CN218877627U - Unmanned aerial vehicle capturing system based on annular wing unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle capturing system based on annular wing unmanned aerial vehicle Download PDFInfo
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- CN218877627U CN218877627U CN202223176401.1U CN202223176401U CN218877627U CN 218877627 U CN218877627 U CN 218877627U CN 202223176401 U CN202223176401 U CN 202223176401U CN 218877627 U CN218877627 U CN 218877627U
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Abstract
The utility model belongs to the unmanned aerial vehicle field especially relates to an unmanned aerial vehicle catches system based on annular wing unmanned aerial vehicle, include: 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 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 utility model discloses an annular wing unmanned aerial vehicle, the advantage of having synthesized many rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle both can realize the VTOL, does not require specific airport or runway, and attitude control is more nimble, can realize flying fast again, and anti wind disturbs the ability reinforce.
Description
Technical Field
The utility model belongs to the unmanned aerial vehicle field especially relates to an unmanned aerial vehicle catches system based on 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 mode for capturing the 'black flying' unmanned aerial vehicle generally adopts the mode that the unmanned aerial vehicle controls a gun to knock down or a flying mechanical arm to grab, but the control of the gun by the unmanned aerial vehicle can cause the target unmanned aerial vehicle to crash out of control, and people are easily injured at dense crowd; when grabbing the unmanned aerial vehicle that flies at a high speed, the flight arm may damage the flight arm or damage the target unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
The aim is to address some of the problems set forth in the background, at least to some extent.
Therefore, the utility model provides an unmanned aerial vehicle catches system based on annular wing unmanned aerial vehicle, this system can realize that annular wing unmanned aerial vehicle independently detects unmanned aerial vehicle under vision bootstrap system's guide, trails to it and catches, has had rapidity and flexibility concurrently, and can prevent to catch the unmanned aerial vehicle damage.
The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is: 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 capture net and a visual guide 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 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 is of an annular structure with a square longitudinal section, the annular wing is a carbon fiber integrated shell, and foam is filled in the annular wing.
The rotor wings are multiple and are respectively connected with corresponding driving devices;
the rotor wings are arranged on the annular wings at equal intervals.
The wing length of rotor is less than the radius of annular wing, and is adjacent linear distance between the rotor center is greater than the wing length of rotor.
The driving device includes: the rotary wing motor, the connecting rod, the output shaft, the cover body and the protection net are arranged in the rotary wing;
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 cover body is characterized in that a connecting rod is fixedly arranged at the center of the bottom of the cover body and 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 inertia measuring device, the barometer and the positioning device are all connected with the microcomputer.
The power system is composed of two groups of lithium batteries which are connected in parallel or in series and are arranged on two sides of the annular wing.
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 of the bottom of the annular wing.
The vision guiding device is a monocular vision sensor or a binocular vision sensor.
The utility model has the following beneficial effects and advantages:
1. the utility model discloses an annular wing unmanned aerial vehicle, the advantage of having synthesized many rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle both can realize the VTOL, does not require specific airport or runway, and attitude control is more nimble, can realize flying fast again, and anti wind disturbs the ability reinforce.
2. The utility model discloses an annular wing unmanned aerial vehicle, through the pneumatic overall arrangement of designing each subassembly, improve the resistance to environmental noise such as non-directional air current.
3. The utility model discloses a catch the net, can catch unmanned aerial vehicle relatively safely, also can prevent because of catching the personal and property damage that unmanned aerial vehicle probably caused, some shortcomings of interference rifle and arm have been avoidd.
4. The utility model discloses a vision guidance system, based on monocular or two mesh vision sensors, improved the ability of capturing unmanned aerial vehicle of remote tracking guide on a large scale.
Drawings
Fig. 1 is the utility model discloses unmanned aerial vehicle based on annular wing unmanned aerial vehicle catches the structural schematic diagram of system.
Fig. 2 is the utility model discloses well annular wing unmanned aerial vehicle's schematic structure diagram.
Fig. 3 is a schematic structural view of the middle rotor and the driving device 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 accompanying 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 arranged on both sides of the ring-shaped wing 101 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 system 105 is symmetrically arranged on the outer wall of the annular wing 101 and is 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 utility model discloses annular wing unmanned aerial vehicle trapping apparatus, annular wing 101 is square annular structure for the longitudinal section, annular wing 101 adopts carbon fiber integration shaping casing, and the foam is established to inside packing for support all other devices, and this kind of form that is cylindrical wing can be through the air streaming, through forming positive angle of attack in order to produce lift when forward flight, improve the aerodynamics of flyer, overcome the slow problem of rotor flight speed, stability and security have been 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 utility model discloses annular wing unmanned aerial vehicle trapping apparatus, the rotor adopts the distributed layout, sets up in the annular wing outside. 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 rotors 102 have a wing length less than the radius of the annular wings 101 and the linear distance between the centers of adjacent rotors 102 is greater than the wing length of the rotors 102.
As shown in fig. 3, which is a schematic structural diagram of the middle rotor and the driving device of 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.
