Low-altitude all-weather unmanned aerial vehicle-mounted ground target physical field detection system

Abstract

The utility model discloses a low-altitude all-weather unmanned aerial vehicle-mounted ground target physical field detection system, and the system comprises a connecting frame which is connected with an unmanned aerial vehicle; the millimeter wave radar detection unit is mounted on the connecting frame; the acoustic positioning detection unit is mounted on the connecting frame; and the background server is respectively connected with the millimeter wave radar detection unit and the sound positioning detection unit. The connecting frame comprises an upper connecting plate and side connecting plates, the two side connecting plates are symmetrically arranged on the upper connecting plate, the upper portion of the upper connecting plate is connected with the unmanned aerial vehicle, the millimeter wave radar detection unit is installed on the upper connecting plate, and the sound positioning detection unit is installed on the side connecting plates. The upper connecting plate is provided with a mounting plate, the millimeter wave radar detection unit is rotatably mounted on the mounting plate, one side of the mounting plate is provided with a pitching adjusting motor, and the pitching adjusting motor is connected with the millimeter wave radar detection unit. And the acoustic positioning detection unit comprises a three-dimensional vector microphone. The acoustic positioning detection unit is installed through a damping elastic support.

Description

Technical Field

[0001] This utility model relates to the field of detection systems, specifically a low-altitude all-weather unmanned aerial vehicle (UAV) ground target physical field detection system. Background Technology

[0002] Ground target detection is usually carried out using radar. To adapt to different needs, existing technologies use radar carried by drones to achieve detection functions. However, since radar is easily detected, it cannot be used for detection in some scenarios. At the same time, radar alone cannot effectively detect distances. Utility Model Content

[0003] The purpose of this invention is to provide a low-altitude, all-weather, UAV-borne ground target physical field detection system to solve the problems of poor detection effect and low accuracy of existing ground target detection systems.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a low-altitude all-weather unmanned aerial vehicle (UAV) ground target physics field detection system, comprising:

[0005] Connecting frame, for attaching to the drone;

[0006] The millimeter-wave radar detection unit is mounted on the connecting frame;

[0007] The acoustic positioning detection unit is installed on the connecting frame;

[0008] The backend server is connected to both the millimeter-wave radar detection unit and the acoustic positioning detection unit.

[0009] As a further improvement to the above technical solution:

[0010] The connecting frame includes an upper connecting plate and a side connecting plate. The two side connecting plates are symmetrically arranged on the upper connecting plate. The upper part of the upper connecting plate is connected to the UAV. The millimeter-wave radar detection unit is installed on the upper connecting plate, and the acoustic positioning detection unit is installed on the side connecting plate.

[0011] The upper connecting plate is provided with a mounting plate, and the millimeter-wave radar detection unit is rotatably mounted on the mounting plate. A pitch adjustment motor is provided on one side of the mounting plate, and the pitch adjustment motor is connected to the millimeter-wave radar detection unit.

[0012] The acoustic positioning detection unit includes a three-dimensional vector microphone.

[0013] The acoustic positioning detection unit is installed via a shock-absorbing elastic bracket.

[0014] The millimeter-wave radar detection unit includes a shielding cylinder and a millimeter-wave radar transceiver module installed on one side of the shielding cylinder.

[0015] The drone includes a GPS antenna, which is used to acquire flight location data and send the flight location data to a backend server.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] Multifunctional integration: The system integrates a millimeter-wave radar detection unit and an acoustic positioning detection unit, enabling simultaneous radar detection and acoustic positioning measurement, thus achieving all-round and multi-dimensional detection of ground targets.

[0018] High-precision detection: Millimeter-wave radar uses FMCW modulation, which has high-precision ranging and velocity measurement capabilities, and can accurately obtain information on the distance, speed and size of ground targets.

[0019] All-weather operation: The system is designed to work in all weather conditions, without being limited by weather conditions, ensuring the continuity and stability of the detection.

[0020] Real-time data transmission: Flight position data, radar detection data, and acoustic positioning data are received and processed in real time through the back-end server, enabling rapid data transmission and efficient processing.

[0021] Flexible adjustment: The connecting frame is reasonably designed, the millimeter-wave radar detection unit can be rotatably installed, and it is equipped with a pitch adjustment motor, which makes it easy to adjust the detection angle and adapt to the detection needs of different scenarios.

