RU2741142C2 - Unmanned interceptor - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: invention relates to unmanned aerial vehicles (UAV) designed to intercept UAV intruders. Unmanned aerial vehicle-interceptor consists of a body made in the form of a frame, along the perimeter of which there are at least two engines with varying angles of rotation, some of which operate in the "pulling screw" mode, and part in "pushing propeller" mode, guidance and tracking devices, autopilot, onboard computer, communication means with ground control station. In the frame hollow space there is an integrated aerodynamic structure consisting of catching network. Network is equipped with airtight aerodynamic surfaces with corresponding aerodynamic profiles capable of opening cells of the network orthogonal to its surface with air flow and closing them with tangential air flow.EFFECT: improved flight performance of the device.6 cl, 7 dwg

Description

The invention relates to unmanned aerial vehicles (UAV) designed to intercept intruder UAVs. UAV interceptor refers to remotely piloted (unmanned) aerial vehicles and ensures the termination of the flight of intruder UAVs or their capture and delivery to the place of their neutralization. An interceptor UAV uses ground and airborne guidance systems and an aerodynamic network built into the hull structure to intercept an intruder UAV. It can be used to protect the airspace of civil and military facilities.

The technical result of the proposed solution is to increase the safety level of using the device, reduce the risk of damage to third parties, personnel and equipment of protected objects, improve the flight characteristics of the device due to technical and design solutions that allow, simultaneously with the use of changing the angles of the rotation axis of the propellers relative to the body, to use the aerodynamic properties mesh with aerodynamic surfaces integrated into its structure, made in the form of a petal. 6 p.p. f-ly, 7 ill.

To prevent unauthorized flights of unauthorized UAVs and their illegal entry into the protected area, means of jamming their control channels and navigation equipment (electronic counteraction), means of kinetic or functional damage, as well as means of stopping the flight by capturing by deployed or fired nets are usually used.

Means of the first (RF patents 2685509 "Complex of electronic warfare against unmanned aerial vehicles" dated 04/03/2018, UK application 2576865 "Suppression of a remote object" dated 07/09/2018, RF patent 2551821 "Method of combating short-range and short-range unmanned aerial vehicles using electromagnetic radiation of the decimeter wavelength range "from 30.12.2013, RF patent 2700207" Method for functional suppression of an unmanned aerial vehicle ", RF patent 2700206" Method for two-factor functional suppression of an unmanned aerial vehicle ") and the second group (RF patent 2699148" Unmanned aerial vehicle-interceptor "Dated 13.02.2018, RF patent 2669904" Unmanned aerial vehicle - interceptor "dated 13.02.2018) lead to loss of control of the device, which can fall anywhere and cause significant damage to ground objects.

The group of electronic countermeasures also includes the means of intercepting control of the aircraft, which do not have this drawback and allow either returning the aircraft to the point of departure or ensuring its landing at any selected point. However, the disadvantages of these tools include the complexity of the problem of uncovering the characteristics of control signals, the solution of which is necessary to intercept control. In addition, given the possibility of using encrypted communication channels and secure navigation receivers (Electronic resource http://www.vniir-progress.ru/production/navi/malogabaritnaya-adaptivnaya-antennaya-reshetka-serii-kometa/, checked on 04/14/2020) , this task with a high probability may not be solved in a timely manner.

To defeat unauthorized UAVs, kinetic means can be used that provide for damage to UAVs by projectiles or missiles (RF patents for inventions 2700107, 2699148 and 2669904) or by striking elements flying apart when the projectile bursts (RF patent for invention 2490585).

The disadvantages of devices for the kinetic destruction of an intruder UAV are associated with the difficulty of their use in dense urban areas and the presence of people on the ground, which can potentially be in the affected area. In addition, high-precision means of targeting an interceptor device to an intruder UAV are required to hit it with a rifle complex, which is problematic in a number of cases with complex evolutions of mutual trajectories of approaching vehicles in space.

The means of the third group provide for the use of deployed networks capable of stopping an unauthorized flight of an intruder UAV. Various devices are known that make it possible to deploy networks around a flying UAV, including UK applications 2537664, 2548166, EPO patents 3569969 and US 8205537, US application 20100181424, RF patents 2497063, RU 2273818, RU 2428649 - the so-called entanglement means.

