Large-view-field low-light low-altitude unmanned aerial vehicle detection device

Abstract

The invention relates to the technical field of detection devices, in particular to a large-view-field low-light low-altitude unmanned aerial vehicle detection device which comprises a base frame and an air blower installed on the base frame, a rotating shaft is rotationally installed on the base frame, a transmission switching system and a variable-amplitude movement system are arranged on the base frame, and the transmission switching system is arranged to drive the rotating shaft to do reciprocating rotation or directional rotation by + / -65 degrees. An inner moving seat capable of moving up and down in a reciprocating mode is connected to the variable-amplitude motion system, the reciprocating stroke of the inner moving seat changes periodically, a rotary table is installed on the rotary shaft, three detection frames are connected to the rotary table in a sliding mode, a connecting rod is hinged between each detection frame and the inner moving seat, and a detection system is arranged on each detection frame. According to the invention, the technical problem that the detection field of view of the existing device is fixed and cannot adapt to the target distance is solved, and full-airspace non-blind area coverage is realized through multi-system linkage cooperation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection devices, and particularly relates to a large-view-field, low-light, low-altitude unmanned aerial vehicle detection device. BACKGROUND

[0002] With the rapid development of low-altitude economy, unmanned aerial vehicles are increasingly widely used in civil, commercial and special fields, which has brought many challenges such as low-altitude safety control and privacy protection, and an urgent demand for precise detection technology of low-altitude unmanned aerial vehicles has been put forward. In particular, in the harsh environment of low light and complex weather, how to realize large-view-field, blind-area-free unmanned aerial vehicle detection, taking into account the wide-area search efficiency and the near-distance precise tracking capability, has become a core problem in the technical field of detection devices. The existing low-altitude unmanned aerial vehicle detection devices have many technical bottlenecks in practical application, and the specific problems are as follows:

[0003] The existing detection device has an unreasonable detection field of view, and most of them adopt a fixed-angle detection structure. The swing angle and detection range of the detection lens cannot be dynamically adapted according to the target distance. On the one hand, when a large-angle detection is set to pursue wide-area coverage, the scanning density in the near-distance area will be insufficient, making it difficult to accurately capture small targets. On the other hand, if the focus is on near-distance fine detection, it will cause a coverage blind area in the far-distance area, and it is impossible to realize effective monitoring of the whole airspace. In addition, the detection mechanism of the existing device is mostly in a single motion mode, which can only realize directional rotation or fixed-stroke reciprocating motion, and cannot form a coordinated detection mechanism of radial stretching, angle linkage and mode switching, resulting in low efficiency and easy loss of targets when facing low-altitude dispersed target search or high-speed moving target tracking.

[0004] Therefore, the present application provides a large-view-field, low-light, low-altitude unmanned aerial vehicle detection device to solve the technical problems in the background art. SUMMARY

[0005] The present application aims to solve the problems in the background art and provides a large-view-field, low-light, low-altitude unmanned aerial vehicle detection device.

[0006] In order to achieve the above object, the technical scheme adopted by the present application is as follows: a large field of view low light level low altitude unmanned aerial vehicle detection device, comprising a base frame (1) and a blower (2) mounted thereon, a rotating shaft (3) is rotatably mounted on the base frame (1), and a transmission switching system and an amplitude variation system are arranged thereon, the transmission switching system is arranged to drive the rotating shaft (3) to rotate ±65° reciprocatingly or directionally, the amplitude variation system is connected with an inner displacement seat (4) which can reciprocate up and down, and the reciprocating stroke of the inner displacement seat (4) periodically changes, a rotary table (5) is mounted on the rotating shaft (3), three detection frames (6) are slidably connected to the rotary table (5), a connecting rod (7) is hingedly connected between each detection frame (6) and the inner displacement seat (4), and a detection system is arranged on each detection frame (6).

[0007] The detection system comprises a swing frame (8) arranged on the detection frame (6), a reciprocating swing system for driving the swing frame (8) to swing reciprocatingly is arranged on both sides of the swing frame (8), when the detection frame (6) is away from the axis of the rotary table (5), the swing angle of the swing frame (8) increases, an electric pan-tilt head (9) is mounted on the swing frame (8), a housing (10) is mounted on the rotating surface of the electric pan-tilt head (9), a binocular low light level camera (11) and a pneumatic rotating system communicated with the blower (2) are mounted on the housing (10), an air blowing nozzle (12) and two rotating goggles barrels (13) are connected to the pneumatic rotating system, the two goggles barrels (13) are rotatably sleeved on the two lenses of the binocular low light level camera (11) respectively, two air blowing heads (14) are arranged on the air blowing nozzle (12), and the two air blowing heads (14) blow air obliquely downward at an angle of 45° to the two lenses of the binocular low light level camera (11) respectively.

[0008] Further comprising an auxiliary system, a base strip (15) is connected to the auxiliary system, along the length direction, a light transmission area (16), an open area (17), a protection area (18) and a bristle area (19) are sequentially arranged on the base strip (15).

