CN107976118A - A kind of seizure system of anti-unmanned plane - Google Patents
A kind of seizure system of anti-unmanned plane Download PDFInfo
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- CN107976118A CN107976118A CN201711268428.4A CN201711268428A CN107976118A CN 107976118 A CN107976118 A CN 107976118A CN 201711268428 A CN201711268428 A CN 201711268428A CN 107976118 A CN107976118 A CN 107976118A
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- Prior art keywords
- trap setting
- afterbody
- unmanned plane
- control unit
- release
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of seizure system of anti-unmanned plane, including emitter and trap setting；Emitter provides motive force for the transmitting of trap setting；Trap setting includes head and afterbody；Trap setting control system is equipped with head, UAV targets can be identified in trap setting control system, and UAV targets are implemented to follow the trail of；Structure is discharged equipped with catching net and for opening the afterbody of afterbody release catching net in afterbody, afterbody release structure is connected with trap setting control system, and trap setting control system control afterbody release structure is opened.The seizure system of the anti-unmanned plane of the present invention is identified UAV targets, follows the trail of and catches by emitter to UAV targets' transmitting trap setting, trap setting, so as to improve the capture rate that anti-unmanned plane catches system.
Description
Technical field
The present invention relates to aircraft field, more particularly to a kind of seizure system 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 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 since 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, the prior art could be improved and develop.
The content of the invention
The embodiment of the present invention provides a kind of seizure system of anti-unmanned plane, concurrent by emitter run-home unmanned plane
Trap setting is penetrated, UAV targets are identified, follow the trail of and are caught by trap setting, improves the capture of anti-UAV system
Rate.
Technical scheme is as follows：
A kind of seizure system of anti-unmanned plane, wherein, including emitter and trap setting；
The emitter provides motive force for the transmitting of trap setting；
The trap setting includes head and afterbody；Trap setting control system, the trap setting control are equipped with the head
UAV targets can be identified in system processed, and control trap setting to implement to follow the trail of to UAV targets；The afterbody infolding
Stack and be equipped with catching net, catching net is connected with head, and the afterbody release for opening afterbody release catching net is additionally provided with afterbody
Structure, the afterbody release structure are connected with trap setting control system, and trap setting control system can control afterbody release knot
Structure is opened.
The seizure system of the anti-unmanned plane, wherein, the trap setting further includes middle part, and the middle part is arranged on head
Between portion and afterbody, middle part interior folding is placed with parachute, and parachute is connected with head, is additionally provided with middle part for opening middle part
The middle part release structure of parachute is discharged, the middle part release structure is connected with trap setting control system, trap setting control
System can control middle part release structure to open.
The seizure system of the anti-unmanned plane, wherein, the trap setting control system include information acquisition module and
Control unit, described information acquisition module are connected with control unit, and information acquisition module adopts the information of UAV targets
Collection, and the information of the UAV targets collected is sent to control unit, described control unit is docked received information and is carried out
Identification matches, and after successful match, control unit controls trap setting to implement to follow the trail of to UAV targets.
The seizure system of the anti-unmanned plane, wherein, the trap setting further includes winglet, and the winglet is arranged on head
Portion, winglet are connected with trap setting control system, and trap setting control system can adjust seizure dress by adjusting the angle of winglet
The heading put.
The seizure system of the anti-unmanned plane, wherein, the trap setting control system further includes propeller motor, institute
The rear that propeller motor is arranged on information acquisition module is stated, and is connected with control unit, control unit can control propeller electric
Machine starts or stops；The trap setting further includes propeller arrangement, and the propeller arrangement is connected with propeller motor.
The seizure system of the anti-unmanned plane, wherein, the emitter includes actuating unit and guiding mechanism, described
Guiding mechanism is adapted to trap setting, and trap setting can be slided along the length direction of guiding mechanism, and the actuating unit is with being oriented to
Mechanism connects, and provides the motive force along guiding mechanism length direction for trap setting.
