CN106899836B - The air-ground integrated maneuvering platform of alert enterprise's linkage - Google Patents
The air-ground integrated maneuvering platform of alert enterprise's linkage Download PDFInfo
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- CN106899836B CN106899836B CN201710207508.2A CN201710207508A CN106899836B CN 106899836 B CN106899836 B CN 106899836B CN 201710207508 A CN201710207508 A CN 201710207508A CN 106899836 B CN106899836 B CN 106899836B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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Abstract
The present invention provides a kind of air-ground integrated maneuvering platforms of alert enterprise's linkage.The air-ground integrated maneuvering platform of alert enterprise's linkage includes wide area, oil field infrared panorama imaging radar scouts command and control system, ground maneuver radar reconnaissance car system and unmanned plane vacant lot prevention and control system, cental system is wide area, oil field infrared panorama imaging radar scouts command and control system, the three above system integration is got up by hardware and software, use TCP/IP procotols, it controls it and interlinked command, realize man-machine effective combination, it is truly realized field deployment scheme, it is quick to transfer police strength, severe strike threatens molecule, collaboration unmanned plane is arrested and broken through.The above-mentioned technology of the present invention can be used in the fields such as petroleum and petrochemical industry and the public security prevention and control of urban public security key unit, the terrified strick precaution of anti-terrorism highest priority unit, public security organ's unmanned plane control, has practicability, advance and promotes replicability.
Description
Technical field
The present invention relates to security treatment technologies, and in particular to a kind of air-ground integrated maneuvering platform of alert enterprise's linkage.
Background technology
In recent years, with the continuous variation of international and domestic security situation, in face of increasingly serious national energy security, public
Safety and Ecological Safety Situation, existing safety defense monitoring system lack to wide area ground and low flyer, early warning, positioning, identification,
The realization of track side's surface technology, it is impossible to quickly and effectively be disposed to event, accident, case so that oil gas field risk prevention system and
Municipal public safety management and control ability is relatively low.
The content of the invention
The brief overview on the present invention is given below, in order to provide on the basic of certain aspects of the invention
Understand.It should be appreciated that this general introduction is not the exhaustive general introduction on the present invention.It is not intended to determine the pass of the present invention
Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides some concepts in simplified form,
In this, as the preamble in greater detail discussed later.
In consideration of it, the present invention provides a kind of air-ground integrated maneuvering platform of alert enterprise's linkage, at least to solve existing security protection
Monitoring system lack to wide area ground and low flyer early warning, positioning, identification, the realization of track side's surface technology and cause pair
The problem of oil gas field risk prevention system and relatively low municipal public safety management and control ability.
The air-ground integrated maneuvering platform according to an aspect of the invention, there is provided a kind of alert enterprise links, alert enterprise's connection
Moving air-ground integrated maneuvering platform includes wide area, oil field infrared panorama imaging radar scouting command and control system, ground maneuver thunder
Up to scout car system and unmanned plane vacant lot prevention and control system；The wide area, oil field infrared panorama imaging radar scout commander's control system
System includes the one or more monitoring towers for being arranged on monitoring place presumptive area and arranged on monitoring indoor monitoring center unit,
In, each tower that monitors is including sweeping imaging unit, the first moving object detection unit, long-range local image/video the first infrared week
Collecting unit and transmitting element；Imaging unit is swept the first infrared week to be used for according to the first preset frequency, preset and search with first
Rope radius is to carrying out 360 ° of scannings around the shaft tower, to obtain corresponding infrared panorama image；The first moving target inspection
Unit is surveyed for being swept in the described first infrared week after imaging unit scans the corresponding infrared panorama image of acquisition every time, it is infrared using this
A upper infrared panorama image for panoramic picture judged in the infrared panorama image with the presence or absence of moving target, and infrared at this
In panoramic picture there are moving target in the case of determine the moving target azimuth information；The long-range local image/video
Collecting unit is used for the azimuth information of the moving target detected according to the moving object detection unit, true with the azimuth information
Surely direction is gathered to gather corresponding image/video data；The transmitting element is used for through wired or wireless way by described in
Long-range part monitoring unit the image collected/video data is sent to monitoring center unit；The ground maneuver radar-reconnaissance
Vehicle system includes one or more ground reconnaissance vehicles, and each ground reconnaissance vehicle includes a complete police off-road vehicle bottom of landform
Disk, the chassis carry liftable infrared panorama imaging early warning radar, round the clock photo electric video frequency monitoring equipment, wireless communication transmissions
And control unit equipment；The infrared panorama is imaged early warning radar including sweeping imaging unit and the second moving target in the second infrared week
Detection unit；Sweep in the second infrared week imaging unit for according to the second preset frequency, with the second preset search radius to institute
It states ground reconnaissance vehicle periphery and carries out 360 ° of scannings, to obtain corresponding infrared panorama image；Second moving object detection
It is infrared complete using this after unit scans the corresponding infrared panorama image of acquisition for sweeping imaging unit in the described second infrared week every time
A upper infrared panorama image for scape image judged in the infrared panorama image with the presence or absence of moving target, and at this infrared complete
In scape image there are moving target in the case of determine the moving target azimuth information；The photo electric video frequency monitoring equipment round the clock
For gathering the ground environment image/video data in the ground reconnaissance vehicle operation place in real time round the clock, and pass through the ground
The ground environment image/video data collected is sent to the monitoring center unit by wireless communication transmissions and control unit；
The unmanned plane vacant lot prevention and control system includes one or more unmanned planes, and each unmanned plane is gathered equipped with space base image/video
Equipment and space base transmission and control unit, the space base image/video collecting device make a reservation for for gathering the unmanned plane in real time
In the range of space base image/video data, and transmitted by the space base and control unit by the space base ambient image collected/
Video data is sent to the monitoring center unit.
Further, the ground maneuver radar reconnaissance car system is as manoeuvring reconnaissance base station unit, for bicycle or more
Vehicle networking cooperation.
