CN106709498A - Unmanned aerial vehicle intercept system - Google Patents
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- G06V10/40—Extraction of image or video features
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Abstract
The invention relates to the field of the unmanned aerial vehicles, more particularly to an unmanned aerial vehicle intercept system comprising a ground early-warning platform and an interception unmanned aerial vehicle. The ground early-warning platform is used for scanning and monitoring target airspace in real time, identifying and tracking a target unmanned aerial vehicle, and sending an intercepting signal to the interception unmanned aerial vehicle; and the interception unmanned aerial vehicle is used for receiving the intercepting signal, approaching the target unmanned aerial vehicle, and implementing interception. According to the unmanned aerial vehicle intercept system, with combination of the ground early-warning platform and the interception unmanned aerial vehicle, effective monitoring, identification, tracking and interception of an unmanned aerial vehicle coming to attack can be realized. The ground early-warning platform realizes all-weather all-round real-time monitoring of the monitored airspace by combining a cloud unit in an infrared monitoring manner; and spatial data and motion parameters of the target unmanned aerial vehicle are obtained based on the unmanned aerial vehicle identification and tracking technologies. In terms of interception of the target unmanned aerial vehicle, the interception unmanned aerial vehicle approaches the target unmanned aerial vehicle and then takes interception measures; and compared with the interception way of transmitting a net missile by the ground directly, the provided interception way enables the interception capability to be improved obviously.
Description
Technical field
The present invention relates to unmanned plane field, particularly a kind of unmanned plane intercepting system.
Background technology
It is referred to as within 2014 the unmanned plane first year, unmanned plane gradually comes into the life of people as novel product in recent years.
With the decline of unmanned plane manufacturing cost, the continuous lifting of performance, unmanned plane just gradually moves towards popular from military and high-end commercialization
Market.Consumer electronics association of the U.S. is, it is expected that global civilian unmanned plane (consumer level and technical grade) in 2016 is expected to sell 300,000 framves.
And by 2018, it is contemplated that global unmanned plane market scale will rise at least 1,000,000,000 dollars.Current SUAV is extensive
Be applied to medical aid, low latitude logistics, safety monitoring, forest fire protection, geological prospecting, video display take photo by plane, air mapping, polar region reliability
Etc. industry.
However, unmanned plane is used as a kind of flight carrier, different people can do different things by it.Can neither be unrestricted
Use, can not because of it have assist crime potentiality with regard to total ban.Although unmanned plane is conducive to various outdoor studies
Demand, but said with the angle of crime from air defense, unmanned plane can become great dangerous air armament really.If unmanned plane into
It is the instrument of world terrorist harm society, they can carry camera, weapon, toxic chemical substance and explosive etc.,
And the attack of terrorism, act of espionage and smuggling activity may be largely used to, if bad the turning into of management and control is suspended in determining on people's head
When bomb.
Mankind's love existing to unmanned plane has hatred again, and unmanned plane quantity is growing day by day in the world, and this is to such as
The key facilities such as airport, prison and nuclear facilities cause great potential safety hazard.There is unmanned plane to enter White House etc. before this
The case of key facility, regulator and the military also gradually generate new worry, and they worry that low price unmanned plane can navigate to business
Class, important infrastructure even army constitute a threat to, and the danger that unmanned plane may bring how are tackled, for the strick precaution of unmanned plane
Have become problem in the urgent need to address.In order to avoid unmanned plane produces security threat, mainly there are three sides in the prior art
The counter-measure in face：
Unmanned plane production firm adds prevention restriction in unmanned plane product flight control system, such as limits nothing using GPS
Man-machine flying height must not exceed prescribed limit, or forbid empty flight on the specific area.Unmanned plane is main near the whole world
When airport and sensitive area, central area cannot start unmanned plane, and radiation areas unmanned plane will automatically reduce flying height.
