CN113237389A - Passive anti-unmanned aerial vehicle equipment and method thereof - Google Patents
Passive anti-unmanned aerial vehicle equipment and method thereof Download PDFInfo
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- CN113237389A CN113237389A CN202110577592.3A CN202110577592A CN113237389A CN 113237389 A CN113237389 A CN 113237389A CN 202110577592 A CN202110577592 A CN 202110577592A CN 113237389 A CN113237389 A CN 113237389A
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- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
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- H—ELECTRICITY
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Abstract
A passive anti-unmanned aerial vehicle device and a method thereof relate to the technical field of anti-unmanned aerial vehicles; the passive anti-unmanned aerial vehicle equipment comprises a radio detection device, a photoelectric detection tracking device and a linkage rotary table; the photoelectric detection tracking device comprises a visible light camera and a thermal infrared imager; the linkage turntable comprises a base and an azimuth main shaft arranged on the base; the bottom of the azimuth main shaft is connected with the base, and the top of the azimuth main shaft is connected with the radio detection device; the visible light camera and the thermal infrared imager are respectively arranged on two sides of the azimuth main shaft and are rotatably connected with the azimuth main shaft; the visible light camera and the thermal infrared imager are both arranged between the radio detection device and the base. The passive anti-unmanned aerial vehicle method is suitable for passive anti-unmanned aerial vehicle equipment. The invention aims to provide passive anti-unmanned aerial vehicle equipment and a method thereof, which aim to improve the detection problem of an unmanned aerial vehicle in a complex environment to a certain extent.
Description
Technical Field
The invention relates to the technical field of anti-unmanned aerial vehicles, in particular to passive anti-unmanned aerial vehicle equipment and a method thereof.
Background
With the explosive growth of low-altitude navigation application in China, the industry brings great convenience to the society and the life of people and brings unprecedented great challenges to low-altitude supervision work. Unmanned aerial vehicle breaks rules and rules for rules and regulations, illegal survey and drawing, disorder normal aviation order etc. have caused great negative effects and economic loss, and anti-unmanned aerial vehicle device obtains people's attention more and more.
The existing anti-unmanned aerial vehicle technology mainly comprises low-altitude monitoring radar, photoelectric detection, acoustic detection, radio signal detection and the like. Low latitude surveillance radar surveys target belongs to the initiative and surveys, and the strong power high frequency oscillation pulse of transmitter transmission, then the receiver receives the echo, implements effective detection, but unmanned aerial vehicle and ground object clutter are more close, the Doppler shift is unobvious, radar scattering sectional area is little, and the target is difficult for discovering and people or animal be in for a long time and survey the region and easily receive electromagnetic wave radiation influence etc. not enough. Photoelectric detection is easily disturbed by ambient light, and target infrared characteristic is unobvious when thick cloud layer or cloudy, and target and background contrast are low during the backlight, and the target characteristic is influenced by atmospheric attenuation, torrent greatly, and unmanned aerial vehicle photoelectric signal is more weak, the signal-to-noise ratio is lower in addition, and these all make photoelectric detection, discernment, the degree of difficulty of tracking further increase. Acoustic detection can receive and identify acoustic signals generated by friction between wings of an engine of the unmanned aerial vehicle and the atmosphere, but the acoustic characteristics of the unmanned aerial vehicle are extremely easy to be hidden by environmental noise in a complex environment, and the unmanned aerial vehicle is difficult to be accurately detected and identified. The radio signal detection technology can detect, monitor or monitor radio signals, but the silent flying unmanned aerial vehicle is difficult to detect and identify.
The characteristics of the detection means are different, the detection means have advantages in the aspects of distance finding, sensitivity, energy efficiency range, severe weather resistance, simultaneous multi-target tracking capability and the like, but the detection of the unmanned aerial vehicle in a complex environment is difficult to solve by a single means safely and effectively.
Disclosure of Invention
The invention aims to provide passive anti-unmanned aerial vehicle equipment and a method thereof, which aim to improve the detection problem of an unmanned aerial vehicle in a complex environment to a certain extent.
In order to achieve the purpose, the invention provides the following technical scheme:
a passive anti-unmanned aerial vehicle device comprises a radio detection device, a photoelectric detection tracking device and a linkage rotary table;
the photoelectric detection tracking device comprises a visible light camera and a thermal infrared imager;
the linkage rotary table comprises a base and an azimuth main shaft arranged on the base; the bottom of the azimuth spindle is connected with the base, and the top of the azimuth spindle is connected with the radio detection device;
the visible light camera and the thermal infrared imager are respectively arranged on two sides of the azimuth main shaft and are rotatably connected with the azimuth main shaft;
the visible light camera and the thermal infrared imager are both arranged between the radio detection device and the base.
In any of the above technical solutions, optionally, the linkage turntable further includes a pitch spindle and a turntable housing;
the pitching main shaft is arranged inside the rotary table shell, and two ends of the pitching main shaft extend out of the rotary table shell; one end of the pitching main shaft is connected with the visible light camera, and the other end of the pitching main shaft is connected with the thermal infrared imager;
the pitching main shaft is rotatably connected with the rotary table shell, so that the visible light camera and the thermal infrared imager rotate along with the pitching main shaft relative to the rotary table shell;
the rotary table shell is rotatably connected with the azimuth main shaft, so that the visible light camera, the pitching main shaft and the thermal infrared imager rotate along with the rotary table shell relative to the azimuth main shaft;
the rotation direction of the pitching main shaft is perpendicular to the rotation direction of the rotary table shell.
