技术领域technical field
本发明涉及安全防控处理技术，具体涉及一种警企联动空地一体化指挥平台。The invention relates to security prevention and control processing technology, in particular to a police-enterprise linkage air-ground integrated command platform.
背景技术Background technique
近年来，随着国际国内安全形势的不断变化，面对日益严峻的国家能源安全、公共安全和生态安全形势，现有安防监控系统缺少对广域地面及低空飞行器，预警、定位、识别、跟踪方面技术的实现，不能对事件、事故、案件进行快速有效处置，使得油气田风险防控和城市公共安全管控能力较低。In recent years, as the international and domestic security situation continues to change, facing the increasingly severe national energy security, public security and ecological security situation, the existing security monitoring system lacks early warning, positioning, identification and tracking of wide-area ground and low-altitude aircraft. The realization of technology in this aspect cannot quickly and effectively deal with incidents, accidents, and cases, making the oil and gas field risk prevention and control and urban public safety management and control capabilities relatively low.
发明内容Contents of the invention
在下文中给出了关于本发明的简要概述，以便提供关于本发明的某些方面的基本理解。应当理解，这个概述并不是关于本发明的穷举性概述。它并不是意图确定本发明的关键或重要部分，也不是意图限定本发明的范围。其目的仅仅是以简化的形式给出某些概念，以此作为稍后论述的更详细描述的前序。A brief overview of the invention is given below in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical parts of the invention nor to delineate the scope of the invention. Its purpose is merely to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
鉴于此，本发明提供了一种警企联动空地一体化指挥平台，以至少解决现有安防监控系统缺少对广域地面及低空飞行器在预警、定位、识别、跟踪方面技术的实现而导致对油气田风险防控和城市公共安全管控能力较低的问题。In view of this, the present invention provides a police-enterprise linkage air-ground integrated command platform to at least solve the problem of oil and gas fields caused by the lack of technical realization of wide-area ground and low-altitude aircraft in early warning, positioning, identification, and tracking in existing security monitoring systems. The problem of low risk prevention and control and urban public safety management and control capabilities.
根据本发明的一个方面，提供了一种警企联动空地一体化指挥平台，所述警企联动空地一体化指挥平台包括广域、油田红外全景成像雷达侦察指挥控制系统、地面机动雷达侦察车系统和无人机空地防控系统；所述广域、油田红外全景成像雷达侦察指挥控制系统包括设于监控场所预定区域的一个或多个监控塔以及设于监控室内的监控中心单元，其中，每个监控塔包括第一红外周扫成像单元、第一运动目标检测单元、远程局部图像/视频采集单元和发送单元；所述第一红外周扫成像单元用于按照第一预定频率、以第一预设搜索半径对所述杆塔周围进行360°扫描，以获得对应的红外全景图像；所述第一运动目标检测单元用于在所述第一红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；所述远程局部图像/视频采集单元用于根据所述运动目标检测单元检测到的运动目标的方位信息，以该方位信息确定采集方向以采集对应的图像/视频数据；所述发送单元用于通过有线或无线方式将所述远程局部监控单元采集到的图像/视频数据发送至监控中心单元；所述地面机动雷达侦察车系统包括一个或多个地面侦察车辆，每个地面侦察车辆包括一个全地形警用越野车辆底盘，该底盘承载有可升降的红外全景成像预警雷达、昼夜光电视频监控设备、无线通信传输及控制单元设备；所述红外全景成像预警雷达包括第二红外周扫成像单元和第二运动目标检测单元；所述第二红外周扫成像单元用于按照第二预定频率、以第二预设搜索半径对所述地面侦察车辆周围进行360°扫描，以获得对应的红外全景图像；所述第二运动目标检测单元用于在所述第二红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；所述昼夜光电视频监控设备用于昼夜实时采集该地面侦察车辆作战地点的地面环境图像/视频数据，并通过所述地面无线通信传输及控制单元将采集到的地面环境图像/视频数据发送给所述监控中心单元；所述无人机空地防控系统包括一个或多个无人机，每个无人机上设有空基图像/视频采集设备以及空基传输及控制单元，所述空基图像/视频采集设备用于实时采集该无人机预定范围内的空基图像/视频数据，并通过所述空基传输及控制单元将采集到的空基环境图像/视频数据发送给所述监控中心单元。According to one aspect of the present invention, a police-enterprise linkage air-ground integrated command platform is provided. The police-enterprise linkage air-ground integrated command platform includes a wide-area, oilfield infrared panoramic imaging radar reconnaissance command and control system, and a ground mobile radar reconnaissance vehicle system. and UAV air-to-ground prevention and control system; the wide-area, oilfield infrared panoramic imaging radar reconnaissance command and control system includes one or more monitoring towers located in the predetermined area of the monitoring site and a monitoring center unit located in the monitoring room, wherein each A monitoring tower includes a first infrared scan imaging unit, a first moving target detection unit, a remote partial image/video acquisition unit and a sending unit; The preset search radius scans 360° around the tower to obtain a corresponding infrared panoramic image; the first moving object detection unit is used to obtain a corresponding infrared panoramic image in each scan of the first infrared scan imaging unit Finally, use the last infrared panoramic image of the infrared panoramic image to judge whether there is a moving target in the infrared panoramic image, and determine the orientation information of the moving target if there is a moving target in the infrared panoramic image; the remote local The image/video acquisition unit is used to determine the acquisition direction based on the orientation information of the moving object detected by the moving object detection unit to acquire the corresponding image/video data; Send the image/video data collected by the remote local monitoring unit to the monitoring center unit; the ground mobile radar reconnaissance vehicle system includes one or more ground reconnaissance vehicles, and each ground reconnaissance vehicle includes an all-terrain police off-road vehicle Chassis, the chassis carries a liftable infrared panoramic imaging early warning radar, day and night photoelectric video monitoring equipment, wireless communication transmission and control unit equipment; the infrared panoramic imaging early warning radar includes a second infrared scan imaging unit and a second moving target detection unit; the second infrared scan imaging unit is used to perform a 360° scan around the ground reconnaissance vehicle with a second preset search radius according to a second predetermined frequency to obtain a corresponding infrared panoramic image; the second The moving target detection unit is used to determine whether there is a moving target in the infrared panoramic image by using the last infrared panoramic image of the infrared panoramic image after each scan of the second infrared scanning imaging unit to obtain the corresponding infrared panoramic image, and If there is a moving target in the infrared panoramic image, determine the orientation information of the moving target; the day and night photoelectric video monitoring equipment is used to collect the ground environment image/video data of the combat site of the ground reconnaissance vehicle in real time day and night, and pass the The ground wireless communication transmission and control unit sends the collected ground environment image/video data to the monitoring center unit; the UAV air-ground prevention and control system includes one or more UAVs, and each UAV is equipped with Space-based image/video acquisition equipment and space-based transmission and control unit, the space-based image/video acquisition equipment is used for real-time acquisition of space-based image/video data within the predetermined range of the drone, and through the space-based transmission and the control unit sends the collected space-based environmental image/video data to the monitoring center unit.
进一步地，所述地面机动雷达侦察车系统作为机动侦察基站单元，用于单车或多车组网协同作战。Further, the ground mobile radar reconnaissance vehicle system is used as a mobile reconnaissance base station unit for single-vehicle or multi-vehicle network cooperative operations.
