CN110267004A - A kind of small drone detection monitoring system - Google Patents
A kind of small drone detection monitoring system Download PDFInfo
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- CN110267004A CN110267004A CN201910535739.5A CN201910535739A CN110267004A CN 110267004 A CN110267004 A CN 110267004A CN 201910535739 A CN201910535739 A CN 201910535739A CN 110267004 A CN110267004 A CN 110267004A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- Computer Vision & Pattern Recognition (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention relates to a kind of small drone to detect monitoring system, belongs to unmanned plane detection technology field, solves the problems, such as that existing detection monitoring device is realized and carries out detection monitoring and tracking to low latitude, small drone.The detection monitoring system includes that panorama stares unit, photoelectric tracking unit and image synthesis processing electronic box, and image synthesis processing electronic box stares unit with panorama by wired or wireless mode, photoelectric tracking unit is connect；Panorama stares unit for obtaining panoramic picture, and panoramic picture can be transmitted to image synthesis processing electronic box；Image synthesis processing electronic box is used for the identification from panoramic picture and extracts target image, and target image can be transmitted to photoelectric tracking unit；Photoelectric tracking unit can extract result according to target image and lock and track target.Detection monitoring system of the invention can carry out detection monitoring to low latitude, small drone and tracking, detection result high reliablity, application prospect are extensive.
Description
Technical field
The present invention relates to unmanned plane detection technology fields more particularly to a kind of small drone to detect monitoring system.
Background technique
Panoramic picture can allow people easily to obtain comprehensive information, and the information for obtaining the entire scene of surrounding will be helpful to
Exchanges and communication.In terms of business application, some panorama image mosaic technologies have been converted into practical product and service.Apple
Company just devises the mode based on camera rotation early in nineteen ninety-five and acquires and create panorama image, and is used for its virtual reality
Among image mosaic software Quick Time VR, user can check online corresponding panorama image by internet.In army
In terms of thing, Northrop Grumman company, the U.S. just proposed DAIRS (Distributed Aperture IR in 1999
Sensor Systems) distribution Infrared Sensor System, it can be used for the platforms such as UAV.The system is red by six
The spherical surface that outer sensor provides 4 π covers and provides comprehensive sensing capability, can also be with works fine even if night.With section
, there is the Tracking monitoring system using the combined types detection mode such as infrared, visible light, laser, utilize group in skill development and progress
Box-like detection and multiband mode, extract the information of more detecting objects bodies under more complicated environment, dynamic to target object
State has more accurately judgement, is integrally improved the precision of detection, tracking.
With the rapid development of unmanned air vehicle technique, high-altitude, high speed, stealthy, long endurance unmanned aircraft, hypersonic unmanned battle
Aircraft and miniature drone play an increasingly important role in war, constitute pole to original national air defense
Big challenge, the small drone especially rapidly developed in recent years constitute great prestige to the space safety of the country and people
The side of body.
The system for combining panoramic imagery to carry out detection monitoring to small drone with multiband detection device at this stage is seldom,
It is most of that only small drone is detected using one-side technology, cannot achieve to low latitude, small drone into
Row detection monitoring and tracking.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of small drone detects monitoring system, it is existing to solve
Detection monitoring device realizes the problem of carrying out detection monitoring and tracking to low latitude, small drone.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of small drone detection monitoring system, including panorama are stared at unit, photoelectric tracking unit and image synthesis
Electronic box is managed, image synthesis handles electronic box and stares unit, photoelectric tracking unit company by wired or wireless mode and panorama
It connects；Panorama stares unit for obtaining panoramic picture, and panoramic picture can be transmitted to image synthesis processing electronic box；Image
Integrated treatment electronic box be used for from panoramic picture identification extracts target image, and target image can be transmitted to photoelectricity with
Track unit；Photoelectric tracking unit can extract result according to target image and lock and track target.
Further, it includes that panorama stares device that panorama, which stares unit, and the periphery wall that panorama stares device is uniformly provided with more
A image acquiring device.
Further, image acquiring device is array camera, and the quantity of array camera is 9-13.
Further, the top that panorama stares device is equipped with installation interface for installing photoelectric tracking unit, photoelectricity with
Track unit is stared device with panorama by installation interface and is fixedly connected.
Further, every array camera is equipped with independent computer plate, and each computer plate being capable of complete independently mesh
Mark monitoring processing calculates, and monitoring result is transmitted to image synthesis processing electronic box respectively.