Further, each ground reconnaissance vehicle in the ground maneuver radar reconnaissance car system is equipped with the first positioning mould
Block and the first radio receiving transmitting module, wherein, first locating module is used to obtain the current location of corresponding ground scout vehicle,
The current location of the ground reconnaissance vehicle is sent to the monitoring center in real time by first radio receiving transmitting module
Unit；Each unmanned plane in the unmanned plane vacant lot prevention and control system is equipped with the second locating module and the second radio receiving transmitting module,
Wherein, second locating module is used to obtain the current location of corresponding unmanned plane, to pass through second radio receiving transmitting module
The current location of the unmanned plane is sent to the monitoring center unit in real time；The monitoring center unit is equipped with interactive interface
Module and reconnaissane tool screening module；The interactive interface module instructs for receiving from extraneous scouting；The scouting work
Tool screening module is used for after the interactive interface module receives the scouting instruction, is detectd according to one or more of ground
The current location of vehicle and/or one or more of unmanned planes is examined, in one or more of ground reconnaissance vehicles and/or institute
Among stating one or more unmanned planes, at least one ground reconnaissance vehicle and/or at least one unmanned plane are selected, and to this at least
One ground reconnaissance vehicle and/or at least one unmanned plane send warning information, wherein, the warning information includes the movement
The azimuth information of target.
Further, each ground reconnaissance vehicle is additionally provided with the first navigation module, and each unmanned plane is additionally provided with the second navigation
Module；In at least one ground reconnaissance vehicle for receiving the warning information, the first navigation of each ground reconnaissance vehicle
Module is used to navigate as destination using the azimuth information of the moving target；Receiving at least the one of the warning information
In a unmanned plane, the second navigation module of each unmanned plane is used to be led as destination using the azimuth information of the moving target
Boat.
Further, the warning information further includes the monitoring center unit and is received from the long-range local monitoring unit
The image/video data arrived.
Further, each ground reconnaissance vehicle in the ground maneuver radar reconnaissance car system is additionally provided with the first voice
Communication module, each unmanned plane in the unmanned plane vacant lot prevention and control system are additionally provided with the second speech communication module, the monitoring
Center cell is additionally provided with the 3rd speech communication module；Each ground scout vehicle in the ground maneuver radar reconnaissance car system
First speech communication module, the second speech communication module of each unmanned plane in the unmanned plane vacant lot prevention and control system and described
Speech communication can be carried out between 3rd speech communication module of monitoring center unit.
Further, the preset frequency completed once 360 ° of scanning for every 1 or 2 second；And/or the long-range part
Monitoring unit the image collected/video data is high-definition image/video.
Further, the monitoring center unit further includes memory module, be used to storing the monitoring center unit from
The image/video data that receives of monitoring tower and empty from the ground maneuver radar reconnaissance car system and the unmanned plane
The ground environment image/video data and space base ambient image/video data that ground prevention and control system is respectively received.
Further, the monitoring center unit is additionally provided with alarm module, and the alarm module is used to detect movement
Audio alarming signal and/or image alarm signal are exported in the case of target.
Enterprise as described above alert links air-ground integrated maneuvering platform, by sweeping imaging unit the first infrared week according to the
One preset frequency is scanned with the first preset search radius to carrying out 360 ° around the shaft tower, to obtain corresponding infrared panorama
Image；Imaging unit is swept in the described first infrared week by the first moving object detection unit, and to scan acquisition every time corresponding infrared complete
After scape image, judge to whether there is in the infrared panorama image using a upper infrared panorama image for the infrared panorama image
Moving target, and in the infrared panorama image there are moving target in the case of determine the moving target azimuth information；It is logical
Believe in the orientation for crossing the moving target that long-range topography/video acquisition unit is detected according to the moving object detection unit
Breath determines acquisition direction to gather corresponding image/video data with the azimuth information；By transmitting element with wired or wireless
Mode sends the long-range local monitoring unit the image collected/video data to monitoring center unit；It is red by second
It sweeps imaging unit and the ground reconnaissance vehicle periphery is carried out according to the second preset frequency, with the second preset search radius in periphery
360 ° of scannings, to obtain corresponding infrared panorama image；It is swept by the second moving object detection unit in the described second infrared week
After imaging unit scans the corresponding infrared panorama image of acquisition every time, a upper infrared panorama image for the infrared panorama image is utilized
Judge in the infrared panorama image with the presence or absence of moving target, and there is a situation where moving target in the infrared panorama image
The azimuth information of the moving target is determined down；The ground reconnaissance is gathered by photo electric video frequency monitoring equipment round the clock in real time round the clock
The ground environment image/video data in vehicle operation place, and transmitted by the terrestrial wireless communication and control unit will adopt
The ground environment image/video data collected is sent to the monitoring center unit；It is real by space base image/video collecting device
When gather space base image/video data in the unmanned plane preset range, and transmitted by the space base and control unit will adopt
Space base ambient image/the video data collected is sent to the monitoring center unit.
The alert enterprise of the present invention links air-ground integrated maneuvering platform, with reference to fight against terrorism and violence, the current demand of public security prevention and control, with
Upgrading technical precaution is means, and on the basis of original Control Technology, commander's control system is scouted with wide area, oil field infrared panorama imaging radar
System, unmanned plane vacant lot prevention and control system and ground maneuver radar reconnaissance car system look forward to the air-ground integrated commander that links for the alert of core
Platform has filled up existing safety defense monitoring system, to wide area ground and low flyer, early warning, positioning, identification, the blank of tracking,
It realizes the fast and effective disposal to event, accident, case, improves oil gas field risk prevention system and municipal public safety management and control ability.
The present invention can be used for petroleum and petrochemical industry and the public security prevention and control of urban public security key unit, the terror of anti-terrorism highest priority unit to prevent
The fields such as model, public security organ's unmanned plane control have practicability, advance and promote replicability.