The seizure system of the anti-unmanned plane, wherein, the actuating unit includes high pressure tank, high pressure air exhaust valve,
The guiding mechanism is launching tube, and the high pressure tank is connected by high pressure air exhaust valve with launching tube inside, high pressure tank
Inside store gases at high pressure.
The seizure system of the anti-unmanned plane, wherein, the actuating unit includes crossbow, string, string release structure, screw
Structure, the guiding mechanism are guide rail；The guide rail is set among crossbow, and one end of guide rail is connected with crossbow, separately
One end is equipped with screw structure, the screw structure and guide rail parallel, and string release structure is threadedly coupled with screw structure, works as screw
When structure rotates, string release structure can be moved along guide rail；String can be hooked in string release structure, and the afterbody of trap setting leans against string
On, when discharging string release structure, string promotes trap setting to be projected along guide rail.
The seizure system of the anti-unmanned plane, wherein, the afterbody release structure includes afterbody magazine and explosive touches
Send out device；The afterbody magazine is more than the tubular structure of afterbody outside diameter for internal diameter, the upper and lower part of tubular structure respectively with tail
The outer surface in portion is tightly connected, and the magazine for accommodating explosive is formed between afterbody magazine inner wall and the outer wall of afterbody；It is described fried
One end of medicine trigger inside magazine with being connected, and the other end is connected with trap setting control system, trap setting control system
Explosive trigger can be triggered, ignites afterbody magazine.
The seizure system of the anti-unmanned plane, wherein, the emitter includes pointing device, and the aiming structure is
Optical sight.
Beneficial effects of the present invention：The present invention provides a kind of seizure system of anti-unmanned plane, and mesh is aimed at by emitter
Mark unmanned plane simultaneously launches trap setting, UAV targets is identified, follow the trail of and are caught by trap setting, improve it is anti-nobody
The capture rate of machine system.
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 emitter another embodiment in the embodiment of the present invention.
Fig. 3 is the structure diagram of the trap setting in the embodiment of the present invention.
Fig. 4 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. 5 is the schematic diagram of the trap setting control system in the embodiment of the present invention.
Fig. 6 is the schematic diagram when catching net of the trap setting in the embodiment of the present invention is opened.
Fig. 7 is the schematic diagram when parachute of the trap setting 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；220th, crossbow；
221st, guide rail；222nd, string；223rd, screw structure；224th, string release structure.
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.
The emitter 200 provides motive force, including actuating unit and guiding mechanism for the transmitting of trap setting 100,
When anti-UAV system is used for vehicle-mounted, boat-carrying or ground launch, emitter 200 further includes pedestal 212.The actuating unit
Power source can be compressed gas, compressed liquid, heat power, elastic force etc..
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.The inner wall of launching tube 210 is adapted to the outer wall of trap setting 100, is equipped with the inner wall of launching tube 210 close
Seal ring, the outer wall of sealing ring and trap setting 100 are in close contact, and make the outer of the inner wall of launching tube 210 and 100 latter end of trap setting
A preferable space of air-tightness is surrounded between wall, inner wall and trap setting 100 of the gases at high pressure from launching tube 210 can be reduced
Gap leakage between outer wall, when gases at high pressure are filled with above-mentioned space, can produce trap setting 100 motive force of bigger.
As shown in Fig. 2, another embodiment of emitter 200 can be strong crossbow emitter 200, its engine
Structure includes crossbow 220, string 222, string release structure 224, screw structure 223, and guiding mechanism is guide rail 221.
Guide rail 221 is set among crossbow 220, and one end of guide rail 221 is connected with crossbow 220, is set on the other end
There is screw structure 223, screw structure 223 is parallel with guide rail 221, and string release structure 224 is threadedly coupled with screw structure 223, when
When screw structure 223 rotates, string release structure 224 can be moved along guide rail 221.String release structure 224 can be trigger configuration, lead
The outer wall of rail 221 is adapted to the outer wall of trap setting 100.When preparing transmitting trap setting 100, rotary screw structure 223, pulling
Machine structure is moved to close to the position of crossbow 220, and string 222 is hooked on trigger configuration, then rotary screw structure round about
223, trigger configuration drives string 222 to be gradually distance from crossbow 220, and 220 chord 222 of crossbow is flared；When being adjusted to required tension force, stop
It is spin-ended to turn screw structure 223, trap setting 100 is placed on guide rail 221, the end of trap setting 100 leans against string 222 and opens
Distalmost end；When launching trap setting 100, releasing trigger structure, effect of 220 chord 222 of crossbow in elastic restoring force are only needed
Lower promotion trap setting 100 is projected along guide rail 221.