Further, photoelectric tracking unit includes tracking component and fixed bracket, and tracking component includes visible optical detection picture
Machine, high-resolution infrared acquisition camera and laser range finder；Fixed bracket is U-shaped structure, and tracking component can be in support bracket fastened U
It is rotated in shape space.
Further, support bracket fastened top is equipped with and can make to track component and carry out 180 ° in the vertical direction and rotate freely
Pitching control motor；The orientation control motor that support bracket fastened lower end can be such that fixed 360 ° of support level rotates freely.
Further, panorama is stared device and is fixed on leveling bracket by pinboard.
Further, leveling branch is provided with horizontal bubble instrument.
Further, array camera is the visible light camera of the high frame frequency of high-resolution.
Compared with prior art, the present invention one of at least has the advantages that:
A) small drone provided by the invention detects monitoring system, stares unit, photoelectric tracking list by the way that panorama is arranged
Member, image synthesis handle electronic box, panoramic imaging techniques, multiband Detection Techniques and the laser ranging skill of comprehensive camera array
Art can carry out short distance prevention and control to low-altitude low-velocity small targets such as small drone in visible light and infrared band, and without detection
Blind area, functional reliability are high.
B) small drone provided by the invention detects monitoring system, and panorama is stared in every array camera of unit setting
Portion is respectively provided with independent computer plate, can complete independently target monitoring processing calculate, it is comprehensive that monitoring result is transferred to image
Processing electronic box is closed, is focused on by image synthesis processing electronic box, the monitoring process of macrooperation amount is dispersed to multiple sons
In computer plate, image synthesis processing electronic box is only handled monitoring result, reduces image synthesis processing electronic box
Load, and the structure of above-mentioned dispersion monitoring centralized processing, apply existing a variety of monitoring algorithms directly, increase complete
Scape stares the application range of unit.
C) small drone provided by the invention detects monitoring system, can be used as " the electronics of other target interception devices
Eye " instructs target interception device to carry out target strike and intercepts operation, be with a wide range of applications, especially to guarantee country
It is of great significance with the space safety of the people.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the structural schematic diagram that embodiment small and medium size unmanned aerial vehicles detect monitoring system；
Fig. 2 is the structural schematic diagram that panorama stares unit in embodiment；
Fig. 3 is that panorama stares unit field stitching covering schematic diagram in embodiment；
Fig. 4 is the structural schematic diagram of full photoelectric tracking unit in embodiment；
Appended drawing reference:
1- panorama stares unit；2- photoelectric tracking unit；3- image synthesis handles electronic box；4- panorama stares device；5-
Pinboard；6- levels bracket；7- array camera；8- camera lens；9- visual field overlapping region；The visible optical detection camera of 10-；11- high score
Distinguish infrared acquisition camera；12- Laser emission port；13- laser pick-off port；14- pitching control motor；The orientation 15- control electricity
Machine.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
A specific embodiment of the invention discloses a kind of small drone detection monitoring system, as shown in Figure 1, packet
It includes panorama and stares unit 1, photoelectric tracking unit 2, image synthesis processing electronic box 3, image synthesis processing electronic box 3 passes through wired
Or wirelessly stare unit 1 with panorama, photoelectric tracking unit 2 is connect.Wherein, panorama stares unit 1 for obtaining panorama
Image, and panoramic picture can be transmitted to image synthesis processing electronic box 3, image synthesis handles electronic box 3 can be to panorama
Image information carries out object detection process, target image is extracted in panoramic picture, and send target to photoelectric tracking unit 2
Image zooming-out is as a result, photoelectric tracking unit 2 extracts result lock onto target according to target image and tracks target.
As shown in Fig. 2, it includes that panorama stares device 4 and leveling bracket 6 that panorama, which stares unit 1, panorama stares the top of device 4
Portion is equipped with the installation interface for installing photoelectric tracking unit 2, and photoelectric tracking unit 2, which is fixed on panorama by installation interface, to be stared
On device 4.Panorama is stared device 4 and is fixed on leveling bracket 6 by pinboard 5, and the periphery wall that panorama stares device 4 is uniformly set
There is multiple images acquisition device, it is preferred that image acquiring device is array camera 7, and array camera is furnished with camera lens 8, it is preferred that battle array
The quantity of column camera 7 is 9-13.Illustratively, array camera 7 is the visible light camera of the high frame frequency of high-resolution, exemplary
, panorama is stared unit and is formed using 11 visible light cameras of the high frame frequency of high-resolution, and 11 visible light cameras are uniform
It is set to the periphery wall that panorama stares device 4,11 visible light camera visual fields are after rational deployment, correction, splicing covering
The area of space of 360 ° of ranges of level, and each adjacent two camera has partial field of view overlapping region 9, as shown in figure 3, this is tied
The panorama of structure, which stares unit 1, to be detected and be monitored to the target small drone in investigative range, no monitoring blind area, tool
There is high functional reliability, is that existing detection device is irrealizable.