In UK applications 2537664, 2548166 and EPO 3569969, systems are proposed that provide the ejection and deployment of means of entangling an intruder UAV and thus stopping its flight. When placing these means (devices for throwing out entangling means) on the ground, the disadvantage is the limited range of action, when placed on a flying device - the complexity of placement on a carrier, large size, high engine power for towing the device due to its high aerodynamic resistance.

Various methods and technical solutions for the detection and destruction of unauthorized UAVs are known (RF patents for inventions 2700107, 2495359, 2490584, 2490585, 2660998, RF patents for utility models 72753, 72754, application by the WIPO International Bureau 2018213575), in which the devices for destruction and termination of flight The intruder's UAVs, controlled by its onboard processor, are fired back or thrown out in various ways: by a firing net with weights, ribbons or other damaging materials. The devices also contain various mechanisms for aiming firing devices in the horizontal and vertical planes (RF patent for invention 2660998).

The disadvantages of this approach are: the complexity of the design, the large size, the high cost of implementing the detection and aiming system, the low probability of defeat, and also in some cases the need to fire the target from above or from the tail.

Closest to the proposed device is the system according to US application 20180105271 "Unmanned aerial system-interceptor" dated 07.21.2017. This system contains a rigid rectangular frame that forms the frame of the unmanned system, an actuator mounted on this frame, and motors mounted on the frame along its outer contour. As an actuator, a lattice is installed on the frame, formed from flexible (wire) and rigid (rod) elements, which ensure the entanglement of the intercepted UAV, which is then either descended by parachutes or transported to a given point using an interceptor UAV. The size of the cells of the lattice elements is determined by the cross section of the intercepted vehicle and usually does not exceed 1/3 of the cross section of the intruder UAV. A digital processor is used to control the process of searching for a dangerous UAV, which receives information about the speeds and accelerations of the intercepted intruder UAV from ground and / or onboard sensors of the UAV interceptor.

The system under consideration provides blocking and towing of the intruder UAV to a safe place, however, the design flaw of this interceptor UAV is that it provides for a flight to the interception point only due to the thrust generated by the propellers, and does not provide for the introduction of aerodynamic surfaces. Thus, the interception device under consideration does not combine all the advantages of aircraft-type UAVs (gliders) and multi-rotor UAVs (rotorcraft).

The system under consideration was chosen as a prototype.

To eliminate these disadvantages, an unmanned aerial vehicle-interceptor has been proposed, containing a frame with a mesh, electric motors for rotating the propellers with the ability to change the position relative to the frame within the range from 0 to +/- 90 degrees in two planes, to the mesh elements of the mesh of which airtight surfaces are attached with the corresponding an aerodynamic profile with the ability to freely change its position, opening the mesh cells with an air flow orthogonal to its surface during takeoff and closing the mesh cells with a tangential air flow during horizontal flight.

The technical result of the proposed invention "Unmanned aerial vehicle-interceptor" is:

- increasing the level of safety of using the device, reducing the risk of damage to third parties, personnel and equipment of protected objects. This is achieved by the fact that an intruder UAV is caught by an interceptor UAV, while destructive effects on people, buildings, etc. are completely excluded;

- improving the flight characteristics of the device due to technical and design solutions that allow, simultaneously with high maneuverability, due to changes in the angles of the rotation axis of the propellers relative to the hull, to use the aerodynamic properties of the mesh with aerodynamic surfaces integrated into its structure, made in the form of volumetric or flat petals.

The specified technical result is achieved by the fact that the unmanned aerial vehicle-interceptor contains a grid on a round or rectangular frame with propellers-motors installed along the perimeter of the frame. The angle of inclination of the propellers relative to the hull can be changed, providing increased maneuverability and the ability to orient the frame with the mesh orthogonally to the direction of its flight at the moment the interceptor UAV starts to lock on the target. Thanks to a special fastening, the net can either be stretched over the frame during horizontal flight in order to provide the necessary aerodynamic characteristics to the integrated aerodynamic surfaces, or be at the moment of target acquisition as weakened as possible, acquiring the shape of a net.

