net quality.
The trap setting of the anti-unmanned plane with retrieval function, wherein, the propeller arrangement is folding
Coaxial counter rotating propeller, the winglet are collapsible winglet.
The trap setting of the anti-unmanned plane with retrieval function, wherein, described control unit is type self-destroyed chip.
Beneficial effects of the present invention：The present invention provides the trap setting that a kind of capture rate is high and can recycle, using figure
As acquisition module, laser radar scanning module and closely three modules of Electromagnetic Wave Detection module cooperate, make target nobody
Machine escapes that possibility is low, and the trap setting after landing is given for change into line trace furthermore with microwave/radio-transmitting apparatus,
Improve the utilization rate of trap setting.
Brief description of the drawings
Fig. 1 is the structure diagram of the seizure system of the anti-unmanned plane in the embodiment of the present invention.
Fig. 2 is the structure diagram of the trap setting with retrieval function 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 with retrieval function in the embodiment of the present invention.
Fig. 5 is the schematic diagram when catching net of the trap setting with retrieval function in the embodiment of the present invention is opened.
Fig. 6 is the schematic diagram when parachute of the trap setting with retrieval function 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 same or like element.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present 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, 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 description 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 present invention, " multiple " are meant that two or more, unless otherwise clearly specific
Limit.
In the description of the present 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；It can be directly connected, can also be by between intermediary
Connect connected, can be the interaction relationship of connection inside two elements or two elements.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 component and setting of specific examples are described.Certainly, they are merely examples, and
And it is not intended to limit the 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 present 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 structure diagram 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 further includes pedestal 212.
The one of which embodiment of emitter 200 can be gases at high pressure emitter 200, 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, when high pressure air exhaust valve is opened, gases at high pressure from high pressure tank by high pressure air exhaust valve into
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 rotation angle of launching tube 210 is up to 360 °, and maximum vertical rotation angle is up to 90 °.Emitter
200 are equipped with pointing device 211, and pointing device 211 is optical sight.
Emitter 200 provides initial motive force for trap setting 100, 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 100 capture-process of trap setting can be maintained
Flight, carries UAV targets 400 without it and makes a return voyage, can further reduce the capacity and trap setting 100 of its battery
Overall weight, is more conducive to the high speed chases of trap setting 100.
As shown in Fig. 2 to 6, the trap setting 100 with retrieval function of the invention is three sections that shape is 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 separating part is equipped between portion 120, the second separating part is equipped between middle part 120 and afterbody 130.
The head 110 is the bullet shape of inner hollow, interior to be equipped 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 111 receive information acquisition module of control unit, 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 carry out information acquisition module and propeller motor
Control, described control unit 111 are microcontroller, and battery in order to control power by unit 111 and propeller motor.Head 110 further includes
The propeller arrangement 140 being connected with propeller motor, propeller arrangement 140 is foldable propeller, in battery, spiral shell
Revolve outer wall of the blade close to trap setting 100 of paddle structure 140 and the length direction along trap setting 100 is folded and packed up, when catching
When catching device 100 and leaving emitter 200, the blade of folding is radially opened.Propeller arrangement 140 is preferably folding common
Axis 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 equipped with parachute 121, the hollow tubular structure at middle part 120 and first
The storage area of parachute 121 is formed between separating part, the second separating part；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 existing 121 folding mode of parachute
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 120 outside diameter of middle part, 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 122 inner wall of middle part magazine and the outer wall at middle part 120
Storehouse；Middle part magazine 122 can also be arranged on the inner wall at middle part 120, and middle part magazine 122 is less than 120 internal diameter of middle part for outside diameter
Tubular structure, the magazine for accommodating explosive is formed between 120 inner wall of 122 outer wall of middle part magazine and middle part；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, is 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 120 inner wall of parachute 121 and middle part, and is triggered close to 120 inner wall of middle part, explosive
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 equipped with catching net 131, the hollow tubular of afterbody 130
The storage area of catching net 131 is formed between structure and the second separating part, 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 132 He of afterbody magazine
The set-up mode of explosive trigger 133, afterbody magazine 132 and explosive trigger 133 is triggered with middle part magazine 122 and explosive
The set-up mode of device 133 is identical, and details are not described herein again.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 130 inner wall of afterbody it
Between.It is rapider and abundant in order to open catching net 131, it is connected with multiple edges of catching net 131 than 131 matter of catching net
The fritter of bigger is measured, when folding catching net 131, fritter is flocked together, and close to the inner wall 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 fried rapidly around, and catching net 131 opens rapidly；Tied when afterbody discharges
When structure is pressure-air, pressure-air pours afterbody 130 and breaks through the outer wall of afterbody 130, since 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 equipped 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 recycling of trap setting 100.The first separating part is equipped between head 110 and middle part 120, is set between middle part 120 and afterbody 130
There is the second separating part, 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 further 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 adjusts 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 is detected 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 drives propeller arrangement 140 to rotate 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 poor light condition
Power, can select infrared camera, make the scope of application of image capture module 112 wider, smaller is limited by environmental condition；At this
In embodiment, in order to enable camera to obtain remote image, focal length camera is selected to carry out target image collection.