In order to promote the processing speed of target image, independent computer plate is respectively provided with inside every array camera 7, each
Computer plate can complete independently target monitoring processing calculate, independently the image information of acquisition can be handled, and point
Monitoring result is not transmitted to image synthesis processing electronic box 3, is focused on, is passed through by image synthesis processing electronic box 3
Such processing structure, the monitoring process of macrooperation amount are dispersed in multiple sub- computer plates, and image synthesis handles electronic box 3 only
Monitoring result is handled, the load of image synthesis processing electronic box 3 is reduced.This dispersion monitoring centralized processing simultaneously
Structure applies existing a variety of monitoring algorithms directly, increases the application range that panorama stares unit 1.
As shown in figure 4, photoelectric tracking unit includes tracking component and fixed bracket, wherein tracking component includes visible light
Camera 10, high-resolution infrared acquisition camera 11, laser range finder and Laser emission port 12, laser pick-off port 13 are detected,
The laser that laser range finder issues is issued through Laser emission port 12, and return laser beam is recycled through laser pick-off port 13, realization pair
UAV targets carry out ranging；Fixed bracket generally U-shaped structure, tracking component can be in support bracket fastened U-shaped space inward turning
Turn, the output axis connection of support bracket fastened lower end and orientation control motor 15, orientation controls motor 15 and controls fixed support level
360 ° rotate freely；Pitching control motor 14, the output shaft of pitching control motor 14 are equipped at support bracket fastened top U-shaped opening
It is vertical with the support bracket fastened side wall of U-shaped, and be fixedly connected with tracking component, tracking component can pass through pitching control motor 14
180 ° are carried out in the vertical direction to rotate freely.Therefore, the photoelectric tracking unit 2 of this structure passes through 14 He of pitching control motor
Orientation control motor 15 carries out pitch angle adjustment and rotates freely, to small drone mesh within the scope of visible light and infrared band
Mark is identified, monitored and is tracked, and alarm, monitoring and the target identification in 360 ° of regions of level, flexible and convenient operation are completed.
In the present embodiment, image synthesis processing electronic box 3 is for placing data acquisition, image procossing, target detection, data
The circuit boards such as communication, secondary power supply and electric component.It is connect by connector, cable with detection monitoring system, completes image and spell
It connects, image precisely tracks, target morphology detects and the data processing works such as distance exam.Image synthesis handles electronic box 3 can root
According to needing to design video output interface, processing result image is exported to specified display terminal, is observed for operator.
In the present embodiment, leveling bracket 6 is equipped with horizontal bubble instrument, it is preferable that leveling bracket 6 is preferably tripod, is used
When, tripod is adjusted, when the bubble of horizontal bubble instrument is in center equilbrium position, panorama stares unit 1 and is located at level.
In the present embodiment, monitoring system is equipped with controller and power supply, and power supply is detection monitoring system power supply, and controller is used for
It controls the revolving speed of pitching control motor 14 and orientation control motor 15, turn to, pitching control motor 14 and side can be preset
The revolving speed of position control motor 15 turns to, and improves the automation of detection monitoring system.
In the present embodiment, image synthesis processing electronic box 3 and panorama stare unit 1, photoelectric tracking unit 2, display terminal
Connection, connection type can be by the way of wired connection or wireless connection.
When implementation, monitoring system power-up, panorama stares the low-altitude low-velocities such as the small drone that 1 pair of unit enters investigative range
Small object carries out monitoring early warning, and the panoramic picture that panorama stares the acquisition of unit 2 is sent to integrated treatment electronic box 3 in real time and carries out figure
It is exported in real time as processing, and by image information to the display terminal of apolegamy.When there is target to enter monitoring visual field, at image synthesis
It manages electronic box 3 and object detection process is carried out to panorama image information, extract target in panoramic picture, and to photoelectric tracking list
Member 2 sends Objective extraction as a result, photoelectric tracking unit 2 is according to Objective extraction result lock onto target and tracks target, lock onto target
Afterwards, the laser range finder inside photoelectric tracking unit 2 carries out real time distance to target, and laser is issued through Laser emission port 12,
Return laser beam is recycled through laser pick-off port 13, obtains target range information.Entire targeted surveillance, target detection, target following
Process is shown in display terminal real-time perfoming, is observed for operator.
Compared with prior art, small drone provided in this embodiment detects monitoring system, and setting panorama stares unit
1, photoelectric tracking unit 2, image synthesis handle electronic box 3, the panoramic imaging techniques of comprehensive camera array, multiband Detection Techniques
And laser ranging technique, the low-altitude low-velocity small targets such as small drone can be carried out in visible light and infrared band closely anti-
Control, also can be used as " electronic eyes " of other target interception devices, instructs target interception device to carry out target strike and intercepts operation.
Panorama, which is stared inside every array camera 7 that unit 1 is arranged, is respectively provided with independent computer plate, being capable of complete independently target prison
It surveys processing to calculate, monitoring result is transferred to image synthesis processing electronic box 3, is concentrated by image synthesis processing electronic box 3
Processing, the monitoring process of macrooperation amount are dispersed in multiple sub- computer plates, and image synthesis handles electronic box 3 only to monitoring result
It is handled, reduces the load of image synthesis processing electronic box 3, and the structure of above-mentioned dispersion monitoring centralized processing, make
The a variety of monitoring algorithms having can be applied directly, and the application range that panorama stares unit 1 is increased.To sum up, detection of the invention
Monitoring system is with a wide range of applications, and is especially of great significance to the space safety of guarantee the country and people.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of small drone detects monitoring system, which is characterized in that stare unit (1), photoelectric tracking unit including panorama
(2) and image synthesis handles electronic box (3), and described image integrated treatment electronic box (3) is by wired or wireless mode and entirely
Scape stares unit (1), photoelectric tracking unit (2) connection；
The panorama stares unit (1) for obtaining panoramic picture, and panoramic picture can be transmitted to image synthesis processing electricity
Sub- case (3)；
Described image integrated treatment electronic box (3) is used for the identification from panoramic picture and extracts target image, and can be by target
Image transmitting is to the photoelectric tracking unit (2)；
The photoelectric tracking unit (2) can extract result according to target image and lock and track target.
2. small drone according to claim 1 detects monitoring system, which is characterized in that the panorama stares unit
It (1) include that panorama is stared device (4), the periphery wall that the panorama stares device (4) is uniformly provided with multiple images acquisition device.
3. small drone according to claim 1 detects monitoring system, which is characterized in that described image acquisition device is
Array camera (7), the quantity of the array camera (7) are 9-13.
4. small drone according to claim 1 detects monitoring system, which is characterized in that the panorama stares device
(4) top is equipped with the installation interface for installing photoelectric tracking unit (2), and the photoelectric tracking unit (2) is connect by installation
Mouth is stared device (4) with the panorama and is fixedly connected.
5. small drone according to claim 3 detects monitoring system, which is characterized in that every array camera
(7) be equipped with independent computer plate (5), each computer plate (5) can the processing of complete independently target monitoring calculate, and
Monitoring result is transmitted to image synthesis processing electronic box (3) respectively.
6. detecting monitoring system to small drone described in 5 according to claim 1, which is characterized in that the photoelectric tracking list
First (2) include tracking component and fixed bracket, and the tracking component includes visible optical detection camera (10), high-resolution infrared acquisition
Camera (11) and laser range finder；
The fixed bracket is U-shaped structure, and the tracking component can rotate in support bracket fastened U-shaped space.
7. small drone according to claim 6 detects monitoring system, which is characterized in that the support bracket fastened top
Equipped with can make track component carry out 180 ° of pitching control motors rotated freely (14) in the vertical direction；
Orientation control motor (15) that the support bracket fastened lower end can be such that fixed 360 ° of support level rotates freely.
8. small drone according to claim 1 detects monitoring system, which is characterized in that the panorama stares device
(4) it is fixed in leveling bracket (6) by pinboard (5).
9. small drone according to claim 8 detects monitoring system, which is characterized in that the leveling bracket (6) sets
There is horizontal bubble instrument.
10. small drone according to claim 3 detects monitoring system, which is characterized in that the array camera (7) is
The visible light camera of the high frame frequency of high-resolution.
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| CN110267004B (en) | 2021-06-25 |
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