The essence of this invention also lies in the fact that the net in a stretched form is a soft aerodynamic wing that allows air to pass through on one side and does not pass on the other, due to the integration of aerodynamic surfaces made in the form of petals with an aerodynamic profile into its structure. These aerodynamic surfaces are airtight petals, freely suspended from the transverse threads of the mesh cells and ensuring that one or more cells are closed by a tangential (longitudinal body) air flow. Thus, a flight is provided similar to aircraft type devices, moto-paraplanes, hang gliders, etc., which ensures a greater range and speed of flight, while intercepting an intruder UAV provides the necessary level of safety for using the device, reducing the risk of damage to third parties, personnel and equipment of the protected objects.

Figure 1 shows the moment of take-off - vertical rise. In this embodiment of the device, on the outer side of the housing 1, for example, three propellers 2 operating in the "pulling screw" mode and one 3 operating in the "pushing screw" mode are installed, all with the possibility of changing the angle of rotation relative to the housing. During vertical takeoff, the aerodynamic surfaces 5 of the net 4 are open - the air flow passes through the net with minimal resistance.

FIG. 2 and FIG. 3 shows the options for the implementation of aerodynamic surfaces and their integration with the catching network, where one petal 5 covers one cell of the network 4.

FIG. 4 shows an aerodynamic surface 5 covering several mesh cells 4.

FIG. 5 shows a longitudinal section of the device body with fastening and tensioning elements of the catching net.

FIG. 6 shows the device in horizontal flight mode - aerodynamic surfaces cover the cells of the network 4 with an air flow created by the pulling screws 2.

FIG. 7 shows the position of the device - the UAV of the interceptor 1 at the time of intercepting the target - the UAV-intruder 10. The axes of rotation of the propellers 2, 3 are located perpendicular to the body, the aerodynamic surfaces of the petal-shaped 5 are orthogonal to the network 4 and its cells are open.

FIG. 1-7 indicated:

1- building;

2- electric motors with propellers in the pulling propeller mode;

3- electric motors with propellers in push rotor mode;

4- trapping network;

5- aerodynamic surfaces;

6 - section of the lobe of the aerodynamic surface;

7- air flow lines;

8- aerodynamic wing;

9- angle of attack;

10- target - intruder UAV;

11- polymer rod;

12- hole in the frame for attaching the rod;

13- frame along the perimeter of the aerodynamic surface;

14 - hole for fixing the lower frame of the aerodynamic surface;

15 - holes (fasteners) for fishing line (cord) in the frame body;

16- net loops for threading the line and controlling the net tension;

17- fishing line or cord;

18- reel for winding the fishing line (cord) and controlling the tension of the net;

19- autopilot, on-board computer and means of communication with the ground control station;

20 - guidance and tracking means.

The unmanned aerial vehicle-interceptor consists of a frame - a hollow body 1, inside which is located control equipment and a power supply system, detection sensors (video cameras, ultra-short-range radars, ultrasonic sensors, etc.), communication and information transmission systems (Fig. 1), according to the perimeter of which is installed at least two motors with propellers 2, 3. Propellers 2 in the bow and middle parts of the hull operate in the "pulling screw" mode. The stern propellers of the 3 engines operate in the "pushing screw" mode, and the propellers can change their angle of rotation relative to the body within ± 90 degrees. in both planes.

This ensures a rapid change in the position of the body relative to the direction of flight. This feature is necessary to intercept a target - an intruder UAV.

Thus, using the lifting force of the propellers 2, 3 (Fig. 1), the device can carry out a flight similar to all multicopters - rotary-wing machines.

Another feature of the implementation of the device is the use of a trapping network 4, integrated with the aerodynamic surfaces of the petal shape 5 made of an airtight material and placed along the inner contour of the hollow body of the device 1 (Fig. 1), with the help of which the intruder UAV is directly captured and transported.