[0009] On the basis of the above technical scheme, the present application can also be improved as follows.

[0010] As a preferred technical scheme of the present application, a damping chassis (20) is further included, four T-shaped guide rods (21) are mounted on the damping chassis (20), the four T-shaped guide rods (21) are slidably connected with the base frame (1), damping springs (22) are sleeved on the T-shaped guide rods (21) and correspond to the positions on the upper and lower sides of the base frame (1), a flow channel is formed in the rotating shaft (3), a gas distribution ring (23) is communicated with the outlet port of the blower (2), the gas distribution ring (23) is rotatably communicated with the flow channel, a filter is mounted on the air inlet port of the blower (2), and a return spring (25) is sleeved on the rotating shaft (3) and corresponds to the position between the rotary table (5) and the inner displacement seat (4).

[0011] As a preferred technical scheme of the present application, the transmission switching system comprises two first motors (24) mounted on the base frame (1) and a passive gear (29) fixedly mounted on the rotating shaft (3), a half-tooth gear (26) is connected to the output shaft of one of the first motors (24) through a second toothed belt, the half-tooth gear (26) is adapted to mesh with the passive gear (29), two side shafts (27) are rotatably mounted on the base frame (1), a first toothed belt is connected to the output shaft end of the other first motor (24), the two side shafts (27) are both connected to the first toothed belt, two incomplete gears (28) are mounted on the two side shafts (27), and the two incomplete gears (28) are both adapted to mesh with the passive gear (29).

[0012] As a preferred technical scheme of the present application, the central angle of the effective meshing tooth segments on the two incomplete gears (28) is 140°, and the effective meshing tooth segments on the two incomplete gears (28) are arranged at 180° offset on the base frame (1), and the two incomplete gears (28) are arranged on the left and right sides of the passive gear (29).

[0013] As a preferred technical scheme of the present application, the amplitude movement system comprises a second motor (30) mounted on the bottom surface of the base frame (1), a rotating disc (31) coaxially arranged with the rotating shaft (3) is mounted on the output shaft end of the second motor (30), three fan tooth segments (32) and three empty tooth segments are alternately arranged on the rotating disc (31), a reciprocating screw rod (33) is rotatably mounted on the base frame (1), and a first rotary torsional spring (34) is arranged at the rotary connection position of the two, a reciprocating gear (35) is mounted on the reciprocating screw rod (33), the three fan tooth segments (32) are alternately meshed with the reciprocating gear (35), and the transmission angle of the three fan tooth segments (32) to the reciprocating gear (35) increases in the clockwise direction, a reciprocating seat (36) is connected to the reciprocating screw rod (33), the inner moving seat (4) is rotatably mounted on the reciprocating seat (36), a guide shaft hole is arranged at the axial position of the inner moving seat (4), the guide shaft hole is coaxially arranged with the rotating shaft (3), and the radius of the guide shaft hole is 1.05-1.1 times the radius of the rotating shaft (3).

[0014] As a preferred technical solution of the present invention, the reciprocating swing system includes a swing shaft (37) installed on the side of the swing frame (8), the swing shaft (37) is rotatably installed on the probe frame (6), and a second rotary torsion spring (38) is provided at the rotatable connection between the two. A swing gear (39) is installed on the swing shaft (37), and an intermediate gear (40) is rotatably installed on the probe frame (6). The intermediate gear (40) meshes with the swing gear (39). A rack plate (41) is installed on the rotary table (5). Three transmission tooth segments (42) and three toothless segments (43) are alternately arranged on the rack plate (41). The three transmission tooth segments (42) alternately mesh with the intermediate gear (40). Along the axial direction away from the rotary table (5), the transmission angle of the three transmission tooth segments (42) to the intermediate gear (40) increases, and the length of the three toothless segments (43) increases.

[0015] As a preferred technical solution of the present invention, the pneumatic rotation system includes a power cylinder (44) mounted on the housing (10), a pneumatic shaft (45) rotatably mounted on the power cylinder (44), pneumatic blades (46) are arrayed on the pneumatic shaft (45) and corresponding to the inner side of the power cylinder (44), the air inlet port of the power cylinder (44) is connected to a flexible hose (47), the other end of the flexible hose (47) is connected to a flow channel, the air outlet port of the power cylinder (44) is connected to an air blowing nozzle (12), a belt shaft (49) rotatably mounted on the power cylinder (44), a third toothed belt is drivenly connected to the belt shaft (49), and both goggle tubes (13) are drivenly connected to the third toothed belt.

[0016] As a preferred technical solution of the present invention, the light-transmitting area (16) is made of optical grade polycarbonate film, the protective area (18) is a 304 stainless steel sheet, the thickness of the protective area (18) is 0.3-0.5mm, the inner side of the bristle area (19) is evenly covered with nylon bristles, the length of the nylon bristles is 8-12mm, and the baseband (15) is made of silicone.

