CN207251817U - A kind of regional monitoring system - Google Patents
A kind of regional monitoring system Download PDFInfo
- Publication number
- CN207251817U CN207251817U CN201721247865.3U CN201721247865U CN207251817U CN 207251817 U CN207251817 U CN 207251817U CN 201721247865 U CN201721247865 U CN 201721247865U CN 207251817 U CN207251817 U CN 207251817U
- Authority
- CN
- China
- Prior art keywords
- ground
- stabilized platform
- aerostatics
- image acquisition
- communication equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Alarm Systems (AREA)
Abstract
The utility model provides a kind of regional monitoring system, including aerostatics, and stabilized platform, air communication equipment are equipped with aerostatics；Stabilized platform can be around its central rotation；Angular transducer, the first measuring device, first control device, visual image acquisition device and the second measuring device are provided with stabilized platform；Angular transducer, the first measuring device are connected with first control device；First measuring device, visual image acquisition device, the second measuring device are connected with air communication equipment；The ground for further including interconnection is shown and control device, ground communication facilities.The utility model is scanned neighboring area monitoring, detection, sets risk object and alarm automatically, solves prior art monitoring range and be limited, merely by manual identified, and cannot the shortcomings that continuously monitoring for a long time.
Description
Technical field
The utility model is related to a kind of regional monitoring system, more particularly to application aerostatics, applied to extensive area
The regional monitoring system based on circular scanning of monitoring.The utility model belongs to aerostatics field.
Background technology
When holding convention, athletic meeting, rally activity, a large amount of crowd massings are had, if running into hostile element, fearing
It is afraid of instigating for molecule, it will trigger the generation of the events such as demonstration, riot conflict, beating, cause personal safety and property
Loss.If state of affairs complete monitoring, look-ahead Normal subject can be found riot conflict in time and carried out to answer
It is right, it will to greatly reduce loss caused by the generation and conflict of collision event.
The monitoring means for extensive area mainly have ground to fix monitoring camera, police monitoring car, police at present
Helicopter and unmanned plane etc..Ground fixing camera monitoring range is small, and needs arrangement in advance；Police monitoring car monitoring range
It is smaller, it is mainly used for illegal evidence obtaining；Police helicopter and monitoring unmanned scope is slightly larger, but cruising time is limited, can not be right
The state of affairs carries out complete monitoring.
In conclusion existing monitoring means can not meet the monitoring requirement of extensive area, in monitoring range and monitoring
Between upper Shortcomings.
Utility model content
Problem to be solved in the utility model is that the monitoring range for being directed to existing area monitoring is limited, simple by manually knowledge
Not, a kind of the shortcomings that and cannot continuously monitoring for a long time, there is provided regional monitoring system.
In order to solve the above technical problems, a kind of regional monitoring system, including it is connected with ground and the aerostatics of stagnant empty work,
Stabilized platform, air communication equipment are equipped with the aerostatics；The stabilized platform can be around its central rotation；On stabilized platform
It is provided with the angular transducer of the rotation angle for measuring stabilized platform, space coordinate and posture for measuring stabilized platform
The first measuring device, the rotation for controlling stabilized platform and adjust the first angle first control device, for locality
The visual image acquisition device of the image in region to be detected and adopted on face for measuring region to be detected on ground with visual pattern
Second measuring device of distance between acquisition means；The visual image acquisition device is rotated and rotated with stabilized platform；The angle
Degree sensor, the first measuring device are connected with first control device；First measuring device, visual image acquisition device,
Second measuring device is connected with the air communication equipment；The ground for further including interconnection is shown and control device, ground
Communication equipment；The air communication equipment is connected with ground communication facilities by wirelessly or non-wirelessly mode.
Further, the visual image acquisition device includes photopic vision image collecting device, infrared visual pattern
Harvester.Visual image acquisition device realizes that the imaging of target scene on daytime is detectd by photopic vision image collecting device
Look into, adverse weather on daytime and the imaging investigation of night target scene are realized by infrared visual image acquisition device.Pass through visible ray
Visual image acquisition device and infrared visual image acquisition device complement one another, and have expanded imaging spectral scope of investigation, Ke Yishi
Existing 24h is uninterruptedly monitored.
Further, the first control device includes sequentially connected controller, motor-drive circuit, motor, described
The output terminal of angular transducer, the output terminal of the first measuring device are connected with the input terminal of controller.In the utility model, control
Device processed can be handled the output of angular transducer, the first measuring device, so as to be realized by motor-drive circuit to electricity
The driving of machine, by motor control stabilized platform pitching or rotation (rotation), visual image acquisition device pitching or turn
Dynamic (rotation).
