An unmanned aerial vehicle detection and direction-finding device capable of detecting in the full frequency band

Abstract

The present invention discloses a UAV detection and direction-finding device capable of full-band detection, which relates to the field of UAV detection and direction-finding equipment. It includes a direction-finding housing, and a plurality of direction-finding antenna units are arranged along the circumferential direction of the direction-finding housing. The direction-finding antenna unit includes a rotating unit, a telescopic unit and a direction-finding antenna. The rotating unit includes a rotating cylinder, and the rotating cylinder is rotatably connected to the direction-finding housing. The telescopic unit includes a deflecting cylinder and a multi-stage telescopic cylinder. One end of the deflecting cylinder is rotatably connected to the rotating cylinder, one end of the multi-stage telescopic cylinder is slidably connected to the deflecting cylinder, and the other end is connected to the direction-finding antenna. The deflecting cylinder adjusts the state of the direction-finding antenna to form a vertical polarization direction-finding state or a horizontal polarization direction-finding state. The rotation axis of the rotating cylinder is perpendicular to the rotation axis of the deflecting cylinder, and the rotating cylinder is used to adjust the direction-finding angle of the direction-finding antenna. With one antenna, four monitoring technologies of low frequency band, high frequency band, vertical polarization and horizontal polarization are respectively realized, and it can be applied to more complex environments.

Description

Technical Field

[0001] The present invention relates to the field of UAV detection and direction-finding equipment, and specifically to a UAV detection and direction-finding device capable of full-band detection. Background Art

[0002] In the wave of the booming development of modern technology, UAV technology has been extremely widely used in both civilian and military fields due to its outstanding advantages such as low cost, flexible operation, good concealment, and the ability to carry a variety of devices to perform diverse tasks. For example, in civilian scenarios, from film shooting, agricultural plant protection, logistics distribution to geographical mapping, the intervention of UAVs has significantly improved work efficiency and convenience.

[0003] The patent with the application number: CN202010786192.9, "A Method for Automatically Detecting and Direction-Finding UAVs" points out that in such complex low-altitude environments, it is difficult for radar to accurately detect UAV signals and it cannot effectively meet the actual detection needs. The audio detection technology performs voiceprint recognition based on the flight noise of UAVs. However, in low-altitude environments, background noises such as factory noises, traffic noises, and natural environment noises seriously interfere with the capture of UAV sound characteristics, resulting in extremely low reliability of this technology in most low-altitude scenarios and only playing a limited role in extremely few quiet special low-altitude environments. Relatively speaking, the detection method based on UAV radio frequency signals shows unique advantages. This method can effectively extract key information of the signal by searching for the radio frequency signal or video transmission signal between the UAV and the remote controller, and then determine the presence of the UAV and its orientation. However, the antenna system design of traditional UAV detection and direction-finding devices is often relatively fixed, and it is difficult to flexibly adjust the polarization mode and direction-finding angle for the complex low-altitude electromagnetic environment. The low-altitude UAV signals of different polarization modes are affected by the environment interference and attenuation to different degrees, and the antenna system that cannot flexibly adjust the polarization mode is difficult to effectively capture and analyze these signals. At the same time, the limited direction-finding angle range results in limited monitoring capabilities for UAVs flying from different directions at low altitude, prone to monitoring blind spots, causing missed detections of low-altitude UAVs. When facing multi-band low-altitude UAV signals, traditional devices are difficult to quickly and accurately detect and direction-find multiple band signals simultaneously due to the limitations of the hardware architecture and signal processing algorithms, seriously affecting the overall detection effect of low-altitude UAVs. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a UAV detection and direction-finding device capable of full-band detection to solve the deficiencies of the prior art.

[0005] The object of the present invention is achieved by the following technical solutions: An unmanned aerial vehicle detection and direction-finding device capable of full-band detection, comprising a direction-finding housing. A number of direction-finding antenna units are arranged along the circumferential direction of the direction-finding housing. The direction-finding antenna unit includes a rotating unit, a telescopic unit, and a direction-finding antenna. The rotating unit includes a rotating cylinder, and the rotating cylinder is rotatably connected to the direction-finding housing. The telescopic unit includes a deflecting cylinder and a multi-stage telescopic cylinder. One end of the deflecting cylinder is rotatably connected to the rotating cylinder, one end of the multi-stage telescopic cylinder is slidably connected to the deflecting cylinder, and the other end is connected to the direction-finding antenna. The deflecting cylinder adjusts the state of the direction-finding antenna to form a vertical polarization direction-finding state or a horizontal polarization direction-finding state. The rotation axis of the rotating cylinder is perpendicular to the rotation axis of the deflecting cylinder, and the rotating cylinder is used to adjust the direction-finding angle of the direction-finding antenna.

[0006] Further, the multi-stage telescopic cylinder includes a first-stage cylinder and a second-stage cylinder. The first-stage cylinder slidably penetrates through the deflecting cylinder, and the second-stage cylinder slidably penetrates through the first-stage cylinder. An electric push rod is arranged between the inner wall of the deflecting cylinder and the outer wall of the first-stage cylinder. The cylinder body of the electric push rod is fixed to the deflecting cylinder, and the telescopic shaft of the electric push rod is connected to the first-stage cylinder. A second-stage telescopic assembly is arranged between the inner wall of the first-stage cylinder and the outer wall of the second-stage cylinder. The second-stage telescopic assembly includes a first pulley, a second pulley, and a belt. The first pulley and the second pulley are arranged at intervals along the axial direction of the first-stage cylinder. The first pulley and the second pulley are both rotatably connected to the first-stage cylinder. The belt is sleeved on the first pulley and the second pulley. Two sides of the belt are respectively fixedly connected with a first driving block and a second driving block. The first driving block passes through the first-stage cylinder and is connected to the deflecting cylinder, and the second driving block is connected to the second-stage cylinder. One end of the second-stage cylinder away from the direction-finding housing is connected to the direction-finding antenna.

