Multi-mode relay type imaging detection device

Abstract

The invention discloses a multimode relay type imaging detection device, and relates to the technical field of photoelectric detection and unmanned aerial vehicle cooperation. The device comprises a fixed detection unit and an unmanned aerial vehicle detection unit, the fixed detection unit integrates an imaging assembly and an electromagnetic wave detection assembly through a mounting platform, the imaging assembly comprises a visible light or infrared module, and the electromagnetic wave detection assembly is used for remote target preliminary screening; the unmanned aerial vehicle detection unit is linked with the unmanned aerial vehicle through flight control and communication equipment, and an imaging camera carried by the unmanned aerial vehicle detection unit can acquire a target image at a short distance. When the device works, the electromagnetic wave detection assembly obtains target point cloud data, the unmanned aerial vehicle is guided to fly to a target area, features such as the appearance and the contour of a target are accurately recognized through the imaging camera and transmitted back to the main control equipment, and comparison and judgment with a target library are achieved. When a target enters an imaging range of the fixed detection unit, the unmanned aerial vehicle returns and is tracked by the fixed detection unit in a relay mode, and a closed-loop process of long-distance detection, short-distance identification and relay tracking is formed.

Description

Technical Field

[0001] This invention belongs to the field of low-altitude target detection technology, and specifically relates to a multi-mode relay imaging detection device. 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, precisely because of their low-altitude flight and small size, traditional radar and other detection equipment face significant challenges in identifying and tracking these targets.

[0003] Furthermore, imaging of drones and moving targets at long distances or in rainy or foggy weather remains a significant technical challenge. Conventional long-range imaging techniques typically employ optical lenses with increased focal lengths to capture images of small, distant targets. However, this inevitably necessitates the use of telephoto lenses while also considering short- to medium-range detection. Consequently, lenses with long focal lengths must also offer magnification and focal length adjustment capabilities. This means that telephoto lenses (for detecting targets at 3-20 km) require focal lengths exceeding 1500 mm, while lenses capable of detecting targets at 50 m require focal lengths of 10-100 mm. Clearly, the extensive adjustment of optical focal lengths necessitates specialized design and manufacturing, making it extremely difficult and prohibitively expensive for practical use. Additionally, in heavy rain or fog, even with the aforementioned long focal lengths, neither visible light nor infrared lenses can detect targets exceeding 1000 m.

[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 lacks the speed and precision to track target azimuth and elevation angles, often causing the launched drone to lose target tracking and detection, resulting in verification failure. Additionally, radar detection is an active detection method, and relying solely on active detection is detrimental to one's own concealment and defense.

[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] CN118759517A - A method and apparatus for collaborative detection of unmanned aerial vehicles using multi-source heterogeneous sensors reveals a technical solution for detecting targets, including intruding unmanned aerial vehicles, using multiple sensors. Its application scenarios and protection detection range are relatively small.

[0007] Patent application 202510490253X discloses a protective device, and patent application 2024108918246 discloses a method for detecting and intercepting drones using drones.

[0008] Patent applications 2025104329069 and 2025104329088 disclosed an optical detection device with a double wedge-shaped mirror compensation unit. However, such optical detection can achieve target warning detection and thus find the target, but it cannot provide detection over long distances, especially in rainy and foggy weather.

[0009] The inventor's invention, 2024103275936, describes an optical device for a laser dot array that can achieve laser detection and tracking. However, laser detection has weak penetration capabilities in rain and fog and cannot meet the requirements for ultra-long-distance imaging.

[0010] There is another laser gating imaging technology on the market, which uses receiver gating technology to enhance the reception of laser reflection signals at a specific distance. This technology can indeed increase the clarity of the image and has a certain fog-penetrating ability. However, it is obviously impossible to image targets at a distance of (3-20) KM in rain and fog conditions. Under normal circumstances, the fog-penetrating ability of this technology is 1.5-2 times that of visibility. Thus, even with a visibility of 500 meters (thin fog), it can only detect up to 1km, so it cannot achieve effective control of key areas.

[0011] Practice has shown that, especially in foggy weather, conventional, single-mode optical detection and simple combinations of multiple detection methods will inevitably become ineffective. In such situations, the detection and monitoring of aerial targets, ground moving objects including people and animals, and the detection and identification of surface ships are particularly important.

