CN110133747A - A kind of target detection system of radar and optics linkage - Google Patents
A kind of target detection system of radar and optics linkage Download PDFInfo
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- CN110133747A CN110133747A CN201810105299.5A CN201810105299A CN110133747A CN 110133747 A CN110133747 A CN 110133747A CN 201810105299 A CN201810105299 A CN 201810105299A CN 110133747 A CN110133747 A CN 110133747A
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- radar
- optical sensor
- linkage
- optical
- target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
Abstract
The invention discloses the target detection systems of a kind of radar and optics linkage, including radar, optical sensor, controller, the dual-mode antenna of detection radar is arranged inside radome, signal receiving and transmitting system connection signal processing system and dual-mode antenna, optical detector includes optical sensor camera lens, optical device control mouth and optical sensor rotating unit, optical detector is provided with optical sensor camera lens, optical detector is provided with optical device control mouth, optical sensor rotating unit is arranged between optical sensor camera lens and optical device control mouth, controller includes control unit, radar equipment interface and optical sensor interface, the present invention has rational design, it is easy to use, the advantage of radar and optical sensing is combined, the wide area precise position information got according to radar, system can automatically control optical sensor It adjusts attitude tracking target and carries out image capture, improve the reliability, response speed and the degree of automation of system.
Description
Technical field
The present invention and electron detection field, especially protection and monitor field, and in particular to a kind of radar and optics linkage
Target detection system.
Background technique
Common a wide range of moving-target detection will use radar detection and optical detection, the orientation of the available target of radar
Angle and distance, but false alarm or decoy can not be confirmed whether it is.Optical detection can be but daily by manual confirmation target property
When monitoring, since the limited resolution of optical detection can not carry out large-scale search work.The two can only controlled when combining
The target position that center processed is fed back by radar manually manipulates optical device alignment target position, and data are transmitted and artificial
Itself there is delay in operation, target is likely to change its position in this section of delay, and eventually leading to can not continue really
Recognize target appearance, simultaneously as the operation requires manual intervention, the accuracy of operation is limited by the ability of operator itself
System, reliability and real-time to system long-term work can bring detrimental effect.
Summary of the invention
The purpose of the present invention is provide the target detection system of a kind of radar and optics linkage to solve above-mentioned deficiency.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of target detection system of radar and optics linkage, including controller, detection radar and optical detector, equipment
In simultaneously include radar and optical sensor, and increase controller for linkage function, detection radar includes dual-mode antenna, signal
Receive-transmit system, signal processing system and communication interface, dual-mode antenna are arranged inside radome, signal receiving and transmitting system connection
Signal processing system and dual-mode antenna, optical detector include optical sensor camera lens, optical device control mouth and optical sensing
Device rotating unit, optical detector are provided with optical sensor camera lens, and optical detector is provided with optical device control mouth, optics
Sensor rotation unit is arranged between optical sensor camera lens and optical device control mouth, and controller includes control unit, thunder
Up to equipment interface and optical sensor interface.
Controller connects optical sensor by control interface, and controller connects detection radar by communication interface.
Controller can be independent equipment, also can integrate inside radar or optical sensor.
There is antenna required for radar transmit-receive signal inside radome.
Detection radar is connected with radar pitch angle adjustment device.
Optical device control mouth is optical device data port.
Optical detector is one of a variety of detectors, and the relative position of deployment way and each component is to be not fixed
's.
Optical detector is one of a variety of detectors, and investigative range and detection index are unfixed.
Radar is one of many kinds of radar, and the relative position of each component is unfixed.
Radar is one of many kinds of radar, and each component can do for different occasions and decrease or increase accordingly.
