CN115783336A - Unmanned aerial vehicle capturing system and method based on annular wing unmanned aerial vehicle - Google Patents

Abstract

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle capture system based on an annular wing unmanned aerial vehicle, which comprises: the system comprises an annular wing unmanned aerial vehicle, a capture net and a visual guide device; wherein, annular wing unmanned aerial vehicle includes: the aircraft comprises an annular wing, a rotor wing, a flight control device, a driving device and a power system; a plurality of driving devices are fixedly arranged on the annular top surface of the annular wing, and a rotor wing is fixedly arranged on an output shaft of each driving device; a plurality of grooves are formed in the outer wall of the annular wing, and a flight control device is arranged in each groove; the power systems are symmetrically arranged on the outer wall of the annular wing and are connected with the driving device; the capturing net is fixedly arranged on the bottom surface of the annular wing, and the vision guiding devices are symmetrically arranged on the outer wall of the annular wing and are connected with the flight control device. The annular-wing unmanned aerial vehicle integrates the advantages of a multi-rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, can realize vertical take-off and landing, does not require a specific airport or runway, is flexible in attitude control, can realize rapid flight, and is strong in wind disturbance resistance.

Description

A UAV capture system and method based on a ring-wing UAV

technical field

The invention belongs to the field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle capture system and method based on a ring-wing unmanned aerial vehicle.

Background technique

In recent years, drone technology has developed rapidly, especially the rise of consumer drones, such as aerial drones, which have become more and more well-known. It is undeniable that consumer drones provide convenience for people's daily life. , supporting people's hobbies. However, because it is a new thing, the public lacks safety awareness and norms for the use of consumer drones, and "black flying" incidents continue to occur. Therefore, the capture of "black flying" drones is a problem that needs to be solved .

Because the pilots of the "black flying" UAVs do not have sufficient flying skills and experience, the flight trajectory of the UAVs is often unpredictable. Flying in the "step" mode is extremely easy to cause personal and property damage, and "black flights" often occur in densely populated places such as cities, so capturing them requires a quick response and safety.

The existing methods of capturing "black flying" drones generally include using drone counter-guns to shoot them down, and flying robotic arms to grab them. The anti-drone anti-drone gun interrupts the connection between the unmanned aerial vehicle and the remote control device by emitting electromagnetic interference waves. However, this method may cause the target unmanned aerial vehicle to crash out of control, and it is easy to hurt people in crowded places; A multi-degree-of-freedom robotic arm is installed under the multi-rotor drone, and a mechanical claw or other recovery device is installed at the end of the robotic arm to grab the target drone. However, the rotor rotates at a high speed during the operation of the drone, which may damage the flying robotic arm or damage the target. drone.

Contents of the invention

The purpose is to solve some of the problems raised in the background technology, at least to a certain extent.

For this reason, the present invention proposes a UAV capture system based on a ring-wing UAV. It is fast and flexible, and can prevent damage to captured drones.

The technical solution adopted by the present invention to achieve the above object is: a UAV capture system based on a ring-wing UAV, including: a ring-wing UAV, a capture net and a visual guidance device;

Among them, the ring wing UAV includes: ring wing, rotor, flight control device, driving device and power system;

A plurality of driving devices are fixed on the annular top surface of the ring wing, and the output shaft of the driving device is fixed with a rotor;

A plurality of grooves are opened on the outer wall of the annular wing, and a flight control device is arranged in the groove; the power system is symmetrically arranged on the outer wall of the annular wing, and is connected with the driving device;

The capture net is fixed on the bottom surface of the annular wing, and the vision guiding device is symmetrically arranged on the outer wall of the annular wing and connected with the flight control device.

The annular wing is a square annular structure with a longitudinal section. The annular wing adopts a carbon fiber integrated molding shell, and the interior is filled with foam to support the entire annular wing UAV and the capture net, and provide lift during flight.

There are multiple rotors, each of which is connected to the corresponding driving device for the driven device to provide thrust and adjust the attitude;

The rotors are equidistantly arranged on the annular wing, and the wing length of the rotor is smaller than the radius of the annular wing;

The wing length of the rotor is smaller than the radius of the annular wing, and the straight-line distance between the centers of adjacent rotors is greater than the wing length of the rotor.