[0012] 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

[0013] The purpose of this invention is to provide a multi-mode relay imaging detection device, thereby overcoming the defects in the prior art.

[0014] To achieve the above objectives, the present invention provides a multi-mode relay imaging detection device, comprising: The fixed detection unit includes a main control device, an installation platform, and an imaging component and an electromagnetic wave detection component mounted on the installation platform; The imaging component includes at least one visible light imaging module or an infrared band imaging module with a working distance of L1 (20m-3000m) to capture visible light images or infrared thermal radiation signals of the target. The electromagnetic wave detection component includes at least one electromagnetic wave transmitting and receiving unit with a working distance of L2 (500m-20000m), used to capture the electromagnetic wave reflection signal of the target, and satisfies L2≥1.2×L1; The imaging component and the electromagnetic wave detection component are respectively connected to the main control device via communication. The unmanned aerial vehicle (UAV) detection unit includes an UAV, flight control and communication equipment, and an imaging camera mounted on the UAV. The unmanned aerial vehicle (UAV) detection unit communicates with or remotely connects to the main control equipment and the UAV via flight control and communication equipment. It is used to transmit target data and UAV flight data, receive target imaging camera data, and transmit control commands. The flight control and communication equipment is configured to respond to commands from the main control equipment to control the take-off, landing, and flight of the unmanned aerial vehicle; The unmanned aerial vehicle is guided to fly towards the target area based on the target information from the main control equipment; target data is acquired through the imaging camera, and the target's friend or foe attributes are determined or the images are transmitted back to the main control equipment for identification.

[0015] Preferably, in the above technical solution, the installation platform is a fixed platform, horizontally fixed on the bracket and base; the imaging component is equipped with an independent azimuth control unit-1 and an elevation control unit-1; the electromagnetic wave detection component is equipped with an independent azimuth control unit-2 and an elevation control unit-2.

[0016] Preferably, in the above technical solution, the mounting platform is a rotating platform, which is mounted on the bracket and base by bearings and driven by a turntable motor to rotate around the central axis; the rotating platform serves as a shared azimuth control unit for the imaging component and the electromagnetic wave detection component; the imaging component is provided with an independent azimuth control unit-1 and an elevation control unit-1; the electromagnetic wave detection component is provided with an independent azimuth control unit-2 and an elevation control unit-2, and its elevation scanning angle α≤90°.

[0017] Preferably, in the above technical solution, the electromagnetic wave detection component includes two phased array scanning units, symmetrically arranged on both sides of the rotating platform; the elevation phased scanning angle α of each phased array scanning unit is ≤45°, and the angle between the projections of the antenna plane vertical lines of the two units onto the vertical plane is ≤45°, thus forming seamless detection.

[0018] Preferably, in the above technical solution, the imaging component includes a primary mirror, a secondary mirror, and an imaging module; the primary mirror forms a pitch angle control unit-1 through the primary mirror rotation axis and the primary mirror motor, driving the primary mirror to perform pitch scanning; the secondary mirror is set at a 45° tilt angle in the output light path of the primary mirror, and the center line of the reflected beam between the primary mirror and the secondary mirror is parallel to the extension line of the center of the primary mirror rotation axis; the imaging module is set in the reflected light path of the secondary mirror.

[0019] Preferably, in the above technical solution, the unmanned aerial vehicle is any one of a fixed-wing UAV, a rotary-wing UAV, a controllable balloon, or an airbag-type hovercraft; the imaging camera is mounted on the unmanned aerial vehicle and includes 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.

[0020] Preferably, in the above technical solution, the unmanned aerial vehicle (UAV) storage unit (i.e., the UAV's airport) includes a sliding plate (mobile landing pad), a track, a driver, and a protective cover; the driver is a combination of a linear motor, a rotary motor, and a chain conveyor mechanism, or a rotary motor and a gear conveyor mechanism, used to propel the sliding plate along the track to achieve the launch and recovery of the UAV. Alternatively, the UAV storage unit (i.e., the UAV's airport) includes a protective cover and a fixed landing pad; opening the protective cover allows the UAV to take off and land.

[0021] Preferably, in the above technical solution, the detection wavelength range of the infrared band imaging module of the imaging component is 1-5 micrometers or 8-14 micrometers, and the lens focal length is 10mm-200mm. The electromagnetic wave detection component operates in at least one of the following wavebands: 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).