Further include a kind of calculation method of controller:
In the controller, all devices and the current position of target are in the same rectangular coordinate system, include x, y, z
The coordinate of three dimensions, to indicate its position being currently located, A, B, C a single point are respectively detection radar, optical sensor, quilt
Target is surveyed, point A coordinate is (x0, y0, z0), and point B coordinate is (x1, y1, z1), and point C coordinate is (x2, y2, z2), in deployment process
In, the coordinate of detection radar and optical sensor can be obtained automatically by manual measurement or equipment, and point A and point B coordinate
Know, when radar detection is to target, parameter needed for linkage controller can obtain optical sensor adjustment by x step:
1) it obtains the coordinate position of measured target: obtaining coordinate shift of the measured target relative to radar from detection radar
Amount remembers offset in x, and tri- dimensions of y, z are respectively Δ x, and offset is superimposed upon in radar own coordinate, can obtain by Δ y, Δ z
To (x2, y2, z2)=(x0+ Δ x, y0+ Δ y, z0+ Δ z), the as coordinate position of measured target；
2) the angle adjustment information of calculating optical sensor: angle adjustment information is the included angle relative to X-axis positive direction,
Angle φ can be calculated by point B and the coordinate of point C, calculation formulaThe range that angle φ is calculated is
0 °~180 °, which can only cover 180 ° of ranges, and optical sensor is in actual work, and maximum can cover 360 ° of ranges, because
This needs further discriminates between: as y2-y1 > 0, the 180 ° of ranges covered by one, two quadrant in xy reference axis, as y2-y1 <
When 0, the 180 ° of ranges covered by three, four-quadrant in xy reference axis finally can get the angle information of 360 ° of coverage areas；Light
It learns sensor to require to be vertically to horizontal plane placement in deployment, therefore does not need that pitching amendment is added, but optics passes in deployment
It 0 ° of direction of sensor not necessarily can be forward and reverse consistent with x-axis, it is therefore desirable to which optical sensor is relative to x-axis when deployed with devices is added
The angle α of positive direction, obtains the angle value (φ+α) being adjusted to needed for optical sensor, which can be used dependent instruction hair
It send to optical sensor, carries out deflection adjustment；
3) the pitch adjustment information of calculating optical sensor: pitch adjustment information is angle theta with respect to the horizontal plane, angle θ
It can be calculated by point B and the coordinate of point C, calculation formulaIt is calculated angle θ's
Range is -90 °~+90 °, is as adjusted to needed for optical sensor, angle with respect to the horizontal plane, due to optical sensor
It requires to be vertically to horizontal plane placement in deployment, therefore dependent instruction can be used to be sent in optical sensor for the numerical value, carry out
Pitch angle adjustment；
4) the Focussing information of calculating optical sensor: Focussing information, that is, optical sensor is relative to measured target
Distance s, distance s can be calculated by point B and the coordinate of point C, calculation formulaIt calculates
Obtained distance range is 0 to radar BURN-THROUGH RANGE, and Focussing parameter has no specific calculation formula with target range,
Can according to the resolution ratio of sensor, the angle of view, the information such as environment of observation range is needed to be comprehensively considered, obtained focal length
Adjustment information dependent instruction can be used to be sent in optical sensor, carry out Focussing；
The calculation method is one of a variety of calculation methods, direction adjustment information that controller is calculated, pitching tune
Whole information, Focussing information may not need to change therein a certain or a few items in actual use, under certain occasions
Parameter, the i.e. parameter are definite value at work, are set in deployment by installation personnel, or in actual use, by safeguarding
Personnel carry out specific adjustment work；At work, all linkage works are automatically performed by linkage controller to detection system
, it calculates work and instruction transmitting-receiving work bring delay is very low, it can be ensured that the real-time of optical sensor control；Meanwhile
Linkage controller can be for the target of each detection radar discovery, and control optical sensor carries out image confirmation, therefore detects
System will not omit any one target, also, detection radar, optical controller, linkage controller may be implemented it is round-the-clock
Non-stop run, it is ensured that the reliability to target acquisition of system.
The present invention has following beneficial effect:
The present invention has rational design, easy to use, and the advantage of radar and optical sensing is combined, is got according to radar
Wide area precise position information, system can automatically control optical sensor adjustment attitude tracking target carry out image capture, improve
Reliability, response speed and the degree of automation of system, can especially greatly improve the efficiency of security work in protection and monitor field.
Detailed description of the invention
Fig. 1 is detection radar and controller forward sight structural schematic diagram of the invention；
Fig. 2 is detection radar and controller backsight structural representation of the invention；
Fig. 3 is detection radar and controller overlooking structure diagram of the invention；
Fig. 4 is the present invention looks up structural representation of optical detector of the invention；
Fig. 5 is the forward sight structural schematic diagram of optical detector of the invention；
Fig. 6 is the side structure schematic view of optical detector of the invention；
Fig. 7 is assembly forward sight structural schematic diagram of the invention；
Fig. 8 is assembly backsight structural representation of the invention；
Fig. 9 is that linkage sensors parameter of the invention calculates schematic diagram.
