CN110267004B - Unmanned aerial vehicle surveys monitored control system - Google Patents
Unmanned aerial vehicle surveys monitored control system Download PDFInfo
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- CN110267004B CN110267004B CN201910535739.5A CN201910535739A CN110267004B CN 110267004 B CN110267004 B CN 110267004B CN 201910535739 A CN201910535739 A CN 201910535739A CN 110267004 B CN110267004 B CN 110267004B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention relates to a small unmanned aerial vehicle detection monitoring system, belongs to the technical field of unmanned aerial vehicle detection, and solves the problem that the existing detection monitoring device can realize detection monitoring and tracking on low-altitude and small unmanned aerial vehicles. The detection monitoring system comprises a panoramic staring unit, a photoelectric tracking unit and an image comprehensive processing electronic box, wherein the image comprehensive processing electronic box is connected with the panoramic staring unit and the photoelectric tracking unit in a wired or wireless mode; the panoramic staring unit is used for acquiring a panoramic image and transmitting the panoramic image to the image comprehensive processing electronic box; the image comprehensive processing electronic box is used for identifying and extracting a target image from the panoramic image and transmitting the target image to the photoelectric tracking unit; the photoelectric tracking unit can lock and track the target according to the target image extraction result. The detection monitoring system can detect, monitor and track the low-altitude and small unmanned aerial vehicles, and has high reliability of detection results and wide application prospect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection, in particular to a small unmanned aerial vehicle detection monitoring system.
Background
The panoramic image can enable people to conveniently obtain all-around information, and the information of the whole surrounding scene is obtained, so that communication is facilitated. In commercial applications, some of the panoramic image stitching techniques have been converted into practical products and services. Apple company has designed and created a panoramic image based on camera rotation as early as 1995, and uses the panoramic image in the Quick Time VR software of virtual reality and image stitching, so that a user can view the corresponding panoramic image on line through the Internet. In military terms, the american Northrop Grumman company has proposed a dairs (distributed Aperture IR Sensor systems) distributed infrared Sensor system in 1999, which can be used for platforms such as unmanned aircraft. The system provides 4 pi spherical coverage and omnidirectional sensing capability through six infrared sensors, and can work well even at night. With the development and progress of science and technology, a tracking and monitoring system adopting combined detection modes such as infrared, visible light and laser appears, more information of a detected target object is extracted in a complex environment by using combined detection and multiband modes, the dynamic state of the target object is judged more accurately, and the detection and tracking precision is integrally improved.
With the rapid development of the unmanned aerial vehicle technology, high-altitude, high-speed, stealth and long-endurance unmanned aerial vehicles, hypersonic unmanned combat aircrafts and micro unmanned aerial vehicles play more and more important roles in war, which form great challenges for the original national air defense system, and especially the small unmanned aerial vehicles rapidly developed in recent years form great threats to the space safety of the country and people.
The system that combines panoramic imaging and multiband detection device to survey control to unmanned aerial vehicle is few at present, and most adopt unilateral technique to survey unmanned aerial vehicle only, can't realize surveying control and tracking low latitude, unmanned aerial vehicle.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide a detection monitoring system for a small unmanned aerial vehicle, so as to solve the problem that the existing detection monitoring device can detect, monitor and track a low altitude small unmanned aerial vehicle.
The purpose of the invention is mainly realized by the following technical scheme:
a small unmanned aerial vehicle detection monitoring system comprises a panoramic staring unit, a photoelectric tracking unit and an image comprehensive processing electronic box, wherein the image comprehensive processing electronic box is connected with the panoramic staring unit and the photoelectric tracking unit in a wired or wireless mode; the panoramic staring unit is used for acquiring a panoramic image and transmitting the panoramic image to the image comprehensive processing electronic box; the image comprehensive processing electronic box is used for identifying and extracting a target image from the panoramic image and transmitting the target image to the photoelectric tracking unit; the photoelectric tracking unit can lock and track the target according to the target image extraction result.
Further, the panoramic staring unit comprises a panoramic staring device, and a plurality of image acquisition devices are uniformly arranged on the peripheral wall of the panoramic staring device.
Further, the image acquisition device is an array camera, and the number of the array cameras is 9-13.
Furthermore, the top of the panoramic gaze fixation device is provided with an installation interface for installing the photoelectric tracking unit, and the photoelectric tracking unit is fixedly connected with the panoramic gaze fixation device through the installation interface.
Furthermore, each array camera is provided with an independent computer board, each computer board can independently complete target monitoring processing calculation, and monitoring results are transmitted to the image comprehensive processing electronic box respectively.
Furthermore, the photoelectric tracking unit comprises a tracking assembly and a fixed support, wherein the tracking assembly comprises a visible light detector, a high-resolution infrared detector and a laser range finder; the fixed bolster is U-shaped structure, and the tracking subassembly can be in the U-shaped space rotation of fixed bolster.