[0007] Further, a strip-shaped groove is axially formed in the inner bottom wall of the first-stage cylinder. A lead screw is rotatably arranged in the strip-shaped groove. A tensioning slider is threadedly sleeved on the lead screw. The tensioning slider is slidably adapted to the strip-shaped groove. The first pulley is rotatably installed on the tensioning slider. A counterbore is formed at one end of the first-stage cylinder, and one end of the lead screw extends into the counterbore and is fixed with an adjusting nut.

[0008] Further, a first guiding groove is axially formed in the inner wall of the first-stage cylinder. The first guiding groove penetrates through one end of the first-stage cylinder close to the direction-finding housing. A first guiding block is fixed to the outer wall of the second-stage cylinder. The first guiding block is slidably adapted in the first guiding groove. A second guiding groove is axially formed in the inner wall of the deflecting cylinder. The second guiding groove penetrates through one end of the deflecting cylinder close to the direction-finding housing. A second guiding block is fixed to the outer wall of the first-stage cylinder. The second guiding block is slidably adapted to the second guiding groove. A strip-shaped avoiding groove communicating with the deflecting cylinder is formed in the inner bottom wall of the first-stage cylinder. The first driving block passes through the strip-shaped avoiding groove and is connected to the deflecting cylinder.

[0009] Further, a U-shaped opening is provided at one end of the rotating cylinder close to the deflecting cylinder. Two rotating shafts are symmetrically fixed on the outer wall of the deflecting cylinder. The rotating shafts are located in the U-shaped opening and are rotationally connected to the rotating cylinder. One end of the rotating cylinder extends into the direction-finding housing. A state adjustment servo is installed on the side wall of the rotating cylinder. The state adjustment servo is located in the direction-finding housing. The output shaft of the state adjustment servo penetrates into the rotating cylinder and is connected with a driving pulley. A driven pulley is sleeved on one of the rotating shafts. The driving pulley is connected to the driven pulley through a synchronous belt.

[0010] Further, a first sealing disc and a second sealing disc are respectively sleeved on the rotating cylinder and the deflecting cylinder. A corrugated pipe is sleeved between the first sealing disc and the second sealing disc. Two ends of the corrugated pipe are respectively connected to the first sealing disc and the second sealing disc to form a sealing surface.

[0011] Further, the rotating unit further includes a driving shaft. A direction-finding base is installed in the direction-finding housing. A main shaft is rotatably arranged in the direction-finding base. The main shaft is rotationally connected to the bottom of the direction-finding housing through a bearing. A motor is installed at the bottom of the direction-finding housing. The output shaft of the motor is drivingly connected to the main shaft. A bevel gear disc is sleeved on the main shaft. One end of the driving shaft is connected with a bevel gear. The bevel gear meshes with the bevel gear disc. A rectangular notch is provided at one end of the driving shaft close to the rotating cylinder. A docking seat is fixed at one end of the rotating cylinder close to the driving shaft. A docking block slidably penetrates through one end of the docking seat close to the driving shaft. The rectangular notch is located on the moving path of the docking block. The docking of the driving shaft and the rotating cylinder is completed through the cooperation of the docking block and the rectangular notch.

[0012] Further, an installation groove is provided at one end of the docking seat close to the driving shaft. One end of the docking block is slidably fitted in the installation groove. A spring is arranged in the installation groove. Two ends of the spring are respectively connected to the docking seat and the docking block. An electromagnet is arranged in the installation groove. A permanent magnet is arranged at one end of the docking block close to the electromagnet. The electromagnet is energized to generate a magnetic pole opposite to that of the permanent magnet. When the electromagnet is powered off, the docking block is inserted into the rectangular notch.

[0013] Further, a sealing ring is sleeved on the rotating cylinder. The sealing ring is fixed on the outer wall of the direction-finding housing. An annular sealing cavity is formed between the inner wall of the sealing ring and the outer wall of the rotating cylinder. A rubber sealing ring is press-fitted in the annular sealing cavity.

[0014] Furthermore, the rubber sealing ring comprises two sealing half-rings arranged separately, and two groups of pressing mechanisms are symmetrically arranged on the sealing ring. Each pressing mechanism includes a screw rod and an arc-shaped pressing plate. The arc-shaped pressing plate is located in the annular sealing cavity. The screw rod is threadedly connected to the sealing ring. The tail of the screw rod penetrates into the annular sealing cavity and is rotatably connected to the arc-shaped pressing plate. A round hole is formed in the top of the arc-shaped pressing plate, and a guide rod is slidably fitted in the round hole. The guide rod is fixedly connected to the sealing ring.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1. The direction-finding antenna cooperates with the deflection cylinder and the rotating cylinder through the multi-stage telescopic cylinder, so that the antenna can optimize the reception effect of various frequency band signals at different positions and angles. When facing drones using new and complex frequency band communications, the direction-finding angle can be adjusted through the rotating cylinder to make the direction-finding antenna better align with the signal source direction. At the same time, the deflection cylinder is used to form a suitable polarization state. Whether it is the vertical polarization direction-finding state or the horizontal polarization direction-finding state, it can ensure the effective capture of the drone radio frequency signal within the full frequency band range, greatly improving the detection ability of drone signals in different frequency bands and filling the gap in the full frequency band detection of the prior art.

[0017] 2. The rotating cylinder is rotatably connected to the direction-finding housing, and its rotation axis is perpendicular to the rotation axis of the deflection cylinder. By driving the rotating cylinder to rotate through the state adjustment servo, the direction-finding angle of the direction-finding antenna can be accurately adjusted, covering a wider space range and effectively reducing the monitoring blind area.

[0018] 3. The coordinated work of multiple direction-finding antenna units realizes the efficient linkage of detection and direction-finding. While detecting the drone radio frequency signal, the flexible adjustment function of the direction-finding antenna unit can provide more accurate angle and polarization information for direction-finding in real time. For example, when a weak drone signal is detected, the state of the direction-finding antenna can be quickly adjusted through the rotating cylinder and the deflection cylinder, making the direction-finding process more accurate, shortening the direction-finding time, and improving the detection efficiency of low-flying drones. In a complex and changeable drone flight scenario, the drone can be detected and positioned in all directions in a timely and accurate manner, significantly improving the overall performance of the device.