Further, the stabilized platform includes fixed part and rotating part, and first measuring device is arranged on surely
The fixed part of fixed platform, the angular transducer, visual image acquisition device, the second measuring device are arranged at stabilized platform
Rotating part.Stabilized platform is mounted on aerostatics, it is therefore desirable to arrange the equipment such as antenna, therefore limited in space, nothing
All devices are arranged in the rotating part of stabilized platform by method, therefore, the first measuring device are arranged on consolidating for stabilized platform
Determine part, and angular transducer, visual image acquisition device, the second measuring device are arranged to the rotating part of stabilized platform.
Further, including aerial configurations, the aerial configurations include the aerostatics, stabilized platform, the first measurement dress
Put, angular transducer, first control device, visual image acquisition device, the second measuring device, air communication equipment；It is described floating
Pocket is connected by hawser with ground, and the hawser includes being arranged at outermost overcoat, the stress layer in overcoat, in stress layer
Rope body；The air communication equipment and ground communication facilities use optical fiber communication equipment or satellite communication equipment or wireless bridge
Or wireless image transfer device, if air communication equipment and ground communication facilities use optical fiber communication equipment, the stress layer
Communication cable is inside additionally provided with, the air communication equipment, ground communication facilities are connected with each other by communication cable；It is described aerial
Structure is by the power supply unit power supply set on ground or the battery powered by being arranged on aerostatics, if the aerial configurations are by ground
The power supply unit power supply set on face, then be additionally provided with power cord in the stress layer, the aerial configurations by power cord by
The power supply unit power supply set on ground.In the utility model, by the way that stress layer is arranged in overcoat, will rope body be arranged on by
In power layer, it is possible to achieve the protection to body of restricting.By the way that communication cable is arranged in stress layer, it is possible to achieve to communication cable
Protection.By the way that power cord is arranged in stress layer, it is possible to achieve the protection to power cord.
Further, first measuring device is the integrated navigation measuring device being made of GPS and Inertial Measurement Unit.
Further, ground anchoring equipment is further included, the aerostatics is connected by hawser with ground anchoring equipment, described
Ground anchoring equipment is anchoring car or fixed anchoring tower.
Further, the aerostatics includes the main gasbag filled with buoyance lift gas and the balloonet filled with air or only includes
Main gasbag filled with buoyance lift gas.
Further, the aerostatics is to be tethered at ship or mooring ball or dirigible.
The utility model has the advantage that as follows with good effect：
1) using aerostatics is tethered at, aerostatics is connected with ground, can work in sky for a long time；
2) only need stabilized platform to rotate a circle and the Image Acquisition of a circle ring area can be achieved, by adjusting the first folder
Angle, and only need to make stabilized platform rotation more all, you can the image in the whole region to be detected of collection, detection speed are fast；
3) photopic vision image collecting device and infrared visual image acquisition device complementary duty are used, can be realized
24h full-time employments, monitor no interruption；
4) working method swept using week, is capable of the region of covering diameter 20km, and monitoring range is big；
5) automatic identification compromising feature target and alarm, obtain target position information automatically, the degree of automation is high；
6) stress layer is arranged in overcoat, rope body, communication cable, power cord is arranged in stress layer, it is possible to achieve right
The protection of rope body, communication cable, power cord；
7) stabilized platform that can be carried in aerostatics can not keep original static shape since aerostatics is interfered
During state, the first angle can be modified so that by correcting the first angle can be allow to keep original angle, can be with
Gathering to the image in original region can be still realized when being subject to external interference, so as to eliminate external interference.
Brief description of the drawings
In order to illustrate more clearly of the technical solution in the embodiment of the present application, make required in being described below to embodiment
Figure is briefly described, it should be apparent that, the figure in describing below is only some embodiments of the present application, for ability
For the those of ordinary skill of domain, without having to pay creative labor, other figures can also be obtained according to these figures.
Fig. 1 is the structure diagram of the regional monitoring system of the utility model embodiment；
Fig. 2 is the electrical block diagram of the regional monitoring system of the utility model embodiment；
Fig. 3 is the schematic diagram of the regional monitoring system circular scanning of the utility model embodiment；
Fig. 4, Fig. 5 are the calculating schematic diagrames of the coordinate of the suspicious object of the utility model embodiment.