[0017] As a preferred technical solution of the present invention, a radar (50) is installed on the top surface of the rotary table (5), and three environmental detection probes (51) with different functions are installed on the radar (50). The three environmental detection probes (51) are a temperature and humidity probe, a dust probe and a vibration sensor, respectively. A central control unit is built into the base frame (1), and the data terminals of the three environmental detection probes (51), the binocular low-light camera (11) and the radar (50) are all connected to the central control unit.

[0018] As a preferred technical solution of the present invention, the auxiliary system includes two rollers (52) and two guide rollers (48) rotatably connected to the housing (10). The two ends of the base belt (15) are respectively fixedly installed on the two rollers (52). Two third motors (53) are installed on the housing (10). The output shaft ends of the two third motors (53) are respectively fixedly connected to the two rollers (52). The two guide rollers (48) are both connected to the base belt (15) for transmission.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention solves the technical problem of existing devices having a fixed field of view and being unable to adapt to target distances. It achieves full airspace coverage without blind spots through multi-system linkage and collaboration. Existing technologies either suffer from insufficient close-range scanning density due to large-angle detection or create long-range blind spots due to focusing on fine close-range detection. This invention innovatively constructs a collaborative mechanism of variable amplitude motion system, reciprocating swing system, and rotating shaft. The variable amplitude motion system drives the inner moving seat to achieve periodically increasing reciprocating movement through the sector tooth segment. The probe frame is linked to the radial extension and retraction along the rotary table via the linkage. The reciprocating swing system synchronously uses the increasing transmission tooth segment on the rack plate so that the further the probe frame is from the axis, the larger the swing angle of the swing frame. This dual linkage of radial extension and angle widening, combined with the ±65° reciprocating rotation of the rotating shaft, forms a differentiated detection mode of small-angle high-density scanning in the central area and large-angle wide-area coverage in the edge area. It breaks the limitations of the existing fixed-angle structure, takes into account both accurate capture of close-range targets and comprehensive coverage of the long-range airspace, and achieves an organic unity of large field of view and high precision.

[0021] 2. Addressing the issue that existing detection mechanisms have a single motion mode and cannot simultaneously handle dispersed target search and high-speed target tracking, this invention constructs a flexible and controllable collaborative motion system through a transmission switching system. Existing devices can only achieve directional rotation or fixed-stroke reciprocating motion, resulting in low efficiency and a high risk of target loss. In contrast, this invention employs a dual-first-motor drive design, which can precisely switch between two core modes. During normal search, the misaligned meshing of two incomplete gears drives the rotating shaft to reciprocate at ±65°, which, combined with the probe extension and swing of the pendulum frame, forms a three-dimensional wide-area scan. During target tracking, the half-tooth gear drives the rotating shaft to rotate directionally, achieving continuous locking of high-speed targets. This reciprocating and directional mode switching, along with the multi-dimensional linkage of rotation, extension, and swing, significantly improves the adaptability to different working conditions such as dispersed target search and high-speed target tracking compared to existing single motion modes, effectively solving the technical problems of low efficiency and high risk of target loss in traditional devices.

[0022] 3. This invention achieves synergistic effect of lens protection and cleaning through the integrated design of a pneumatic rotation system and an auxiliary system. Existing technologies lack effective protection mechanisms, and lenses are easily affected by dust and moisture, resulting in blurred images. This invention innovatively uses the airflow of a blower as a power source, driving the goggle tube to rotate and reduce the adhesion of impurities on the one hand, and actively removing lens impurities through a 45° downward-angled air blower on the other. The baseband of the auxiliary system integrates a light-transmitting area, a protective area, and a brushing area, which can be flexibly switched according to working conditions, achieving a seamless connection between light-transmitting imaging, physical protection, and flexible cleaning. This solution requires no additional power, is energy-saving and environmentally friendly, and ensures the imaging clarity of the binocular low-light camera in harsh environments. It is distinctly different from existing passive protection or manual cleaning methods, significantly improving the environmental adaptability of the equipment and providing reliable protection for low-light low-altitude detection. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure of a large field-of-view, low-light, low-altitude UAV detection device;

[0024] Figure 2 for Figure 1 A magnified schematic diagram of the local structure at point A;

[0025] Figure 3 A schematic diagram of the power cylinder and connecting rod;

[0026] Figure 4 for Figure 3 A magnified view of the structure at point B in the middle;

[0027] Figure 5 for Figure 3 A magnified schematic diagram of the local structure at point C;

[0028] Figure 6 This is a structural diagram of the housing and reciprocating lead screw;

[0029] Figure 7 This is a structural diagram of the third motor and the open area;

[0030] Figure 8 This is a schematic diagram of the baseband structure;

[0031] Figure 9 This is a schematic diagram of the structure of an electric gimbal;

[0032] Figure 10 This is a schematic diagram of the structure of the pneumatic shaft and pneumatic blades.