Specific embodiment
The present invention will be further described below with reference to the drawings:
As shown in figs. 1-9, the target detection system of a kind of radar and optics linkage, including controller, 7 and of detection radar
Optical detector includes radar and optical sensor in equipment, and increases controller for linkage function, detection radar packet simultaneously
Dual-mode antenna, signal receiving and transmitting system, signal processing system 3 and communication interface are included, dual-mode antenna is arranged in radome 1
Portion, radome 1 connect optical device connector 2, signal receiving and transmitting system connection signal processing system 3 and dual-mode antenna, light
Learning detector includes optical sensor camera lens 4, optical device control mouth 5 and optical sensor rotating unit 6, and optical detector is set
It is equipped with optical sensor camera lens 4, optical detector is provided with optical device control mouth 5, and the setting of optical sensor rotating unit exists
Between optical sensor camera lens 6 and optical device control mouth 5, controller includes control unit, and radar equipment interface and optics pass
Sensor interface.
Controller connects optical sensor by control interface, and controller connects detection radar by communication interface.
Controller can be independent equipment, also can integrate inside radar or optical sensor.
There is antenna required for radar transmit-receive signal inside radome.
Detection radar is connected with radar pitch angle adjustment device 8.
Optical device control mouth is optical device data port.
Optical detector is one of a variety of detectors, and the relative position of deployment way and each component is to be not fixed
's.
Optical detector is one of a variety of detectors, and investigative range and detection index are unfixed.
Radar is one of many kinds of radar, and the relative position of each component is unfixed.
Radar is one of many kinds of radar, and each component can do for different occasions and decrease or increase accordingly.
A kind of calculation method of controller:
In the controller, all devices and the current position of target are in the same rectangular coordinate system, include x, y, z
The coordinate of three dimensions, to indicate its position being currently located, A, B, C a single point are respectively detection radar, optical sensor, quilt
Target is surveyed, point A coordinate is (x0, y0, z0), and point B coordinate is (x1, y1, z1), and point C coordinate is (x2, y2, z2), in deployment process
In, the coordinate of detection radar and optical sensor can be obtained automatically by manual measurement or equipment, and point A and point B coordinate
Know.When radar detection is to target, parameter needed for linkage controller can obtain optical sensor adjustment by x step:
1) it obtains the coordinate position of measured target: obtaining coordinate shift of the measured target relative to radar from detection radar
Amount remembers offset in x, and tri- dimensions of y, z are respectively Δ x, and offset is superimposed upon in radar own coordinate, can obtain by Δ y, Δ z
To (x2, y2, z2)=(x0+ Δ x, y0+ Δ y, z0+ Δ z), the as coordinate position of measured target；
2) the angle adjustment information of calculating optical sensor: angle adjustment information is the included angle relative to X-axis positive direction,
Angle φ can be calculated by point B and the coordinate of point C, calculation formulaThe range that angle φ is calculated is
0 °~180 °, which can only cover 180 ° of ranges, and optical sensor is in actual work, and maximum can cover 360 ° of ranges, because
This needs further discriminates between: as y2-y1 > 0, the 180 ° of ranges covered by one, two quadrant in xy reference axis, as y2-y1 <
When 0, the 180 ° of ranges covered by three, four-quadrant in xy reference axis finally can get the angle information of 360 ° of coverage areas.Light
It learns sensor to require to be vertically to horizontal plane placement in deployment, therefore does not need that pitching amendment is added, but optics passes in deployment
It 0 ° of direction of sensor not necessarily can be forward and reverse consistent with x-axis, it is therefore desirable to which optical sensor is relative to x-axis when deployed with devices is added
The angle α of positive direction, obtains the angle value (φ+α) being adjusted to needed for optical sensor, which can be used dependent instruction hair
It send to optical sensor, carries out deflection adjustment；
3) the pitch adjustment information of calculating optical sensor: pitch adjustment information is angle theta with respect to the horizontal plane, angle θ
It can be calculated by point B and the coordinate of point C, calculation formulaIt is calculated angle θ's
Range is -90 °~+90 °, is as adjusted to needed for optical sensor, angle with respect to the horizontal plane, due to optical sensor
It requires to be vertically to horizontal plane placement in deployment, therefore dependent instruction can be used to be sent in optical sensor for the numerical value, carry out
Pitch angle adjustment；
4) the Focussing information of calculating optical sensor: Focussing information, that is, optical sensor is relative to measured target
Distance s, distance s can be calculated by point B and the coordinate of point C, calculation formulaIt calculates
Obtained distance range is 0 to radar BURN-THROUGH RANGE.Focussing parameter and target range have no specific calculation formula,
Can according to the resolution ratio of sensor, the angle of view, the information such as environment of observation range is needed to be comprehensively considered, obtained focal length
Adjustment information dependent instruction can be used to be sent in optical sensor, carry out Focussing.