[0022] Preferably, in the above technical solution, the electromagnetic wave detection component is a phased array detection unit with an elevation scanning angle α ≤ ±45° and a working waveband including at least one of the X-band, C-band and S-band; The target azimuth angle is determined by the rotation angle of the rotating platform, the target pitch angle is determined by the pitch scan of the phased array, and the target distance, speed and trajectory are obtained by continuous tracking.

[0023] Preferably, in the above technical solution, the unmanned aerial vehicle is also equipped with additional functional modules, including at least one of a GPS positioning module, a loudspeaker and microphone, a projectile-launching gun, a laser or microwave energy emitter, or a capture net launcher.

[0024] Preferably, the above technical solution further includes: a solar power supply system, comprising solar panels, energy storage devices, an inverter and an energy management unit, used to supply power to the device and charge the unmanned aerial vehicle.

[0025] A relay detection method based on any of the devices mentioned above includes: S1. Detect the target within a distance L2 using an electromagnetic wave detection component, obtain at least one of the following information: target quantity, azimuth angle, elevation angle, distance, and velocity, or generate target positioning data through calculation and transmit the data to the main control device; S2. In response to the detection results of S1, the main control equipment controls the flight control and communication equipment, thereby controlling the unmanned aerial vehicle to fly towards the target area; S3. When the unmanned aerial vehicle (UAV) approaches the target, its imaging camera aims at the target and captures an image: The image data is compared locally by the unmanned aerial vehicle to determine the target's friend or foe attributes and quantity; or the image is transmitted back to the main control equipment for identification. Based on the judgment result, execute the preset flight strategy or generate control commands; S4. Foe / Friendship Identification and Strategy Execution: If it is our target, control the unmanned aerial vehicle to return to base; If the target is an enemy, control the unmanned aerial vehicle to execute any of the following strategies: Continuously fly around and track the target; Continuous, fixed-point, fixed-distance target tracking; Return to base; At the same time, the main control equipment controls the electromagnetic wave detection component to maintain long-distance detection or shut down its transmission; S5. When the target enters the detection range L1 of the imaging component: The main control device instructed the unmanned aerial vehicle to return to the memory; The imaging component takes over and continuously tracks the target; Steps S1 to S5 are executed cyclically to achieve relay detection.

[0026] Preferably, in the above technical solution, the main control device, the unmanned aerial vehicle detection unit, and the unmanned aerial vehicle are connected by wired or wireless communication. Wired communication methods include: fiber optic links or network communication based on Internet Protocol (IP). Wireless communication methods include: point-to-point communication, point-to-multipoint communication, 4G / 5G / 6G mobile networks, or Starlink networks.

[0027] Preferably, in the above technical solution, the main control device is connected to the unmanned aerial vehicle (UAV) detection unit via a wired link, and the UAV detection unit is connected to the UAV via a wired link. Alternatively, the main control device is connected to the unmanned aerial vehicle (UAV) detection unit via a wired link, and the UAV detection unit is connected to the UAV via a wireless link. Alternatively, the main control device can remotely connect to the unmanned aerial vehicle (UAV) detection unit via a wireless network, and the UAV detection unit can connect to the UAV via a wireless network.

[0028] Compared with the prior art, the present invention has the following beneficial effects: Overcoming the shortcomings of single imaging 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 imaging 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 range, the drawbacks of fixed imaging components requiring long focal lengths and having small field of view during long-range detection are overcome. This reduces the design and manufacturing costs of long-focal-length fixed imaging components. Furthermore, it enables fixed imaging components to image distant targets using shorter focal lengths, while also maintaining the ability to image closer targets and providing a wider detection field of view. 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 range of the UAV, a longer relay distance can be achieved. By linking radar detection data with UAV flight control and imaging camera data, automatic guidance of UAVs 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. When the drone detects a target or the target approaches the fixed platform, the radar detection is turned off, putting the device into a passive detection state, reducing electromagnetic radiation and thus improving the device's safety. It has the ability to seamlessly switch between multiple detection sources and multi-level detection methods, such as active and passive detection, point cloud detection and imaging detection, visible light detection and infrared 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