In above-mentioned attached drawing, 11, aerostatics, 12, stabilized platform, 13, monitoring device, 131, visual image acquisition device,
132nd, the second measuring device, the 141, first measuring device, 142, angular transducer, 144, controller, 145, motor-drive circuit,
146th, motor, 15, air communication equipment, 21, ground anchoring equipment, 22, ground is shown and control device, 23, ground communication sets
It is standby, 3, hawser, 31, overcoat, 32, stress layer, 33, power cord, 34, communication cable, 35, rope body, O-monitoring device is regularly
Point, the field of view of N-visual image acquisition device, the circumference field of view of L1, L2, L3, L4-circular scanning, x, y-ground
Two axis of plane coordinate system, M-suspicious object, Z-visual image acquisition device working depth, α-visual pattern collection dress
Put the distance of the distance of downwards angle of visibility degree, s-suspicious object and origin, L-suspicious object and visual image acquisition device, z'-can
Doubt object height, the azimuth of β-suspicious object, s1- warp-wise distance, s2- broadwise distance.
Embodiment
Below in conjunction with the figure of the application, the technical solution in the embodiment of the present application is clearly and completely described, is shown
So, described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Based on the reality in the application
Apply example, those of ordinary skill in the art's all other embodiments obtained without making creative work, all belong to
In the scope of the application protection.
The utility model can meet to monitor for a long time, on a large scale, detect, early warning demand.The utility model utilizes length
The aerostatics 11 of time stagnant empty work carries the lift-off certain altitude of visual image acquisition device 131, by way of circular scanning
Monitoring, detection are scanned to neighboring area, sets risk object and alarm automatically.Solve prior art monitoring range by
Limit, by manual identified, and cannot the shortcomings that continuously monitoring for a long time.
As shown in Figure 1 and Figure 2, the utility model provides a kind of regional monitoring system based on circular scanning.Area monitoring system
System includes aerial configurations and ground structure, the hawser 3 for connecting ground structure and aerial configurations.Aerial configurations include aerostatics
11st, stabilized platform 12, the first measuring device 141, angular transducer 142, first control device, monitoring device 13, air communication
Equipment 15, monitoring device 13 include visual image acquisition device 131, the second measuring device 132.Ground structure includes：Ground anchor
Equipment 21 is moored, ground is shown and control device 22, ground communication facilities 23.
Angular transducer 142, the first measuring device 141 are connected with first control device；First measuring device 141, regard
Feel that image collecting device 131, the second measuring device 132 are connected with air communication equipment 15；Further include the ground of interconnection
Display and control device 22, ground communication facilities 23；Air communication equipment 15 is with ground communication facilities 23 by wirelessly or non-wirelessly
Mode connects.Stabilized platform 12 drives visual image acquisition device 131 to realize area monitoring.Stabilized platform 12, monitoring device 13,
Air communication equipment 15 is connected with aerostatics 11, and aerostatics 11 is used to provide lift-off buoyancy and energy resource supply, stabilized platform 12
For driving monitoring device 13 to move, monitoring device 13 is used for the view data in shooting area, passes through air communication equipment 15
It is transmitted.Ground communication facilities 23 and ground are shown to be connected with control device 22, receives the number that air communication equipment 15 is sent
According to being handled and shown.Ground anchoring equipment 21 is connected with aerostatics 11, lift-off, recycling and anchoring for aerostatics 11.
Aerostatics 11 carries the payload such as stabilized platform 12, monitoring device 13, air communication equipment 15 and goes up to the air to certain
Highly stagnant empty work, and provide electric energy to loading device.Meanwhile by the circular motion of stabilized platform 12, drive monitoring device
13 also circle, and output monitoring image is to ground, ground show with control device 22 by monitoring image carry out splicing and
Display, it is possible to a secondary complete image is obtained on display interface.Visual image acquisition device 131 completes a circular scanning
Afterwards, under 131 elevating movement of visual image acquisition device, another circumferential area is switched to, continues circular scanning.So
It is repeated, then completes the monitoring to extensive area.
Aerostatics 11 is connected with ground and stagnant empty work.Stabilized platform 12, air communication equipment are equipped with aerostatics 11
15.Aerostatics 11 uses and is tethered at ship or mooring ball or dirigible.Aerostatics 11 is gone up to the air using the buoyancy of buoyance lift gas, and aerostatics 11 is also
Possess power supply unit, pressure control equipment, tether cable etc., to meet the continuous stagnant empty needs of aerostatics 11.Aerostatics 11
Including the main gasbag filled with buoyance lift gas and the balloonet filled with air, alternatively, aerostatics 11 only includes filled with buoyance lift gas
Main gasbag.Aerostatics 11 is to be tethered at ship or mooring ball or dirigible.It is additionally provided with aerostatics 11 for adjusting in aerostatics 11
The pressure control equipment of external differential.The scope that it is 100-1000m apart from ground that the position of aerostatics, which is preferably, more preferably distance
Ground is the scope of 300-600m.