Direction adjustment information that controller is calculated, pitch adjustment information, Focussing information, in actual use,
It may not need to change therein a certain or a few parameter under certain occasions, i.e. the parameter is definite value at work, in portion
It is set when administration by installation personnel, or in actual use, specific adjustment work is carried out by maintenance personnel；Detection system exists
When work, all linkage works are automatically performed by linkage controller, calculate work and instruction transmitting-receiving work bring is prolonged
When it is very low, it can be ensured that optical sensor control real-time；Meanwhile linkage controller can be found for each detection radar
Target, control optical sensor carries out image confirmation, therefore detection system will not omit any one target, also, detects
Round-the-clock non-stop run may be implemented in radar, optical controller, linkage controller, it is ensured that system to target acquisition can
By property.
On the basis of original detection radar and optical sensor, increase dedicated linkage controller, controller can root
The target position arrived according to radar detection, real-time control optical sensor alignment target position obtain the current image of target
Information is confirmed.Detection radar and optical sensor are linked together using structural member, it is ensured that during operation, the two is mutual
The position of phase be it is fixed or detectable, the adjusting parameter that so just may insure that controller is calculated will not go out
Existing mistake.
Radar can be over the ground radar, air search radar, to extra large radar, can be replaced according to real work occasion, optics
Sensor can be visible image capturing head, infrared camera, or both while use, and be carried out more according to real work occasion
It changes.
The optical image information in the available alignment lens orientation of optical sensor, the image information can be used for confirming at this
Orientation whether there is abnormal conditions.To ensure that optical sensor can be registered to target position, sensor needs to have phase
The posture answered changes function, and mechanical transmission is contained in inside, thus it is possible to vary the rotation angle and pitch angle of optical sensor,
The photosensitive front end of the photosensitive part of optical sensor is provided simultaneously with zoom function, can another optical sensor obtain the mesh of farther place
Logo image.
There is antenna required for radar transmit-receive signal inside radome, the signal for emitting and receiving by antenna,
Location information, the range information etc. where target can be obtained by signal processing system.Linkage controller is installed at signal
Internal system is managed, is connected in inside with processing system, the target position that detections of radar arrives can be obtained.Linkage controller simultaneously with
Optical device is connected, and establishes data connection by cable by optical device connector and optical device control mouth.
Detection radar, optical sensor are attached between linkage controller, connection type using specific mechanical structure
It can be according to the needs of use rigid or flexible, no matter being attached using which kind of mode, require to obtain radar and optics
Relative position between sensor is simultaneously supplied to linkage controller, and otherwise linkage controller can issue mistake to optical sensor
Position directional information leads to not be directed toward the target position that radar detection is arrived.
To ensure that linkage function can be realized better effect, when being attached to detection radar and optical sensor,
Being necessary to ensure that the search coverage of two equipment, there are overlapping regions as much as possible can only use it for Non-overlapping Domain
A kind of middle detection mode, cannot achieve linkage function.
Detection radar is in actual installation, it may be necessary to its pitch angle is adjusted, to be directed to different application scene, to more feeling
The region of interest is detected, but optical sensor may be limited to the deployment request of drive apparatus, and fuselage permission is vertically-mounted,
Do not allow that there are pitch angles.Radar pitch angle can only adjust the pitch angle of radar when adjusting device deployment and optics passes
Sensor can keep vertical posture, and the pitch angle that the transmission device that itself can be used in optical sensor changes photosensitive part is real
Now pitch angle identical with radar.