[0019] 4. The multi-stage telescopic cylinder can adjust the height and position of the direction-finding antenna according to the actual needs of the low-altitude environment, that is, the length of the multi-stage telescopic cylinder is adjusted through the electric push rod and the secondary telescopic component, and the height of the vertical polarization and the position of the horizontal polarization can be adjusted to obtain a better signal reception position. At the same time, the flexible adjustment functions of the rotating cylinder and the deflection cylinder can adjust the angle and polarization state of the direction-finding antenna in real time according to the complex low-altitude electromagnetic environment and the drone flight direction, effectively overcoming the adverse effects of the low-altitude environment on the detection of drones, and greatly improving the accuracy and reliability of drone detection in a complex low-altitude environment. Description of the Drawings

[0020] Figure 1 This is a structural schematic diagram of a drone detection and direction-finding device capable of full-band detection according to the present invention;

[0021] Figure 2 This is a structural schematic of the telescopic unit in a drone detection and direction-finding device capable of full-band detection according to the present invention Figure 1 ;

[0022] Figure 3 This is a structural schematic of the telescopic unit in a drone detection and direction-finding device capable of full-band detection according to the present invention Figure 2 ;

[0023] Figure 4 This is an assembly schematic diagram of the telescopic unit and the rotating unit in the present invention;

[0024] Figure 5 This is an internal structural schematic diagram of the telescopic unit in a drone detection and direction-finding device capable of full-band detection according to the present invention;

[0025] Figure 6 This is an internal structural schematic diagram of the direction-finding housing in a drone detection and direction-finding device capable of full-band detection according to the present invention;

[0026] Figure 7 is Figure 6 the enlarged view at A in

[0027] Figure 8 is Figure 6 the enlarged view at B in

[0028] Figure 9 This is a front view of a drone detection and direction-finding device capable of full-band detection according to the present invention;

[0029] In the figure, 1 - direction finding housing, 2 - direction finding antenna unit, 3 - rotating unit, 4 - telescopic unit, 5 - direction finding antenna, 6 - rotating cylinder, 7 - deflecting cylinder, 8 - multi - stage telescopic cylinder, 9 - first - stage cylinder, 10 - second - stage cylinder, 11 - electric push rod, 12 - first pulley, 13 - second pulley, 14 - belt, 15 - first driving block, 16 - second driving block, 17 - strip groove, 18 - lead screw, 19 - tensioning slider, 20 - first guiding groove, 21 - first guiding block, 22 - second guiding groove, 23 - second guiding block, 24 - strip avoidance groove, 25 - rotating shaft, 26 - state adjustment servo, 27 - driving pulley, 28 - driven pulley, 29 - timing belt, 30 - first sealing disc, 31 - second sealing disc, 32 - bellows, 33 - driving shaft, 34 - direction finding base, 35 - main shaft, 36 - motor, 37 - bevel gear disc, 38 - bevel gear, 39 - rectangular notch, 40 - docking seat, 41 - docking block, 42 - installation groove, 43 - spring, 44 - electromagnet, 45 - permanent magnet, 46 - sealing ring, 47 - rubber sealing ring, 48 - screw, 49 - arc pressing plate, 50 - guiding rod, 51 - conical surface, 52 - pressing block. Detailed implementation mode

[0030] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0031] Embodiment 1

[0032] As Figures 1 to 9As shown in the figure, a drone detection and direction-finding device capable of full-band detection includes a direction-finding housing 1. A number of direction-finding antenna units 2 are arranged along the circumferential direction of the direction-finding housing 1. The direction-finding antenna unit 2 includes a rotating unit 3, a telescopic unit 4, and a direction-finding antenna 5. The rotating unit 3 includes a rotating cylinder 6, and the rotating cylinder 6 is rotatably connected to the direction-finding housing 1. The telescopic unit 4 includes a deflecting cylinder 7 and a multi-stage telescopic cylinder 8. One end of the deflecting cylinder 7 is rotatably connected to the rotating cylinder 6, one end of the multi-stage telescopic cylinder 8 is slidably connected to the deflecting cylinder 7, and the other end is connected to the direction-finding antenna 5. The deflecting cylinder 7 adjusts the state of the direction-finding antenna 5 to form a vertical polarization direction-finding state or a horizontal polarization direction-finding state. The rotation axis of the rotating cylinder 6 is perpendicular to the rotation axis of the deflecting cylinder 7. The rotating cylinder 6 is used to adjust the direction-finding angle of the direction-finding antenna 5. The signal reception in all directions is carried out through a number of circumferentially arranged direction-finding antenna units 2, making the signal reception more comprehensive. In actual direction-finding, the antenna in the low-frequency band requires an antenna array with a very long diameter, and the antenna in the high-frequency band requires an antenna array with a short diameter. To enable the direction-finding antenna unit 2 to take into account both high-frequency band detection and low-frequency band detection, the arrangement length of the direction-finding antenna 5 is adjusted by the telescopic adjustment of the multi-stage telescopic cylinder 8, thereby adjusting the arrangement diameter of the antenna array of the direction-finding antenna 5, and then the direction-finding can be switched between the high-frequency band and the low-frequency band. The telescopic movements of multiple multi-stage telescopic cylinders 8 are independent. During specific direction-finding, some multi-stage telescopic cylinders 8 can be extended to enable the direction-finding antenna 5 to perform low-frequency band detection, and some other multi-stage telescopic cylinders 8 can be shortened to enable the direction-finding antenna 5 to perform high-frequency band detection. Preferably, the low-frequency band detection and the high-frequency band detection are arranged alternately in sequence. While improving the detection range, it can take into account both high-frequency band detection and low-frequency band detection. Secondly, the deflecting cylinder 7 can drive the multi-stage telescopic cylinder 8 to rotate, so that the multi-stage telescopic cylinder 8 drives the direction-finding antenna 5 to deflect into a vertical state to form vertical polarization detection, or the multi-stage telescopic cylinder 8 is in a horizontal state, so that the direction-finding antenna 5 forms horizontal polarization. Thus, four monitoring technologies of low-frequency band, high-frequency band, vertical polarization, and horizontal polarization are respectively realized with one antenna, and the actions of each direction-finding antenna unit 2 are independent of each other. Furthermore, the four monitoring technologies can be combined with each other, and can be applied to more complex environments, ensuring the effective capture of drone radio frequency signals within the full frequency band range, greatly improving the detection ability of drone signals in different frequency bands, and filling the gap in the full-band detection of the existing technology. The rotating cylinder 6 drives the direction-finding antenna 5 to deflect left and right with the horizontal plane as the axis, accurately adjusting the direction-finding angle of the direction-finding antenna 5, covering a wider space range, and effectively reducing the monitoring blind area. For example, in a complex electromagnetic environment with high-rise buildings in the city, the angle of the direction-finding antenna 5 can be adjusted in real time according to the interference situation of the building reflection signal, avoiding the direction of the interference source, and accurately capturing the signals of low-flying drones. At the same time, the deflecting cylinder 7 can adjust the direction-finding antenna to form a vertical polarization direction-finding state or a horizontal polarization direction-finding state, and flexibly select the best polarization method according to the polarization characteristics of different drone signals in a specific environment, enhancing the signal reception intensity and stability, and improving the direction-finding accuracy.