The driving device includes: a rotor motor, a connecting rod, an output shaft, a cover body and a protection net;

A rotor motor is arranged in the cover body, and the rotor motor is connected with the power system;

The output end and the output shaft of the rotor motor, the rotor is fixed on the output shaft;

The cover body is a hollow shell with a closed bottom, and the cover body is provided with a protective net to protect the rotor motor;

The cover is fixed with a connecting rod at the center of the bottom, and the connecting rod is inserted on the top surface of the annular wing;

The connecting rod is a hollow structure, and the connecting wire of the rotor motor passes through the bottom of the cover and enters into the connecting rod to connect with the power system.

The flight control device includes: a microcomputer arranged inside the annular wing groove, an inertial measurement device, a barometer and a positioning device;

Wherein, the inertial measurement device, the barometer and the positioning device are all connected with the microcomputer;

The microcomputer is used for processing according to the three-axis motion state, flight height and position information of the rotor UAV sent by the inertial measurement device, the barometer and the positioning device, and the position of the UAV to be captured by the visual guidance device, to track the drone to be captured;

The inertial measurement device is used to measure the three-axis motion state of the annular rotor UAV;

Barometer, used to measure the flight altitude of the ring-rotor UAV;

The positioning device is used to obtain the position information of the rotor drone.

The power system is two sets of lithium batteries connected in parallel or in series, which are arranged on both sides of the annular wing to balance the counterweight and supply power to the driving device.

The catching net is a woven net made of fabric rope, the size of the opening of the catching net is the same as the diameter of the annular wing, and the opening of the catching net is fixed on the annular surface at the bottom of the annular wing.

The vision guidance device is a monocular vision sensor or a binocular vision sensor, which is used to feed back the position of the unmanned aerial vehicle to be captured, and transmit it to the microcomputer of the flight control device in real time.

A method for capturing an unmanned aerial vehicle based on a ring-wing unmanned aerial vehicle, comprising the following steps:

1) The power system supplies power to the ring-wing UAV, and the driving device cooperates to drive the rotor to rotate to provide lift. After taking off to the set height, the attitude of the ring-wing UAV is adjusted, and the target UAV is tracked and guided;

2) The flight control device uses the coordinated control method to make multiple rotors operate at differential speeds to adjust the attitude of the ring-wing UAV, and at the same time fly forward. At this time, the ring wing provides part of the lift, and the vision guidance system determines the position of the target UAV. , and feed back to the flight control device, the flight control device flies to the target UAV;

3) When the ring-wing UAV approaches the target UAV, the vision guidance system acquires the position information of the target UAV within the set time period and sends it to the microcomputer of the flight control device, and the flight control device passes the inertial measurement The unit obtains the three-axis velocity and acceleration information of the ring-wing UAV itself;

4) After the microcomputer receives the real-time position information of the target UAV from the vision guidance system, according to the position information of the target UAV, it obtains the relative positional relationship between the ring-wing UAV and the target UAV, and the driving device cooperates to drive The rotor accelerates to rotate, so that the ring-wing UAV flies to the position of the target UAV and captures the target UAV;

After capturing the target UAV, the inertial measurement unit keenly perceives the three-axis information of the ring-wing UAV and sends it to the microcomputer. The flight control device adjusts the attitude of the ring-wing UAV through the coordinated control method to make the ring-wing drone Machine 1 keeps hovering in the vertical direction;

5) After the attitude of the ring-wing UAV is stable, the driving device drives the rotor to operate at a differential speed, adjust the attitude of the ring-wing UAV, and fly above the take-off point; after the ring-wing UAV flies above the take-off point, continue to adjust the attitude, Land in a vertical direction to complete the drone capture operation.