In any of the above technical solutions, optionally, the pitching main shaft is a crankshaft, and axes at two ends of the pitching main shaft are collinear;
an azimuth bearing and an azimuth sealing ring are arranged between the rotary table shell and the azimuth main shaft, and the azimuth sealing ring is arranged on one side, far away from the pitching main shaft, of the azimuth bearing;
the azimuth main shaft is provided with an azimuth driver for driving the rotary table shell to rotate, an azimuth brake for braking the rotary table shell to rotate and an azimuth rotary transformer for measuring the rotation angle of the rotary table shell; the azimuth driver, the azimuth actuator and the azimuth resolver are all located inside the turntable housing;
the azimuth spindle is also provided with an azimuth slip ring, and the azimuth driver, the azimuth brake and the azimuth rotary transformer obtain power supply through the azimuth slip ring; the azimuth slip ring is located inside the turntable housing.
In any of the above technical solutions, optionally, a pitch bearing and a pitch sealing ring are disposed between the turntable housing and the pitch main shaft, and the pitch sealing ring is disposed on a side of the pitch bearing away from the azimuth main shaft;
the pitching main shaft is provided with a pitching driver for driving the pitching main shaft to rotate, a pitching brake for braking the pitching main shaft to rotate and a pitching rotary transformer for measuring the rotation angle of the pitching main shaft; the pitch drive, the pitch brake, and the pitch resolver are all located inside the turret housing.
In any of the above solutions, optionally, the azimuth sealing ring and/or the pitch sealing ring respectively include a static sealing ring and a dynamic sealing ring; the static sealing ring is a conductive rubber ring; the dynamic sealing ring adopts a magnetic oil seal;
the number of the azimuth bearings is two, and the two azimuth bearings are respectively arranged at two ends of the azimuth main shaft;
the number of the pitching bearings is two, and the two pitching bearings are respectively arranged at two ends of the pitching main shaft;
the azimuth driver and/or the pitching driver respectively adopt brushless direct current torque motors;
the azimuth brake and/or the pitching brake are both electromagnetic brakes; the electromagnetic brake has a power-off self-locking function.
The azimuth main shaft and/or the pitching main shaft are made of anticorrosive heat-resistant stainless steel.
In any of the above technical solutions, optionally, a pitch limiting structure is disposed between the pitch spindle and the turntable housing; the pitching limiting structure is used for limiting the rotation angle of the pitching main shaft relative to the rotary table shell to be-20 degrees to 70 degrees;
on the longitudinal section of the azimuth main shaft, the rotary table shell is in a spindle shape;
the outer shell of the rotary table is made of aluminum alloy.
In any of the above technical solutions, optionally, the passive anti-drone device further includes an equipment box, and the equipment box is disposed outside the turntable housing;
a power supply module, an intelligent tracking module, a video server and a switch are arranged in the equipment box;
the power supply module supplies power to the visible light camera, the thermal infrared imager and the radio detection device;
and information monitored by the visible light camera, the thermal infrared imager and the radio detection device is sent to the intelligent tracking module and the video server and is sent to a background server through the switch.
In any of the above technical solutions, optionally, the radio detection device includes a receiver, a power converter, and a controller; the receiver is used for receiving radio signals and sending the radio signals to the controller;
the controller is electrically connected with the intelligent tracking module;
the power converter is used for converting the voltage of the power module.
In any of the above technical solutions, optionally, the bottom of the base is connected with a damping chassis;
the thermal infrared imager adopts a long-focus high-definition camera and a large-area array non-refrigeration and high-precision tracking module;
the visible light camera adopts a visible light high-definition color-to-black camera.
A passive anti-unmanned aerial vehicle method is suitable for passive anti-unmanned aerial vehicle equipment; the method comprises the steps of (1) carrying out,
the linkage rotary table is started, and system calibration of the passive anti-unmanned aerial vehicle equipment is completed at the control end;
the wireless detection device is guided to perform scanning search in the area, and when a moving target is found, the linkage rotary table is guided to rotate so as to enable the visible light camera and the thermal infrared imager to be aligned with the target;
the rotary table is linked for turning, and when a target appears in the visual fields of the visible light camera and the thermal infrared imager, the target is captured;
after the target is captured, the system of the passive anti-unmanned aerial vehicle device enters an automatic tracking state, and automatic tracking and identification are carried out on the target.
The invention has the following beneficial effects:
the passive anti-unmanned aerial vehicle equipment and the method thereof provided by the invention scan and search the unmanned aerial vehicle in an area through the radio signal technology of the radio detection device and the photoelectric detection technology of the photoelectric detection tracking device, and guide the photoelectric detection tracking device to aim at a target to capture and track the target after finding a moving target, thereby greatly improving the detection rate of the unmanned aerial vehicle; by means of the thermal imaging technology of the thermal infrared imager and the dual-spectrum video monitoring mode of the visible light technology of the visible light camera, all-weather detection, identification and tracking of the target of the unmanned aerial vehicle can be achieved, and the detection rate of the unmanned aerial vehicle in a complex environment is effectively improved.