Such measures are easy to be held as a hostage.Unmanned plane GPS Protocols distort by additional module just can be easily
Bypass the restricted area domain of production firm's setting.
Second aspect is by putting into effect relevant laws and regulations, from flight time, flying distance, flying distance and unmanned plane weight
Unmanned plane is limited Deng reverse side.
Such measures still fall within the Passive Defence to unmanned plane, and the malice that can not prevent unmanned plane is used.
3rd aspect be using electromagnetic interference measure, by the Data-Link of jamming target unmanned plane, make its make a return voyage or
Fall.
Such measures easily belong to soft defence, there is the situation evaded by technological means and cause interference with failure, defend dynamics
It is weaker.
In sum, with the expansion of unmanned plane application field and application scale, may be brought in unmanned plane application process
Threaten also in synchronous increase.In the prior art do not occur also for unmanned plane, particularly civilian unmanned plane can successfully manage nothing
Man-machine threat, to unmanned aerial vehicle is effective to be intercepted or effective unmanned plane intercepting system for capturing to attack.
The content of the invention
Not yet there is a kind of effective technical scheme for intercepting unmanned plane in the purpose of the present invention, there is provided Yi Zhongquan in the prior art
Orientation monitor in real time target spatial domain, effective early warning unmanned plane is threatened, and the unmanned plane to effectively being intercepted to attack unmanned aerial vehicle is intercepted
System.
In order to realize foregoing invention purpose, the invention provides following technical scheme：
A kind of unmanned plane intercepting system, including ground early-warning platform and interception unmanned plane, wherein：
Ground early-warning platform, for being monitored to target spatial domain real time scan, identification, tracking UAV targets block to described
Cut unmanned plane and send interception signal；
Unmanned plane is intercepted, the interception signal is received, UAV targets are approached, implements to intercept.
Further, the ground early-warning platform is ground moveable platform, including monitoring unit, head unit and master control
Unit, wherein：
Monitoring unit, for being detected to target spatial domain real time scan, monitoring information is passed back to the main control unit；
Head unit, for driving the monitoring unit to rotate；
Main control unit, for analyzing the monitoring information, identification, tracking UAV targets send out to the interception unmanned plane
Send interception signal.
Further, the monitoring unit is using LED infrared monitorings, laser infrared monitoring or infrared thermal imaging monitoring.LED
Infrared monitoring is actively projected on object infrared light using infrared launcher, and infrared light enters after being reflected through object into camera lens
Row imaging.Laser lamp source is mixed in laser infrared monitoring on analog video camera, and laser lamp uses the uniform reinforcement technique of hot spot, hot spot
Autofocus Technology, compared to common thermal camera, laser camera range is strong, picture more uniform, little power consumption, physical life
It is longer.Under remote monitor scene, laser infrared monitoring equipment has more excellent monitoring effect.Infrared thermal imaging monitoring is using red
External detector and optical imagery object lens receive the infrared energy distribution map of measured target, and the photosensitive of Infrared Detectors is arrived in reflection
On element, so as to obtain Infrared Thermogram, the Infrared Thermogram is corresponding with the heat point compensation of body surface, on thermal image
Different colours represent the different temperatures of testee.Infrared acquisition can be realized to the insufficient lights such as day and night, ambient black
Scene under effective monitoring to target area.Difference according to application scenarios selects one or more monitor modes therein,
One or more image information can be collected, further, the image information that therefrom can preferably go out readily identified unmanned plane is entered
Various image informations can also be carried out fusion utilization by row identification, further improve accuracy of identification.
Preferably, the monitoring unit is arranged at the central horizontal projected position in target spatial domain, is beneficial to monitor area
It is comprehensive to carry out effective monitoring.