The flight control device adjusts the attitude of the ring-wing unmanned aerial vehicle through a coordinated control method, specifically:

In the vertical take-off and landing phase of the ring-wing UAV, in order to ensure a stable attitude, the four rotor motors provide the same lift. After taking off to a set height, the rotor adjusts its attitude at a differential speed and enters the tracking phase;

Among them, the adjacent pair of rotors affect the pitch and roll motion of the ring-wing UAV, and the oblique pair of rotors affect the yaw motion of the ring-wing UAV;

Taking the side where the visual guidance system is located as the positive direction of the ring-wing UAV, that is, the head of the ring-wing UAV, the speed of the two rotors on the front side increases, and the speed of the two rotors on the rear side decreases. The direction of pitch angle movement is positive, that is, the head of the ring-wing UAV is raised upwards;

The speed of the two rotors on the left side of the ring-wing UAV increases, and the speed of the two rotors on the right decreases. The direction of the roll angle of the ring-wing UAV is positive, that is, the left side is raised upwards;

The left front and right rear rotor speeds of the ring-wing UAV increase, and the right front and left rear rotor speeds decrease, so the yaw angle movement direction of the ring-wing UAV is positive, that is, the ring-wing UAV moves along The hour hand rotates.

The present invention has the following beneficial effects and advantages:

1. The ring-wing unmanned aerial vehicle adopted in the present invention combines the advantages of multi-rotor unmanned aerial vehicles and fixed-wing unmanned aerial vehicles. It can realize vertical take-off and landing without requiring specific airports or runways. Realize fast flight and strong anti-wind disturbance ability.

2. The ring-wing UAV adopted in the present invention improves the resistance to environmental noise such as non-directional airflow by designing the aerodynamic layout of each component.

3. The capture net adopted in the present invention can capture drones relatively safely, and can also prevent personal and property damage that may be caused by capturing drones, avoiding some shortcomings of jamming guns and mechanical arms.

4. The vision guidance system adopted in the present invention is based on a monocular or binocular vision sensor, which improves the ability of large-scale long-distance tracking, guidance and capture of unmanned aerial vehicles.

Description of drawings

FIG. 1 is a schematic structural diagram of a UAV capture system based on a ring-wing UAV according to the present invention.

Fig. 2 is a structural schematic diagram of a ring-wing unmanned aerial vehicle in the present invention.

Fig. 3 is a structural schematic diagram of the rotor and the driving device in the present invention.

Among them, 1 is the ring wing drone, 2 is the capture net, 3 is the visual guidance system, 101 is the ring wing, 102 is the rotor, 103 is the flight control device, 104 is the driving device, 105 is the power system, 1041 is the rotor motor , 1042 is a connecting rod, 1043 is an output shaft, 1044 is a cover body, and 1045 is a protection net.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. A further understanding of the nature and advantages of certain embodiments disclosed herein may be realized by reference to the remaining portions of the specification and the accompanying drawings.

As shown in Figure 1, a kind of unmanned aerial vehicle capture system based on ring wing UAV, comprises ring wing UAV 1, capture net 2, visual guidance system 3, wherein: capture net 2 is arranged on the rear of ring wing 101, It is used to capture the UAV safely; the visual guidance system 3 is arranged on both sides of the ring wing 101, and is used for long-distance detection of the position of the UAV.

As shown in Figure 2, the ring wing UAV 1 includes: ring wing 101, rotor 102, flight control device 103, driving device 104 and power system 105; On the outside, the flight control device 103 and the power system 105 are arranged inside the annular wing 101 .

A plurality of driving devices 104 are fixed on the annular top surface of the annular wing 101, and the output shaft of the driving device 104 is fixed with a rotor 102;

A plurality of grooves are opened on the outer wall of the ring wing 101, and a flight control device 103 is arranged in the groove; the power system 105 is symmetrically arranged on the outer wall of the ring wing 101, and is connected with the driving device 104;

The capture net 2 is fixed on the bottom surface of the annular wing 101 , and the vision guiding device 3 is symmetrically arranged on the outer wall of the annular wing 101 and connected to the flight control device 103 .

According to the ring wing UAV capture device of the embodiment of the present invention, the ring wing 101 is a ring structure with a square longitudinal section. The ring wing 101 adopts a carbon fiber integrated shell, and the inside is filled with foam to support all other devices. , and the form of this columnar wing can flow around the air, and generate lift by forming a positive angle of attack when flying forward, improving the aerodynamics of the flying object, overcoming the problem of slow flight speed of the rotor, and improving the Stability and security.

There are multiple rotors 102, which are respectively connected to corresponding driving devices 104;

The rotors 102 are equally spaced on the annular wing 101 , the length of the rotors 102 is smaller than the radius of the annular wing 101 , and the distance between adjacent rotors 102 is greater than the length of the rotors 102 .