进一步地，所述地面机动雷达侦察车系统中的每个地面侦察车辆设有第一定位模块和第一无线收发模块，其中，所述第一定位模块用于获取对应地面侦察车辆的当前位置，以通过所述第一无线收发模块实时地将该地面侦察车辆的当前位置发送给所述监控中心单元；所述无人机空地防控系统中的每个无人机设有第二定位模块和第二无线收发模块，其中，所述第二定位模块用于获取对应无人机的当前位置，以通过所述第二无线收发模块实时地将该无人机的当前位置发送给所述监控中心单元；所述监控中心单元设有交互接口模块和侦察工具筛选模块；所述交互接口模块用于接收来自外界的侦察指令；所述侦察工具筛选模块用于在所述交互接口模块接收到所述侦察指令后，根据所述一个或多个地面侦察车辆和/或所述一个或多个无人机的当前位置，在所述一个或多个地面侦察车辆和/或所述一个或多个无人机之中，选择至少一个地面侦察车辆和/或至少一个无人机，并向该至少一个地面侦察车辆和/或至少一个无人机发送警报信息，其中，所述警报信息包含所述运动目标的方位信息。Further, each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system is provided with a first positioning module and a first wireless transceiver module, wherein the first positioning module is used to obtain the current position of the corresponding ground reconnaissance vehicle, To send the current position of the ground reconnaissance vehicle to the monitoring center unit in real time through the first wireless transceiver module; each UAV in the UAV air-to-ground prevention and control system is provided with a second positioning module and The second wireless transceiver module, wherein the second positioning module is used to obtain the current location of the corresponding drone, so as to send the current location of the drone to the monitoring center in real time through the second wireless transceiver module unit; the monitoring center unit is provided with an interactive interface module and a reconnaissance tool screening module; the interactive interface module is used to receive reconnaissance instructions from the outside world; the reconnaissance tool screening module is used to receive the After the reconnaissance command, according to the current position of the one or more ground reconnaissance vehicles and/or the one or more unmanned aerial vehicles, the one or more ground reconnaissance vehicles and/or the one or more Among man-machines, at least one ground reconnaissance vehicle and/or at least one unmanned aerial vehicle are selected, and an alert message is sent to the at least one ground reconnaissance vehicle and/or at least one unmanned aerial vehicle, wherein the alert information includes the motion location information of the target.
进一步地，每个地面侦察车辆还设有第一导航模块，每个无人机还设有第二导航模块；在接收到所述警报信息的至少一个地面侦察车辆中，每个地面侦察车辆的第一导航模块用于以所述运动目标的方位信息为目的地进行导航；在接收到所述警报信息的至少一个无人机中，每个无人机的第二导航模块用于以所述运动目标的方位信息为目的地进行导航。Further, each ground reconnaissance vehicle is also provided with a first navigation module, and each unmanned aerial vehicle is also provided with a second navigation module; in at least one ground reconnaissance vehicle receiving the warning information, each ground reconnaissance vehicle's The first navigation module is used to navigate with the orientation information of the moving target; in at least one unmanned aerial vehicle that receives the warning information, the second navigation module of each unmanned aerial vehicle is used to use the described The orientation information of the moving target is used for the navigation of the destination.
进一步地，所述警报信息还包括所述监控中心单元从所述远程局部监控单元接收到的图像/视频数据。Further, the alarm information also includes image/video data received by the monitoring central unit from the remote local monitoring unit.
进一步地，所述地面机动雷达侦察车系统中的每个地面侦察车辆还设有第一语音通讯模块，所述无人机空地防控系统中的每个无人机还设有第二语音通讯模块，所述监控中心单元还设有第三语音通讯模块；所述地面机动雷达侦察车系统中的各地面侦察车辆的第一语音通讯模块、所述无人机空地防控系统中的各无人机的第二语音通讯模块以及所述监控中心单元的第三语音通讯模块之间能够进行语音通讯。Further, each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system is also provided with a first voice communication module, and each UAV in the UAV air-ground prevention and control system is also provided with a second voice communication module module, and the monitoring center unit is also provided with a third voice communication module; the first voice communication module of each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system, and each wireless communication module in the air-ground prevention and control system of the unmanned aerial vehicle Voice communication can be performed between the second voice communication module of the man-machine and the third voice communication module of the monitoring center unit.
进一步地，所述预定频率为每1或2秒完成一次所述360°扫描；和/或所述远程局部监控单元采集到的图像/视频数据为高清图像/视频。Further, the predetermined frequency is to complete the 360° scan every 1 or 2 seconds; and/or the image/video data collected by the remote local monitoring unit is a high-definition image/video.
进一步地，所述监控中心单元还包括存储模块，其用于存储所述监控中心单元从所述监控塔接收到的图像/视频数据以及从所述地面机动雷达侦察车系统和所述无人机空地防控系统分别接收到的地面环境图像/视频数据和空基环境图像/视频数据。Further, the monitoring center unit also includes a storage module, which is used to store the image/video data received by the monitoring center unit from the monitoring tower and data from the ground mobile radar reconnaissance vehicle system and the UAV. Ground environmental image/video data and space-based environmental image/video data respectively received by the air-ground prevention and control system.
进一步地，所述监控中心单元还设有报警模块，所述报警模块用于在检测到运动目标的情况下输出音频报警信号和/或图像报警信号。Further, the monitoring center unit is also provided with an alarm module, which is used to output an audio alarm signal and/or an image alarm signal when a moving target is detected.
如上所述的警企联动空地一体化指挥平台，其通过第一红外周扫成像单元按照第一预定频率、以第一预设搜索半径对所述杆塔周围进行360°扫描，以获得对应的红外全景图像；通过第一运动目标检测单元在所述第一红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；通过远程局部图像/视频采集单元根据所述运动目标检测单元检测到的运动目标的方位信息，以该方位信息确定采集方向以采集对应的图像/视频数据；通过发送单元以有线或无线方式将所述远程局部监控单元采集到的图像/视频数据发送至监控中心单元；通过第二红外周扫成像单元按照第二预定频率、以第二预设搜索半径对所述地面侦察车辆周围进行360°扫描，以获得对应的红外全景图像；通过第二运动目标检测单元在所述第二红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；通过昼夜光电视频监控设备进行昼夜实时采集该地面侦察车辆作战地点的地面环境图像/视频数据，并通过所述地面无线通信传输及控制单元将采集到的地面环境图像/视频数据发送给所述监控中心单元；通过空基图像/视频采集设备实时采集该无人机预定范围内的空基图像/视频数据，并通过所述空基传输及控制单元将采集到的空基环境图像/视频数据发送给所述监控中心单元。The above-mentioned police-enterprise linkage air-ground integrated command platform uses the first infrared scanning imaging unit to perform 360° scanning around the tower according to the first predetermined frequency and the first preset search radius, so as to obtain the corresponding infrared Panoramic image: After the first moving object detection unit obtains the corresponding infrared panorama image in each scan of the first infrared panorama imaging unit, use the last infrared panorama image of the infrared panorama image to judge whether there is moving target, and determine the orientation information of the moving target in the case of a moving target in the infrared panoramic image; through the remote partial image/video acquisition unit according to the orientation information of the moving target detected by the moving target detection unit, with the The orientation information determines the collection direction to collect the corresponding image/video data; the image/video data collected by the remote local monitoring unit is sent to the monitoring center unit through the sending unit in a wired or wireless manner; Carry out 360° scanning around the ground reconnaissance vehicle with a second preset search radius according to a second predetermined frequency to obtain a corresponding infrared panoramic image; scan the second infrared imaging unit through a second moving target detection unit After obtaining the corresponding infrared panoramic image for each scan, use the last infrared panoramic image of the infrared panoramic image to judge whether there is a moving target in the infrared panoramic image, and determine the moving target if there is a moving target in the infrared panoramic image The location information of the ground environment image/video data of the combat site of the ground reconnaissance vehicle is collected in real time day and night by day and night photoelectric video monitoring equipment, and the collected ground environment image/video data is sent through the ground wireless communication transmission and control unit To the monitoring center unit; collect the space-based image/video data within the predetermined range of the drone in real time through the space-based image/video acquisition equipment, and pass the collected space-based environmental image through the space-based transmission and control unit /Video data is sent to the monitoring center unit.