Furthermore, a pitching control motor capable of enabling the tracking assembly to freely rotate for 180 degrees in the vertical direction is arranged at the upper part of the fixed support; the lower end of the fixed bracket can enable the fixed bracket to rotate freely in 360 degrees horizontally.
Further, the panoramic staring device is fixed on the leveling bracket through the adapter plate.
Further, the leveling bracket is provided with a horizontal bubble instrument.
Further, the array camera is a high-resolution high-frame-rate visible light camera.
Compared with the prior art, the invention has at least one of the following beneficial effects:
a) according to the small unmanned aerial vehicle detection monitoring system, the panoramic staring unit, the photoelectric tracking unit, the image comprehensive processing electronic box and the panoramic imaging technology, the multiband detection technology and the laser ranging technology of the camera array are integrated, so that the small unmanned aerial vehicle and other low-altitude slow-speed small targets can be prevented and controlled in a close range in visible light and infrared bands, a detection blind area is avoided, and the working reliability is high.
b) According to the small unmanned aerial vehicle detection monitoring system provided by the invention, independent computer boards are arranged in each array camera arranged in the panoramic staring unit, the target monitoring processing calculation can be independently completed, the monitoring result is transmitted to the image comprehensive processing electronic box, the image comprehensive processing electronic box performs centralized processing, the monitoring process with large operand is dispersed into a plurality of computer boards, the image comprehensive processing electronic box only processes the monitoring result, the load of the image comprehensive processing electronic box is reduced, and the structure of the dispersed monitoring centralized processing enables various existing monitoring algorithms to be directly applied, and the application range of the panoramic staring unit is enlarged.
c) The small unmanned aerial vehicle detection monitoring system provided by the invention can be used as an 'electronic eye' of other target intercepting devices to guide the target intercepting devices to carry out target striking and intercepting operations, has wide application prospect, and especially has important significance for guaranteeing the space safety of the country and people.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic structural diagram of a detection monitoring system of a small unmanned aerial vehicle in an embodiment;
FIG. 2 is a schematic structural diagram of a panoramic gaze fixation unit in an embodiment;
FIG. 3 is a view field splicing coverage diagram of the panoramic gaze fixation unit in the embodiment;
FIG. 4 is a schematic structural diagram of an all-optical tracking unit in an embodiment;
reference numerals:
1-a panoramic gaze fixation unit; 2-a photoelectric tracking unit; 3, an image comprehensive processing electronic box; 4-a panoramic gaze fixation device; 5-a patch panel; 6-leveling the support; 7-an array camera; 8-lens; 9-field of view overlap region; 10-visible light detector camera; 11-a high-resolution infrared detector; 12-a laser emission port; 13-a laser receive port; 14-a pitch control motor; 15-azimuth control motor.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention discloses a small unmanned aerial vehicle detection monitoring system, which comprises a panoramic staring unit 1, a photoelectric tracking unit 2 and an image comprehensive processing electronic box 3, wherein the image comprehensive processing electronic box 3 is connected with the panoramic staring unit 1 and the photoelectric tracking unit 2 in a wired or wireless mode, as shown in figure 1. The panoramic gaze fixation unit 1 is used for acquiring a panoramic image and transmitting the panoramic image to the image comprehensive processing electronic box 3, the image comprehensive processing electronic box 3 can perform target detection processing on panoramic image information, extract a target image from the panoramic image and send a target image extraction result to the photoelectric tracking unit 2, and the photoelectric tracking unit 2 locks a target according to the target image extraction result and tracks the target.
As shown in fig. 2, the panoramic gaze fixation unit 1 includes a panoramic gaze fixation device 4 and a leveling bracket 6, the top of the panoramic gaze fixation device 4 is provided with an installation interface for installing the photoelectric tracking unit 2, and the photoelectric tracking unit 2 is fixed on the panoramic gaze fixation device 4 through the installation interface. The panoramic staring device 4 is fixed on the leveling support 6 through the adapter plate 5, the peripheral wall of the panoramic staring device 4 is uniformly provided with a plurality of image acquisition devices, preferably, the image acquisition devices are array cameras 7, the array cameras are provided with lenses 8, and preferably, the number of the array cameras 7 is 9-13. Illustratively, the array camera 7 is a high-resolution high-frame-rate visible light camera, illustratively, the panoramic gaze fixation unit is composed of 11 high-resolution high-frame-rate visible light cameras, the 11 visible light cameras are uniformly arranged on the peripheral wall of the panoramic gaze fixation device 4, the viewing fields of the 11 visible light cameras are reasonably arranged and corrected, and are spliced to cover a space area in a horizontal 360-degree range, and each two adjacent cameras have a partial viewing field overlapping area 9, as shown in fig. 3, the panoramic gaze fixation unit 1 with the structure can detect and monitor a target small unmanned aerial vehicle in a detection range, has no monitoring blind area, has high working reliability, and cannot be realized by the existing detection device.