This device can realize vertical take-off and landing function, as shown in Figure 2, during take-off, by power system 105 power supply, driving device 104 drives rotor 102 to rotate, provides lift, treats to take off to certain altitude, after catch net 2 opens fully, can Adjust the attitude and track and guide the target UAV.

According to the device for capturing UAVs with ring wings according to the embodiment of the present invention, the rotor adopts a distributed layout and is arranged outside the ring wing. The rotor, as the main thrust of the ring-wing UAV, provides upward lift during takeoff and landing, provides propulsion during cruise tracking, and flexibly adjusts the attitude, which has the advantage of quick response.

Specifically, there are multiple rotors 102 , which are respectively connected to corresponding driving devices 104 ; the rotors 102 are equidistantly arranged on the annular wing 101 .

The wing length of the rotor 102 is smaller than the radius of the annular wing 101 , and the straight-line distance between the centers of adjacent rotors 102 is greater than the wing length of the rotor 102 .

As shown in Figure 3, it is a structural schematic diagram of the rotor and the drive device in the present invention, the drive device includes a rotor motor 1041, a connecting rod 1042, an output shaft 1043, a cover body 1044 and a protection net 1045;

The cover body 1044 is provided with a rotor motor 1041, and the rotor motor 1041 is connected with the power system 105;

The output end of the rotor motor 1041 and the output shaft 1043, the output shaft 1043 is fixed with the rotor 102 for driving the rotor to rotate to provide thrust;

The cover body 1044 is a hollow shell with a closed bottom, and the cover body 1044 is provided with a protective net 1045 to protect the rotor motor 1041;

The cover body 1044 is fixed with a connecting rod 1042 at the center of the bottom, and the connecting rod 1042 is inserted on the top surface of the ring wing 101 .

The connecting rod 1042 is a hollow structure. The connecting wire of the rotor motor 1041 passes through the bottom of the cover body 1044 and enters the connecting rod 1042 to connect with the power system 105. During the process, the motor can flexibly adjust the attitude of the ring wing by changing the speed, which overcomes the shortcomings of fixed-wing aircraft, and is more accurate, suitable for drone capture operations.

According to the embodiment of the present invention, the ring-wing unmanned aerial vehicle capturing device, the flight control device 103, includes: a microcomputer arranged inside the groove of the ring wing 1, an inertial measurement device, a barometer and a positioning device;

Among them, the inertial measurement device, the barometer and the positioning device are all connected with the microcomputer;

The flight control device 103 is arranged inside the annular wing. The microcomputer is used to control the task flow of the ring-wing UAV for the capture operation,

The inertial measurement unit is used to measure the three-axis motion state of the ring-wing UAV;

The barometer is used to measure the flight altitude of the ring wing UAV;

A positioning system is used to determine the position of the ring wing drone. The flight control device ensures that the ring-wing UAV can normally carry out the UAV capture operation.

According to the ring-wing unmanned aerial vehicle capture device of the embodiment of the present invention, the power system 105 includes two sets of lithium batteries, which are arranged inside the ring wing and distributed on both sides, for powering the driving device and balancing the counterweight of the ring-wing drone.

According to the ring wing UAV capture device of the embodiment of the present invention, the capture net is woven with fabric and placed under the ring wing to capture the UAV and prevent damage to the UAV, avoiding the capture of jamming guns, mechanical arms, etc. potential safety hazards caused by the device. In some embodiments, the cover body may be set in a partial circular shape, and the tail part is bent inward to improve aerodynamics.

According to the ring-wing unmanned aerial vehicle capture device of the embodiment of the present invention, the visual guidance system 3 includes a monocular or binocular vision sensor, which is used to feed back the position of the unmanned aerial vehicle to be captured, and supports the flight control device to track and capture it, which can realize Large-scale long-distance positioning.