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 successful match, unmanned plane is locked as tracking mesh by control unit 111
Mark, and the heading of the angle adjustment trap setting 100 by adjusting winglet 150, make UAV targets 400 be in all the time and take the photograph
As the middle of head visual field.
Laser radar scanning module 114 includes laser emitter, and laser emitter is sent out to the front region of trap setting 100
Outgoing laser beam, is scanned the object in scanning range, 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 be set as identify 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 high-speed rotating propeller in laser beam
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 tracking target, by adjust winglet 150 angle adjust trap setting 100 heading, 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 100 distance objective unmanned plane 400 of trap setting 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, at this time since 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, trap setting 100 easily misses the opportunity for opening catching net at this time, and closely Electromagnetic Wave Detection
Module 113 is exactly to solve the problem above-mentioned.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, prevents UAV targets 400 from escaping to the dead angle of 100 information gathering of trap setting 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, directly control afterbody release and catch
Net 131.It is only nearer in distance objective unmanned plane 400 since 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 this distance is also the best opportunity that catching net 131 is 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.
Since 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 one of which embodiment of bright electromagnetic shielding is to control propeller motor and closely Electromagnetic Wave Detection by control unit 111
Module 113 alternately operates, when closely Electromagnetic Wave Detection module 113 gathers electromagnetic wave signal, propeller motor break-off,
When propeller motor operates, closely Electromagnetic Wave Detection module 113 is produced without detection so as to avoid identifying electromagnetic wave
Interference.The another embodiment that the present invention is electromagnetically shielded is that setting can be spiral with trap setting 100 in the inside on head 110
Electromagnetic wave that paddle motor is sent carries out the compensation circuit of anti-phase counteracting, the electromagnetic wave produced in compensation circuit just with it is closely electric
The electromagnetic wave for the propeller motor that magnetic wave detection module 113 detects is anti-phase and wave amplitude is identical, that is, trap setting 100
The electromagnetic wave that propeller motor is sent is canceled out, therefore the electromagnetic wave of UAV targets 400 will not be identified and be produced interference,
Make detection and the identification of closely electromagnetic wave more accurate.
In order to reduce the cost of trap setting 100, the utilization rate of trap setting 100 is improved, trap setting 100 further includes micro-
Ripple/radio-transmitting apparatus 116, microwave/radio-transmitting apparatus 116 may be provided in head 110, and and control unit
111 connections；When trap setting 100 starts to fall, or while the triggering of control unit 111 middle part release structure opening, or catch
Catch after device 100 contacts to earth, microwave/radio-transmitting apparatus 116 starts, and sends out microwave/radio signal；Ground staff
The source direction of signal is judged according to the signal of the microwave/radio wave received, and recycling profit is carried out to trap setting 100
With.It can in addition contain carry out auxiliary using flasher or sound-producing device and give for change.