Further, the head unit is two axle The Cloud Terraces, and it is 0 °~360 °, vertical rotational angle that it horizontally rotates angle
It is 0 °~± 90 °, 0.1 ° of the horizontal speed of manipulation~160 °/s, 0.1 ° of the vertical speed of manipulation~120 °/s.Head is watched including two
Take the mounting platform of motor composition, by cloud platform control system remote control positioned at main control unit its both horizontally and vertically
Motion.Cradle head controllor positioned at head end receives the control instruction of the cloud platform control system and is decoded, and is converted to control
The control signal of motor operation processed.Cradle head controllor carries out corresponding actions according to the motor on control signal driving head.
Further, the cradle head control instruction includes head tracking mode.The head tracking mode include manually with
Track mode and autotrack mode.Target after the autotrack mode is recognized with the main control unit to UAV targets is chased after
Track path is adapted, and receives the cradle head control instruction control head from main control unit and implements automatic tracing.
Further, the main control unit identification UAV targets include four steps：Image preprocessing, image characteristics extraction,
Image classification and images match.
Described image pretreatment mainly includes background subtraction method, frame differential method, optical flow computation method and statistical method.Institute
It is to remove the noise in image to state pretreatment purpose, makes clearly point and line chart, is easy to extract characteristics of image.
Further, background subtraction method mainly includes that transform domain image Preprocessing Algorithm and spatial domain image preprocessing are calculated
Method.Wherein, transform domain image Preprocessing Algorithm includes frequency high-pass filter method and wavelet analysis Preprocessing Algorithm.Frequency high-pass is filtered
Ripple method corresponds respectively to the high fdrequency component and low frequency component of frequency domain using target and background, and primary signal is by just changing to frequency
Rate domain, leaches low frequency component, then obtain filtered image information by inverse transformation.Wavelet analysis has good time-frequency because of it
Localization property, using very wide in background suppression.Original image is decomposed using wavelet transformation, obtains the low frequency of image
And HFS, the low-frequency image obtained to wavelet decomposition and high frequency imaging carry out background estimating, finally reconstruct and obtain treatment knot
Fruit image.
Correlation of the spatial domain Image Pretreatment Algorithm according to background in neighborhood is predicted, according to projected background and reality
Error self-adaptative adjustment wave filter inherent parameters between the background of border, are then realized by comparison prediction background and original image
Background is suppressed.Common spatial domain Image Pretreatment Algorithm includes median filtering algorithm.
After the completion of image preprocessing, the architectural features such as directional diagram and singular point are extracted in point and line chart, classified, finally will
The architectural feature is matched with the target image in target image storehouse, determines UAV targets, completes target identification.
Further, main control unit tracking UAV targets' process key is to obtain extracted in image recognition
Static object and the corresponding relation for being tracked target.After target is identified is defined as UAV targets, the main control unit will
The kinematics parameters such as distance, orientation, the speed of target are processed, and are defined as after unmanned plane target is followed the trail of, and the ground is pre-
Alert platform monitoring unit and head unit switch to target tracking state by regular scanning mode at random, and the main control unit will be chased after
Track instruction is transferred to the monitoring unit and head unit, to specific objective unmanned plane real-time tracking, until tracking terminates.It is actual
During tracking, due to unmanned plane, form is smaller in itself, the influence of the complex environment such as illumination, vegetation, cloud layer, building, target without
It is man-machine to be easy to tracking loss occur, therefore, the loss during unmanned plane tracking searches again for particularly critical.
Further, for the UAV targets' search after loss according to search difficulty be incremented by from three aspects it is progressive enter
OK, it is divided into target domain search, Local Search and global search.
S1, target domain search, if currently processed image is kth frame, is tracked in the frame of kth+1 and lost, and is tracked target
Center is represented sequentially as y in sequence image0,y1...yk,yk+1..., according to the continuity that target is moved, after loss
Target should be in ykNear, therefore yk+1Estimation formulas be：
yk+1-yk=yk-yk-1 (1)
UAV targets are located at region z in currently processed kth frame image, and the region z is chosen in the two field picture of kth+1
As candidate region w, matched with To Template, if matching similarity reaches first threshold, be judged to find UAV targets,
If matching similarity is less than threshold value, S2 is performed；
Preferably, the mode that ellipse is connect within the region z includes UAV targets, transverse direction and unmanned plane
It is consistent in the long axis direction of still image projection.