本发明的警企联动空地一体化指挥平台，结合反恐防暴、治安防控的现实需求，以升级技防为手段，在原有防控技术基础上，以广域、油田红外全景成像雷达侦察指挥控制系统、无人机空地防控系统以及地面机动雷达侦察车系统为核心的警企联动空地一体化指挥平台，填补了现有安防监控系统，对广域地面及低空飞行器，预警、定位、识别、跟踪的空白，实现对事件、事故、案件的快速有效处置，提高油气田风险防控和城市公共安全管控能力。本发明可用于石油石化行业以及城市治安重点单位治安防控、反恐重点目标单位的恐怖防范、公安机关无人机管制等领域，具有实用性、先进性和推广复制性。The police-enterprise linkage air-ground integrated command platform of the present invention combines the actual needs of anti-terrorism, anti-riot, public security prevention and control, uses upgrading technology defense as a means, and uses wide-area and oilfield infrared panoramic imaging radar for reconnaissance command and control on the basis of the original prevention and control technology system, UAV air-ground prevention and control system, and ground mobile radar reconnaissance vehicle system as the core of the police-enterprise linkage air-ground integrated command platform, which fills the existing security monitoring system. For wide-area ground and low-altitude aircraft, early warning, positioning, identification, Track gaps, realize rapid and effective handling of incidents, accidents, and cases, and improve oil and gas field risk prevention and control and urban public safety management and control capabilities. The present invention can be used in fields such as petroleum and petrochemical industry, public security prevention and control of key urban public security units, terrorism prevention of key anti-terrorist target units, drone control of public security organs, etc., and has practicability, advancement and promotion and replication.
警企联动空地一体化指挥平台包括广域、油田红外全景成像雷达侦察指挥控制系统、地面机动雷达侦察车系统和无人机空地防控系统，中枢系统为广域、油田红外全景成像雷达侦察指挥控制系统，通过硬件和软件将以上三个系统集成起来，使用TCP/IP网络协议，对其进行控制和联动指挥，实现人机有效结合，真正做到现场部署方案，快速调动警力，严厉打击威胁分子、协同无人机进行抓捕与反制。The police-enterprise linkage air-ground integrated command platform includes wide-area and oilfield infrared panoramic imaging radar reconnaissance command and control system, ground mobile radar reconnaissance vehicle system and UAV air-ground prevention and control system. The central system is wide-area and oilfield infrared panoramic imaging radar reconnaissance command The control system integrates the above three systems through hardware and software, uses the TCP/IP network protocol to control and link them, realizes the effective combination of man and machine, truly implements on-site deployment solutions, quickly mobilizes police forces, and severely cracks down on threats Molecules and coordinated drones are used to capture and countermeasures.
警企联动空地一体化指挥平台，有效地解决了石油石化企业的安防难题，探索出一条既适合和平时期企业内部治安防控，又能防范恐怖暴力袭击，又适应应急状态下的暴力恐怖袭击和突发安全事件的战时需求，具有以下优点：The police-enterprise linkage air-ground integrated command platform effectively solves the security problems of petroleum and petrochemical enterprises, and explores a method that is suitable for the internal security prevention and control of enterprises in peacetime, prevents terrorist violence, and adapts to violent terrorist attacks and emergency situations in emergencies. The wartime requirements of emergency security incidents have the following advantages:
1、预警系统功能。通过雷达侦测、视频监控、GPS追踪报警器等器材和设备，收集目标信息，实现违法侵害时的实时预警。1. Early warning system function. Through radar detection, video surveillance, GPS tracking alarm and other equipment and equipment, target information is collected to realize real-time early warning of illegal infringement.
2、中枢系统功能。信息收集、情报研判、调度指挥。2. Central system function. Information collection, intelligence research and judgment, dispatching and commanding.
3、移动侦察指挥系统功能，即通过地面机动雷达侦察车系统实现移动目标(即运动目标)的跟踪侦察，收集目标的实时信息3. The function of the mobile reconnaissance command system, that is, to realize the tracking and reconnaissance of moving targets (that is, moving targets) through the ground mobile radar reconnaissance vehicle system, and collect real-time information of the targets
4、集群通讯系统功能。运用局域网内的通讯系统，实现点到点的信息交流，可视化、扁平化指挥。4. Function of cluster communication system. Use the communication system in the local area network to realize point-to-point information exchange, visualized and flattened command.
5、应急处置系统功能。由公安机关的人民警察、企业内部治安保卫人员等组成的应急处置力量，按照指挥中心的指令，第一时间到达现场，实施对非法行为的制止和油田物资的控制。5. Emergency response system function. The emergency response force composed of the people's police of the public security organ and the internal security guards of the enterprise, etc., arrived at the scene as soon as possible according to the instructions of the command center, and implemented the stop of illegal activities and the control of oilfield materials.
6、敌方无人机反制功能。非法入侵石油石化厂区、低空等重点目标、重要区域、重大活动防控区域无人机侵入，通过平台引导我方无人机对其进行反制或采用其他手段直接击毁，保证涉恐渉爆方面的低空管控主动权。6. Countermeasure function of enemy drones. Illegal intrusion into petroleum and petrochemical plants, low-altitude and other key targets, important areas, and major event prevention and control areas UAV intrusion, through the platform to guide our UAV to countermeasures or use other means to directly destroy it, to ensure that terrorism-related explosions low-altitude control initiative.
此外，本发明的警企联动空地一体化指挥平台具有如下优点：1)广域范围监控搜索发现。通过红外成像雷达快速大范围扫描，可准确及时的发现非法侵入监控区域的人、车辆等移动目标。且能灵活设置时间和报警围栏等智能化参数，区分出合法和非法侵入行为。2)远程高清晰识别目标。红外成像雷达可昼夜精确引导远程光电视频监控，实现对警情和目标进行高清晰成像识别(如在广域、油田红外全景成像雷达侦察指挥控制系统中，第一红外周扫成像单元通过第一运动目标检测单元引导远程局部图像/视频采集单元进行局部高清成像；以及在地面机动雷达侦察车系统中，红外全景成像预警雷达引导昼夜光电视频监控设备进行局部高清成像)，可海量采集、记录和回放视频取证数据。3)警情处置通信指挥功能。可配置车辆及单兵野外自组网通信设备，具备北斗/GPS卫星定位、话音、照片、图像传输等通信能力，可在中心实时指挥外场警员执法行动。4)生产管理智能巡检。系统可兼顾日常生产作业管理，监督和防范违规作业，提高安全生产管理能力。5)多级联网大型监控系统信息共享。系统支持多级跨区域的信息传输，可满足大型多级管理执法组织的信息共享需求。In addition, the police-enterprise linkage air-ground integrated command platform of the present invention has the following advantages: 1) wide-area monitoring, search and discovery. Through rapid and large-scale scanning of infrared imaging radar, moving targets such as people and vehicles illegally intruding into the monitoring area can be accurately and timely found. And it can flexibly set intelligent parameters such as time and alarm fence to distinguish legal and illegal intrusions. 2) Long-range high-definition target recognition. Infrared imaging radar can accurately guide long-distance photoelectric video surveillance day and night, and realize high-definition imaging recognition of police situations and targets (for example, in wide-area and oil field infrared panoramic imaging radar reconnaissance command and control systems, the first infrared scan imaging unit passes the first The moving target detection unit guides the remote local image/video acquisition unit to perform local high-definition imaging; and in the ground mobile radar reconnaissance vehicle system, the infrared panoramic imaging early warning radar guides the day and night photoelectric video surveillance equipment to perform local high-definition imaging), which can collect, record and Play back video forensic data. 3) Communication command function for police situation disposal. It can be configured with communication equipment for vehicles and individual field self-organizing network, with Beidou/GPS satellite positioning, voice, photo, image transmission and other communication capabilities, and can command the law enforcement actions of field police officers in real time in the center. 4) Intelligent inspection of production management. The system can take into account daily production operation management, supervise and prevent illegal operations, and improve safety production management capabilities. 5) Information sharing of multi-level networked large-scale monitoring system. The system supports multi-level and cross-regional information transmission, which can meet the information sharing needs of large multi-level management law enforcement organizations.