A kind of capture method of the drone capture system based on the ring wing drone of the present invention, comprises the following steps:

1) The power system 105 supplies power to the ring-wing UAV 1, and the driving device 104 cooperates to drive the rotor 102 to rotate to provide lift. After taking off to a set height, the attitude of the ring-wing UAV 1 is adjusted, and the target UAV tracking guide;

2) The flight control device 103 makes a plurality of rotors 102 operate at differential speeds to adjust the attitude of the ring-wing UAV 1 through the coordinated control method, and flies forward at the same time. The position of the drone is fed back to the flight control device 103, and the flight control device 103 flies to the target drone;

3) When the ring-wing UAV 1 approaches the target UAV, the visual guidance system 3 acquires the position information of the target UAV and sends it to the microcomputer of the flight control device 103 within the set time period, and the flight control device 103 Obtain the three-axis velocity and acceleration information of the ring-wing UAV 1 itself through the inertial measurement unit;

4) After the microcomputer receives the position information of the target UAV from the vision guidance system 3 in real time, according to the position information of the target UAV, the relative positional relationship between the ring-wing UAV 1 and the target UAV is obtained, and the driving device 104 Cooperatively drives the rotor 102 to accelerate the rotation, so that the ring-wing UAV 1 flies to the position of the target UAV and captures the target UAV;

After capturing the target UAV, the inertial measurement unit keenly perceives the three-axis information of the ring-wing UAV 1 and sends it to the microcomputer. The flight control device 103 adjusts the attitude of the ring-wing UAV 1 through a coordinated control method so that the The wing UAV 1 keeps hovering in the vertical direction;

5) After the attitude of the ring-wing UAV 1 is stable, the driving device 104 drives the rotor 102 to run at a differential speed, adjust the attitude of the ring-wing UAV 1, and fly above the take-off point; after the ring-wing UAV 1 flies to the top of the take-off point , continue to adjust the attitude, land in a vertical direction, and complete the drone capture operation.

The flight control device 103 adjusts the posture of the ring-wing UAV 1 through a coordinated control method, specifically:

In the vertical take-off and landing phase of the ring-wing UAV 1, in order to ensure a stable attitude, the four rotor motors 1041 provide the same lift. After taking off to a set height, the rotor 102 differentially adjusts the attitude and enters the tracking phase;

Wherein, the adjacent pair of rotors 102 affect the pitch motion and roll motion of the ring-wing UAV 1, and the oblique pair of rotors 102 affect the yaw motion of the ring-wing UAV 1;

Taking the side where the visual guidance system 3 is located as the positive direction of the ring-wing UAV 1, that is, the head of the ring-wing UAV 1, the speed of the two rotors 102 on the front side increases, and the speed of the two rotors 102 on the rear side decreases. The pitch angle movement direction of the wing UAV 1 is positive, that is, the head of the ring-wing UAV 1 is raised upward;

The rotation speed of the two left rotors 102 of the ring-wing UAV 1 increases, and the rotation speed of the two right rotors 102 decreases. The direction of the roll angle of the ring-wing UAV 1 is positive, that is, the left side is raised upward;

The rotation speed of the left front side and the right rear side rotor 102 of the ring wing UAV 1 increases, and the rotation speed of the right front side and the left rear side rotor 102 decreases, then the yaw angle movement direction of the ring wing UAV 1 is positive, that is, the rotation speed of the ring wing UAV 1 is positive. Drone 1 rotates clockwise.

The above-mentioned embodiments are exemplary, and the purpose is to facilitate description and understanding. The embodiments only correspond to one working condition. For specific application scenarios, the above-mentioned embodiments can be changed, modified, and optimized.

Claims (10)

1. An unmanned aerial vehicle capture system based on an annular wing unmanned aerial vehicle, comprising: the system comprises an annular wing unmanned aerial vehicle (1), a capturing net (2) and a visual guide device (3);

wherein, annular wing unmanned aerial vehicle (1) includes: the wind power generation system comprises an annular wing (101), a rotor wing (102), a flight control device (103), a driving device (104) and a power system (105);

a plurality of driving devices (104) are fixedly arranged on the annular top surface of the annular wing (101), and a rotor (102) is fixedly arranged on an output shaft of each driving device (104);

a plurality of grooves are formed in the outer wall of the annular wing (101), and a flight control device (103) is arranged in each groove; the power systems (105) are symmetrically arranged on the outer wall of the annular wing (101) and are connected with the driving device (104);

the capturing net (2) is fixedly arranged on the bottom surface of the annular wing (101), and the visual guide devices (3) are symmetrically arranged on the outer wall of the annular wing (101) and are connected with the flight control device (103).