Specifically, control unit 111 is microcontroller, when pitot detects that the speed of trap setting 100 is continuously zero,
Send falling signal to microcontroller, microcontroller according to receive falling signal to microwave/radio-transmitting apparatus 116 and hair
Acoustic device sends enabled instruction, and microwave/radio-transmitting apparatus 116 and sound-producing device, which receive, to be instructed and start, and is continued outwards
Send microwave/radio signal and prompt tone；Ground staff's hand-held microwave/radio wave reception converter carries out multi-angle, comprehensive
The detection of microwave/radio wave signal, when microwave/radio wave reception converter receives microwave/radio wave letter in some direction
When number detecting and make a sound prompting, then the intensity detection of microwave/radio wave signal is carried out to this scope, find microwave/nothing
The most strong direction of line electric wave signal moves closer to the position where trap setting 100；When microwave/radio wave reception converter receives
During very strong microwave/radio wave signal, ground staff is noticed that whether the prompt tone that trap setting 100 is sent, according to microwave/
Trap setting 100 is accurately found in the direction and the Sounnd source direction of prompt tone that radio wave reception converter detects.
Other people pick up in order to prevent obtain trap setting 100 after illegally utilize, 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 present invention is as follows：First, the emitter 200 of trap setting 100 is in and treats
Life state, trap setting 100 are installed in emitter 200, and ground staff is had found empty by the radio monitoring device on ground
In unmanned plane；It was found that after unmanned plane, the positional information for the unmanned plane that ground staff detects according to radio monitoring device, is adjusted
Haircut the direction of the launch and angle of injection device 200, run-home unmanned plane 400, while image capture module 112 starts, collection
Subject image in visual field, control unit 111 carries out target identification to the image collected, when control unit 111 identifies mesh
After marking unmanned plane 400, control unit 111 can send out voice prompt, and ground staff launches trap setting 100 at once；Catch
Device 100 accelerates to fly out from emitter 200, and propeller and winglet 150 are opened, and speed measuring module 115 is to trap setting 100
Speed is detected；When the pace of the trap setting 100 after speed measuring module 115 detects transmitting is zero, control unit
111 control propeller electric motor startings, propeller arrangement 140 rotate 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 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 paddle 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 falls 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, microwave/radio-transmitting apparatus 116 is outwards launched micro-
Ripple/radio wave, ground staff gathers microwave/radio wave that trap setting 100 is sent, and trap setting 100 is returned
Receive and utilize.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means with reference to the embodiment or example description
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the present invention.In this specification
In, schematic expression of the above terms is not necessarily referring to identical embodiment or example.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 conclusion although the present invention is disclosed above with preferred embodiment, above preferred embodiment simultaneously is not used to limit
The system present invention, those of ordinary skill in the art, without departing from the spirit and scope of the present invention, can make various changes and profit
Decorations, therefore protection scope of the present invention is subject to the scope that claim defines.
Claims (10)
1. a kind of trap setting of the anti-unmanned plane with retrieval function, it is characterised in that including head, afterbody, winglet and spiral shell
Revolve paddle structure；
Trap setting control system is equipped 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 to the object in front of trap setting into
Row Image Acquisition, the laser radar scanning module are scanned 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 equipped 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 trap setting further includes microwave/radio-transmitting apparatus, and microwave/radio-transmitting apparatus is arranged on head
It is interior, and be connected with control unit, microwave/radio-transmitting apparatus is when trap setting falls or lower backwardness starts；
The information that described control unit gathers information acquisition module is identified, and to propeller motor, afterbody release structure,
Winglet, microwave/radio-transmitting apparatus and information acquisition module are controlled.
2. the trap setting of the anti-unmanned plane according to claim 1 with retrieval function, it is characterised in that the seizure
Device further includes middle part, and the middle part is arranged between head and afterbody, and parachute, the parachute and head are equipped with middle part
Connect, be additionally provided with middle part and discharge structure for opening the middle part of middle part release parachute, the middle part discharges structure and control
Unit connects, and 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 according to claim 2 with retrieval function, it is characterised in that the seizure
Apparatus control system further includes speed measuring module, and the speed measuring module is connected with control unit, when speed measuring module detects seizure dress
When to put upward speed be zero, control unit control middle part release structure is opened, and discharges parachute.
