A cross-media area detection device

Abstract

The application discloses a cross-medium area detection system, which comprises a fixed detection unit arranged on a water surface working platform and a mobile detection unit arranged on a water surface unmanned ship. The fixed detection unit comprises a master control module, a master detection module, a positioning module and a communication module; the mobile detection unit comprises a secondary detection module, a communication relay device, a positioning device and at least one unmanned aerial vehicle, and the unmanned aerial vehicle is provided with an imaging detection module. The master control module is connected with the water surface unmanned ship through the communication module, connected with the unmanned aerial vehicle through the communication relay, controls movement, flight and detection of the unmanned aerial vehicle, receives and processes data of each module, and realizes relay detection of at least two medium targets.

Description

Technical Field

[0001] This invention belongs to the field of detection technology for small targets on the water surface or at low altitudes, specifically a cross-medium region 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] Similarly, the long-range detection of small surface vessels is limited to about 20km due to interference from ocean waves and the curvature of the Earth. Such a short detection range poses a significant challenge to protection, especially in rainy or foggy weather, where the effective detection range is greatly reduced. Therefore, air defense, security monitoring, and management of large ships have become urgent issues that need to be addressed.

[0004] The inventor's patent application 2025109259005 discloses a multi-mode relay imaging detection device, which discloses a device and method for relay detection using base station detection combined with UAV imaging detection. However, in this technical solution, the UAV is only used to verify the already detected target. The detection and verification distance is limited by the UAV's flight range, making it difficult to achieve ultra-long-range and beyond-line-of-sight detection.

[0005] 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

[0006] The purpose of this invention is to provide a cross-medium region detection device, thereby overcoming the defects in the prior art.

[0007] A cross-medium area detection device includes: a fixed detection unit deployed on a surface working platform and a mobile detection unit deployed on an unmanned surface vessel; The fixed detection unit is equipped with a main control module, a main detection module, a positioning module, and a communication module; the mobile detection unit is equipped with a secondary detection device, a communication relay device, a positioning device, and at least one unmanned aerial vehicle (UAV). The UAV is equipped with an imaging detection unit. The secondary detection device and the imaging detection unit are used to detect external targets. The main control module establishes a communication connection with the unmanned surface vessel through the communication module to control the movement of the unmanned surface vessel; The main control module establishes a communication connection with the unmanned aerial vehicle (UAV) through the communication relay equipment of the surface unmanned vessel, and is used to control the flight and detection behavior of the UAV. The main control module receives and processes detection data from the main detection module, secondary detection equipment, and imaging detection unit, enabling relay detection of at least two media targets among surface, air, and underwater targets.

[0008] Preferably, the unmanned surface vessel (USV) can be either a surface-based USV or an underwater vehicle. The underwater vehicle is equipped with a sealed compartment containing unmanned aerial vehicles (UAVs) and an airport.

[0009] More preferably, the main detection module includes an electromagnetic wave detection module and / or a sonar detection module, and the surface unmanned surface vessel or underwater vehicle remains within the detection range of the active detection module.

[0010] More preferably, the electromagnetic wave detection module operates in at least one of millimeter wave, K-band, Ku-band, X-band, C-band, S-band, and L-band, and the sonar detection module includes active detection and passive detection modules.

[0011] More preferably, the electromagnetic wave detection module 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.

[0012] More preferably, the secondary detection equipment includes at least one of electromagnetic wave detection equipment, optical detection equipment, and sonar detection equipment.

[0013] A further preferred embodiment of the electromagnetic wave detection equipment of the secondary detection device includes an azimuth control unit and an elevation control unit, wherein the elevation control unit includes an elevation phased array.

[0014] In a further preferred embodiment, the optical detection device of the secondary detection device includes a rotating platform, which is mounted on a bracket and base via bearings and driven by a turntable motor to rotate around a central axis, serving as an azimuth control unit; the optical detection device also includes an independent pitch control unit.

[0015] More preferably, the sonar detection equipment of the secondary detection equipment is a device with underwater target detection, positioning and communication capabilities, and the submersible communicates with the unmanned aerial vehicle through the sonar detection unit when it is underwater.

[0016] In a further preferred embodiment, the optical detection device includes a primary mirror, a secondary mirror, and an imaging module; the primary mirror forms a pitch angle control unit through a primary mirror rotation axis and a primary mirror motor, driving the primary mirror to perform pitch scanning; the secondary mirror is set at a 45° tilt angle in the output optical 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 optical path of the secondary mirror.

[0017] More preferably, the unmanned aerial vehicle is any one of a fixed-wing drone, a rotary-wing drone, a controllable balloon, or an airbag-type hovercraft.