Angular transducer 142, the first measuring device 141, first control device, visual pattern are provided with stabilized platform 12
Harvester 131, the second measuring device 132.Position-measurement device 141, attitude measuring are driven when stabilized platform 12 rotates
142 rotate.In the utility model, the rotation of stabilized platform 12 is the rotation of stabilized platform 12.
Stabilized platform 12 is used for isolating the movement of aerostatics 11, to visual image acquisition device 131 provide one it is stable
Working environment.Stabilized platform 12 has posture, position measurement apparatus, can feed back itself posture, positional information, and can control
Visual image acquisition device 131 realizes that 360 ° of orientation rotates and pitch rotation, meet visual image acquisition device 131 to angle and
The requirement of stability.Stabilized platform 12 can be around its central rotation.Stabilized platform 12 includes fixed part and rotating part, and first surveys
Amount device 141 is arranged on the fixed part of stabilized platform 12, and angular transducer 142, visual image acquisition device 131, second are surveyed
Amount device 132 is arranged at the rotating part of stabilized platform 12.The rotation of stabilized platform 12 drives 131 turns of visual image acquisition device
Dynamic, stabilized platform 12 is often rotated a circle by the way of circular scanning, and 131 visual field of visual image acquisition device also and then carries out
Circular motion, you can complete the monitoring to a circle ring area.
Stabilized platform 12 during the motion, can be disturbed, stabilized platform 12 passes through group be subject to 11 movement of aerostatics at this time
Close navigation equipment and measure the posture of itself, position data, driving orientation rotates and pitch rotation, offsets the dry of aerostatics 11
Disturb, it is ensured that visual image acquisition device 131 steadily carries out circular motion along fixed pitch angle.
Angular transducer 142 is used for the rotation angle for measuring stabilized platform 12.I.e. angular transducer 142 measures stabilized platform
12 since initial position rotating rotation angle.
First measuring device 141 is used to measuring the space coordinate and posture of stabilized platform 12, the first measuring device 141 be by
The integrated navigation measuring device that GPS and Inertial Measurement Unit are formed.First measuring device 141 is using double GPS+ inertial navigation integrated navigations
Measuring system, for information such as the horizontal attitude angle of feedback stability platform 12, azimuth, longitudes and latitudes (coordinate).It is preferred that first surveys
Measure pitch angle and azimuth that device 141 measures stabilized platform 12.First measuring device 141 is used for the sky for measuring stabilized platform 12
Between coordinate and posture.It is preferred that pitch angle, azimuth, the roll angle of the first measuring device 141 measurement stabilized platform 12.
Monitoring device 13 is connected with stabilized platform 12 and air communication equipment 15, and stabilized platform 12 drives visual pattern collection
Device 131 rotates, and the video data that visual image acquisition device 131 exports is transmitted by air communication equipment 15.Stabilized platform
12, which drive monitoring device 13 to rotate as stabilized platform 12, drives 131 and second measuring device 132 1 of visual image acquisition device
Rise and rotate.
Visual image acquisition device 131 is used for the image for gathering region to be detected on ground.Visual image acquisition device 131
Including photopic vision image collecting device, infrared visual image acquisition device.Photopic vision image collector is set to visible
Light video camera or visible light camera.Infrared visual image acquisition device can use thermal infrared imager.It is preferred that photopic vision figure
As harvester 131 possesses 30 times of zooms.The tool that can determine photopic vision image collecting device 131 according to being actually needed
Body parameter.The imaging for realizing target scene on daytime by photopic vision image collecting device is investigated.Pass through infrared visual pattern
Harvester realizes adverse weather on daytime and the imaging investigation of night target scene.Photopic vision image collecting device and infrared regard
Feel that image collecting device complements one another, expanded imaging spectral scope of investigation, realized the continual area monitoring tasks of 24h.Such as
Shown in Fig. 3, visual image acquisition device 131 is realized sweep monitoring week from the inside to the outside according to the order of L1, L2, L3, L4, or according to
The order of L4, L3, L2, L1, realize sweep monitoring week from outside to inside.If the camera set in visual image acquisition device 131 is excessive,
Then carrying weight is excessive, only sets one, can mitigate overall weight.Visual image acquisition device 131 is revolved with stabilized platform 12
Then rotate.Visual image acquisition device 131 transmits the view data in the region collected by air communication equipment 15
To ground communication facilities 23.
Second measuring device 132 is used to measure on ground distance between region to be detected and visual image acquisition device 131.
Second measuring device 132 can use laser range finder.Laser range finder it is measurable go out visual image acquisition device 131 and suspicious mesh
The distance between mark L, can improve the precision of suspicious object positioning.