[0022] High-sensitivity acoustic localization: The acoustic localization detection unit adopts a three-dimensional vector microphone, which can measure the vibration velocity and sound pressure of sound particles at the millimeter scale, thus achieving high-sensitivity acoustic source localization.

[0023] Multi-mode operation: The system supports active detection, passive detection, and alternating active and passive modes, allowing for flexible selection of the working mode according to actual needs, thus improving the flexibility and adaptability of detection.

[0024] Intuitive interface display: The system interface intuitively displays information such as the millimeter-wave reflection characteristics of the vehicle target, target distance, and angle, making it easy for operators to quickly understand and judge.

[0025] High-altitude installation adaptability: The testing system meets the requirements for high-altitude installation and can adapt to detection tasks at different heights.

[0026] Sound source fault diagnosis potential: The sound field vector measurement system has the potential to be expanded to include near-field sound source fault diagnosis capabilities, and can be expanded according to customer needs.

[0027] Data storage and analysis: The signal acquisition unit supports test data storage, and the analysis and processing software provides frequency domain and time-frequency domain analysis, which facilitates subsequent data processing and research.

[0028] Error correction and optimization: The backend server compares the coordinate data of the millimeter-wave radar detection unit and the acoustic positioning detection unit to perform error correction and optimization, thereby improving the accuracy of the target coordinates.

[0029] In summary, this system offers significant advantages such as multifunctionality, high precision, all-weather operation, real-time transmission, flexible adjustment, high sensitivity, multi-mode operation, intuitive display, high-altitude adaptability, potential for sound source fault diagnosis, data storage and analysis, and error correction and optimization. It provides an efficient and reliable technical solution for physical field detection of ground targets. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0031] Figure 2 This is a side view of the structure of this utility model;

[0032] Figure 3 This is a schematic diagram of the acoustic positioning detection unit of this utility model;

[0033] Figure 4 This is a schematic diagram of the structure of the millimeter-wave radar detection unit of this utility model;

[0034] Figure 5 This is a schematic diagram illustrating the radar triangular wave ranging / velocity measurement principle of this utility model;

[0035] Figure 6 This is a schematic diagram illustrating the principle of the particle velocity sensor of this utility model.

[0036] Reference numerals: 1. Connecting frame; 11. Upper connecting plate; 12. Side connecting plate; 13. Mounting plate; 14. Pitch adjustment motor; 2. UAV; 3. Millimeter-wave radar detection unit; 31. Shielding cylinder; 32. Millimeter-wave radar transceiver module; 4. Acoustic positioning detection unit. Detailed Implementation

[0037] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0038] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicating orientation or position, are based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] like Figures 1 to 4 As shown, the low-altitude all-weather UAV-borne ground target physics field detection system of this embodiment includes:

[0042] Connector 1 is connected to drone 2; drone 2 uses DJI S900 and includes a GPS antenna, which is used to acquire flight position data; a mounting bracket is set at the bottom of drone 2, and connector 1 is fixed to the mounting bracket by bolts.

[0043] Millimeter-wave radar detection unit 3 is mounted on connector 1;

[0044] The acoustic positioning detection unit 4 is mounted on the connecting frame 1; the acoustic positioning detection unit 4 includes a three-dimensional vector microphone. The three-dimensional vector microphone is mounted via a shock-absorbing elastic bracket.

[0045] The backend server is connected to the millimeter-wave radar detection unit 3 and the acoustic positioning detection unit 4 respectively, and simultaneously receives flight position data.

[0046] The connecting frame 1 includes an upper connecting plate 11 and a side connecting plate 12. The two side connecting plates 12 are symmetrically arranged on the upper connecting plate 11. The upper part of the upper connecting plate 11 is connected to the UAV 2. The millimeter-wave radar detection unit 3 is installed on the upper connecting plate 11, and the acoustic positioning detection unit 4 is installed on the side connecting plate 12.

[0047] The upper connecting plate 11 is provided with a mounting plate 13, and the millimeter-wave radar detection unit 3 is rotatably mounted on the mounting plate 13. A pitch adjustment motor 14 is provided on one side of the mounting plate 13, and the pitch adjustment motor 14 is connected to the millimeter-wave radar detection unit 3.

[0048] The millimeter-wave radar detection unit 3 includes a shielding cylinder 31 and a millimeter-wave radar transceiver module 32 installed on one side of the shielding cylinder 31.