Preferably, first threshold is set to 0.8.
When UAV targets lose because tracking occur in partial occlusion or the influence of image capture environment factor, matching similarity
During less than first threshold, using S2, Local Search.
S2, Local Search in the two field picture of kth+1, centered on the region z, randomly selects multiple times around it
Interior oval size, the direction of connecing is identical in favored area w, the candidate region w and the region z, by multiple candidate region w with
To Template is matched, and is chosen similarity highest and is iterated search more than the candidate region w of Second Threshold, until similarity reaches
To first threshold, then it is judged to find UAV targets, if respectively less than Second Threshold, being input into next two field picture carries out local searching
Rope, if continuous n two field pictures matching similarity is less than Second Threshold, performs step S3；The n frames are adopted according to image capture device
Collection frequency is determined.
Preferably, Second Threshold is set to 0.6.
S3, global search carries out traversal search to the two field picture of kth+1 by comparison template of the region z, retains all phases
Like degree more than the 3rd threshold value candidate region w, select similarity highest and more than the 3rd threshold value candidate region w as prediction
Unmanned plane position.
Preferably, the 3rd threshold value is set to 0.4.
Used as a kind of specific embodiment, the interception unmanned plane intercepts net capture UAV targets by throwing.When
It is determined that tracking UAV targets are " black to fly ", it is possible to which the unmanned plane of the threat brought to monitor area, the ground early-warning is put down
Platform main control unit sends to the interception unmanned plane and intercepts order, and the interception unmanned plane takes off.Meanwhile, the main control unit root
According to " black to fly " the flight position information and moving parameter information that obtain, generation intercepts unmanned plane and flies control signal, by the winged control letter
Number send to the interception unmanned plane.The interception unmanned plane receives the winged control signal, approaches " black to fly ".The main control unit
According to the relative motion relation for intercepting unmanned plane and " black to fly ", when both speed of related movements are less than predetermined value, and
When the interception unmanned plane is located at " black to fly ", capture command is sent to the interception unmanned plane, the interception unmanned plane will
Interception net release of the carry below its body, completes the capture to " black to fly ".The interception net has light weight, is difficult to twist disconnected
Physical characteristic.
Used as a kind of specific embodiment, the interception unmanned plane intercepts rope interception target unmanned plane by throwing.
It is identical with the foregoing process for intercepting net capture " black to fly " before " black to fly " is flown to, when the interception unmanned plane is flown to " black to fly "
Afterwards, the main control unit sends and intercepts order, the interception unmanned plane throwing rope, " black to fly " rotor is stopped operating, and then
Landing.The rope has light weight, is difficult to twist disconnected physical characteristic, more portable compared to net is intercepted.
Further, the interception unmanned plane is provided with target identification, tracking module.The interception unmanned plane is equipped with target
Identification, tracking module can obtain the more accurate image information of UAV targets and positional information, reduce and put down with ground early-warning
The information exchange link of platform, improves ability of tracking.
Further, the main control unit also includes intercepting unmanned aerial vehicle (UAV) control terminal, for controlling the interception unmanned plane
Approach UAV targets.When UAV targets be located at human eye horizon range in when, staff by operating the control terminal,
Remote control intercepts unmanned plane and approaches " black to fly ", implements precisely to intercept.
Compared with prior art, beneficial effects of the present invention：
The unmanned plane intercepting system that the present invention is provided reality by way of being combined using ground early-warning platform and intercepting unmanned plane
Now to attacking the effective monitoring of unmanned plane, identification, tracking and intercepting.Ground early-warning platform uses infrared monitoring mode combination head
Unit realize to monitor spatial domain round-the-clock comprehensive monitor in real time, unmanned plane identification, tracking technique obtain in real time target nobody
Machine spatial data and kinematic parameter.UAV targets intercept the mode taken and intercept and interception measure is taken after unmanned plane is approached, phase
The interception mode of launch network bullet more direct than ground, interdiction capability is significantly improved.