In order to make the aforementioned and other objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a passive anti-drone device according to an embodiment of the present invention;
fig. 2 is a side view of the passive anti-drone device shown in fig. 1;
fig. 3 is a block diagram of a passive anti-drone device according to an embodiment of the present invention.
Icon: 100-a radio detection device; 200-a photodetection tracking device; 210-a visible light camera; 220-thermal infrared imager; 300-a linked turntable; 310-a base; 320-azimuth principal axis; 321-azimuth bearings; 322-azimuth seal ring; 330-pitch main axis; 331-pitch bearing; 332-pitch seal ring; 333-pitch drive; 334-pitch brake; 335-pitch resolver; 340-a turret housing; 350-azimuth drive; 360-azimuth actuator; 370-azimuth resolver; 380-azimuth slip ring; 400-shock absorbing chassis.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Examples
The embodiment provides a passive anti-unmanned aerial vehicle device and a method thereof; referring to fig. 1 to fig. 3, fig. 1 is a schematic structural diagram of a passive anti-drone device provided in this embodiment; fig. 2 is a side view of the passive anti-drone device shown in fig. 1; fig. 3 is a block diagram of the passive anti-drone device provided in this embodiment, which can more intuitively understand the structure.
Referring to fig. 1-3, the passive anti-drone device includes a radio detection device 100, a photoelectric detection tracking device 200 and a linked turntable 300.
The photodetection tracking device 200 includes a visible light camera 210 and a thermal infrared imager 220.
The linked turntable 300 includes a base 310 and an azimuth spindle 320 provided on the base 310; the bottom of the azimuth axis 320 is connected to the base 310, and the top of the azimuth axis 320 is connected to the radio detection device 100. Optionally, the radio detecting device 100 is fixedly connected to the azimuth main shaft 320, and the radio detecting device 100 does not rotate along with the rotation of the visible light camera 210 and the thermal infrared imager 220.
The visible light camera 210 and the thermal infrared imager 220 are respectively disposed on two sides of the azimuth main shaft 320 and rotatably connected to the azimuth main shaft 320. Optionally, the left side of the azimuth main axis 320 is the visible light camera 210, and the right side of the azimuth main axis 320 is the thermal infrared imager 220. Optionally, the visible light camera 210 and the thermal infrared imager 220 are located on the same horizontal line.
The visible light camera 210 and the thermal infrared imager 220 are disposed between the radio detection device 100 and the base 310.
Optionally, the thermal infrared imager 220 employs a long-focus high-definition camera, a large-area non-refrigeration and high-precision tracking module. The thermal infrared imager 220 has long-wave infrared thermal imaging capability, is a set of multiband precise detection imaging equipment which has strong maneuverability and high automation degree and can stably work for a long time, and classifies and identifies target attributes by analyzing morphological characteristics and motion characteristics of targets.
Optionally, thermal infrared imager 220 has a digital image detail enhancement (DDE) function; optionally, the thermal infrared imager 220 further has a thermal white, thermal black, and pseudo color (10 kinds of pseudo color palette are optional) display function; optionally, the thermal infrared imager 220 further has functions of adjusting image brightness and contrast, and has functions of electronic amplification and factory restoration; optionally, the thermal infrared imager 220 further has functions of automatic correction, manual correction and background correction of image non-uniformity; optionally, the visible light camera 210 and the thermal infrared imager 220 both have zooming and focusing functions; the thermal infrared imager 220 may zoom continuously.
Optionally, the visible light camera 210 has visible light imaging capability, and employs a visible light high-definition color-to-black camera. The thermal infrared imager 220 adopts a long-focus continuous zoom lens matched with a visible light high-definition color-to-black camera in daytime, so that a long-distance target can be effectively identified and the characteristics of the long-distance target can be recognized; at night and in bad weather, the target can be quickly found and locked by means of the large-area array high-sensitivity refrigeration thermal infrared imager 220. Passive anti-unmanned aerial vehicle equipment possesses optics, the dual fog function that passes through of electron simultaneously, can effectively promote the detection performance under low visibility weather such as fog, haze. The photodetection tracking device 200 can be used as an independent photodetection device to perform manual search, manual or automatic tracking of an aerial target, or can be linked with the radio detection device 100 to implement a function of rapidly discovering and identifying a target according to target guidance information sent by the radio detection device 100.
It should be noted that the thermal infrared imager 220 is not interfered by low illumination and strong sunlight, and can automatically eliminate the influence caused by shadows and bad weather, which is an advantage that the conventional monitoring camera cannot compare. Thermal imaging techniques of thermal infrared imager 220 provide clear video images, whether day or night, that are not affected by sunlight and are almost uncontrolled by the external environment. Therefore, it meets the 24-hour real-time monitoring requirement. The infrared thermal imaging technology is applied to camera monitoring by the industry due to the advantages of strong detection capability, long detection distance and the like, and is matched with the visible light camera 210 for use, so that all-weather monitoring is really realized. The infrared thermal imaging technology is a passive infrared night vision technology, the principle is that based on all objects in the nature with the temperature higher than absolute zero (-273 ℃), infrared rays are radiated at every moment, and meanwhile, the infrared radiation carries thermal characteristic information of the objects, so that an objective foundation is provided for distinguishing the temperature and the thermal distribution field of various tested targets by utilizing the infrared technology. By utilizing the characteristic, after the power signal radiated by the heating part of the object is converted into the electric signal by the photoelectric infrared detector, the imaging device can simulate the spatial distribution of the surface temperature of the object in a one-to-one correspondence manner, and finally, the thermal image video signal is formed by system processing and is transmitted to the display screen, so that the thermal image corresponding to the thermal distribution of the surface of the object is obtained.