In the calculating process of linkage controller, need to obtain the coordinate position of detection radar and optical sensor, to reduce
Into the error of the process of calculation.Every equipment matched detection radar and optical sensor quantity and on-fixed.Due to different shaped
Number detection radar and optical sensor, the range detected, distance, destination number will be different, therefore in practical application
Range, distance, the destination number that can monitor as needed etc. are to the suitable quantity of selection, but set of system need at least guarantee there is one
Platform detection radar and an optical sensor.
At work, detection radar works detection system first, round-the-clock uninterruptedly to have detected whether that target appears in it
Target information is transferred to linkage controller, linkage controller is responsible for thunder after detecting target by the search coverage covered
Up to the target information of transmitting, predominantly location information, it is scaled the corresponding angle adjustment information of optical sensor, pitch adjustment letter
Breath, Focussing information, then the letter by being adjusted required for the communication connection transmitting between linkage controller and optical sensor
Breath, subsequent optical sensor start to change the posture of its own, and alignment target position obtains image information, for user into
Row further confirms that.
Claims (11)
1. the target detection system of a kind of radar and optics linkage, including controller, detection radar and optical detector, feature
It is: in equipment while comprising radar and optical sensor, and increases controller for linkage function, detection radar includes transmitting-receiving
Antenna, signal receiving and transmitting system, signal processing system and communication interface, dual-mode antenna are arranged inside radome, and signal is received
Hair system connection signal processing system and dual-mode antenna, optical detector include optical sensor camera lens, optical device control mouth
With optical sensor rotating unit, optical detector is provided with optical sensor camera lens, and optical detector is provided with optical device
Control mouth, optical sensor rotating unit are arranged between optical sensor camera lens and optical device control mouth, and controller includes
Control unit, radar equipment interface and optical sensor interface.
2. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the control
Device processed connects optical sensor by control interface, and controller connects detection radar by communication interface.
3. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the control
Device processed can be independent equipment, also can integrate inside radar or optical sensor.
4. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the thunder
There is antenna required for radar transmit-receive signal inside up to antenna house.
5. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the spy
It surveys radar and is connected with radar pitch angle adjustment device.
6. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the light
Equipment control mouth is optical device data port.
7. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the light
Learning detector is one of a variety of detectors, and the relative position of deployment way and each component is unfixed.
8. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the light
Learning detector is one of a variety of detectors, and investigative range and detection index are unfixed.
9. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: the thunder
It is unfixed up to the relative position for one of many kinds of radar, each component.
10. the target detection system of a kind of radar according to claim 1 and optics linkage, it is characterised in that: described
Radar is one of many kinds of radar, and each component can do for different occasions and decrease or increase accordingly.
11. the target detection system of a kind of radar and optics linkage, it is characterised in that: further include a kind of calculating side of controller
Method:
In the controller, all devices and the current position of target are in the same rectangular coordinate system, include x, and y, z tri-
The coordinate of dimension, to indicate its position being currently located, A, B, C a single point are respectively detection radar, optical sensor, tested mesh
Mark, point A coordinate are (x0, y0, z0), and point B coordinate is (x1, y1, z1), and point C coordinate is (x2, y2, z2), during deployment,
The coordinate of detection radar and optical sensor can be obtained automatically by manual measurement or equipment, and point A and point B coordinate it is known that
When radar detection is to target, parameter needed for linkage controller can obtain optical sensor adjustment by x step:
1) it obtains the coordinate position of measured target: obtaining coordinate shift amount of the measured target relative to radar from detection radar, remember
Offset is respectively Δ x in x, tri- dimensions of y, z, and offset is superimposed upon in radar own coordinate, can obtain by Δ y, Δ z
(x2, y2, z2)=(x0+ Δ x, y0+ Δ y, z0+ Δ z), the as coordinate position of measured target；
2) the angle adjustment information of calculating optical sensor: angle adjustment information is the included angle relative to X-axis positive direction, angle φ
