RU2738383C2 - Device for interception of unmanned aerial vehicles - Google Patents

Abstract

FIELD: means to combat drones.

SUBSTANCE: device for interception of unmanned aerial vehicles (UAV) consists of an unmanned system housing, a control equipment unit, a power supply system, an autopilot and a control command receiver, electric motors with propellers, variable-geometry wings, hinges, electric motor with reduction gearbox, catcher network, sensors for detection and measurement of distances. Device for interception of unmanned aerial vehicles (hereinafter UAV-interceptor) is multi-prototype device with more than four propellers, wing, capable of changing its geometry, forming a rectangular structure equipped with a network for catching a UAV intruder, wherein UAV-interceptor is equipped with detection sensors (video camera) and devices for determining distance to interception object.

EFFECT: longer range, maneuverability of the UAV-interceptor and accuracy of automatic capture of the target into the network at the moment of ingress of the UAV intruder.

5 cl, 8 dwg

Description

The invention relates to means of combating unmanned aerial vehicles.

Known device for the destruction of remotely piloted (unmanned) aircraft (RPV) [1. Device for destroying remotely piloted (unmanned) aerial vehicles (RPV) RF patent No. 2495359 IPC F41H 11/02 Published: 10.10.2013 Byull. No. 28, Application: 2012120112/11, 15.05.2012], consisting of a remotely piloted aircraft (RPV), a ground guidance system in the form of a radar, and on the aircraft (RPV) there are video cameras and a displacement sensor in the tail of the aircraft (RPV) for the rear sector, as well as a container interconnected with the displacement sensor, and the container contains a lid, an automatic lock for opening the container, a spring, a parachute and a device for separating the parachute.

The disadvantage of such a device is the need for the operator to participate in the interception of the RPV, which at high relative speeds of convergence between the RPV of the interceptor and the RPV of the intruder leads to guidance errors, especially in poor visibility conditions. In addition, in the event of a miss, the parachute may be ejected to capture the intruder's RPV, and a second attack may take a considerable time.

Known device network-traps to combat remotely piloted (unmanned) aircraft (RPV) [2. Arrangement of a trap network to combat remotely piloted (unmanned) aircraft, patent for a useful model of the Russian Federation No. 72 753 IPC F41H 3/00. Published: 27.04.2008 Bull. No. 12, Application: 2007148485/22, 24.12.2007], consisting of a net, to the edges of which weights-stabilizers are attached on keeper tapes, and the net is made of metallized thread to increase its strength, which increases its strength and twisted in the form of springs to create a springy effect when capturing RPVs, while sinkers with containers are made in the form of folding accordion bellows, allowing you to adjust the speed and direction of the network during flight, in addition, containers for batteries (capacitors) are placed in the sinkers to create a high voltage supplied over the metal surface of the network , to disable the RPV control equipment.

The disadvantage of this solution is the use of a rocket as a delivery vehicle for the network, which imposes restrictions on its applicability in dense urban development. In addition, in the event of a miss, it is necessary to re-launch the rocket, which in some cases is also problematic (for example, the intruder's RPV leaving the range).

Known device for combating remotely piloted (unmanned) aircraft [3. A device for combating remotely piloted (unmanned) aircraft. Utility model patent RF No. 72 754 IPC F41H 13/00. Published: 27.04.2008 Bull. No. 12, Application: 2007139175/22, 10/22/2007], consisting of a delivery unit, a direction finding unit, a guidance unit, a container with a trap net to the edges of which loads are attached, and a trap net with weights placed in the container is delivered to the area where the RPV is located using the delivery unit (rocket) is guided to the RPV using the guidance unit according to the direction finding unit data obtained by the sound-thermal method, after which the trap net is fired synchronously with four cartridges towards the target, while the sinkers are round stabilizers, with holes for fastening keeper tapes, stretch this trap net, providing cover and capture of the UAV.

The disadvantage of such a device is that the shooting of the net to catch the RPV - the intruder is carried out when attacking him from above and in case of a miss, re-entering the target is problematic.

Known device - a fighter for the destruction of remotely piloted (unmanned) aircraft [4. Device - fighter for the destruction of remotely piloted (unmanned) aerial vehicles (RPV), RF patent No. 2 490 584 IPC F41H 11/04. Published: 08/20/2013 Bul. No. 23, Application: 2012120114/11, 15.05.2012], consisting of a remotely piloted aircraft, a ground guidance system in the form of a radar, a network, and the remotely piloted aircraft has video cameras and up to four displacement sensors, as well as interconnected with them up to four containers for submunitions, made in the form of cassettes with nets laid in them from a high-strength polymer thread made of para-aramid fiber "Aramida", or "Kevlar", or "Twaron", and at the corners of the network there are container sinkers in the form of cartridges with band parachutes in the casings, with one end of the band parachute fixed to the net, and the case with the ribbon rolled up in it is fired off with a retarder at the moment the net enters the target, and the displacement sensors and cassettes interconnected with them are located on the right, left, lower and upper sides of the fuselage ...

The disadvantage of such a device is the need to involve the operator, who, in the control process, when approaching the target through the surveillance cameras at a distance of less than 500 meters, guides the device to the target, as well as the need to involve the operator when equalizing the flight speed, which can lead to hover errors.

Known device - a fighter [5. A device - a fighter for the destruction of remotely piloted (unmanned) aerial vehicles. RF Patent No. 2 490 585 IPC F41H 11/04 Published: 08/20/2013 Bul. No. 23 Application: 2012120116/11, 05/15/2012] for the destruction of remotely piloted (unmanned) aircraft, consisting of a remotely piloted aircraft, a ground guidance system in the form of a radar, while the remotely piloted aircraft has video cameras and up to four displacement sensors, as well as interconnected with them up to four containers for destructive elements, made in the form of cartridges with cartridges, having needles as a damaging element, having band parachutes, and the cartridge is fired from the cartridge together with the sleeve, which has an inertial fuse for separating the sleeve from the needle and release of the band parachute, as well as displacement sensors, while the cassettes are located on the right, left, lower and upper sides of the fuselage.

The disadvantage of such a device is the involvement of the operator in the process of not aiming the interceptor RPV on the target according to the surveillance cameras at a distance closer than 500, which is difficult in conditions of poor visibility, and at high relative speeds of convergence can lead to significant errors caused by the human factor.

Known unmanned aerial vehicle - interceptor [6.Unmanned aerial vehicle - interceptor, RF patent No. 2 669 904 IPC B64C 29/04, B64D 7/02, Published: 16.10.2018 Byull. No. 29, Application: 2018105354, 13.02.2018], made in the form of a free-carrying monoplane, containing a fuselage, a trapezoidal wing with two propeller engines placed on it, two keels equipped with rotary rudders, and a payload placed in the fuselage, while the UAV is an aircraft with vertical take-off and landing, made according to the aerodynamic "duck" scheme with a front all-rotary horizontal tail fixed to the fuselage, and the fuselage is made in the form of a truss structure integrated with a wing spar, the payload is a shooting complex located in the fuselage along the axis passing through the center of mass of the aircraft, the propeller engines are made with pulling propellers, and the keels are located on the wings in the zone of maximum airflow by the propellers, and each keel is integrated into a single structure with a take-off and landing support made in the form of a spatial truss with deflected friend from each other by lateral rods, between which the keel is placed.

The disadvantage of the device is the presence of a rifle complex to defeat the intruder's RPVs, which significantly complicates its use in dense urban areas and the presence of people on the ground, which can potentially be in the affected area.

Known unmanned aerial vehicle-interceptor [7. Unmanned aerial vehicle-interceptor, RF patent No. 2 699 148, IPC B64C 39/02, B64D 7/04, F41A 25/10 Published: 03.09.2019 Byull. No. 25, Application: 2018105355, 13.02.2018], made in the form of a free-carrying monoplane, containing a fuselage and a trapezoidal wing with engines placed on it, in the fuselage of which along the axis passing through the center of mass of the aircraft, weapons are placed in the form of a rifle complex, fixed on the power set of the fuselage structure by means of the front and rear attachment points with the possibility of its longitudinal mobility and damping.

The disadvantage of the device is the presence of a rifle complex for hitting an unmanned intruder, which imposes restrictions on its use in the presence of people on the ground, to whom the rifle complex can pose a potential threat. In addition, aiming the barrel of a rifle complex at an intruder UAV requires high accuracy, which is problematic at certain attack angles and in conditions of wind influences on an unmanned aerial vehicle-interceptor.

Known unmanned aerial interceptor system [8. Patent US20180105271 "Unmanned aerial system-interceptor" dated 07.21.2017], containing a rigid fixed frame of a rectangular shape, forming the body of an unmanned system, in the corners of which there are electric motors with propellers capable of changing their orientation in space, and a catching device in the form of a network is installed on the frame , which ensures the capture of an intruder UAV, which is subsequently lowered by parachute or transported to a given point. The size of the cells of the lattice elements does not exceed 1/3 of the cross section intercepted by the UAV. To control the guidance process on the intercepted UAV, the air interceptor system is equipped with various detection sensors and a computing device that processes data on the intercepted target.

The disadvantage of such a system is the expected low flight speed to the interception point, caused by the absence of any aerodynamic surfaces, as well as the difficulty of intercepting the interceptor UAV at certain angles of approach to the intercept object.

This system was chosen as a prototype.

The technical objective of the invention is to increase the range, maneuverability of the UAV-interceptor and the accuracy of automatic target acquisition into the network.

This result is achieved by the fact that in the well-known unmanned aerial system-interceptor containing a rigid fixed rectangular frame, forming the body of the unmanned system, at the corners of which there are electric motors with propellers capable of changing their orientation in space, and on the frame there is a catching device in the form of a network, which ensures the capture of an intruder UAV, which is subsequently lowered by parachute or transported to a given point, the size of the cells of the lattice elements does not exceed 1/3 of the cross section of the intercepted UAV. To control the process of guidance to the intercepted UAV, the air system - the interceptor is equipped with various detection sensors and a computing device that processes data on the intercepted target, an additional wing with a variable geometry was introduced, which is capable of changing its shape under the action of an electric motor with a gearbox and hinges, forming a design of a given configuration with by simultaneous stretching of the catching network, with two additional correction engines providing optimal approach of the UAV-interceptor to the target.

The essence of the invention is illustrated in FIG. 1-8

Figure 1 is an explanation of the process of intercepting a UAV - an intruder;

FIG. 2 - UAV interceptor top view;

Fig. 3 - UAV-interceptor front view;

FIG. 4 - UAV-interceptor with modified wing geometry and deployed net for catching (front view);

FIG. 5 - UAV-interceptor with additional electric motors and propellers (view A - front view, view B - top view);

FIG. 6 - Front view of a UAV - an interceptor with a modified wing geometry, a deployed net for catching with additional electric motors and propellers;

FIG. 7 - biplane interceptor UAV.

FIG. 8 - UAV-interceptor based on a group of hulls (view A - top view, view B - front view, view C - top view with a deployed catching net, view D - side view with a deployed catching net).

Figures 1-8 indicate:

1 - intruder UAV detection device;

2 - UAV ground control point;

3 - UAV - interceptor;

4 - UAV - intruder;

5 - flight trajectory of the interceptor UAV to the rendezvous point according to the ground control station data;

6 - trajectory of the homing stage (combined guidance) to the intruder UAV;

7 - transportation of the intruder's UAV to a given point 8.

9 - the body of the unmanned system;

10 - control equipment block, power supply system, autopilot and control command receiver;

11 - electric motors with propellers;

12 - wing with variable geometry;

13 - hinges;

14 - electric motor with a gearbox;

15 - catching network;

16 - sensors for detecting and measuring distances;

17 - seal;

18 - container with a net;

19 - cable.

The unmanned aerial vehicle interception device works as follows.

A UAV-intruder detection device 1 (see Fig. 1) within its area of responsibility searches, detects an intruder UAV 4, determines its spatial coordinates and the projection of the velocity vector on the axis of the Cartesian coordinate system (UAV-intruder detection device 1 can be detection radar of active type, semi-active (two-position) with a special transmitter or with a transmitter of cellular communication systems, digital television, passive multi-position radio-technical system of goniometric or differential-rangefinder types, etc.).

According to the calculated coordinates, the degree of danger of the detected UAV - the intruder 4 relative to the cover object (not shown in the figure) is determined. If an intruder UAV is dangerous, then the ground control point of the UAV 2 generates a command to start the UAV-interceptor 3. The UAV-interceptor 3 is guided by the radio command method according to the data of the ground control point of the UAV 2, according to coordinates from the detection device of the intruder UAV 1.

After the start of the UAV-interceptor 3, it is guided along the trajectory 5 by commands from the ground control point of the UAV 2 to the meeting point. The guidance law can be used as in [9. Weizel, V.A .; Arkhangelsky, V.A .; Volkovsky, A.S. and other radio systems and control complexes. M .: University book. 574 s. 2016], when approaching the intruder UAV at some distance, the onboard detection sensors located on the device 3 are switched on and the terminal phase of guidance along the trajectory 6 to the intruder UAV is performed 4. At a certain distance between the interceptor UAV 3 and the intruder UAV 4 the opening of the catching network and the capture of the intruder UAV into it 4. After the termination of the flight of the intruder UAV 4, 7 intruder UAV 4 is transported to the specified point 8, or the intruder UAV 4 is dropped.

UAV - Interceptor 3 of FIG. 2-8, made as a multiclopter, contains the body of an unmanned system 9, a control equipment unit, a power supply system, an autopilot and a receiver of control commands 10, which provide all phases of its operation, and the flight is carried out due to the thrust created by electric motors with propellers 11, and additional lifting force created by the hollow wing with variable geometry 12. Wing with variable geometry 12 is able to take a given shape (see Fig. 4, Fig. 6, Fig. 7) due to the hinges 13 under the action of an electric motor with a gearbox 14. When approaching Intruder UAV 4, on command from ground control station 2, sends a command to turn on detectors and measure distances 16, upon receipt of which a command is given to turn on an electric motor with a gearbox 14, followed by a change in the wing geometry 12. Located inside the wing, a folded catching network 15, attached in certain places to the wing with variable geometry 12, unfolds under the action by means of the high-speed pressure of the air flow on the seal 17 (see. fig. 4, figs. 6, figs. 7), and after catching the intruder UAV 4 it is pulled in the direction opposite to the flight of the UAV interceptor 3.

Coaxially with the hinges 12, additional electric motors with propellers 11 (Fig. 5 and Fig. 6) can be attached to increase the maneuverability of the UAV interceptor 4 at the stage of terminal guidance 6, additional UAV detection equipment (video cameras, lidars, radars, ultrasonic distance sensors, etc. .).

UAV - the interceptor 4 can be made in the form of a biplane (see Fig. 7) with a control equipment unit, a power supply system, an autopilot and a receiver of control commands 10, four electric motors with propellers 11, and a wing with variable geometry 12 under the action of two electric motors with gearboxes 14 changes the configuration of the UAV - interceptor 4, dividing it into two parts, connected by a capture network 15, and terminal guidance to the intruder UAV is carried out according to information from sensors for detecting and measuring distances 16. The use of this approach allows you to increase the area of the capturing network 15, and therefore , and the probability of successful interception of an intruder UAV is 3.

UAV - interceptor 4 can be made in the form of an apparatus (see Fig. 8), consisting of 4 independent bodies of an unmanned system 9, having control equipment units, a power supply system, an autopilot and a receiver of control commands 10, electric motors with propellers 11, while, at least one of the bodies of the unmanned system 9 contains sensors for detecting and measuring distances 16, and all four bodies of the unmanned system 9 are attached to a container with a network 18 (see Fig. 8, view A and view B). When approaching the intruder UAV 4 under the action of electric locks (not shown in Fig. 8), the independent bodies of the unmanned system 9 with the container, with the network 18 are uncoupled and the catching network is deployed (see Fig. 8., view C and view D) 15 , which is attached to the independent hulls of the unmanned system 9 with cables 19. The container itself with the net 18 can be dropped down, or be integral and in equal parts attached to the independent hulls of the unmanned system 9. The use of this approach allows you to significantly increase the area of the capturing network 15, and, consequently, and the probability of successful interception of the intruder UAV 3 and to give more degrees of freedom when aiming along the trajectory 6.

When pointing such a structure, one of the independent bodies of the unmanned system 9 is the master, and the rest are slaves. When dividing the independent bodies of the unmanned system 9, they are controlled as a multi-agent group using well-known algorithms, for example, as [10. IN AND. Merkulov, D.A. Milyakov, I.O. Samodov. Optimization of the algorithm for group control of unmanned aerial vehicles as part of a local network. Izvestia SFedU. Technical science. S. 157-166. 11. D. Ya. Ivanov Formation of formation by a group of unmanned aerial vehicles in solving monitoring problems. Izvestia SFedU. Technical science. Thematic issue. S.219-224. 12. Kazanin DK Protection from mutual collisions in the formation of the formation of unmanned aerial vehicles. Management of large systems. Issue 69. S. 102-123., 13. Kalyaev I.A., Gaiduk A.R., Kapustyan S.G. Collective control models and algorithms in groups of robots. - M .: Fizmatlit, 2009. - 280.]. After catching the intruder UAV 4, it is delivered or dropped to the desired point, after which the independent bodies of the unmanned system 9 independently return to the starting point.

Thus, a high probability of interception is achieved by increasing the area of the catching network.

Technically, the device for intercepting unmanned aerial vehicles can be implemented on standard elements, assemblies, blocks and assemblies that are used in the design of UAVs and quadcopters [14. Yatsenkov V.S.Your first quadrocopter: theory and practice. - SPb .: BHV-Petersburg, 2016. - 256 p.].

The catching network can be performed by analogy with the networks used in the NET Gun systems [15. Electronic resource http://net.arient.ru/blog/security. The access mode is free, from the screen. Date of treatment 05/12/2020], a means of restraining the movements of biological objects with an increased size of the SSD-2sb network (NEVOD) [16. Means for restraining the movements of biological objects (SSD-2cm). Passport and instruction manual. NPFT. 043000.003 PS] and similar ones.

Claims (5)

1. A device for intercepting unmanned aerial vehicles, containing a rigid fixed frame of a rectangular shape, forming the body of an unmanned system, at the corners of which are placed electric motors with propellers capable of changing their orientation in space, and a catching device in the form of a network is installed on the frame, which ensures the capture of the UAV. intruder, detection sensors and a computing device that processes data on the intercepted target, characterized in that more than four electric motors with propellers, a wing with variable geometry, hinges and an electric motor with a gearbox are introduced, which provide a change in the geometry of the wing to open the catching network with subsequent capture of the UAV - the offender. 2. A device for intercepting unmanned aerial vehicles according to claim 1, characterized in that additional electric motors with propellers are fixed coaxially with the hinges. 3. Device for intercepting unmanned aerial vehicles according to claim 1, characterized in that detectors of radar, optical and ultrasonic types are fixed coaxially with the hinges. 4. The device for intercepting unmanned aerial vehicles according to claim 1, characterized in that it is made in the form of a biplane with a wing with variable geometry, while changing the configuration of the UAV-interceptor, dividing it into two parts connected by a catching network. 5. Device for intercepting unmanned aerial vehicles according to claim 1, characterized in that the UAV-interceptor consists of four independent bodies of the unmanned aerial vehicle, carrying a container with a network.

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