本发明能够利用少量可大范围监控能力的设备，集成各种计算机及软件处理技术，实现广域空旷地域的远程智能化监控，降低这种广域监控系统的建设难度，并能有效的达到大面积范围的安保防范要求，使得本发明的上述技术具有监控范围大、自动准确发现警情、建设速度快、使用维护方便等优点。The present invention can use a small amount of equipment capable of wide-area monitoring, integrate various computers and software processing technologies, realize remote intelligent monitoring of wide-area open areas, reduce the difficulty of building such a wide-area monitoring system, and effectively achieve large-scale The security protection requirements of the area make the above-mentioned technology of the present invention have the advantages of large monitoring range, automatic and accurate detection of alarm conditions, fast construction speed, and convenient use and maintenance.
本发明具有发现目标快、测角精度高、低漏报、低误报等特点。The invention has the characteristics of fast target discovery, high angle measurement precision, low false alarm and low false alarm.
通过红外扫描搜索移动目标来引导远程光电识别目标的这种模式(即在广域、油田红外全景成像雷达侦察指挥控制系统中，通过第一红外周扫成像单元、第一运动目标检测单元进行移动目标搜索来引导远程局部图像/视频采集单元进行局部高清成像；在地面机动雷达侦察车系统中，通过红外全景成像预警雷达进行移动目标搜索来引导昼夜光电视频监控设备进行局部高清成像)，可以通过一个监控点而覆盖方圆半径3到5公里的地域范围；而采用现有技术，则需要在这么大范围内设置100到300个设施设备(传统监控设备)。因此，1比300的数量比带来系统的高度简化，有效解决了地面大面积搜索和远程识别动目标的问题，具有创新优势。This mode of guiding long-range photoelectric recognition targets by searching for moving targets through infrared scanning (that is, in wide-area, oilfield infrared panoramic imaging radar reconnaissance command and control systems, moving through the first infrared scanning imaging unit and the first moving target detection unit Target search to guide the remote local image/video acquisition unit to perform local high-definition imaging; in the ground mobile radar reconnaissance vehicle system, the infrared panoramic imaging early warning radar is used to search for moving targets to guide the day and night photoelectric video surveillance equipment to perform local high-definition imaging), which can be achieved through One monitoring point covers an area with a radius of 3 to 5 kilometers; while using existing technologies, 100 to 300 facilities (traditional monitoring equipment) need to be set in such a large area. Therefore, the number ratio of 1:300 brings a high degree of simplification of the system, effectively solving the problems of large-area ground search and long-range identification of moving targets, and has innovative advantages.
通过以下结合附图对本发明的最佳实施例的详细说明，本发明的这些以及其他优点将更加明显。These and other advantages of the present invention will be more apparent through the following detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.
附图说明Description of drawings
本发明可以通过参考下文中结合附图所给出的描述而得到更好的理解，其中在所有附图中使用了相同或相似的附图标记来表示相同或者相似的部件。所述附图连同下面的详细说明一起包含在本说明书中并且形成本说明书的一部分，而且用来进一步举例说明本发明的优选实施例和解释本发明的原理和优点。在附图中：The present invention can be better understood by referring to the following description given in conjunction with the accompanying drawings, wherein the same or similar reference numerals are used throughout to designate the same or similar parts. The accompanying drawings, together with the following detailed description, are incorporated in and form a part of this specification, and serve to further illustrate preferred embodiments of the invention and explain the principles and advantages of the invention. In the attached picture:
图1是示出本发明的警企联动空地一体化指挥平台的一个示例的示意图；Fig. 1 is a schematic diagram showing an example of the police-enterprise linkage air-ground integrated command platform of the present invention;
图2是示出本发明的地面侦察车辆的一种示意性结构图。FIG. 2 is a schematic structural view showing a ground reconnaissance vehicle of the present invention.
本领域技术人员应当理解，附图中的元件仅仅是为了简单和清楚起见而示出的，而且不一定是按比例绘制的。例如，附图中某些元件的尺寸可能相对于其他元件放大了，以便有助于提高对本发明实施例的理解。It will be appreciated by those skilled in the art that elements in the figures are illustrated for simplicity and clarity only and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of the embodiments of the present invention.
具体实施方式Detailed ways
在下文中将结合附图对本发明的示范性实施例进行描述。为了清楚和简明起见，在说明书中并未描述实际实施方式的所有特征。然而，应该了解，在开发任何这种实际实施例的过程中必须做出很多特定于实施方式的决定，以便实现开发人员的具体目标，例如，符合与系统及业务相关的那些限制条件，并且这些限制条件可能会随着实施方式的不同而有所改变。此外，还应该了解，虽然开发工作有可能是非常复杂和费时的，但对得益于本公开内容的本领域技术人员来说，这种开发工作仅仅是例行的任务。Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical embodiment, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and those Restrictions may vary from implementation to implementation. Moreover, it should also be understood that development work, while potentially complex and time-consuming, would at least be a routine undertaking for those skilled in the art having the benefit of this disclosure.
在此，还需要说明的一点是，为了避免因不必要的细节而模糊了本发明，在附图中仅仅示出了与根据本发明的方案密切相关的装置结构和/或处理步骤，而省略了与本发明关系不大的其他细节。Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the Other details not relevant to the present invention are described.