In the option of integrating the catching network with aerodynamic surfaces 5 (Fig. 2-A and Fig. 2-B), a sheet of light air-tight elastic material can be used bent so that the lower side (view A in Fig. 2-C) is slightly shorter top. This creates a volumetric aerodynamic profile of the surfaces. The folded sheets - aerodynamic surfaces 5 - are put on the transverse threads of the net 4 (Fig. 2-A and Fig. 2-B) so that the short side of the sheet is at the bottom, long at the top, and stitched with thread or fastened with metal clips, as shown in Fig. ... 2 views A and B. The vertical dimension of the petal should be slightly larger than the longitudinal dimension of the mesh of the net, thus ensuring that the aerofoil 5 is pressed against the opposite transverse thread of the net by the pressure of the tangential air flow (Fig. 2-B).

A group of three-dimensional aerodynamic surfaces (Fig. 2-C) can cover the entire transverse row of the network, however, the rows closed by aerodynamic surfaces 5 must be separated by at least one open row to eliminate mutual influence (Fig. 2-D).

In another version of the integration of the network (Fig. 3, Fig. 4) with airtight aerodynamic surfaces 5, petals with a flat profile can be used (H. Babinsky, How do wings work? Physics Education 38 (6) pp. 497-503, electronic resource http : //www3.eng.cam.ac.uk/outreach/Project-resources/Wind-turbine/howwingswork.pdf, accessed 04/14/2020). The petals are aerodynamic surfaces 5 made of an elastic airtight material with a height of slightly more than one cell of the net 4 (Fig. 3-A and Fig. 3-B). Section 6 of the petal of the aerofoil 5 is shown in FIG. 3-C. The lift causes the shape of the petal, which bends the lines of the air flow 7, creating a lower pressure on the upper surface and higher pressure on the lower surface of the petal, causing a lift (Fig. 3-C). A group of cells closed by petals creates a flexible aerodynamic wing 8, which creates the lift necessary to keep the device in the air (Fig. 3-D).

The aerofoil 5 can cover several mesh cells 4 (Fig. 4-A and Fig. 4-B). FIG. 4-C shows the contour of the airfoil, the upper part of which is attached around the transverse thread of the net 4 and sewn in the usual way. It is possible to simultaneously attach the aerodynamic surface 5 directly to the frame (Fig. 4-D) using, for example, a polymer rod 11 inserted into a special hole 12 on the frame 1. Aerodynamic surface - a flexible wing made, for example, of parachute silk, can have along the perimeter frame 13 as in "kites". Before takeoff, the aerodynamic surface can be fixed in a horizontal position using clips, buttons or fastening the lower edge of the flexible wing frame using a special 14 "omega-shaped" hole, and when the device exits to capture the target, it can be released by the oncoming air flow.

The net 4 can be attached to the frame-frame 1 as follows (Fig. 5): there are special holes (or fasteners, hereinafter referred to as holes) 15 in the case, and loops corresponding to them along the edge of the net 16. Through the frame holes and net loops fishing line or cord 17 (hereinafter referred to as the fishing line), which have sufficient strength properties, so that the fishing line can easily move when its length increases or decreases. The length of the fishing line should exceed the length of the frame perimeter by such an amount to provide the required net shape when capturing an intruder UAV. An automatic reel 18 is also installed in the frame body 1, into which the excess line length in relation to the length of the frame perimeter is refueled and which, at the command of the ground control point or the UAV's own on-board computer, can either unwind or reel the line to its excess length. During takeoff, landing, or directly in flight, the line is in a taut state, providing the necessary rigidity to bend the aerodynamic surfaces under the pressure of the air flow and create an appropriate lift. When the interceptor UAV begins to lock onto the target, the automatic reel lengthens the line, the previously stretched net sags and the oncoming air flow turns it into a net and opens the cells closed by aerodynamic surfaces. If it is necessary to return to maneuvering, the automatic reel, at the command of the on-board computer, reels the excess line length, thereby re-tightening the net.

During horizontal flight (Fig. 6), a counter-flow of air with an aerodynamic wing 8 from one or a group of petals covering the cells of the network 4 creates a lift that holds the device in the air. Propeller 2 creates additional airflow, which ensures that the wing petals 8 are pressed against the net 4.