[0029] Figure 1 : A schematic diagram of the system configuration when the platform is set up; Figure 2 : Schematic diagram of the system configuration when the rotating platform is set up; Figure 3 : Schematic diagram of the system configuration when the rotating platform is equipped with two electromagnetic wave detection units; Figure 4 : Relay control process diagram; Figure 5 : A diagram showing a fixed installation platform; Figure 6 : A schematic diagram showing the installation platform being set to rotate; Figure 7 : A diagram showing a fixed installation platform; Figure 8 and Figure 9 Schematic diagram of an unmanned aerial vehicle (UAV) detection unit with a storage unit (airport); Figure 10 A schematic diagram showing the communication connection between the main control device and the unmanned aerial vehicle (UAV) detection unit, as well as the UAV itself. Figure 11 The main control equipment is wired to the unmanned aerial vehicle via flight control and communication equipment; Figure 12 The main control device remotely connects to the unmanned aerial vehicle's detection unit and wirelessly connects to the unmanned aerial vehicle; Figure 13 : Schematic diagram of an unmanned aerial vehicle returning to the storage unit. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] A multi-mode relay imaging detection device includes: The fixed detection unit includes a main control device, an installation platform, and an imaging component and an electromagnetic wave detection component mounted on the installation platform. The imaging component and the electromagnetic wave detection component are respectively communicatively connected to the main control device. The imaging component includes at least one visible light imaging module or an infrared imaging module, with a module working distance of L1, used to capture the visible light image or infrared thermal radiation signal of the target. The electromagnetic wave detection component includes at least one electromagnetic wave detection (transmitting and receiving) unit, with a working distance of L2, used to capture the electromagnetic wave reflection signal of the target, where L2 ≥ 1.2 * L1. 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. 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.

[0033] There are two options for the installation platform: 1. The imaging component and the electromagnetic wave detection component are horizontally fixed on the support and base by the fixed platform. At this time, each of them is equipped with an independent azimuth angle (azimuth angle control unit-1 and azimuth angle control unit-2) control unit and a corresponding pitch angle control unit (pitch control unit-1 and pitch control unit-2). 2. A rotating platform is formed by a rotating bearing and mounted on a bracket and base. It is driven by a turntable motor to rotate relative to the bracket. At this time, the rotation of the rotating platform is the azimuth rotation control unit 1 shared by the imaging component and the electromagnetic wave detection component, but it has its own independent pitch angle rotation control unit (pitch control unit-1 and electromagnetic wave detection pitch control unit-2). At this time, the rotation center axis of the fixed detection unit is the rotation center axis of the rotating platform.

[0034] The detection range L1 of the fixed detection unit imaging component is 20m-3000m, which varies with weather conditions. The working range L2 of the electromagnetic wave detection component is 500m-20000m. Although electromagnetic waves have strong rain and fog penetration capabilities, this range is also affected by weather changes. The minimum flight radius of the unmanned aerial vehicle is 2*L2.

[0035] When the mounting platform is fixedly set on the bracket, the imaging assembly also includes a primary mirror, a secondary mirror, and a rotating disk. The primary mirror, via its rotation axis and motor, forms a pitch control unit-1, which drives the primary mirror to perform pitch scanning. The secondary mirror is positioned at a 45° angle in the output light path of the primary mirror. The center line of the reflected beam between the primary and secondary mirrors is parallel to the extension line of the rotation axis of the primary mirror. The imaging module is located in the reflected light path of the secondary mirror. The rotating disk, driven by a rotary table motor, forms an azimuth rotation control unit-1, enabling the disk to rotate 360°, thus giving the imaging assembly a 360° azimuth detection capability.

[0036] The electromagnetic wave detection component is controlled by the azimuth control unit-2, which is driven by a horizontal rotating motor to perform azimuth detection by rotating 360°. At this time, the electromagnetic wave detection component has a vertical pitch control unit including a mechanical scanning unit or a phased scanning unit to achieve a pitch scanning angle α≦90°.

[0037] When the mounting platform is horizontally rotated onto the base of the bracket via bearings, The imaging assembly also includes a primary mirror and a secondary mirror. The primary mirror forms a pitch control unit-1 via its rotation axis and motor, and the motor drives the primary mirror to perform pitch scanning. The secondary mirror is positioned at a 45° angle in the output optical path of the primary mirror. The center line of the reflected beam between the primary and secondary mirrors is parallel to the extension line of the rotation axis of the primary mirror. The imaging module is located in the reflected optical path of the secondary mirror.