Alert enterprise links, and air-ground integrated maneuvering platform includes wide area, oil field infrared panorama imaging radar scouts commander's control system
System, ground maneuver radar reconnaissance car system and unmanned plane vacant lot prevention and control system, cental system is wide area, oil field infrared panorama is imaged
Radar-reconnaissance command and control system is got up the three above system integration by hardware and software, using TCP/IP procotols,
It controls it and interlinked command, the man-machine effective combination of realization is truly realized field deployment scheme, quickly transfers police strength, sternly
Strict strike threatens molecule, collaboration unmanned plane to be arrested and broken through.
The air-ground integrated maneuvering platform of alert enterprise's linkage, efficiently solves the security protection problem of Petroleum ＆ Petrochemical Enterprises, explores
One is not only suitble to peacetime enterprises public security prevention and control, but also can take precautions against terrorist violence attack, and adapts to sudden and violent under emergency rating
The power attack of terrorism and the Wartime Requirements of burst security incident, have the following advantages：
1st, early warning system function.It is detected by radar, video monitoring, GPS track equipment and the equipment such as alarm, collection mesh
Information is marked, realizes real-time early warning during illegal infringement.
2nd, cental system function.Information is collected, information is studied and judged, dispatch control.
3rd, it is mobile to scout command system function, i.e., realize that mobile target (is transported by ground maneuver radar reconnaissance car system
Moving-target) tracking scout, collect the real time information of target
4th, cluster communication system function.With the communication system in LAN, the information interchange of point-to-point is realized, visually
Change, flattening commander.
5th, emergency disposal system function.It is made of the people's police of public security organ, enterprises guardian of the peace etc.
Emergency disposal strength according to the instruction of command centre, reaches scene, implements the prevention to illegal act and oil field object at the first time
The control of money.
6th, enemy's unmanned plane counter function.The highest priorities such as illegal invasion petroleum and petrochemical industry plant area, low latitude, important area, again
Big activity prevention and control region unmanned plane intrusion breaks through it by platform boot our unmanned plane or direct using other means
It smashes, ensures the low latitude management and control initiative of the quick-fried aspects of She Kong Wataru.
In addition, the alert enterprise of the present invention links, air-ground integrated maneuvering platform has the following advantages that：1) wide scope monitoring is searched
Suo Faxian.It is scanned by Infra-red Imaging Radar quick-speed large-scale, discovery that can be accurately and timely trespasses the people of monitoring area, vehicle
Wait mobile target.And the intelligent parameter such as time and alarm rail can be flexibly set, distinguish legal and forcible entry behavior.
2) long-range high-resolution identification target.Infra-red Imaging Radar can accurately guide long-range photo electric video frequency monitoring round the clock, realize to alert and
Target carries out high-resolution imaging identification and (is such as scouted in wide area, oil field infrared panorama imaging radar in command and control system, first is red
It sweeps imaging unit and guides long-range local image/video collecting unit progress local high by the first moving object detection unit in periphery
Clear imaging；And in ground maneuver radar reconnaissance car system, the guiding of infrared panorama imaging early warning radar round the clock supervise by photoelectric video
Control equipment and carry out local high definition imaging), it can magnanimity acquisition, record and playback video forensic data.3) alert disposal traffic guidance
Function.Configurable vehicle and single-soldier outdoor self-organized network communication equipment possess the Big Dipper/GPS satellite positioning, speech, photo, image biography
The communication capacities such as defeated can command outfield policeman's law enforcement in real time at center.4) production management intelligent patrol detection.System can take into account day
Normal production operation management, supervision and strick precaution violation operation, improve production safety management ability.5) multiple cascading networks large size monitoring system
Information sharing.System supports multistage trans-regional information transmission, can meet the information sharing need of large-scale multiple management law enforcement tissue
It asks.
The present invention can utilize on a small quantity can large-range monitoring ability equipment, integrate various computers and software processing skill
Art realizes the remote intelligent monitoring of wide area spaciousness region, reduces the construction difficulty of this wide area monitoring system, and can be effective
The security for reaching wide area takes precautions against requirement so that above-mentioned technology of the invention has that monitoring range is big, automatic accurate discovery
The advantages that alert, construction speed are fast, working service facilitates.
The present invention has the characteristics that discovery, and target is fast, angle measurement accuracy it is high and low fail to report, low wrong report.
Mobile target is searched for by infrared scan long-range photoelectricity to be guided to identify this pattern of target (i.e. in wide area, oil
Field infrared panorama imaging radar is scouted in command and control system, and by sweeping imaging unit the first infrared week, the first moving target is examined
It surveys unit and carries out moving-target search long-range local image/video collecting unit to be guided to carry out local high definition imaging；On ground
In mobile radar scout car system, early warning radar progress moving-target search is imaged by infrared panorama to guide daytime night-television
Frequency monitoring device carries out local high definition imaging), the region model of 3 to 5 kilometers of radius of circumference can be covered by a monitoring point
It encloses；And using the prior art, then it needs in so 100 to 300 facilities and equipments (traditional monitoring device) of a wide range of interior setting.Cause
This, 1 to 300 quantity efficiently solves ground wide area search and long-range identification moving-target than bringing the highly simplified of system
The problem of, there is innovation advantage.
By the way that below in conjunction with detailed description of the attached drawing to highly preferred embodiment of the present invention, these and other of the invention is excellent
Point will be apparent from.
Description of the drawings
The present invention can be by reference to being better understood, wherein in institute below in association with the description given by attached drawing
Have and the same or similar reference numeral has been used in attached drawing to represent same or similar component.The attached drawing is together with following
It is described in detail and includes in the present specification and formed the part of this specification together, and for this is further illustrated
The preferred embodiment and explanation the principle of the present invention and advantage of invention.In the accompanying drawings：
Fig. 1 is an exemplary schematic diagram for showing the air-ground integrated maneuvering platform of alert enterprise's linkage of the present invention；
Fig. 2 is a kind of schematic diagram for showing the ground reconnaissance vehicle of the present invention.
