CN115783336A - Unmanned aerial vehicle capturing system and method based on annular wing unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle capturing system and method based on annular wing unmanned aerial vehicle Download PDFInfo
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- CN115783336A CN115783336A CN202211511590.5A CN202211511590A CN115783336A CN 115783336 A CN115783336 A CN 115783336A CN 202211511590 A CN202211511590 A CN 202211511590A CN 115783336 A CN115783336 A CN 115783336A
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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
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle capture system and method based on an annular wing unmanned aerial vehicle.
Background
In recent years, the development of unmanned aerial vehicle technology is rapid, especially the rise of consumption-level unmanned aerial vehicles, such as aerial photography unmanned aerial vehicles and the like, is increasingly known, and the consumption-level unmanned aerial vehicles provide convenience for the daily life of people and support the interest and hobbies of people. However, due to the emerging things, people lack safety awareness and standardization of the use of consumption-level drones, and the "black fly" event is constantly occurring, so the capture of the "black fly" drone is a problem to be solved.
Because the drivers of the black-flying unmanned aerial vehicles do not have enough flight technology and flight experience, the flight tracks of the unmanned aerial vehicles are often uncertain, the unmanned aerial vehicles also have low flight heights and low flight speeds, frequently fly in a step mode, are very easy to cause personal and property damages, and the black-flying unmanned aerial vehicles are often generated in places with dense crowds such as cities, so that the capture of the black-flying unmanned aerial vehicles needs quick response and the safety is ensured.
The existing methods for capturing the 'black flying' unmanned aerial vehicle generally include using the unmanned aerial vehicle to prevent a gun from knocking off, grabbing by a flying mechanical arm and the like. The unmanned aerial vehicle control gun transmits electromagnetic interference waves to interrupt the connection between the unmanned aerial vehicle and the remote control equipment, however, the method can cause the target unmanned aerial vehicle to crash out of control, and people are easily injured at the crowded places; the multi-degree-of-freedom mechanical arm is generally arranged below the multi-rotor unmanned aerial vehicle, the tail end of the mechanical arm is provided with a mechanical claw or other recovery devices, the target unmanned aerial vehicle is grabbed, however, the rotor rotates at a high speed in the operation of the unmanned aerial vehicle, and the flying mechanical arm or the target unmanned aerial vehicle can be damaged.
Disclosure of Invention
The aim is to address some of the problems set forth in the background, at least to some extent.
Therefore, the unmanned aerial vehicle capturing system based on the ring-shaped wing unmanned aerial vehicle can realize the autonomous detection of the unmanned aerial vehicle under the guidance of the visual guidance system by the ring-shaped wing unmanned aerial vehicle, track and capture the unmanned aerial vehicle, has rapidness and flexibility, and can prevent the captured unmanned aerial vehicle from being damaged.
The technical scheme adopted by the invention for realizing the purpose is as follows: an unmanned aerial vehicle capture system based on a ring wing unmanned aerial vehicle, comprising: the system comprises an annular wing unmanned aerial vehicle, a capturing net and a visual guiding device;
wherein, annular wing unmanned aerial vehicle includes: the system 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 visual guide devices are symmetrically arranged on the outer wall of the annular wing and are connected with the flight control device.
The annular wing is of a square annular structure with a longitudinal section, the annular wing is made of a carbon fiber integrated forming shell, and foam is filled inside the annular wing to support the whole annular wing unmanned aerial vehicle and capture the net and provide lift force in the flying process.
The plurality of rotor wings are respectively connected with the corresponding driving devices and used for providing thrust for the driven devices and adjusting postures;
the rotary wings are arranged on the annular wings at equal intervals, and the wing length of each rotary wing is smaller than the radius of each annular wing;
the wing length of the rotor wing is smaller than the radius of the annular wing, and the linear distance between the centers of the adjacent rotor wings is larger than the wing length of the rotor wing.