[0038] The turntable motor drives the installation platform to rotate 360°, enabling the imaging component and electromagnetic wave detection component to have 360° azimuth angle detection capability. Preferably, the imaging component is set on the rotation center axis of the installation platform. When the electromagnetic wave detection component has only one electromagnetic wave detection unit, the detection unit has a vertical pitch control unit including a mechanical scanning unit or a phased scanning unit to achieve a pitch scanning angle α≦90°.

[0039] When the electromagnetic wave detection component has two electromagnetic wave detection units, the two detection units are preferably phased scanning units respectively set on both sides of the fixed detection unit. Each unit realizes a vertical pitch phased array scanning angle α≦45°, and the angle between the projections of the vertical lines of the antenna planes of the two units on the vertical plane is ≦45°, thus forming a seamless detection. Unmanned aerial vehicles can be any of the following: fixed-wing drones, rotary-wing drones, controllable balloons, or airbag-type hovercraft. The imaging camera is mounted on the underside of the unmanned aerial vehicle via a controllable gimbal, and includes at least one of a visible light imaging camera or an infrared imaging camera.

[0040] The unmanned aerial vehicle (UAV) detection unit receives target data and commands from the main control equipment via flight control and communication devices. It controls the flight of the UAV and the direction of the controllable gimbal. On one hand, it guides the UAV to fly towards the area indicated by the target data; on the other hand, it aligns the imaging camera with the target location and transmits the UAV's flight data and the imaging information from the imaging camera back to the main control equipment in real time via the flight control and communication devices. Preferably, the imaging camera and the imaging component of the fixed detection unit have the same camera or band settings.

[0041] The imaging components of the fixed detection unit include at least one infrared imaging module and a visible light imaging module. The infrared imaging module includes an infrared imaging lens and an infrared imaging camera. Its detection wavelength range is 1-5 micrometers, 8-14 micrometers, or a segment of other long-wave infrared detection ranges. The lens focal length is 10mm-200mm, which meets the detection requirements of L1=20m--3000m.

[0042] 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.

[0043] The electromagnetic wave detection component is preferably a phased array detection unit with phased scanning capability for elevation angle α and a scanning range ≤ ±45°. The working band of the phased array radar unit includes at least one of the X-band, C-band and S-band. The target azimuth angle is determined by the rotation angle of the rotating platform, and the target elevation angle is determined by the elevation scan of the phased array radar. In this way, the target information such as distance, speed and trajectory is continuously acquired through tracking.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] The target relay detection of this device operates according to the following steps: S1. Detect targets within a distance of L2 using an electromagnetic wave detection component and acquire target point cloud data. Information including quantity, azimuth, elevation, distance, and speed is transmitted to the main control device via 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 unmanned aerial vehicle (UAV) detection unit to launch the UAV and sends the target's position update data to the UAV detection unit, thereby guiding the UAV to fly towards the target area; S3. When the unmanned aerial vehicle flies to the vicinity of the target, it continues to fly closer to the target. The controllable gimbal supports drive the imaging camera to detect the target location based on the obtained target data until the target is detected. Then, the target image information is sent to the main control equipment through the flight control and communication equipment. S4. The main control device receives image data from the UAV's imaging camera. By calculating, filtering, and transforming the pixels of the image data, it obtains the target's shape and contour features. This data is then compared with target characteristics in a target database to obtain 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 UAV's detection unit to control the UAV to perform actions including continuously tracking the target, performing other maneuvers, continuously circling the target, or returning to base. At this time, the main control device instructs the electromagnetic wave detection component to maintain continuous detection of distant targets or to shut down electromagnetic wave transmission. S5. If the UAV continues to track the target or continues to fly around the target and the target enters the detection range L1 of the imaging component of the fixed detection unit, the UAV will be instructed by the main control device to return to the UAV memory, and the imaging component of the fixed detection unit will take over to maintain the continuous tracking of the target. The relay detection is achieved through a cycle of steps S1 to S5.

[0048] Flight control and communication equipment includes wireless or wired communication connections between the main control equipment and the unmanned aerial vehicle (UAV) detection unit, and between the UAV detection unit and the UAV.