In sum, the unmanned plane intercepting system that the present invention is provided realizes the effective monitoring to monitor area, and it is right to improve
In the interdiction capability of " black fly ", interception mode belongs to active, physics mode is intercepted, it is to avoid the electromagnetism to peripheral facility is done
Disturb.
Brief description of the drawings：
The unmanned plane intercepting system structure chart that Fig. 1 is provided for the present invention；
Marked in figure：10- ground early-warning platforms, 20- intercepts unmanned plane, 101- main control units, 102- monitoring units, 103-
Head unit.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
For the scope of above-mentioned theme of the invention is only limitted to following embodiment, all technologies realized based on present invention belong to this
The scope of invention.
Embodiment 1
This example illustrates a kind of ground early-warning-aerial interception unmanned plane intercepting system, as shown in figure 1, including ground
Early warning platform 10 and interception unmanned plane 20, wherein：
Ground early-warning platform 10, for being monitored to target spatial domain real time scan, identification, tracking UAV targets, to described
Intercept unmanned plane and send interception signal；
Unmanned plane 20 is intercepted, the interception signal is received, UAV targets are approached, implements to intercept.
Further, the ground early-warning platform 10 is ground moveable platform, including monitoring unit 102, head unit
103 and main control unit 101, wherein：
Monitoring unit 102, for being detected to target spatial domain real time scan, monitoring information is passed back to the main control unit；
Head unit 103, for driving the monitoring unit to rotate；
Main control unit 101, for analyzing the monitoring information, identification, tracking UAV targets, to the interception unmanned plane
Send and intercept signal.
Further, the monitoring unit 102 is using LED infrared monitorings, laser infrared monitoring or infrared thermal imaging monitoring.
LED infrared monitorings are actively projected on object infrared light using infrared launcher, and infrared light enters mirror after being reflected through object
Head is imaged.Laser lamp source is mixed in laser infrared monitoring on analog video camera, and laser lamp uses the uniform reinforcement technique of hot spot,
Hot spot Autofocus Technology, compared to common thermal camera, laser camera range is strong, picture more uniform, little power consumption, practical
Life-span is longer.Under remote monitor scene, laser infrared monitoring equipment has more excellent monitoring effect.Infrared thermal imaging monitoring profit
Receive the infrared energy distribution map of measured target with Infrared Detectors and optical imagery object lens, Infrared Detectors is arrived in reflection
On light-sensitive element, so as to obtain Infrared Thermogram, the Infrared Thermogram divides corresponding, the thermal image of compensation with the heat of body surface
On different colours represent the different temperatures of testee.Infrared acquisition can be realized to the insufficient lights such as day and night, environment
Effective monitoring under dark scene to target area.Difference according to application scenarios selects one or more monitoring sides therein
Formula, can collect one or more image information, further, therefrom can preferably go out the image information of readily identified unmanned plane
It is identified, can also carries out fusion utilization to various image informations, further improves accuracy of identification.
Preferably, the monitoring unit 102 is arranged at the central horizontal projected position in target spatial domain, is beneficial to monitored space
Domain is comprehensive to carry out effective monitoring.
Further, the head unit 103 is two axle The Cloud Terraces, and it horizontally rotates angle for 0 °~360 °, vertical to rotate
Angle is 0 °~± 90 °, 0.1 ° of the horizontal speed of manipulation~160 °/s, 0.1 ° of the vertical speed of manipulation~120 °/s.Head includes two
The mounting platform of individual servomotor composition, by positioned at its level of the cloud platform control system remote control of main control unit 101 and hanging down
Nogata to motion.Cradle head controllor positioned at head end receives the control instruction of the cloud platform control system and is decoded,
Be converted to the control signal of controlled motor operation.Cradle head controllor drives the motor on head accordingly to be moved according to control signal
Make.