[0033] The attached diagram lists the components represented by each number as follows:

[0034] 1. Base frame; 2. Blower; 3. Rotating shaft; 4. Inner sliding seat; 5. Rotary table; 6. Probe frame; 7. Connecting rod; 8. Swing frame; 9. Electric pan-tilt head; 10. Housing; 11. Binocular low-light camera; 12. Air nozzle; 13. Goggle tube; 14. Air blower head; 15. Baseband; 16. Light-transmitting area; 17. Opening area; 18. Protective area; 19. Brushing area; 20. Vibration-damping base frame; 21. T-shaped guide rod; 22. Vibration-damping spring; 23. Air distribution ring; 24. First motor; 25. Return spring; 26. Half-tooth gear; 27. Side shaft; 28. Incomplete 29. Gear; 30. Passive gear; 31. Second motor; 32. Spinner; 33. Sector gear; 34. Reciprocating lead screw; 35. First rotary torsion spring; 36. Reciprocating gear; 37. Reciprocating seat; 38. Swing shaft; 39. Second rotary torsion spring; 40. Oscillating gear; 41. Intermediate gear; 42. Rack plate; 43. Transmission gear segment; 44. Toothless segment; 45. Power cylinder; 46. Pneumatic shaft; 47. Pneumatic blade; 48. Flexible hose; 49. Guide roller; 50. Belt shaft; 51. Radar; 52. Environmental detection probe; 53. Roller; 54. Third motor. Detailed Implementation

[0035] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0036] like Figures 1-10 As shown, a large field-of-view low-light low-altitude UAV detection device includes a base frame 1 and a blower 2 mounted thereon;

[0037] It also includes a vibration damping base frame 20, on which four T-shaped guide rods 21 are installed. All four T-shaped guide rods 21 are slidably connected to the base frame 1. Vibration damping springs 22 are sleeved on the T-shaped guide rods 21 and at positions corresponding to the upper and lower sides of the base frame 1. A flow channel is opened inside the rotating shaft 3. The air outlet port of the blower 2 is connected to an air distribution ring 23. The air distribution ring 23 is rotatably connected to the flow channel. A filter is installed at the air inlet port of the blower 2. A return spring 25 is sleeved on the rotating shaft 3 at a position corresponding to the position between the rotary table 5 and the inner moving seat 4.

[0038] The vibration damping base frame 20, through the cooperation of the T-shaped guide rod 21 and the vibration damping spring 22, can effectively buffer the impact of external vibration on the base frame 1 and the upper detection components, avoid the decrease in detection accuracy caused by vibration, and ensure the structural stability of the equipment under complex working conditions.

[0039] The filter at the air inlet of blower 2 can filter impurities in the air and prevent dust and particulate matter from entering the pneumatic system and causing blockage. The design of the air distribution ring 23 at the air outlet and the flow channel of the rotating shaft 3 enables continuous and stable airflow during the rotation of the rotating shaft 3, providing a reliable air source guarantee for the normal operation of the subsequent pneumatic rotation system, and taking into account both the vibration protection of the equipment and the long-term operation of the pneumatic system.

[0040] A rotating shaft 3 is rotatably mounted on the base frame 1, and a transmission switching system and a variable amplitude motion system are provided on it. The transmission switching system is configured to drive the rotating shaft 3 to reciprocate or rotate in a directional manner at ±65°.

[0041] The transmission switching system includes two first motors 24 mounted on the base frame 1 and a driven gear 29 fixedly mounted on the rotating shaft 3. A half-tooth gear 26 is connected to the output shaft of one of the first motors 24 via a second toothed belt. The half-tooth gear 26 is adapted to mesh with the driven gear 29. Two side shafts 27 are rotatably mounted on the base frame 1. A first toothed belt is connected to the output shaft of the other first motor 24. Both side shafts 27 are connected to the first toothed belt. Incomplete gears 28 are mounted on both side shafts 27. Both incomplete gears 28 are adapted to mesh with the driven gear 29.

[0042] The center angles corresponding to the effective meshing tooth segments on the two incomplete gears 28 are both 140°. The effective meshing tooth segments on the two incomplete gears 28 are offset by 180° on the base frame 1, and the two incomplete gears 28 are respectively located on the left and right sides of the driven gear 29.

[0043] The transmission switching system uses two first motors 24 to drive the half-tooth gear 26 and the double incomplete gear 28 respectively, which realizes the flexible switching between reciprocating rotation and directional rotation of the rotating shaft 3, and is suitable for the two core working conditions of normal search and target tracking.

[0044] When the detection device is in normal search mode, the 140° effective meshing tooth segment and 180° misalignment of the double incomplete gear 28 can accurately drive the rotating shaft 3 to achieve ±65° reciprocating rotation, ensuring the comprehensiveness of the detection coverage. In this mode, the first motor 24 is off, the toothed meshing area on the half-tooth gear 26 is misaligned with the passive gear 29, and the second motor 30 is on.