[0049] Wired communication connections include mutual communication links via optical fiber or wired means, while wireless communication connections include mutual communication links via point-to-point and point-to-many wireless communication. This enables direct communication between the two devices, allowing them to receive or transmit commands and data from the main control device to control the flight of the unmanned aerial vehicle (UAV), and simultaneously receive the UAV's positioning data and target image information and transmit them to the main control device.

[0050] The main control device is connected to the unmanned aerial vehicle (UAV) detection unit via wired communication, and the UAV detection unit is connected to the UAV via wired communication. The wired communication methods include wired protocol communication, network communication including Internet communication protocols, and high-speed data communication via fiber optic links.

[0051] The main control device is connected to the unmanned aerial vehicle (UAV) detection unit via wired communication. The UAV detection unit is connected to the UAV via wireless point-to-point and point-to-multipoint communication. The wired communication methods include wired protocol communication, network communication including Internet communication protocols, and high-speed data communication via fiber optic links.

[0052] The main control device remotely connects to the unmanned aerial vehicle (UAV) detection unit via wireless communication, including 4G, 5G, 6G, or Starlink networks. The UAV detection unit connects to the UAV via wireless communication, including 4G, 5G, 6G, or Starlink networks.

[0053] 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.

[0054] Rotary platform detection device Device Structure

[0055] 1. Fixed detection unit Mounting Platform: The rotating platform (1.2m in diameter) is mounted on a steel bracket via crossed roller bearings and is driven by a servo motor (0-5rpm) to achieve 360° continuous rotation.

[0056] Imaging components: The primary mirror (parabolic mirror, focal length 800mm) is mounted on the central axis of the platform via a pitch motor (±60° scanning). The secondary mirror (45° ellipsoidal mirror) reflects light to the beam splitter.

[0057] The beam splitter divides the optical path into two paths: the reflected optical path: for the mid-wave infrared camera (3-5μm, focal length 100mm). Transmitted light path: Visible light camera (5 megapixels); Working distance L1 = 20-2000m (sunny) / 20-800m (foggy).

[0058] Electromagnetic wave detection component: Two X-band phased array radar units (2.5-3.75cm) are symmetrically mounted on the edge of the platform. Single radar elevation scanning angle ±40°, dual radar combined elevation coverage ±85°. Operating range L2 = 500-18000m (clear) / 500-10000m (rain).

[0059] 2. Unmanned Aerial Vehicle Detection Unit Storage: Rail-mounted launch bay (length × width × height = 1.5m × 1m × 0.8m), with a built-in linear motor to drive the slide plate, and an electric protective cover on top.

[0060] Unmanned Aerial Vehicle: Quadcopter (45-minute flight time), equipped with a three-axis gimbal mounted on the bottom, and featuring: an infrared camera (8-14μm, 50mm focal length); and a loudspeaker (30W output power). Communication equipment: 5G image transmission module (latency <100ms).

[0061] 3. Energy system: Foldable solar panel (peak power 800W) + lithium battery energy storage system (24V / 200Ah). Relay detection process

[0062] 1. Radar detects target: The phased array radar detects vehicle targets at a distance of 12km (azimuth angle 120°, speed 60km / h).

[0063] 2. Drone Inspection: The main control equipment calculates the interception path and controls the drone to fly at 15m / s to a distance of 1km from the target. The gimbal adjusts the camera's pitch angle to -20° to capture the target's infrared image (resolution 640×512).

[0064] 3. Target recognition: The main control device extracts the vehicle outline through a convolutional neural network (CNN) and compares it with the database to confirm that it is an enemy vehicle.

[0065] 4. Relay Tracking: When the target enters a 1.8km range, the drone returns to base and switches to the infrared camera for continuous tracking. Simultaneously, a warning message is broadcast to the target via loudspeaker.

[0066] Fixed platform detection device Device Structure

[0067] 1. Fixed detection unit Installation platform: Aluminum alloy fixed base (2m×1.5m) is installed on concrete pile foundation.

[0068] Imaging components: Independent rotating disk (worm gear driven, accuracy 0.1°) equipped with a visible light-infrared dual-light pod (30x zoom). Pitch control: Harmonic geared motor (-30°~90°).