Further, the cradle head control instruction includes head tracking mode.The head tracking mode include manually with
Track mode and autotrack mode.Target after the autotrack mode is recognized with the main control unit to UAV targets is chased after
Track path is adapted, and receives the cradle head control instruction control head from main control unit and implements automatic tracing.
Further, the identification of the main control unit 103 UAV targets include four steps：Image preprocessing, characteristics of image is carried
Take, image classification and images match.
Described image pretreatment mainly includes background subtraction method, frame differential method, optical flow computation method and statistical method.Institute
It is to remove the noise in image to state pretreatment purpose, makes clearly point and line chart, is easy to extract characteristics of image.
Further, background subtraction method mainly includes that transform domain image Preprocessing Algorithm and spatial domain image preprocessing are calculated
Method.Wherein, transform domain image Preprocessing Algorithm includes frequency high-pass filter method and wavelet analysis Preprocessing Algorithm.Frequency high-pass is filtered
Ripple method corresponds respectively to the high fdrequency component and low frequency component of frequency domain using target and background, and primary signal is by just changing to frequency
Rate domain, leaches low frequency component, then obtain filtered image information by inverse transformation.Wavelet analysis has good time-frequency because of it
Localization property, using very wide in background suppression.Original image is decomposed using wavelet transformation, obtains the low frequency of image
And HFS, the low-frequency image obtained to wavelet decomposition and high frequency imaging carry out background estimating, finally reconstruct and obtain treatment knot
Fruit image.
Correlation of the spatial domain Image Pretreatment Algorithm according to background in neighborhood is predicted, according to projected background and reality
Error self-adaptative adjustment wave filter inherent parameters between the background of border, are then realized by comparison prediction background and original image
Background is suppressed.Common spatial domain Image Pretreatment Algorithm includes median filtering algorithm.
After the completion of image preprocessing, the architectural features such as directional diagram and singular point are extracted in point and line chart, classified, finally will
The architectural feature is matched with the target image in target image storehouse, determines UAV targets, completes target identification.
Further, the main control unit 101 tracking UAV targets' process key be obtain image recognition in carried
The static object for taking and the corresponding relation for being tracked target.After target is identified is defined as UAV targets, the master control list
Unit 101 is processed the kinematics parameters such as the distance of target, orientation, speed, is defined as after unmanned plane target is followed the trail of, described
The monitoring unit 102 of ground early-warning platform 10 and head unit 103 switch to target tracking state, institute by regular scanning mode at random
State main control unit 101 and trace instruction is transferred to the monitoring unit 102 and head unit 103, to specific objective unmanned plane reality
When track, until tracking terminate.During actual tracking, due to unmanned plane, form is smaller in itself, illumination, vegetation, cloud layer, building
Deng the influence of complex environment, UAV targets are easy to tracking loss occur, therefore, the loss during unmanned plane tracking is searched again
Rope is particularly critical.
Further, for the UAV targets' search after loss according to search difficulty be incremented by from three aspects it is progressive enter
OK, it is divided into target domain search, Local Search and global search.
S1, target domain search, if currently processed image is kth frame, is tracked in the frame of kth+1 and lost, and is tracked target
Center is represented sequentially as y in sequence image0,y1...yk,yk+1..., according to the continuity that target is moved, after loss
Target should be in ykNear, therefore yk+1Estimation formulas be：
yk+1-yk=yk-yk-1 (1)
UAV targets are located at region z in currently processed kth frame image, and the region z is chosen in the two field picture of kth+1
As candidate region w, matched with To Template, if matching similarity reaches first threshold, be judged to find UAV targets,
If matching similarity is less than threshold value, S2 is performed；
Preferably, the mode that ellipse is connect within the region z includes UAV targets, transverse direction and unmanned plane
It is consistent in the long axis direction of still image projection.