[0049] The millimeter-wave reflection characteristic testing system uses an active radar employing FMCW (Frequency Modulated Continuous Wave) modulation. Its basic principle is that the transmitted wave is a high-frequency continuous wave, and its frequency changes with time according to a triangular wave pattern. The received echo frequency follows the same triangular wave pattern as the transmitted frequency, but with a time difference. This small time difference can be used to calculate the target distance.

[0050] The ranging / velocity measurement principle of radar will be briefly introduced using triangular wave frequency-modulated continuous wave as an example. Figure 5 The blue area represents the transmitted signal frequency, and the yellow area represents the received signal frequency. The sweep period is T, and the sweep bandwidth is B. The transmitted signal passes through the target, and the echo signal will have a delay. In the frequency change of the triangle, distance measurement can be performed on both the rising and falling edges.

[0051] Passive detectors, also known as millimeter-wave radiometers, detect and identify targets by utilizing the difference in millimeter-wave radiation between a target and its background. Essentially, a millimeter-wave radiometer is a high-sensitivity receiver used to receive the millimeter-wave radiation energy from both the target and the background. When the radiometer antenna beam scans between the ground background and the target, the radiometer outputs a pulse due to the temperature difference in millimeter-wave radiation between the target and the background (ground). The presence of the ground target can be identified by using the height, width, and other characteristics of this pulse. When using high-resolution or imaging radiometers, the output signal not only reflects the contrast between the target and the background but also provides two-dimensional characteristics of the target's size and an image of the target.

[0052] The technical performance indicators of the millimeter-wave reflection characteristic testing system are as follows:

[0053] 1) Detector operating frequency band: 93GHz±1GHz;

[0054] 2) Antenna beamwidth (azimuth and elevation): ≤1.9°;

[0055] 3) Active detection transmission power: ≥100mW;

[0056] 4) Active detection frequency modulation mode: linear frequency modulation continuous wave;

[0057] 5) Active detection range: ≥2.87km;

[0058] 6) Active detection ranging accuracy: ≤0.75m;

[0059] 7) Passive detection sensitivity: ≤0.82K;

[0060] 8) Passive detection range: ≥257m;

[0061] 9) Operating modes: Active detection uses linear frequency modulated continuous wave radar, and passive detection uses direct detector AC radiometer. Active mode, passive mode, and active-passive alternating mode can be selected during operation.

[0062] 10) The system interface can intuitively display information such as the millimeter-wave reflection characteristics of the vehicle target, the target distance, and the angle;

[0063] 11) The testing system should be able to meet the requirements for high-altitude installation.

[0064] The acoustic localization detection unit 4 consists of a three-dimensional vector microphone, a four-channel acquisition unit, testing and analysis software, and supporting accessories. The three-dimensional vector microphone is a USP-G1 three-dimensional vector microphone, which consists of three mutually orthogonal acoustic particle velocity microphones and one sound pressure microphone. It can directly measure the acoustic particle velocity and sound pressure in three dimensions at the millimeter scale.

[0065] The acoustic positioning detection unit 4 includes two three-dimensional vector microphones, a signal acquisition unit, supporting testing and analysis software, and related accessories. The acoustic positioning measurement system software has horizontal angle, pitch angle, and distance measurement functions, and can display the noise value for each channel. The sound field vector measurement system can be further enhanced with near-field sound source fault diagnosis functionality according to customer needs.

[0066] (1) Each of the two three-dimensional vector microphones is independently equipped with a conditioner, and can be installed on a fixed bracket according to user needs for testing.

[0067] (2) The signal acquisition unit adopts two four-channel acquisition modules and has a universal connection interface with a computer or high-frequency data recorder, which supports the storage of test data through the interface.

[0068] (3) The analysis and processing software can collect signals from one or two vector microphones and perform basic frequency domain and time-frequency domain analysis, and give basic measurement results such as sound pressure level, particle velocity level and sound intensity level.

[0069] The acoustic particle velocity sensor based on the hot-wire principle utilizes the response of the sound field to the temperature gradient created by the hot wire to directly obtain the particle velocity in the sound field. It can obtain the velocity components of sound particles under microstructural conditions, achieving particle velocity information in the sound field at the millimeter scale. This type of sensor is currently the only sensor capable of measuring acoustic particle velocity and exhibits wavelength-independent directivity. The acoustic particle velocity sensor consists of two thin platinum wires spaced approximately 100 micrometers apart, and its structure is as follows... Figure 6 As shown on the left. Figure 6 (Right) shows the temperature change of the hot wire before and after the acoustic disturbance. Extracting this change can yield the measured value of the acoustic particle velocity.

