Electronic sentry and its regional defense system

Abstract

An electronic sentinel and its regional joint defense system include a main detection unit, a main control module, and at least one electronic sentinel unit. The main detection unit includes a detection unit and a communication module. The electronic sentinel unit includes a mobile pack, an optical scanning head, a communication module, a main control board, a transmitting unit, a positioning module, and an automatic omnidirectional deflection unit. The electronic sentinel unit can be mounted on a mechanical vehicle or carried by personnel via the mobile pack. A communication link enables information sharing between the units. The automatic omnidirectional deflection unit compensates for attitude changes caused by the movement of the mobile vehicle, ensuring the stability of the optical scanning head. Through the coordinated operation of the main detection unit and the electronic sentinel unit, the system achieves full coverage of detection ranges, filling security gaps in building gaps. The use of mobile electronic sentinel units allows for flexible deployment of the detection range, adapting to various complex terrain environments and improving the overall effectiveness of regional security.

Description

Technical Field

[0001] This invention belongs to the field of optical detection technology, and specifically relates to an optical device with protective functions. Background Technology

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

[0003] The brutality of war leaves a deep impression: the protection of individual soldiers and area targets, including oil depots, power plants, critical facilities, and mobile vehicles, against small drones presents significant uncertainties and risks. Due to vulnerabilities in these targets' defenses, drones often successfully breach them. To address this, our team's prior patent application 2024108918246 describes a protective optical device, comprising an optical image receiving component, a main control board, a three-axis angle sensor-1, a swing motor and a roll motor, and a launching device equipped with an optical sight. This configuration allows the optical scanning head to perform a 360° azimuth roll and a ±90° swing motion, thus enabling scanning of the apex hemisphere. The launching device, either automatically or manually guided by the optical scanning head, aims at the target and fires ammunition, thereby protecting individual personnel or facility units.

[0004] Although the technical solution is feasible, it still belongs to individual or small-scale protection, and the detection capability of each individual is limited, which cannot give full play to the combined effect of multiple individual protection devices. Furthermore, individual operation requires the detection system to be miniaturized, lightweight, and easy to carry. The flexible flight and unpredictable trajectory of UAVs make it difficult for conventional detection, single detection and strike measures to achieve the desired effect, and it is also impossible to achieve the effect of area protection.

[0005] In addition, when soldiers lie down to conceal themselves or adopt other postures, the optical scanning head is in an abnormal working state, which further reduces the detection range of the scanning head. An skewed or misaligned state will also affect the detection effect, and it may be impossible to accurately detect the target.

[0006] 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

[0007] The technical problem to be solved by the present invention is to provide an optical device with protective function, which can quickly locate drones in any posture state, link and share with the main detection unit and other individual soldier protection devices, and strike invading drones from multiple directions.

[0008] An electronic sentry and its regional joint defense system, comprising: The system comprises a main detection unit, a main control module, and at least one electronic sentinel unit. The main detection unit includes a detection unit and a communication module. The detection unit includes an electromagnetic wave detection radar and / or an optical imaging detection radar. The main control module is used to control the operation of the main detection unit, and the communication module is connected to the electronic sentinel unit to receive information fed back by the electronic sentinel unit and issue instructions. The electronic sentry unit includes a mobile pack, an optical scanning head mounted on top of the mobile pack, a communication module, a main control board, and a transmitting unit connected to the main control board; the electronic sentry unit is mounted on a mechanical vehicle via the mobile pack or carried by personnel. The electronic sentinel unit also includes an automatic omnidirectional deflection unit, which is disposed between the moving package and the optical scanning head; The communication module of the main detection unit and the communication module of the electronic sentry unit form a communication link, which is used for interconnection and information sharing of target parameters and control commands between the main detection unit, the main control module and the electronic sentry unit.

[0009] More preferably, the automatic universal deflection unit includes a mechanical universal deflection unit or an electronic universal deflection unit; The mechanical universal deflection unit includes a hollow bracket, a fork-shaped flexible component, an optical scanning head set at the center of the fork-shaped flexible component, a swing arm connected to the lower part of the optical scanning head, and a counterweight set at the bottom of the swing arm. When the moving package tilts, the counterweight causes the optical scanning head to swing back due to gravity.

[0010] More preferably, the electronic universal deflection unit includes a three-axis stabilizer, which includes three rotary joints and corresponding rotary motors; The optical scanning head includes a gyroscope, which controls the rotation motor to operate when it detects that the moving package is tilted at an angle.

[0011] A further preferred embodiment of the electronic universal deflection unit includes an upper plate, a lower plate, and three linear actuators disposed between the upper plate and the lower plate, the three linear actuators being arranged in an equilateral triangle. The optical scanning head includes a gyroscope. When the gyroscope detects an angular tilt in the moving package, it controls the linear actuator to tilt the upper plate, thereby reducing the impact of the tilt angle on the optical unit.

[0012] More preferably, the optical scanning head of the electronic sentry unit includes an optical unit, a gyroscope, a pitch motor, a rotator, and an azimuth motor; The optical unit is used to receive reflected light from external observation targets; the optical unit is connected to the rotating body by the pitch motor through the oscillation shaft to realize external vertical pitch scanning detection; the bottom of the rotating body rotates through the azimuth motor to stabilize the optical scanning head.

[0013] More preferably, the mechanical vehicle includes vehicles, boats, and small mobile vehicles; when the electronic sentry unit is mounted on a mobile mechanical vehicle, a control steering mechanism for the firing gun is provided.

[0014] Further optimizations include collaborative working modes: When the main detection unit first detects the target, the main control module transmits the coordinates or information of the intruding target to each electronic sentry unit through the communication link. The display screen of the electronic sentry unit's transmitting unit displays the relevant data of the intruding target and guides personnel or mechanical vehicles to aim the transmitting unit at the intruding target. When the electronic sentry unit first detects a target, the optical scanning head transmits the azimuth and elevation angle information of the intruding target to the main control module through the communication link. The main control module then guides the main detection unit to align the detection unit with the location of the intruding target.

[0015] More preferably, the launching unit includes an optical sight or display and is connected to the main control board via communication.

[0016] More preferably, the transmitting unit is used to transmit electronic beams, electromagnetic wave energy, physical projectiles, or mesh-shaped objects.

[0017] Further preferably, the optical scanning head of the electronic sentry unit is equipped with two operating modes: passive tracking mode or active operating mode. The passive tracking mode is a target tracking method that receives target information from the main detection unit. The active operating mode includes scanning mode-1, where an azimuth motor drives the optical unit to rotate in azimuth, and a pitch motor drives the optical unit to tilt in pitch, thus achieving scanning of external space; and tracking mode-2, where the optical unit performs target orientation and aiming. The optical scanning head operates according to the following steps: S1, Scanning Mode-1, when the target enters the field of view α of the camera ( Figure 4aThe target is detected when it enters the target location (1 location); or a scanning frame with side lengths A and B is constructed within the field of view α of the camera, and the target is detected when it enters the scanning frame. Scanning mode-1 stops immediately. In this way, the azimuth motor controls the turntable to stop azimuth rotation and the pitch motor controls the main mirror or camera to stop pitch rotation, so that the target is kept within the field of view or frame, and then tracking mode-2 is entered immediately. S2, Tracking Mode-2: In this mode, the X / Y coordinate system constructed with the center point of the field of view as 0 is used to obtain the distances of the target 1 projected on the X and Y axes as x1 and y1, respectively. S3. When the target moves to target 2 (projected distances x2 and y2 on the X and Y axes respectively), a trigger offset signal is generated the instant it moves out of the scanning frame, causing the azimuth motor and pitch motor to operate. The difference in the target's x-axis direction (x1-x2) causes the rotating body to deflect in the azimuth direction, and the difference in the Y-axis direction (y1-y2) causes the camera to deflect in the pitch direction, thereby shifting the target from outside the scanning frame towards point 0, achieving the tracking and aiming purpose of moving the target back into the scanning frame; Thus, S1-S3 achieve scanning detection and target tracking.

[0018] The advantages and significance of this case: By utilizing the characteristics of the main detection unit having high-power long-range detection and each electronic sentinel unit having low-power short-range detection, the interaction between each electronic sentinel unit sending information to the main detector and the main detector sending information to each electronic sentinel unit achieves full coverage of the protected area in terms of both long and short detection distances.

[0019] Deploying electronic sentry units in the gaps between buildings in protected areas or fortresses can enable the detection and protection of gap areas between fortress buildings, making up for the detection loopholes and blind spots of conventional detection methods.

[0020] The mobility of electronic sentinels allows for adjustable deployment of the aforementioned detection range, enabling flexible deployment to meet different regional protection requirements.

[0021] The use of gimbal units can greatly enhance the detection capabilities and accuracy of electronic sentries, and extend the detection methods of electronic sentries. For example, the detection unit can be set at the top of a long pole, and the sentry's hiding point can be extended through the angled long pole. In this case, the gimbal unit can ensure that the detection unit can work reliably and accurately.

[0022] By utilizing a simple mechanical or electronic universal deflection unit, the electronic sentinel's detection unit achieves a certain degree of stability, realizing a function similar to a high-precision gyro stabilizer, ensuring good detection results even during movement or bumpy conditions. Attached Figure Description

[0023] Figure 1a This is a schematic diagram of the overall three-dimensional structure of the electronic sentinel unit of the present invention; Figure 1b This is a schematic diagram of the front view structure of the electronic sentinel unit of the present invention; Figure 1c This is a side view of the electronic sentinel unit of the present invention. Figure 1d This is a side view of the main detection unit of the present invention. Figure 2a This is a front view schematic diagram of the assembly structure of the mechanical automatic universal deflection unit and the optical scanning head of the present invention. Figure 2b This is a side view of the mechanical automatic universal deflection unit and optical scanning head assembly of the present invention. Figure 3a This is a schematic diagram of the core structure of the mechanical universal deflection unit of the present invention; Figure 3b This is a schematic diagram of the structure of the three-axis stabilizer type electronic universal deflection unit of the present invention; Figure 3c This is a top view of the structure of the three-linear actuator type electronic universal deflection unit of the present invention; Figure 3d This is a side view of the assembly structure of the three-linear-actuator type electronic universal deflection unit of the present invention; Figure 4a This is a schematic diagram of scanning mode one; Figure 4b This is a schematic diagram of tracking mode 2. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to specific embodiments. This description is exemplary and is only used to explain the present invention, and should not be construed as limiting the scope of protection of the present invention. Any non-inventive modifications and equivalent substitutions made by those skilled in the art based on the concept of the present invention after reading this disclosure shall fall within the scope of protection of the present invention.

[0025] Example 1: Overall Structure of Electronic Sentinel Area Joint Defense System This embodiment provides an electronic sentinel area joint defense system, as shown in the attached document. Figure 1a , 1b The system includes a main detection unit, a main control module, and at least one electronic sentinel unit.

[0026] The main detection unit integrates a detection module and a first communication module. The detection module uses a combination of electromagnetic wave detection radar and optical imaging radar to achieve full-area detection of intrusion targets such as low-altitude, low-speed small drones. The first communication module adopts a wireless data transmission module to support long-distance data interaction and command transmission.

[0027] The main control module is electrically connected to the main detection unit and is used to control the scanning frequency, detection range and working mode switching of the main detection unit. The main control module establishes a two-way communication link with the electronic sentry unit through the first communication module to realize real-time interaction and sharing of detection data, target coordinates and control commands.

[0028] The electronic sentry unit consists of a mobile pack, an optical scanning head, a second communication module, a main control board, and a transmitting unit. The optical scanning head is fixedly installed on the top of the mobile pack and contains an optical receiving unit, a oscillation shaft, a pitch drive motor, a rotating body, and an azimuth drive motor. The optical receiving unit is connected to the pitch drive motor via the oscillation shaft to achieve ±90° vertical pitch scanning detection. The bottom of the rotating body is connected to the azimuth drive motor to achieve 360° horizontal omnidirectional scanning detection.

[0029] The second communication module matches the parameters of the first communication module to form the backbone link of the system communication; the main control board is electrically connected to the optical scanning head, the second communication module and the transmitting unit respectively to complete data processing, command parsing and status feedback.

[0030] The launching unit integrates an optical sight and a high-definition display, both of which are connected to the main control board to display parameters such as target coordinates, azimuth, and elevation in real time. The launching unit can launch electronic beams, electromagnetic energy beams, physical projectiles, or mesh-shaped interceptors to intercept and deal with intruding targets.

[0031] In this embodiment, the electronic sentry unit adopts a dual-mode structure of personnel carrying and mechanical vehicle mounting. The mechanical vehicles include vehicles, ships, and bionic motion robots (robot dogs). In the mechanical vehicle mounting mode, the system is equipped with a firing gun steering control mechanism to realize the automatic aiming and steering of the firing unit.

[0032] Example 2: Mechanical Automatic Universal Deflection Unit This embodiment adds a mechanical automatic universal deflection unit to the basis of embodiment 1, as shown in the attached document. Figure 2a , 2b 3a. The automatic universal deflection unit is installed between the moving bag and the optical scanning head to compensate for the attitude deviation of the optical scanning head caused by the tilting of the moving bag and severe shaking, so as to ensure the detection accuracy.

[0033] The mechanical universal deflection unit includes a hollow support, a fork-shaped flexible component, a swing arm, and a counterweight. The fork-shaped flexible component is coaxially assembled inside the hollow support, the optical scanning head is fixedly installed at the center of the fork-shaped flexible component, the upper end of the swing arm is fixedly connected to the lower part of the optical scanning head, and the counterweight is fixedly installed at the bottom end of the swing arm.

[0034] When the moving package tilts or bumps, the counterweight remains vertical under the action of gravity. The swing arm drives the optical scanning head to swing back passively, automatically correcting the attitude angle of the optical scanning head and offsetting the interference of tilt and bumps on the detection of the optical receiving unit, thus ensuring the continuity and accuracy of target detection.

[0035] Example 3: Electronic Automatic Universal Deflection Unit This embodiment provides two electronic automatic universal deflection unit structures to replace the mechanical structure of Embodiment 2, as shown in the appendix. Figure 3b , 3c Both 3D and 4D sensors are positioned between the mobile bag and the optical scanning head to achieve active attitude stabilization.

[0036] Three-axis stabilizer type electronic omnidirectional yaw unit The electronic omnidirectional deflection unit employs a three-axis stabilizer, comprising three mutually perpendicular rotary joints and matching rotary motors. The optical scanning head incorporates a high-precision gyroscope, which is connected to the rotary motor control. When the gyroscope detects a tilt in the moving package relative to the optical scanning head, it outputs a real-time attitude detection signal, driving the corresponding rotary motor to adjust the angle of the rotary joints, thereby achieving real-time attitude stabilization of the optical scanning head.

[0037] Three-linear actuator type electronic universal deflector unit The electronic universal deflection unit includes an upper support plate, a lower support plate, and three linear actuators. The three linear actuators are evenly distributed in an equilateral triangle between the upper and lower support plates. The lower support plate is fixed to the top of the moving package, and the upper support plate is fixedly connected to the optical scanning head. The optical scanning head has a built-in gyroscope, which is connected to the linear actuators for control. When an attitude deviation is detected, the gyroscope outputs a signal to control the three linear actuators to extend and retract in tandem, causing the upper support plate to tilt and compensate, thereby stabilizing the attitude of the optical scanning head.

[0038] System working method specific implementation The electronic sentry area joint defense system of this invention adopts a two-way linkage working mode, and the specific process is as follows: Main detection unit priority detection mode After the active detection unit of the main detection unit first detects the intrusion target, it transmits the target's coordinates, azimuth, speed and other characteristic data to the main control module. The main control module then transmits the data synchronously to all electronic sentry units through the communication link. The launching units of each electronic sentry unit display the target information in real time on the display screen, guiding the operators to manually aim or drive the launching gun to automatically align with the target through the turning control mechanism, thus completing the interception.

[0039] Electronic Sentinel Unit Priority Detection Mode When the passive optical scanning head of the electronic sentry unit detects an intruding target, it collects data such as the target's azimuth and elevation angles, and uploads this data to the main control module via the second communication module. Based on the uploaded data, the main control module controls the main detection unit to quickly turn to the target's azimuth, or instructs other dispersed electronic sentry units to disperse in various detection directions or concentrate on facing one detection direction, achieving full-domain scanning, directional locking, and tracking. The main detection unit and the electronic sentry unit complement each other's data, forming a regional joint defense detection network, improving the efficiency of target identification and handling.

[0040] Based on the different building structures and blind spots in the protected area, the main control module can control the positioning, direction of movement, and speed of each electronic sentry unit in real time by pre-planning or dynamically planning the patrol paths and time nodes, ensuring that there are no blind spots in the protected area. The omnidirectional unit increases the adaptability of the electronic sentry unit to the environment and its movement state, ensuring the reliability and stability of the detection results. The positioning module communicates with the main detection unit through the communication module to share location information, and receives dynamic commands and controls from the main control module for the positioning and operating direction of the electronic sentry unit, as well as the aiming direction or firing direction of the launching unit. This enables dynamic complementarity and coordination of the detection and strike range of the main detection unit and multiple electronic sentry units, as well as effective coverage of detection blind spots within the protected area.

[0041] The launching units of multiple electronic sentinel units can launch attacks from different directions of the invading target simultaneously, continuously or in a dispersed manner, forming a multi-point, multi-directional, cross-shaped or three-dimensional protective fire network; Those skilled in the art should understand that the present invention is not limited to the specific embodiments described above. Equivalent modifications, combinations, and substitutions of the technical features without departing from the spirit and essence of the present invention should all be covered within the protection scope of the present invention.

Claims

1. An electronic sentry and its regional joint defense system, characterized in that, include: The system comprises a main detection unit, a main control module, and at least one electronic sentinel unit. The main detection unit includes a detection unit and a communication module. The detection unit includes an electromagnetic wave detection radar and / or an optical imaging detection radar. The main control module is used to control the operation of the main detection unit, and the communication module is connected to the electronic sentinel unit to receive information fed back by the electronic sentinel unit and issue commands. The electronic sentry unit includes a mobile package, an optical scanning head mounted on top of the mobile package, a communication module, a main control board, and a transmitting unit connected to the main control board; Electronic sentry units are mounted on mechanical vehicles via mobile packs or carried by personnel. The communication module of the electronic sentry unit and the communication module of the main detection unit form a communication link, which is used for interconnection and information sharing of target parameters and control commands between the main detection unit, the main control module and the electronic sentry unit; The electronic sentry unit also includes a positioning module and an automatic omnidirectional deflection unit; The automatic universal deflection unit is disposed between the moving bag and the optical scanning head; The positioning module communicates with the main detection unit through the communication module to share location information, and receives instructions and control from the main control module on the positioning and running direction of the electronic sentry unit, as well as the aiming direction or firing direction of the launching unit. In this way, the detection and strike range of the main detection unit and multiple electronic sentry units are complemented and coordinated.

2. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, The automatic universal deflection unit includes a mechanical universal deflection unit or an electronic universal deflection unit; The mechanical universal deflection unit includes a hollow bracket, a fork-shaped flexible component, an optical scanning head disposed at the center of the fork-shaped flexible component, a swing arm connected to the lower part of the optical scanning head, and a counterweight disposed at the bottom of the swing arm. When the moving package tilts, the counterweight causes the optical scanning head to swing back due to gravity.

3. The electronic sentry and its regional joint defense system according to claim 3, characterized in that, The electronic universal deflection unit includes a three-axis stabilizer, which includes three rotary joints and corresponding rotary motors. The optical scanning head includes a gyroscope, which controls the rotation motor to operate when it detects that the moving package is tilted at an angle.

4. The electronic sentry and its regional joint defense system according to claim 3, characterized in that, The electronic universal deflection unit includes an upper plate, a lower plate, and three linear actuators disposed between the upper plate and the lower plate, the three linear actuators being arranged in an equilateral triangle. The optical scanning head includes a gyroscope. When the gyroscope detects that the moving package is tilted at an angle, it controls the linear actuator to tilt the upper plate.

5. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, The main detection unit's optical detection radar and the electronic sentry unit's optical scanning head, or including an optical unit, a gyroscope, a pitch motor, a rotating body, and an azimuth motor that drives the rotating body to achieve 360° horizontal rotation, wherein the optical unit is connected to the rotating body via the gyroscope and controlled by the pitch motor to achieve outward vertical pitch scanning detection.

6. Alternatively, it may include an optical unit, a pitch motor that drives the primary mirror to perform pitch scanning detection, a turntable that is rotatably mounted on the frame via bearings, and an azimuth motor that drives the turntable to achieve 360° horizontal rotation. The optical unit is used to receive reflected light from external observation targets through the primary mirror and the secondary mirror. The electronic sentry and its regional joint defense system according to claim 1 are characterized in that, Mechanical vehicles include vehicles, boats, and small moving vehicles; when the electronic sentry unit is mounted on a moving mechanical vehicle, a control steering mechanism for the firing gun is provided.

7. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, It also includes a collaborative working mode: When the main detection unit first detects the target, the main control module transmits the coordinates or information of the intruding target to each of the electronic sentry units through the communication link. The display screen of the electronic sentry unit's transmitting unit displays the relevant data of the intruding target and guides personnel or mechanical vehicles to aim the transmitting unit at the intruding target. When the electronic sentry unit first detects the target, the optical scanning head transmits the azimuth and elevation angle information of the intruding target to the main control module through the communication link. The main control module then guides the main detection unit to align the detection unit with the location of the intruding target.

8. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, The launching unit includes an optical sight or display and is connected to the main control board via communication.

9. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, The transmitting unit is used to transmit electronic beams, electromagnetic energy, physical projectiles, or mesh-like objects.

10. The electronic sentry and its regional joint defense system according to claim 1, characterized in that, The optical scanning head of the electronic sentry unit is equipped with two working modes: passive tracking mode or active working mode. The passive tracking mode is a working mode that receives target information from the main detection unit to track the target. The active working mode includes scanning mode-1, in which the azimuth motor drives the optical unit to rotate in azimuth and the pitch motor drives the optical unit to tilt in pitch, and tracking mode-2, in which the optical unit directs and aims at the target. The optical scanning head operates according to the following steps: In S1, scanning mode-1, when a target enters the field of view α of the camera (target 1 in Figure 4a), it is detected; or a scanning frame with side lengths A and B is constructed within the field of view α of the camera, and when a target enters the scanning frame, it is detected. Scanning mode-1 stops immediately. In this way, the azimuth motor controls the turntable to stop azimuth rotation and the pitch motor controls the main mirror or camera to stop pitch rotation, so that the target is kept within the field of view or frame, and then tracking mode-2 is entered immediately. S2, Tracking Mode-2: In this mode, the X / Y coordinate system constructed with the center point of the field of view as 0 is used to obtain the distances of the target 1 projected on the X and Y axes as x1 and y1, respectively. S3. When the target moves to target 2, a trigger offset signal is generated the instant it leaves the scanning frame, causing the azimuth motor and pitch motor to operate. The difference in the target's x-axis direction (x1-x2) causes the rotating body to deflect in the azimuth direction, and the difference in the y-axis direction (y1-y2) causes the camera to deflect in the pitch direction, thereby shifting the target from outside the scanning frame towards point 0, achieving the tracking and aiming purpose of moving the target back into the scanning frame; Thus, S1-S3 achieve scanning detection and target tracking.

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