Preferably, first threshold is set to 0.8.
When UAV targets lose because tracking occur in partial occlusion or the influence of image capture environment factor, matching similarity
During less than first threshold, using S2, Local Search.
S2, Local Search in the two field picture of kth+1, centered on the region z, randomly selects multiple times around it
Interior oval size, the direction of connecing is identical in favored area w, the candidate region w and the region z, by multiple candidate region w with
To Template is matched, and is chosen similarity highest and is iterated search more than the candidate region w of Second Threshold, until similarity reaches
To first threshold, then it is judged to find UAV targets, if respectively less than Second Threshold, being input into next two field picture carries out local searching
Rope, if continuous n two field pictures matching similarity is less than Second Threshold, performs step S3；The n frames are adopted according to image capture device
Collection frequency is determined.
S3, global search carries out traversal search to the two field picture of kth+1 by comparison template of the region z, retains all phases
Like degree more than the 3rd threshold value candidate region w, select similarity highest and more than the 3rd threshold value candidate region w as prediction
Unmanned plane position.
Further, the interception unmanned plane intercepts net capture UAV targets by throwing.When it is determined that tracking target without
Man-machine is " black to fly ", it is possible to which the unmanned plane of the threat brought to monitor area, the ground early-warning platform main control unit is to institute
State interception unmanned plane and send interception order, the interception unmanned plane takes off.Meanwhile, the main control unit is according to " black to fly " for obtaining
Flight position information and moving parameter information, generation intercept unmanned plane and fly control signal, the winged control signal is sent to described and is blocked
Cut unmanned plane.The interception unmanned plane receives the winged control signal, approaches " black to fly ".The main control unit is according to the interception nothing
The man-machine relative motion relation with " black to fly ", when both speed of related movements are less than predetermined value, and the interception unmanned plane
During positioned at " black to fly ", capture command is sent to the interception unmanned plane, the interception unmanned plane is by carry under its body
The interception net release of side, completes the capture to " black to fly ".The net that intercepts has light weight, is difficult the disconnected physical characteristic of strand.Institute
State and intercept when net is not launched in the interception et hold body of the interception unmanned plane, when the main control unit sends capture command
When, the interception et hold body opens hatch door, and the interception net is by the important release of gravity and opens, and completes capture.
As preferred embodiment, interception net catapult-launching gear is provided with the interception et hold body, it is fast to intercept net
Speed capture UAV targets.
Used as preferred embodiment, the interception net uses high-strength high-modulus polyethylene, carbon fiber and weaving metallic fibers
Netting gear.
Further, the interception unmanned plane is provided with target identification, tracking module.The interception unmanned plane is equipped with target
Identification, tracking module can obtain the more accurate image information of UAV targets and positional information, improve ability of tracking.
Further, the main control unit also includes intercepting unmanned aerial vehicle (UAV) control terminal, for controlling the interception unmanned plane
Approach UAV targets.When UAV targets be located at human eye horizon range in when, staff by operating the control terminal,
Remote control intercepts unmanned plane and approaches " black to fly ", implements precisely to intercept.
Embodiment 2
Unmanned plane intercepting system described in embodiment 2 is to discharge rope using unmanned plane is intercepted with the difference of embodiment 1
Mode, realize, to the interference of UAV targets' propeller, braking, causing it to fall.
The interception unmanned plane intercepts rope interception target unmanned plane by throwing.Exist with foregoing interception net capture " black to fly "
Process before flying to " black to fly " is identical, and the mode of only interception target unmanned plane has differences.When the interception unmanned plane is flown to
After " black to fly ", the main control unit sends and intercepts order, the interception unmanned plane throwing rope, makes " black to fly " rotor stop turning
It is dynamic, and then land.The rope has light weight, is difficult to twist disconnected physical characteristic, more portable compared to net is intercepted.