According to the utility model discloses annular wing unmanned aerial vehicle trapping apparatus flies to control device 103, include: 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 flying height of the ring-shaped 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 utility model discloses annular wing unmanned aerial vehicle trapping apparatus, driving system 105 include two sets of lithium cells, set up in the inside distribution in both sides of annular wing for the counter weight of driving device power supply and balanced annular wing unmanned aerial vehicle.
According to the utility model discloses annular wing unmanned aerial vehicle trapping apparatus catches the net and adopts the fabric to weave and form, sets up in annular wing below for catch unmanned aerial vehicle and prevent to damage unmanned aerial vehicle, avoid interfering the rifle, the potential safety hazard that trapping apparatus such as arm probably brought. 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 utility model discloses annular wing unmanned aerial vehicle trapping apparatus, vision bootstrap system 3 includes monocular or binocular vision sensor for the feedback waits to catch unmanned aerial vehicle's position, supports to fly the controlling means and trails it and catches, can realize remote location on a large scale.
The working principle of the utility model is as follows:
after taking off to a certain height, the multi-rotor 102 performs differential speed to adjust the attitude, and simultaneously flies forwards, at the moment, the annular wing 101 can provide 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 flies towards the target unmanned aerial vehicle according to the state flow.
When the capturing device flies or cruises to approach the target unmanned aerial vehicle, the visual guidance system 3 acquires the position information of the target unmanned aerial vehicle within a period of time, and the flight control device 103 acquires the three-axis speed and acceleration information of the capturing device through the inertial measurement unit.
After the microcomputer receives the position information transmitted by the vision guidance system 3 in real time, the speed and the attitude of the capturing device are further adjusted, the capturing device flies to the target position, and the driving device 104 drives the rotor wing 102 to rotate at an accelerated speed, so that the capturing device flies quickly and captures the target unmanned aerial vehicle.
After the target unmanned aerial vehicle is captured, the target unmanned aerial vehicle stops running, the target unmanned aerial vehicle is captured relative to the capturing device, namely, the target unmanned aerial vehicle is subjected to strong environmental noise, at the moment, the inertial measurement unit sharply senses three-axis information of the ring-shaped wing unmanned aerial vehicle 1 and sends the three-axis information to the computer, the computer adjusts the posture of the capturing device according to the state flow, and finally, the ring-shaped wing unmanned aerial vehicle 1 is hovered in the vertical direction.
After the attitude of the capturing device is stable, the driving device 104 drives the rotor 102 to perform differential speed, the attitude of the ring-shaped wing unmanned aerial vehicle 1 is adjusted, and the ring-shaped wing unmanned aerial vehicle enters a return flight process and flies above a flying starting point.
After flying to the upper part of the flying starting point, the annular wing unmanned aerial vehicle 1 continues to adjust the posture, slowly descends in the vertical direction and completes the capture operation of the unmanned aerial vehicle.
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 capture 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 a carbon fiber integrated molded shell, and foam is filled inside the shell.
3. The drone capturing system based on ring-wing drones according to claim 1, characterized in that the number of rotors (102) is multiple, each being connected to a respective driving device (104);
the rotor wings (102) are arranged on the annular wing (101) at equal intervals.
4. The drone capturing system based on ring-shaped wing drones according to claim 1 or 3, characterized in that the length of the rotors (102) is smaller than the radius of the ring-shaped wing (101), and the linear distance between the centers of adjacent rotors (102) is greater than the length of the rotors (102).
5. 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 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), 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 provided with a connecting rod (1042) fixedly arranged at the center of the bottom, and the connecting rod (1042) is inserted on the top surface of the annular wing (101).
6. The unmanned aerial vehicle capturing system based on ring wing unmanned aerial vehicle of claim 5, characterized in that the connecting rod (1042) is a hollow structure, and the connecting wire of the rotor motor (1041) passes through the bottom of the cover body (1044) and enters the connecting rod (1042) to be connected with the power system (105).
7. The drone capturing system based on ring wing drones according to claim 1, characterized 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 (101);
the inertia measuring device, the barometer and the positioning device are all connected with the microcomputer.
8. The unmanned aerial vehicle capture system based on ring wing unmanned aerial vehicle of claim 1, characterized in that the driving system (105) is two sets of lithium batteries connected in parallel or in series, and disposed on both sides of the ring wing.
9. 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).
10. The drone capturing system based on ring wing drones according to claim 1, characterized in that the visual guidance means (3) is a monocular or binocular visual sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223176401.1U CN218877627U (en) | 2022-11-29 | 2022-11-29 | Unmanned aerial vehicle capturing system based on annular wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223176401.1U CN218877627U (en) | 2022-11-29 | 2022-11-29 | Unmanned aerial vehicle capturing system based on annular wing unmanned aerial vehicle |
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| CN218877627U true CN218877627U (en) | 2023-04-18 |
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| CN202223176401.1U Active CN218877627U (en) | 2022-11-29 | 2022-11-29 | Unmanned aerial vehicle capturing system based on annular wing unmanned aerial vehicle |
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- 2022-11-29 CN CN202223176401.1U patent/CN218877627U/en active Active
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