The pedestal 212 is arranged on mounting plane（As on car, on ship, on ground）, pedestal 212 lives with launching tube 210
Dynamic connection, the maximum horizontal rotation angle of launching tube 210 is up to 360 °, and maximum vertical rotation angle is up to 90 °.
In order to make the precision higher of transmitting, the emitter 200 further includes pointing device 211, the pointing device
211 include gun sight, and gun sight can select existing any type gun sight, and in order to make pointing accuracy higher, gun sight is excellent
Elect optical sight as.
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 Figures 3 to 5, the trap setting 100 is the three stage structure that shape is guided missile shape, including before
The head 110 of section, positioned at the middle part 120 in stage casing and the afterbody 130 positioned at latter end, is equipped with first between head 110 and middle part 120
Separating part, is equipped with the second separating part between middle part 120 and afterbody 130.
The head 110 is the bullet shape of inner hollow, interior to be equipped with 100 control system of trap setting, trap setting
100 control systems include information acquisition module, control unit 111, battery and propeller motor.Information acquisition module is arranged on head
The front end in portion 110, and being acquired to the information of UAV targets 400, information acquisition module, propeller motor respectively with control
Unit 111 processed connects；The detection data of 111 receive information acquisition module of control unit, and detection data are analyzed and processed,
Recognition detection data whether with the Data Matching that stores in advance；Control unit 111 also can be to information acquisition module and propeller electricity
Machine is controlled, and described control unit 111 is microcontroller, and battery in order to control power by unit 111 and propeller motor.Head 110
The propeller arrangement 140 being connected with propeller motor is further included, propeller arrangement 140 is foldable propeller, in shape to be launched
During state, outer wall of the blade close to trap setting 100 of propeller arrangement 140 and the length direction folding receipts along trap setting 100
Rise, when trap setting 100 leaves emitter 200, the blade of folding is radially opened.Propeller arrangement 140 is preferably can
The coaxial counter rotating propeller folded.In order to reduce interference of the propeller motor to information acquisition module, propeller motor is carried out
Electromagnetic shielding.
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.Middle part is opened to release
The mode for putting 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 close to 120 inner wall of middle part, explosive trigger 123
One end be connected with the middle part blasting charge 124, 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, which further includes, to be sought
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.
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
Anti- unmanned plane catches the operation of system and step is：Launch trap setting 100, trap setting 100 carries out target knowledge
Not, trap setting 100 carries out target tracking, trap setting 100 carries out target acquisition, trap setting 100 lands, trap setting
100 recover.