4. the trap setting of the anti-unmanned plane according to claim 1 with retrieval function, it is characterised in that the afterbody
Release structure includes afterbody magazine and explosive trigger；The afterbody magazine is more than the tubulose knot of afterbody outside diameter for internal diameter
Structure, or outside diameter are less than the tubular structure of afterbody internal diameter, and the upper and lower part of tubular structure is connected with tail seal respectively, and afterbody is fried
The magazine for accommodating explosive is formed between medicine storehouse and afterbody；One end of the explosive trigger is another with being connected inside magazine
End is connected with control unit.
5. the trap setting of the anti-unmanned plane according to claim 1 with retrieval function, it is characterised in that the afterbody
Release structure includes the afterbody blasting charge and explosive trigger；The afterbody blasting charge is arranged between catching net and afterbody inner wall,
One end of the 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 according to claim 2 with retrieval function, it is characterised in that the middle part
Release structure includes middle part magazine and explosive trigger；The middle part magazine is more than the tubulose knot of middle part outside diameter for internal diameter
Structure, or outside diameter are less than the tubular structure of middle part internal diameter, and the upper and lower part of tubular structure is tightly connected with middle part respectively, and middle part is fried
The magazine for accommodating explosive is formed between medicine storehouse and middle part；One end of the explosive trigger is another with being connected inside magazine
End is connected with control unit.
7. the trap setting of the anti-unmanned plane according to claim 2 with retrieval function, it is characterised in that the middle part
Release structure includes the middle part blasting charge and explosive trigger；The middle part blasting charge is arranged between catching net and middle part inner wall,
One end of the explosive trigger is connected with the middle part blasting charge, and the other end is connected with control unit.
8. there is the trap setting of the anti-unmanned plane of retrieval function according to claim 1 ~ 7 any one of them, it is characterised in that
The fritter bigger than catching net quality is equipped with multiple edges of catching net.
9. there is the trap setting of the anti-unmanned plane of retrieval function according to claim 1 ~ 7 any one of them, it is characterised in that
The propeller arrangement is folding coaxial counter rotating propeller, and the winglet is collapsible winglet.
10. having the trap setting of the anti-unmanned plane of retrieval function according to claim 1 ~ 7 any one of them, its feature exists
In described control unit is type self-destroyed chip.
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| CN201711269646.XA CN107933907B (en) | 2017-12-05 | 2017-12-05 | Anti-unmanned aerial vehicle's trapping apparatus with retrieve function |
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| CN201711269646.XA CN107933907B (en) | 2017-12-05 | 2017-12-05 | Anti-unmanned aerial vehicle's trapping apparatus with retrieve function |
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| CN107933907B CN107933907B (en) | 2020-02-14 |
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| CN111559496A (en) * | 2020-05-25 | 2020-08-21 | 中南大学 | Small coaxial dual-rotor unmanned aerial vehicle |
| WO2021056925A1 (en) * | 2019-09-29 | 2021-04-01 | 南京航空航天大学 | Unmanned aircraft for automatically intercepting and capturing unmanned aerial vehicle |
| CN113353265A (en) * | 2021-07-02 | 2021-09-07 | 张选琪 | Unmanned hunting machine |
| CN113859569A (en) * | 2021-10-25 | 2021-12-31 | 成都飞机工业（集团）有限责任公司 | Portable swarm unmanned aerial vehicle system and use method thereof |
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| WO2016170367A1 (en) * | 2015-04-22 | 2016-10-27 | Openworks Engineering Ltd | System for deploying a first object for capturing, immobilising or disabling a second object |
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| WO2021056925A1 (en) * | 2019-09-29 | 2021-04-01 | 南京航空航天大学 | Unmanned aircraft for automatically intercepting and capturing unmanned aerial vehicle |
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| CN107933907B (en) | 2020-02-14 |
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