2. The unmanned aerial vehicle capturing system based on ring-shaped wing unmanned aerial vehicle of claim 1, wherein the ring-shaped wing (101) is of a ring-shaped structure with a square longitudinal section, the ring-shaped wing (101) is made of a carbon fiber integrally molded shell, and foam is filled inside the shell to support the whole ring-shaped wing unmanned aerial vehicle (1) and the capturing net (2) and provide lift force during flight.

3. The unmanned aerial vehicle capture system based on ring wing unmanned aerial vehicle of claim 1, wherein the rotor wings (102) are connected with corresponding driving devices (104) respectively, and are used for providing thrust and adjusting posture by the driving devices (104);

the rotary wings (102) are arranged on the annular wings (101) at equal intervals, and the wing length of the rotary wings (102) is smaller than the radius of the annular wings (101);

the wing length of the rotor wings (102) is smaller than the radius of the annular wing (101), and the straight line distance between the centers of the adjacent rotor wings (102) is larger than the wing length of the rotor wings (102).

4. The drone capturing system based on ring wing drones according to claim 1, characterized in that the driving means (104) comprise: the rotary wing motor (1041), the connecting rod (1042), the output shaft (1043), the cover body (1044) and the protective net (1045);

a rotor motor (1041) is arranged in the cover body (1044), and the rotor motor (1041) is connected with the power system (105);

the output end of the rotor motor (1041) and an output shaft (1043), wherein a rotor (102) is fixedly arranged on the output shaft (1043);

the cover body (1044) is a hollow shell with a closed bottom, and the cover body (1044) is provided with a protection net (1045) to protect the rotor motor (1041);

the cover body (1044) is characterized in that a connecting rod (1042) is fixedly arranged at the center of the bottom of the cover body (1044), and the connecting rod (1042) is inserted on the top surface of the annular wing (101);

the connecting rod (1042) is of a hollow structure, and a connecting wire of the rotor motor (1041) penetrates through the bottom of the cover body (1044) and enters the connecting rod (1042) to be connected with the power system (105).

5. The drone capturing system based on ring wing drones according to claim 1, characterised in that the flight control device (103) comprises: the microcomputer, the inertia measuring device, the barometer and the positioning device are arranged in the groove of the annular wing (1);

the inertial measurement device, the barometer and the positioning device are all connected with the microcomputer;

the microcomputer is used for feeding back the position of the unmanned aerial vehicle to be captured for processing according to the three-axis motion state, the flight height and the position information of the rotor unmanned aerial vehicle (1) sent by the inertial measurement device, the barometer and the positioning device and the position information of the unmanned aerial vehicle to be captured fed back by the visual guide device (3) so as to track the unmanned aerial vehicle to be captured;

the inertial measurement device is used for measuring the three-axis motion state of the annular rotor unmanned aerial vehicle (1);

the barometer is used for measuring the flying height of the ring-shaped rotor unmanned aerial vehicle (1);

positioner for acquire rotor unmanned aerial vehicle (1)'s positional information.

6. The unmanned aerial vehicle capturing system based on ring wing unmanned aerial vehicle of claim 1, wherein the power system (105) is two sets of lithium batteries connected in parallel or in series, and is disposed on two sides of the ring wing to balance the weight and supply power to the driving device.

7. The unmanned aerial vehicle capturing system based on ring wing unmanned aerial vehicle of claim 1, wherein the capturing net (2) is a woven net made of fabric rope, the size of the net opening of the capturing net (2) is the same as the diameter of the ring wing (101), and the net opening of the capturing net (2) is fixedly arranged on the ring surface at the bottom of the ring wing (101).

8. The drone capturing system based on ring wing drones according to claim 1, characterised in that the visual guidance means (3) are monocular or binocular visual sensors for feeding back the position of the drone to be captured and transmitting it in real time to the microcomputer of the flight control means (103).