本发明的实施例提供了一种警企联动空地一体化指挥平台。所述警企联动空地一体化指挥平台包括广域、油田红外全景成像雷达侦察指挥控制系统、地面机动雷达侦察车系统和无人机空地防控系统；所述广域、油田红外全景成像雷达侦察指挥控制系统包括设于监控场所预定区域的一个或多个监控塔以及设于监控室内的监控中心单元，其中，每个监控塔包括第一红外周扫成像单元、第一运动目标检测单、远程局部图像/视频采集单元和发送单元；所述第一红外周扫成像单元用于按照第一预定频率、以第一预设搜索半径对所述杆塔周围进行360°扫描，以获得对应的红外全景图像；所述第一运动目标检测单元用于在所述第一红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；所述远程局部图像/视频采集单元用于根据所述运动目标检测单元检测到的运动目标的方位信息，以该方位信息确定采集方向以采集对应的图像/视频数据；所述发送单元用于通过有线或无线方式将所述远程局部监控单元采集到的图像/视频数据发送至监控中心单元；所述地面机动雷达侦察车系统包括一个或多个地面侦察车辆，每个地面侦察车辆包括一个全地形警用越野车辆底盘，该底盘承载有可升降的红外全景成像预警雷达、昼夜光电视频监控设备、无线通信传输及控制单元设备；所述红外全景成像预警雷达包括第二红外周扫成像单元和第二运动目标检测单元；所述第二红外周扫成像单元用于按照第二预定频率、以第二预设搜索半径对所述地面侦察车辆周围进行360°扫描，以获得对应的红外全景图像；所述第二运动目标检测单元用于在所述第二红外周扫成像单元每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；所述昼夜光电视频监控设备用于昼夜实时采集该地面侦察车辆作战地点的地面环境图像/视频数据，并通过所述地面无线通信传输及控制单元将采集到的地面环境图像/视频数据发送给所述监控中心单元；所述无人机空地防控系统包括一个或多个无人机，每个无人机上设有空基图像/视频采集设备以及空基传输及控制单元，所述空基图像/视频采集设备用于实时采集该无人机预定范围内的空基图像/视频数据，并通过所述空基传输及控制单元将采集到的空基环境图像/视频数据发送给所述监控中心单元。Embodiments of the present invention provide an air-ground integrated command platform for police-enterprise linkage. The police-enterprise linkage air-ground integrated command platform includes a wide-area, oilfield infrared panoramic imaging radar reconnaissance command and control system, a ground mobile radar reconnaissance vehicle system, and an unmanned aerial vehicle air-ground prevention and control system; the wide-area, oilfield infrared panoramic imaging radar reconnaissance The command and control system includes one or more monitoring towers located in the predetermined area of the monitoring site and a monitoring center unit located in the monitoring room, wherein each monitoring tower includes a first infrared scan imaging unit, a first moving target detection list, a remote A partial image/video acquisition unit and a sending unit; the first infrared scan imaging unit is used to perform a 360° scan around the tower according to a first predetermined frequency and a first preset search radius to obtain a corresponding infrared panorama image; the first moving target detection unit is used to use the last infrared panoramic image of the infrared panoramic image to determine the Whether there is a moving target, and if there is a moving target in the infrared panoramic image, determine the orientation information of the moving target; the remote partial image/video acquisition unit is used to detect the moving target according to the moving target detection unit Azimuth information, using the azimuth information to determine the collection direction to collect corresponding image/video data; the sending unit is used to send the image/video data collected by the remote local monitoring unit to the monitoring center unit through wired or wireless means; The ground mobile radar reconnaissance vehicle system includes one or more ground reconnaissance vehicles, and each ground reconnaissance vehicle includes an all-terrain police off-road vehicle chassis, which carries a liftable infrared panoramic imaging early warning radar, day and night photoelectric video surveillance equipment , wireless communication transmission and control unit equipment; the infrared panoramic imaging early warning radar includes a second infrared scan imaging unit and a second moving target detection unit; the second infrared scan imaging unit is used for according to the second predetermined frequency, with The second preset search radius scans 360° around the ground reconnaissance vehicle to obtain a corresponding infrared panoramic image; After corresponding to the infrared panoramic image, use the last infrared panoramic image of the infrared panoramic image to judge whether there is a moving target in the infrared panoramic image, and determine the orientation information of the moving target if there is a moving target in the infrared panoramic image; The day and night photoelectric video monitoring equipment is used to collect the ground environment image/video data of the combat site of the ground reconnaissance vehicle in real time day and night, and send the collected ground environment image/video data to the unit through the ground wireless communication transmission and control unit. The monitoring center unit; the UAV air-to-ground prevention and control system includes one or more UAVs, each UAV is equipped with an air-based image/video acquisition device and an air-based transmission and control unit, and the air-based image The /video acquisition device is used to collect the space-based image/video data within the predetermined range of the UAV in real time, and send the collected space-based environmental image/video data to the monitoring center through the space-based transmission and control unit one Yuan.
图1示出了本发明的警企联动空地一体化指挥平台的一个示例的结构组成框图。如图1所示，警企联动空地一体化指挥平台包括广域、油田红外全景成像雷达侦察指挥控制系统1、地面机动雷达侦察车系统2和无人机空地防控系统3。Fig. 1 shows a structural composition block diagram of an example of the police-enterprise linkage air-ground integrated command platform of the present invention. As shown in Figure 1, the police-enterprise linkage air-ground integrated command platform includes wide-area, oil field infrared panoramic imaging radar reconnaissance command and control system 1, ground mobile radar reconnaissance vehicle system 2, and UAV air-ground prevention and control system 3.
广域、油田红外全景成像雷达侦察指挥控制系统1包括设于监控场所预定区域的一个或多个监控塔11以及设于监控室内的监控中心单元12，其中，每个监控塔11包括第一红外周扫成像单元11-1、第一运动目标检测单元11-2、远程局部图像/视频采集单元11-3和发送单元11-4。Wide area, oilfield infrared panoramic imaging radar reconnaissance command and control system 1 includes one or more monitoring towers 11 located in the predetermined area of the monitoring site and a monitoring center unit 12 located in the monitoring room, wherein each monitoring tower 11 includes a first infrared A weekly scan imaging unit 11-1, a first moving object detection unit 11-2, a remote partial image/video acquisition unit 11-3, and a sending unit 11-4.
第一红外周扫成像单元11-1用于按照第一预定频率、以第一预设搜索半径对杆塔周围进行360°扫描，以获得对应的红外全景图像。其中，第一预定频率、第一预设搜索半径可根据经验设置，或者根据实际需要设置。第一预定频率例如为每1或2秒完成一次360°扫描。The first infrared scan imaging unit 11 - 1 is configured to perform a 360° scan around the tower with a first preset search radius according to a first predetermined frequency, so as to obtain a corresponding infrared panoramic image. Wherein, the first predetermined frequency and the first preset search radius can be set according to experience, or according to actual needs. The first predetermined frequency is, for example, to complete a 360° scan every 1 or 2 seconds.
第一运动目标检测单元11-2用于在第一红外周扫成像单元11-1每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息。The first moving object detection unit 11-2 is used to judge the infrared panoramic image in the infrared panoramic image by using the last infrared panoramic image of the infrared panoramic image after the first infrared imaging unit 11-1 scans and obtains the corresponding infrared panoramic image each time. Whether there is a moving target, and determine the orientation information of the moving target if there is a moving target in the infrared panoramic image.
远程局部图像/视频采集单元11-3用于根据运动目标检测单元11-2检测到的运动目标的方位信息，以该方位信息确定采集方向以采集对应的图像/视频数据。远程局部监控单元11-3采集到的图像/视频数据例如为高清图像/视频。The remote partial image/video acquisition unit 11-3 is used to determine the acquisition direction according to the orientation information of the moving object detected by the moving object detection unit 11-2 to acquire corresponding image/video data. The image/video data collected by the remote local monitoring unit 11-3 is, for example, a high-definition image/video.
发送单元11-4用于通过有线或无线方式将远程局部监控单元采集到的图像/视频数据发送至监控中心单元。The sending unit 11-4 is used to send the image/video data collected by the remote local monitoring unit to the monitoring center unit by wire or wirelessly.
地面机动雷达侦察车系统2包括一个或多个地面侦察车辆，每个地面侦察车辆包括一个全地形警用越野车辆底盘，该底盘承载有可升降的红外全景成像预警雷达21、昼夜光电视频监控设备22、无线通信传输及控制单元设备23。The ground mobile radar reconnaissance vehicle system 2 includes one or more ground reconnaissance vehicles, and each ground reconnaissance vehicle includes an all-terrain police off-road vehicle chassis, which carries a liftable infrared panoramic imaging early warning radar 21, day and night photoelectric video surveillance equipment 22. Wireless communication transmission and control unit equipment 23.
红外全景成像预警雷达21包括第二红外周扫成像单元21-1和第二运动目标检测单元21-2；第二红外周扫成像单元21-1用于按照第二预定频率、以第二预设搜索半径对地面侦察车辆周围进行360°扫描，以获得对应的红外全景图像；第二运动目标检测单元21-2用于在第二红外周扫成像单元21-1每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息。其中，第二预定频率和第二预设搜索半径可以根据经验设置，或者可以根据实际需要设置。第二预定频率例如为每1或2秒完成一次360°扫描。Infrared panoramic imaging early warning radar 21 comprises a second infrared imaging unit 21-1 and a second moving target detection unit 21-2; Set the search radius to scan 360° around the ground reconnaissance vehicle to obtain the corresponding infrared panorama image; the second moving target detection unit 21-2 is used to obtain the corresponding infrared panorama in each scan of the second infrared imaging unit 21-1 After imaging, use the last infrared panoramic image of the infrared panoramic image to judge whether there is a moving target in the infrared panoramic image, and determine the orientation information of the moving target if there is a moving target in the infrared panoramic image. Wherein, the second predetermined frequency and the second preset search radius may be set according to experience, or may be set according to actual needs. The second predetermined frequency is, for example, to complete a 360° scan every 1 or 2 seconds.
昼夜光电视频监控设备22用于昼夜实时采集该地面侦察车辆作战地点的地面环境图像/视频数据，并通过地面无线通信传输及控制单元23将采集到的地面环境图像/视频数据发送给监控中心单元12。The day and night photoelectric video monitoring equipment 22 is used to collect the ground environment image/video data of the combat site of the ground reconnaissance vehicle in real time day and night, and send the collected ground environment image/video data to the monitoring center unit through the ground wireless communication transmission and control unit 23 12.
无人机空地防控系统3包括一个或多个无人机，每个无人机上设有空基图像/视频采集设备3-1以及空基传输及控制单元3-2，空基图像/视频采集设备3-1用于实时采集该无人机预定范围内的空基图像/视频数据，并通过空基传输及控制单元3-2将采集到的空基环境图像/视频数据发送给监控中心单元12。UAV air-ground prevention and control system 3 includes one or more UAVs, and each UAV is equipped with an air-based image/video acquisition device 3-1 and an air-based transmission and control unit 3-2, and the air-based image/video The collection device 3-1 is used to collect the space-based image/video data within the predetermined range of the UAV in real time, and send the collected space-based environmental image/video data to the monitoring center through the space-based transmission and control unit 3-2 Unit 12.
地面机动雷达侦察车系统2作为机动侦察基站单元，可用于单车或多车组网协同作战。Ground mobile radar reconnaissance vehicle system 2, as a mobile reconnaissance base station unit, can be used for single-vehicle or multi-vehicle network cooperative operations.
根据一个实现方式，地面机动雷达侦察车系统2中的每个地面侦察车辆设有第一定位模块和第一无线收发模块，其中，第一定位模块用于获取对应地面侦察车辆的当前位置，以通过第一无线收发模块实时地将该地面侦察车辆的当前位置发送给监控中心单元。无人机空地防控系统3中的每个无人机设有第二定位模块和第二无线收发模块，其中，第二定位模块用于获取对应无人机的当前位置，以通过第二无线收发模块实时地将该无人机的当前位置发送给监控中心单元。监控中心单元12设有交互接口模块和侦察工具筛选模块；交互接口模块用于接收来自外界的侦察指令；侦察工具筛选模块用于在交互接口模块接收到侦察指令后，根据一个或多个地面侦察车辆和/或一个或多个无人机的当前位置，在一个或多个地面侦察车辆和/或一个或多个无人机之中，选择至少一个地面侦察车辆和/或至少一个无人机，并向该至少一个地面侦察车辆和/或至少一个无人机发送警报信息，其中，警报信息包含运动目标的方位信息。According to one implementation, each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system 2 is provided with a first positioning module and a first wireless transceiver module, wherein the first positioning module is used to obtain the current position of the corresponding ground reconnaissance vehicle, to The current position of the ground reconnaissance vehicle is sent to the monitoring center unit in real time through the first wireless transceiver module. Each unmanned aerial vehicle in the UAV air-to-ground prevention and control system 3 is provided with a second positioning module and a second wireless transceiver module, wherein the second positioning module is used to obtain the current position of the corresponding unmanned aerial vehicle to pass the second wireless The transceiver module sends the current position of the drone to the monitoring center unit in real time. The monitoring center unit 12 is provided with an interactive interface module and a reconnaissance tool screening module; the interactive interface module is used to receive reconnaissance instructions from the outside; The current position of the vehicle and/or one or more UAVs, among the one or more ground reconnaissance vehicles and/or one or more UAVs, select at least one ground reconnaissance vehicle and/or at least one UAV , and send warning information to the at least one ground reconnaissance vehicle and/or at least one unmanned aerial vehicle, wherein the warning information includes the orientation information of the moving target.
根据另一个实现方式，每个地面侦察车辆还设有第一导航模块，每个无人机还设有第二导航模块。在接收到警报信息的至少一个地面侦察车辆中，每个地面侦察车辆的第一导航模块用于以运动目标的方位信息为目的地进行导航。在接收到警报信息的至少一个无人机中，每个无人机的第二导航模块用于以运动目标的方位信息为目的地进行导航。According to another implementation, each ground reconnaissance vehicle is further provided with a first navigation module, and each drone is further provided with a second navigation module. Among the at least one ground reconnaissance vehicle that has received the alarm information, the first navigation module of each ground reconnaissance vehicle is used to navigate with the orientation information of the moving target as a destination. Among at least one unmanned aerial vehicle that has received the alarm information, the second navigation module of each unmanned aerial vehicle is used to navigate with the orientation information of the moving target as the destination.
此外，警报信息还可以包括监控中心单元12从远程局部监控单元11-3接收到的图像/视频数据。In addition, the alarm information may also include image/video data received by the monitoring center unit 12 from the remote local monitoring unit 11-3.
根据一个实现方式，地面机动雷达侦察车系统中的每个地面侦察车辆还设有第一语音通讯模块，无人机空地防控系统3中的每个无人机还设有第二语音通讯模块，监控中心单元还设有第三语音通讯模块；地面机动雷达侦察车系统中的各地面侦察车辆的第一语音通讯模块、无人机空地防控系统3中的各无人机的第二语音通讯模块以及监控中心单元的第三语音通讯模块之间能够进行语音通讯。According to an implementation, each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system is also provided with a first voice communication module, and each unmanned aerial vehicle in the UAV air-ground prevention and control system 3 is also provided with a second voice communication module , the monitoring center unit is also provided with a third voice communication module; the first voice communication module of each ground reconnaissance vehicle in the ground mobile radar reconnaissance vehicle system, the second voice of each unmanned aerial vehicle in the unmanned aerial vehicle air-ground prevention and control system 3 Voice communication can be performed between the communication module and the third voice communication module of the monitoring center unit.
此外，监控中心单元12还可以包括存储模块，其用于存储监控中心单元12从监控塔11接收到的图像/视频数据以及从地面机动雷达侦察车系统2和无人机空地防控系统3分别接收到的地面环境图像/视频数据和空基环境图像/视频数据。In addition, the monitoring center unit 12 can also include a storage module, which is used to store the image/video data received by the monitoring center unit 12 from the monitoring tower 11 and the data received from the ground mobile radar reconnaissance vehicle system 2 and the UAV air-to-ground prevention and control system 3 respectively. Received ground environment image/video data and space-based environment image/video data.
监控中心单元12还可以设有报警模块，报警模块用于在检测到运动目标的情况下输出音频报警信号和/或图像报警信号。The monitoring center unit 12 can also be provided with an alarm module, which is used to output an audio alarm signal and/or an image alarm signal when a moving target is detected.
此外，本发明的实施例还提供了一种警企联动空地一体化指挥方法，该方法基于如上所述的警企联动空地一体化指挥平台来实现，该方法包括：In addition, an embodiment of the present invention also provides a police-enterprise linkage air-ground integrated command method, which is implemented based on the above-mentioned police-enterprise linkage air-ground integrated command platform, and the method includes:
通过第一红外周扫成像单元11-1按照第一预定频率、以第一预设搜索半径对杆塔周围进行360°扫描，以获得对应的红外全景图像；通过第一运动目标检测单元11-2在第一红外周扫成像单元11-1每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；通过远程局部图像/视频采集单元11-3根据运动目标检测单元11-2检测到的运动目标的方位信息，以该方位信息确定采集方向以采集对应的图像/视频数据；通过发送单元11-4以有线或无线方式将远程局部监控单元11-3采集到的图像/视频数据发送至监控中心单元12；通过第二红外周扫成像单元21-1按照第二预定频率、以第二预设搜索半径对地面侦察车辆周围进行360°扫描，以获得对应的红外全景图像；通过第二运动目标检测单元21-2在第二红外周扫成像单元21-1每次扫描获得对应红外全景图像后，利用该红外全景图像的上一个红外全景图像来判断该红外全景图像中是否存在运动目标，并在该红外全景图像中存在运动目标的情况下确定该运动目标的方位信息；通过昼夜光电视频监控设备22进行昼夜实时采集该地面侦察车辆作战地点的地面环境图像/视频数据，并通过地面无线通信传输及控制单元23将采集到的地面环境图像/视频数据发送给监控中心单元12；通过空基图像/视频采集设备3-1实时采集该无人机预定范围内的空基图像/视频数据，并通过空基传输及控制单元3-2将采集到的空基环境图像/视频数据发送给监控中心单元12。Through the first infrared scan imaging unit 11-1 according to the first predetermined frequency, with the first preset search radius to scan 360 ° around the tower to obtain the corresponding infrared panoramic image; through the first moving target detection unit 11-2 After each scan of the first infrared panorama imaging unit 11-1 obtains the corresponding infrared panorama image, use the last infrared panorama image of the infrared panorama image to judge whether there is a moving target in the infrared panorama image, and If there is a moving target in the vehicle, determine the orientation information of the moving target; through the remote partial image/video acquisition unit 11-3, according to the orientation information of the moving target detected by the moving object detection unit 11-2, determine the acquisition direction with the orientation information To collect the corresponding image/video data; send the image/video data collected by the remote local monitoring unit 11-3 to the monitoring center unit 12 in a wired or wireless manner through the sending unit 11-4; 21-1 performs a 360° scan around the ground reconnaissance vehicle with a second preset search radius according to a second predetermined frequency to obtain a corresponding infrared panoramic image; After each scan of the imaging unit 21-1 to obtain the corresponding infrared panoramic image, use the last infrared panoramic image of the infrared panoramic image to determine whether there is a moving target in the infrared panoramic image, and if there is a moving target in the infrared panoramic image Determine the orientation information of the moving target; collect the ground environment image/video data of the combat site of the ground reconnaissance vehicle in real time day and night through the day and night photoelectric video monitoring equipment 22, and transmit and control the ground environment through the ground wireless communication and control unit 23. The image/video data is sent to the monitoring center unit 12; the air-based image/video data within the predetermined range of the UAV is collected in real time through the air-based image/video acquisition device 3-1, and transmitted through the air-based transmission and control unit 3-2 Send the collected space-based environmental image/video data to the monitoring center unit 12.
优选实施例preferred embodiment
广域、油田红外全景成像雷达侦察指挥控制系统通过红外成像雷达快速大范围扫描，每秒钟360°快速扫描，搜索半径3000-5000米。实现大范围准确、实时地发现空中、地面的非法入侵，包括地面的人员、车辆和非法侵入监控区域的无人机等目标，且能灵活设置时间和警戒区等智能化参数，区分出合法和非法侵入行为。The wide-area and oilfield infrared panoramic imaging radar reconnaissance command and control system scans quickly and widely through infrared imaging radar, 360° fast scanning per second, and the search radius is 3000-5000 meters. Realize the accurate and real-time detection of illegal intrusions in the air and on the ground in a wide range, including ground personnel, vehicles, and drones that illegally intrude into the monitoring area, and can flexibly set intelligent parameters such as time and warning areas to distinguish legal and Trespassing.
系统数据报警联动指控平台软件对数据进行融合、智能分析和自动解析，在红外雷达全景图像和GIS系统的二维电子地图或者三维电子地图上实时精准显示目标，同时自动联动ARD高精度远程双光谱预警成像跟踪仪，快速引导跟踪仪对目标识别、定位、跟踪。The system data alarm linkage control platform software performs data fusion, intelligent analysis and automatic analysis, and accurately displays targets in real time on the infrared radar panoramic image and the two-dimensional electronic map or three-dimensional electronic map of the GIS system, and automatically links ARD with high-precision remote dual-spectrum Early warning imaging tracker, fast guide tracker to identify, locate and track targets.
广域、油田红外全景成像雷达侦察指挥控制系统对可疑目标人、车辆等超出雷达管控范围，广域、油田红外全景成像雷达侦察指挥控制系统与无人机空地防控系统进行数据融合处理，监控中心人员指挥无人机对可疑目标实时搜索，快速发现目标藏匿地点、精准定位，引导民警、油田保卫人员抓获犯罪嫌疑人。The wide-area and oilfield infrared panoramic imaging radar reconnaissance command and control system performs data fusion processing with the UAV air-ground prevention and control system for suspicious targets such as people and vehicles beyond the radar control range. The center personnel commanded the drone to search for suspicious targets in real time, quickly found the hiding place of the target, accurately positioned it, and guided the police and oilfield security personnel to capture the suspect.
系统侦测到无人机非法侵入警戒区域，自动锁定跟踪目标，引导地面移动、固定的反制设备，以及空中反制专用无人机，同时实施“地空”结合的现场处置。The system detects unmanned aerial vehicles illegally intruding into the warning area, automatically locks and tracks the target, guides ground mobile, fixed countermeasure equipment, and special aerial countermeasure drones, and implements on-site disposal combining "ground and air".
系统配置反恐指挥车及单兵局域通信设备，具备北斗卫星定位、话音、照片、图像传输等通信能力，可在平台实时指挥无人机反制行动。The system is equipped with anti-terrorist command vehicles and individual local area communication equipment. It has Beidou satellite positioning, voice, photo, image transmission and other communication capabilities, and can command drone countermeasures in real time on the platform.
地空联合反制无人机，采用地面移动、固定反制与空中反制相结合的方案，地面反制系统(即固定的广域、油田红外全景成像雷达侦察指挥控制系统1和移动的地面机动雷达侦察车系统2)和空中反制系统(即无人机空地防控系统3)围绕防控目标四面八方进行部署，空中反制系统具备快速起飞、快速到达的飞行能力。Ground-air joint countermeasures against UAVs adopt a combination of ground movement, fixed countermeasures, and air countermeasures. The ground countermeasure system (that is, the fixed wide-area, oilfield infrared panoramic imaging The mobile radar reconnaissance vehicle system 2) and the air counter system (that is, the UAV air-ground prevention and control system 3) are deployed around the prevention and control targets in all directions. The air counter system has the flight capability of rapid take-off and rapid arrival.