[0045] When the detection device detects a target and needs to continuously track the UAV target, the rotating shaft 3 is in directional rotation mode. In this mode, the effective meshing sections on the two incomplete gears 28 are misaligned with the passive gear 29. The first motor 24 is started and the second motor 30 is turned off. After the first motor 24 is started, it drives the rotating shaft 3 to rotate at a constant speed and in a directional manner to achieve continuous tracking of the UAV target.

[0046] The variable amplitude motion system is connected to an inner moving seat 4 that can move up and down and back and forth, and the reciprocating stroke of the inner moving seat 4 changes periodically. A rotary table 5 is installed on the rotating shaft 3, and three probes 6 are slidably connected on the rotary table 5. Each probe 6 is hinged to the inner moving seat 4 with a connecting rod 7.

[0047] The variable amplitude motion system includes a second motor 30 mounted on the bottom surface of the base frame 1. The output shaft end of the second motor 30 is equipped with a turntable 31 coaxially arranged with the rotating shaft 3. The turntable 31 is alternately provided with three sector tooth segments 32 and three empty tooth segments. A reciprocating screw 33 is rotatably mounted on the base frame 1, and a first rotary torsion spring 34 is provided at the rotatable connection between the two. A reciprocating gear 35 is mounted on the reciprocating screw 33. The three sector tooth segments 32 alternately mesh with the reciprocating gear 35. In the clockwise direction, the transmission angle of the three sector tooth segments 32 to the reciprocating gear 35 increases. A reciprocating seat 36 is connected to the reciprocating screw 33. An inner moving seat 4 is rotatably mounted on the reciprocating seat 36. A guide shaft hole is opened at the axial position of the inner moving seat 4. The guide shaft hole is coaxially arranged with the rotating shaft 3.

[0048] In a preferred embodiment, the radius of the guide shaft hole is 1.06 times the radius of the rotating shaft 3. In the clockwise direction, the driving strokes of the three sector segments 32 to the reciprocating seat 36 are 35cm, 45cm and 60cm respectively, and the radius of the rotary table 5 is 70cm.

[0049] The variable amplitude motion system drives the reciprocating screw 33 to move the inner shift seat 4 through three sector tooth sections 32 with increasing transmission angles on the turntable 31, thereby achieving periodic up-and-down reciprocating displacement. Then, the probe 6 is linked to the radial extension and retraction along the rotary table 5 through the connecting rod 7, forming a dynamic adjustment mechanism with increasing reciprocating stroke and increasing displacement stroke amplitude of the probe 6.

[0050] The coaxial design of the guide shaft hole and the rotating shaft 3, along with the reasonable radius ratio, ensures the coaxiality of the movement of the inner sliding seat 4 and the rotation of the rotating shaft 3, thus avoiding mechanical interference.

[0051] This design enables the detection system's coverage to continuously expand as the travel distance changes, effectively eliminating the detection blind spots caused by a fixed travel distance. Combined with the rotational motion of the rotating shaft 3, it further expands the overall detection field of view, providing innovative structural support for large field-of-view search and enhancing the comprehensiveness and flexibility of target detection.

[0052] The increasing stroke of the reciprocating seat 36 propels the probe 6 to gradually expand its detection range radially from near to far along the rotary table 5. In conjunction with this, the closer the probe 6 is to the radial outer edge, the larger the transmission angle between the transmission gear segment 42 and the intermediate gear 40, which simultaneously widens the detection angle in the distal region. This dual synergy of radial extension and angle widening solves the problem of excessive coverage in the near region and insufficient coverage in the distal region of traditional devices. It allows the rotary table 5 to obtain uniform and sufficient detection coverage from the center to the edge. Combined with the ±65° reciprocating rotation or directional rotation of the rotating shaft 3, a three-dimensional, blind-spot-free, large field-of-view detection space is ultimately formed, significantly improving the probability of capturing low-altitude UAVs.

[0053] In the proximal region, the reciprocating seat 36 has a short stroke, corresponding to a small swing angle of the transmission gear segment 42, enabling fine scanning with a small range and high density. This facilitates the capture of small targets at close range or the precise tracking of locked targets. In the distal region, the reciprocating seat 36 has a long stroke, corresponding to a large swing angle, enabling wide-angle coverage for rapid searching over a wide area, avoiding the omission of distant low-altitude targets. This differentiated detection mode ensures tracking accuracy in the proximal region while improving search efficiency in the distal region, balancing the core requirements of precise positioning and wide-area scanning. This allows the equipment to be efficiently adapted to both normal search and target tracking conditions.

[0054] Each probe frame 6 is equipped with a detection system;

[0055] The detection system includes a pendulum frame 8 mounted on the probe frame 6. Both sides of the pendulum frame 8 are equipped with a reciprocating swing system that drives the pendulum frame 8 to swing back and forth. When the probe frame 6 moves away from the axis of the rotary table 5, the swing angle of the pendulum frame 8 increases.