It can be calculated by point B and the coordinate of point C, calculation formulaBe calculated angle φ range be 0 °~
180 °, which can only cover 180 ° of ranges, and optical sensor is in actual work, and maximum can cover 360 ° of ranges, therefore need
It further discriminates between: as y2-y1 > 0, the 180 ° of ranges covered by one, two quadrant in xy reference axis, as y2-y1 < 0,
The 180 ° of ranges covered by three, four-quadrant in xy reference axis finally can get the angle information of 360 ° of coverage areas；Optics passes
Sensor requires to be vertically to horizontal plane placement in deployment, therefore does not need that pitching amendment, but the optical sensor in deployment is added
0 ° of direction not necessarily can be forward and reverse consistent with x-axis, it is therefore desirable to optical sensor is relative to x-axis pros when deployed with devices is added
To angle α, obtain the angle value (φ+α) being adjusted to needed for optical sensor, which dependent instruction can be used to be sent to
In optical sensor, deflection adjustment is carried out；
3) the pitch adjustment information of calculating optical sensor: pitch adjustment information is angle theta with respect to the horizontal plane, and angle θ can lead to
It crosses point B and the coordinate of point C is calculated, calculation formulaThe range of angle θ is calculated
It is -90 °~+90 °, is as adjusted to needed for optical sensor, angle with respect to the horizontal plane, since optical sensor is in portion
It requires to be vertically to horizontal plane placement when administration, therefore dependent instruction can be used to be sent in optical sensor for the numerical value, carry out pitching
Angle adjustment；
4) the Focussing information of calculating optical sensor: Focussing information, that is, optical sensor relative to measured target away from
From s, distance s can be calculated by point B and the coordinate of point C, calculation formulaIt calculates
The distance range arrived is 0 to radar BURN-THROUGH RANGE, and Focussing parameter has no specific calculation formula with target range, can
According to the resolution ratio of sensor, the angle of view, the information such as environment of observation range is needed to be comprehensively considered, obtained focal length tune
Whole information dependent instruction can be used to be sent in optical sensor, carry out Focussing；
The calculation method is one of a variety of calculation methods, direction adjustment information that controller is calculated, pitch adjustment letter
Breath, Focussing information, may not need to change therein a certain or a few ginseng in actual use, under certain occasions
Number, i.e., the parameter is definite value at work, is set in deployment by installation personnel, or in actual use, by safeguarding people
Member carries out specific adjustment work；At work, all linkage works are automatically performed by linkage controller to detection system,
It calculates work and instruction transmitting-receiving work bring delay is very low, it can be ensured that the real-time of optical sensor control；Meanwhile it linking
Controller can carry out image confirmation, therefore detection system for the target of each detection radar discovery, control optical sensor
Will not omit any one target, also, detection radar, optical controller, linkage controller may be implemented it is round-the-clock not between
Disconnected work, it is ensured that the reliability to target acquisition of system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810105299.5A CN110133747A (en) | 2018-02-02 | 2018-02-02 | A kind of target detection system of radar and optics linkage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810105299.5A CN110133747A (en) | 2018-02-02 | 2018-02-02 | A kind of target detection system of radar and optics linkage |
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| Publication Number | Publication Date |
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| CN110133747A true CN110133747A (en) | 2019-08-16 |
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ID=67567129
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810105299.5A Pending CN110133747A (en) | 2018-02-02 | 2018-02-02 | A kind of target detection system of radar and optics linkage |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202013421U (en) * | 2010-12-27 | 2011-10-19 | 中国电子科技集团公司第五十研究所 | Safety protection monitoring device |
| CN104574737A (en) * | 2014-12-24 | 2015-04-29 | 张家港恩达通讯科技有限公司 | Comprehensive boundary security system |
| CN104869311A (en) * | 2015-05-14 | 2015-08-26 | 合肥深目信息科技有限公司 | Map-based intelligent holder monitoring method and system |
| CN207067421U (en) * | 2017-08-21 | 2018-03-02 | 西安艾索信息技术有限公司 | A kind of radar and the target detection system of optics linkage |
-
2018
- 2018-02-02 CN CN201810105299.5A patent/CN110133747A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202013421U (en) * | 2010-12-27 | 2011-10-19 | 中国电子科技集团公司第五十研究所 | Safety protection monitoring device |
| CN104574737A (en) * | 2014-12-24 | 2015-04-29 | 张家港恩达通讯科技有限公司 | Comprehensive boundary security system |
| CN104869311A (en) * | 2015-05-14 | 2015-08-26 | 合肥深目信息科技有限公司 | Map-based intelligent holder monitoring method and system |
| CN207067421U (en) * | 2017-08-21 | 2018-03-02 | 西安艾索信息技术有限公司 | A kind of radar and the target detection system of optics linkage |
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Application publication date: 20190816 |