In order to improve the processing speed of a target image, an independent computer board is arranged inside each array camera 7, each computer board can independently complete target monitoring processing calculation, namely, the acquired image information can be independently processed, monitoring results are respectively transmitted to the image comprehensive processing electronic box 3, the image comprehensive processing electronic box 3 performs centralized processing, through the processing structure, the monitoring process with large calculation amount is dispersed into multiple computer boards, the image comprehensive processing electronic box 3 only processes the monitoring results, and the load of the image comprehensive processing electronic box 3 is reduced. Meanwhile, the structure of the scattered monitoring centralized processing enables the existing various monitoring algorithms to be directly applied, and the application range of the panoramic staring unit 1 is enlarged.
As shown in fig. 4, the photoelectric tracking unit includes a tracking component and a fixed support, wherein the tracking component includes a visible light detector 10, a high-resolution infrared detector 11, a laser range finder, a laser emitting port 12 and a laser receiving port 13, laser emitted by the laser range finder is emitted through the laser emitting port 12, and laser echo is recovered through the laser receiving port 13, so that the distance measurement of the target unmanned aerial vehicle is realized; the whole fixed support is of a U-shaped structure, the tracking assembly can rotate in the U-shaped space of the fixed support, the lower end of the fixed support is connected with an output shaft of the direction control motor 15, and the direction control motor 15 controls the fixed support to rotate freely in 360 degrees horizontally; the U-shaped opening part of the upper portion of the fixed support is provided with a pitching control motor 14, an output shaft of the pitching control motor 14 is perpendicular to the side wall of the U-shaped fixed support and is fixedly connected with the tracking assembly, and the tracking assembly can freely rotate for 180 degrees in the vertical direction through the pitching control motor 14. Therefore, the photoelectric tracking unit 2 with the structure can adjust the pitch angle and freely rotate through the pitch control motor 14 and the azimuth control motor 15, identify, monitor and track the target of the small unmanned aerial vehicle in the visible and infrared wave band range, complete the alarm, monitoring and target identification in the horizontal 360-degree area, and is flexible and convenient to operate.
In this embodiment, the image integrated processing electronic box 3 is used for placing circuit boards and electrical components such as data acquisition, image processing, target detection, data communication, secondary power supply, and the like. The system is connected with a detection monitoring system through a connector and a cable, and data processing work such as image splicing, image accurate tracking, target form detection, distance measurement and the like is completed. The image comprehensive processing electronic box 3 can design a video output interface according to needs, and output the image processing result to a designated display terminal for an operator to observe.
In this embodiment the levelling support 6 is provided with a horizontal bubble gauge, preferably the levelling support 6 is a tripod, which is adjusted in use, the panoramic gaze unit 1 being level when the bubble of the horizontal bubble gauge is in a central equilibrium position.
In this embodiment, the monitoring system is provided with a controller and a power supply, the power supply supplies power to the detection monitoring system, the controller is used for controlling the rotating speed and the rotating direction of the pitching control motor 14 and the orientation control motor 15, the rotating speed and the rotating direction of the pitching control motor 14 and the orientation control motor 15 can be preset, and the automation of the detection monitoring system is improved.
In this embodiment, the image comprehensive processing electronic box 3 is connected to the panoramic gaze fixation unit 1, the photoelectric tracking unit 2, and the display terminal, and the connection mode may be a wired connection mode or a wireless connection mode.
When the system is implemented, the monitoring system is powered on, the panoramic gaze fixation unit 1 carries out monitoring and early warning on low-altitude slow-speed small targets such as small unmanned aerial vehicles entering a detection range, panoramic images collected by the panoramic gaze fixation unit 2 are sent to the comprehensive processing electronic box 3 in real time to be subjected to image processing, and image information is output to the matched display terminal in real time. When a target enters a monitoring field of view, the image comprehensive processing electronic box 3 performs target detection processing on panoramic image information, extracts the target from the panoramic image, sends a target extraction result to the photoelectric tracking unit 2, the photoelectric tracking unit 2 locks the target according to the target extraction result and tracks the target, after the target is locked, a laser range finder inside the photoelectric tracking unit 2 performs real-time range finding on the target, the laser is sent out through the laser emission port 12, and laser echoes are recovered through the laser receiving port 13 to obtain target distance information. The whole process of target monitoring, target detection and target tracking is displayed in real time on a display terminal for an operator to observe.