[0018] More preferably, the imaging detection device and the imaging detection unit include at least one of a visible light imaging camera or an infrared imaging camera.

[0019] More preferably, the unmanned aerial vehicle is also equipped with additional functional modules, including at least one of a positioning module, a loudspeaker and microphone, a projectile-launching gun, a laser or microwave energy emitter, or a capture net launcher.

[0020] In a further preferred embodiment, the mobile detection unit also includes a sonar detection device, mounted on the unmanned surface vessel, for actively detecting underwater objects, passively receiving sound waves reflected from targets, including sound waves emitted by the unmanned aerial vehicle's sonar detection unit, and communication with the working platform.

[0021] More preferably, the sonar detection unit of the unmanned aerial vehicle includes a sound wave transmitting / receiving transducer, and is configured with a working state 1 for underwater target detection, positioning and communication with the unmanned surface vessel, and a working state 2 in which the sonar on the unmanned surface vessel is configured as a sound wave receiving transducer and the sonar on the unmanned aerial vehicle is configured as a sound wave transmitting transducer. The sonar detection unit is attached to the unmanned aerial vehicle by a cable.

[0022] The acoustic wave transmitting transducer is tethered to the unmanned aerial vehicle (UAV) via a cable. This configuration separates the acoustic wave transmitter from the sonar detection equipment's receiving transducer. The UAV carries the transmitter and transducer, which is then submerged in the water for acoustic wave transmission, while the mothership remains in acoustic receiving mode. This maximizes the mothership's underwater isolation, thus improving its safety. Furthermore, the UAV's cable tethering the transducer ensures media isolation between the UAV and underwater objects, guaranteeing its stealth and safety relative to these objects.

[0023] A relay detection method based on any of the preceding claims for a cross-medium region detection device includes the following steps: S1. The main detection module of the fixed detection unit detects the target, obtains the target detection data, and transmits the data to the main control module; or the positioning data of the target area is set manually or automatically according to the detection range of the main detection module, and the data is transmitted to the main control module. S2. The main control module controls the mobile platform to move towards the first target area based on the target positioning data in S1; S3. When the mobile platform reaches the first target area, the main control module controls the unmanned aerial vehicle to take off and simultaneously controls the secondary detection equipment of the mobile platform to conduct detection. S4. When the unmanned aerial vehicle arrives at the second target area, control the imaging detection equipment of the unmanned aerial vehicle to perform detection or the sonar detection unit to work; S5. Transmit the detection data from the secondary detection equipment, imaging detection equipment, and sonar detection unit to the main control module through the communication relay equipment and communication module.

[0024] More preferably, in step S3, the detection of the secondary detection module includes the detection signal of the sonar detection device, and in step S4, the unmanned aerial vehicle releases the acoustic wave transmitting transducer.

[0025] Technical effects: By utilizing the characteristics of unmanned surface vessels (USVs) that can carry high-power batteries, have high-power communication capabilities, and have long range, USVs can be placed at the edge of the radar detection area of ​​the working platform, which is equivalent to setting up a water surface protection sentinel at the edge of the radar detection area. Two or more unmanned surface vessels, positioned in this way, can form a relatively complete surface detection and defense frontline area; Further utilize unmanned aerial vehicles (UAVs) carried by unmanned surface vessels, with airports available to enable UAVs to operate and recharge for extended periods; The drone carries an imaging detection camera, which can further expand the detection area and increase the early warning detection area after the drone takes off; After the drone takes off, it can work with the unmanned surface vessel to conduct detection. The unmanned surface vessel can be mainly set up for air detection, which can minimize the adverse effects of waves on the detection of small boats on the water surface. This division of labor, with drones configured for sea-based detection, simplifies the detection algorithms for unmanned surface vessels and drone imaging detection, reduces the need for both air and ground detection, fully leverages the advantages of the sea horizon in aerial detection of ships on the water, and improves detection efficiency.

[0026] By utilizing an unmanned aerial vehicle (UAV) equipped with a sonic transducer to emit active sonic waves underwater, while the unmanned surface vessel (USV) operates only in passive sonar detection mode, it is beneficial for concealing the USV's position and improving its stealth and security. The sonic transducer is carried by the UAV and deployed underwater via a tethered cable. This achieves both active sonar detection, improving detection accuracy and reliability, and prevents underwater intruders from obtaining the UAV's precise location, thus enabling the UAV to conceal its position against underwater targets and enhancing its stealth and security.