The driving device includes: the rotary wing motor, the connecting rod, the output shaft, the cover body and the protection net;
a rotor motor is arranged in the cover body and is connected with a power system;
the output end of the rotor motor and the output shaft are fixedly provided with a rotor;
the cover body is a hollow shell with a closed bottom, and a protection net is arranged on the cover body to protect the rotor motor;
the center of the bottom of the cover body is fixedly provided with a connecting rod which is inserted on the top surface of the annular wing;
the connecting rod is hollow structure, and rotor motor's connecting wire passes cover body bottom and enters into the connecting rod and be connected with driving system.
The flight control device includes: the microcomputer, the inertia measuring device, the barometer and the positioning device are arranged in the annular wing groove;
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 received three-axis motion state, flight height and position information of the rotor unmanned aerial vehicle sent by the inertia measuring 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 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;
the barometer is used for measuring the flying height of the annular rotor wing unmanned aerial vehicle;
positioner for acquire rotor unmanned aerial vehicle's positional information.
The power system is composed of two groups of lithium batteries which are mutually connected in parallel or in series and arranged on two sides of the annular wing to balance the balance weight and supply power to the driving device.
The catching net is a woven net made of a fabric rope, the size of a net opening of the catching net is the same as the diameter of the annular wing, and the net opening of the catching net is fixedly arranged on the annular surface at the bottom of the annular wing.
The vision guiding device is a monocular vision sensor or a binocular vision sensor and is used for feeding back the position of the unmanned aerial vehicle to be captured and transmitting the position to the microcomputer of the flight control device in real time.
A capture method of a capture system of an unmanned aerial vehicle based on a ring wing unmanned aerial vehicle comprises the following steps:
1) The power system supplies power to the annular wing unmanned aerial vehicle, the driving device cooperatively drives the rotor wing to rotate to provide lift force, the annular wing unmanned aerial vehicle is subjected to attitude adjustment after taking off to a set height, and the target unmanned aerial vehicle is tracked and guided;
2) The flight control device enables the multiple rotor wings to perform differential operation through a coordinated control method so as to adjust the posture of the annular-wing unmanned aerial vehicle, meanwhile, the annular wings fly forwards, at the moment, the annular wings provide partial lift force, the position of the target unmanned aerial vehicle is determined by the vision guide system and fed back to the flight control device, and the flight control device flies towards the target unmanned aerial vehicle;
3) When the ring-shaped wing unmanned aerial vehicle approaches the target unmanned aerial vehicle, the visual guidance system acquires the position information of the target unmanned aerial vehicle and sends the position information to the microcomputer of the flight control device in a set time period, and the flight control device acquires the three-axis speed and acceleration information of the ring-shaped wing unmanned aerial vehicle through the inertia measurement unit;
4) After receiving the position information of the target unmanned aerial vehicle transmitted by the visual guidance system in real time, the microcomputer acquires the relative position relationship between the ring-shaped wing unmanned aerial vehicle and the target unmanned aerial vehicle according to the position information of the target unmanned aerial vehicle, and the driving device drives the rotor wing to rotate in an accelerating manner in a coordinated manner, so that the ring-shaped wing unmanned aerial vehicle flies to the position of the target unmanned aerial vehicle and captures the target unmanned aerial vehicle;
after the target unmanned aerial vehicle is captured, the inertial measurement unit sensitively senses three-axis information of the annular wing unmanned aerial vehicle and sends the information to the microcomputer, and the flight control device adjusts the posture of the annular wing unmanned aerial vehicle 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 ring-shaped wing unmanned aerial vehicle is stable, the driving device drives the rotor wing to perform differential operation, adjusts the attitude of the ring-shaped wing unmanned aerial vehicle and flies above the flying starting point; after the annular wing unmanned aerial vehicle 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.