It will be appreciated by those skilled in the art that element in attached drawing is just for the sake of showing for the sake of simple and clear,
And be not necessarily drawn to scale.For example, the size of some elements may be exaggerated compared with other elements in attached drawing, with
Just the understanding to the embodiment of the present invention is helped to improve.
Specific embodiment
The exemplary embodiment of the present invention is described hereinafter in connection with attached drawing.For clarity and conciseness,
All features of actual implementation mode are not described in the description.It should be understood, however, that developing any this actual implementation
It must be made during example much specific to the decision of embodiment, to realize the objectives of developer, for example, symbol
Conjunction and system and those relevant restrictive conditions of business, and these restrictive conditions may have with the difference of embodiment
Changed.In addition, it will also be appreciated that although development is likely to be extremely complex and time-consuming, to having benefited from the disclosure
For those skilled in the art of content, this development is only routine task.
Herein, it is also necessary to which explanation is a bit, in order to avoid because having obscured the present invention during unnecessary details, in the accompanying drawings
The apparatus structure closely related with scheme according to the present invention and/or processing step are illustrate only, and is omitted and the present invention
The little other details of relation.
The embodiment provides a kind of air-ground integrated maneuvering platforms of alert enterprise's linkage.Alert enterprise's linkage vacant lot one
Body maneuvering platform includes wide area, oil field infrared panorama imaging radar scouts command and control system, ground maneuver radar reconnaissance car
System and unmanned plane vacant lot prevention and control system；The wide area, oil field infrared panorama imaging radar, which scout command and control system, to be included setting
In one or more monitoring towers of monitoring place presumptive area and arranged on the indoor monitoring center unit of monitoring, wherein, each
Monitoring tower include sweeping in the first infrared week imaging unit, the first moving object detection list, long-range part image/video collecting unit and
Transmitting element；Sweep in the first infrared week imaging unit for according to the first preset frequency, with the first preset search radius to institute
It states and 360 ° of scannings is carried out around shaft tower, to obtain corresponding infrared panorama image；The first moving object detection unit is used for
It is swept in the described first infrared week after imaging unit scans the corresponding infrared panorama image of acquisition every time, utilizes the infrared panorama image
A upper infrared panorama image judged in the infrared panorama image with the presence or absence of moving target, and in the infrared panorama image
The azimuth information of the moving target is determined in the case of there are moving target；The long-range local image/video collecting unit is used
In the azimuth information of the moving target detected according to the moving object detection unit, acquisition direction is determined with the azimuth information
To gather corresponding image/video data；The transmitting element is used to supervise the long-range part by wired or wireless way
Control unit the image collected/video data is sent to monitoring center unit；The ground maneuver radar reconnaissance car system includes
One or more ground reconnaissance vehicles, each ground reconnaissance vehicle include a complete police off-road vehicle chassis of landform, the chassis
Carry liftable infrared panorama imaging early warning radar, photo electric video frequency monitoring equipment, wireless communication transmissions and control are single round the clock
Element device；The infrared panorama is imaged early warning radar including sweeping imaging unit and the second moving object detection list in the second infrared week
Member；Sweep in the second infrared week imaging unit for according to the second preset frequency, with the second preset search radius to the ground
360 ° of scannings are carried out around scout vehicle, to obtain corresponding infrared panorama image；The second moving object detection unit is used
After imaging unit is swept in the described second infrared week and scans the corresponding infrared panorama image of acquisition every time, the infrared panorama image is utilized
A upper infrared panorama image judge in the infrared panorama image with the presence or absence of moving target, and in the infrared panorama image
It is middle there are moving target in the case of determine the moving target azimuth information；The equipment of photo electric video frequency monitoring round the clock is used for daytime
Night gathers the ground environment image/video data in the ground reconnaissance vehicle operation place in real time, and passes through the terrestrial wireless and lead to
The ground environment image/video data collected is sent to the monitoring center unit by letter transmission and control unit；The nothing
Man-machine vacant lot prevention and control system includes one or more unmanned planes, each unmanned plane be equipped with space base image/video collecting device with
And space base transmission and control unit, the space base image/video collecting device are used to gather in real time in the unmanned plane preset range
Space base image/video data, and transmitted by the space base and control unit is by the space base collected ambient image/video counts
According to being sent to the monitoring center unit.
Fig. 1 shows an exemplary structure composition block diagram of the air-ground integrated maneuvering platform of alert enterprise's linkage of the present invention.
As shown in Figure 1, alert enterprise links, air-ground integrated maneuvering platform includes wide area, oil field infrared panorama imaging radar scouts commander's control
System 1, ground maneuver radar reconnaissance car system 2 and unmanned plane vacant lot prevention and control system 3.
Wide area, oil field infrared panorama imaging radar, which scout command and control system 1, to be included being arranged on monitoring place presumptive area
One or more monitors tower 11 and arranged on the indoor monitoring center unit 12 of monitoring, wherein, each tower 11 that monitors includes first
Sweep in infrared week imaging unit 11-1, the first moving object detection unit 11-2, long-range part image/video collecting unit 11-3 and
Transmitting element 11-4.
Swept in first infrared week imaging unit 11-1 for according to the first preset frequency, with the first preset search radius to shaft tower
Surrounding carries out 360 ° of scannings, to obtain corresponding infrared panorama image.Wherein, the first preset frequency, the first preset search radius
It can rule of thumb set or set according to actual needs.First preset frequency be, for example, every 1 or 2 second complete one time 360 ° sweep
It retouches.
First moving object detection unit 11-2 scans acquisition pair every time for sweeping imaging unit 11-1 in the first infrared week
After answering infrared panorama image, judged using a upper infrared panorama image for the infrared panorama image in the infrared panorama image
With the presence or absence of moving target, and in the infrared panorama image there are moving target in the case of determine the moving target orientation
Information.
Long-range part image/video collecting unit 11-3 is used for the movement detected according to moving object detection unit 11-2
The azimuth information of target determines acquisition direction to gather corresponding image/video data with the azimuth information.Long-range local monitoring
Unit 11-3 the image collected/video data is, for example, high-definition image/video.
Transmitting element 11-4 is used for will long-range local monitoring unit the image collected/video by wired or wireless way
Data sending is to monitoring center unit.
Ground maneuver radar reconnaissance car system 2 includes one or more ground reconnaissance vehicles, each ground reconnaissance vehicle bag
Include a complete police off-road vehicle chassis of landform, which carries liftable infrared panorama imaging early warning radar 21, round the clock
Photo electric video frequency monitoring equipment 22, wireless communication transmissions and control unit equipment 23.
Infrared panorama is imaged early warning radar 21 including sweeping imaging unit 21-1 and the second moving object detection in the second infrared week
Unit 21-2；Swept in second infrared week imaging unit 21-1 for according to the second preset frequency, with the second preset search radius over the ground
360 ° of scannings are carried out around the scout vehicle of face, to obtain corresponding infrared panorama image；Second moving object detection unit 21-2
For being swept in the second infrared week after imaging unit 21-1 scans the corresponding infrared panorama image of acquisition every time, the infrared panorama figure is utilized
A upper infrared panorama image for picture judged in the infrared panorama image with the presence or absence of moving target, and in the infrared panorama figure
As in there are moving target in the case of determine the moving target azimuth information.Wherein, the second preset frequency and second is preset
Search radius can rule of thumb set or can set according to actual needs.Second preset frequency is, for example, every 1 or 2 second
Complete 360 ° of scannings.
Photo electric video frequency monitoring equipment 22 is used to gather the ground face ring in the ground reconnaissance vehicle operation place in real time round the clock round the clock
Border image/video data, and the ground environment image/video that will be collected by terrestrial wireless communication transmission and control unit 23
Data sending is to monitoring center unit 12.
Unmanned plane vacant lot prevention and control system 3 includes one or more unmanned planes, and each unmanned plane is equipped with space base image/video
Collecting device 3-1 and space base transmission and control unit 3-2, space base image/video collecting device 3-1 are used to gather the nothing in real time
Space base image/video data in man-machine preset range, and the space base ring that will be collected by space base transmission and control unit 3-2
Border image/video data is sent to monitoring center unit 12.
Ground maneuver radar reconnaissance car system 2 is used as manoeuvring reconnaissance base station unit, is cooperateed with available for bicycle or more vehicle networkings
It fights.
According to a realization method, each ground reconnaissance vehicle in ground maneuver radar reconnaissance car system 2 is equipped with first
Locating module and the first radio receiving transmitting module, wherein, the first locating module is used to obtain the present bit of corresponding ground scout vehicle
It puts, the current location of the ground reconnaissance vehicle is sent to monitoring center unit in real time by the first radio receiving transmitting module.
Each unmanned plane in unmanned plane vacant lot prevention and control system 3 is equipped with the second locating module and the second radio receiving transmitting module, wherein, second
Locating module is used to obtain the current location of corresponding unmanned plane, with by the second radio receiving transmitting module in real time by the unmanned plane
Current location is sent to monitoring center unit.Monitoring center unit 12 is equipped with interactive interface module and reconnaissane tool screening module；
Interactive interface module instructs for receiving from extraneous scouting；Reconnaissane tool screening module is used to receive in interactive interface module
To after scouting instruction, according to the current location of one or more ground reconnaissance vehicles and/or one or more unmanned planes, at one
Or among multiple ground reconnaissance vehicles and/or one or more unmanned plane, at least one ground reconnaissance vehicle and/or at least is selected
One unmanned plane, and warning information is sent at least one ground reconnaissance vehicle and/or at least one unmanned plane, wherein, it is alert
Breath of notifying includes the azimuth information of moving target.
According to another realization method, each ground reconnaissance vehicle is additionally provided with the first navigation module, and each unmanned plane is also set
There is the second navigation module.In at least one ground reconnaissance vehicle for receiving warning information, the of each ground reconnaissance vehicle
One navigation module is used to navigate as destination using the azimuth information of moving target.Receiving at least one of warning information
In unmanned plane, the second navigation module of each unmanned plane is used to navigate as destination using the azimuth information of moving target.
In addition, warning information can also include the figure that monitoring center unit 12 is received from long-range part monitoring unit 11-3
Picture/video data.
According to a realization method, each ground reconnaissance vehicle in ground maneuver radar reconnaissance car system is additionally provided with first
Speech communication module, each unmanned plane in unmanned plane vacant lot prevention and control system 3 are additionally provided with the second speech communication module, monitoring center
Unit is additionally provided with the 3rd speech communication module；First voice of each ground scout vehicle in ground maneuver radar reconnaissance car system
Communication module, the second speech communication module of each unmanned plane in unmanned plane vacant lot prevention and control system 3 and monitoring center unit
Speech communication can be carried out between 3rd speech communication module.
In addition, monitoring center unit 12 can also include memory module, it is used to store monitoring center unit 12 from monitoring
The image/video data and divide from ground maneuver radar reconnaissance car system 2 and unmanned plane vacant lot prevention and control system 3 that tower 11 receives
Ground environment image/video data and the space base ambient image/video data not received.
Monitoring center unit 12 is also provided with alarm module, and alarm module is used in the case where detecting moving target
Export audio alarming signal and/or image alarm signal.
In addition, the embodiment of the present invention additionally provides a kind of air-ground integrated command methods of alert enterprise's linkage, this method is based on
Alert enterprise as described above links air-ground integrated maneuvering platform to realize, this method includes：
By swept in the first infrared week imaging unit 11-1 according to the first preset frequency, with the first preset search radius to shaft tower
Surrounding carries out 360 ° of scannings, to obtain corresponding infrared panorama image；By the first moving object detection unit 11-2 first
It sweeps in infrared week after imaging unit 11-1 scans the corresponding infrared panorama image of acquisition every time, utilizes upper one of the infrared panorama image
Infrared panorama image is judged in the infrared panorama image with the presence or absence of moving target, and there is fortune in the infrared panorama image
The azimuth information of the moving target is determined in the case of moving-target；By long-range part image/video collecting unit 11-3 according to
The azimuth information for the moving target that moving object detection unit 11-2 is detected determines acquisition direction to gather with the azimuth information
Corresponding image/video data；Long-range part monitoring unit 11-3 is adopted in a wired or wireless fashion by transmitting element 11-4
The image/video data collected is sent to monitoring center unit 12；Imaging unit 21-1 is swept according to second by the second infrared week
Preset frequency is scanned with the second preset search radius to carrying out 360 ° around the scout vehicle of ground, corresponding infrared complete to obtain
Scape image；It imaging unit 21-1 in the second infrared week is swept by the second moving object detection unit 21-2 scans every time and corresponded to
After infrared panorama image, judge to be in the infrared panorama image using a upper infrared panorama image for the infrared panorama image
It is no there are moving target, and in the infrared panorama image there are moving target in the case of determine the moving target orientation letter
Breath；Gathered the ground environment in the ground reconnaissance vehicle operation place in real time round the clock by photo electric video frequency monitoring equipment 22 round the clock
Image/video data, and the ground environment image/video number that will be collected by terrestrial wireless communication transmission and control unit 23
According to being sent to monitoring center unit 12；It is gathered in real time in the unmanned plane preset range by space base image/video collecting device 3-1
Space base image/video data, and by space base transmission and control unit 3-2 by the space base collected ambient image/video counts
According to being sent to monitoring center unit 12.
Preferred embodiment
Wide area, oil field infrared panorama imaging radar are scouted command and control system and are swept by Infra-red Imaging Radar quick-speed large-scale
It retouches, 360 ° of each second of quick scanning, 3000-5000 meters of search radius.It realizes and accurately and real-time finds aerial, ground on a large scale
Illegal invasion, targets such as personnel, vehicle including ground and the unmanned plane that trespasses monitoring area, and when can flexibly set
Between and the intelligent parameter such as security area, distinguish legal and forcible entry behavior.
System data alarm linkage accuse platform software data are merged, intellectual analysis and automatic parsing, infrared
Real-time and precise display target on radar panoramic picture and the Two-dimensional electron map or electronic three-dimensional map of generalized information system, while from
The dynamic double spectrum early warning imaging tracking instrument of linkage ARD High Precision Long-distances, it is quick to guide tracker to target identification, positioning, tracking.
Wide area, oil field infrared panorama imaging radar scout command and control system and exceed radar to suspicious object people, vehicle etc.
Management and control scope, wide area, oil field infrared panorama imaging radar scout command and control system and unmanned plane vacant lot prevention and control system into line number
According to fusion treatment, monitoring center staffing unmanned plane searches for suspicious object in real time, quick to find that target conceals place, precisely
Positioning, guiding people's police, oil field guard's crime suspect.
Systems scan trespasses warning region, automatic locking tracking target, guiding ground moving, fixed to unmanned plane
Equipment and aerial counter dedicated unmanned machine are broken through, while implements the site disposal of " air-ground " combination.
System configuration anti-terrorism command car and individual soldier's local communication equipment, possess big-dipper satellite positioning, speech, photo, image
The communication capacities such as transmission can command unmanned plane counter action in real time in platform.
Air-ground joint counter unmanned plane, using ground moving, fixed counter with breaking through the scheme being combined in the air, ground is anti-
(i.e. fixed wide area, oil field infrared panorama imaging radar scout command and control system 1 and mobile ground maneuver radar to system processed
Scout car system 2) and counter system (i.e. unmanned plane vacant lot prevention and control system 3) surrounds prevention and control target carry out portion from all directions in the air
Administration, aerial counter system possess the flight performance for quickly taking off, quickly reaching.
Ground counter system detection range is remote but interception radius is relatively small, can more early be found illegally using ground system
The aerial target of intrusion, guiding unmanned plane are carried out continuing tracking and intercepted；When illegal invasion target is blocked close to ground counter system
When cutting radius, unmanned plane intercepts failure, is transferred to ground interdiction, is directly destroyed by ground counter system.
Wide area, oil field infrared panorama imaging radar scout command and control system using infrared scan, panoramic imagery, photoelectricity connection
Infrared radar is searched for and finds that early warning is known with Video Remote imaging by the technologies such as dynamic, data fusion and wireless ad hoc communication
Do not combine together, breach existing for existing safety defense monitoring system wide area search find, accurately identify, the technologies such as real-time tracking
Problem, realize round-the-clock, it is round-the-clock, comprehensive, accurately and reliably, search, tracking one security protection requirement；Automatic early-warning, reality
When dispose, surmount the solid for disposing of scheme, realizing anti-unmanned plane that existing security protection manufacturer only provides anti-unmanned plane equipment
Chemoprevention control system.
It scouts command car and is equipped with the equipments such as mobile command platform, night vision apparatus, non-lethal equipment, publicity equipment, it is real
Now alarm system is effectively supplemented, realizes that the mobile tracking for setting card and mobile target is scouted, collects the real time information of target, transfer
It is studied and judged to information, command scheduling center.By radar scanning, the application of battle command vehicle,
Individual soldier type wireless image transfer device (hereinafter referred to as individual soldier's equipment) can be used cooperatively with hand-held DV, aerial
Individual soldier's equipment can be used cooperatively with high-definition camera equipment, had transmission range farther out, can be covered the scope of 1km~5km.
Individual soldier's equipment collects the image of the site of the accident, passes on command car, is received using multipath receiver, can be with
It is shown and is handled on command car, to grasp the image information at more scenes.The receiver on command car also may be used simultaneously
Acted and commanded accordingly the acquisition of aerial individual soldier's equipment to believe with the personnel for by voice front individual soldier's equipment being commanded to bear
Breath.