[0027] Simultaneous cross-detection from the air, surface, and underwater enables beyond-line-of-sight, beyond-weather, and beyond-range detection and protection of targets. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the system composition; Figure 2a A schematic diagram illustrating a single unmanned surface vessel carrying two unmanned aerial vehicles (UAVs) for combined surface and aerial detection. Figure 2b A schematic diagram illustrating the coordinated surface and aerial reconnaissance by two unmanned surface vessels and unmanned aerial vehicles. Figure 3a A schematic diagram illustrating the cooperation between a work platform and an unmanned surface vessel for underwater exploration; Figure 3b A schematic diagram illustrating underwater exploration using unmanned aerial vehicles and unmanned surface vessels in conjunction. Figure 3c , Figure 3d A schematic diagram illustrating the coordinated underwater and surface exploration by unmanned aerial vehicles and submersibles; Figure 4a This is a schematic diagram of an unmanned surface vessel (USV) detection device. Figure 4b This is a schematic diagram of an imaging detection device; Figure 5 A schematic diagram of the underwater vehicle's sealed compartment and airport setup. Detailed Implementation

[0029] Example 1 A transmedia area detection device, comprising: The fixed detection unit includes a main control component and an electromagnetic wave detection component, which are installed on a surface working platform. GPS positioning components, communication components and antennas, flight control servers for controlling unmanned surface vessels and flight control servers for controlling unmanned aerial vehicles; The electromagnetic wave detection component includes at least one electromagnetic wave transmitting and receiving unit with a detection range of L1, used to capture electromagnetic wave reflection signals from targets within a range of L1 from the working platform; The GPS positioning component is used to obtain the current GPS positioning data of the working platform; Electromagnetic wave detection components, GPS positioning components, flight control server, flight control server, communication components, and antenna communication connection main control components; GPS is just one example, and it can be replaced with other types of positioning components, such as Beidou.

[0030] The surface unmanned surface vessel detection unit includes at least one unmanned mothership, which is equipped with communication relay equipment, GPS positioning equipment, and detection equipment, including electromagnetic wave detection equipment and / or imaging detection equipment. The unmanned mothership is also equipped with at least one unmanned aerial vehicle and an airport, on which an imaging camera and GPS positioning device are installed. The surface unmanned surface vessel detection unit can also be replaced by an underwater vehicle.

[0031] The flight control server connects to the unmanned mothership via communication components and antennas to enable the mutual transmission of target data, control commands, and navigation and detection data of the unmanned mothership. The flight control server communicates with the unmanned aerial vehicle (UAV) through communication components and antennas, as well as the communication relay equipment of the unmanned mothership, to realize the mutual transmission of target data, control commands, and navigation data and detection data of the unmanned mothership. The main control component communicates with the flight control server and the air control server to acquire positioning data, detection data and control commands from the unmanned aerial vehicle and the unmanned mothership. This forms a parallel, flat control mode with the main control component as the master and other unmanned motherships and unmanned aerial vehicles as auxiliary components.

[0032] Work steps: ① The main control component obtains the current GPS data of the working platform based on the GPS positioning component of the working platform, and sets the GPS data and route of the unmanned mothership by manually or automatically. It controls the unmanned mothership to work and stay near the arc-shaped area (L1-L2) of the working platform through the flight control server; L1 is (5-50)km, and L2 is (50-1500)m.

[0033] ② The detection equipment of the unmanned mothership scans the surrounding area to form an arc-shaped scanning area for detecting aerial or maritime targets. The main control component sets the GPS positioning data and flight path of the unmanned aerial vehicle (UAV) to enable it to take off from the unmanned mothership and remain within the detection range R1 of the unmanned mothership's detection equipment, thereby achieving the detection of intruding targets within a distance of R1 (R1 is the radius of the arc-shaped scanning area).

[0034] ③ The imaging camera of the unmanned aerial vehicle is aimed at the water surface or air outside the detection range R1, and the detection range of the imaging camera is R2, so as to realize the detection of ships on the water surface and intruding drones in the air within the distance of R2.

[0035] This setup, utilizing the unmanned mothership released from the work platform and the unmanned aerial vehicles subsequently released from it, enables effective detection of small surface vessels and aerial drones at greater distances, beyond the detection range of the work platform's detection components. It is suitable for large surface vessels to detect and protect against small unmanned boats, pirate vessels, and small aerial drones.

[0036] The detection equipment of the unmanned mothership scans the outer airspace to form an arc-shaped scanning area, enabling the detection of aerial targets. (This allows the unmanned mothership to take advantage of its high power and ability to detect distant aerial targets in unobstructed conditions, while avoiding the disadvantage of being easily interfered with by water waves when detecting surface ships.)

[0037] The imaging camera of the unmanned aerial vehicle (UAV) is used to detect small boats on the water surface. This leverages the advantage of aerial detection of water surfaces, allowing for the detection of distant targets without obstruction, while avoiding the disadvantage of being easily affected by water waves when detecting boats.

[0038] The unmanned mothership's detection equipment includes electromagnetic wave detection equipment and / or optical detection equipment. The electromagnetic wave detection equipment also has an independent azimuth control unit-1 and a pitch control unit including a pitch phased array. The optical detection equipment includes a rotating platform, which is mounted on a bracket and base via bearings and is driven by a turntable motor to rotate around a central axis; the rotating platform serves as the azimuth control unit-2 of the imaging component, and the imaging component has an independent pitch control unit-2. The imaging assembly includes a primary mirror, a secondary mirror, and an imaging module. The primary mirror forms a pitch control unit-2 through the primary mirror rotation axis and the primary mirror motor, which drives 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 located in the reflected light path of the secondary mirror.

[0039] The unmanned aerial vehicle is any one of a fixed-wing drone, a rotary-wing drone, a controllable balloon, or an airbag-type hovercraft; the imaging camera is mounted on the unmanned aerial vehicle, including at least one of a visible light imaging camera or an infrared imaging camera. The electromagnetic wave detection component operates in at least one of the following wavebands: millimeter wave, K-band, Ku-band, X-band, C-band, S-band, and L-band.

[0040] The electromagnetic wave detection component is a phased array detection unit with an elevation scanning angle α ≤ ±45° and a working band including at least one of the X-band, C-band and S-band.

[0041] The unmanned aerial vehicle is also equipped with additional functional modules, including at least one of the following: GPS positioning module, loudspeaker and microphone, warhead firing gun, laser or microwave energy emitter, or capture net launcher.

[0042] The unmanned mothership's detection equipment also includes sonar detection equipment for detecting underwater objects.

[0043] The sonar detection equipment of the unmanned mothership is equipped with a sound wave receiving transducer, and the unmanned aerial vehicle is equipped with a sound wave transmitting transducer.

[0044] This configuration separates the sonar detector's acoustic transmitter from its acoustic receiver transducer. The transmitter is carried by an unmanned aerial vehicle (UAV) and tethered to the water for acoustic transmission, while the mothership remains in acoustic receiving mode. This maximizes the mothership's underwater isolation, thus improving its safety. Furthermore, the acoustic transmitter transducer is tethered to the water by the UAV's cable, ensuring the UAV remains isolated from underwater objects and maintaining its stealth and safety relative to them.

[0045] A relay detection method, comprising: S1. The electromagnetic wave detection component detects the target, acquires at least one of the following information: target quantity, azimuth angle, elevation angle, distance and velocity, and target positioning data, and transmits the data to the main control component; or, based on the detection distance L1 of the electromagnetic wave detection component, manually or automatically sets the positioning data of the target area and transmits the data to the main control component. S2. In response to the GPS positioning data of S1, the main control component manually or automatically sets the planned route and GPS target position of the unmanned mothership, controls the navigation control server, and then controls the unmanned mothership to move towards the target area 1; S3. The main control component controls the unmanned mothership to reach the target area 1. The main control component manually or automatically sets the planned route and GPS target position of the unmanned aerial vehicle, controls the flight control server to release the unmanned aerial vehicle for takeoff, and controls the detection equipment to detect and receive sound wave transducer signals. The detection data and information reach the main control component through the communication component. S4. When the unmanned aerial vehicle arrives at target area 2, the imaging detection unit detects external objects and / or releases the sonar detection unit; S5. The probe data reaches the main control module through the communication relay and communication components.

Claims

1. A cross-medium region detection system, characterized in that, include: Fixed detection units deployed on surface work platforms and mobile detection units deployed on unmanned surface vessels; The fixed detection unit is equipped with a main control module, a main detection module, a positioning module, and a communication module; the mobile detection unit is equipped with a secondary detection device, a communication relay device, a positioning device, and at least one unmanned aerial vehicle (UAV). The UAV is equipped with an imaging detection unit, and the secondary detection device and the imaging detection unit are used to detect external targets. The main control module establishes a communication connection with the unmanned surface vessel through the communication module, and is used to control the movement of the unmanned surface vessel; The main control module establishes a communication connection with the unmanned aerial vehicle through the communication relay equipment of the surface unmanned vessel, and is used to control the flight and detection behavior of the unmanned aerial vehicle; The main control module receives and processes detection data from the main detection module, secondary detection equipment, and imaging detection unit, enabling relay detection of at least two types of media targets among surface, air, and underwater targets.

2. The cross-medium region detection system according to claim 1, characterized in that, The unmanned surface vessel can be either a surface-based unmanned surface vessel or an underwater vehicle; the underwater vehicle is equipped with a sealed cabin, which houses unmanned aerial vehicles and an airport.

3. The cross-medium region detection system according to claim 1, characterized in that, The main detection module includes an electromagnetic wave detection module and / or a sonar detection module, and the unmanned surface vessel or underwater vehicle remains within the detection range of the active detection module.

4. The cross-medium region detection system according to claim 3, characterized in that, The electromagnetic wave detection module operates in at least one of the following wavebands: millimeter wave, K-band, Ku-band, X-band, C-band, S-band, and L-band. The sonar detection module includes active detection and passive detection modules.

5. The cross-medium region detection system according to claim 3, characterized in that, The electromagnetic wave detection module is a phased array detection unit with an elevation scanning angle α ≤ ±45° and a working band including at least one of the X-band, C-band and S-band.

6. The cross-medium region detection system according to claim 1, characterized in that, The secondary detection equipment includes at least one of electromagnetic wave detection equipment, optical detection equipment, and sonar detection equipment.

7. The cross-medium region detection system according to claim 6, characterized in that, The electromagnetic wave detection device of the secondary detection device is equipped with an azimuth control unit and an elevation control unit, wherein the elevation control unit includes an elevation phased array.

8. The cross-medium region detection system according to claim 6, characterized in that, The secondary detection device includes an optical detection device, which is mounted on a bracket and a base via bearings and is driven by a turntable motor to rotate around a central axis, serving as an azimuth control unit; the optical detection device also includes an independent pitch control unit.

9. The cross-medium region detection system according to claim 6, characterized in that, The sonar detection equipment of the secondary detection device is a device with underwater target detection, positioning and communication capabilities. When the submersible is underwater, it communicates with the unmanned aerial vehicle through the sonar detection unit.

10. The cross-medium region detection system according to claim 8, characterized in that, The optical detection device includes a primary mirror, a secondary mirror, and an imaging module; the primary mirror forms a pitch angle control unit through a primary mirror rotation axis and a primary mirror motor, driving the primary mirror to perform pitch scanning; the secondary mirror is set at a 45° tilt angle in the output optical 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 optical path of the secondary mirror.

11. The cross-medium region detection system according to claim 1, characterized in that, The unmanned aerial vehicle is any one of fixed-wing drones, rotary-wing drones, controllable balloons, or airbag-type hovercraft.

12. The cross-medium region detection system according to claim 1, characterized in that, The imaging detection device and imaging detection unit include at least one of a visible light imaging camera or an infrared imaging camera.

13. The cross-medium region detection system according to claim 1, characterized in that, 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.

14. The cross-medium region detection system according to claim 1, characterized in that, The mobile detection unit also includes a sonar detection device, which is installed on the unmanned surface vessel and is used to actively detect underwater objects, passively receive sound waves reflected by the target, including sound waves emitted by the sonar detection unit of the unmanned aerial vehicle, and communicate with the working platform.

15. The cross-medium region detection system according to claim 13, characterized in that, The sonar detection unit of the unmanned aerial vehicle includes a sound wave transmitting / receiving transducer, and is configured with a working state 1 for underwater target detection, positioning and communication with the unmanned surface vessel, and a working state 2 in which the sonar on the unmanned surface vessel is configured as a sound wave receiving transducer and the sonar on the unmanned aerial vehicle is configured as a sound wave transmitting transducer. The sonar detection unit is attached to the unmanned aerial vehicle by a cable.

16. A relay detection method based on the cross-medium region detection system according to any one of claims 1-14, characterized in that, Includes the following steps: S1. The main detection module of the fixed detection unit detects the target, obtains the target detection data, and transmits the data to the main control module; Alternatively, the positioning data of the target area can be manually or automatically set according to the detection range of the main detection module, and the data can be transmitted to the main control module. S2. The main control module controls the mobile platform to move towards the first target area based on the target positioning data in S1; S3. When the mobile platform reaches the first target area, the main control module controls the unmanned aerial vehicle to take off and simultaneously controls the secondary detection equipment of the mobile platform to conduct detection. S4. When the unmanned aerial vehicle arrives at the second target area, control the imaging detection equipment of the unmanned aerial vehicle to perform detection or the sonar detection unit to work; S5. Transmit the detection data from the secondary detection equipment, imaging detection equipment, and sonar detection unit to the main control module through the communication relay equipment and communication module.

17. The relay detection method according to claim 15, characterized in that, In step S3, the detection of the secondary detection module includes the detection signal of the sonar detection device. In step S4, the unmanned aerial vehicle releases the acoustic wave transmitting transducer.

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