The flight control device adjusts the posture of the annular-wing unmanned aerial vehicle through a coordination control method, and specifically comprises the following steps:
in the vertical take-off and landing stage of the unmanned aerial vehicle with the annular wings, in order to ensure stable posture, the four rotor motors provide the same lift force, and after the unmanned aerial vehicle takes off to a set fixed height, the rotor differential speed adjusts the posture, and the unmanned aerial vehicle enters a tracking stage;
the adjacent pairs of rotors influence the pitching motion and the rolling motion of the annular wing unmanned aerial vehicle, and the oblique pairs of rotors influence the yawing motion of the annular wing unmanned aerial vehicle;
the side where the vision guide system is located is the positive direction of the ring-wing unmanned aerial vehicle, namely the head of the ring-wing unmanned aerial vehicle, the rotating speeds of the two front rotary wings are increased, the rotating speeds of the two rear rotary wings are reduced, the pitch angle motion direction of the ring-wing unmanned aerial vehicle is positive, namely the head of the ring-wing unmanned aerial vehicle is lifted upwards;
the rotating speeds of the two rotors on the left side of the annular wing unmanned aerial vehicle are increased, the rotating speeds of the two rotors on the right side of the annular wing unmanned aerial vehicle are reduced, and the rolling angle moving direction of the annular wing unmanned aerial vehicle is positive, namely the left side of the annular wing unmanned aerial vehicle is raised upwards;
the left front side and the right rear side of annular wing unmanned aerial vehicle rotor speed increase, and the rotor speed of right front side and left rear side reduces, and then annular wing unmanned aerial vehicle's yaw angular motion direction is positive, and annular wing unmanned aerial vehicle clockwise rotation promptly.
The invention has the following beneficial effects and advantages:
1. the annular-wing unmanned aerial vehicle adopted by the invention 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 has strong wind disturbance resistance.
2. The unmanned aerial vehicle with the annular wings has the advantage that the resistance to environmental noises such as non-directional airflow and the like is improved by designing the pneumatic layout of each component.
3. The capture net adopted by the invention can capture the unmanned aerial vehicle relatively safely, can prevent personal and property damages possibly caused by capturing the unmanned aerial vehicle, and avoids some defects of interference guns and mechanical arms.
4. The vision guide system adopted by the invention is based on a monocular or binocular vision sensor, and the capability of tracking, guiding and capturing the unmanned aerial vehicle in a large-range and long-distance manner is improved.
Drawings
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle capturing system based on the ring wing unmanned aerial vehicle.
Fig. 2 is a schematic structural view of the ring-wing drone according to the present invention.
Fig. 3 is a schematic view of the rotor and drive of the present invention.
Wherein, 1 is annular wing unmanned aerial vehicle, 2 is for catching the net, 3 are vision guide system, 101 are the annular wing, 102 are the rotor, 103 are the flight control device, 104 are drive arrangement, 105 are driving system, 1041 is the rotor motor, 1042 is the connecting rod, 1043 is the output shaft, 1044 is the cover body, 1045 is the guard net.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. A further understanding of the nature and advantages of particular embodiments disclosed herein may be realized by reference to the remaining portions of the specification and the attached drawings.
As shown in fig. 1, a capture system for drones based on ring-shaped wing drones comprises a ring-shaped wing drone 1, a capture net 2 and a visual guidance system 3, wherein: the capture net 2 is arranged behind the annular wing 101 and used for safely capturing the unmanned aerial vehicle; the vision guidance system 3 is disposed on both sides of the ring wing 101, and is used for remotely detecting the position of the drone.
As shown in fig. 2, the ring wing drone 1 comprises: a ring wing 101, a rotor 102, a flight control device 103, a driving device 104 and a power system 105; wherein, rotor 102 and drive arrangement 104 are distributed the outside at ring shaped wing 101, and flight control device 103 and driving system 105 are located inside ring shaped wing 101.
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 connected with the driving device 104;
the capture net 2 is fixedly arranged on the bottom surface of the annular wing 101, and the visual guidance devices 3 are symmetrically arranged on the outer wall of the annular wing 101 and connected with the flight control device 103.
According to the capture device of the annular wing unmanned aerial vehicle, the annular wing 101 is of an annular structure with a square longitudinal section, the annular wing 101 is a carbon fiber integrally-molded shell, foam is filled in the shell and used for supporting all other devices, the columnar wing can generate lift force by forming a positive attack angle through air streaming in forward flight, the aerodynamics of a flyer is improved, the problem of low flying speed of a rotor wing is solved, and the stability and the safety are improved.