Wherein, it is as follows from the process for finding unmanned plane to transmitting trap setting 100：When the radio monitoring device on ground is examined
When measuring unmanned plane, start the seizure system of anti-unmanned plane, gases at high pressure, trap setting 100 are pre-filled with high pressure tank
For original state（The original state of trap setting 100：Propeller folding is packed up, small wingfold is packed up）；Trap setting 100 from
Afterbody 130 is filled in the emission port of 210 first half of launching tube, the position of the unmanned plane detected according to radio monitoring device
Confidence ceases, and adjusts the direction of the launch and angle of emitter 200, and target aiming is carried out using optical sight；Image is adopted at the same time
Collection module 112 starts, the subject image in acquisition field of view, and control unit 111 carries out target identification to the image collected, works as control
After unit 111 processed identifies UAV targets 400, control unit 111 can send out voice prompt；At this time, high pressure is opened
Air valve, gases at high pressure are discharged and gone out along the emission port of launching tube 210, and gases at high pressure promote the seizure dress in launching tube 210
100 are put, trap setting 100 is gone out along launching tube 210；Trap setting 100 is obtained to be added along 210 emission port of launching tube is upward
Speed, and accelerate to fly out upwards, propeller and winglet 150 are opened, and speed measuring module 115 examines the speed of trap setting 100
Survey；When the speed that the trap setting 100 after speed measuring module 115 detects transmitting advances is zero, control unit 111 controls spiral
Paddle electric motor starting, 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
Unit 111 controls trap setting 100 to be tracked UAV targets 400；If in tracing process, UAV targets 400 flee from
The acquisition range of image capture module 112（The field range relatively narrower of focal length camera, UAV targets 400 are easier to escape）,
Or UAV targets 400 have exceeded the field range of focal length camera, control unit 111 loses tracking target, triggers laser thunder
Start up to scan module 114 and scanned on a large scale, due to UAV targets 400 to flee from speed limited, in tracking mesh
The moment that mark disappears starts laser radar scanning at once, and UAV targets 400 are almost without the possibility escaped, control unit 111
Secondary identification and tracking are carried out again；The UAV targets 400 got when laser radar scanning module 114 and trap setting
When 100 distance is already less than pre-determined distance, control unit 111 triggers closely Electromagnetic Wave Detection module 113 and starts；Work as low coverage
When collecting the electromagnetic wave around trap setting 100 from Electromagnetic Wave Detection module 113, control unit 111 triggers afterbody release knot
Structure.
As shown in Figure 6 and Figure 7, the seizure descent of trap setting 100 is as follows：It is triggered when afterbody discharges structure, tail
The catching net 131 in portion 130 is released, and catching net 131 captures UAV targets 400, mesh from the back lower place that trap setting 100 flies
The propeller net 131 that is captured of mark unmanned plane 400 snarls, and loses flying power；UAV targets 400 are with trap setting 100 1
Flight is played, when the electricity release of battery finishes, trap setting 100 runs out of steam, and falls together with UAV targets 400；Survey
Fast module 115 detects the upward speed of trap setting 100 when being zero, the triggering of control unit 111 middle part release structure release drop
Fall umbrella 121；Parachute 121 is opened, 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.
The present invention launches trap setting 100 by emitter to UAV targets 400, and trap setting 100 passes through seizure
Apparatus control system is identified, follows the trail of and catches to UAV targets 400, and the aiming transmitting of emitter 100 is filled with catching
Put and cooperate between 100 identification tracking, so as to improve the capture rate that anti-unmanned plane catches system.
Trap setting 100 is at the same time using image capture module 112, closely laser radar scanning module 114, electromagnetic wave inspection
Survey module 113 and information gathering is carried out to UAV targets 400, be more suitable for image capture module 112 using focal length camera
Remote information gathering, when UAV targets 400 and trap setting 100 it is closer to the distance when（Within 500m）, Image Acquisition
Module 112 generates larger limitation since the field range of focal length camera is narrow, at this time using being more suitable for middle distance
The laser radar scanning module 114 of collection carries out targeted scans, compensate for the limitation of image capture module 112 well, and
Preferably play apart from the advantage of scanning collection in laser radar scanning module 114, when UAV targets 400 and trap setting
When 100 distance is close（About 10 ~ 20m）, due to the high-speed aircraft of trap setting 100, closely Electromagnetic Wave Detection module
113 are difficult to the opening opportunity of the distance between accurate judgement UAV targets 400 and trap setting 100 and catching net 131, at this time
Using the closely detection advantage of closely Electromagnetic Wave Detection module 113, as long as closely Electromagnetic Wave Detection module 113 detects
With the presence of electromagnetic wave around trap setting 100, control unit 111 triggers afterbody release structure release catching net 131 at once, three kinds
Module, which cooperates, makes trap setting 100 in the whole process flown and caught（At a distance, middle distance, closely）Have very reliable
Identification tracking, UAV targets 400 is not escaped.
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 seizure system of anti-unmanned plane, it is characterised in that including emitter and trap setting；
The emitter provides motive force for the transmitting of trap setting；
The trap setting includes head and afterbody；Trap setting control system, the trap setting control are equipped with the head
UAV targets can be identified in system processed, and control trap setting to implement to follow the trail of to UAV targets；The afterbody infolding
Stack and be equipped with catching net, catching net is connected with head, and the afterbody release for opening afterbody release catching net is additionally provided with afterbody
Structure, the afterbody release structure are connected with trap setting control system, and trap setting control system can control afterbody release knot
Structure is opened.
2. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that during the trap setting further includes
Portion, the middle part are arranged between head and afterbody, and middle part interior folding is placed with parachute, and parachute is connected with head, middle part
Inside it is additionally provided with and discharges structure for opening the middle part of middle part release parachute, the middle part release structure is with trap setting control
System connection, trap setting control system can control middle part release structure to open.
3. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that the trap setting control system bag
Include information acquisition module and control unit, described information acquisition module is connected with control unit, information acquisition module to target without
Man-machine information is acquired, and the information of the UAV targets collected is sent to control unit, described control unit pair
The information received is identified matching, and after successful match, control unit controls trap setting to implement to follow the trail of to UAV targets.
4. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that the trap setting further includes small
The wing, the winglet are arranged on head, and winglet is connected with trap setting control system, and trap setting control system can be small by adjusting
The heading of the angle adjustment trap setting of the wing.
5. the seizure system of anti-unmanned plane according to claim 3, it is characterised in that the trap setting control system is also
Including propeller motor, the propeller motor is arranged on the rear of information acquisition module, and is connected with control unit, and control is single
Member can control propeller electric motor starting or stopping；The trap setting further includes propeller arrangement, the propeller arrangement and spiral shell
Revolve the connection of paddle motor.
6. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that the emitter includes engine
Structure and guiding mechanism, the guiding mechanism are adapted to trap setting, and trap setting can be slided along the length direction of guiding mechanism, institute
State actuating unit to be connected with guiding mechanism, and the motive force along guiding mechanism length direction is provided for trap setting.
7. the seizure system of anti-unmanned plane according to claim 6, it is characterised in that the actuating unit is stored up including high pressure
Gas tank, high pressure air exhaust valve, the guiding mechanism are launching tube, the high pressure tank by high pressure air exhaust valve and launching tube inside
Connect, gases at high pressure are stored in high pressure tank.
8. the seizure system of anti-unmanned plane according to claim 6, it is characterised in that the actuating unit include crossbow,
String, string release structure, screw structure, the guiding mechanism is guide rail；The guide rail is set among crossbow, guide rail
One end is connected with crossbow, and the other end is equipped with screw structure, the screw structure and guide rail parallel, string release structure and screw knot
Structure is threadedly coupled, and when screw structure rotates, string release structure can be moved along guide rail；String can be hooked in string release structure, caught
The afterbody of device is leaned against on string, and when discharging string release structure, string promotes trap setting to be projected along guide rail.
9. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that the afterbody release structure includes tail
Portion's magazine and explosive trigger；The afterbody magazine for internal diameter be more than afterbody outside diameter tubular structure, tubular structure it is upper
The outer surface of portion and lower part respectively with afterbody is tightly connected, and is formed between afterbody magazine inner wall and the outer wall of afterbody and is accommodated explosive
Magazine；With being connected inside magazine, the other end is connected with trap setting control system, is caught for one end of the explosive trigger
Explosive trigger can be triggered by catching apparatus control system, ignite afterbody magazine.
10. the seizure system of anti-unmanned plane according to claim 1, it is characterised in that the emitter includes aiming at
Mechanism, the aiming structure is optical sight.
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| CN110849219A (en) * | 2019-12-03 | 2020-02-28 | 日照金慧科技信息咨询有限公司 | Improve unmanned aerial vehicle trapper of catching effect |
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| US11027845B2 (en) | 2017-09-29 | 2021-06-08 | Shawn M. Theiss | Device and method to intercept an aerial vehicle |
| WO2022257510A1 (en) * | 2021-06-09 | 2022-12-15 | 航天科工仿真技术有限责任公司 | Countering method for unmanned aerial vehicle and countering system for unmanned aerial vehicle |
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