[0033] Embodiment 2

[0034] Since the movements of the rotating cylinders 6 in each direction-finding antenna unit 2 are independent of each other, and the space inside the direction-finding housing 1 is limited, it is necessary to complete the independent driving of multiple direction-finding antenna units 2 in a narrow space. Therefore, on the basis of Embodiment 1, as Figures 1 to 8 shown, the rotating unit 3 further includes a driving shaft 33. A direction-finding base 34 is installed inside the direction-finding housing 1. A main shaft 35 is rotatably arranged inside the direction-finding base 34. The main shaft 35 is rotationally connected to the bottom of the direction-finding housing 1 through a bearing. A motor 36 is installed at the bottom of the direction-finding housing 1. The output shaft of the motor 36 is drivingly connected to the main shaft 35. The main shaft 35 is sleeved with a bevel gear disc 37. One end of the driving shaft 33 is connected with a bevel gear 38. The bevel gear 38 meshes with the bevel gear disc 37. A rectangular notch 39 is formed at one end of the driving shaft 33 close to the rotating cylinder 6. A docking seat 40 is fixed at one end of the rotating cylinder 6 close to the driving shaft 33. A docking block 41 is slidably inserted through one end of the docking seat 40 close to the driving shaft 33. The rectangular notch 39 is located on the moving path of the docking block 41. The docking of the driving shaft 33 and the rotating cylinder 6 is completed through the cooperation of the docking block 41 and the rectangular notch 39. The motor 36 drives the bevel gear disc 37 to rotate through the main shaft 35, so that the bevel gear disc 37 drives all the bevel gears 38 thereon to rotate. The bevel gears 38 drive the driving shaft 33 to rotate. The driving shaft 33 drives the rotating cylinder 6 to deflect. The rotating cylinder 6 drives the telescopic unit 4 and the direction-finding antenna 5 to deflect, realizing the adjustment of the direction-finding angle. Thus, all the direction-finding antenna units 2 can be driven to deflect together to jointly adjust the direction-finding angle, or a certain or some direction-finding antenna units 2 can be individually adjusted to deflect. Specifically, for the direction-finding antenna unit 2 that needs to be adjusted in angle, the docking block 41 on its docking seat 40 moves into the rectangular notch 39, and the rotating cylinder 6 is connected to the driving shaft 33 through the docking block 41, so that the driving shaft 33 can drive the rotating cylinder 6 to deflect, and further adjust the direction-finding angle of the direction-finding antenna 5. For the direction-finding antenna unit 2 that does not need to be adjusted in angle, the docking block 41 on its docking seat 40 disengages from the rectangular notch 39, separating the rotating cylinder 6 from the driving shaft 33. When the driving shaft 33 rotates, it will not drive the corresponding rotating cylinder 6 to rotate, and the driving shaft 33 still rotates under the drive of the bevel gear disc 37, thus not affecting the angle adjustment of other direction-finding antenna units 2. Each direction-finding antenna unit 2 can be individually controlled only by one driving source, and the motor 36 is also arranged at the bottom of the direction-finding housing 1, greatly reducing the layout space of the driving source and realizing the individual control of the direction-finding angles of multiple direction-finding antenna units 2 in a narrow space.

[0035] Further, an installation groove 42 is formed at one end of the docking base 40 close to the drive shaft 33. One end of the docking block 41 is slidably fitted in the installation groove 42. A spring 43 is arranged in the installation groove 42. Two ends of the spring 43 are respectively connected to the docking base 40 and the docking block 41. An electromagnet 44 is arranged in the installation groove 42. A permanent magnet 45 is arranged at one end of the docking block 41 close to the electromagnet 44. The electromagnet 44 is energized to generate a magnetic pole with a magnetic property different from that of the permanent magnet 45. When the electromagnet 44 is powered off, the docking block 41 is inserted into the rectangular notch 39. The movement of the docking block 41 is controlled by electromagnetic means, which has the advantages of small layout space and reliable control. Specifically, when the direction finding angle of a certain direction finding antenna unit 2 is adjusted in place or does not need to be adjusted, the electromagnet 44 is energized to attract the permanent magnet 45, so that the docking block 41 compresses the spring 43 and moves into the installation groove 42, so that the docking block 41 disengages from the rectangular notch 39, so that the drive shaft 33 is separated from the rotating cylinder 6, thereby disconnecting the angle adjustment of the direction finding antenna unit 2 and not affecting the angle adjustment of other direction finding antenna units 2. When it is necessary to dock the rotating cylinder 6 with the drive shaft 33, the electromagnet 44 is powered off, and the docking block 41 moves close to the drive shaft 33 under the action of the spring 43. Since the rectangular notch 39 and the docking block 41 may be staggered, at this time, the docking block 41 abuts against the drive shaft 33, and the drive shaft 33 slowly rotates under the action of the bevel gear disk 37 and the bevel gear 38 to adjust the position of the rectangular notch 39. When the rectangular notch 39 corresponds to the docking block 41, the docking block 41 is inserted into the rectangular notch 39 under the action of the spring 43 to realize the stable docking of the drive shaft 33 and the rotating cylinder 6. Since the docking time of the drive shaft 33 and the rotating cylinder 6 is uncontrollable, in order to ensure the deflection accuracy of the rotating cylinder 6, each rotating cylinder 6 is equipped with a shaft angle sensor for detecting the deflection angle of the rotating cylinder 6, so as to accurately control the deflection angle of the direction finding antenna 5, adjust the direction finding angle, and realize accurate direction finding. The deflection angle of the rotating cylinder 6 is 90° to the left and right, that is, based on the horizontal plane, the angle is adjusted within the range of 0-180°.