[0056] The reciprocating swing system includes a swing shaft 37 mounted on the side of the swing frame 8, the swing shaft 37 being rotatably mounted on the probe frame 6, and a second rotary torsion spring 38 being provided at the rotatable connection between the two. A swing gear 39 is mounted on the swing shaft 37, and an intermediate gear 40 is rotatably mounted on the probe frame 6. The intermediate gear 40 meshes with the swing gear 39. A rack plate 41 is mounted on the rotary table 5. Three transmission tooth segments 42 and three toothless segments 43 are alternately arranged on the rack plate 41. The three transmission tooth segments 42 alternately mesh with the intermediate gear 40. Along the axial direction away from the rotary table 5, the transmission angle of the three transmission tooth segments 42 to the intermediate gear 40 increases, and the length of the three toothless segments 43 increases.

[0057] In a preferred embodiment, the three transmission tooth segments 42 drive the swing frame 8 to rotate at angles of ±30°, ±45° and ±60°, respectively.

[0058] The reciprocating swing system utilizes the design that both the transmission angle on the rack plate 41 and the length of the toothless section 43 increase, to achieve dynamic adaptation of the swing angle of the swing frame 8 to the radial position of the probe frame 6.

[0059] The further the probe 6 is from the axis of the rotary table 5, the greater the swing angle.

[0060] This linkage adjustment mechanism of radial position and swing angle, together with the extension and retraction of probe 6 and the rotation of shaft 3, enables the detection system to form a differentiated detection mode of small-angle fine scanning in the central area and large-angle wide-angle coverage in the edge area. It breaks through the limitation of fixed swing angle of traditional detection devices and greatly expands the breadth and depth of the overall detection field of view. At the same time, the setting of the second rotary torsion spring 38 ensures the rapid reset and motion stability of the pendulum 8, and improves the continuity and accuracy of the detection action.

[0061] An electric pan-tilt head 9 is installed on the frame 8. A housing 10 is installed on the rotating surface of the electric pan-tilt head 9. A binocular low-light camera 11 and a pneumatic rotation system connected to the blower 2 are installed on the housing 10. An air blowing nozzle 12 and two rotating goggle tubes 13 are connected to the pneumatic rotation system. The two goggle tubes 13 are respectively rotated and fitted onto the two lenses of the binocular low-light camera 11. The air blowing nozzle 12 is equipped with two air blowing heads 14. The two air blowing heads 14 blow air downward at a 45° angle to the two lenses of the binocular low-light camera 11.

[0062] When the detection device is in normal search mode, the dual-axis angles of the three binocular low-light cameras 11 can be designed independently, and they can be selected to face the same search airspace or different search airspace, thereby realizing differentiated large field of view and wide-angle target search.

[0063] When the detection device detects a target, three binocular low-light cameras 11 face the target airspace in different postures, thereby achieving continuous tracking of the target with a large field of view and a wide angle.

[0064] The pneumatic rotation system includes a power cylinder 44 mounted on the housing 10, a pneumatic shaft 45 rotatably mounted on the power cylinder 44, pneumatic blades 46 arrayed on the pneumatic shaft 45 at positions corresponding to the inside of the power cylinder 44, a flexible hose 47 connected to the air inlet port of the power cylinder 44, the other end of the flexible hose 47 connected to the flow channel, an air outlet port of the power cylinder 44 connected to the air blowing nozzle 12, a belt shaft 49 rotatably mounted on the power cylinder 44, a third toothed belt connected to the belt shaft 49, and both goggle tubes 13 being connected to the third toothed belt.

[0065] The rotation speed of the goggle tube 13 is ≤300rpm, and the inner wall of the goggle tube is coated with an anti-reflective film;

[0066] The dual-mode working mechanism of the binocular low-light camera 11 takes into account both the need for wide field of view coverage and accurate target positioning, effectively improving the target recognition efficiency under different working conditions.

[0067] The pneumatic rotation system innovatively uses the airflow of the blower 2 as a power source. On the one hand, it drives the pneumatic blades 46 to rotate the goggle barrel 13, reducing the adhesion of dust on the lens surface. On the other hand, the air blower 14, which is angled downward at 45°, removes impurities and moisture from the lens surface in a timely manner, realizing an integrated design of dynamic protection and active cleaning.

[0068] This solution requires no additional power unit, is energy-saving and environmentally friendly, and ensures the imaging clarity of the camera in low-light environments. It solves the problems of lens contamination and decreased detection accuracy in harsh environments, and improves the environmental adaptability and detection reliability of the equipment.

[0069] It also includes an auxiliary system, on which a baseband 15 is connected. Along the length direction, the baseband 15 is provided with a light-transmitting area 16, an open area 17, a protective area 18, and a bristle area 19 in sequence.

[0070] The light-transmitting area 16 is made of optical-grade polycarbonate film, the protective area 18 is a 304 stainless steel sheet with a thickness of 0.4mm, the inner side of the bristle area 19 is evenly covered with nylon bristles with a bristle length of 10mm, and the base band 15 is made of silicone.

[0071] The multi-region segmented design of the baseband 15 enables multi-functional integrated protection for the detection lens:

[0072] The light-transmitting area 16 uses an optical-grade polycarbonate film, which provides basic protection while ensuring normal light transmission.

[0073] Protective zone 18 is made of 304 stainless steel sheet, which can effectively resist collisions and impacts from foreign objects when the equipment is not in operation.

[0074] The nylon bristles in the brush area 19 can gently clean the lens during the movement of the baseband 15, avoiding damage caused by manual cleaning.

[0075] The silicone baseband 15 combines flexibility and abrasion resistance, ensuring smooth switching between different areas;

[0076] The camera was exposed in open area 17 during the probe.

[0077] This design is simple in structure and low in cost, yet it achieves a seamless integration of light transmission, protection, and cleaning, significantly extending the lifespan of the lens and improving the durability and ease of maintenance of the equipment in complex outdoor environments.

[0078] A radar 50 is installed on the top surface of the rotary table 5. Three environmental detection probes 51 with different functions are installed on the radar 50. The three environmental detection probes 51 are a temperature and humidity probe, a dust probe, and a vibration sensor, respectively. A central control unit is built into the base frame 1. The data terminals of the three environmental detection probes 51, the binocular low-light camera 11, and the radar 50 are all connected to the central control unit.

[0079] The integrated design of radar 50 and multi-functional environmental detection probe 51 realizes the integrated operation of target detection and environmental monitoring. The central control unit, as the core of data processing and control, can receive monitoring data from radar 50, binocular low-light camera 11, temperature and humidity probe, dust probe and vibration sensor in real time, and dynamically adjust the working status of the detection system according to environmental parameters.

[0080] This closed-loop mechanism of environmental perception and intelligent control not only improves the accuracy of target recognition, but also enables the equipment to adapt to complex environments. It breaks through the limitations of traditional detection devices that only focus on target detection and ignore environmental adaptation, and significantly improves the intelligence level and all-weather stable operation capability of the equipment.

[0081] The auxiliary system includes two rollers 52 and two guide rollers 48 rotatably connected to the housing 10. The two ends of the base belt 15 are fixedly installed on the two rollers 52 respectively. Two third motors 53 are installed on the housing 10. The output shafts of the two third motors 53 are fixedly connected to the two rollers 52 respectively. The two guide rollers 48 are both connected to the base belt 15 for transmission.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A large field of view, low light, low altitude unmanned aerial vehicle detection device, comprising a base frame (1) and an air blower (2) mounted thereon, characterized in that, The base frame (1) is rotatably provided with a rotating shaft (3), and is provided with a transmission switching system and an amplitude changing system. The transmission switching system is arranged to drive the rotating shaft (3) to rotate back and forth or to rotate in a fixed direction by ±65°. The amplitude changing system is connected with an inner displacement seat (4) which can displace up and down. The displacement stroke of the inner displacement seat (4) is periodically changed. The rotating shaft (3) is provided with a rotating table (5). The rotating table (5) is slidably connected with three probe frames (6). Each probe frame (6) is hingedly connected with the inner displacement seat (4) through a connecting rod (7). Each probe frame (6) is provided with a detection system. The detection system comprises a swing frame (8) arranged on the probe frame (6). The swing frame (8) is provided with a reciprocating swing system arranged on both sides of the swing frame (8) to drive the swing frame (8) to swing back and forth. When the probe frame (6) is away from the axis of the rotating table (5), the swing angle of the swing frame (8) is increased. The swing frame (8) is provided with an electric pan-tilt head (9). The electric pan-tilt head (9) is provided with a housing (10) arranged on the rotating surface of the electric pan-tilt head (9). The housing (10) is provided with a binocular low-light camera (11) and an air-driven rotating system connected with the air blower (2). The air-driven rotating system is connected with an air blowing nozzle (12) and two rotating goggles barrels (13). The two goggles barrels (13) are respectively rotatably arranged on the two lenses of the binocular low-light camera (11). The air blowing nozzle (12) is provided with two air blowing heads (14). The two air blowing heads (14) are arranged to blow air downward at an angle of 45° to the two lenses of the binocular low-light camera (11). The auxiliary system is further provided with a base strip (15). Along the length direction, the base strip (15) is sequentially provided with a light transmission area (16), an open area (17), a protection area (18) and a bristle area (19).

2. The device according to claim 1, wherein, The damping chassis (20) is further provided with four T-shaped guide rods (21). The four T-shaped guide rods (21) are slidably connected with the base frame (1). The T-shaped guide rods (21) are respectively sleeved with damping springs (22) corresponding to the positions on the upper and lower sides of the base frame (1). The rotating shaft (3) is provided with a flow channel. The air outlet port of the air blower (2) is connected with a gas distribution ring (23). The gas distribution ring (23) is rotatably connected with the flow channel. The air inlet port of the air blower (2) is provided with a filter. The rotating shaft (3) is sleeved with a return spring (25) corresponding to the position between the rotating table (5) and the inner displacement seat (4).

3. The device according to claim 1, wherein, The transmission switching system comprises two first motors (24) arranged on the base frame (1) and a driven gear (29) fixedly arranged on the rotating shaft (3). The output shaft of one of the first motors (24) is connected with a half-tooth gear (26) through a second toothed belt. The half-tooth gear (26) is adapted to engage with the driven gear (29). The base frame (1) is rotatably provided with two side shafts (27). The output shaft of the other first motor (24) is connected with a first toothed belt. The two side shafts (27) are connected with the first toothed belt. The two side shafts (27) are respectively provided with an incomplete gear (28). The two incomplete gears (28) are adapted to engage with the driven gear (29).

4. The device according to claim 3, wherein, The central angle of the effective meshing tooth segment on each of the two incomplete gears (28) is 140°, and the effective meshing tooth segments on the two incomplete gears (28) are arranged with a 180° stagger on the base frame (1), and the two incomplete gears (28) are arranged on the left and right sides of the driven gear (29) respectively.

5. The device according to claim 1, wherein, The amplitude movement system comprises a second motor (30) mounted on the bottom surface of the base frame (1), the output shaft end of the second motor (30) is provided with a rotating disc (31) coaxially arranged with the rotating shaft (3), three fan tooth segments (32) and three empty tooth segments are alternately arranged on the rotating disc (31), a reciprocating screw rod (33) is rotatably mounted on the base frame (1), and a first rotary torsion spring (34) is arranged at the rotary connection position of the two, a reciprocating gear (35) is mounted on the reciprocating screw rod (33), the three fan tooth segments (32) are alternately engaged with the reciprocating gear (35), and the transmission angle of the three fan tooth segments (32) to the reciprocating gear (35) increases in the clockwise direction, a reciprocating seat (36) is drivingly connected to the reciprocating screw rod (33), and the inner moving seat (4) is rotatably mounted on the reciprocating seat (36), a guide shaft hole is formed at the axial position of the inner moving seat (4), the guide shaft hole is coaxially arranged with the rotating shaft (3), and the radius of the guide shaft hole is 1.05-1.1 times the radius of the rotating shaft (3).

6. The device according to claim 1, wherein, The reciprocating swing system comprises a swing shaft (37) mounted on the side surface of the swing frame (8), the swing shaft (37) is rotatably mounted on the probe frame (6), and a second rotary torsion spring (38) is arranged at the rotary connection position of the two, a swing gear (39) is mounted on the swing shaft (37), an intermediate gear (40) is rotatably mounted on the probe frame (6), the intermediate gear (40) is in meshing connection with the swing gear (39), a rack plate (41) is mounted on the rotary table (5), three transmission tooth segments (42) and three toothless segments (43) are alternately arranged on the rack plate (41), the three transmission tooth segments (42) are alternately engaged with the intermediate gear (40), and the transmission angle of the three transmission tooth segments (42) to the intermediate gear (40) increases in the direction away from the axis of the rotary table (5), and the length of the three toothless segments (43) increases.

7. The device according to claim 1, wherein, The pneumatic rotating system comprises a power cylinder (44) mounted on the machine shell (10), a pneumatic shaft (45) is rotatably mounted on the power cylinder (44), pneumatic blades (46) are arrayed on the pneumatic shaft (45) and correspond to the inner side of the power cylinder (44), a flexible hose (47) is communicated with the air inlet port of the power cylinder (44), the other end of the flexible hose (47) is communicated with a flow channel, the air outlet port of the power cylinder (44) is communicated with the air blowing nozzle (12), a belt shaft (49) is rotatably mounted on the power cylinder (44), a third tooth belt is drivingly connected to the belt shaft (49), and the two goggles cylinders (13) are drivingly connected with the third tooth belt.

8. The device according to claim 1, wherein, The light-transmitting area (16) is made of an optical-grade polycarbonate film, the protective area (18) is a 304 stainless steel sheet, the thickness of the protective area (18) is 0.3-0.5 mm, the inner side of the bristle area (19) is uniformly provided with nylon bristles, the length of the nylon bristles is 8-12 mm, and the base strip (15) is made of silica gel.

9. The device according to claim 1, wherein, The top surface of the rotary table (5) is provided with a radar (50), three functionally different environment detection probes (51) are installed on the radar (50), the three environment detection probes (51) are respectively a temperature and humidity probe, a dust raising probe and a vibration sensor, a central control unit is built-in on the base frame (1), and the data ends of the three environment detection probes (51), the binocular low-light camera (11) and the radar (50) are all in data connection with the central control unit.

10. The device according to claim 1, wherein, The auxiliary system comprises two winding rollers (52) and two guide rollers (48) rotatably connected to the casing (10), both ends of the base strip (15) are fixedly installed on the two winding rollers (52), two third motors (53) are installed on the casing (10), the output shaft ends of the two third motors (53) are fixedly connected with the two winding rollers (52), and the two guide rollers (48) are in transmission connection with the base strip (15).

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