First control device be used for control stabilized platform 12 rotation and adjustment the first angle, first control device include according to
Controller 144, motor-drive circuit 145, the motor 146 of secondary connection, the output terminal of angular transducer 142, the first measuring device
Input terminal of 141 output terminal with controller 144 is connected.Controller 144 is adjusted according to the measurement result of angular transducer 143
First angle.First control device can adjust the posture of stabilized platform 12, and preferably first control device can adjust visual pattern and adopt
The pitch angle of acquisition means 131.Control instruction is sent to motor-drive circuit 145, motor-drive circuit 145 by controller 144
Driving motor 146 acts, thus 142 back-to-back running angle of angular transducer forms a closed-loop control system to controller 144
System, the orientation for being used for realization stabilized platform 12 rotate control and pitch rotation control.In the case of not adjusting the first angle, utilize
First angle keeps fixed in 12 rotary course of stabilized platform or has the angular transformation scope less than 5 °.First control device
The rotation of pitch angle, stabilized platform of adjustable visual image acquisition device 131 and the pitch angle of stabilized platform.
Air communication equipment 15 and ground communication facilities 23 use optical fiber communication equipment or satellite communication equipment or wireless network
Bridge or wireless image transfer device, air communication equipment 15 and ground communication facilities 23 can use wireless telecom equipment, optical fiber to lead to
Believe equipment, satellite communication equipment etc..Wireless telecom equipment includes wireless bridge, wireless image transfer device etc..
Air communication equipment 15 uses wireless bridge, and the data of visual image acquisition device 131 are transferred to ground communication
Equipment 23.
Aerostatics 11 is connected by hawser 3 with ground anchoring equipment 21.Ground anchoring equipment 21 is connected with aerostatics 11.Ground
Face anchoring and mooring system 21 is used for lift-off, recycling and the anchoring of aerostatics 11.Anchoring car, fixed anchoring can be selected in ground anchoring equipment 21
Tower etc..
Ground anchoring equipment 21 is used for the lift-off of aerostatics 11 and recycling, the anchoring of aerostatics 11 are fixed.Ground anchoring is set
Standby 21 can be stored with the buoyance lift gas such as helium.Ground is shown can be installed in ground anchoring equipment 21 with control device 22, for prison
Control personnel use.Ground anchoring equipment 21 can be mounted on the transporting equipments such as vehicle, convenience in transport.
Ground is shown includes computer, display with control device 22.Display and control software, electronically are provided with computer
Figure etc..Computer receives the data of ground communication facilities 23, and shows over the display.Display is used for video and map is shown
Show, display is used to show the view data collected with control software, splices, the surely processing such as picture, enhancing, and to be checked
The target for surveying region carries out automatic identification, is contrasted with risk object feature database.Ground is shown and control device 22 and first
Control device connects.When finding risk object, ground is shown sends instruction with control device 22 to first control device, and order regards
Feel that image collecting device 131 starts the tracking to suspicious object, and ground shows and sends alarm signal with control device 22.
Ground is shown and 22 automatic identification suspicious object of control device.Once it was found that suspicious object, then ground is shown and control
The space coordinate and posture, angular transducer 142 for the stabilized platform 12 that control equipment 22 is obtained by the measurement of the first measuring device 141
The rotation angle of obtained stabilized platform 12 is measured, calculates the information such as position (coordinate), the speed of suspicious object, and in electronics
Shown in map, for monitoring personnel processing.
Ground communication facilities 23 receives the signal of air communication equipment 15, and shows with ground and be connected with control device 22.
Ground communication facilities 23 uses wireless bridge, receives the data of air communication equipment 15, and will be received from air communication equipment 15
To data be transferred to ground show with control device 22.
Aerostatics 11 is connected by hawser 3 with ground.Hawser 3 can use tether cable.Hawser 3 includes being arranged at outermost layer
Overcoat 31, the stress layer 32 in overcoat, the rope body 35 in stress layer 32.Aerial configurations are supplied by the power supply unit set on ground
Electricity or the battery powered by being arranged on aerostatics 11, if aerial configurations are powered by the power supply unit set on ground, stress
Power cord 33 is additionally provided with layer 32, aerial configurations are powered by power cord 33 by the power supply unit set on ground.It is if aerial
Communication equipment 15 and ground communication facilities 23 use optical fiber communication equipment, then communication cable 34 is additionally provided with stress layer 32, empty
Middle communication equipment 15, ground communication facilities 23 are connected with each other by communication cable 34.