[0036] Embodiment III

[0037] Since the rotating cylinder 6 needs to be separated from the drive shaft 33 after the adjustment is completed to not affect the angle adjustment of other direction finding antenna units 2. However, the rotating cylinder 6 is rotationally connected to the direction finding housing 1 through a bearing, resulting in that the rotating cylinder 6 cannot maintain its own deflection angle after the drive shaft 33 is separated from the rotating cylinder 6. Therefore, on the basis of Embodiment II, as Figures 1 to 8As shown, a sealing ring 46 is sleeved on the rotating cylinder 6. The sealing ring 46 is fixed on the outer wall of the direction-finding housing 1. An annular sealing cavity is formed between the inner wall of the sealing ring 46 and the outer wall of the rotating cylinder 6. A rubber sealing ring 47 is press-fitted in the annular sealing cavity, so that there is a strong frictional force between the rubber sealing ring 47 and the rotating cylinder 6. This frictional force is greater than the torsional force of the rotating cylinder 6. Thus, the deflection angle of the rotating cylinder 6 can be locked through this frictional force. After the driving shaft 33 is separated from the rotating cylinder 6, the direction-finding angle of the rotating cylinder 6 will not change. The position of the rotating cylinder 6 is locked by means of a friction pair. The structure is simple, the layout space is small, and the volume of the equipment will not be enlarged. After the driving shaft 33 is docked with the rotating cylinder 6, through the strong torsional force of the driving shaft 33, the frictional force between the rotating cylinder 6 and the rubber sealing ring 47 is overcome, so that the rotating cylinder 6 can deflect smoothly to adjust the direction-finding angle of the direction-finding antenna 5.

[0038] Embodiment 4

[0039] After working for a period of time, the performance of the rubber sealing ring 47 will decrease, and the rubber sealing ring 47 will have problems of damage and deformation, resulting in a decrease in the frictional force between the rubber sealing ring 47 and the rotating cylinder 6, and the adjusted position of the rotating cylinder 6 cannot be maintained. Therefore, on the basis of Embodiment 3, as Figure 6 and Figure 8 shown, the rubber sealing ring 47 includes two separately arranged sealing half-rings. Two groups of pressing mechanisms are symmetrically arranged on the sealing ring 46. The pressing mechanism includes a screw 48 and an arc-shaped pressing plate 49. The arc-shaped pressing plate 49 is located in the annular sealing cavity. The screw 48 is threadedly connected to the sealing ring 46. The tail of the screw 48 penetrates into the annular sealing cavity and is rotationally connected to the arc-shaped pressing plate 49. A round hole is opened at the top of the arc-shaped pressing plate 49. A guide rod 50 is slidably fitted in the round hole. The guide rod 50 is fixedly connected to the sealing ring 46. It is necessary to replace the rubber sealing ring 47 regularly. To facilitate the replacement of the rubber sealing ring 47, the rubber sealing ring 47 is set as a split structure, and the rubber sealing ring 47 can be replaced without disassembling the rotating cylinder 6. The operation is simple and fast. Since the rubber sealing ring 47 is press-fitted and the degree of extrusion of the rubber sealing ring 47 is relatively high to generate a strong frictional force to lock the deflection angle of the rotating cylinder 6, therefore, it is still relatively difficult to directly assemble the rubber sealing ring 47. For this reason, the size of the annular sealing cavity is designed to be larger than the size of the rubber sealing ring 47, and the rubber sealing ring 47 is press-fitted by a pressing method, so that the rubber sealing ring 47 can be easily arranged in the annular sealing cavity. Then, the screw 48 is tightened to drive the arc-shaped pressing plate 49 to extrude the rubber sealing ring 47 to deform, so that the rubber sealing ring 47 is pressed tightly on the rotating cylinder 6 to generate a strong frictional force, which is convenient for installation and disassembly. Moreover, the press-fitting of the rubber sealing ring 47 and the rotating cylinder 6 can enhance the sealing performance of the assembly position of the rotating cylinder 6 and prevent water and dust from entering the direction-finding housing 1.

[0040] Furthermore, asFigure 8 As shown, since there is a gap between the rubber seal ring 47 and the inner wall of the annular seal cavity, water vapor easily enters the direction-finding housing through the gap between the rubber seal ring 47 and the seal ring 46. Therefore, a conical surface 51 is formed in the middle of the rubber seal ring 47. The diameter of the conical surface 51 gradually decreases in the direction away from the direction-finding housing 1. A pressing block 52 is fixed at the position of the arc-shaped pressing plate 49 corresponding to the conical surface 51. When the arc-shaped pressing plate 49 presses the rubber seal ring 47, the pressing block 52 first presses the conical surface 51. Under the action of the conical surface 51, the rubber seal ring 47 moves closer to the direction-finding housing 1, and one end of the rubber seal ring 47 abuts against the outer wall of the direction-finding housing 1 to form a sealing surface. Even if there is a gap between the rubber seal ring 47 and the seal ring 46, water and dust will not enter the direction-finding housing 1. Then, the arc-shaped pressing plate 49 presses the cylindrical surfaces at both ends of the rubber seal ring 47, causing the rubber seal ring 47 to deform and fit closely to the rotating cylinder 6, which can lock the direction-finding angle of the rotating cylinder 6 while completing the sealing.

