CN108462820A - A kind of multi-rotor unmanned aerial vehicle monitoring method and system divided based on flying area - Google Patents
A kind of multi-rotor unmanned aerial vehicle monitoring method and system divided based on flying area Download PDFInfo
- Publication number
- CN108462820A CN108462820A CN201810286206.3A CN201810286206A CN108462820A CN 108462820 A CN108462820 A CN 108462820A CN 201810286206 A CN201810286206 A CN 201810286206A CN 108462820 A CN108462820 A CN 108462820A
- Authority
- CN
- China
- Prior art keywords
- spatial domain
- node controller
- child node
- definition
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- 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
- H04N23/67—Focus control based on electronic image sensor signals
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle monitoring methods based on flying area division and system, method to include：Spatial domain to be monitored is divided into two big spatial domain of low altitude airspace and upper airspace, is further partitioned into several sub- spatial domains, using image recognition and object detection technology, identifies the unmanned plane invaded in monitoring.By the method for the invention and system, high gap spatial domain increases with height and constantly extends outward, to to the monitoring system longer reaction time, telephoto lens can shoot more high definition pictures, improve the accuracy rate of image recognition, the accuracy rate that entire monitoring system is improved with this identifies unmanned plane faster when unmanned plane invades specified region.The present invention provides more perfect spatial domain division methods and monitoring system, it is not noticeable to solve the problems, such as that unmanned plane is invaded.
Description
Technical field
The present invention relates to monitoring unmanned technical fields, and in particular to it is a kind of based on flying area divide more rotors nobody
Machine monitoring method and system.
Background technology
In May, 2016, national publication《3 years action embodiments of internet+artificial intelligence》, emphasis support unmanned plane
Development, and low altitude airspace will be further opened, unmanned plane industry has become one of pith of national strategy.It consumes in China
The market share of the civilian unmanned plane of grade, has even more accounted for 70% or more of world market, has occupied absolute predominance.2015, entirely
Ball unmanned plane about sells 58.7 ten thousand framves, and wherein military unmanned air vehicle accounts for about 3%, and civilian unmanned plane accounts for 97%；Civilian unmanned plane pin
In amount, about 17.1 ten thousand frame of professional unmanned plane sales volume, about 39.9 ten thousand frame of consumer level unmanned plane sales volume.
But unmanned air vehicle technique development is a double-edged sword.Though unmanned plane is chiefly used in the purposes such as photography, video recording, it is nonetheless possible to
By criminal using crime is implemented, the safety in the fields such as anti-terrorism, stability maintenance, security, guard, the prohibition of drug is constituted potential and real
Risk challenge.In addition, once unmanned plane is by criminal using illegally being shot, or even for being poisoned, being exploded
Destructive activity, consequence will be hardly imaginable.Unmanned plane " black fly " repeatedly Bi Ting civil aviatons at " stealthy killer ".Also unmanned plane, which is brought, peeps
Depending on privacy crisis, unmanned plane transport cargo fall, a series of unsafe problems such as unmanned plane border drug smuggling.Only 2017
In May, 19 doubtful unmanned planes, which just have occurred, in southwest, northwest, ALFISOL IN CENTRAL airport influences the normal operation event of flight, shares
326 flights are affected.Wherein, Chengdu Shuangliu Airport unmanned plane invasion accident caused the whole nation unmanned plane is supervised it is big
It discusses.Therefore, the various worries that unmanned plane causes, especially in the hidden danger of secure context, it would be highly desirable to solve.
Invention content
In view of the deficiencies of the prior art, the present invention is intended to provide a kind of multi-rotor unmanned aerial vehicle prison divided based on flying area
Method and system are controlled, by being divided to flying area, image recognition and object detection technology is combined, realizes unmanned plane
Effective monitoring.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of multi-rotor unmanned aerial vehicle monitoring method divided based on flying area, is included the following steps：
S1, spatial domain to be monitored is divided into two big spatial domain of low altitude airspace and upper airspace；The low altitude airspace is in cuboid
Shape, the upper airspace are in then prism shape；
S2, the low altitude airspace is divided into the sub- spatial domain in several low latitudes, the upper airspace is divided into several high gaps
Spatial domain, and arrange monitoring device in the sub- spatial domain in each low latitude；
In low altitude airspace, low altitude airspace is divided into the sub- spatial domain in low latitude of several cube shapes；In each sub- spatial domain in low latitude
Monitoring device include at least two 90 degree of visual angles high definition monitoring camera, the sub- spatial domain bottom surface in low latitude at least two it is diagonal on
Respectively one high definition monitoring camera of setting；
In upper airspace, each side is as one high gap spatial domain, i.e. defining surface, once unmanned plane is defined across this
Face will be regarded as the unmanned plane of invasion；The monitoring device in each high gap spatial domain is including at least two high definition monitoring cameras and at least
One high speed high-definition camera, the height high-definition camera are mounted on motor and being rotated by motor；Often
An at least high definition monitoring camera, each high definition monitoring camera are respectively set at the two-end-point on the bottom edge in a high gap spatial domain
Visual angle be 90 degree, wherein 30 degree of visual angles are located in spatial domain to be monitored, 60 degree of visual angles are located at outside spatial domain to be monitored；
S3, each high gap spatial domain and the sub- spatial domain in low latitude configure a sub- Node Controller, and each high gap spatial domain
It is communicated with the monitoring device in the sub- spatial domain in low latitude and is connected to corresponding child node controller, all child node controllers are logical
News are connected to control centre；Monitoring starts, and control centre sends to each child node controller and instructs, and allows child node controller control
It makes corresponding monitoring and equipment starts to monitor；
After high definition monitoring camera in S4, the sub- spatial domain in each low latitude and high gap spatial domain is opened, to corresponding low latitude
Spatial domain and high gap spatial domain carry out full view and fix monitoring and the image of shooting is sent to corresponding child node controller；Son
Node Controller is handled and is identified to image, once recognizing has suspicious mobile airbound target, child node control in image
Device processed is sent to control centre after will having the compression of images of suspicious mobile airbound target to be packaged into data packet；And it is high-altitude to work as
When finding suspicious mobile airbound target in the image of the high definition monitoring camera shooting in sub- spatial domain, child node controller will be in
The high speed high-definition camera of standby mode is opened, and controls motor rotation high speed high-definition camera is allowed to follow the suspicious movement and fly
Row target is shot, and the image of high speed high-definition camera shooting is sent to child node controller, and child node controller also compresses
It is packaged into data packet and is sent to control centre；
The high-definition monitoring in the sub- spatial domain in low latitude is taken the photograph by after the data packet that child node controller transmits by S5, control centre
As the high definition monitoring camera and the imagery exploitation mode identification technology that takes of high speed high-definition camera in head, high gap spatial domain
Judged, judge whether mobile airbound target suspicious in image is unmanned plane, and image information is shown in real time,
Be stored in memory.
It should be noted that in step S1, using highest building in the periphery in region to be monitored and inside as boundary, this is most
High building periphery below and interior zone are divided into low latitude area spatial domain, and the spatial domain more than highest building is high-altitude
Spatial domain.
It should be noted that in the high gap spatial domain, the high speed high-definition camera is set to the high gap spatial domain in place
The side later of wherein one high definition monitoring camera.
It should be noted that the high definition monitoring camera in each sub- spatial domain in low latitude and high gap spatial domain includes mainly wide-angle
Camera lens and infrared lamp, and the high speed high-definition camera in each high gap spatial domain includes mainly telephoto lens.
It should be noted that in step s3, the child node controller is high with high definition monitoring camera and with high speed
It is communicated and is connected by WIFI module between clear monitoring camera, pass through 4G communication modules between control centre and child node controller
Connection.
The present invention also provides a kind of system for realizing the above-mentioned multi-rotor unmanned aerial vehicle monitoring method divided based on flying area,
Including：
The monitoring device of low altitude airspace：Including high definition monitoring camera；Each at least two of the bottom surface in the sub- spatial domain in low latitude
It is a it is diagonal on an at least high definition monitoring camera is respectively configured；
The monitoring device of upper airspace：Including high definition monitoring camera and high speed high-definition camera；Each high gap spatial domain
Bottom edge both ends at be respectively configured an at least high definition monitoring camera, and each high gap spatial domain at least configures a high speed
High-definition camera；
Child node controller：An estrade Node Controller is configured in each sub- spatial domain in low latitude and high gap spatial domain, and every
Monitoring device in a sub- spatial domain in low latitude and high gap spatial domain, which communicates, is connected to corresponding child node controller；
Control centre：All child node controllers, which communicate, is connected to the control centre, and the control centre is used for
Control instruction is sent to each child node controller, and receives the high-definition image data packet of each child node controller and to data packet
In high-definition image carry out unmanned plane identification；
Power supply unit：It powers for center in order to control, child node controller and monitoring device.
Further, further include communication device, the communication device includes 4G communication modules and WIFI module；Child node control
Device and high definition monitoring camera processed and between high speed high definition monitoring camera pass through WIFI module communication connection, control centre
It is connected by 4G communication modules between child node controller.
Further, the control centre includes data processing module, data memory module and display module；Data processing
Module is used to the high-definition image received from child node controller identifying suspicious mobile flight by mode identification technology
Whether target is unmanned plane；Data memory module is checked, display module is then used for these information storages to be got up after convenient
In real-time display, there are the processes and knot handled by the high-definition image of suspicious mobile airbound target and display data processing module
Fruit.
Further, the sub- spatial domain in each low latitude and high gap spatial domain are each equipped with independent power supply unit, and the power supply is set
Standby includes solar panels and lithium battery, the son section in the sub- spatial domain in low latitude where the solar panels are electrically connected to or high gap spatial domain
Base site controller and monitoring device and lithium battery are being child node controller and monitoring device power supply in the daytime and are being that lithium battery fills
Electricity, the sub- spatial domain in low latitude where the lithium battery is connected to or the child node controller in high gap spatial domain and monitoring device, are used
It powers for child node controller and monitoring device at night.
The beneficial effects of the present invention are：
1, it by the division in the spatial domain and sub- spatial domain in spatial domain to be monitored, can be configured according to the actual needs of monitoring range suitable
The monitoring device of conjunction more targetedly, more acurrate is also beneficial to cost-effective.
2, in the present invention, the monitoring range of the monitoring device in high gap spatial domain increases with height and constantly extends outward,
To which to the monitoring system longer reaction time, telephoto lens can have more reaction time to be focused and shot more
High definition picture, improve the accuracy rate of image recognition, the accuracy rate of entire monitoring system improved with this, unmanned plane invasion refer to
Determine to identify unmanned plane faster when region.The present invention provides more perfect spatial domain division methods and monitoring systems, solve
Unmanned plane invades not noticeable problem.
Description of the drawings
Fig. 1 is that the method for the embodiment of the present invention implements overview flow chart；
Fig. 2 is that spatial domain divides schematic diagram in the embodiment of the present invention；
Fig. 3 is that the defining surface in the sub- spatial domain in high and medium of embodiment of the present invention spatial domain and the visual angle of high definition monitoring camera divide
Position view；
Fig. 4 is the vertical view of Fig. 3；
Fig. 5 is the system principle schematic diagram of the embodiment of the present invention；
Fig. 6 is the component relationship schematic diagram of system in the embodiment of the present invention.
Specific implementation mode
Below with reference to attached drawing, the invention will be further described, it should be noted that following embodiment is with this technology
Premised on scheme, detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to this
Embodiment.
As shown in Figure 1, a kind of multi-rotor unmanned aerial vehicle monitoring method divided based on flying area, is included the following steps：
S1, spatial domain to be monitored is divided into two big spatial domain of low altitude airspace and upper airspace；The low altitude airspace is in cuboid
Shape, the upper airspace are in then prism shape；
Further, in step S1, using highest building in the periphery in region to be monitored and inside as boundary, this is highest
Building periphery below and interior zone are divided into low latitude area spatial domain, and the spatial domain more than highest building is high absolutely empty
Domain.
S2, the low altitude airspace is divided into the sub- spatial domain in several low latitudes, the upper airspace is divided into several high gaps
Spatial domain, and arrange monitoring device in the sub- spatial domain in each low latitude, as shown in Figure 2.
In low altitude airspace, low altitude airspace is divided into the sub- spatial domains in low latitude of several cube shapes, and (10 meters such as high, floor space is
100 square metres of square)；Monitoring device in each sub- spatial domain in low latitude includes that the high-definition monitoring at least two 90 degree of visual angles is taken the photograph
One high definition monitoring camera of each setting is diagonally gone up as head, at least two of the sub- spatial domain bottom surface in low latitude；
In upper airspace, each side is as one high gap spatial domain, i.e. defining surface, once unmanned plane is defined across this
Face will be regarded as the unmanned plane of invasion；The monitoring device in each high gap spatial domain is including at least two high definition monitoring cameras and at least
One high speed high-definition camera, the height high-definition camera are mounted on motor and being rotated by motor；Such as
Shown in Fig. 3-4, an at least high definition monitoring camera, Mei Gegao is respectively set at the two-end-point on the bottom edge in each high gap spatial domain
The visual angle of clear monitoring camera is 90 degree, wherein 30 degree of visual angles are located in spatial domain to be monitored, 60 degree of visual angles are located at sky to be monitored
It is overseas.
Further, in the high gap spatial domain, the high speed high-definition camera is set to the high gap spatial domain in place wherein
The side later of one high definition monitoring camera, suspicious mobile flight is quickly located convenient for high speed high-definition camera is relatively simple
Target.
Further, the high definition monitoring camera in the sub- spatial domain in each low latitude and high gap spatial domain includes mainly wide-angle lens
And infrared lamp, and the high speed high-definition camera in each high gap spatial domain includes mainly telephoto lens.High definition monitoring camera exists
When night, since brightness is relatively low, the picture clarity of shooting is not high, can enter night vision mode by opening infrared lamp at this time.
S3, each high gap spatial domain and the sub- spatial domain in low latitude configure a sub- Node Controller, and each high gap spatial domain
It is communicated with the monitoring device in the sub- spatial domain in low latitude and is connected to corresponding child node controller, all child node controllers are logical
News are connected to control centre；Monitoring starts, and control centre sends to each child node controller and instructs, and allows child node controller control
It makes corresponding monitoring and equipment starts to monitor；
Further, in step s3, the child node controller is supervised with high definition monitoring camera and with high speed high definition
It is communicated and is connected by WIFI module between control camera, connected by 4G communication modules between control centre and child node controller
It connects.
After high definition monitoring camera in S4, the sub- spatial domain in each low latitude and high gap spatial domain is opened, to corresponding low latitude
Spatial domain and high gap spatial domain carry out full view and fix monitoring and the image of shooting is sent to corresponding child node controller；Son
Node Controller is handled and is identified to image, once recognizing has suspicious mobile airbound target, child node control in image
Device processed is sent to control centre after will having the compression of images of suspicious mobile airbound target to be packaged into data packet；And it is high-altitude to work as
When finding suspicious mobile airbound target in the image of the high definition monitoring camera shooting in sub- spatial domain, child node controller will be in
The high speed high-definition camera of standby mode is opened, and controls motor rotation high speed high-definition camera is allowed to follow the suspicious movement and fly
Row target is shot, and the image of high speed high-definition camera shooting is sent to child node controller, and child node controller also compresses
It is packaged into data packet and is sent to control centre.
The high-definition monitoring in the sub- spatial domain in low latitude is taken the photograph by after the data packet that child node controller transmits by S5, control centre
As the high definition monitoring camera and the imagery exploitation mode identification technology that takes of high speed high-definition camera in head, high gap spatial domain
Judged, judge whether mobile airbound target suspicious in image is unmanned plane, and image information is shown in real time,
It is checked after facilitating in memory with storage.
Monitoring for low altitude airspace, since the range of monitoring is smaller, unmanned plane is larger in the imaging point of picture, therefore straight
It connects from the picture of shooting and judges that unmanned plane is relatively simple.In upper airspace because be in the unmanned plane in spatial domain picture at
As very little, it is more difficult to judge, trailing type shooting be carried out after needing high speed high-definition camera to focus, so that control centre further carries out
Judge.
It, can be according to monitoring range by the division in the spatial domain and sub- spatial domain of step S1 and step S2 in the above method
The suitable monitoring device of actual needs configuration more targetedly, more acurrate is also beneficial to cost-effective.For low altitude airspace
Monitoring, because the range in the sub- spatial domain in low latitude is smaller, therefore each sub- spatial domain in low latitude need to only install two high-definition cameras, without
Need high speed high-definition camera.And the monitoring range of upper airspace is big, height is high, it is therefore desirable to two high definition monitoring cameras into
The preliminary monitoring of row captures target into line trace by a high speed high-definition camera when monitoring suspicious object, high speed
High-definition camera can monitor different directions as motor rotates.
And the set-up mode of the high definition monitoring camera in high gap spatial domain, high definition monitoring camera can be made to be monitored
Space outside spatial domain forms the angular field of view of 60 ° of right angled triangles, this length for meaning that angular field of view toward external expansion is high
DegreeTimes, with the rising of height, the range monitored outward is bigger.Although higher place is in high definition monitoring camera
Be imaged it is smaller, but due to extending the range monitored outward, and since two high definition monitoring cameras are located at same high gap
The both ends of the length of side in spatial domain, more toward the midpoint of the length of side and higher spatial domain, the overlay region of two high definition monitoring cameras monitoring
Domain is more.As shown in figure 3, this is just child node controller has won more reactions to the identification of suspicious mobile airbound target
Time, the telephoto lens for being conducive to open high speed high-definition camera focuses to suspicious mobile airbound target, to suspicious
Mobile airbound target carries out more accurate and clearly tracking shooting, compensates for eminence and is imaged and unintelligible brings identification difficult
Problem.
The present embodiment also provides the system for realizing the above-mentioned multi-rotor unmanned aerial vehicle monitoring method divided based on flying area, such as
Shown in Fig. 5-6 comprising：
The monitoring device of low altitude airspace：Including high definition monitoring camera；Each at least two of the bottom surface in the sub- spatial domain in low latitude
It is a it is diagonal on an at least high definition monitoring camera is respectively configured；
The monitoring device of upper airspace：Including high definition monitoring camera and high speed high-definition camera；Each high gap spatial domain
Bottom edge both ends at be respectively configured an at least high definition monitoring camera, and each high gap spatial domain at least configures a high speed
High-definition camera；
Child node controller：An estrade Node Controller is configured in each sub- spatial domain in low latitude and high gap spatial domain, and every
Monitoring device in a sub- spatial domain in low latitude and high gap spatial domain, which communicates, is connected to corresponding child node controller；
Control centre：All child node controllers, which communicate, is connected to the control centre, and the control centre is used for
Control instruction is sent to each child node controller, and receives the high-definition image data packet of each child node controller and to data packet
In high-definition image carry out unmanned plane identification；
Power supply unit：It powers for center in order to control, child node controller and monitoring device.
Further, the system also includes communication device, the communication device includes 4G communication modules and WIFI module；
Child node controller and high definition monitoring camera and between high speed high definition monitoring camera by WIFI module communicate connect,
It is connected by 4G communication modules between control centre and child node controller.
Further, control centre includes data processing module, data memory module and display module；Data processing module
For the high-definition image received from child node controller to be identified suspicious mobile airbound target by mode identification technology
Whether it is unmanned plane；Data memory module checks that display module is then used for real for these information storages to be got up after convenient
When display there are the processes and result handled by the high-definition image of suspicious mobile airbound target and display data processing module.
Further, the sub- spatial domain in each low latitude and high gap spatial domain are each equipped with independent power supply unit, and the power supply is set
Standby includes solar panels and lithium battery, the son section in the sub- spatial domain in low latitude where the solar panels are electrically connected to or high gap spatial domain
Base site controller and monitoring device and lithium battery are being child node controller and monitoring device power supply in the daytime and are being that lithium battery fills
Electricity, the sub- spatial domain in low latitude where the lithium battery is connected to or the child node controller in high gap spatial domain and monitoring device, are used
It powers for child node controller and monitoring device at night.
In the present embodiment, the coding mode information of monitoring device transmission is using H.265 video encoding standard.H.265
H.264 standard, retains original certain technologies, while being subject to some relevant technologies around existing video encoding standard
It improves.New technology, to improve the relationship between code stream, coding quality, delay and algorithm complexity, is reached using advanced technology
To optimal settings.Specifically research contents includes：It improves compression efficiency, raising robustness and error recovery capabilities, reduce in fact
When time delay, reduce channel acquisition time and random access time delay, reduce complexity etc..It H.264, can be low due to algorithm optimization
It is transmitted in the velocity interpolation SD digital picture of 1Mbps；H.265 it then may be implemented to transmit using the transmission speed of 1-2Mbps
The common high resolution audio and video transmission of 720P (resolution ratio 1280*720).These advantages advantageously reduce the power consumption of monitoring device and carry
The real-time of high monitoring system.
The child node controller, using the chip of the STM32F407 series of ST Microelectronics in the present embodiment, and
And burning picture compression algorithm and mobile Target Recognition Algorithms in the chip.As long as occurring suspicious movement in the picture to fly
Row target, child node controller will will be transferred to control centre after picture compression.The series of products use STMicw Electronics
90nm techniques and ART accelerators have the function of dynamic power consumption adjustment, can be executed in the operating mode and from flash storage
For Shi Shixian down to the current drain of 238 μ A/MHz, the power consumption in the case where only high definition monitoring camera works is very low
's.And the work highest dominant frequency of the chip can reach 168MHz, under 168MHz frequencies, when being executed from flash storage,
STM32F407 has 210DMIPS/566CoreMark performances, and is realized using the ART accelerators of STMicw Electronics
FLASH zero wait states, these are all quickly to realize picture compression, be packaged, be transferred to control centre and mobile target identification
Algorithm provides advantage.STM32F407 also has abundant linkage function, outstanding innovative peripheral hardware：STM32F407 is also
It is passed with the ethernet mac 10/100 for meeting the requirement of 1588 v2 standards of IEEE and the CMOS camera that monitoring device can be connected
The 8-14 parallel-by-bit camera interfaces of sensor, the monitoring device that ion Node Controller can be made close in this way are directly connected to transmission letter
Breath enhances the real-time of entire monitoring system to save the time using the Wi-Fi transmission communicated for monitoring device farther out
Property.The image information of child node controller spatial domain monitoring device where receiving, once the high definition to some high gap spatial domain is supervised
The image information for controlling camera identifies suspicious mobile airbound target using mobile Target Recognition Algorithms, then sends instructions to height
The motor of fast high-definition camera allows it to turn to the position that high definition monitoring camera is monitored, and then again takes the photograph high speed high definition
Control centre is transmitted to by 4G communication modules as head tracks the high-definition image obtained by capturing.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and distortion, and all these change and distortions, should be construed as being included within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle monitoring method divided based on flying area, which is characterized in that include the following steps：
S1, spatial domain to be monitored is divided into two big spatial domain of low altitude airspace and upper airspace；The low altitude airspace in a rectangular parallelepiped shape, institute
It is in prism shape to state upper airspace then；
S2, the low altitude airspace is divided into the sub- spatial domain in several low latitudes, the upper airspace is divided into several high gap spatial domains,
And arrange monitoring device in the sub- spatial domain in each low latitude；
In low altitude airspace, low altitude airspace is divided into the sub- spatial domain in low latitude of several cube shapes；Prison in each sub- spatial domain in low latitude
Control equipment include at least two 90 degree visual angles high definition monitoring camera, the sub- spatial domain bottom surface in low latitude at least two diagonally on respectively set
Set a high definition monitoring camera；
In upper airspace, each side is as one high gap spatial domain, i.e. defining surface, once unmanned plane will across this defining surface
It is considered as the unmanned plane of invasion；The monitoring device in each high gap spatial domain includes at least two high definition monitoring cameras and at least one
High speed high-definition camera, the height high-definition camera are mounted on motor and being rotated by motor；It is each high
At least a high definition monitoring camera, each high definition monitoring camera are respectively set at the two-end-point on the bottom edge in gap spatial domain to regard
Angle is 90 degree, wherein 30 degree of visual angles are located in spatial domain to be monitored, 60 degree of visual angles are located at outside spatial domain to be monitored；
S3, each high gap spatial domain and the sub- spatial domain in low latitude configure a sub- Node Controller, and each high gap spatial domain and low
Monitoring device in gap spatial domain, which communicates, is connected to corresponding child node controller, all child node controller companies of communicating
It is connected to control centre；Monitoring starts, control centre to each child node controller send instruct, allow child node controller control pair
The monitoring and equipment answered start to monitor；
After high definition monitoring camera in S4, the sub- spatial domain in each low latitude and high gap spatial domain is opened, to the sub- spatial domain in corresponding low latitude
Full view fixation monitoring is carried out with high gap spatial domain and the image of shooting is sent to corresponding child node controller；Child node
Controller is handled and is identified to image, once recognizing has suspicious mobile airbound target, child node controller in image
It is sent to control centre after there will be the compression of images of suspicious mobile airbound target to be packaged into data packet；And it is that high gap is empty to work as
When finding suspicious mobile airbound target in the image of the high definition monitoring camera shooting in domain, child node controller will be in standby
The high speed high-definition camera of state is opened, and controls motor rotation and high speed high-definition camera is allowed to follow the suspicious mobile flight mesh
Mark is shot, and the image of high speed high-definition camera shooting is sent to child node controller, and child node controller also compresses packing
It is sent to control centre at data packet；
S5, control centre by after the data packet that child node controller transmits, in the sub- spatial domain in low latitude high definition monitoring camera,
The imagery exploitation mode identification technology that high definition monitoring camera and high speed high-definition camera in high gap spatial domain take carries out
Judge, judges whether mobile airbound target suspicious in image is unmanned plane, and image information is shown in real time, and deposit
Storage is in memory.
2. the multi-rotor unmanned aerial vehicle monitoring method according to claim 1 divided based on flying area, which is characterized in that step
In rapid S1, using the periphery in region to be monitored and it is internal in highest building as boundary, highest building periphery below and
Interior zone is divided into low latitude area spatial domain, and the spatial domain more than highest building is upper airspace.
3. the multi-rotor unmanned aerial vehicle monitoring method according to claim 1 divided based on flying area, which is characterized in that institute
It states in high gap spatial domain, the high speed high-definition camera is set to wherein high definition monitoring camera in the high gap spatial domain in place
Side later.
4. the multi-rotor unmanned aerial vehicle monitoring method according to claim 1 divided based on flying area, which is characterized in that each
High definition monitoring camera in a sub- spatial domain in low latitude and high gap spatial domain includes mainly wide-angle lens and infrared lamp, and each high-altitude
High speed high-definition camera in sub- spatial domain includes mainly telephoto lens.
5. the multi-rotor unmanned aerial vehicle monitoring method according to claim 1 divided based on flying area, which is characterized in that
In step S3, the child node controller and high definition monitoring camera and pass through WIFI between high speed high definition monitoring camera
Module communication connects, and is connected by 4G communication modules between control centre and child node controller.
6. a kind of multi-rotor unmanned aerial vehicle monitoring method divided based on flying area realized described in any of the above-described claim
System, which is characterized in that including：
The monitoring device of low altitude airspace：Including high definition monitoring camera；At least two couple of bottom surface in each sub- spatial domain in low latitude
An at least high definition monitoring camera is respectively configured on angle；
The monitoring device of upper airspace：Including high definition monitoring camera and high speed high-definition camera；The bottom in each high gap spatial domain
An at least high definition monitoring camera is respectively configured at the both ends on side, and each high gap spatial domain at least configures a high speed high definition
Camera；
Child node controller：An estrade Node Controller is configured in each sub- spatial domain in low latitude and high gap spatial domain, and each low
Monitoring device in gap spatial domain and high gap spatial domain, which communicates, is connected to corresponding child node controller；
Control centre：All child node controllers, which communicate, is connected to the control centre, and the control centre is used for each
A sub- Node Controller sends control instruction, and receives the high-definition image data packet of each child node controller and in data packet
High-definition image carries out unmanned plane identification；
Power supply unit：It powers for center in order to control, child node controller and monitoring device.
7. system according to claim 6, which is characterized in that further include communication device, the communication device includes 4G logical
Interrogate module and WIFI module；Child node controller and high definition monitoring camera and pass through between high speed high definition monitoring camera
WIFI module communication connection, is connected between control centre and child node controller by 4G communication modules.
8. system according to claim 6, which is characterized in that the control centre includes that data processing module, data are deposited
Store up module and display module；Data processing module is for knowing the high-definition image received from child node controller by pattern
Other technology identifies whether suspicious mobile airbound target is unmanned plane；Data memory module is used to get up these information storages,
It is checked after convenient, display module is then used for real-time display, and there are the high-definition images and display data of suspicious mobile airbound target
Process handled by processing module and result.
9. system according to claim 6, which is characterized in that each sub- spatial domain in low latitude and high gap spatial domain are each equipped with solely
Vertical power supply unit, the power supply unit include solar panels and lithium battery, low latitude where the solar panels are electrically connected to
Spatial domain or child node controller in high gap spatial domain and monitoring device and lithium battery are being child node controller and prison in the daytime
It controls equipment power supply and charges for lithium battery, the son section in the sub- spatial domain in low latitude where the lithium battery is connected to or high gap spatial domain
Base site controller and monitoring device, for being that child node controller and monitoring device are powered at night.
10. the multi-rotor unmanned aerial vehicle monitoring method according to claim 6 divided based on flying area, which is characterized in that
High definition monitoring camera in each sub- spatial domain in low latitude and high gap spatial domain includes mainly wide-angle lens and infrared lamp, and each high
High speed high-definition camera in gap spatial domain includes mainly telephoto lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810286206.3A CN108462820B (en) | 2018-04-03 | 2018-04-03 | Multi-rotor unmanned aerial vehicle monitoring method and system based on flight airspace division |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810286206.3A CN108462820B (en) | 2018-04-03 | 2018-04-03 | Multi-rotor unmanned aerial vehicle monitoring method and system based on flight airspace division |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108462820A true CN108462820A (en) | 2018-08-28 |
| CN108462820B CN108462820B (en) | 2020-04-21 |
Family
ID=63238095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810286206.3A Active CN108462820B (en) | 2018-04-03 | 2018-04-03 | Multi-rotor unmanned aerial vehicle monitoring method and system based on flight airspace division |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108462820B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111050114A (en) * | 2018-10-15 | 2020-04-21 | 珠海格力电器股份有限公司 | Low-power-consumption camera, monitoring management control system and control method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080033604A1 (en) * | 2006-04-19 | 2008-02-07 | Jed Margolin | System and Method For Safely Flying Unmanned Aerial Vehicles in Civilian Airspace |
| US20130120585A1 (en) * | 2011-11-15 | 2013-05-16 | Canon Kabushiki Kaisha | Automatic tracking camera system |
| CN103680215A (en) * | 2013-12-04 | 2014-03-26 | 海丰通航科技有限公司 | Low-altitude aviation service station |
| CN104950907A (en) * | 2015-06-26 | 2015-09-30 | 广州快飞计算机科技有限公司 | Method, device and system for monitoring unmanned aerial vehicle |
| CN105501457A (en) * | 2015-12-16 | 2016-04-20 | 南京航空航天大学 | Infrared vision based automatic landing guidance method and system applied to fixed-wing UAV (unmanned aerial vehicle) |
| CN105759834A (en) * | 2016-03-09 | 2016-07-13 | 中国科学院上海微系统与信息技术研究所 | System and method of actively capturing low altitude small unmanned aerial vehicle |
| CN105913693A (en) * | 2016-06-06 | 2016-08-31 | 北京威胜通达科技有限公司 | Flight safety management and control service method |
| CN106846922A (en) * | 2017-03-14 | 2017-06-13 | 武汉天宇智戎防务科技有限公司 | Low altitude short range cluster cooperates with defence system and defence method |
-
2018
- 2018-04-03 CN CN201810286206.3A patent/CN108462820B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080033604A1 (en) * | 2006-04-19 | 2008-02-07 | Jed Margolin | System and Method For Safely Flying Unmanned Aerial Vehicles in Civilian Airspace |
| US20130120585A1 (en) * | 2011-11-15 | 2013-05-16 | Canon Kabushiki Kaisha | Automatic tracking camera system |
| CN103680215A (en) * | 2013-12-04 | 2014-03-26 | 海丰通航科技有限公司 | Low-altitude aviation service station |
| CN104950907A (en) * | 2015-06-26 | 2015-09-30 | 广州快飞计算机科技有限公司 | Method, device and system for monitoring unmanned aerial vehicle |
| CN105501457A (en) * | 2015-12-16 | 2016-04-20 | 南京航空航天大学 | Infrared vision based automatic landing guidance method and system applied to fixed-wing UAV (unmanned aerial vehicle) |
| CN105759834A (en) * | 2016-03-09 | 2016-07-13 | 中国科学院上海微系统与信息技术研究所 | System and method of actively capturing low altitude small unmanned aerial vehicle |
| CN105913693A (en) * | 2016-06-06 | 2016-08-31 | 北京威胜通达科技有限公司 | Flight safety management and control service method |
| CN106846922A (en) * | 2017-03-14 | 2017-06-13 | 武汉天宇智戎防务科技有限公司 | Low altitude short range cluster cooperates with defence system and defence method |
Non-Patent Citations (1)
| Title |
|---|
| 张静 等: "低空反无人机技术现状与发展趋势", 《航空工程进展》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111050114A (en) * | 2018-10-15 | 2020-04-21 | 珠海格力电器股份有限公司 | Low-power-consumption camera, monitoring management control system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108462820B (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105242686B (en) | A kind of unmanned plane system and method for taking photo by plane | |
| CN105759834B (en) | A kind of system and method actively capturing low latitude small-sized unmanned aircraft | |
| WO2021253961A1 (en) | Intelligent visual perception system | |
| CN108965809A (en) | The video linkage monitoring system and control method of radar vectoring | |
| US10742935B2 (en) | Video surveillance system with aerial camera device | |
| CN206400639U (en) | Intelligent navigation channel bayonet socket supervision of ships system based on radar | |
| CN114093142B (en) | Object-perceived temperature anomaly monitoring and early warning by combining visual sensing and thermal sensing | |
| CN112650267B (en) | Flight control method and device of aircraft and aircraft | |
| CN206087337U (en) | Anti - unmanned aerial vehicle system of interference formula | |
| CN206260046U (en) | A kind of thermal source based on thermal infrared imager and swarm into tracks of device | |
| US11258949B1 (en) | Electronic image stabilization to improve video analytics accuracy | |
| CN202600885U (en) | Intelligent video perimeter fence system | |
| CN107948472A (en) | Intelligent monitoring pick-up head and safety-protection system | |
| CN107943084B (en) | Following type electromagnetic interference system and method for civil multi-rotor unmanned aerial vehicle | |
| Fawzi et al. | Embedded real-time video surveillance system based on multi-sensor and visual tracking | |
| CN108462820A (en) | A kind of multi-rotor unmanned aerial vehicle monitoring method and system divided based on flying area | |
| CN206181050U (en) | Low latitude defensive equipment | |
| CN201238358Y (en) | Full-view intelligent video monitoring hardware platform | |
| CN104199425B (en) | A kind of reading intelligent agriculture monitoring early-warning system and method | |
| KR102203292B1 (en) | Cctv surveillance system using cctv combined drones | |
| CN105323485A (en) | Single-camera oblique image acquisition device and method | |
| CN205726140U (en) | The Cloud Terrace, the aircraft containing it and clouds terrace system | |
| CN107018359A (en) | A kind of vehicle-carried mobile monitoring system that there is intelligent picture to recognize | |
| US20230056104A1 (en) | Modification of Camera Functionality Based on Orientation | |
| WO2020010544A1 (en) | Method and apparatus for controlling lighting device, and aircraft and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |