CN114987777B - Low-speed small target reconnaissance countering system and method based on multi-rotor unmanned aerial vehicle - Google Patents
Low-speed small target reconnaissance countering system and method based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
- B64C25/64—Spring shock-absorbers; Springs using rubber or like elements
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- 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
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- 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
- B64D47/08—Arrangements of cameras
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Abstract
The invention discloses a low-speed small target reconnaissance and countering system and method based on a multi-rotor unmanned aerial vehicle, which belong to the field of unmanned aerial vehicles, wherein the system comprises a multi-rotor unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle comprises a body, a plurality of horn arms arranged on the body, a power assembly arranged on each horn arm and a landing gear arranged on the bottom surface of the body, and a forward-looking visual module and a flight control module which is in communication connection with the power assembly are also arranged on the body; the bottom surface of fuselage still fixed mounting has the equipment support, and fixed mounting has power battery and with power battery electric connection's airborne computing platform and detection nacelle that zooms, power battery still with power component, forward vision module and flight control module electric connection, airborne computing platform and detection nacelle that zooms, forward vision module and flight control module communication connection. The invention has simple structure and reasonable design, and can efficiently perform the air low-speed small target reconnaissance and countercheck work under the condition of low personnel dependence and complex environment.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a low-speed small target reconnaissance countering system and method based on a multi-rotor unmanned aerial vehicle.
Background
With the gradual development of aviation flight products in China to miniaturization and civilian use, the problems that small aircrafts and air flyers threaten aviation transportation safety, citizen life and property safety, privacy safety and the like are increasingly highlighted.
According to the regulations of the current national regulation system and in combination with related academic research results, the small aircraft targets mainly have the following characteristics: 1. fly heights are typically below 500 meters; 2. the flying speed is lower than 200 km/h; 3. the radar reflection area is below 2 square meters. At present, common small-sized aircrafts mainly comprise airships, medium and small-sized aircrafts, unmanned aerial vehicles, hot air balloons, gliders, aeromodels, paragliders, power umbrellas and the like.
The empty drift has the following characteristics: 1. the floating or flying height is below 200 meters; 2. there is a certain risk of floating or flying; 3. the volume is larger; 4. the flying speed is slow; 5. detection, identification and defense are difficult. At present, the common air drift mainly comprises: balloon, kite outer, air-floating balloon, tethered balloon, unmanned free balloon, partial air-floating advertisement, kong Ming lamp, homing pigeon, etc.
In the prior art, although detection and reaction products aiming at a 'low-small' target exist, the following problems are mainly found after comparison: 1. in the civil field: the single-soldier unmanned aerial vehicle counter gun and counter command vehicle mainly aim at consumer unmanned aerial vehicles with obvious radio characteristics, and the targets are required to be confirmed by manual intervention, so that non-cooperative targets cannot be quickly positioned and hit, and in addition, the method cannot effectively identify the air-floating objects, so that the method has larger limitation. 2. In the military field: the unmanned aerial vehicle target is mainly hit by adopting a laser or microwave reaction weapon, the weapon has extremely high manufacturing cost, is easily influenced by rain, snow and dense smoke environments, uses a field Jing Shouxian when the bee colony saturation type attack is resisted, and is difficult to form the comprehensive countermeasure of the equipment system.
Disclosure of Invention
Aiming at the problems of the prior art that the detection and countermeasures for the low and slow target in the air or the dependence on people is large or the requirement on the use environment is high, the invention aims to provide a low and slow target reconnaissance countermeasures system and method based on a multi-rotor unmanned plane.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
In a first aspect, the invention provides a low-speed small target reconnaissance reaction system based on a multi-rotor unmanned aerial vehicle, which comprises a multi-rotor unmanned aerial vehicle, a plurality of horn arms mounted on the multi-rotor unmanned aerial vehicle, a power assembly mounted on each horn arm and a landing gear mounted on the bottom surface of the multi-rotor unmanned aerial vehicle, wherein a forward-looking vision module and a flight control module in communication connection with the power assembly are further mounted on the multi-rotor unmanned aerial vehicle; the device comprises a machine body, a front vision module, a flight control module, a power assembly, a power battery, an equipment support, an airborne computing platform, a zooming detection pod, an airborne computing platform and a power battery, wherein the equipment support is fixedly arranged on the bottom surface of the machine body, the airborne computing platform is electrically connected with the power battery, the zooming detection pod, the forward vision module and the flight control module, and the airborne computing platform is in communication connection with the zooming detection pod.
Further, the aircraft engine also comprises a positioning module fixedly mounted on the aircraft body, and the positioning module is electrically connected with the flight control module.
Further, the aircraft engine also comprises a communication module fixedly installed on the aircraft body, and the communication module is in communication connection with the flight control module and the airborne computing platform.
Further, still include the fixed mounting look down laser rangefinder on the equipment support, look down laser rangefinder with flight control module communication connection.
Preferably, the equipment bracket comprises a bracket body fixedly arranged on the bottom surface of the machine body, and a battery carrier plate and a nacelle carrier plate which are sequentially arranged on the bracket body from top to bottom; the power battery is fixedly arranged on the top surface of the battery carrier plate, and the zoom detection nacelle and the down-looking laser range radar are fixedly arranged on the bottom surface of the nacelle carrier plate.
Preferably, the landing gear comprises two groups of vertical struts which are symmetrically fixed on the machine body and transverse struts which are fixedly connected with each group of vertical struts, and the transverse struts are provided with damping components.
In a second aspect, the present invention also provides a low-speed small target reconnaissance countering method based on a multi-rotor unmanned aerial vehicle, the method being applied to the system as described above, the method comprising the steps of:
s1, starting the zoom detection nacelle to work and acquiring a real-time picture in the flight process of the multi-rotor unmanned aerial vehicle;
S2, the airborne computing platform processes the real-time picture based on an artificial intelligent recognition algorithm according to the real-time picture shot by the zoom detection pod;
s3, the airborne computing platform judges whether a low-speed small target exists in the real-time picture according to a real-time processing result, if so, S4 is carried out, and otherwise S2 is carried out;
S4, the airborne computing platform controls the forward vision module to track and detect the low-speed small target, and tracking and detecting information is obtained;
s5, the flight control module receives the tracking detection information and controls the multi-rotor unmanned aerial vehicle to fly to the low-speed small target according to the tracking detection information so as to implement countermeasures.
Preferably, the zoom detection pod is an omni-directional pod, and before S4, the method further comprises the following steps:
S31, the airborne computing platform judges whether the detection direction of the zoom detection pod is consistent with the view field direction of the front vision module group, if so, S4 is carried out, otherwise S32 is carried out;
S32, the airborne computing platform sends an adjustment instruction to the flight control module according to the detection direction of the zoom detection pod;
S33, the flight control module controls the adjustment direction of the multi-rotor unmanned aerial vehicle according to the adjustment instruction, so that the view field direction of the front vision module group is consistent with the detection direction of the zooming detection nacelle.
By adopting the technical scheme, the invention has the beneficial effects that:
1. Due to the adoption of the multi-rotor unmanned aerial vehicle and the arrangement of the zoom detection pod and the airborne computing platform carried on the multi-rotor unmanned aerial vehicle, the airborne computing platform can quickly identify the low-speed and small target in the air through the zoom detection pod, and the multi-rotor unmanned aerial vehicle is relied on to approach the low-speed and small target, so that countermeasures including but not limited to collision are carried out on the multi-rotor unmanned aerial vehicle;
2. Due to the arrangement of the forward vision module, after the low-speed small target is determined, the forward vision module can continuously track the low-speed small target, so that the zoom detection pod is liberated, and can be continuously put into a new detection task, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is a front view of a first embodiment of the present invention;
fig. 4 is a flowchart of a method according to a second embodiment of the invention.
In the figure, a 1-airframe, a 2-horn, a 3-power assembly, a 4-landing gear, a 41-vertical strut, a 42-transverse strut, a 43-sleeve joint, a 44-shock absorption assembly, a 5-forward vision module, a 6-flight control module, a 7-equipment support, an 8-power battery, a 9-airborne computing platform, a 10-zooming detection pod, an 11-positioning module, a 12-communication module and a 13-downward vision laser range finder.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
It should be noted that, in the description of the present invention, the positional or positional relation indicated by the terms such as "upper", "lower", "left", "right", "front", "rear", etc. are merely for convenience of describing the present invention based on the description of the structure of the present invention shown in the drawings, and are not intended to indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first" and "second" in this technical solution are merely references to the same or similar structures, or corresponding structures that perform similar functions, and are not an arrangement of the importance of these structures, nor are they ordered, or are they of a comparative size, or other meaning.
In addition, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two structures. It will be apparent to those skilled in the art that the specific meaning of the terms described above in this application may be understood in the light of the general inventive concept in connection with the present application.
Example 1
A low-speed small target reconnaissance reaction system based on a multi-rotor unmanned aerial vehicle is shown in fig. 1-3, and comprises the multi-rotor unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle comprises a fuselage 1, a plurality of horn 2 installed on the fuselage 1, a power assembly 3 installed on each horn 2 and a landing gear 4 installed on the bottom surface of the fuselage 1. The machine body 1 is also provided with a forward vision module 5 and a flight control module 6 which is in communication connection with the power assembly 3. Meanwhile, the bottom surface of the machine body 1 is fixedly provided with an equipment bracket 7, the equipment bracket 7 is fixedly provided with a power battery 8, an airborne computing platform 9 and a zooming detection pod 10 which are electrically connected with the power battery 8, and the power battery 8 is electrically connected with the power assembly 3, the forward vision module 5 and the flight control module 6. And the onboard computing platform 9 is in communication connection with the zoom detection pod 10, the forward vision module 5 and the flight control module 6.
In this embodiment, the fuselage 1 is configured in a rectangular shell-like configuration comprising two parallel and oppositely disposed center panels, and a forward side panel, a rear side panel, a left side panel and a right side panel connected between the two center panels in a circumferential surrounding manner. Wherein, the four corners of the machine body 1 are also provided with cut angles, and the corresponding corner plates are arranged at each corner to maintain the closed structure of the machine body 1. The four horn 2 are configured with four, the four horn 2 are evenly distributed along the circumference, and the four horn 2 are respectively and fixedly arranged on the four corner plates. The power assembly 3 then comprises a brushless dc motor and a propeller mounted on its output shaft.
In this embodiment, the landing gear 4 includes two sets of vertical struts 41 symmetrically fixed to the bottom surface of the fuselage 1 and transverse struts 42 connected and fixed to each set of vertical struts 41. For example, there are four vertical struts 41, and two vertical struts 41 in one group are connected to one side of the bottom surface of the fuselage 1 in parallel and in an inclined manner, and two vertical struts 41 in the other group are symmetrically installed on the other side of the bottom surface of the fuselage 1. Two vertical struts 41 in the same group are each provided with a transverse strut 42, the transverse struts 42 being arranged horizontally, and the lower ends of the vertical struts 41 are each connected to the transverse struts 42 by a sleeve joint 43. In this embodiment, a shock absorbing assembly 44, such as a sleeve of rubber or sponge material, is mounted to each transverse strut 42 to cushion the impact of the multi-rotor drone as it descends.
In the present embodiment, the equipment rack 7 is configured to include a frame body 71 fixedly mounted on the bottom surface of the main body 1, and a battery carrier plate 72 and a pod carrier plate 73 sequentially mounted on the frame body 71 from top to bottom. Wherein the frame 71 comprises a plurality of vertically arranged rod-like formations, and the battery carrier plate 72 and the pod carrier plate 73 are connected with each rod-like formation to achieve a fixed mounting. The power battery 8 is fixedly mounted on the top surface of the battery carrier plate 72, and the zoom detection pod 10 is fixedly mounted on the bottom surface of the pod carrier plate 73.
The zoom detection pod 10 is configured to have 360-degree horizontal rotation and pitching rotation capabilities, so that continuous detection of a large-range target can be realized, and data transmission is performed with the on-board computing platform 9 through a USB data line. The onboard computing platform 9 is used for detecting low-speed and small targets in real-time pictures shot by the zoom detection pod 10 based on a mature artificial intelligent recognition algorithm. The forward vision module 5 also carries out data communication with the airborne computing platform 9 through a USB data line, the forward vision module 5 is mainly used for continuously tracking the detected low-speed and small-size targets, and the flight control module 6 is used for controlling the multi-rotor unmanned aerial vehicle to approach the low-speed and small-size targets and fly according to the continuous tracking result of the forward vision module 5 besides being used for controlling the multi-rotor unmanned aerial vehicle to train and fly according to the planned route so as to conveniently execute countermeasures such as warning, ground guiding and collision.
When the multi-rotor unmanned aerial vehicle is used, when the aerial low-speed small target processing is needed, the multi-rotor unmanned aerial vehicle flies and goes up, a real-time picture about a designated airspace can be acquired through the zoom detection nacelle 10 carried on the multi-rotor unmanned aerial vehicle, after the real-time picture is processed through the airborne computing platform 9, whether the low-speed small target is contained or not can be judged, the determined low-speed small target is continuously tracked through the forward vision module 5, the multi-rotor unmanned aerial vehicle approaches by means of the flying capability of the multi-rotor unmanned aerial vehicle, and then various countermeasures such as collision, warning and the like can be executed. In the working process, the multi-rotor unmanned aerial vehicle can reduce dependence on people based on mature autonomous flight capacity, so that the efficiency is improved; in addition, based on the real-time image data processing capability of the airborne computing platform 9, the low-speed small targets can be quickly identified and detected and automatically approaching, so that the low-speed small target azimuth indication can be provided for ground personnel, manual intervention is convenient, and the device has the advantage of strong environment adaptability relative to laser or microwave weapons in the working process.
In another preferred embodiment, the configuration system further comprises a positioning module 11 and a communication module 12. Wherein, positioning module 11 is preferably RTK GPS module, and its fixed mounting is at the top surface of fuselage 1, and positioning module 11 passes through the form of wired serial port and connects flight control module 6 to in order to provide the required location support of flight to flight control module 6, still with communication module 12 electric connection in order to send many rotor unmanned aerial vehicle's real-time position to the external world (ground station or ground staff), thereby make things convenient for many rotor unmanned aerial vehicle to be close to the in-process of low little target and provide the direction instruction outside the visual observation for ground staff. Meanwhile, the communication module 12 is also in communication connection with the flight control module 6 and the airborne computing platform 9, so as to facilitate the transmission of data such as flight state, target detection information, mission planning information, flight control instructions and the like between the multi-rotor unmanned aerial vehicle and the ground station.
In another preferred embodiment, the configuration system further comprises a down-looking laser ranging radar 13, the down-looking laser ranging radar 13 is fixedly installed on one side of the bottom surface of the nacelle carrier plate 73, and the down-looking laser ranging radar 13 is in communication connection with the flight control module 6, so that the multi-rotor unmanned aerial vehicle can effectively detect the ground altitude in the flight and take-off and landing process, and further accurate fixed-altitude flight is achieved.
Example two
A low-speed small target reconnaissance countering method based on a multi-rotor unmanned aerial vehicle, which is applied to a system disclosed in an embodiment one, as shown in fig. 4, and comprises the following steps:
s1, starting the zoom detection nacelle to work and acquiring a real-time picture in the flight process of the multi-rotor unmanned aerial vehicle;
s2, the airborne computing platform processes the real-time picture based on an artificial intelligent recognition algorithm according to the real-time picture shot by the zoom detection pod;
S3, the airborne computing platform judges whether a low-speed small target exists in the real-time picture according to a real-time processing result, if so, S4 is carried out, and otherwise S2 is carried out;
S4, the airborne computing platform controls the forward vision module to track and detect the low-speed small target, and tracking and detecting information is obtained;
S5, the flight control module receives the tracking detection information and controls the multi-rotor unmanned aerial vehicle to fly towards the low-speed small target according to the tracking detection information so as to implement countermeasures, wherein the countermeasures include but are not limited to collision.
It will be appreciated that when the zoom detection pod is an omni-directional pod, its detection direction may be different from the direction of the field of view of the forward vision module because it can detect omni-directionally through 360 °, and therefore, the following steps are further included before proceeding to S4:
S31, the airborne computing platform judges whether the detection direction of the zooming detection pod is consistent with the view field direction of the front vision module group, if so, S4 is carried out, otherwise S32 is carried out;
s32, the airborne computing platform sends an adjustment instruction to the flight control module according to the detection direction of the zoom detection pod;
s33, the flight control module controls the adjustment direction of the multi-rotor unmanned aerial vehicle according to the adjustment instruction, so that the view field direction of the front vision module group is consistent with the detection direction of the zooming detection nacelle.
The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, and yet fall within the scope of the invention.
Claims (6)
1. The method is applied to a low-speed small target reconnaissance and countering system based on a multi-rotor unmanned aerial vehicle, and is characterized by comprising the following steps of: the system comprises a multi-rotor unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle comprises a fuselage, a plurality of horn arms arranged on the fuselage, a power assembly arranged on each horn arm, and a landing gear arranged on the bottom surface of the fuselage, and a front vision module and a flight control module which is in communication connection with the power assembly are also arranged on the fuselage; the device comprises a machine body, a front vision module, a flight control module, a power assembly, a power battery, an equipment bracket, an airborne computing platform, a zooming detection pod, a power battery, a front vision module, a power assembly, a front vision module, a flight control module and a power control module, wherein the equipment bracket is fixedly arranged on the bottom surface of the machine body;
The method comprises the following steps:
s1, starting the zoom detection nacelle to work and acquiring a real-time picture in the flight process of the multi-rotor unmanned aerial vehicle;
S2, the airborne computing platform processes the real-time picture based on an artificial intelligent recognition algorithm according to the real-time picture shot by the zoom detection pod;
s3, the airborne computing platform judges whether a low-speed small target exists in the real-time picture according to a real-time processing result, if so, S4 is carried out, and otherwise S2 is carried out;
S4, the airborne computing platform controls the forward vision module to track and detect the low-speed small target, and tracking and detecting information is obtained;
S5, the flight control module receives the tracking detection information and controls the multi-rotor unmanned aerial vehicle to fly to the low-speed small target according to the tracking detection information so as to implement countermeasures;
Wherein, the zoom detection pod is an omni-directional pod, and before S4, the method further comprises the following steps:
S31, the airborne computing platform judges whether the detection direction of the zoom detection pod is consistent with the view field direction of the front vision module group, if so, S4 is carried out, otherwise S32 is carried out;
S32, the airborne computing platform sends an adjustment instruction to the flight control module according to the detection direction of the zoom detection pod;
S33, the flight control module controls the adjustment direction of the multi-rotor unmanned aerial vehicle according to the adjustment instruction, so that the view field direction of the front vision module group is consistent with the detection direction of the zooming detection nacelle.
2. The method according to claim 1, characterized in that: the aircraft further comprises a positioning module fixedly mounted on the aircraft body, and the positioning module is electrically connected with the flight control module.
3. The method according to claim 1, characterized in that: the aircraft further comprises a communication module fixedly installed on the aircraft body, and the communication module is in communication connection with the flight control module and the airborne computing platform.
4. The method according to claim 1, characterized in that: still include the fixed mounting look down laser rangefinder on the equipment support, look down laser rangefinder with flight control module communication connection.
5. The method according to claim 4, wherein: the equipment bracket comprises a bracket body fixedly arranged on the bottom surface of the machine body, and a battery carrier plate and a nacelle carrier plate which are sequentially arranged on the bracket body from top to bottom; the power battery is fixedly arranged on the top surface of the battery carrier plate, and the zoom detection nacelle and the down-looking laser range radar are fixedly arranged on the bottom surface of the nacelle carrier plate.
6. The method according to claim 1, characterized in that: the landing gear comprises two groups of vertical struts which are symmetrically fixed on the machine body and transverse struts which are fixedly connected with each group of vertical struts, and shock absorption components are arranged on the transverse struts.
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| CN218806669U (en) * | 2022-01-05 | 2023-04-07 | 复旦大学 | Low-slow small target reconnaissance countercheck system based on multi-rotor unmanned aerial vehicle |
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