[0041] Embodiment Five

[0042] On the basis of Embodiment Four, as Figures 1 to 5As shown in the figure, the multi-stage telescopic cylinder 8 includes a first-stage cylinder 9 and a second-stage cylinder 10. The first-stage cylinder 9 is slidably inserted through the deflection cylinder 7, and the second-stage cylinder 10 is slidably inserted through the first-stage cylinder 9. An electric push rod 11 is provided between the inner wall of the deflection cylinder 7 and the outer wall of the first-stage cylinder 9. The cylinder body of the electric push rod 11 is fixed to the deflection cylinder 7, and the telescopic shaft of the electric push rod 11 is connected to the first-stage cylinder 9. A second-stage telescopic assembly is provided between the inner wall of the first-stage cylinder 9 and the outer wall of the second-stage cylinder 10. The second-stage telescopic assembly includes a first pulley 12, a second pulley 13 and a belt 14. The first pulley 12 and the second pulley 13 are arranged at intervals along the axial direction of the first-stage cylinder 9. Both the first pulley 12 and the second pulley 13 are rotatably connected to the first-stage cylinder 9. The belt 14 is sleeved on the first pulley 12 and the second pulley 13. Both sides of the belt 14 are fixedly connected with a first driving block 15 and a second driving block 16 respectively. The first driving block 15 passes through the first-stage cylinder 9 and is connected to the deflection cylinder 7, and the second driving block 16 is connected to the second-stage cylinder 10. One end of the second-stage cylinder 10 far away from the direction-finding housing 1 is connected to the direction-finding antenna 5. Each multi-stage telescopic cylinder 8 can be individually driven for length adjustment to change the antenna array diameter of the direction-finding antenna 5. To achieve better direction-finding effects in the low-frequency band and the high-frequency band, the telescopic unit 4 needs to have a larger telescopic range. Therefore, the multi-stage telescopic cylinder 8 is provided to multiply the driving stroke of the electric push rod 11. Taking the second-stage telescopic as an example, the electric push rod 11 drives the first-stage cylinder 9 to move away from the deflection cylinder 7, so that the first-stage cylinder 9 drives the second-stage telescopic assembly and the second-stage cylinder 10 to move synchronously. Since the first driving block 15 connects the deflection cylinder 7 and the belt 14 together, and the position of the deflection cylinder 7 will not change, during the process of the second-stage telescopic assembly following the first-stage cylinder 9 to move, the first driving block 15 will pull the belt 14 to run, and the belt 14 running will cause the second driving block 16 to move accordingly, so that the second driving block 16 drives the second-stage cylinder 10 to continue to move on the basis of the first-stage cylinder 9, thus forming the second-stage telescopic, doubling the stroke of the electric push rod 11, and further enabling the direction-finding antenna 5 to have a larger moving range and be able to switch well between the low-frequency band and the high-frequency band.

[0043] Further, a strip-shaped groove 17 is axially formed in the inner bottom wall of the first-stage cylinder 9. A lead screw 18 is rotatably arranged in the strip-shaped groove 17. A tensioning slider 19 is threadedly sleeved on the lead screw 18. The tensioning slider 19 is slidably adapted to the strip-shaped groove 17. The first belt pulley 12 is rotatably mounted on the tensioning slider 19. A counterbore is formed at one end of the first-stage cylinder 9. One end of the lead screw 18 extends into the counterbore and is fixed with an adjusting nut. To ensure that the belt 14 can smoothly drive the second-stage cylinder 10 to move, the belt 14 needs to be in a tensioned state. To facilitate the tensioned installation of the belt 14 on the first belt pulley 12 and the second belt pulley 13, the first belt pulley 12 is set to be adjustable. Specifically, use a tool to rotate the adjusting nut. The adjusting nut drives the lead screw 18 to rotate, causing the tensioning slider 19 to move along the axial direction of the lead screw 18. First, move the tensioning slider 19 closer to the second belt pulley 13, so that the distance between the first belt pulley 12 and the second belt pulley 13 is less than the sleeved length of the belt 14, enabling the belt 14 to be easily sleeved on the first belt pulley 12 and the second belt pulley 13. Finally, rotate the lead screw 18 in the reverse direction, causing the first belt pulley 12 to move away from the second belt pulley 13, thereby tightening the belt 14 to make it in a tensioned state, enabling the second-stage cylinder 10 to smoothly move on the first-stage cylinder 9. After the belt 14 is tensioned and installed, then assemble the first-stage cylinder 9 and the second-stage cylinder 10.

[0044] Further, a first guiding groove 20 is axially formed in the inner wall of the first-stage cylinder 9. The first guiding groove 20 penetrates through one end of the first-stage cylinder 9 close to the lateral housing 1. A first guiding block 21 is fixed on the outer wall of the second-stage cylinder 10. The first guiding block 21 is slidably adapted in the first guiding groove 20 to guide the movement of the second-stage cylinder 10 and at the same time facilitate the assembly of the second-stage cylinder 10 and the first-stage cylinder 9. A second guiding groove 22 is axially formed in the inner wall of the deflecting cylinder 7. The second guiding groove 22 penetrates through one end of the deflecting cylinder 7 close to the lateral housing 1. A second guiding block 23 is fixed on the outer wall of the first-stage cylinder 9. The second guiding block 23 is slidably adapted to the second guiding groove 22 to guide the movement of the first-stage cylinder 9 and also facilitate the assembly of the first-stage cylinder 9 and the deflecting cylinder 7. A strip-shaped avoidance groove 24 communicating with the deflecting cylinder 7 is formed in the inner bottom wall of the first-stage cylinder 9. The first driving block 15 passes through the strip-shaped avoidance groove 24 to connect the deflecting cylinder 7. Through the strip-shaped avoidance groove 24, the first driving block 15 will not interfere with the first-stage cylinder 9. In specific implementation, sealing rings are provided on the mating surfaces of the deflecting cylinder 7 and the first-stage cylinder 9, and the mating surfaces of the second-stage cylinder 10 and the first-stage cylinder 9 to improve the sealing performance and prevent water ingress.

[0045] Embodiment Six

[0046] On the basis of Embodiment Five, as Figures 1 to 4As shown in the figure, a U-shaped opening is provided at one end of the rotating cylinder 6 close to the deflecting cylinder 7. Two rotating shafts 25 are symmetrically fixed on the outer wall of the deflecting cylinder 7. The rotating shafts 25 are located in the U-shaped opening and are rotatably connected to the rotating cylinder 6. One end of the rotating cylinder 6 extends into the direction-finding housing 1. A state adjustment servo 26 is installed on the side wall of the rotating cylinder 6. The state adjustment servo 26 is located in the direction-finding housing 1. The output shaft of the state adjustment servo 26 penetrates into the rotating cylinder 6 and is connected with a driving pulley 27. A driven pulley 28 is sleeved on one of the rotating shafts 25. The driving pulley 27 is drivingly connected to the driven pulley 28 through a synchronous belt 29. The state adjustment servo 26 drives the driving pulley 27 to rotate. The driving pulley 27 drives the driven pulley 28 to rotate through the synchronous belt 29. The driven pulley 28 drives the rotating shaft 25 to rotate. The rotating shaft 25 drives the deflecting cylinder 7 to deflect, so that the deflecting cylinder 7 deflects upward by 90°, making the direction-finding antenna 5 in the vertical polarization direction-finding state, or deflecting the deflecting cylinder 7 to the horizontal state, making the direction-finding antenna 5 in the horizontal polarization direction-finding state. Thus, four monitoring technologies of low-frequency band, high-frequency band, vertical polarization, and horizontal polarization are respectively realized by using a single antenna, and the structure is compact with a small structural layout space. Compared with installing four monitoring antennas simultaneously, the volume and weight of the equipment are greatly reduced.

[0047] Furthermore, a first sealing disc 30 and a second sealing disc 31 are respectively sleeved on the rotating cylinder 6 and the deflecting cylinder 7. A corrugated pipe 32 is sleeved between the first sealing disc 30 and the second sealing disc 31. Two ends of the corrugated pipe 32 are respectively connected to the first sealing disc 30 and the second sealing disc 31 to form a sealing surface. Since the multi-stage telescopic cylinder 8, the deflecting cylinder 7, and the rotating cylinder 6 are all hollow, it is convenient to route the cables of the direction-finding antenna 5, which leads to the need to consider the sealing at each position of the direction-finding antenna unit 2. A high-strength seal can be achieved between the rotating cylinder 6 and the direction-finding housing 1 through a rubber sealing ring 47. The multi-stage telescopic cylinder 8 is sealed through a sealing ring. However, there is a rotational freedom between the rotating cylinder 6 and the deflecting cylinder 7, and it is difficult to arrange its sealing structure. Therefore, the traditional sealing ring type sealing structure is abandoned, and the corrugated pipe 32 is used for sealing. Since the corrugated pipe 32 has good elasticity, the corrugated pipe 32 can adapt to the rotational freedom between the rotating cylinder 6 and the deflecting cylinder 7. Two ends of the corrugated pipe 32 are respectively connected to the first sealing disc 30 and the second sealing disc 31, which can block the openings at both ends of the corrugated pipe 32, thus realizing sealing while not affecting the deflection freedom of the deflecting cylinder 7, and enabling good sealing at each installation position of the direction-finding antenna unit 2.

Claims

1. An unmanned aerial vehicle detection and direction finding device capable of full-frequency band detection, characterized in that, It includes a direction-finding housing (1), and a number of direction-finding antenna units (2) are arranged along the circumferential direction of the direction-finding housing (1). The direction-finding antenna unit (2) includes a rotating unit (3), a telescopic unit (4) and a direction-finding antenna (5). The rotating unit (3) includes a rotating cylinder (6), and the rotating cylinder (6) is rotatably connected to the direction-finding housing (1). The telescopic unit (4) includes a deflecting cylinder (7) and a multi-stage telescopic cylinder (8). One end of the deflecting cylinder (7) is rotatably connected to the rotating cylinder (6), one end of the multi-stage telescopic cylinder (8) is slidably connected to the deflecting cylinder (7), and the other end is connected to the direction-finding antenna (5). The deflecting cylinder (7) adjusts the state of the direction-finding antenna (5) to form a vertical polarization direction-finding state or a horizontal polarization direction-finding state. The rotation axis of the rotating cylinder (6) is perpendicular to the rotation axis of the deflecting cylinder (7), and the rotating cylinder (6) is used to adjust the direction-finding angle of the direction-finding antenna (5).

2. The omnidirectional detection UAV detection and direction finding device according to claim 1, characterized in that The multi-stage telescopic cylinder (8) includes a first-stage cylinder (9) and a second-stage cylinder (10). The first-stage cylinder (9) is slidably inserted into the deflecting cylinder (7), and the second-stage cylinder (10) is slidably inserted into the first-stage cylinder (9). An electric push rod (11) is arranged between the inner wall of the deflecting cylinder (7) and the outer wall of the first-stage cylinder (9). The cylinder body of the electric push rod (11) is fixed to the deflecting cylinder (7), and the telescopic shaft of the electric push rod (11) is connected to the first-stage cylinder (9). A second-stage telescopic assembly is arranged between the inner wall of the first-stage cylinder (9) and the outer wall of the second-stage cylinder (10). The second-stage telescopic assembly includes a first pulley (12), a second pulley (13) and a belt (14). The first pulley (12) and the second pulley (13) are arranged at intervals along the axial direction of the first-stage cylinder (9). The first pulley (12) and the second pulley (13) are both rotatably connected to the first-stage cylinder (9). The belt (14) is sleeved on the first pulley (12) and the second pulley (13). Two sides of the belt (14) are respectively fixedly connected with a first driving block (15) and a second driving block (16). The first driving block (15) passes through the first-stage cylinder (9) and is connected to the deflecting cylinder (7), and the second driving block (16) is connected to the second-stage cylinder (10). One end of the second-stage cylinder (10) far away from the direction-finding housing (1) is connected to the direction-finding antenna (5).

3. The drone detection and direction-finding device capable of full-band detection according to claim 2, characterized in that, A strip-shaped groove (17) is axially formed in the inner bottom wall of the first-stage cylinder (9). A lead screw (18) is rotatably arranged in the strip-shaped groove (17). A tensioning slider (19) is threadedly sleeved on the lead screw (18). The tensioning slider (19) is slidably adapted to the strip-shaped groove (17). The first pulley (12) is rotatably installed on the tensioning slider (19). A counterbore is formed at one end of the first-stage cylinder (9). One end of the lead screw (18) extends into the counterbore and is fixed with an adjusting nut.

4. A drone detection and direction-finding device capable of full-band detection according to claim 3, characterized in that, The inner wall of the first-stage cylinder (9) is axially provided with a first guiding groove (20) along its own axis. The first guiding groove (20) penetrates through one end of the first-stage cylinder (9) close to the direction-finding housing (1). A first guiding block (21) is fixedly arranged on the outer wall of the second-stage cylinder (10). The first guiding block (21) is slidably fitted in the first guiding groove (20). The inner wall of the deflecting cylinder (7) is axially provided with a second guiding groove (22) along its own axis. The second guiding groove (22) penetrates through one end of the deflecting cylinder (7) close to the direction-finding housing (1). A second guiding block (23) is fixedly arranged on the outer wall of the first-stage cylinder (9). The second guiding block (23) is slidably fitted in the second guiding groove (22). A strip-shaped avoidance groove (24) communicating with the deflecting cylinder (7) is arranged on the inner bottom wall of the first-stage cylinder (9). The first driving block (15) penetrates through the strip-shaped avoidance groove (24) and is connected to the deflecting cylinder (7).

5. The drone detection and direction-finding device capable of full-band detection according to claim 1, characterized in that, A U-shaped opening is arranged at one end of the rotating cylinder (6) close to the deflecting cylinder (7). Two rotating shafts (25) are symmetrically and fixedly arranged on the outer wall of the deflecting cylinder (7). The rotating shafts (25) are located in the U-shaped opening and are rotatably connected to the rotating cylinder (6). One end of the rotating cylinder (6) extends into the direction-finding housing (1). A state adjusting servo (26) is arranged on the side wall of the rotating cylinder (6). The state adjusting servo (26) is located in the direction-finding housing (1). The output shaft of the state adjusting servo (26) penetrates into the rotating cylinder (6) and is connected with a driving pulley (27). A driven pulley (28) is sleeved on one of the rotating shafts (25). The driving pulley (27) is drivingly connected to the driven pulley (28) through a synchronous belt (29).

6. The drone detection and direction finding device capable of full-band detection according to claim 5, characterized in that, A first sealing disc (30) and a second sealing disc (31) are respectively sleeved on the rotating cylinder (6) and the deflecting cylinder (7). A corrugated pipe (32) is sleeved between the first sealing disc (30) and the second sealing disc (31). Two ends of the corrugated pipe (32) are respectively connected to the first sealing disc (30) and the second sealing disc (31) to form a sealing surface.

7. A drone detection and direction-finding device capable of full-band detection according to claim 1, characterized in that, The rotation unit (3) further includes a drive shaft (33). A direction-finding base (34) is installed in the direction-finding housing (1). A main shaft (35) is rotatably arranged in the direction-finding base (34). The main shaft (35) is rotatably connected to the bottom of the direction-finding housing (1) through a bearing. A motor (36) is installed at the bottom of the direction-finding housing (1). The output shaft of the motor (36) is drivingly connected to the main shaft (35). The main shaft (35) is sleeved with a bevel gear disc (37). One end of the drive shaft (33) is connected with a bevel gear (38). The bevel gear (38) meshes with the bevel gear disc (37). A rectangular notch (39) is opened at one end of the drive shaft (33) close to the rotary cylinder (6). A docking seat (40) is fixed at one end of the rotary cylinder (6) close to the drive shaft (33). A docking block (41) is slidably inserted through one end of the docking seat (40) close to the drive shaft (33). The rectangular notch (39) is located on the moving path of the docking block (41). The docking of the drive shaft (33) and the rotary cylinder (6) is completed through the cooperation of the docking block (41) and the rectangular notch (39).

8. A drone detection and direction-finding device capable of full-band detection according to claim 7, characterized in that, An installation groove (42) is opened at one end of the docking seat (40) close to the drive shaft (33). One end of the docking block (41) is slidably fitted in the installation groove (42). A spring (43) is arranged in the installation groove (42). Two ends of the spring (43) are respectively connected to the docking seat (40) and the docking block (41). An electromagnet (44) is arranged in the installation groove (42). A permanent magnet (45) is arranged at one end of the docking block (41) close to the electromagnet (44). The electromagnet (44) is energized to generate a magnetic pole with a different magnetic property from that of the permanent magnet (45). When the electromagnet (44) is powered off, the docking block (41) is inserted into the rectangular notch (39).

9. The drone detection and direction-finding device capable of full-band detection according to claim 8, wherein A sealing ring (46) is sleeved on the rotary cylinder (6). The sealing ring (46) is fixed on the outer wall of the direction-finding housing (1). An annular sealing cavity is formed between the inner wall of the sealing ring (46) and the outer wall of the rotary cylinder (6). A rubber sealing ring (47) is press-fitted in the annular sealing cavity with an interference fit.

10. The drone detection and direction finding device capable of full-band detection according to claim 9, wherein The rubber sealing ring (47) includes two separately arranged sealing half-rings. Two groups of pressing mechanisms are symmetrically arranged on the sealing ring (46). The pressing mechanism includes a screw (48) and an arc-shaped pressing plate (49). The arc-shaped pressing plate (49) is located in the annular sealing cavity. The screw (48) is threadedly connected to the sealing ring (46). The tail of the screw (48) penetrates into the annular sealing cavity and is rotatably connected to the arc-shaped pressing plate (49). A round hole is opened at the top of the arc-shaped pressing plate (49). A guide rod (50) is slidably fitted in the round hole. The guide rod (50) is fixedly connected to the sealing ring (46).

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