[0070] The four-channel acquisition unit is a data acquisition card for a sound source localization system. It is used to acquire three-dimensional sound vector measurement signals of the sound field and has four independent input channels.

[0071] The data acquisition card has the following characteristics:

[0072] (1) Multi-channel input: The four-channel acquisition card has four independent input channels, each of which can receive analog or digital signals from sensors, instruments or other devices.

[0073] (2) High sampling rate: It usually has a high sampling rate, which can quickly and accurately acquire signals and is suitable for application scenarios that require high-speed data acquisition.

[0074] (3) High precision: Provides high precision data acquisition, which can ensure the accuracy and reliability of the data.

[0075] (4) Input options: Supports analog input signals.

[0076] (5) Communication interface: It has a variety of interface options, such as Ethernet, to facilitate connection to a computer or other devices for data transmission and processing.

[0077] (6) Software support: Usually equipped with corresponding software or drivers to facilitate users to collect, analyze and process data.

[0078] (7) Multiple applications: Suitable for data acquisition needs in various fields, including laboratory research, engineering testing, and automation control.

[0079] The backend server obtains the current position, i.e., coordinates (XYZ coordinates of the current point), based on the GPS antenna. It uses the acoustic positioning detection unit 4 to detect the position of the ground target and calculate the coordinates (XY coordinates). The millimeter-wave radar detection unit 3 is used to correct the coordinates of the ground target (including comparing the calculated coordinates with the coordinates of the acoustic positioning detection unit; if the values ​​are within the error range, the average value is taken; if the values ​​exceed the error range, the UAV position is moved and the solution is obtained multiple times to find the optimal value). The millimeter-wave radar detection unit 3 can be used to detect the size of the ground target.

[0080] The above description is merely an embodiment of this utility model, and common knowledge regarding specific structures and characteristics is not described in detail here. It will be apparent to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A low-altitude, all-weather, unmanned aerial vehicle (UAV) ground target physical field detection system, characterized in that, include: The connecting frame (1) is connected to the drone (2); The millimeter-wave radar detection unit (3) is mounted on the connecting frame (1); Acoustic positioning detection unit (4) is installed on the connecting frame (1); The background server is connected to the millimeter-wave radar detection unit (3) and the acoustic positioning detection unit (4), respectively.

2. The low-altitude all-weather unmanned aerial vehicle (UAV) ground target physical field detection system according to claim 1, characterized in that: The connecting frame (1) includes an upper connecting plate (11) and a side connecting plate (12). The two side connecting plates (12) are symmetrically arranged on the upper connecting plate (11). The upper part of the upper connecting plate (11) is connected to the UAV (2). The millimeter-wave radar detection unit (3) is installed on the upper connecting plate (11), and the acoustic positioning detection unit (4) is installed on the side connecting plate (12).

3. The low-altitude all-weather UAV-borne ground target physical field detection system according to claim 2, characterized in that: The upper connecting plate (11) is provided with a mounting plate (13), and the millimeter-wave radar detection unit (3) is rotatably mounted on the mounting plate (13). A pitch adjustment motor (14) is provided on one side of the mounting plate (13), and the pitch adjustment motor (14) is connected to the millimeter-wave radar detection unit (3).

4. The low-altitude all-weather UAV-borne ground target physical field detection system according to claim 1, characterized in that: The acoustic positioning detection unit (4) includes a three-dimensional vector microphone.

5. The low-altitude all-weather unmanned aerial vehicle (UAV) ground target physics field detection system according to claim 4, characterized in that: The acoustic positioning detection unit (4) is installed via a shock-absorbing elastic bracket.

6. The low-altitude all-weather unmanned aerial vehicle (UAV) ground target physics field detection system according to claim 1, characterized in that: The millimeter-wave radar detection unit (3) includes a shielding cylinder (31) and a millimeter-wave radar transceiver module (32) installed on one side of the shielding cylinder (31).

7. The low-altitude all-weather unmanned aerial vehicle (UAV) ground target physics field detection system according to claim 6, characterized in that: The drone (2) includes a GPS antenna, which is used to acquire flight location data and send the flight location data to the backend server.

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