[0069] Electromagnetic wave detection components: Ku-band mechanically scanned radar (1.67-2.5cm), driven by an azimuth motor (360° rotation) and a pitch stepper motor (±45°). Detection range L2 = 1-15km.

[0070] 2. Unmanned aerial vehicle: Fixed-wing UAV (wingspan 2m), launched from a catapult, with a visible light camera (4K resolution) mounted on its belly. Work scenario (border surveillance)

[0071] 1. Target detection: The radar detected a moving group of people at a distance of 9 km (azimuth 75°, speed 5 km / h).

[0072] 2. Drone dispatch: The drone flies along the preset route to a distance of 3km above the target, and the camera locks onto the target through digital zoom.

[0073] 3. Intelligent Analysis: The main control device uses the YOLOv5 algorithm to identify personnel and equipment, marking them as "unarmed civilians".

[0074] 4. Relay Rules: When the target enters a 2km range, the drone returns to base, and the visible light pod takes over to track and record video evidence.

Claims

1. A multi-mode relay imaging detection device, characterized in that, The utility model relates to a kind of unmanned aerial vehicle detection system, including: Fixed detection unit, including master control device, installation platform and imaging assembly and electromagnetic wave detection assembly arranged on the installation platform; The imaging assembly includes at least one visible light imaging module or infrared waveband imaging module, and the working distance is L1, which is used to capture the visible light image or infrared thermal radiation signal of target; The electromagnetic wave detection assembly includes at least one electromagnetic wave transmitting and receiving unit, and the working distance is L2, which is used to capture the electromagnetic wave reflection signal of target, and satisfies L2 ≥ 1.2 × L1; The imaging assembly and electromagnetic wave detection assembly are respectively communicated with the master control device; Unmanned aerial vehicle detection unit, including unmanned aerial vehicle, flight control and communication device, and imaging camera arranged on the unmanned aerial vehicle; The unmanned aerial vehicle detection unit is communicated or remotely connected with the master control device and unmanned aerial vehicle through flight control and communication device, for transmitting target data and unmanned aerial vehicle flight data, receiving target imaging camera data and transmitting control instruction; The flight control and communication device are configured to: Respond to master control device instruction to control unmanned aerial vehicle take-off and flight; According to the target information of master control device, guide unmanned aerial vehicle to fly to target area; Obtain target data through imaging camera, and judge target enemy attribute or return image to master control device to judge.

2. The apparatus of claim 1, wherein: The installation platform is fixed platform, horizontally fixed on support and base;The imaging assembly is provided with independent azimuth control unit-1 and elevation control unit-1;The electromagnetic wave detection assembly is provided with independent azimuth control unit-2 and elevation control unit-2.

3. The apparatus of claim 1, wherein: The installation platform is rotating platform, which is installed on support and base through bearing and rotated around central axis by rotating platform motor;The rotating platform is shared azimuth control unit of imaging assembly and electromagnetic wave detection assembly;The imaging assembly is provided with independent elevation control unit-1;The electromagnetic wave detection assembly is provided with independent elevation control unit-2, and the elevation scanning angle α of the electromagnetic wave detection assembly is less than or equal to 90°.

4. The apparatus of claim 3, wherein: The electromagnetic wave detection assembly includes two phased array scanning units, which are symmetrically arranged on both sides of the rotating platform;The elevation phased scanning angle α of each phased array scanning unit is less than or equal to 45°, and the projection angle of the antenna planes of the two units on the vertical plane is less than or equal to 45°, forming seamless detection.

5. The apparatus of claim 1, wherein: The imaging assembly includes primary mirror, secondary mirror and imaging module;The primary mirror is composed of elevation control unit-1 through primary mirror rotating shaft and primary mirror motor, and drives the primary mirror to perform elevation scanning;The secondary mirror is arranged in the emergent light path of the primary mirror at an angle of 45°, and the center line of the reflected light beam between the primary mirror and the secondary mirror is parallel to the extension line of the primary mirror rotating shaft center; The imaging module is arranged in the reflected light path of the secondary mirror.

6. The apparatus of claim 1, wherein: The unmanned aerial vehicle is any one of fixed-wing unmanned aerial vehicle, rotor unmanned aerial vehicle, controllable balloon or airbag type hovering aircraft;The imaging camera is installed on the unmanned aerial vehicle, including at least one of visible light imaging camera or infrared imaging camera;The imaging camera and the imaging assembly of fixed detection unit have the same waveband setting.

7. The apparatus of claim 1, wherein: The unmanned aerial vehicle detection unit is further provided with an unmanned aerial vehicle storage device, including a sliding plate, a sliding rail, a driver and a protective cover, the driver being a combination of a linear motor, a rotary motor and a chain conveying mechanism or a rotary motor and a gear conveying mechanism, used to push the sliding plate to move along the sliding rail to realize launching and recovering of the unmanned aerial vehicle; or the unmanned aerial vehicle storage device includes a protective cover and a fixed apron, and the unmanned aerial vehicle can take off and land by opening the protective cover.

8. The apparatus of claim 1, wherein: The detection wavelength range of the infrared waveband imaging module of the imaging assembly is 1-5 microns or 8-14 microns, and the lens focal length is 10 mm-200 mm; The working waveband of the electromagnetic wave detection assembly contains at least one of millimeter wave, K waveband, Ku waveband, X waveband, C waveband, S waveband and L waveband.

9. The apparatus of claim 8, wherein: The electromagnetic wave detection assembly is a phased array detection unit, the pitch scanning angle α is ≤ ± 45°, and the working waveband contains at least one of X waveband, C waveband and S waveband; The target azimuth angle is determined by the rotation angle of the rotating platform, the target pitch angle is determined by the pitch scanning of the phased array, and the target distance, speed and motion trajectory are obtained by continuous tracking.

10. The apparatus of claim 1, wherein: The unmanned aerial vehicle is further provided with an additional function module, including at least one of a GPS positioning module, a loudspeaker and a microphone, a bullet launching gun, a laser or microwave energy emitter or a capture net emitter.

11. The apparatus of claim 1, wherein, Further comprising: A solar power supply system containing a solar panel, an energy storage device, an inverter and an energy management unit, used to supply power to the device and charge the unmanned aerial vehicle.

12. A relay detection method based on the apparatus of any one of claims 1-11, characterized in that, Comprising: S1. Detecting the target within a distance L2 by the electromagnetic wave detection assembly to obtain at least one of the target quantity, azimuth angle, pitch angle, distance and speed information, or generating target positioning data by calculation, and transmitting the data to the main control device; S2. In response to the detection result of S1, the main control device controls the flight control and communication device to control the unmanned aerial vehicle to fly to the target area; S3. When the unmanned aerial vehicle arrives near the target, the imaging camera is aimed at the target and captures an image: The image data is compared locally by the unmanned aerial vehicle to determine the target friend or foe attribute and quantity; or the image is returned to the main control device for determination; According to the determination result, a preset flight strategy is executed or a control instruction is generated; S4. Friend or foe determination and strategy execution: if it is a friendly target, control the unmanned aerial vehicle to return; If it is an enemy target, control the unmanned aerial vehicle to execute any of the following strategies: continuously fly around the target; continuously track the target at a fixed point and distance to keep the main control device continuously obtaining the imaging of the target; return; at the same time, the main control device controls the electromagnetic wave detection assembly to keep long-distance detection or turn off the emission; S5. When the target enters the detection range L1 of the imaging assembly: the main control device instructs the unmanned aerial vehicle to return to the storage device; the imaging assembly relays to continuously track the target; wherein steps S1 to S5 are executed in a loop to realize relay detection.

13. The method of claim 12, wherein: The main control device, the unmanned aerial vehicle detection unit and the unmanned aerial vehicle are connected through wired or wireless communication; The wired communication mode includes: optical fiber link or network communication based on Internet protocol; The wireless communication mode includes point-to-point communication, point-to-multipoint communication, 4G / 5G / 6G, a mobile network or a Starlink network.

14. The method of claim 13, wherein, The master control device is connected to the unmanned aerial vehicle detection unit through a wired link, and the unmanned aerial vehicle detection unit is connected to the unmanned aerial vehicle through a wired link. Alternatively, the master control device is connected to the unmanned aerial vehicle detection unit through a wired link, and the unmanned aerial vehicle detection unit is connected to the unmanned aerial vehicle through a wireless link. Alternatively, the master control device is connected to the unmanned aerial vehicle detection unit through a wireless network, and the unmanned aerial vehicle detection unit is connected to the unmanned aerial vehicle through a wireless network.

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