Further, the interception unmanned plane includes that rope throws mechanism, and the rope throws mechanism to be included rope, throw
Cylinder and the throwing control unit communicated with the main control unit.The rope is penetrated inside the throwing cylinder, described rope one end
Controlled by the rope control unit, when the main control unit sends to the interception unmanned plane intercepts order, the rope
Control unit contacts the control to the rope, and rope is wound in the propeller of lower section UAV targets by its own Action of Gravity Field
On, realize intercepting purpose.
Claims (10)
1. a kind of unmanned plane intercepting system, it is characterised in that including ground early-warning platform and intercept unmanned plane, wherein：
Ground early-warning platform, for being monitored to target spatial domain real time scan, identification, tracking UAV targets, to the interception nothing
Man-machine transmission intercepts signal；
Unmanned plane is intercepted, the interception signal is received, UAV targets are approached, implements to intercept.
2. unmanned plane intercepting system according to claim 1, it is characterised in that the ground early-warning platform includes that monitoring is single
Unit, head unit and main control unit, wherein：
Monitoring unit, for being detected to target spatial domain real time scan, monitoring information is passed back to the main control unit；
Head unit, for driving the monitoring unit to rotate；
Main control unit, for analyzing the monitoring information, identification, tracking UAV targets send to the interception unmanned plane and block
Cut signal.
3. unmanned plane intercepting system according to claim 2, it is characterised in that the monitoring unit uses the infrared prisons of LED
Control, laser infrared monitoring or infrared thermal imaging monitoring.
4. unmanned plane intercepting system according to claim 2, it is characterised in that the head unit is two axle The Cloud Terraces, its
It is 0 °~360 ° to horizontally rotate angle, and vertical rotational angle is 0 °~± 90 °, 0.1 ° of the horizontal speed of manipulation~160 °/s, vertically
0.1 ° of the speed of manipulation~120 °/s.
5. unmanned plane intercepting system according to claim 2, it is characterised in that the main control unit recognizes UAV targets
Including four steps：Image preprocessing, image characteristics extraction, image classification and images match.
6. unmanned plane intercepting system according to claim 2, it is characterised in that the main control unit to UAV targets with
Track search includes：
S1, target domain search, UAV targets are located at region z in currently processed kth frame image, are selected in the two field picture of kth+1
The region z is taken as candidate region w, is matched with To Template, if matching similarity reaches first threshold, be judged to find
UAV targets, if matching similarity is less than threshold value, perform S2；
S2, Local Search in the two field picture of kth+1, centered on the region z, randomly selects multiple candidate regions around it
Domain w, the candidate region w are identical with the region z sizes, direction, and multiple candidate region w are matched with To Template,
Choose similarity highest and be iterated search more than the candidate region w of Second Threshold, until similarity reaches first threshold, then
It is judged to find UAV targets, if respectively less than Second Threshold, being input into next two field picture carries out Local Search, if continuous n frames
Images match similarity is less than Second Threshold, then perform step S3；
S3, global search carries out traversal search to the two field picture of kth+1 by comparison template of the region z, retains all similarities
More than the candidate region w of the 3rd threshold value, select similarity highest and more than the 3rd threshold value candidate region w as prediction nobody
Put seat in the plane.
7. unmanned plane intercepting system according to claim 1 and 2, it is characterised in that the interception unmanned plane is by throwing
Intercept net capture UAV targets.
8. unmanned plane intercepting system according to claim 1 and 2, it is characterised in that the interception unmanned plane is by throwing
Intercept rope interception target unmanned plane.
9. unmanned plane intercepting system according to claim 1 and 2, it is characterised in that the interception unmanned plane is provided with mesh
Mark is other, tracking module.
10. unmanned plane according to claim 1 and 2 volleys system, it is characterised in that the main control unit also includes intercepting
Unmanned aerial vehicle (UAV) control terminal, for controlling the interception unmanned plane to approach UAV targets.
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