9. The method of claim 1, comprising the steps of:

1) The power system (105) supplies power to the annular wing unmanned aerial vehicle (1), the driving device (104) cooperatively drives the rotor wing (102) to rotate, lift force is provided, the annular wing unmanned aerial vehicle (1) is subjected to attitude adjustment when the annular wing unmanned aerial vehicle is about to take off to a set height, and tracking and guiding are carried out on a target unmanned aerial vehicle;

2) The flight control device (103) enables the multiple rotors (102) to run in a differential mode through a coordinated control method so as to adjust the posture of the annular wing unmanned aerial vehicle (1), meanwhile, the annular wing (101) flies forwards, partial lift force is provided by the annular wing, the position of a target unmanned aerial vehicle is determined by the vision guidance system (3) and fed back to the flight control device (103), and the flight control device (103) flies towards the target unmanned aerial vehicle;

3) When the ring-shaped wing unmanned aerial vehicle (1) approaches to a target unmanned aerial vehicle, the visual guidance system (3) acquires the position information of the target unmanned aerial vehicle and sends the position information to the microcomputer of the flight control device (103) within a set time period, and the flight control device (103) acquires the three-axis speed and acceleration information of the ring-shaped wing unmanned aerial vehicle (1) through the inertial measurement unit;

4) After receiving the position information of the target unmanned aerial vehicle transmitted by the visual guidance system (3) in real time, the microcomputer acquires the relative position relation between the ring-shaped wing unmanned aerial vehicle (1) and the target unmanned aerial vehicle according to the position information of the target unmanned aerial vehicle, and the driving device (104) cooperatively drives the rotor wing (102) to rotate in an accelerating manner, so that the ring-shaped wing unmanned aerial vehicle (1) flies to the position of the target unmanned aerial vehicle and captures the target unmanned aerial vehicle;

after a target unmanned aerial vehicle is captured, an inertial measurement unit sensitively senses three-axis information of the annular wing unmanned aerial vehicle (1) and sends the information to a microcomputer, and a flight control device (103) adjusts the posture of the annular wing unmanned aerial vehicle (1) through a coordination control method so that the annular wing unmanned aerial vehicle (1) can hover in the vertical direction;

5) After the attitude of the annular wing unmanned aerial vehicle (1) is stable, the driving device (104) drives the rotor wing (102) to run in a differential mode, the attitude of the annular wing unmanned aerial vehicle (1) is adjusted, and the annular wing unmanned aerial vehicle flies above a flying starting point; after the annular wing unmanned aerial vehicle (1) flies to the flying starting point, the posture is continuously adjusted to land in the vertical direction, and the unmanned aerial vehicle capturing operation is completed.

10. The method of claim 9, wherein the flight control device (103) adjusts the attitude of the drone (1) by means of coordinated control, specifically:

in the vertical take-off and landing stage of the annular wing unmanned aerial vehicle (1), in order to ensure stable posture, the four rotor motors (1041) provide the same lift force, after the annular wing unmanned aerial vehicle takes off to a set height, the rotor (102) adjusts the posture in a differential speed manner, and a tracking stage is started;

the adjacent pairs of the rotors (102) influence the pitching motion and the rolling motion of the annular-wing unmanned aerial vehicle (1), and the oblique pairs of the rotors (102) influence the yawing motion of the annular-wing unmanned aerial vehicle (1);

the side where the visual guidance system (3) is located is the positive direction of the ring-shaped wing unmanned aerial vehicle (1), namely the head of the ring-shaped wing unmanned aerial vehicle (1), the rotating speeds of the two front rotary wings (102) are increased, the rotating speeds of the two rear rotary wings (102) are reduced, the pitch angle motion direction of the ring-shaped wing unmanned aerial vehicle (1) is positive, namely the head of the ring-shaped wing unmanned aerial vehicle (1) is raised upwards;

the rotating speeds of the two left rotary wings (102) of the annular wing unmanned aerial vehicle (1) are increased, the rotating speeds of the two right rotary wings (102) are reduced, and the rolling angle moving direction of the annular wing unmanned aerial vehicle (1) is positive, namely the left side is raised upwards;

the left front side and the right rear side of annular wing unmanned aerial vehicle (1) rotor (102) rotational speed increase, and the rotor (102) rotational speed of right front side and left rear side reduces, then the yaw angular motion direction of annular wing unmanned aerial vehicle (1) is positive, annular wing unmanned aerial vehicle (1) clockwise rotation promptly.

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