Prevention and control system in unmanned plane vacant lot is following several schemes with ground counter system globe area：
Scheme one：Key area pipeline inspection
In defendance group configuration unmanned plane, earth station's monitoring platform can be placed in monitoring center, also can vehicle-mounted motor driven
It uses, performance requirement such as following table：Field pipelines inspection function
For system to suspicious object beyond radar management and control scope, system accuses that platform carries out Data Fusion with unmanned plane,
Monitoring center staffing unmanned plane searches for suspicious object in real time, it is found that target conceals place, guiding people's police, oil field defendance people
Member's crime suspect.
Scheme two：Prevention and control system in unmanned plane vacant lot breaks through system globe area with ground, realizes unmanned plane counter
Prevention and control system in unmanned plane vacant lot includes early warning and disposes five key technologies of two links.
Surrounding target per-unit system sets " inside and outside " three layers of defence area, is respectively target area, disposal area, security area.It is interior
The target area of layer forbids illegal unmanned plane to enter；The disposal area in middle level, the scope that 500-1000 meters of distance objective area, all entrance
The illegal unmanned plane of disposal area selects interception mode according to emergency disposal prediction scheme, smashes or trap unmanned plane；The warning of outer layer
Area, apart from security area 500-1000 meters of scope, once illegal unmanned plane, into the security area, ground counter system is (as monitored
Center cell) sound-light alarm information is sent, system sends the signals such as acousto-optic and implements warning and expel.
By technical guarantee, logistics support, institutional guarantee, the complete function of other three Major Systems is realized, it is ensured that whole
The performance of body efficiency gives full play to the oil fields such as precaution by persons, equipment and techniques defendance actual combat advantage, organic knot of precaution by persons, equipment and techniques
Conjunction makes that platform is more intelligent, information-based, integrated, networking.
Although describing the present invention according to the embodiment of limited quantity, above description, the art are benefited from
It is interior it is clear for the skilled person that in the scope of the present invention thus described, it can be envisaged that other embodiments.Additionally, it should be noted that
The language that is used in this specification primarily to readable and introduction purpose and select rather than in order to explain or limit
Determine subject of the present invention and select.Therefore, in the case of without departing from the scope and spirit of the appended claims, for this
Many modifications and changes will be apparent from for the those of ordinary skill of technical field.For the scope of the present invention, to this
The done disclosure of invention is illustrative and not restrictive, and it is intended that the scope of the present invention be defined by the claims appended hereto.
Claims (7)
- The air-ground integrated maneuvering platform 1. police enterprise links, which is characterized in that the police looks forward to the air-ground integrated maneuvering platform bag that links Include wide area, oil field infrared panorama imaging radar scouts command and control system (1), ground maneuver radar reconnaissance car system (2) and nothing Man-machine vacant lot prevention and control system (3)；The wide area, oil field infrared panorama imaging radar, which scout command and control system (1), to be included making a reservation for arranged on oilfield supervisory place The one or more of region monitor towers (11) and arranged on the indoor monitoring center unit (12) of monitoring, wherein, each monitor tower (11) including sweeping imaging unit (11-1), the first moving object detection unit (11-2), long-range topography/regard the first infrared week Frequency collecting unit (11-3) and transmitting element (11-4)；Sweep in the first infrared week imaging unit (11-1) for according to the first preset frequency, with the first preset search radius to institute It states and 360 ° of scannings is carried out around shaft tower, to obtain corresponding infrared panorama image；First preset frequency is complete for every 1 or 2 second Into 360 ° of scannings；The first moving object detection unit (11-2) is swept every time for sweeping imaging unit (11-1) in the described first infrared week After retouching the corresponding infrared panorama image of acquisition, judge that this is infrared complete using a upper infrared panorama image for the infrared panorama image With the presence or absence of moving target in scape image, and in the infrared panorama image there are moving target in the case of determine the movement mesh Target azimuth information；The long-range local image/video collecting unit (11-3) is used to be detected according to the moving object detection unit (11-2) The azimuth information of the moving target arrived determines acquisition direction to gather corresponding image/video data, wide with the azimuth information Domain, oil field infrared panorama imaging radar are scouted in command and control system (1), by swept in the first infrared week imaging unit (11-1), First moving object detection unit (11-2) carries out moving-target search to guide long-range local image/video collecting unit (11- 3) local high definition imaging is carried out so that described long-range local image/video collecting unit (11-3) the image collected/video counts According to for high-definition image/video；The transmitting element (11-4) is used for the long-range part image/video collecting unit through wired or wireless way (11-3) the image collected/video data is sent to monitoring center unit；The ground maneuver radar reconnaissance car system (2) includes one or more ground reconnaissance vehicles, each ground reconnaissance vehicle Including a complete police off-road vehicle chassis of landform, the chassis carry liftable infrared panorama imaging early warning radar (21), Photo electric video frequency monitoring equipment (22), wireless communication transmissions and control unit equipment (23) round the clock；The infrared panorama imaging early warning radar (21) is including sweeping imaging unit (21-1) and the second moving target in the second infrared week Detection unit (21-2)；Imaging unit (21-1) is swept the second infrared week for being preset according to the second preset frequency, with second Search radius carries out the ground reconnaissance vehicle periphery 360 ° of scannings, to obtain corresponding infrared panorama image；Described second Scanning acquisition correspondence is red every time for sweeping imaging unit (21-1) in the described second infrared week for moving object detection unit (21-2) After outer panoramic picture, using a upper infrared panorama image for the infrared panorama image come judge in the infrared panorama image whether There are moving target, and in the infrared panorama image there are moving target in the case of determine the moving target orientation letter Breath；The infrared panorama imaging early warning radar (21) is adapted for moving-target search to guide the photo electric video frequency monitoring round the clock Equipment (22) carries out local high definition imaging；The equipment of photo electric video frequency monitoring round the clock (22) is used to gather the ground in the ground reconnaissance vehicle operation place in real time round the clock Ambient image/video data, and transmitted by the terrestrial wireless communication and ground environment that control unit (23) will collect Image/video data is sent to the monitoring center unit (12)；The unmanned plane vacant lot prevention and control system (3) includes one or more unmanned planes, and each unmanned plane is equipped with space base image/regard Frequency collecting device (3-1) and space base transmission and control unit (3-2), the space base image/video collecting device (3-1) are used for The space base image/video data in the unmanned plane preset range is gathered in real time, and is transmitted by the space base and control unit (3- 2) space base collected ambient image/video data is sent to the monitoring center unit (12)；The monitoring center unit (12) further includes memory module, is used to store the monitoring center unit (12) from the prison Control tower (11) image/video data that receives and from the ground maneuver radar reconnaissance car system (2) and the unmanned plane The ground environment image/video data and space base ambient image/video data that vacant lot prevention and control system (3) is respectively received.
- The air-ground integrated maneuvering platform 2. alert enterprise according to claim 1 links, which is characterized in that the ground maneuver thunder Up to scout car system (2) as manoeuvring reconnaissance base station unit, for bicycle or more vehicle networking cooperations.
- The air-ground integrated maneuvering platform 3. alert enterprise according to claim 1 links, which is characterized in thatEach ground reconnaissance vehicle in the ground maneuver radar reconnaissance car system (2) is equipped with the first locating module and the first nothing Line transceiver module, wherein, first locating module is used to obtain the current location of corresponding ground scout vehicle, with by described The current location of the ground reconnaissance vehicle is sent to the monitoring center unit by the first radio receiving transmitting module in real time；Each unmanned plane in the unmanned plane vacant lot prevention and control system (3) is equipped with the second locating module and the second wireless receiving and dispatching mould Block, wherein, second locating module is used to obtain the current location of corresponding unmanned plane, to pass through the second wireless receiving and dispatching mould The current location of the unmanned plane is sent to the monitoring center unit by block in real time；The monitoring center unit (12) is equipped with interactive interface module and reconnaissane tool screening module；The interactive interface module is used It is instructed in receiving from extraneous scouting；The reconnaissane tool screening module is used to receive in the interactive interface module described After scouting instruction, according to the current location of one or more of ground reconnaissance vehicles and/or one or more of unmanned planes, Among one or more of ground reconnaissance vehicles and/or one or more of unmanned planes, at least one ground is selected to detect Vehicle and/or at least one unmanned plane are examined, and police is sent at least one ground reconnaissance vehicle and/or at least one unmanned plane It notifies breath, wherein, the warning information includes the azimuth information of the moving target.
- The air-ground integrated maneuvering platform 4. alert enterprise according to claim 3 links, which is characterized in that each ground reconnaissance vehicle The first navigation module is additionally provided with, each unmanned plane is additionally provided with the second navigation module；In at least one ground reconnaissance vehicle for receiving the warning information, the first navigation mould of each ground reconnaissance vehicle Block is used to navigate as destination using the azimuth information of the moving target；In at least one unmanned plane for receiving the warning information, the second navigation module of each unmanned plane is used for described The azimuth information of moving target is navigated for destination.
- The air-ground integrated maneuvering platform 5. the alert enterprise according to claim 3 or 4 links, which is characterized in that the alarm signal Breath further includes the figure that the monitoring center unit (12) receives from the long-range local image/video collecting unit (11-3) Picture/video data.
- The air-ground integrated maneuvering platform 6. the alert enterprise according to any one of claim 1-5 links, it is characterised in that：Each ground reconnaissance vehicle in the ground maneuver radar reconnaissance car system is additionally provided with the first speech communication module, described Each unmanned plane in unmanned plane vacant lot prevention and control system (3) is additionally provided with the second speech communication module, and the monitoring center unit is also Equipped with the 3rd speech communication module；First voice of each ground scout vehicle in the ground maneuver radar reconnaissance car system leads to It interrogates in module, the second speech communication module of each unmanned plane in the unmanned plane vacant lot prevention and control system (3) and the monitoring Speech communication can be carried out between 3rd speech communication module of heart unit.
- The air-ground integrated maneuvering platform 7. the alert enterprise according to any one of claim 1-5 links, which is characterized in that described Monitoring center unit (12) is additionally provided with alarm module, and the alarm module is used to export sound in the case where detecting moving target Frequency alarm signal and/or image alarm signal.
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| CN107180529A (en) * | 2017-07-14 | 2017-09-19 | 北京途歌科技有限公司 | Based on the predetermined shared automobile reserving method of radar |
| CN107613249A (en) * | 2017-09-13 | 2018-01-19 | 成都谍翼科技有限公司 | Border supervising device, system and method |
| CN107562061B (en) * | 2017-10-18 | 2024-10-18 | 长沙冰眼电子科技有限公司 | Anti-reconnaissance unmanned vehicle |
| CN107585222B (en) * | 2017-10-18 | 2023-07-18 | 长沙冰眼电子科技有限公司 | Unmanned reconnaissance vehicle |
| CN109785670A (en) * | 2017-11-14 | 2019-05-21 | 北京航空航天大学 | A kind of low altitude airspace emergency managing and control system |
| CN109639389B (en) * | 2018-12-06 | 2022-09-06 | 天津中天高科防务技术有限公司 | Vehicle-mounted parallel networking type anti-unmanned aerial vehicle defense system |
| CN110209172A (en) * | 2019-06-27 | 2019-09-06 | 北京机械设备研究所 | A kind of unmanned cluster reconnaissance system and reconnaissance method |
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| CN202795060U (en) * | 2012-07-27 | 2013-03-13 | 常州天鹅科技有限公司 | 3G police unmanned aerial vehicle management and control system |
| CN103607467B (en) * | 2013-11-28 | 2017-01-18 | 东莞中国科学院云计算产业技术创新与育成中心 | Air-land integrated emergency command platform |
| CN105867230B (en) * | 2016-04-15 | 2019-03-29 | 中广华芯科技有限公司 | A kind of low altitude high speed communication scheduling system platform |
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