A plurality of rotors 102 are respectively connected with corresponding driving devices 104;
the rotary wings 102 are arranged on the annular wing 101 at equal intervals, the wing length of the rotary wings 102 is smaller than the radius of the annular wing 101, and the distance between the adjacent rotary wings 102 is larger than the wing length of the rotary wings 102.
The device can realize the function of VTOL, as shown in fig. 2, during the take-off, by driving system 105 power supply, drive arrangement 104 drives rotor 102 rotatory, provides the lift, waits to take-off to a take-off altitude, catches the net 2 and opens the back completely, can carry out the attitude adjustment, tracks the guide to target unmanned aerial vehicle.
According to the unmanned aerial vehicle capture device with the annular wings, the rotor wings are distributed and arranged on the outer sides of the annular wings. The rotor wing is as annular wing unmanned aerial vehicle's main thrust, provides ascending lift when taking off to land, provides propulsive force when the tracking cruises to nimble adjustment gesture possesses quick response's advantage.
A plurality of specific rotors 102 are respectively connected with corresponding driving devices 104; the rotary wings 102 are arranged on the ring-shaped wing 101 at equal intervals.
The wing length of the rotary wings 102 is smaller than the radius of the annular wing 101, and the straight distance between the centers of the adjacent rotary wings 102 is larger than the wing length of the rotary wings 102.
As shown in fig. 3, which is a schematic structural diagram of a rotor and a driving device in the present invention, the driving device includes a rotor motor 1041, a connecting rod 1042, an output shaft 1043, a cover 1044, and a protection 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, the output shaft 1043 is fixedly provided with a rotor 102 for driving the rotor to rotate so as to provide thrust;
the cover 1044 is a hollow shell with a closed bottom, and the cover 1044 is provided with a protection net 1045 to protect the rotor motor 1041;
the cover 1044 is provided with a connecting rod 1042 at the center of the bottom, and the connecting rod 1042 is inserted on the top surface of the annular wing 101.
Connecting rod 1042 is hollow structure, and rotor motor 1041's connecting wire passes cover body 1044 bottom and enters into connecting rod 1042 and is connected with driving system 105 to link to each other with driving system through inside reasonable wiring, drive annular wing unmanned aerial vehicle flight, at the tracking in-process, the motor is through changing the rotational speed, can adjust the gesture of annular wing in a flexible way, has overcome the shortcoming of fixed wing aircraft, and more accurate, be fit for carrying out unmanned aerial vehicle and catch the operation.
The unmanned plane capture device with annular wings, the flight control device 103, according to the embodiment of the invention comprises: the microcomputer, the inertia measuring device, the barometer and the positioning device are arranged in the groove of the annular wing 1;
wherein, the inertia measuring device, the barometer and the positioning device are all connected with the microcomputer;
the flight control device 103 is disposed inside the annular vane. The microcomputer is used for controlling the task flow of the capturing operation of the ring-shaped wing unmanned aerial vehicle,
the inertial measurement unit is used for measuring the three-axis motion state of the annular wing unmanned aerial vehicle;
the barometer is used for measuring the flight height of the annular wing unmanned aerial vehicle;
the positioning system is used for determining the position of the ring wing drone. The flight control device ensures that the annular-wing unmanned aerial vehicle can normally carry out unmanned aerial vehicle capture operation.
According to the capture device of the ring wing unmanned aerial vehicle, the power system 105 comprises two groups of lithium batteries which are arranged inside the ring wing and distributed on two sides, and are used for supplying power to the driving device and balancing the balance weight of the ring wing unmanned aerial vehicle.
According to the capturing device of the annular-wing unmanned aerial vehicle, the capturing net is woven by fabric and arranged below the annular wing, so that the capturing net is used for capturing the unmanned aerial vehicle and preventing the unmanned aerial vehicle from being damaged, and potential safety hazards possibly brought by the capturing devices such as an interference gun and a mechanical arm are avoided. In some embodiments, the cover may be provided in the form of a partial ring with the tail portion curved inwardly to improve aerodynamics.
According to the capturing device of the ring-shaped wing unmanned aerial vehicle, the visual guidance system 3 comprises a monocular or binocular visual sensor which is used for feeding back the position of the unmanned aerial vehicle to be captured, supporting the flight control device to track and capture the unmanned aerial vehicle, and realizing large-range remote positioning.
The invention discloses a capturing method of an unmanned aerial vehicle capturing system based on an annular wing unmanned aerial vehicle, which comprises the following steps:
1) The power system 105 supplies power to the annular wing unmanned aerial vehicle 1, the driving device 104 cooperatively drives the rotor 102 to rotate, lift is provided, the annular wing unmanned aerial vehicle 1 is subjected to attitude adjustment when taking off to a set height, and tracking and guiding are carried out on a target unmanned aerial vehicle;
2) The flight control device 103 makes the multiple rotors 102 perform differential motion through a coordinated control method to adjust the attitude of the ring-shaped wing unmanned aerial vehicle 1, and simultaneously performs forward flight, at the moment, the ring-shaped wing 101 provides partial lift force, the position of the 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 performs flight towards the target unmanned aerial vehicle;
3) When the ring-shaped wing unmanned aerial vehicle 1 approaches the 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 vision guidance system 3 in real time, the microcomputer acquires the relative position relationship 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 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 the target unmanned aerial vehicle is captured, the inertial measurement unit sensitively senses three-axis information of the ring-shaped wing unmanned aerial vehicle 1 and sends the three-axis information to the microcomputer, and the flight control device 103 adjusts the posture of the ring-shaped wing unmanned aerial vehicle 1 through a coordination control method so that the ring-shaped wing unmanned aerial vehicle 1 can hover in the vertical direction;
5) After the attitude of the unmanned aerial vehicle with the annular wings 1 is stable, the driving device 104 drives the rotor wings 102 to perform differential operation, and the attitude of the unmanned aerial vehicle with the annular wings 1 is adjusted to fly above a flying starting point; after the unmanned aerial vehicle 1 with the annular wings flies to the upper part of the flying starting point, the posture is continuously adjusted to land in the vertical direction, and the unmanned aerial vehicle capturing operation is completed.
The flight control device 103 adjusts the attitude of the ring-shaped wing unmanned aerial vehicle 1 by a coordinated control method, specifically:
in the vertical take-off and landing stage of the unmanned aerial vehicle 1 with the annular wings, in order to ensure stable posture, the four rotor motors 1041 provide the same lift force, and after taking off to a set height, the rotor 102 performs differential speed posture adjustment and enters a tracking stage;
wherein, the adjacent pairs of rotors 102 affect the pitching motion and the rolling motion of the ring-shaped wing drone 1, and the oblique pairs of rotors 102 affect the yawing motion of the ring-shaped wing drone 1;
taking the side where the vision guidance system 3 is located as 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, and 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 lifted 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 decreased, and the direction of the rolling angle motion of the annular-wing unmanned aerial vehicle 1 is positive, namely, the left side is raised upwards;
the rotation speeds of the rotors 102 on the left front side and the right rear side of the ring-shaped wing drone 1 are increased, the rotation speeds of the rotors 102 on the right front side and the left rear side are decreased, and then the yaw angle movement direction of the ring-shaped wing drone 1 is positive, that is, the ring-shaped wing drone 1 rotates clockwise.
The foregoing embodiments are illustrative, and are provided for ease of description and understanding, and the embodiments may be adapted to operate in only one operating regime and for various changes, modifications and optimizations in a particular application scenario.
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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| CN202211511590.5A CN115783336A (en) | 2022-11-29 | 2022-11-29 | Unmanned aerial vehicle capturing system and method based on annular wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211511590.5A CN115783336A (en) | 2022-11-29 | 2022-11-29 | Unmanned aerial vehicle capturing system and method based on annular wing unmanned aerial vehicle |
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