RU2817740C1 - Universal complex for distributed control of intelligent robots to combat small-sized unmanned aerial vehicles - Google Patents

Abstract

FIELD: computer engineering; devices for detection and neutralization of unmanned aerial vehicles.

SUBSTANCE: invention relates to devices for detection and neutralization of small-sized unmanned aerial vehicles (SSUAV). Complex of distributed control of intelligent robots for fighting against SSUAV contains a collective of mobile ground robots of high cross-country capacity, intruder UAV search unit, electronic warfare control unit, UAV intruder emergency elimination unit, control, navigation, telemetry and video signal suppression unit, intelligent navigation unit, thermal imager, space satellite, 3D color video camera, horizon and tilt positioning unit, night vision camera, territory monitoring unit, intelligent recognizer, wind direction and speed meter, universal UAV-hunter, unit of mechatronic grids of capture of UAV-intruder, central control panel, memory unit, universal power supply unit, unit for determination of task, unit of guidance to unit of UAV-intruder, task execution evaluation unit, a mechatronic unit with a hook, a unit of manipulators.

EFFECT: enabling the ability to destroy any type of UAV.

7 cl, 7 dwg

Description

The invention relates to methods and devices for detecting and neutralizing small unmanned aerial vehicles (UAVs).

Various active and passive methods and devices for detecting and neutralizing small UAVs that have entered a protected area are known and widely used [1-3].

The disadvantages of the known devices are limited functionality, lack of mobility, versatility, control of the neutralization of unmanned aerial vehicles (UAVs), the impossibility of neutralizing (eliminating) and transporting unmanned aerial vehicles of intruder UAVs that have entered the protected area.

As a prototype, consider the invention “Complex of distributed control of intelligent robots for combating small-sized unmanned aerial vehicles” [4], which contains a group of mobile ground robots with high cross-country ability, an intelligent navigation unit, an intelligent recognizer, an intruder UAV search unit with a complex of various sensors, a unit electronic warfare control with a control, navigation, telemetry and video signal suppression unit. UAV-hunter with a block of mechatronic capture grids, power supplies and control panels, UAV-intruder.

The disadvantages of the known device (complex) are as follows:

1. Low (insufficient) functionality, which consists in the ability to destroy (neutralize) only intruder UAVs such as quadrocopters, hexocopters and other UAVs of this type; the complex is not capable of destroying (neutralizing) intruder UAVs such as helicopters and airplanes.

2. Low probability of correct destruction (low reliability of destruction) of the intruder UAV due to the available only block of mechatronic mesh for capturing the intruder UAV.

3. The inability to control the destruction (neutralization) of intruder UAVs of any type by a UAV-hunter.

The objective is to create a universal intelligent distributed control complex to combat small-sized intruder UAVs with improved functionality by expanding the functionality to ensure the ability to destroy not only quadcopter or hexocopter UAVs, but also helicopter or airplane intruder UAVs, as well as the implementation of control capabilities completing a mission to destroy an intruder UAV of any type.

The task is achieved by the fact that, like the known device, the claimed universal complex for distributed control of intelligent robots contains a group of mobile ground-based robots with high cross-country ability (MNRVP) (1), a search unit for an intruder UAV (2), and an electronic warfare control unit (EBURB) ( 11), emergency elimination unit for intruder UAV (BELBPLAN) (12), control, navigation, telemetry and video signal suppression unit (BPSUNTV) (20), intelligent navigation unit (INB) (10), thermal imager (3), space satellite (KS) (13), 3D color video camera (3DCB) (5), horizontal and tilt positioning unit (HPU) (8), night vision camera (KNV) (7), territory monitoring unit (BMT) (9) , intelligent recognizer (IR) (4), wind direction and speed meter (INSV) (17), universal UAV hunter (UBPLAO) (14), mechatronic mesh unit for capturing an intruder UAV (BMSZBPLAN) (15), computerized central console control unit (CCPU) (18), memory unit (BP) (21), universal power supply unit (UPP) (22), while a group of mobile ground robots with high cross-country ability (1) receives information from the sensors of the intruder UAV search unit (2 ), connected to the electronic warfare control unit (11), which is connected to the emergency liquidation unit of the intruder UAV (12) and the control, navigation, telemetry and video signal suppression unit (20).

What is new is that the universal complex is equipped with the following: the universal complex is additionally introduced between the additional outputs of the intelligent navigation unit (INB) (10) and the additional inputs of the universal UAV-hunter (UBPLAO) (14) with sequentially connected bidirectional lines a task determination unit (DBU) (23) and a guidance block to the intruder UAV node (BNUBPLAN) (24) [6-10], and is also introduced between other additional outputs and inputs of the intelligent navigation unit (INB) (10) and additional inputs and outputs of the intruder UAV ( UAV) (16) task evaluation unit (BOVZ) (27), with a separate input connected to the additional output of the mechatronic mesh unit for capturing the intruder UAV (BMSZBLAN) (15) and additional outputs of the newly introduced mechatronic unit with a hook (MBZ) (26) , and a manipulator block (BM) (25), wherein the mechatronic block with a hook (MBS) (26) and the manipulator block (BM) (25) are connected by bidirectional lines with separate inputs and outputs to the universal UAV-hunter (UBPLAO) (14) .

At the same time, the mentioned universal UAV-hunter (14) is equipped with a mechatronic block with a hook (MBZ) (26), containing a carbon tube (CT) (28), a folded parachute (SP) (29), parachute lines (SP) (30) , PP (31), thin carbon rod (TCS) (32) and steel hook (SZ) (33), made in the form of one hook, three hooks or multiple hooks

In addition, the mentioned block of manipulators (25) contains the following sequentially connected by bidirectional lines, an attachment point to the UAV-hunter (34), a three-dimensional frame (35), a mechatronic control unit (MCU) (36) and a block of pins (37), connected by bidirectional lines to the three-dimensional frame (35).

In addition, the three-dimensional frame (35) is made in the form of a round rim (39), connected by two half-rims (38), at the intersection of the connections of which there is an attachment unit to the UAV-hunter (34), and the pins of the pin block (37) are attached to the rim ( 39) mechatronic control unit (MCU) (36), which also controls the extension of the pins of the pin block (37).

In addition, the task evaluation unit (BOVZ) (27) contains an interface (40), a processor (41), a memory unit (BP) (42), a 3D color video camera (3DCB) (43), a night vision device (NVD) ( 44) and a thermal imager (45), and when comparing the current image (TI) and the reference image (ER), correlation, neuro-fuzzy and structural analysis are used.

In addition, the task definition block (DBU) (23) is made in the form of an analyzer and task generator, and the TDU (23) analyzes information about the intruder UAV (16), namely: type, geometry, color, coordinates, speed and altitude flight, synthesizes the task for the guidance unit to the intruder UAV node (24).

In addition, the block for targeting the intruder UAV node (BNUBPLAN) (24) contains a reader and information analyzer, a coordinate determiner, and for the operation of BNUBPLAN (24), correlation, neuro-fuzzy and structural analysis for image recognition are used.

The proposed universal complex is illustrated by drawings in Fig. 1-7.

In fig. Figure 1 shows a block diagram of the universal complex.

In fig. Figure 2 shows a block diagram of a mechatronic unit with a hook; hook options.

In fig. Figure 3 shows a diagram demonstrating the destruction of an aircraft-type intruder UAV.

In fig. 4 provides explanations for the application of forces to the wings of the intruder UAV aircraft.

In fig. Figure 5 shows a block diagram of the manipulator block.

In fig. Figure 6 shows the structure and appearance of the three-dimensional frame.

On fi. Figure 7 shows a block diagram of the task completion evaluation block.

In fig. Figure 1 shows a block diagram of the proposed device, containing the following elements, components and blocks:

1 - a group of mobile ground robots with high cross-country ability (MNRVP);

2 - search unit for intruder UAV;

3 - thermal imager;

4 - intelligent recognizer (IR);

5 - 3D color video camera (3DCB);

6 - directional microphone with a built-in variable-magnification video camera and a tunable laser (NMVVIUPL);

7 - night vision camera (NVC);

8 - horizontal and tilt positioning unit (HBPN);

9 - territory monitoring unit (BMT);

10 - intelligent navigation unit (INB);

11 - electronic warfare control unit (BURB);

12 - unit for emergency elimination of intruder UAV (BELBPLAN)

13 - space satellite (KS);

14 - universal UAV-hunter (UBPLAO);

15 - block of mechatronic meshes for capturing the intruder UAV (BMSZBPLAN);

16 - UAV-intruder;

17 - wind direction and speed meter (INSV);

18 - computerized central control panel (CCPU);

19 - universal control panel (UCP);

20 - control, navigation, telemetry and video signal suppression unit (BPSUNTV);

21 - memory block (BP);

22 - universal power supply (UPS);

23 - task definition block (BOD);

24 - guidance unit to the intruder UAV node (BNUBPLAN);

25 - block manipulator (BM);

26 - mechatronic block with a hook (MBZ);

27 - task completion assessment block (BOVZ).

The universal complex works as follows [4].

The universal complex operates in five modes:

Mode 1 - preparation for work (formation of reference information and reference images, performance of test operations);

Mode 2 - duty, and in the event of an intruder UAV, formation of a work program;

Mode 3 - carrying out a preparatory operation: take-off of a universal security UAV, recognition of an intruder UAV, preparation for neutralizing the intruder UAV;

Mode 4 - neutralization (destruction or capture) of an intruder UAV and video monitoring of the neutralization of an intruder UAV.

Mode 5 - transportation of the intruder UAV to a given area.

In the first mode of operation of the proposed universal complex, up to 10 sets of devices are deployed along the perimeter of the protected zone (up to 10 mobile ground robots with high cross-country ability (MNRVP) (1), each carrying 5 universal UAV-hunters (UAVH) (14); in total, up to 50 UAVL ( 14)). Then, in test mode, the functioning of the blocks, components and devices of the universal complex is checked. From the space satellite (KS) (13), 3D color video camera (3DCB) (5), wind direction and speed meter (INSV) (17) and intelligent navigation unit (INB) (10) is perceived and recorded in the memory unit (21) reference information (ER) of the area, current device coordinates (MNRVP) (1), weather conditions such as: time of day, wind speed and direction, air temperature.

In the second mode, MNRVP (1), KS (13), NMVVIUPL (6), KNV (7), BPGN (8), BPN (2), BP (21), BPSUNTV (20), UPU (19) and KTsPU operate (18). A directional microphone equipped with a built-in variable-magnification video camera and a tunable laser (NMVVIUPL) (6) has an amplifier and a microcontroller for isolating harmonic signals in a given frequency range, which makes it possible to detect an intruder UAV (16) at any time of the day at a distance of up to 500 meters. Simultaneously with NMVVIUPL (6), a space satellite (KS) (13) operates, receiving (reading) information about the protected area. Thermal information about the intruder UAVs (16) is received by a thermal imager (3), which records a point element of the intruder UAVs (16) with an increased temperature (the regulators and engines of the intruder UAVs (16) heat up during operation). In addition, the night vision camera (NVC) (7) has an automatic tracking system and conducts visual surveillance of the intruder UAV (16) at night. Volumetric and color information is perceived by a 3D color video camera (3DCB) (5). In addition, the tunable laser NMVVIUPL (6) illuminates silent but voluminous UAVs such as gliders and balloons. In case of detection of an intruder UAV (16) by the listed devices (thermal imager (3), KS (13), IR (4), 3D color video camera (3DCB) (5), NMVVIUPL (6), KNV (7)) the declared universal complex distributed control switches to the third operating mode (in this case, the BPGN (8) monitors the horizontal position of the intruder UAV (16), and also monitors its position in the vertical plane), i.e. the platform with the thermal imager (3), IR (4), 3D color video camera (3DCB) (5), NMVVIUPL (6), KVN (7) devices is positioned in the horizontal plane at an angle of +/- 90 degrees with a horizontal tilt angle of up to 45 degrees. Thus, in this mode, using a comprehensive tracking system, it is possible to detect any UAV (multicopter, airplane, helicopter, glider, balloon).

In the third operating mode, the universal hunter UAV (14) takes off and approaches the intruder UAV (16). In this case, the task definition block (DBU) (23) is turned on, which operates using information from the IDU (10). This BOS (23) generates control commands for the guidance unit at the intruder UAV node (24) depending on the type of intruder UAV (16) (quadcopter, hexocopter, helicopter, airplane). BNUBPLAN (24), using software and algorithms from the intelligent recognizer (IR) (4) and the intelligent navigation unit (INB) (10), determines the location (area) or the entire intruder UAV (16), and also determines the type of unit used (mechatronic mesh for capturing the intruder UAV (15), mechatronic block with a hook (26), manipulator block (25)).

In the fourth mode (neutralization of an intruder UAV), upon receiving information from any sensor, the positioning speed of the search unit (2) switches to low speed, the horizontal positioning of the BPGN (8) is turned on, the maximum amplitude of the output signal of the BPGN (8) is determined, and the direction and altitude are determined flight of the intruder UAV (16) (the time required for these operations is no more than 2 seconds). Data is transmitted via a digital communication channel to a computerized central control panel (CCRC) (18) to make a decision on neutralizing the intruder UAV (16). All received data is recorded in the memory unit (21) and on the electronic disk of the control center (18) for subsequent analysis of the correct execution of commands by other units of the complex and the correctness of the operator’s actions.

The last stage of the fourth operating mode of the complex: BURB (11), BPSUNTV (20) and BELBPLAN (12) are turned on. BURB (11) controls the neutralization of the intruder UAV (16) by radio-electronic methods. BPSUNTV (20) suppresses the control signals of the intruder UAV (16) during manual control or when transmitting telemetry signals. BPSUNTV (20) distorts the readings of all navigation systems and makes it impossible for the intruder UAV (16) to fly according to a given program, suppresses video signals from all its on-board video cameras. Suppression of signals and distortion of information occurs during operation of the BURB (11), it controls the BPSUNTV (20) to suppress all possible signals of the intruder UAV (16), generating up to 12 radio frequencies, for example, a frequency of 2.3-2.5 GHz (with manual control of an intruder UAV (16)), frequency 433 MHz (when using a telemetry modem), frequency 1.6-1.8 GHz (control from a space satellite (CS) (13)), frequency 5.8 GHz (operation of UAV video cameras -violator (16)). As a result, intruder UAVs (16) either “hover” at a high altitude (multicopters) or fall to the earth’s surface (multicopters, drones with wings).

Next, the UAV (14) and the intruder UAVs (16) approach each other according to the on-board telemetry signals of the UAV (14), without using external control and navigation. When approaching the intruder UAVs (16), the mechatronic capture nets (MCG) (15) are deployed at the UAV (14), which envelop the intruder UAVs (16) [1-3].

In the fourth mode, either a mechatronic block with a hook (MBZ) (26) or a manipulator block (BM) (25) is also turned on. The activation of the BMSZBPLAN (15), MBZ (26) or BM (25) is ensured by the mission determination unit (DBU) (23) through the guidance unit to the intruder UAV unit (16) BNUBPLAN (24) and UBPLAO (14). Thus, with the help of MBZ hooks (26) or manipulators (pins), an airplane or helicopter can also be neutralized. Next, the task performance assessment unit (BOVZ) (27), containing a 3D color video camera (3DCB) (43), a night vision device (NVG) (44), a processor (41), a memory unit (BP) (42), an interface (40 ), as well as all the necessary information from the intelligent navigation unit (INB) (10) (for example, sound), evaluates the completion of the task (destruction of the intruder UAV (16)).

In the fifth operating mode of the proposed complex, intruder UAVs (16) are captured and transported to a specified location on the MNRVP (1) (or another specified location). When an intruder UAV (16) is detected by the MNRVP (1), the coordinates of the intruders are entered into the UBAV processor (14), they start from the MNRVP (1) and fly towards the intruder UAVs (16). The starting UAVs (14) are divided into two groups: the first group moves to the intruder UAVs (16), which are in space, and the second group of UAVs (14) moves to the intruder UAVs (16), which have fallen to the earth's surface. After electronic capture and identification of the UAV (14) of the intruder UAV (16), the universal UAV-hunter (14) transmits a signal about this to the MNRVP (1) and to the control center (18), which include (if necessary) repeated blocking (suppression) operations ) control signals of intruder UAVs (16).

After capturing the intruder UAVs (14) by the computerized central control panel (18) or directly by the MNRVP (1), it turns off the electronic warfare equipment (BURB (11), BELBPLAN (12), control signal suppression unit, navigation, telemetry and video signal (20)) , and the universal hunter UAV (14) continues a controlled flight to the base with the captured intruder UAV (16).

The universal power supply unit (UPP) (22), which supplies power to the proposed complex (except for universal UAV-hunters (14), which have autonomous power supply), consists of a battery, a recharging unit based on a solar battery and a wind mini-power unit.

At the UPLAS itself (14), it is advisable to fasten the MSZ block (15) along the perimeter of the circle forming the landing platform of the landing gear. The mesh itself has the shape of a cylinder with a narrowing at the end and with an attached load. Due to its symmetry, this mesh is the most stable in flight. At the initial stage of the flight, the net with the hoop is placed in a special container on the landing gear; the net is thrown out when approaching the intruder at the command of the operator or flight controller. If the intruder's weight exceeds the aircraft's carrying capacity, the landing gear has a release mechanism that releases the gripping means and the intruder, along with the net and hoop, falls to the ground. The mesh can be in the form of a large mesh net, such as a fishing net, or in the form of a metal mesh, and can be equipped with a parachute. The MSZ block (19) can contain several grids.

Let us consider options for executing the introduced blocks into a known device.

In fig. 2 shows the design options for the block for destroying the structure (4a) and elements (b, c) of the mechatronic block with a hook (MBZ) (26), which consists of the following devices:

28. Carbon tube (CT) (diameter 25 mm).

29. Folded parachute (SP) (area 0.75 ^m2 )

30. Parachute lines (SP).

31. Fuse plug (PP).

32. Thin carbon rod (TCS).

33. Steel hook (SZ).

34. Attachment unit to the UAV-hunter (fixation in a horizontal position, spring mechanism for moving down at an angle of 45 degrees).

The MBZ (26) is mounted on any quadcopter or hexocopter using an attachment point to the UAV-hunter (34) on the chassis or a protective ring that acts as a chassis. It is attached to the aircraft in a niche in the lower part of the fuselage to maintain aerodynamic properties.

Next, the guidance unit for the intruder UAV unit (BNUBPLAN) (24) ensures that the universal hunter UAV (UBLAO) (14) approaches at a distance of about 2 m to the intruder UAV (16) and issues a command to climb from 10 to 50 cm. At this time, the release mechanism of the thick carbon tube (28) of the destruction block is activated. The thin carbon rod (32) is deflected downwards at an angle of 45° (translated into the firing position).

Next, the thin carbon rod (TCR) (32) touches the body of the intruder UAV (16). During movement, the TKS (32) slides along the body of the intruder UAV (16) until it comes into contact with a sharp steel hook (33) at the end. The tip (SZ) (33), which can be made in the form of one hook, three hooks or multiple hooks, enters the body of the intruder UAV (16) and is securely stuck in it. Further, everything depends on the mass of the intruder UAV (16) and the difference in mutual speeds. The fuse plug (31) is designed to protect against large power loads when capturing an intruder UAV (16). The PP (31) flies out of the CT (28) with a weight load of more than 3 kg, ensuring the safety of the universal UAV-hunter (14). When the load is exceeded, the PP (31) flies out of the CT (28), dragging with it the folded parachute (SP) (29) through the SP (30).

The folded parachute (29) opens and makes further flight of the intruder UAV (16) impossible. During testing, the system showed an efficiency of about 98% in combating all types of intruder UAVs.

When destroying a copter (quadcopter, hexocopter), there are recommendations:

- in the process of contact of the TKS (32) of the destruction unit with the body of the intruder copter, with a probability of 98%, the propulsion group is destroyed and the intruder UAV (16) falls to the ground;

- in the case when the capture occurred in the central part of the intruder UAV (16) and all the propellers remained intact, light copters (UAVs) usually hang on a hook, break the propellers on the protective ring and are subsequently delivered to the launch site of the universal hunter UAV (14 );

- if the PP (31) is triggered on the intruder UAV (16), the folded parachute (29) opens, which makes further flight of the intruder UAV (16) impossible.

When destroying an intruder UAV (16) of an aircraft type:

When using a system against aircraft-type UAVs, it is necessary to consider the very principle of aircraft flight. Any aircraft is kept in the air due to the lifting force of the wings, and the lifting force arises when the wing moves relative to the air. In this case, there is the concept of stall speed. This is the speed at which the plane can no longer fly and falls onto the wing (spin). If after this he cannot gain speed, he will fall [17].

In the case of using the proposed device, it is necessary to ensure contact of the TKS (32) with the SZ (33) in contact with the intruder UAV (16) anywhere, ideally in the wing area. Next, the SZ (33) enters the plastic, wood or alloy of the wing and is securely stuck in it. The PP (31) flies out of the CT (28), freeing the SP (29).

Will the SZ (33) penetrate the wing skin of the intruder UAV (16). For the flight of the intruder UAV (16), a speed of at least 25 m/s relative to the air is required. The universal security UAV (14) also has a speed no less. Mutual velocities add up. Note that the PP (31) is triggered by a load of more than 3 kg. We obtain the energy formula: E _к =mv ² /2, with mass m and speed v (m is the mass of the UAV, v is the speed); If m=3000 g; v=50 ² =2500, We get, E=3000×2500/2=3750000 J.

Note that the energy of a machine gun bullet is 297675 J. It turns out that this is a very high energy E.

As a result, if we also take into account the cross-sectional area of the tip of the SZ (33) of 1 mm, we obtain a fantastic penetrating force. The SZ (33) will pierce any skin or cut the wing of the intruder UAV (16).

If the wing turns out to be strong, then in this case the folded parachute (29) will create resistance to the movement of the intruder UAV (14), it will fall into a tailspin and land on the SP (29) of our system. If the intruder aircraft turns out to be of a heavy class, such as Bayraktar, then it will also be neutralized with a probability of about 100%.

Let's look at how to defuse a guaranteed large UAV such as the American MQ-9 or the Turkish Bayraktar. The only difference is that the contact of the universal hunter UAV (14) must occur on one of the wings of the intruder UAV (16). The cruising speed of this intruder UAV (16) is about 200 km/h.

At this speed, a braking parachute (TP) 29 with an area of 0.75 m ² will create a force of about 200 kg. The wingspan of the intruder UAV (16) (aircraft) is 21 meters, the span of one wing is 10.5 meters. The take-off weight of the intruder UAV is 16650 kg. Next we use the lever rule [17]. For an aircraft (intruder UAV (16)), the center of the fuselage is the center of application of the sum of the lift forces of the two wings. Ideally, both forces should be equal to achieve straight flight. If one of the wings is connected to a braking parachute, then the speed of this wing will sharply decrease, the lifting force will drop and the intruder UAV (16) will begin to move towards the ground along a spiral trajectory with subsequent destruction. The farther from the center of the fuselage the contact occurs, the steeper the spiral angle will be (Fig. 3, 4). In fig. 3, 4 the following designations are given: L - distance from the fuselage to the point of contact of the parachute 29; - distance of application of forces; F1, F2 - forces. If it gets caught in the central part or on the speed stabilizer, the intruder UAV (16) will significantly decrease due to greater aerodynamic drag and the intruder UAV (16) will begin to descend along a steep trajectory until it hits the ground.

Let us consider the variant of operation of the manipulator block (BM) (25). In fig. 5, 6 the following notations are given [5, 12]:

34 - attachment point to the UAV-hunter;

35 - three-dimensional frame (TC);

36 - mechatronic control unit (MCU);

37 - block of pins;

38 - semicircular cross member (PP);

39 - round rim (KO).

In fig. Figure 5 shows a block diagram of the manipulator block (BM) (25), functioning as follows. The BM (25) is attached to the universal UAV-hunter (14) using an attachment unit for the UAV-hunter (34) and a three-dimensional frame (35), which houses a block of pins (37) and a mechatronic control unit (36). To control the pins of the pin block (37), there is a mechatronic control unit (36) connecting the three-dimensional frame (35) and the pin of the pin block (37) [4, 5]. Upon a signal from the universal UAV-hunter (14), the MCU (36) turns on the block of pins (37), releases the pins of the block of pins (37) and directs them to the propellers of the quadcopter (hexocopter) or helicopter. If the pins of the pin block (37) hit the propellers, they destroy the propellers, which leads to the destruction of a multi-rotor type aircraft (quadcopter, hexocopter) or helicopter. In fig. 6 shows the structure (a) and appearance (b) of the three-dimensional frame (35).

In fig. Figure 7 shows a block diagram of the task performance evaluation block (TBA) (27). BOVZ (27) contains the following blocks, devices and elements:

40 - interface;

41 - processor;

42 - memory block (BP);

43 - 3D color video camera (3DCB);

44 - night vision device (NVD);

45 - thermal imager.

BOVZ (27) functions as follows. From the INB (10), information is received through the interface (40) to the BOVZ (27) - setting signals about the necessary elimination of the intruder UAV (16), and information from the BMSZBPLAN (15), MBZ (26) and BM (25) on the process of eliminating the intruder UAV (16). The process of destroying the intruder UAV (16) is filmed by a 3D color video camera (3DCB) (43), a night vision device (NVD) 44 and a thermal imager 45, converted to coordinate with the electronic warfare control unit (11) and transmitted to the processor (41). The processor (41) compares the reference image (ER) of the intruder UAV (16) (before its destruction) with the current image (TI) of the intruder UAV (16) (after its destruction) and makes a decision on completing the task of destroying the UAV. intruder (16). When comparing EI and TI, correlation, neuro-fuzzy and/or structural image analysis is used [4-10]. All current information is recorded in the memory unit (MB) (42) (TI, EI, tasks, commands, image recognition software) and is used during the operation of the BOVZ (27).

The task definition unit (DBU) (23) receives from the INB (10) information about the characteristics of the intruder UAV (16), namely: type, geometry, color, speed, coordinates and flight altitude. A task is synthesized (determined) for the guidance block to the intruder UAV node (24).

Next, the BNUBPLAN (24) prepares information and ensures that the universal hunter UAV (14) is guided to the unit (wing, body, fuselage) of the intruder UAV (16). For this purpose, information from an intelligent recognizer (IR) (4), a night vision camera (NVC) (7), a 3D color video camera (3DCB) (5), a thermal imager (3), a space satellite (KS) (13) and a directional microphone with built-in video camera of variable magnification and a tunable laser (NMVVIUPL) (6), and information from WHO is also read (used) (23). To target a node (or the entire intruder UAV (16)), software based on correlation, structurally reconfigurable or neural network algorithms is used [4-10].

The proposed universal complex has the best technical characteristics, which are as follows:

1. Wider functionality, characterized by the ability to destroy not only an intruder UAV (16) such as a quadcopter, hexocopter, but also an intruder UAV (16) such as an airplane or helicopter.

2. Higher probability of correct destruction of the intruder UAV (16) (quadcopter, hexocopter, airplane or helicopter) due to the additionally introduced mechatronic unit with a hook (26), manipulator unit (25), task determination unit (23) and guidance unit intruder UAV assembly (24).

3. Ensuring the possibility of monitoring the destruction of intruder UAVs of any type due to the additionally introduced block for assessing the completion of task 27 [7-10].

The experimental studies carried out confirmed the above-mentioned improved technical characteristics of the universal complex.

List of sources and literature:

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2. Radar method for detecting stealthy unmanned aerial vehicles. RF Patent No. 2534217 C1, IPC G01S 13/04 (2006.01) publ. November 27, 2014, Bulletin No. 33.

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Claims (8)

1. A universal complex of distributed control of intelligent robots for combating small-sized unmanned aerial vehicles (UAVs), containing a group of mobile ground-based robots with high cross-country ability (MNRVP) (1), an intruder UAV search unit (2), and an electronic warfare control unit (URB) ( 11), emergency elimination unit for intruder UAV (BELBPLAN) (12), control, navigation, telemetry and video signal suppression unit (BPSUNTV) (20), intelligent navigation unit (INB) (10), thermal imager (3), space satellite (KS) (13), 3D color video camera (3DCB) (5), horizontal and tilt positioning unit (HPU) (8), night vision camera (KNV) (7), territory monitoring unit (BMT) (9) , intelligent recognizer (IR) (4), wind direction and speed meter (INSV) (17), universal UAV hunter (UBPLAO) (14), mechatronic mesh unit for capturing an intruder UAV (BMSZBPLAN) (15), computerized central console control unit (CCPU) (18), memory unit (BP) (21), universal power supply unit (UPP) (22), while a group of mobile ground robots with high cross-country ability (1) receives information from the sensors of the intruder UAV search unit (2) , connected to the electronic warfare control unit (11), which is connected to the emergency liquidation unit of the intruder UAV (12) and the control, navigation, telemetry and video signal suppression unit (20), characterized in that the universal complex is additionally introduced between the additional outputs of the intelligent navigation unit (INB) (10) and the additional inputs of the universal UAV-hunter (UBPLAO) (14), sequentially connected by bidirectional lines, a task definition block (BOD) (23) and a guidance block to the intruder UAV unit (BNUBPLAN) (24), and also introduced a task evaluation unit (BOVZ) (27), with a separate input connected to the additional output of the intruder UAV mechatronic capture mesh unit (BMSZBLAN) (15) and additional outputs of the newly introduced mechatronic block with a hook (MBZ) (26) and a manipulator block (BM) (25), and the mechatronic block with a hook (MBS) (26) and the manipulator block (BM) (25) are connected by bidirectional lines with separate inputs and outputs with a universal UAV-hunter (UBPLAO) (14). 2. The universal complex according to claim 1, characterized in that the said universal UAV-hunter (14) is equipped with a mechatronic block with a hook (MBZ) (26), containing a carbon tube (CT) (28), a folded parachute (SP) (29 ), parachute lines (SP) (30), safety plug (PP) (31), thin carbon rod (TCR) (32) and steel hook (SZ) (33), made in the form of one hook, three hooks or multiple hooks 3. The universal complex according to claim 1, characterized in that the mentioned block of manipulators (25) contains the following sequentially connected by bidirectional lines, an attachment point to the UAV-hunter (34), a three-dimensional frame (35), a mechatronic control unit (MCU) (36) and a pin block (37) connected by bidirectional lines to the three-dimensional frame (35). 4. The universal complex according to claim 3, characterized in that the three-dimensional frame (35) is made in the form of a round rim (39) connected by two half-rims (38), at the intersection of the connections of which there is an attachment point to the UAV-hunter (34), and The pins of the pin block (37) are attached to the rim (39) by a mechatronic control unit (MCU) (36), which also controls the extension of the pins of the pin block (37). 5. The universal complex according to claim 1, characterized in that the task evaluation unit (BOVZ) (27) contains an interface (40), a processor (41), a memory unit (BP) (42), a 3D color video camera (3DCB) ( 43), a night vision device (NVD) (44) and a thermal imager (45), and when comparing the current image (TI) and the reference image (ER), correlation, neuro-fuzzy and structural analysis are used. 6. The universal complex according to claim 1, characterized in that the task definition block (DBU) (23) is made in the form of an analyzer and task generator, and the TDU (23) analyzes information about the intruder UAV (16), namely: type , geometry, color, coordinates, speed and flight altitude, synthesizes the task for the guidance unit to the intruder UAV node (24). 7. The universal complex according to claim 1, characterized in that the block for targeting the intruder UAV node (BNUBPLAN) (24) contains a reader and information analyzer, a coordinate determiner, and for the operation of BNUBPLAN (24) correlation, neuro-fuzzy and structural are used analysis for image recognition.