A feature of using aerodynamic surfaces with a flat profile may be that the bending of an elastic petal with a counter air pressure will be determined by the tension and size of the net and, thus, with a change in the net tension, the curvature of the wing and, accordingly, the lift generated by it will change.

By changing the angle of attack 9 and using the variable lift of the petals pressed against the network, the device can fly similar to motor paraplanes and hang gliders, i.e. aircraft type aircraft, which have flight advantages over rotorcraft machines in terms of the efficiency of the energy expended on flight. Thus, a greater speed and range of flight is provided in comparison with them.

The aerodynamic network as an actuator for intercepting a target can be made in the form of a replaceable element inserted into the device body. Moreover, its design is similar to that shown in Fig. 1, with the only difference that its body does not contain elements of the control system, power supply, etc., but represents only the fastening elements of the catching network with aerodynamic surfaces.

The operation of the "Unmanned aerial vehicle-interceptor" device is carried out as follows.

The command to take off to the UAV-interceptor is issued by the ground-based airspace monitoring complex of the protected object when an intruder UAV is detected. Having received the appropriate command via radio communication channels, the UAV - the interceptor takes off (Fig. 1) and, according to guidance commands from the associated ground control point, using the autopilot, on-board computer and communication means 19 (Fig. 7), is sent to the calculated meeting point with the UAV - intruder, implementing one of the well-known methods of command guidance (Radio control systems: textbook for universities / edited by V. A. Veitsel. - M .: Drofa, 2005. - 416 s).

After reaching a predetermined point in space, the device searches, detects and tracks the target using the appropriate onboard detection means 20 (Fig. 7). At the same time, using the means of communication, an image of the target is transmitted over the radio channel to the ground control point. After a decision is made by the ground control station or its own on-board computer to suppress the flight of the detected intruder UAV, target 10 is captured. The maneuver to capture target 10 is performed either under the control of the on-board computer or by commands from the ground control station.

After interception, the intruder UAV 10 is delivered by the device to the point in space specified by the ground control point.

Implementation of the invention makes it possible to combat remotely piloted unmanned aerial vehicles to protect the airspace from illegal use.

Claims (6)

1. An unmanned aerial vehicle-interceptor, consisting of a body made in the form of a frame, along the perimeter of which at least two engines with variable angles of rotation are placed, some of which operate in the “pulling propeller” mode, and some in the “pushing propeller” mode, guidance and tracking means, an autopilot, an on-board computer, communication facilities with a ground control station, characterized in that an aerodynamic structure is integrated into the hollow space of the frame, consisting of a catching network equipped with airtight aerodynamic surfaces with corresponding aerodynamic profiles capable of opening the cells of the network orthogonal to its surfaces with an air flow and cover them with a tangential air flow, providing lift during the longitudinal plane of the body in flight. 2. The unmanned aerial vehicle-interceptor according to claim 1, characterized in that the size and surface tension of the aerodynamic structure have a varying value from a device that provides retention of aerodynamic surfaces and aerodynamic lift to a device that provides retention of a target when it is captured by the net. 3. The unmanned aerial vehicle-interceptor according to claim 1, characterized in that the aerodynamic surfaces are made of elastic airtight material, the upper side of which is attached to the transverse threads of the mesh cells in such a way that the opposite part hangs freely under its own weight. 4. The unmanned aerial vehicle-interceptor according to claim 1, characterized in that the aerodynamic surfaces covering more than one cell of the network are made of a flexible material in the form of a wing, which has a frame made of rigid rigid material on two lateral and lower sides, providing the wing with the necessary aerodynamic profile. 5. The unmanned aerial vehicle-interceptor according to claim 1, characterized in that the airtight aerodynamic surfaces covering more than one cell of the network are made in the form of a flexible wing, which has an attachment in the lower part, which fixes the petal of the aerodynamic surface in the longitudinal body position in such a way, that under the orthogonal air pressure, the mount releases the fixation of the lower part of the wing, and the mesh cells open for air passage. 6. Unmanned aerial vehicle-interceptor according to claim 1, characterized in that the tension of the net is regulated by turning the automatic reel, which changes the length of the fishing line stretched along the perimeter of the frame and holding the net with aerodynamic surfaces.

Images