The area monitoring operating process of the utility model is as follows：Stabilized platform 12 drives 131 turns of visual image acquisition device
It is dynamic, rotate according to certain pitch angle, often rotate a circle, the visual field of visual image acquisition device 131 also follows movement one week, i.e.,
It can complete the monitoring to a circle ring area (such as L1).During the motion, can be disturbed at this time be subject to 11 movement of aerostatics, surely
Fixed platform 12 measures the horizontal attitude data of itself by hybrid navigation equipment, and driving orientation rotates and pitch rotation, offsets
The interference of aerostatics 11, it is ensured that visual image acquisition device 131 steadily carries out circular motion along fixed pitch angle.Ground is shown
Monitor video is handled with control software, picture quality is improved using the technology such as image enhancement, steady picture, Penetrating Fog, at the same it is right
Image is identified, and each suspicious object is screened, and finds and highlights compromising feature target, according to visual image acquisition device
131 position and downwards angle of visibility degree α calculate the position (coordinate) of suspicious object, and the suspicious object of acquisition is shown on the electronic map
Show.
In the utility model, aerostatics 11 carries stabilized platform 12 and monitoring device 13 is gone up to the air；Stabilized platform 12 drives and regards
Feel that image collecting device 131 moves, using the working method of circular scanning.This cycle starts, its central rotation of stabilized platform 12
At least one week, visual image acquisition device 131 was rotated and rotated with stabilized platform 12, and the first angle is rotated through in stabilized platform 12
Keep fixed in journey or there is the angular transformation scope less than 5 °, meanwhile, measure space coordinate, posture and the rotation of stabilized platform 12
Gyration, and the image that region is collected on ground is gathered using visual image acquisition device 131, and the first distance is measured, the
For one distance to be collected the distance between region and visual image acquisition device 131 on ground, the first angle is that visual pattern is adopted
Angle between the visual field direction of acquisition means 131 and vertical direction.Since the visual field of visual image acquisition device 131 exists necessarily
Scope limitation, can not meet to monitor covering demand on a large scale, thus use a kind of monitoring means of circular scanning.If stablize
The posture of platform 12 changes, then the first angle is modified, space coordinate, appearance of the modified angle by stabilized platform 12
State and rotation angle are calculated, and preferably first control device gathers the pitch angle for filling 131 to first by adjusting visual pattern
Angle is modified.By the space coordinate of stabilized platform 12, posture and rotation angle, the first distance, the image for being detected target
Pass sequentially through air communication equipment 15, ground communication facilities 23 is sent to ground and shows and control device 22.As shown in figure 3, N is
The field of view of visual image acquisition device 131.
After the completion of run-down, visual pattern collection fills 131 adjustment pitch angles, continues rotary motion, visual pattern
Harvester 131 also and then carries out the scanning of next circle ring area.So be repeated, monitoring device 13 according to L1, L2,
The order of L3, L4, complete the monitoring to whole monitoring area from the inside to the outside.Alternatively, monitoring device 13 is according to L4, L3, L2, L1
Sequentially, the monitoring to whole monitoring area is completed from outside to inside.L1, L2, L3, L4 are steady i.e. in the case of the first different angles
Fixed platform, which rotates a circle, gathers the circle ring area of image.The first angle is adjusted by descending or ascending order, is repeated
Above-mentioned steps.If descending order adjusts the first angle, circle that the radius of the circle ring area first gathered gathers after being more than
The radius of ring region；If ascending order adjusts the first angle, the radius of the circle ring area first gathered gathers after being less than
Circle ring area radius.The adjusting range of first angle is determined by the visual field of visual image acquisition device 131.
The image in collected region is spliced, obtains the image in whole region to be detected.
The image in whole region to be detected is detected, identifies the characteristic target in image, determine suspicious object and its
Coordinate, the coordinate of suspicious object are calculated by the space coordinate of stabilized platform 12, posture and rotation angle, the first distance.Meter
Movement velocity, the direction of motion of suspicious object are calculated, the speed of suspicious object is calculated by the image in several adjacent collected regions
Arrive.Suspicious object is determined by the way that the feature of image and risk object is contrasted, and the feature of risk object includes dangerous mesh
The velocity characteristic of target characteristics of image, risk object.Ground is shown the suspicious object of acquisition and suspicious mesh with control device 22
Target coordinate, movement velocity, the direction of motion mark on the electronic map,
The coordinate (x', y', z') of suspicious object is calculated using following formula.
Wherein, (X, Y, Z) is the space coordinate of stabilized platform 12, L for suspicious object and visual image acquisition device 131 it
Between distance, α is the first angle, and β is the azimuth of suspicious object.α, β are by the posture of stabilized platform 12, the survey of angular transducer
Amount result is calculated.