地面反制系统探测距离远但拦截半径相对较小，可以利用地面系统较早发现非法侵入的空中目标，引导无人机进行持续跟踪和拦截；当非法入侵目标接近地面反制系统拦截半径时，无人机拦截失败，转入地面拦截，由地面反制系统直接摧毁。The ground countermeasure system has a long detection range but a relatively small interception radius. The ground system can be used to detect illegally intruded air targets earlier, and guide the UAV to continuously track and intercept; when the illegally intruded target is close to the interception radius of the ground countermeasure system, The UAV interception failed and turned to ground interception, which was directly destroyed by the ground countermeasure system.
广域、油田红外全景成像雷达侦察指挥控制系统采用红外扫描、全景成像、光电联动、数据融合和无线移动自组网通信等技术，将红外雷达搜索发现预警与视频远程成像识别融合为一体，突破了现有安防监控系统存在的广域搜索发现、准确识别、实时跟踪等技术难题，实现了全天时、全天候、全方位、准确可靠、搜索、跟踪一体的安防要求；自动预警、实时处置，超越现有安防厂商只提供反无人机装备的处置解决方案，实现了反无人机的立体化防控体系。The wide-area and oilfield infrared panoramic imaging radar reconnaissance command and control system adopts technologies such as infrared scanning, panoramic imaging, photoelectric linkage, data fusion and wireless mobile ad hoc network communication, and integrates infrared radar search, discovery, early warning and video remote imaging recognition into one, making a breakthrough It overcomes the technical problems of wide-area search and discovery, accurate identification, and real-time tracking existing in the existing security monitoring system, and realizes the security requirements of all-day, all-weather, all-round, accurate and reliable, search and tracking; automatic early warning, real-time disposal, Beyond the existing security manufacturers that only provide anti-drone equipment disposal solutions, a three-dimensional anti-drone prevention and control system has been realized.
侦察指挥车搭载了移动指挥平台、夜视器材、非杀伤性器材、宣传设备等装备，实现对报警系统有效补充，实现移动设卡和移动目标的跟踪侦察，收集目标的实时信息，传递到情报研判、指挥调度中心。通过雷达扫描、作战指挥车的应用，The reconnaissance command vehicle is equipped with a mobile command platform, night vision equipment, non-lethal equipment, propaganda equipment and other equipment to effectively supplement the alarm system, realize mobile card setting and tracking and reconnaissance of moving targets, collect real-time information on targets, and transmit them to intelligence Research and judgment, command and dispatch center. Through the application of radar scanning and combat command vehicles,
单兵式无线图像传输设备(以下简称单兵设备)可以和手持式DV配合使用，空中的单兵设备可以和高清摄像设备配合使用，具有传输距离较远，可以覆盖1km～5km的范围。Individual wireless image transmission equipment (hereinafter referred to as individual equipment) can be used in conjunction with handheld DV, and air individual equipment can be used in conjunction with high-definition camera equipment. It has a long transmission distance and can cover a range of 1km to 5km.
单兵设备采集到事发现场的图像，传到指挥车上，使用多路接收机进行接收，可以在指挥车上进行显示和处理，以便掌握更多现场的图像信息。同时指挥车上的接收机也可以通过语音指挥前方单兵设备背负的人员进行相应的动作和指挥空中单兵设备的采集信息。The individual equipment collects images of the scene of the incident, transmits them to the command vehicle, and uses a multi-channel receiver to receive them, which can be displayed and processed on the command vehicle in order to obtain more image information on the scene. At the same time, the receiver on the command vehicle can also command the personnel on the front of the individual equipment to carry out corresponding actions and command the collection information of the air individual equipment through voice.
无人机空地防控系统与地面反制系统融合为以下几种方案：The UAV air-to-ground prevention and control system and the ground countermeasure system are integrated into the following schemes:
方案一：重点区域管线巡查Option 1: Inspection of pipelines in key areas
在保卫大队配置无人机，地面站监控站平台可安置在监控中心，也可车载机动式使用，性能要求如下表：机动管线巡查功能UAVs are deployed in the security brigade. The ground station monitoring station platform can be placed in the monitoring center, or it can be used on a vehicle. The performance requirements are as follows: Mobile pipeline inspection function
系统对可疑目标超出雷达管控范围，系统指控平台与无人机进行数据融合处理，监控中心人员指挥无人机对可疑目标实时搜索，发现目标藏匿地点，引导民警、油田保卫人员抓获犯罪嫌疑人。The system detects suspicious targets beyond the range of radar control, and the system accuses the platform of performing data fusion processing with the UAV. The monitoring center staff directs the UAV to search for suspicious targets in real time, find out where the target is hiding, and guide the police and oilfield security personnel to capture the suspect.
方案二：无人机空地防控系统与地面反制系统融合，实现无人机反制Solution 2: The UAV air-ground prevention and control system is integrated with the ground countermeasure system to realize UAV countermeasures
无人机空地防控系统包括预警和处置两个环节的五项关键技术。The UAV air-ground prevention and control system includes five key technologies in the two links of early warning and disposal.
围绕目标单位系统设置“内中外”三层防御区，分别为目标区、处置区、警戒区。内层的目标区，禁止非法无人机进入；中层的处置区，距离目标区500-1000米的范围，凡进入处置区的非法无人机，根据应急处置预案选择拦截方式，击毁或诱捕无人机；外层的警戒区，距离警戒区500-1000米的范围，一旦非法无人机进入该警戒区，地面反制系统(如监控中心单元)发出声光报警信息，系统发出声光等信号实施警告和驱离。Around the target unit system, a three-layer defense zone of "inner, middle and outer" is set up, which are target area, disposal area, and warning area. The target area in the inner layer is prohibited from entering illegal drones; the disposal area in the middle layer is within 500-1000 meters from the target area. Any illegal drones entering the disposal area will be intercepted according to the emergency response plan, destroy or trap unmanned drones. Man-machine: The outer warning zone is 500-1000 meters away from the warning zone. Once the illegal drone enters the warning zone, the ground countermeasure system (such as the monitoring center unit) will send out sound and light alarm information, and the system will send out sound and light, etc. Signals for warning and eviction.
通过技术保障、后勤保障、制度保障，实现其他三个主要系统的功能完备，确保整体效能的发挥，充分发挥人防、物防、技防等油田保卫实战优势，人防、物防、技防的有机结合使平台更智能化、信息化、集成化、网络化。Through technical support, logistics support, and system support, the other three main systems are fully functional, ensuring the overall effectiveness, and giving full play to the actual combat advantages of oilfield defense such as civil defense, physical defense, and technical defense. The organic defense of human defense, physical defense, and technical defense The combination makes the platform more intelligent, informatized, integrated and networked.
尽管根据有限数量的实施例描述了本发明，但是受益于上面的描述，本技术领域内的技术人员明白，在由此描述的本发明的范围内，可以设想其它实施例。此外，应当注意，本说明书中使用的语言主要是为了可读性和教导的目的而选择的，而不是为了解释或者限定本发明的主题而选择的。因此，在不偏离所附权利要求书的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。对于本发明的范围，对本发明所做的公开是说明性的，而非限制性的，本发明的范围由所附权利要求书限定。While the invention has been described in terms of a limited number of embodiments, it will be apparent to a person skilled in the art having the benefit of the above description that other embodiments are conceivable within the scope of the invention thus described. In addition, it should be noted that the language used in the specification has been chosen primarily for the purpose of readability and instruction rather than to explain or define the inventive subject matter. Accordingly, many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. With respect to the scope of the present invention, the disclosure of the present invention is intended to be illustrative rather than restrictive, and the scope of the present invention is defined by the appended claims.
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| CN201710207508.2ACN106899836B (en) | 2017-03-31 | 2017-03-31 | The air-ground integrated maneuvering platform of alert enterprise's linkage |
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