The visible light camera 210 relies on light imaging, and even though many cameras have functions of ultra-wide dynamic, ultra-low illumination and the like, the monitoring effect is still poor at night, in severe weather such as haze, rain, snow and the like. Infrared imaging techniques are needed to achieve more effective monitoring. The infrared technology is divided into active infrared and passive infrared, the active infrared depends on an infrared lamp to irradiate a monitored target, and the infrared light is reflected to a camera capable of sensing the infrared light; in this way, the concealment is not strong and the human can easily perceive the method. The passive infrared is a thermal image of the target obtained by acquiring infrared rays emitted by the monitored target, and is strong in concealment and not easy to find. Almost all objects in nature emit infrared radiation, which is the most widely emitted radiation in nature. The infrared thermal imaging technology utilizes the principle that visible light and near infrared rays are absorbed by the atmosphere, smoke clouds and the like, but infrared light of 3-5 micrometers and infrared light of 8-14 micrometers cannot be absorbed, and the front situation can still be clearly observed at night without light or in a densely distributed invisible environment of the smoke clouds by utilizing the two windows which cannot be absorbed by the infrared rays. If the observation effect is greatly reduced in severe weather environments such as rain and fog due to the fact that the visible light is short in wavelength and poor in obstacle overcoming capability, the thermal infrared imager 220 utilizes the infrared principle, is long in infrared wavelength and good in penetration effect, and can still normally observe in severe weather environments such as rain and fog. Therefore, the thermal infrared imager 220 can be used for normally monitoring the target at night and in severe weather conditions such as rain, fog and the like.
For example: the performance indicators of the visible light camera 210 are:
lens: f is 8 mm-300 mm;
angle of view (horizontal): 1.3 ° (far end) to 33.5 ° (wide end);
resolution ratio: 1920 × 1080; detecting the distance: not less than 2km (typical meteorological conditions).
For example: the performance index of the thermal infrared imager 220 is:
the detector type is as follows: uncooled microbolometer focal plane array detectors;
effective pixel: not less than 640 x 480; focal length of the lens: 30 mm-150 mm, 5 times of continuous optical zooming;
spectral range: 8-14 μm; temperature sensitivity: less than or equal to 50mk @ F1.0 and 300K;
frame frequency: 25 Hz; the field angle: 2.93 ° × 2.20 ° to 14.59 ° × 10.97 °;
f value: f1.0 to F1.2.
In the passive anti-unmanned aerial vehicle device in the embodiment, through a passive target positioning method of multi-element detection data fusion of a radio signal technology of the radio detection device 100 and a photoelectric detection technology of the photoelectric detection tracking device 200, the radio detection device 100 scans and searches for the unmanned aerial vehicle in an area, and when a moving target is found, the photoelectric detection tracking device 200 is guided to align the target for capturing and tracking the target, so that the detection and identification effects of the unmanned aerial vehicle are greatly improved; by means of the thermal imaging technology of the thermal infrared imager 220 and the dual-spectrum video monitoring mode of the visible light technology of the visible light camera 210, all-weather detection, identification and tracking of the unmanned aerial vehicle target can be achieved, and the detection rate of the unmanned aerial vehicle in a complex environment is effectively improved.
In the passive anti-unmanned aerial vehicle device in the embodiment, the photoelectric detection tracking device 200 is provided with optical components such as the visible light camera 210 and the thermal infrared imager 220, the mature image processing technology is adopted to analyze the characteristics of the target image in real time, the low altitude anti-unmanned aerial vehicle for all-weather detection, identification and tracking of the target of the unmanned aerial vehicle is realized, and the remote detection discovery, the rapid positioning and the stable tracking of the unmanned aerial vehicle can be realized.
Compared with the existing anti-unmanned aerial vehicle technology adopting a single means, the passive anti-unmanned aerial vehicle equipment in the embodiment has the following advantages:
1. the radio detection device 100 adopts passive detection equipment, and can realize timely detection discovery, quick positioning, effective tracking and track control of a long-distance illegal unmanned aerial vehicle on the premise of not actively transmitting radio signals and not influencing the electromagnetic environment of an airport and a clearance protection area thereof;
2. by adopting the multi-element data fusion, the data fusion of the main radio detection device 100 and the photoelectric detection tracking device 200 is adopted, so that the detection rate of the unmanned aerial vehicle is improved;
3. the radio detection device 100 intelligently guides the photoelectric detection tracking device 200, and unattended operation can be realized;
4. the high-precision thermal infrared imager 220 and the high-definition visible light camera 210 are integrated with an image processing technology, so that all-weather and all-day video detection and monitoring are realized, and the identification rate of the unmanned aerial vehicle under complex atmospheric conditions is improved;
5. the azimuth driver and/or the pitching driver adopt a high-precision brushless direct current torque motor control technology, and the requirements of the photoelectric detection tracking device 200 on high accuracy and high precision of indexes such as cruising, fixed scanning, response time, precision, torque and the like are met;
6. and the integrated linkage rotary table 300 is adopted, so that high integration and modularization are realized, and maintenance and installation are convenient.
That is, in this embodiment the passive anti-unmanned aerial vehicle device, through high accuracy thermal infrared imager 220 and high definition visible light camera 210 fusion image processing technology, high accuracy brushless direct current torque motor control technology, integrated linkage revolving stage 300 scheme, guaranteed the high integration and the modularization of equipment, equipment structural style is reliable and stable, the effectual interference of having avoided each other between each structure of equipment and convenient maintenance and installation.
Referring to fig. 1, in an alternative to the present embodiment, ganged turret 300 further includes a pitch spindle 330 and turret housing 340.
The pitching main shaft 330 is arranged inside the turntable shell 340, and both ends of the pitching main shaft 330 extend out of the turntable shell 340; one end of the main pitching shaft 330 is connected to the visible light camera 210, and the other end is connected to the thermal infrared imager 220.
The pitch spindle 330 is rotatably connected with the turntable housing 340, so that the visible light camera 210 and the thermal infrared imager 220 rotate with the pitch spindle 330 relative to the turntable housing 340;
the turret housing 340 is rotatably coupled to the azimuth spindle 320 such that the visible light camera 210, the pitch spindle 330, and the thermal infrared imager 220 rotate with the turret housing 340 relative to the azimuth spindle 320.
The direction of rotation of the pitch spindle 330 is perpendicular to the direction of rotation of the turret housing 340. That is, the turret housing 340 may enable the visible light camera 210 and the thermal infrared imager 220 to rotate in the horizontal direction when rotated, and the pitch main shaft 330 may enable the visible light camera 210 and the thermal infrared imager 220 to rotate in the vertical direction when rotated.
Referring to fig. 1 and 2, in an alternative of the present embodiment, the pitch main shaft 330 is a crankshaft, and the axes of the two ends of the pitch main shaft 330 are collinear.
Optionally, an azimuth bearing 321 and an azimuth sealing ring 322 are arranged between the turntable housing 340 and the azimuth spindle 320, and the azimuth sealing ring 322 is arranged on the side of the azimuth bearing 321 away from the pitch spindle 330; namely, an azimuth bearing 321 and an azimuth sealing ring 322 are sleeved on the azimuth spindle 320.
Optionally, an azimuth driver 350 for driving the rotation of the turntable housing 340, an azimuth stopper 360 for stopping the rotation of the turntable housing 340, and an azimuth resolver 370 for measuring the rotation angle of the turntable housing 340 are disposed on the azimuth spindle 320; the azimuth driver 350, the azimuth actuator 360, and the azimuth resolver 370 are all located inside the turntable housing 340;
optionally, an azimuth slip ring 380 is further disposed on the azimuth spindle 320, and the azimuth driver 350, the azimuth brake 360 and the azimuth resolver 370 are powered through the azimuth slip ring 380; azimuth slip ring 380 is located inside turntable housing 340; by mounting the azimuth slip ring 380 on the azimuth main shaft 320, the visible light camera 210, the pitch main shaft 330 and the thermal infrared imager 220 do not have winding problems during 360-degree rotation.
Optionally, a pitch bearing 331 and a pitch seal 332 are disposed between turret housing 340 and pitch spindle 330, pitch seal 332 being disposed on a side of pitch bearing 331 remote from azimuth spindle 320; that is, the pitch bearing 331 and the pitch sealing ring 332 are sleeved on the pitch main shaft 330;
optionally, a pitch driver 333 for driving the pitch spindle 330 to rotate, a pitch brake 334 for braking the pitch spindle 330 to rotate, and a pitch resolver 335 for measuring the rotation angle of the pitch spindle 330 are disposed on the pitch spindle 330; pitch drive 333, pitch brake 334, and pitch resolver 335 are all located inside turret housing 340.
Referring to fig. 1, in an alternative to this embodiment, the azimuth seal 322 and/or the pitch seal 332 comprise a static seal and a dynamic seal, respectively; that is, the orientation seal ring 322 includes a static seal ring and a dynamic seal ring, or the pitch seal ring 332 includes a static seal ring and a dynamic seal ring, or the orientation seal ring 322 and the pitch seal ring 332 include a static seal ring and a dynamic seal ring, respectively.
Optionally, the static sealing ring is a conductive rubber ring; optionally, the dynamic sealing ring adopts a magnetic oil seal; the static sealing ring and the dynamic sealing ring are used for double sealing, so that the sealing and waterproof requirements on the inside of the turntable shell 340 are improved; meanwhile, the magnetic oil seal can reduce the friction resistance to the maximum extent, can meet the requirement of the linkage turntable 300 on low damping, can also improve the service life of the dynamic seal ring, and can realize effective sealing even under the condition of large shaft jumping. Through adopting quiet sealing washer, can also improve passive anti unmanned aerial vehicle equipment's electromagnetic shield performance.
Referring to fig. 1, in an alternative of the present embodiment, the number of the azimuth bearings 321 is two, and two azimuth bearings 321 are respectively disposed at two ends of the azimuth main shaft 320; the two azimuth bearings 321 are adopted for up-and-down supporting, so that the anti-overturning angle performance of the passive anti-unmanned aerial vehicle equipment is improved, and the requirement of orthogonal errors of the azimuth main shaft 320 and the pitching main shaft 330 is met; optionally, the azimuth bearing 321 is a deep groove ball bearing.
Referring to fig. 1, in an alternative of the present embodiment, the number of the pitch bearings 331 is two, and the two pitch bearings 331 are respectively disposed at two ends of the pitch main shaft 330; optionally, the pitch bearing 331 is a deep groove ball bearing.
Referring to fig. 1, in an alternative of the present embodiment, the azimuth actuator 350 and/or the pitch actuator 333 respectively employ brushless dc torque motors; that is, the azimuth driver 350 employs a brushless dc torque motor, or the pitch driver 333 employs a brushless dc torque motor, or the azimuth driver 350 and the pitch driver 333 employ a brushless dc torque motor, respectively. Through adopt brushless direct current torque motor in position and every single move direction to ensure to a certain extent that passive anti-unmanned aerial vehicle equipment can reliable and stable work in the great adverse operational environment of wind resistance moment.
Optionally, azimuth brake 360 and/or pitch brake 334 are both electromagnetic brakes; that is, the azimuth brake 360 is an electromagnetic brake, or the pitch brake 334 is an electromagnetic brake, or both the azimuth brake 360 and the pitch brake 334 are electromagnetic brakes. The electromagnetic brake has the function of power-off self-locking. The electromagnetic brake is used for receiving a corresponding instruction and performing corresponding unlocking action, locking action and rotation action, that is, the azimuth brake 360 is used for receiving a corresponding instruction and performing unlocking action, locking action and rotation action of the turntable shell 340, and the pitch brake 334 is used for receiving a corresponding instruction and performing unlocking action, locking action and rotation action of the pitch spindle 330.
Optionally, the azimuth main shaft 320 and/or the pitch main shaft 330 are made of corrosion-resistant and heat-resistant stainless steel; that is, the azimuth main shaft 320 is made of an anticorrosive heat-resistant stainless steel material, or the pitch main shaft 330 is made of an anticorrosive heat-resistant stainless steel material, or both the azimuth main shaft 320 and the pitch main shaft 330 are made of an anticorrosive heat-resistant stainless steel material. By adopting the corrosion-resistant and heat-resistant stainless steel material, the environmental requirements of salt spray, damp heat and the like are met.
Optionally, a pitch limiting structure is arranged between the pitch main shaft 330 and the turntable housing 340; the pitch limiting structure is used for limiting the rotation angle of the pitch main shaft 330 relative to the rotary table shell 340 to be-20 degrees to 70 degrees; the pitching limiting structure is used for finally protecting and guaranteeing the linkage turntable 300 under extreme conditions and even failure conditions. Optionally, the pitch limiting structure includes a pitch limiting nail disposed on the pitch main shaft 330 and a pitch limiting block disposed on the turntable housing 340, and the pitch limiting block can limit the rotation of the pitch limiting nail, so that the turntable housing 340 can limit the rotation angle of the pitch main shaft 330.
Optionally, the turret housing 340 is spindle-shaped in longitudinal cross-section of the azimuth spindle 320. The fusiform is similar to the buckling of two U-shaped structures, the inside adopts the cavity design, can embed the protection in whole naked wire, avoids steam to enter the revolving stage shell 340 inside along wire and position slip ring 380.
Optionally, the turret housing 340 is provided with reinforcing ribs and weight-reducing grooves to increase the strength of the turret housing 340 and reduce the weight of the turret housing 340.
Optionally, the turntable housing 340 is made of an aluminum alloy; so that the passive anti-drone device has good electromagnetic compatibility.
Optionally, parameters of the linked turret 300:
load form: carrying out top loading on two sides;
the rotating range is as follows: the horizontal 360 degrees can rotate continuously without limit, and the pitching angle is-20 degrees to +70 degrees;
angular velocity: horizontal 0.01-60 degree/S, pitching 0.01-60 degree/S;
angular acceleration: the horizontal degree is more than or equal to 90 degrees/S2Pitching is more than or equal to 90 degrees/S2；
The linkage rotary table 300 can respond to the horizontal and pitching control commands sent by the control software; the function of presetting bits is provided; the cruise path can be completed according to the set preset position; the scanning device has a line scanning function between two points, and can set scanning points by itself; the system has the functions of automatically detecting and tracking the target in the video by combining radio and photoelectricity; a coaxial design with multiple sensors; a turntable control API is provided.
Referring to fig. 1, in an alternative embodiment, a shock absorbing chassis 400 is attached to the bottom of the base 310: most of the vibration is isolated to the shock absorbing chassis 400 by the shock absorbing chassis 400.
Referring to fig. 3, in an alternative of this embodiment, the passive anti-drone device includes an equipment box, which is disposed outside the turret housing 340.
And a power supply module, an intelligent tracking module, a video server and a switch are arranged in the equipment box.
The power module supplies power to the visible light camera 210, the thermal infrared imager 220 and the radio detection device 100.
The information monitored by the visible light camera 210, the thermal infrared imager 220 and the radio detection device 100 is sent to the intelligent tracking module and the video server, and is sent to the background server through the switch. Through the equipment box to improve passive anti unmanned aerial vehicle equipment's the degree of integrating.
Optionally, the radio detection device 100 comprises a receiver, a power converter and a controller; the receiver is used for receiving the radio signal and sending the radio signal to the controller.
The controller is connected with intelligent tracking module electricity, scans search unmanned aerial vehicle in the region through radio detection device 100, after discovering the moving object, through controller and intelligent tracking module's information transfer, leads the photoelectric detection tracking device 200 and aims at the target and catches, track the target, has greatly improved unmanned aerial vehicle's detection discernment effect.
The power converter is used for converting the voltage of the power module.
The embodiment also provides a passive anti-unmanned aerial vehicle method, which is suitable for the passive anti-unmanned aerial vehicle equipment; the method comprises the steps of (1) carrying out,
the linkage rotary table 300 is started, and system calibration of the passive anti-unmanned aerial vehicle equipment is completed at the control end;
the radio detection device 100 is directed to scan and search in an area, and when a moving target is found, the linked turntable 300 is directed to rotate so that the visible light camera 210 and the thermal infrared imager 220 are aligned with the target;
the linkage turntable 300 is turned, and when the target appears in the visual fields of the visible light camera 210 and the thermal infrared imager 220, the target is captured;
after the target is captured, the system of the passive anti-unmanned aerial vehicle device enters an automatic tracking state, and automatic tracking and identification are carried out on the target.
Optionally, the tracking mode is divided into manual tracking and automatic tracking:
a. manual tracking
After the capture and tracking algorithm of the target is set, the rotary table is moved manually, the target object is selected, when the target object is selected, a capture frame exists on the target object, then the tracking key is used at the control end to enter a tracking mode, the mouse clicks the left key to enter the tracking mode, after the tracking mode is entered, the rotary table 300 is linked to automatically track in real time according to the motion track of the target, and at the moment, the rotary table is controlled to operate completely in an automatic tracking mode. And then clicking a rocker tracking key or a left mouse button to unlock the tracking of the current target.
b. Automatic tracking
When the linked turret 300 receives the horizontal pitch azimuth information, the pitch main shaft 330 rotates to a designated position, and then enters the automatic capture mode. Through the automatic acquisition mode, the target enters the tracking mode after entering the acquisition target area, and then the automatic tracking function automatically tracks the acquired target, so that the intrusion tracking of the moving target is realized.
The passive anti-unmanned aerial vehicle method provided by the embodiment comprises the passive anti-unmanned aerial vehicle device, the technical characteristics of the disclosed passive anti-unmanned aerial vehicle device are also suitable for the passive anti-unmanned aerial vehicle method, and the technical characteristics of the disclosed passive anti-unmanned aerial vehicle device are not described repeatedly. The passive anti-unmanned aerial vehicle method in the embodiment has the advantages of the passive anti-unmanned aerial vehicle device, and the advantages of the passive anti-unmanned aerial vehicle device disclosed above are not described repeatedly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A passive anti-unmanned aerial vehicle device is characterized by comprising a radio detection device, a photoelectric detection tracking device and a linkage rotary table;
the photoelectric detection tracking device comprises a visible light camera and a thermal infrared imager;
the linkage rotary table comprises a base and an azimuth main shaft arranged on the base; the bottom of the azimuth spindle is connected with the base, and the top of the azimuth spindle is connected with the radio detection device;
the visible light camera and the thermal infrared imager are respectively arranged on two sides of the azimuth main shaft and are rotatably connected with the azimuth main shaft;
the visible light camera and the thermal infrared imager are both arranged between the radio detection device and the base.
2. The passive anti-drone apparatus of claim 1, wherein the linked turret further includes a pitch spindle and a turret housing;
the pitching main shaft is arranged inside the rotary table shell, and two ends of the pitching main shaft extend out of the rotary table shell; one end of the pitching main shaft is connected with the visible light camera, and the other end of the pitching main shaft is connected with the thermal infrared imager;
the pitching main shaft is rotatably connected with the rotary table shell, so that the visible light camera and the thermal infrared imager rotate along with the pitching main shaft relative to the rotary table shell;
the rotary table shell is rotatably connected with the azimuth main shaft, so that the visible light camera, the pitching main shaft and the thermal infrared imager rotate along with the rotary table shell relative to the azimuth main shaft;
the rotation direction of the pitching main shaft is perpendicular to the rotation direction of the rotary table shell.
3. The passive anti-drone apparatus of claim 2, wherein the pitch spindle is a crankshaft and axes at both ends of the pitch spindle are collinear;
an azimuth bearing and an azimuth sealing ring are arranged between the rotary table shell and the azimuth main shaft, and the azimuth sealing ring is arranged on one side, far away from the pitching main shaft, of the azimuth bearing;
the azimuth main shaft is provided with an azimuth driver for driving the rotary table shell to rotate, an azimuth brake for braking the rotary table shell to rotate and an azimuth rotary transformer for measuring the rotation angle of the rotary table shell; the azimuth driver, the azimuth actuator and the azimuth resolver are all located inside the turntable housing;
the azimuth spindle is also provided with an azimuth slip ring, and the azimuth driver, the azimuth brake and the azimuth rotary transformer obtain power supply through the azimuth slip ring; the azimuth slip ring is located inside the turntable housing.
4. A passive anti-drone vehicle apparatus according to claim 3, wherein a pitch bearing and a pitch seal are provided between the turret housing and the pitch spindle, the pitch seal being provided on a side of the pitch bearing remote from the azimuth spindle;
the pitching main shaft is provided with a pitching driver for driving the pitching main shaft to rotate, a pitching brake for braking the pitching main shaft to rotate and a pitching rotary transformer for measuring the rotation angle of the pitching main shaft; the pitch drive, the pitch brake, and the pitch resolver are all located inside the turret housing.
5. A passive anti-drone aircraft device according to claim 4, characterised in that the azimuth seal and/or the pitch seal respectively comprise a static seal and a dynamic seal; the static sealing ring is a conductive rubber ring; the dynamic sealing ring adopts a magnetic oil seal;
the number of the azimuth bearings is two, and the two azimuth bearings are respectively arranged at two ends of the azimuth main shaft;
the number of the pitching bearings is two, and the two pitching bearings are respectively arranged at two ends of the pitching main shaft;
the azimuth driver and/or the pitching driver respectively adopt brushless direct current torque motors;
the azimuth brake and/or the pitching brake are both electromagnetic brakes; the electromagnetic brake has a power-off self-locking function;
the azimuth main shaft and/or the pitching main shaft are made of anticorrosive heat-resistant stainless steel.
6. The passive anti-drone apparatus of claim 2, wherein a pitch limit structure is provided between the pitch spindle and the turret housing; the pitching limiting structure is used for limiting the rotation angle of the pitching main shaft relative to the rotary table shell to be-20 degrees to 70 degrees;
on the longitudinal section of the azimuth main shaft, the rotary table shell is in a spindle shape;
the outer shell of the rotary table is made of aluminum alloy.
7. The passive anti-drone apparatus of claim 2, further comprising an equipment box disposed outside the turret housing;
a power supply module, an intelligent tracking module, a video server and a switch are arranged in the equipment box;
the power supply module supplies power to the visible light camera, the thermal infrared imager and the radio detection device;
and information monitored by the visible light camera, the thermal infrared imager and the radio detection device is sent to the intelligent tracking module and the video server and is sent to a background server through the switch.
8. The passive anti-drone apparatus of claim 7, wherein the radio detection device includes a receiver, a power converter, and a controller; the receiver is used for receiving radio signals and sending the radio signals to the controller;
the controller is electrically connected with the intelligent tracking module;
the power converter is used for converting the voltage of the power module.
9. The passive anti-drone apparatus of claim 1, wherein a shock absorbing chassis is connected to a bottom of the base;
the thermal infrared imager adopts a long-focus high-definition camera and a large-area array non-refrigeration and high-precision tracking module;
the visible light camera adopts a visible light high-definition color-to-black camera.
10. A passive anti-drone method, characterized in that it is adapted to a passive anti-drone device according to any one of claims 1 to 9; the method comprises the steps of (1) carrying out,
the linkage rotary table is started, and system calibration of the passive anti-unmanned aerial vehicle equipment is completed at the control end;
the wireless detection device is guided to perform scanning search in the area, and when a moving target is found, the linkage rotary table is guided to rotate so as to enable the visible light camera and the thermal infrared imager to be aligned with the target;
the rotary table is linked for turning, and when a target appears in the visual fields of the visible light camera and the thermal infrared imager, the target is captured;
after the target is captured, the system of the passive anti-unmanned aerial vehicle device enters an automatic tracking state, and automatic tracking and identification are carried out on the target.
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| CN202110577592.3A CN113237389A (en) | 2021-05-26 | 2021-05-26 | Passive anti-unmanned aerial vehicle equipment and method thereof |
| CN202210566732.1A CN115060118A (en) | 2021-05-26 | 2022-05-23 | Passive anti-unmanned aerial vehicle equipment and method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113784055A (en) * | 2021-11-15 | 2021-12-10 | 北京中星时代科技有限公司 | Anti-unmanned aerial vehicle image communication system based on shimmer night vision technology |
| CN114895294A (en) * | 2022-05-11 | 2022-08-12 | 成都恒安警用装备制造有限公司 | Portable radar photoelectric integration detection equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6679371B2 (en) * | 2016-03-28 | 2020-04-15 | セコム株式会社 | Object detection device |
| WO2019071569A1 (en) * | 2017-10-13 | 2019-04-18 | Honeywell International Inc. | Unmanned aerial vehicle ground level inspection system |
| CN209085443U (en) * | 2018-09-04 | 2019-07-09 | 上海瑞章物联网技术有限公司 | The counter device of aerial mobile target |
| CN109873669A (en) * | 2019-04-04 | 2019-06-11 | 北京环境特性研究所 | A kind of unmanned plane detection method and unmanned plane detection system |
| CN212156432U (en) * | 2020-05-15 | 2020-12-15 | 武汉华之洋科技有限公司 | Photoelectric and radar integrated direction indicator |
| CN112415505A (en) * | 2020-10-16 | 2021-02-26 | 上海无线电设备研究所 | Radar, photoelectric and interference integrated detection-suppression device and method |
| CN112630773A (en) * | 2020-12-16 | 2021-04-09 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and control equipment based on common-frame radar composite detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113784055A (en) * | 2021-11-15 | 2021-12-10 | 北京中星时代科技有限公司 | Anti-unmanned aerial vehicle image communication system based on shimmer night vision technology |
| CN114895294A (en) * | 2022-05-11 | 2022-08-12 | 成都恒安警用装备制造有限公司 | Portable radar photoelectric integration detection equipment |
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