Specific location (coordinate of suspicious object) acquisition modes principle of suspicious object is shown in Fig. 4, Fig. 5, visual pattern collection
131 position of device is (X, Y, Z), and the distance of suspicious object and visual image acquisition device 131 is L, visual image acquisition device
131 downwards angle of visibility degree are α, the azimuth of suspicious object is β.By trigonometric function relation can calculate suspicious object height z'=Z-L ×
Distance s=L × sin α of cos α, suspicious object and origin, calculate suspicious object in x, y plane and visual pattern collection fills
Put 131 warp-wise distance s1=L × sin α × cos β, broadwise distance s2=L × sin α × sin β.Thus can be obtained by suspicious
Target position information (x', y', z').
Above-mentioned calculating process is a kind of example, obtains suspicious object positional information and also has other methods, in the present embodiment
Any restriction is not done to this.
Judge whether suspicious object is risk object.If confirming as risk object, alarm is sent, reminds operator on duty's note
Meaning.If judging suspicious object for risk object, the image of 131 continuous collecting risk object of visual image acquisition device is made.I.e.
Visual image acquisition device 131 is called to stare risk object.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
The embodiment of the utility model is described in detail above, but content is only the preferable implementation of the utility model
Example, it is impossible to be construed as limiting the scope of the utility model.All equivalent changes made according to the scope of the utility model with
Improve etc., should all still it belong within this patent covering scope.
Claims (9)
1. a kind of regional monitoring system, including it is connected with ground and the aerostatics (11) of stagnant empty work, it is characterised in that：It is described floating
Stabilized platform (12), air communication equipment (15) are equipped with pocket (11)；The stabilized platform (12) can be around its central rotation；
The angular transducer (142) of the rotation angle for measuring stabilized platform (12) is provided with stabilized platform (12), for measuring
The space coordinate of stabilized platform (12) and the first measuring device (141) of posture, the rotation for controlling stabilized platform (12) and
Adjust the first control device of the first angle, the visual image acquisition device for gathering the image in region to be detected on ground
(131) and for measuring the second measuring device of distance between region to be detected and visual image acquisition device (131) on ground
(132)；The angular transducer (142), the first measuring device (141) are connected with first control device；First measurement
Device (141), visual image acquisition device (131), the second measuring device (132) connect with the air communication equipment (15)
Connect；The ground for further including interconnection is shown and control device (22), ground communication facilities (23)；The air communication equipment
(15) it is connected with ground communication facilities (23) by wirelessly or non-wirelessly mode.
2. regional monitoring system according to claim 1, it is characterised in that：Visual image acquisition device (131) bag
Include photopic vision image collecting device, infrared visual image acquisition device.
3. regional monitoring system according to claim 1, it is characterised in that：The first control device includes being sequentially connected
Controller (144), motor-drive circuit (145), motor (146), the output terminal of the angular transducer (142), first survey
Input terminal of the output terminal of amount device (141) with controller (144) is connected.
4. regional monitoring system according to claim 1, it is characterised in that：The stabilized platform (12) includes fixed part
And rotating part, first measuring device (141) are arranged on the fixed part of stabilized platform (12), the angular transducer
(142), visual image acquisition device (131), the second measuring device (132) are arranged at the rotating part of stabilized platform (12).
5. regional monitoring system according to claim 1, it is characterised in that：Including aerial configurations, the aerial configurations bag
Include the aerostatics (11), stabilized platform (12), the first measuring device (141), angular transducer (142), first control device,
Visual image acquisition device (131), the second measuring device (132), air communication equipment (15)；The aerostatics (11) passes through cable
Rope (3) is connected with ground, and the hawser (3) includes being arranged at outermost overcoat (31), the stress layer (32) in overcoat, stress
Rope body (35) in layer (32)；The air communication equipment (15) and ground communication facilities (23) using optical fiber communication equipment or are defended
Star communication equipment or wireless bridge or wireless image transfer device, if air communication equipment (15) and ground communication facilities (23) are adopted
With optical fiber communication equipment, then communication cable (34) is additionally provided with the stress layer (32), the air communication equipment (15),
Face communication equipment (23) is connected with each other by communication cable (34)；The aerial configurations are powered by the power supply unit set on ground
Or the battery powered by being arranged on aerostatics (11), if the aerial configurations are powered by the power supply unit set on ground,
It is additionally provided with power cord (33) in the stress layer (32), the aerial configurations are by power cord (33) by the confession that is set on ground
Electric equipment is powered.
6. according to the regional monitoring system any one of claim 1-5, it is characterised in that：First measuring device
(141) it is the integrated navigation measuring device that is made of GPS and Inertial Measurement Unit.
7. according to the regional monitoring system any one of claim 1-5, it is characterised in that：Further include ground anchoring equipment
(21), the aerostatics (11) is connected by hawser (3) with ground anchoring equipment (21), and the ground anchoring equipment (21) is anchor
Park or fix anchoring tower.
