Quick response cooperative tracking system and method for low-altitude unmanned aerial vehicle countering

Abstract

According to the fast response cooperative tracking system and method for low-altitude unmanned aerial vehicle countering, millisecond detection and global seamless tracking of the unmanned aerial vehicle are achieved through a double-shaft high-speed holder and a cooperative networking algorithm, vibration caused by high-speed starting and stopping is greatly restrained through a double-shaft driving and double-damper structure, and the system and method are high in reliability and high in reliability. According to the device, a decentralized collaborative sensing mechanism and multi-unit intelligent networking can be realized, a dead-corner-free three-dimensional protective net is formed, and the response speed and the tracking precision are far better than those of a traditional single-point scheme.

Description

Technical Field

[0001] This invention relates to the field of visual tracking and monitoring, and more specifically to a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). Background Technology

[0002] With the rapid development of modern industry, many applications of existing technologies have been implemented in the field of visual tracking, focusing on motion recognition, capture, and prediction.

[0003] For example, CN119756221A discloses a tracking and scanning measurement system and platform. This system includes a two-dimensional angle measurement drive device, a contact laser tracker, a non-contact laser scanner, and a control device. The control device is connected to the contact laser tracker, the non-contact laser scanner, and the two-dimensional angle measurement drive device. In tracking coordinate measurement mode, it controls the two-dimensional angle measurement drive device to drive the laser tracker to track a set cooperative target in real time. The coordinate data of the contact point between the cooperative target and the surface to be measured is obtained by combining two-dimensional angle measurement with laser interferometric ranging data. In scanning measurement mode, it controls the two-dimensional angle measurement drive device to drive the non-contact laser scanner to scan the surface to be measured. The scanned point cloud data of the surface to be measured is obtained by combining two-dimensional angle measurement with absolute ranging data. This invention can achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement with a single instrument, significantly improving detection efficiency. However, the high-precision tracking measurement device described in this invention is a single-loop tracking monitoring system, applicable to a limited range of scenarios.

[0004] For example, CN119687829A discloses a tracking and scanning measurement integrated system, method, and platform. In tracking measurement mode, the control device controls a laser emission source to emit a ranging laser towards a contact laser tracking device. Based on the optical ranging signal fed back from the contact laser tracking device, it controls a two-dimensional angle measuring drive device and a laser ranging device to drive the contact laser tracking device to track a set cooperative target in real time, thereby acquiring the coordinate data of the contact point between the cooperative target and the surface to be measured. In scanning measurement mode, the control device controls a laser emission source to emit a ranging laser towards a non-contact laser scanning device. Based on the optical ranging signal fed back from the non-contact laser scanning device, it controls a two-dimensional angle measuring drive device and a laser ranging device to drive the non-contact laser scanning device to scan the surface to be measured to obtain scanned point cloud data. This invention can achieve high-precision tracking coordinate measurement and high-efficiency scanning measurement with a single instrument, significantly improving detection efficiency. However, the high-precision tracking measurement device described in this invention is a single-loop tracking monitoring system, applicable to a limited range of scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). Through a dual-axis high-speed gimbal and a collaborative networking algorithm, it achieves millisecond-level detection and seamless full-domain tracking of UAVs. The dual-axis drive and dual shock absorber structure greatly suppresses vibrations caused by high-speed start-stop, ensuring that the dynamically captured images remain pixel-level stable. This device features a decentralized collaborative sensing mechanism and multi-unit intelligent networking to form a three-dimensional protection network without blind spots. Its reaction speed and tracking accuracy far exceed those of traditional single-point solutions.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs) is characterized by comprising a first tracking device and a second tracking device, wherein the first tracking device and the second tracking device are connected.

[0008] As a further optimization of this technical solution, the present invention provides a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). The first tracking device includes a fixed base, a fixing component A, an outer fixing frame, a top sliding plate, a control motherboard, a gear fixing seat, gear A, a support base plate, a limiting plate, a shaft seat A, a shaft A, a harmonic reducer seat A, a harmonic reducer A, a motor mounting plate A, a motor A, a shaft B, a gear B, a harmonic reducer seat B, a harmonic reducer B, a motor mounting plate B, a motor B, a shaft C, a gear C, a gear D, a shaft D, a connecting bracket A, a connecting bracket B, a shaft seat B, a connecting bracket C, and a shaft seat C. The fixed base is fixedly connected to the outer fixing frame via the fixing component A. The outer fixing frame is fixedly connected to the top sliding plate. The control motherboard and the gear fixing seat are both fixedly connected to the fixed base. The gear fixing seat is fixedly connected to gear A. The limiting plate, shaft seat A, harmonic reducer seat A, connecting bracket A, and connecting bracket B are all fixedly connected to the support base plate. A is fixedly connected to shaft A. Shaft A is rotatably connected to gear mounting seat. Harmonic reducer seat A is fixedly connected to harmonic reducer A. Harmonic reducer A is fixedly connected to motor mounting plate A. Motor mounting plate A is fixedly connected to motor A. The output shaft of motor A is fixedly connected to harmonic reducer A. Harmonic reducer A is fixedly connected to shaft B. Shaft B is fixedly connected to gear B. Shaft B is rotatably connected to shaft seat C. Gear B meshes with gear A. Harmonic reducer seat B is fixedly connected to connecting bracket A. Harmonic reducer seat B is fixedly connected to harmonic reducer B. Harmonic reducer B is fixedly connected to motor mounting plate B. Motor mounting plate B is fixedly connected to motor B. The output shaft of motor B is fixedly connected to harmonic reducer B. The output end of harmonic reducer B is fixedly connected to shaft C. Shaft C is rotatably connected to shaft seat B. Shaft C is fixedly connected to gear C. Gear C meshes with gear D. Gear D and connecting bracket C are both fixedly connected to shaft D. Shaft D is rotatably connected to connecting bracket A and connecting bracket B.

[0009] As a further optimization of this technical solution, the present invention provides a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). The second tracking device includes a connecting base plate, a fixing component B, a rotating bracket A, a rotating bracket B, a shock absorber A, a shock absorber B, a motor C, a camera assembly, and a dustproof lens. The connecting base plate is fixedly connected to the fixing component B, the rotating bracket A is fixedly connected to the connecting base plate, the rotating bracket A and the rotating bracket B are rotatably connected, the connecting base plate is fixedly connected to the rotating bracket B via shock absorber A and shock absorber B, the motor C is fixedly connected to the rotating bracket B, the output shaft of the motor C is fixedly connected to the camera assembly, the camera assembly is rotatably connected to the rotating bracket B, and the camera assembly is fixedly connected to the dustproof lens.

[0010] The present invention discloses a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). Its advantages are as follows: 1. Through a dual-axis high-speed gimbal and collaborative networking algorithm, millisecond-level detection and seamless full-domain tracking of UAVs are achieved. The dual-axis drive + dual shock absorber structure greatly suppresses vibrations caused by high-speed start-stop, ensuring that the dynamically captured image remains pixel-level stable. 2. This device features a decentralized collaborative sensing mechanism and multi-unit intelligent networking, forming a three-dimensional protection network without blind spots. Its reaction speed and tracking accuracy far exceed those of traditional single-point solutions. Attached Figure Description

[0011] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0013] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0014] Figure 3 This is a schematic diagram of the structure of the first tracking device of the present invention. Figure 1 ;

[0015] Figure 4 This is a schematic diagram of the structure of the first tracking device of the present invention. Figure 2 ;

[0016] Figure 5 This is a schematic diagram of the structure of the first tracking device of the present invention. Figure 3 ;

[0017] Figure 6 This is a schematic diagram of the structure of the first tracking device of the present invention. Figure 4 ;

[0018] Figure 7 This is a schematic diagram of the structure of the second tracking device of the present invention. Figure 1 ;

[0019] Figure 8 This is a schematic diagram of the structure of the second tracking device of the present invention. Figure 2 ;

[0020] In the figure: First tracking device 1; Fixed base 101; Fixing component A102; External fixing frame 103; Top sliding plate 104; Control main board 105; Gear fixing seat 106; Gear A107; Support base plate 108; Limiting plate 109; Shaft seat A110; Shaft A111; Harmonic reducer seat A112; Harmonic reducer A113; Motor mounting plate A114; Motor A115; Shaft B116; Gear B117; Harmonic reducer seat B118; Harmonic reducer B119 Motor mounting plate B120; Motor B121; Shaft C122; Gear C123; Gear D124; Shaft D125; Connecting bracket A126; Connecting bracket B127; Shaft seat B128; Connecting bracket C129; Shaft seat C130; Second tracking device 2; Connecting base plate 201; Fixing component B202; Rotating bracket A203; Rotating bracket B204; Shock absorber A205; Shock absorber B206; Motor C207; Camera assembly 208; Dustproof lens 209. Specific Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings. Specific Implementation Example 1:

[0023] The following is combined Figures 1-8 This embodiment describes a rapid response collaborative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs), comprising a first tracking device 1 and a second tracking device 2, wherein the first tracking device 1 and the second tracking device 2 are connected. Specific Implementation Example 2:

[0025] The following is combined Figures 1-8This embodiment further describes Example 1. The first tracking device 1 includes a fixed base 101, a fixing member A102, an outer fixing frame 103, a top sliding plate 104, a control main board 105, a gear fixing seat 106, a gear A107, a support base plate 108, a limiting plate 109, a shaft seat A110, a shaft A111, a harmonic reducer seat A112, a harmonic reducer A113, a motor mounting plate A114, a motor A115, a shaft B116, a gear B117, a harmonic reducer seat B118, a harmonic reducer B119, a motor mounting plate B120, a motor B121, a shaft C122, and a gear C123. The components include gear D124, shaft D125, connecting bracket A126, connecting bracket B127, shaft seat B128, connecting bracket C129, and shaft seat C130. The fixed base 101 is fixedly connected to the outer fixed frame 103 via a fastener A102. The outer fixed frame 103 is fixedly connected to the top slide plate 104. The control main board 105 and gear fixing seat 106 are both fixedly connected to the fixed base 101. The gear fixing seat 106 is fixedly connected to gear A107. The limit plate 109, shaft seat A110, harmonic reducer seat A112, connecting bracket A126, and connecting bracket B127 are all fixedly connected to the support base plate 108. The shaft seat A110 is connected to the shaft... A111 is fixedly connected; shaft A111 is rotatably connected to gear mounting seat 106; harmonic reducer seat A112 is fixedly connected to harmonic reducer A113; harmonic reducer A113 is fixedly connected to motor mounting plate A114; motor mounting plate A114 is fixedly connected to motor A115; the output shaft of motor A115 is fixedly connected to harmonic reducer A113; harmonic reducer A113 is fixedly connected to shaft B116; shaft B116 is fixedly connected to gear B117; shaft B116 is rotatably connected to shaft seat C130; gear B117 meshes with gear A107; harmonic reducer seat B118 is fixedly connected to connecting bracket A126; harmonic reducer... Speed ​​reducer base B118 is fixedly connected to harmonic reducer B119. Harmonic reducer B119 is fixedly connected to motor mounting plate B120. Motor mounting plate B120 is fixedly connected to motor B121. The output shaft of motor B121 is fixedly connected to harmonic reducer B119. The output end of harmonic reducer B119 is fixedly connected to shaft C122. Shaft C122 is rotatably connected to shaft base B128. Shaft C122 is fixedly connected to gear C123. Gear C123 meshes with gear D124. Gear D124 and connecting bracket C129 are both fixedly connected to shaft D125. Shaft D125 is rotatably connected to connecting bracket A126 and connecting bracket B127. Specific Implementation Example 3:

[0027] The following is combined Figures 1-8This embodiment further describes Example 1. The second tracking device 2 includes a connecting base plate 201, a fixing member B202, a rotating bracket A203, a rotating bracket B204, a shock absorber A205, a shock absorber B206, a motor C207, a camera assembly 208, and a dustproof lens 209. The connecting base plate 201 is fixedly connected to the fixing member B202, the rotating bracket A203 is fixedly connected to the connecting base plate 201, the rotating bracket A203 is rotatably connected to the rotating bracket B204, the connecting base plate 201 is fixedly connected to the rotating bracket B204 via the shock absorbers A205 and B206, the motor C207 is fixedly connected to the rotating bracket B204, the output shaft of the motor C207 is fixedly connected to the camera assembly 208, the camera assembly 208 is rotatably connected to the rotating bracket B204, and the camera assembly 208 is fixedly connected to the dustproof lens 209.

[0028] The present invention discloses a rapid response cooperative tracking system and method for countering low-altitude unmanned aerial vehicles (UAVs). Its working principle is as follows: The system achieves macroscopic orientation adjustment through a first tracking device and precise line-of-sight stabilization and tracking through a second tracking device. When the control center detects the UAV target, it sends a command to the control motherboard 105. The control motherboard 105 drives the motor A115 in the first tracking device 1 to operate. When the motor A115 starts, its output torque is reduced at a high rate and increased through a harmonic reducer A, subsequently driving the shaft B116 to rotate. The gear B117 fixed on the shaft B116 rotates accordingly and meshes with the gear A107 fixed on the gear mounting seat 106. Because gear A1... 07 is fixed. According to the principle of planetary gears, the movement of gear B117 will force the entire support base plate 108 and all the mechanisms above it to form a rotating frame that rotates horizontally around the axis of shaft A111. The core function of harmonic reducers A113 and B119 is to precisely reduce speed and increase torque, ensuring that the gimbal can start, stop and position smoothly and accurately, eliminating transmission backlash. Gears A107 and B117 form a planetary gear transmission pair, converting the rotational motion of the motor into the horizontal rotational motion of the platform. The structure is compact and the transmission efficiency is high. Then, pitch adjustment and target locking are performed. At the same time or after the horizontal rotation, the control main board 105 starts motor B121. The power of machine B121 is transmitted to shaft C122 via harmonic reducer B119 for secondary power transmission. Gear C123, fixed on shaft C122, drives gear D124, which meshes with it, to rotate. Gear D124 is fixed to connecting bracket C129 via shaft D125, thereby transmitting the rotational motion to the second tracking device 2 above. This enables the entire camera assembly 208 to adjust its pitch angle in the vertical plane. Through the combined motion of the horizontal and pitch degrees of freedom, the system can quickly and accurately point the second tracking device 2 to the target airspace. The second tracking device 2, through its independent motor C207, drives the camera assembly 208 to rotate around its own optical axis at a faster and smaller amplitude. The deflection motion corrects residual jitter and enables pixel-level smooth tracking of high-speed moving targets. During the high-speed start-up, shutdown, and operation of the entire system, the vibrations generated are effectively absorbed and attenuated by shock absorbers A205 and B206, which act as passive vibration isolation, significantly reducing the vibration transmitted from the bottom mechanical transmission to the top camera unit, ensuring clear, stable, and jitter-free imaging. Motor C207, as a direct drive unit, provides rapid response capability for the last degree of freedom, achieving precise stabilization and tracking of the line of sight in the final stage. Finally, the high-definition video stream is captured by the dustproof lens in front of the camera assembly and transmitted back to the control center in real time, completing the task of continuous locking and tracking of the low-altitude UAV.

[0029] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. A fast response cooperative tracking system and method for low altitude UAV countermeasure, characterized in that: The first tracking device (1) is connected with the second tracking device (2). 2.The quick response cooperative tracking system and method for low altitude unmanned aerial vehicle countermeasure according to claim 1, wherein: The first tracking device (1) comprises a fixed base (101), a fixed part A (102), an outer fixing frame (103), a top sliding plate (104), a control mainboard (105), a gear fixing seat (106), a gear A (107), a support bottom plate (108), a limiting disc (109), a shaft seat A (110), a shaft A (111), a harmonic reducer seat A (112), a harmonic reducer A (113), a motor mounting plate A (114), a motor A (115), a shaft B (116), a gear B (117), a harmonic reducer seat B (118), a harmonic reducer B (119), a motor mounting plate B (120), a motor B (121), a shaft C (122), a gear C (123), a gear D (124), a shaft D (125), a connecting bracket A (126), a connecting bracket B (127), a shaft seat B (128), a connecting bracket C (129), a shaft seat C (130), wherein the fixed base (101) is fixedly connected with the outer fixing frame (103) through the fixed part A (102), the outer fixing frame (103) is fixedly connected with the top sliding plate (104), the control mainboard (105) and the gear fixing seat (106) are fixedly connected with the fixed base (101), the gear fixing seat (106) is fixedly connected with the gear A (107), the limiting disc (109), the shaft seat A (110), the harmonic reducer seat A (112), the connecting bracket A (126) and the connecting bracket B (127) are fixedly connected with the support bottom plate (108), the shaft seat A (110) is fixedly connected with the shaft A (111), the shaft A (111) is rotationally connected with the gear fixing seat (106), the harmonic reducer seat A (112) is fixedly connected with the harmonic reducer A (113), the harmonic reducer A (113) is fixedly connected with the motor mounting plate A (114), the motor mounting plate A (114) is fixedly connected with the motor A (115), the output shaft of the motor A (115) is fixedly connected with the harmonic reducer A (113), the harmonic reducer A (113) is fixedly connected with the shaft B (116), the shaft B (116) is fixedly connected with the gear B (117), the shaft B (116) is rotationally connected with the shaft seat C (130), the gear B (117) is meshingly connected with the gear A (107), the harmonic reducer seat B (118) is fixedly connected with the connecting bracket A (126), the harmonic reducer seat B (118) is fixedly connected with the harmonic reducer B (119), the harmonic reducer B (119) is fixedly connected with the motor mounting plate B (120), the motor mounting plate B (120) is fixedly connected with the motor B (121), the output shaft of the motor B (121) is fixedly connected with the harmonic reducer B (119), the output end of the harmonic reducer B (119) is fixedly connected with the shaft C (122), the shaft C (122) is rotationally connected with the shaft seat B (128), the shaft C (122) is fixedly connected with the gear C (123), the gear C (123) is meshingly connected with the gear D (124),Gear D (124), connecting bracket C (129) are fixedly connected with shaft D (125), shaft D (125) is rotatably connected with connecting bracket A (126), connecting bracket B (127). 3.The quick response cooperative tracking system and method for low altitude unmanned aerial vehicle countermeasure according to claim 1, wherein: The second tracking device (2) comprises a connecting bottom plate (201), a fixing part B (202), a rotating support A (203), a rotating support B (204), a shock absorber A (205), a shock absorber B (206), a motor C (207), a camera assembly (208) and a dustproof lens (209). The connecting bottom plate (201) is fixedly connected with the fixing part B (202). The rotating support A (203) is fixedly connected with the connecting bottom plate (201). The rotating support A (203) is rotatably connected with the rotating support B (204). The connecting bottom plate (201) is fixedly connected with the rotating support B (204) through the shock absorber A (205) and the shock absorber B (206). The motor C (207) is fixedly connected with the rotating support B (204). The output shaft of the motor C (207) is fixedly connected with the camera assembly (208). The camera assembly (208) is rotatably connected with the rotating support B (204). The camera assembly (208) is fixedly connected with the dustproof lens (209).

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