Compared with the prior art, the small unmanned aerial vehicle detection monitoring system provided by the embodiment is provided with the panoramic staring unit 1, the photoelectric tracking unit 2 and the image comprehensive processing electronic box 3, integrates the panoramic imaging technology, the multiband detection technology and the laser ranging technology of the camera array, can perform short-distance prevention and control on low-altitude slow-speed small targets such as small unmanned aerial vehicles in visible light and infrared wave bands, can also be used as 'electronic eyes' of other target intercepting devices, and guides the target intercepting devices to perform target striking and intercepting operations. Each array camera 7 arranged in the panoramic staring unit 1 is internally provided with an independent computer board which can independently complete target monitoring processing calculation, a monitoring result is transmitted to the image comprehensive processing electronic box 3, the image comprehensive processing electronic box 3 performs centralized processing, the monitoring process with large calculation amount is dispersed into a plurality of computer boards, the image comprehensive processing electronic box 3 only processes the monitoring result, the load of the image comprehensive processing electronic box 3 is reduced, and the structure of the distributed monitoring centralized processing enables the existing various monitoring algorithms to be directly applied, and the application range of the panoramic staring unit 1 is enlarged. In conclusion, the detection monitoring system has wide application prospect, and especially has important significance for guaranteeing the space safety of the country and people.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. A small unmanned aerial vehicle detection monitoring system is characterized by comprising a panoramic staring unit (1), a photoelectric tracking unit (2) and an image comprehensive processing electronic box (3), wherein the image comprehensive processing electronic box (3) is connected with the panoramic staring unit (1) and the photoelectric tracking unit (2) in a wired or wireless mode;
the panoramic staring unit (1) is used for acquiring a panoramic image and transmitting the panoramic image to the image comprehensive processing electronic box (3);
the image comprehensive processing electronic box (3) is used for identifying and extracting a target image from the panoramic image and transmitting the target image to the photoelectric tracking unit (2);
the photoelectric tracking unit (2) can lock and track a target according to a target image extraction result;
the photoelectric tracking unit (2) comprises a tracking assembly and a fixed support, wherein the tracking assembly comprises a visible light detection camera (10), a high-resolution infrared detection camera (11) and a laser range finder;
the fixed bracket is of a U-shaped structure, and the tracking assembly can rotate in the U-shaped space of the fixed bracket;
the lower end of the fixed bracket is connected with an output shaft of an azimuth control motor (15); a pitching control motor (14) is arranged at the U-shaped opening at the upper part of the fixed support, and an output shaft of the pitching control motor (14) is vertical to the side wall of the U-shaped fixed support and is fixedly connected with the tracking assembly;
a pitching control motor (14) which can enable the tracking assembly to freely rotate for 180 degrees in the vertical direction is arranged at the upper part of the fixed support;
the lower end of the fixed bracket is provided with an azimuth control motor (15) which can enable the fixed bracket to freely rotate 360 degrees horizontally;
the panoramic staring unit (1) comprises a panoramic staring device (4), and a plurality of image acquisition devices are uniformly arranged on the peripheral wall of the panoramic staring device (4); the image acquisition device is an array camera (7), each array camera (7) is provided with an independent computer board (5), each computer board (5) can independently complete target monitoring processing calculation, and monitoring results are respectively transmitted to the image comprehensive processing electronic box (3);
the array camera (7) is a high-resolution high-frame-rate visible light camera, and the visual field of the visible light camera is spliced to cover a space area in a horizontal 360-degree range.
2. A drone detecting and monitoring system according to claim 1, characterised in that the number of array cameras (7) is 9-13.
3. The unmanned aerial vehicle detection and monitoring system of claim 1, wherein the top of the panoramic gaze fixation device (4) is provided with a mounting interface for mounting the photoelectric tracking unit (2), and the photoelectric tracking unit (2) is fixedly connected with the panoramic gaze fixation device (4) through the mounting interface.
4. The unmanned aerial vehicle detection and monitoring system of claim 1, wherein the panoramic gaze fixation device (4) is fixed on the leveling bracket (6) by an adapter plate (5).
5. A drone detecting and monitoring system according to claim 4, characterised in that the levelling support (6) is provided with a level bubble gauge.
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| CN111197947B (en) * | 2019-12-25 | 2022-05-27 | 中国航空工业集团公司北京航空精密机械研究所 | Photoelectric tracking equipment for laser decoy |
| CN111948955B (en) * | 2020-08-09 | 2022-12-09 | 哈尔滨新光光电科技股份有限公司 | Photoelectric distributed aperture system test method and simulation test system |
| CN114518582A (en) * | 2020-11-18 | 2022-05-20 | 北京机械设备研究所 | Target detection device and method based on panoramic detection and photoelectric tracking |
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| CN108535716A (en) * | 2018-03-23 | 2018-09-14 | 中国科学院长春光学精密机械与物理研究所 | Optics early warning to low slow Small object and Laser interferometers system and method |
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