8. according to the regional monitoring system any one of claim 1-5, it is characterised in that：The aerostatics (11) includes
Main gasbag filled with buoyance lift gas and the balloonet filled with air only include the main gasbag filled with buoyance lift gas.
9. according to the regional monitoring system any one of claim 1-5, it is characterised in that：The aerostatics (11) is is
Stay ship or mooring ball.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721247865.3U CN207251817U (en) | 2017-09-27 | 2017-09-27 | A kind of regional monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721247865.3U CN207251817U (en) | 2017-09-27 | 2017-09-27 | A kind of regional monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207251817U true CN207251817U (en) | 2018-04-17 |
Family
ID=61885584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721247865.3U Active CN207251817U (en) | 2017-09-27 | 2017-09-27 | A kind of regional monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207251817U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109711348A (en) * | 2018-12-28 | 2019-05-03 | 湖南航天远望科技有限公司 | Intelligent monitoring method and system based on the long-term real-time architecture against regulations in hollow panel |
| CN110758728A (en) * | 2019-11-04 | 2020-02-07 | 西安交通大学 | Many rotor unmanned aerial vehicle of force feedback |
| CN111076703A (en) * | 2018-10-22 | 2020-04-28 | 东莞前沿技术研究院 | Positioning system and positioning method thereof |
| CN111294114A (en) * | 2018-12-07 | 2020-06-16 | 华为技术有限公司 | Optical communication node, relay node and optical communication system |
| CN113328778A (en) * | 2021-05-07 | 2021-08-31 | 中星乾景数据技术(北京)有限公司 | Ocean maritime affairs control communication aerostatics system |
-
2017
- 2017-09-27 CN CN201721247865.3U patent/CN207251817U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111076703A (en) * | 2018-10-22 | 2020-04-28 | 东莞前沿技术研究院 | Positioning system and positioning method thereof |
| CN111294114A (en) * | 2018-12-07 | 2020-06-16 | 华为技术有限公司 | Optical communication node, relay node and optical communication system |
| CN109711348A (en) * | 2018-12-28 | 2019-05-03 | 湖南航天远望科技有限公司 | Intelligent monitoring method and system based on the long-term real-time architecture against regulations in hollow panel |
| CN110758728A (en) * | 2019-11-04 | 2020-02-07 | 西安交通大学 | Many rotor unmanned aerial vehicle of force feedback |
| CN113328778A (en) * | 2021-05-07 | 2021-08-31 | 中星乾景数据技术(北京)有限公司 | Ocean maritime affairs control communication aerostatics system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207251817U (en) | A kind of regional monitoring system | |
| CN108306217B (en) | Intelligent autonomous overhead high-voltage line wire flying inspection system and method | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| US20240109670A1 (en) | Control device, control method, and flight vehicle device | |
| US9773420B2 (en) | Measuring system | |
| Samad et al. | The potential of Unmanned Aerial Vehicle (UAV) for civilian and mapping application | |
| EP2772725B1 (en) | Aerial Photographing System | |
| CN107783545B (en) | Obstacle avoidance system of post-disaster rescue rotor unmanned aerial vehicle based on OODA (object oriented data acquisition) ring multi-sensor information fusion | |
| KR101252080B1 (en) | The apparatus and method of inspecting with flying robot of quad roter | |
| CN106226830B (en) | A kind of marine magnetism detection method and device | |
| CN111288963A (en) | High-risk deformable body GNSS monitoring terminal non-contact throwing device and method | |
| CN105513247B (en) | A kind of fire monitoring alignment system and method that ship is tethered at based on floating | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN102654917B (en) | Method and system for sensing motion gestures of moving body | |
| CN109561275A (en) | A kind of area monitoring method and regional monitoring system based on circular scanning | |
| CN108983809A (en) | The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane | |
| US20230400302A1 (en) | Systems and methods for measuring water capacity of polar lakes | |
| Klanšek | An unmanned aerial vehicle for multi-purpose tasks in construction industry | |
| CN110360986B (en) | Portable star catalogue local topography mapping system | |
| CN110411443A (en) | A kind of rocker arm of coal mining machine inertia/visual combination determines appearance device and method | |
| CN207008412U (en) | A kind of four rotor multi-mode aircraft | |
| CN211552852U (en) | High-risk deformable body GNSS monitoring terminal non-contact throwing device | |
| CN205469824U (en) | Environment detection four shaft air vehicle based on STM32F4 | |
| CN112414364A (en) | Attitude monitoring device and method for suspension holding pole | |
| CN110065642A (en) | A kind of urban viaduct detection unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |