Combined relay type imaging detection device

Abstract

The invention discloses a combined relay type detection device, and relates to the technical field of intelligent detection and unmanned aerial vehicle cooperation. The device comprises a fixed detection unit and an unmanned aerial vehicle detection unit. The fixed detection unit is provided with an electromagnetic wave detection assembly through a support and a base, and is controlled by a main control device to capture a target electromagnetic wave reflection signal and preliminarily screen a target position. The unmanned aerial vehicle detection unit integrates an unmanned aerial vehicle, flight control and communication equipment and carries a visible light / infrared thermal imaging camera. Through a combined mode of fixed electromagnetic wave detection and unmanned aerial vehicle optical fine detection, the device gives consideration to the advantages of long-distance coverage and short-distance identification, and is suitable for all-weather and multi-scene detection scenes such as border monitoring, security early warning and the like.

Description

Technical Field

[0001] This invention belongs to the technical field of detecting low-altitude, ultra-low-altitude, ground, and sea-based moving targets in key locations, fortresses, airports, large power plants, and surface ships. In particular, it relates to a combined relay-type detection device for target detection, identification, tracking, and interception in rainy and foggy weather. Background Technology

[0002] Small unmanned aerial vehicles (UAVs) play a crucial role in modern warfare. Due to their low altitude, slow speed, and small size, their radar signals are easily masked by background noise, making their detection and strike capabilities a key area of ​​global weapons research. Small UAVs have a wide range of military applications, including reconnaissance, surveillance, and strike missions. However, their low-altitude flight and small size pose significant challenges to traditional radar and other detection equipment in identifying and tracking these targets.

[0003] Furthermore, the detection of long-range targets and moving targets by drones, especially in rainy or foggy weather, remains a technical challenge that needs to be addressed. Conventional imaging techniques typically employ optical lenses with increased focal lengths to capture images of small, distant targets. However, in heavy rain or fog, this approach is insufficient to detect targets exceeding 1000 meters in altitude.

[0004] Conventional electromagnetic radar can perform long-range detection and remain effective even in rainy or foggy weather. However, its drawbacks include the inability to image targets, and the high number of false alarms caused by numerous objects on land and sea. Electromagnetic detection cannot provide sufficient information, necessitating further target identification. It is particularly incapable of distinguishing between ground personnel or animals, friend or foe among ground personnel, or small surface vessels, thus limiting its usability. While manually launching drones for long-range target verification is possible, electromagnetic radar data cannot be directly used for drone guidance and requires manual conversion. Furthermore, due to the long flight distance, manual operation often lacks the speed and precision to track target azimuth and elevation angles, frequently causing the launched drone to lose target tracking and detection, resulting in verification failure.

[0005] To adapt to the development of aviation modernization and the demands of the low-altitude economy, research on the detection, attack, and capture technologies of aerial unmanned aerial vehicles (UAVs), as well as the automatic detection and inspection of ground targets in key locations and small surface targets by surface ships, has become an inevitable trend. Therefore, air defense and control of key locations and fortresses, air defense and control of large ships, security monitoring, and management have become urgent issues that need to be addressed.

[0006] In practice, especially in foggy weather, conventional detection methods using radar and imaging multi-sensor arrays on the ground or in the air are simple combinations with limited effectiveness and detection range. This makes the detection and monitoring of aerial targets, moving objects on the ground including people and animals, and the detection and identification of surface ships particularly important in such conditions.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to provide a combined relay imaging detection device, thereby overcoming the defects in the prior art.

[0009] To achieve the above objectives, the present invention provides a combined relay detection device, comprising: A fixed detection unit includes a main control device, a support frame and a base, and an electromagnetic wave detection component mounted on the support frame and base; the electromagnetic wave detection component is communicatively connected to the main control device; the electromagnetic wave detection component includes at least one electromagnetic wave transmitting and receiving unit with a working distance of L1, used to capture the electromagnetic wave reflection signal of the target, where L1 is 500m-30000m; The unmanned aerial vehicle detection unit includes: It must be able to accommodate at least one unmanned aerial vehicle and flight control and communication equipment; Unmanned aerial vehicles equipped with imaging cameras; The imaging camera is either a visible light camera or an infrared thermal imaging camera; Flight control and communication equipment connects the main control equipment and the unmanned aerial vehicle in flight, and is used for: Transmit control commands from the main control device to the unmanned aerial vehicle; Guide unmanned aerial vehicles to fly and acquire flight attitude data; It acquires image data from the imaging camera and transmits it back to the main control device.

[0010] More preferably, the operating band of the electromagnetic wave detection component includes at least one of the following: millimeter wave 1-10mm, K-band 1.11-1.67cm, Ku-band 1.67-2.5cm, X-band 2.5-3.75cm, C-band 3.75-7.5cm, S-band 7.5-15cm, and L-band 15-30cm.

[0011] More preferably, the electromagnetic wave detection component includes: The azimuth control unit is driven by an azimuth control motor to achieve 360° horizontal detection; The pitch angle control unit enables detection within the vertical α angle range; The pitch control unit is one of the following: a) A mechanical scanning mechanism driven by a pitch angle control motor; b) Phased array elevation scanning mechanism.

[0012] Further preferably, the scanning range α of the pitch angle control unit is ≤90°.

[0013] More preferably, the unmanned aerial vehicle is any one of a fixed-wing drone, a rotary-wing drone, a controllable balloon, or an airbag-type hovercraft; the imaging camera is mounted on the unmanned aerial vehicle, including at least one of a visible light imaging camera or an infrared imaging camera; the imaging camera and the imaging component of the fixed detection unit have the same band setting. The minimum flight radius of an unmanned aerial vehicle is ≥2×L1.

[0014] In a further preferred embodiment, the unmanned aerial vehicle (UAV) detection unit also includes: a storage compartment equipped with a sliding rail, which serves as the UAV's airport; a sliding plate that carries the UAV, which serves as a mobile landing pad; a drive unit, comprising a linear motor and a chain conveyor mechanism or a rotary motor and a gear conveyor mechanism; and a protective cover; wherein the drive unit propels the sliding plate along the sliding rail to achieve the launch and recovery of the UAV.

[0015] In a further preferred embodiment, the unmanned aerial vehicle (UAV) detection unit is equipped with an UAV memory, which includes a protective cover and a fixed landing pad. The UAV can take off and land by opening the protective cover.

[0016] More preferably, the unmanned aerial vehicle is also equipped with additional functional modules, including at least one of a loudspeaker and microphone, a projectile-launching gun, a laser or microwave energy emitter, or a capture net launcher.

[0017] Further preferred embodiments include: a solar power supply system comprising solar panels, energy storage devices, an inverter, and an energy management unit, used to power the device and charge the unmanned aerial vehicle.

[0018] More preferably, the flight control and communication equipment includes wired or wireless flight control and communication equipment. The wired flight control and communication equipment achieves communication connection with the main control equipment or between the flight control and communication equipment and the unmanned aerial vehicle through optical fiber or wired communication links. It receives or transmits instructions and data from the main control equipment to control the flight of the unmanned aerial vehicle, and at the same time receives the positioning data of the unmanned aerial vehicle and the image information of the target and transmits them to the main control equipment. Alternatively, wireless flight control and communication equipment, including wireless direct-connect flight control and communication equipment, can achieve direct communication between the flight control and communication equipment and the main control equipment, and between the flight control and communication equipment and the unmanned aerial vehicle through a dedicated wireless communication link. Network-based flight control and communication equipment refers to a network-based wired / wireless flight control platform. Through wireless communication, including 4G, 5G, 6G, and Starlink networks, as well as wired connections between the flight control platform and the main control device, it enables wired or wireless communication, including remote connections, between the flight control platform and the unmanned aerial vehicle (UAV). It receives or transmits commands and data from the main control device, controls the UAV's flight via internet communication, and simultaneously receives the UAV's positioning data and target image information, transmitting them to the main control device via the internet.

[0019] For example, DJI Airport 2 or DJI Airport 3 drone airports, as well as DJI drones controlled by the DJI Sikong 2 flight control platform and communication software.

[0020] A relay detection method based on the aforementioned device includes: S1. Performing a 360° azimuth scan and an elevation angle α scan using an electromagnetic wave detection component to detect targets within a distance L1, acquiring data on the number of targets, azimuth angle, elevation angle, distance, and velocity, or obtaining the target's positioning data (GPS positioning) through calculation, and transmitting it to the main control device; S2. In response to the target detection results, the main control equipment controls the flight control and communication equipment to control the unmanned aerial vehicle to fly towards the target area, and updates the target position data to the unmanned aerial vehicle in real time; S3. When the unmanned aerial vehicle (UAV) flies to the vicinity of the target, the imaging camera points to the target and captures the target image. The UAV or the main control device obtains information such as the target's friend or foe characteristics and quantity by comparing the image data information from the imaging camera, and flies according to the pre-set strategy or issues control commands according to the pre-set strategy. S4. If the target is friendly, the UAV returns to base. If the target is enemy, the UAV is controlled to either continuously circle and track the target, continuously track the target at a fixed point and distance, or return to base. At this time, the main control equipment commands the electromagnetic wave detection component to maintain continuous detection of distant targets or to shut down the transmission of electromagnetic waves. Steps S1 to S4 are executed cyclically to achieve relay detection.

[0021] Compared with the prior art, the present invention has the following beneficial effects: Overcoming the shortcomings of single detection methods, such as limited detection means and short operating range, this method combines point cloud detection data from radar detection with image data from UAV detection, thus solving the problem that single radar detection cannot perform target identification and inspection. By using drones carrying imaging detectors to relay the detection distance, the shortcomings of conventional imaging long-distance detection, such as the need for long focal length and small field of view of fixed imaging components, are solved. On the one hand, it reduces the design and manufacturing costs of long focal length fixed imaging components, and on the other hand, it expands the detection field of view by using drones. The detection range has great scalability. By increasing the power of radar detection, point cloud detection can be achieved at a greater distance. At this point, by increasing the flight range of the UAV, a longer relay distance can be achieved. By linking radar detection data with UAV flight control data, automatic guidance of the UAV can be achieved, especially in weather conditions with poor visibility such as rain and fog. This allows the UAV to be guided accurately to the vicinity of the target and ensures that the imaging camera can capture the target. Once the drone acquires a target, it can turn off the radar detection, putting the device into a passive detection state, which reduces electromagnetic radiation and thus improves the device's safety. It has the ability to switch between active and passive detection, point cloud detection and imaging detection; This technical solution has the capability for further upgrades to unattended operation. The above-mentioned detection and conversion strategies can be pre-written into the main control device. At the same time, the main control device can also be remotely set and communicate with the base, thereby realizing remote, fog-penetrating, multi-mode, and unattended operation. This technical solution also has the capability to extend target strike and interception. By setting the strategy of the main control device, after the target is detected, the drone can be used to go and inspect it, and then strike or intercept the target through manual or automatic strategy commands. With a wide range of applications, including land fortresses, airports, high-speed rail stations, power plants, government agencies, drones, and ground personnel for security and inspection, as well as important vessels on the water for security and inspection of small surface ships, this intelligent station can operate independently through a solar power supply, and can work 24 hours a day. In particular, when guarding fortresses, this device can be remotely installed to achieve the effects of automatic inspection, automatic warning, and automatic interception and anti-tampering. Attached Figure Description

[0022] Figure 1 System configuration diagram; Figure 2 : A schematic diagram of the main control equipment controlling the relay detection; Figure 3 A schematic diagram illustrating pitch scanning driven by a pitch motor; Figure 4 A schematic diagram of elevation scanning performed by a phased array; Figure 5 and Figure 6 Schematic diagram of the storage unit of the unmanned probe.

[0023] Figure 7 , Figure 8 , Figure 9 These are schematic diagrams of the flight control and communication equipment, respectively. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0025] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0026] A combined relay detection device includes: A fixed detection unit includes a main control device, a support and a base, and an electromagnetic wave detection component mounted on the support and base; the electromagnetic wave detection component is communicatively connected to the main control device; the electromagnetic wave detection component includes at least one electromagnetic wave detection (transmitting and receiving) unit with a working distance of L1, used to capture the electromagnetic wave reflection signal of the target; The unmanned aerial vehicle (UAV) detection unit includes an UAV memory capable of accommodating at least one UAV, flight control and communication equipment, and the UAV itself. The UAV is also equipped with an imaging camera, which may include a visible light camera or an infrared thermal imaging camera. The UAV detection unit is connected to the main control equipment and the UAV in flight via the flight control and communication equipment. Flight control and communication equipment is used by the main control equipment to maintain command control over the unmanned aerial vehicle, guide the flight of the unmanned aerial vehicle, acquire flight attitude, and acquire image data from the imaging camera of the unmanned aerial vehicle.

[0027] Flight control and communication equipment includes wired or wireless flight control and communication equipment. Wired flight control and communication equipment achieves direct communication connection with the main control equipment through fiber optic communication links, receives or transmits instructions and data from the main control equipment to control the flight of the unmanned aerial vehicle, and at the same time receives the positioning data of the unmanned aerial vehicle and the image information of the target and transmits them to the main control equipment. Alternatively, wireless flight control and communication equipment includes wireless direct-connect flight control and communication equipment as well as network-based wireless flight control and communication equipment. Wireless direct-connect wireless flight control achieves direct communication connection with the main control device through a dedicated wireless communication link. Alternatively, flight control and communication equipment may also include an online network version of the flight control platform (Sikong platform) and communication equipment, which achieves communication connection with the main control equipment through wireless communication including 4G, 5G, 6G or Starlink network, receives or transmits instructions and data from the main control equipment, controls the flight of the unmanned aerial vehicle through Internet communication, and at the same time receives the positioning data of the unmanned aerial vehicle and the image information of the target and transmits them to the main control equipment through the Internet.

[0028] The working distance L1 of the electromagnetic wave detection component is 500m-30000m. Although electromagnetic waves have a strong ability to penetrate rain and fog, L1 will also change due to weather changes.

[0029] The minimum flight radius of the unmanned aerial vehicle is 2*L1; the unmanned aerial vehicle is any one of fixed-wing drones, rotary-wing drones, controllable balloons or airbag-type hovercraft; the imaging camera is mounted on the unmanned aerial vehicle via a controllable gimbal, including at least one of visible light imaging cameras or infrared imaging cameras.

[0030] The unmanned aerial vehicle (UAV) detection unit receives target data and commands from the main control device via flight control and communication equipment. It then controls the UAV's flight, guiding it towards the area indicated by the target data and simultaneously aligning the imaging camera with the target location. The UAV's flight data and the imaging camera's image information are transmitted back to the main control device in real time via the flight control and communication equipment. (Examples include DJI Airport 2 or DJI Airport 3 drone airports and DJI Drone 2 flight control platform and communication software-controlled DJI drones.) The electromagnetic wave detection component is an electromagnetic wave (transmission and reception) detection unit. The operating waveband includes at least one of the following: millimeter wave (1-10mm), K-band (1.11-1.67cm), Ku-band (1.67-2.5cm), X-band (2.5-3.75cm), C-band (3.75-7.5cm), S-band (7.5-15cm), and L-band (15-30cm), meeting the detection requirements of L2=100m--20000m.

[0031] The electromagnetic wave detection component includes an azimuth control unit to control detection within a horizontal 360° range. The azimuth detection unit mainly includes an azimuth control motor, and an elevation control unit to control detection within a vertical range α. The elevation control unit may mainly include an elevation control motor to control detection within a vertical range α, or it may be implemented by a phased array to achieve detection within a vertical range α.

[0032] The unmanned probe storage unit includes a slide plate for placing the unmanned aerial vehicle (UAV), a rail for running the slide plate, and a drive mechanism that propels the slide plate along the rail to push / retract the UAV into / out of the storage space. It also includes a protective cover. The drive mechanism includes a linear motor, a rotary motor, and a chain conveyor, or a rotary motor and a gear conveyor.

[0033] Unmanned aerial vehicles may also be equipped with: loudspeakers and microphones for speaking and conversing with ground targets; or guns capable of firing projectiles; or lasers and microwaves that emit energy; or net launchers.

[0034] It also includes a solar power system that uses solar energy to power the entire device and charge the unmanned aerial vehicle, including solar panels, energy storage devices, inverters, and energy management units.

[0035] The relay detection of this device operates according to the following steps: S1. The electromagnetic wave detection component is controlled by the azimuth control unit and the elevation control unit to detect targets within a range of 360° azimuth angle, elevation angle α and distance L1. The target point cloud data is obtained, including information such as the number, azimuth angle, elevation angle, distance and velocity. The target data is transmitted to the main control device through the communication equipment. S2. In response to the target detection results from the electromagnetic wave detection component, the main control equipment issues a control signal in a timely manner. The control command controls the flight control and communication equipment of the unmanned aerial vehicle (UAV) detection unit, controls the launch of the UAV, and sends the target's position update data to the UAV, thereby guiding the UAV to fly towards the target area; S3. When the unmanned aerial vehicle flies to the vicinity of the target area, it continues to fly closer to the target. Based on the target data of the flight control and communication equipment, it aims the imaging camera at the target location to detect until the target is found. Then, it sends the target image information to the main control equipment through the flight control and communication equipment. S4. The unmanned aerial vehicle (UAV) or its main control device receives image data from the UAV's imaging camera. By comparing and calculating the image data, it obtains information such as the target's friend or foe characteristics and quantity. Based on a pre-set strategy, it issues control commands, which are then used by the flight control and communication equipment to control the UAV to perform actions including: continuously tracking the target, performing other actions, or returning to base. At this time, the main control device instructs the electromagnetic wave detection component to maintain or pulse electromagnetic wave detection of distant targets or to shut down electromagnetic wave transmission to conceal itself. The relay detection is achieved by repeating steps S1 to S4.

Claims

1. A combined relay imaging detection apparatus, characterized by, The utility model relates to a kind of unmanned aerial vehicle detection system, including: Fixed detection unit, including master control device, support and pedestal, and electromagnetic wave detection component arranged on the support and pedestal; The electromagnetic wave detection component is connected with the master control device;The electromagnetic wave detection component includes at least one electromagnetic wave transmitting and receiving unit, working distance L1, for capturing the electromagnetic wave reflection signal of target, L1 is 500m-30000m; Unmanned aerial vehicle detection unit, including: at least one unmanned aerial vehicle, flight control and communication device;Unmanned aerial vehicle is equipped with imaging camera;The imaging camera is visible light camera or infrared thermal imaging camera;The flight control and communication device are connected with the master control device and unmanned aerial vehicle in flight, for: Transmit control instruction of master control device to unmanned aerial vehicle;Guide unmanned aerial vehicle to fly and obtain flight attitude data;Obtain image data of imaging camera and return to master control device.

2. The apparatus of claim 1, wherein: The working wave band of the electromagnetic wave detection component includes at least one of millimeter wave 1-10mm, K wave band 1.11-1.67cm, Ku wave band 1.67-2.5cm, X wave band 2.5-3.75cm, C wave band 3.75-7.5cm, S wave band 7.5-15cm and L wave band 15-30cm.

3. The apparatus of claim 1, wherein: The electromagnetic wave detection component includes: Azimuth angle control unit, driven by azimuth angle control motor, realizes horizontal 360 ° detection; Pitch angle control unit, realizes detection in vertical direction α angle range; The pitch angle control unit is one of the following: a) pitch angle control motor driven mechanical scanning mechanism; b) phased array pitch angle scanning mechanism.

4. The apparatus of claim 3, wherein: The scanning range of the pitch angle control unit is α ≤90 °.

5. The apparatus of claim 1, wherein: The unmanned aerial vehicle is any one of fixed-wing unmanned aerial vehicle, rotary-wing unmanned aerial vehicle, controllable balloon or airbag type hovering aircraft;Imaging camera is installed on unmanned aerial vehicle, including at least one of visible light imaging camera or infrared imaging camera;The imaging camera and the imaging component of fixed detection unit have the same wave band setting; The minimum flight radius of the unmanned aerial vehicle is greater than or equal to 2*L1.

6. The apparatus of claim 1, wherein: The unmanned aerial vehicle detection unit also provides unmanned aerial vehicle storage, including: storage cabin with slide rail, i.e. airport of unmanned aerial vehicle, slide plate carrying unmanned aerial vehicle, i.e. movable landing platform, drive includes linear motor and chain conveying mechanism or rotary motor and gear conveying mechanism; Wherein, the drive pushes the slide plate to move along the slide rail, realizes the launch and recovery of unmanned aerial vehicle.

7. The apparatus of claim 1, wherein: The unmanned aerial vehicle detection unit is provided with unmanned aerial vehicle storage, including: protective cover, fixed landing platform, open the protective cover, and the unmanned aerial vehicle can take off and land.

8. The apparatus of claim 1, wherein: The unmanned aerial vehicle is also provided with additional functional modules, including at least one of loudspeaker and microphone, bullet launcher, laser or microwave energy transmitter, or capture net transmitter.

9. The apparatus of claim 1, wherein, Further including: Solar power supply system, including solar panel, energy storage device, inverter and energy management unit, for powering the device and charging the unmanned aerial vehicle.

10. The apparatus of claim 1, wherein, The flight control and communication device includes a wired or wireless flight control and communication device, which is connected with the master control device or the flight control and communication device and the unmanned aerial vehicle through an optical fiber or a wired communication link to receive or transmit the instructions and data of the master control device and control the unmanned aerial vehicle, and receive the positioning data of the unmanned aerial vehicle and the image information of the target and transmit them to the master control device. Or the wireless flight control and communication device includes a wireless direct flight control and communication device, which is directly connected with the master control device or the flight control and communication device and the unmanned aerial vehicle through a special wireless communication link. The network version flight control and communication device, i.e. a wired / wireless flight control platform, is connected with the master control device through a wireless communication including 4G, 5G, 6G and star network and a wired connection to realize wired or wireless communication including remote connection between the flight control platform and the master control device and wireless remote connection between the flight control platform and the unmanned aerial vehicle, receive or transmit the instructions and data of the master control device to control the unmanned aerial vehicle through Internet communication, and receive the positioning data of the unmanned aerial vehicle and the image information of the target and transmit them to the master control device through the Internet.

11. A relay detection method based on the apparatus of any one of claims 1-8, characterized in that Comprise: S1. Perform 360° azimuth scanning and pitch angle α scanning through the electromagnetic wave detection assembly to detect targets within L1 distance, obtain target quantity, azimuth angle, pitch angle, distance and speed data, or obtain target positioning data through operation, and transmit them to the master control device; S2. In response to the target detection result, the master control device controls the flight control and communication device to control the unmanned aerial vehicle to fly to the target area, and updates the target position data to the unmanned aerial vehicle in real time; S3. When the unmanned aerial vehicle flies to the target area, the imaging camera points to the target to capture the target image, and the unmanned aerial vehicle or the master control device obtains the enemy and friend characteristics and quantity of the target through comparison according to the image data information of the imaging camera, and performs flight according to the pre-set strategy or sends a control instruction according to the pre-set strategy; S4. If the target is a friendly target, the unmanned aerial vehicle returns, and if the target is an enemy target, the unmanned aerial vehicle is controlled to continuously fly around the target, continuously track the target at a fixed point and distance, or return. At this time, the master control device instructs the electromagnetic wave detection assembly to keep detecting the target at a long distance or controls to turn off the emission of electromagnetic waves. Wherein, steps S1 to S4 are cyclically executed to realize relay detection.

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